User Manual

5. Commissioning
5−35
Festo GDCP−SFC−LACI−DN−EN en 0812NH
5.5.4 Description of the I/O data (Direct mode)
Output data  Direct mode
Byte EN Description
1 CCON Control bytes, see section 5.5.5
2 CPOS
3 CDIR
4 Velocity In % of the basic speed (compare 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 5.5.6
2 SPOS
3 SDIR
4 Velocity In % of basic speed (compare PNU540 / CI21F8h)
Force In % of the rated force (see section 5.5.7, point 7)
5 ... 8 new Position in increments