Festo Электромотор MTR-DCI - Manual (Page 137)

5. Commissioning
5-49
Festo P.BE-MTR-DCI-PB-EN en 1209a
Description of the special status bytes
– Direct mode
Status byte 3 (SDIR) – Direct mode
Bit EN Description
B0-ABS Absolute/ Relative = 0: Nominal value is absolute
= 1: Nominal value is relative to last nominal value
B1-COM1 Control mode feedback = 00: Position mode
= 01: Force mode
= 10: Reserved
= 11: Reserved
B2-COM2
B3-CONT – Reserved
B4-VLIM Speed ( V-) limit reached Force mode
= 1: Speed limit reached
= 0: Speed limit not reached
B5-XLIM Stroke ( X-) limit reached Force mode
= 1: Stroke limit value reached
= 0: Stroke limit value not reached
B6-FAST – Reserved
B7-FUNC – Reserved
Status byte 4 (actual 1) – Direct mode: Position mode
Bit EN Description
B0 ... B7 Velocity Feedback of velocity as % of the maximum velocity
Status byte 4 (actual 1) – Direct mode: Force mode
Bit EN Description
B0 ... B7 Torque In % of the nominal current (see 5.7.3, point 7)
Status bytes 5 ... 8 (actual value 2) – Direct mode
Bit EN Description
B0...B31 Position, ... Feedback of position in increments