Festo Электромотор MTR-DCI - Manual (Page 135)

5. Commissioning
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Festo P.BE-MTR-DCI-CO-EN en 1209a
5.5 Festo profile for handling and positioning (FHPP standard)
5.5.1 Supported operating modes
The operating modes differ as regards their contents and the
meaning of the cyclic I/O data and in the functions which can
be accessed in the MTR-DCI.
Operating mode Description
Record Select (Default) 31 position sets can be saved in the MTR-DCI. A record contains all
the parameters which are specified for a positioning task. The re-
cord number is transferred to the cyclic I/O data as the nominal or
actual value/FHPP standard).
Direct mode The positioning task is transferred directly in the I/O telegram (FHPP
standard). The most important nominal values (position, velocity,
force/torque...) are thereby transferred. Supplementary parameters
are determined via the parametrizing (FHPP FPC).
Tab. 5/6: Overview of operating modes
The operating mode is switched by the control byte CCON
(see below) and indicated in the status byte SCON. Definition
by means of parametrization is not possible. Switching
between modes is only permitted in the “Drive disabled” or
“Drive enabled” status.
Record select
Positioning mode The MTR-DCI possesses 31 records (1 ... 31) which contain all
the information necessary for a positioning task (+ record 0 =
reference travel).
The record number, which the MTR-DCI is to process at the
next start, is transferred to the output data of the master.
The input data contains the last processed record number.
The positioning task itself does not need to be active.