Pdo mapping with cia 402 – Festo Электромотор MTR-DCI User Manual
Page 133
5. Commissioning
5-35
Festo P.BE-MTR-DCI-CO-EN en 1209a
Receive PDO 1 (FHPP standard)
Operating
mode
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Record Select
SCON
SPOS
Record
no.
RSB
Actual position
Direct mode
SDIR
Actual
value 1
Receive PDO 2 (FHPP-FPC)
Function
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Control
reserved
Parametrize
reserved
Subindex
Task identifier +
parameter number
Parameter value
PDO mapping with CiA 402
Receive PDO 1 (CiA 402)
1)
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Control word 6040h
Set
number
2032h
Operating
mode
6060h
Nominal value
– Positioning mode Setpoint (nominal) position
607Ah
– Power operation Nominal torque 6071h
1)
Evaluation sequence:
– Read the operating mode 6061h
– Accept the set number 2032h
– Accept nominal value (only if set number 0 is for “Direct set”. Otherwise the value from the set
list applies to the specified set).
– Execute control word 6040h.