5
Sequence control and I/O data
Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English
49
The SDIR status byte acknowledges positioning mode.
Status byte 3 (SDIR) – direct application
Bit
DE
EN
Description
B0
ABS
Absolute/
relative
Abs
olute/
Relative
= 1:
Setpoint value is relative to last setpoint value.
Whether travel is relative to the last setpoint or
actual value can be set in PNU 524.
= 0:
Setpoint value is absolute.
B1
COM1
Control mode
feedback
Co
ntrol
M
ode
Feedback
No.
Bit 2 Bit 1 Control mode
0
0
0
Positioning mode
B2
COM2
1
0
1
Force/torque mode (current)
2
1
0
Speed mode (rotational speed)
3
1
1
Reserved
B3
–
–
–
Reserved = 0
B4
VLIM
Speed limit
reached
velocity (
V
-)
LIM
it reached
= 1:
Speed limit reached
= 0:
Speed limit not reached
B5
XLIM
Stroke limit
reached
stroke (
X
-)
LIM
it reached
= 1:
Stroke limit reached
= 0:
Stroke limit not reached
B6
–
–
–
Reserved = 0
B7
–
–
–
Reserved = 0
Tab. 5.23
Status byte 3 – direct application
Status byte 4 (actual value 1) – direct application
Bit
DE
EN
Description
B0 … 7
Feedback in positioning mode
Speed
Velocity
Speed [% of the basic value]
è
PNU 540
Feedback in force/torque operation, dependent on parameterisation
è
PNU 523:7
Speed
Velocity
Speed [% of the basic value]
è
PNU 540
Torque
Torque
Torque [% of the basic value]
è
PNU 555
Feedback in speed mode
–
–
No function, = 0
Tab. 5.24
Status byte 4 – direct application
Summary of Contents for CMMO-ST-C5-1-LKP
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