Parameters involved – Festo Электромотор MTR-DCI User Manual
Page 171
5. Commissioning
5-73
Festo P.BE-MTR-DCI-CO-EN en 1209a
Parameters involved
The entries in the positioning table can be written via the field
bus (see Tab. 5/20). Each nominal value is addressed by its
own PNU. A record consists of the nominal values with the
same subindex.
The composition of the positioning table as per FHPP is
described in appendix B.2.8.
Overview of parameters involved (see section B.2.8)
Record composition
Description
FCT
PNU
CO/CI
Position absolute/relative
x
401
20E0/01h
Target position
x
404
20E0/02h
Velocity
x
406
20E0/03h
Acceleration
x
407
20E0/04h
Start
CPOS.B1 = positive edge: Start
Jogging and referencing have priority.
Reply message
SPOS.B2 = 0: Motion Complete
SPOS.B1 = positive edge: Quit Start
SPOS.B4 = 1: Drive moves
Requirements
Device control by PLC/field bus
Controller must be in status “Operation enabled”
Record number must be valid
Tab. 5/20: Parameters involved in Record Select mode