Instruction Manual

5. Commissioning
5−41
Festo P.BE−GDCP−SFC−LACI−PB−EN en 0812NH
5.6.4 Description of the I/O data (Direct mode)
Output data  Direct mode
Byte EN Description
1 CCON Control bytes, see section 5.6.5
2 CPOS
3 CDIR
4 Velocity In % of the basic speed (PNU540/CI21F8h)
5 ... 8 new Force, ... Position in increments or force in % of rated force
Input data  Direct mode
Byte EN Description
1 SCON Status bytes, see section 5.6.6
2 SPOS
3 SDIR
4 Velocity In % of the basic speed (PNU540/CI21F8h)
Force In % of the rated force (see section 5.6.7, point 7)
5 ... 8 new Position in increments