Festo Электромотор MTR-DCI - Manual (Page 221)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-3
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.1 The Festo Parameter Channel (FPC)
As an alternative to the Festo Parameter Channel for cyclic
data (PDO2), parametrizing can also take place via the acyclic
data channel. The corresponding SDO object number can be
defined via the parameter number. (object = PNU (hex)
+2000h). An overview of the object numbers can be found in
Appendix B.2.2.
B.1.1 Composition of the cyclic I/O data (FHPP-FPC)
The parameter channel serves for transmitting parameters.
The parameter channel comprises the following:
Components Description
Parameter identifier
(PKE) Component of the parameter channel component which contains the Task
and Response identifiers (AK) and the parameter number (PNU).
The parameter number serves for identifying or addressing the individual
parameter. The Task or Response identifier (AK) describes the task or the
reply in the form of an identifier number.
Subindex (IND) addresses an element of an array parameter (sub-parameter number)
Parameter value (PWE) Value of the parameter
If a task of the parameter processing cannot be carried out, a fault
number will be shown instead of the value in the reply telegram. The fault
number describes the cause of the fault.
Tab. B/1: Components of the parameter channel (FPC)
The parameter channel consists of 8 octets. The structure of
the parameter channel as a factor of the size or type of the
parameter value is shown in the following table: