Festo Электромотор MTR-DCI User Manual
Page 217
B. Supplementary information
B-11
Festo P.BE-MTR-DCI-PB-EN en 1209a
Step 4
Write record number 1 with target position 0x1234 (decimal
4660 increments):
PNU 404, subindex 2 – modify parameter value, array, double
word: ReqID 8 (0x8) with value 0x00001234.
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Reserved Subindex ReqID/ResID + PNU
Parameter value
O data
0x00
0x02
0x
81
0x
94
0x
00
0x
00
0x
12
0x
34
I data
0x00
0x02
0x
81
0x
94
0x
00
0x
00
0x
12
0x
34
Step 5
After receiving the I-data with ResID 0x8 send O-data with
ReqID = 0x0 and wait for I-data with ResID = 0x0:
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Reserved Subindex ReqID/ResID + PNU
Parameter value
O data
0x00
0x02
0x
01
0x94
0x00
0x00
0x12
0x34
I data
0x00
0x02
0x
01
0x94
0x00
0x00
0x12
0x34
Step 6
Write record number 1 with speed 0x7743 (decimal 30531
increments/s):
PNU 406, subindex 2 – modify parameter value, array, double
word: ReqID 8 (0x8) with value 0x00007743.
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Reserved Subindex ReqID/ResID + PNU
Parameter value
O data
0x00
0x02
0x
81
0x
96
0x
00
0x
00
0x
77
0x
43
I data
0x00
0x02
0x
81
0x
96
0x
00
0x
00
0x
77
0x
43
Step 7
After receiving the I-data with ResID 0x8 send O-data with
ReqID = 0x0 and wait for I-data with ResID = 0x0:
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Reserved Subindex ReqID/ResID + PNU
Parameter value
O data
0x00
0x02
0x
01
0x94
0x00
0x00
0x77
0x43
I data
0x00
0x02
0x
01
0x94
0x00
0x00
0x77
0x43