Festo Электромотор MTR-DCI - Manual (Page 33)

1. System overview
1-11 Festo P.BE-MTR-DCI-DN-EN en 1209a
1.2.2 FHPP data profile
Festo has developed an optimised data profile, known as the
“Festo Handling and Positioning Profile (FHPP)” tailored to
handling and positioning tasks. The FHPP enables uniform
control and programming for Festo's various Fieldbus sys-
tems and controllers. Parameter values, control bytes, and
status bytes required during operation can be directly read
and written via the object directory.
Communication over the Fieldbus can be selected as cyclic
(I/O messaging) or acyclic (Explicit messaging). A mixture of
these is typical:
– Commissioning and application parameters are trans-
ferred using “Explicit messaging”
– Parameter access in normal operation is done as per
FHPP FPC (I/O messaging, additional 8 byte I/O) or
optionally using Explicit messaging
– Time-critical process control is done as per the FHPP
standard (“I/O messaging”, 8 byte I/O)
FHPP standard The content and meaning of the cyclical I/O data and the
functions that can be accessed in the MTR-DCI differ
depending on the operating mode.
Direct task:
As a direct task, tasks can be performed in positioning or
force mode. The positioning task is transferred directly in the
I/O telegram. The key nominal values (position, speed, force/
torque) are transmitted with it. Supplementary parameters
are defined via the parameterisation (FHPP FPC or Explicit
messaging).
Record selection
With record positioning, tasks can be carried out in posi-
tioning mode. The positioning data are indirectly set using
positioning records, which are taught via FCT, the control
panel, or the Fieldbus and then stored in the controller.