Festo Электромотор MTR-DCI User Manual
Page 229
B. Reference – Festo Handling and Positioning Profile (FHPP)
B-11
Festo P.BE-MTR-DCI-CO-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
Output
data
0x00
0x02
0x
81
0x
94
0x
00
0x
00
0x
12
0x
34
Input
data
0x00
0x02
0x
81
0x
94
0x
00
0x
00
0x
12
0x
34
Step 5
After receiving the input data with ResID 0x8 send output data with
ReqID = 0x0 and wait for input 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
Output
data
0x00
0x02
0x
01
0x94
0x00
0x00
0x12
0x34
Input
data
0x00
0x02
0x
01
0x94
0x00
0x00
0x12
0x34
Step 6
Write record number 1 with speed 0x7743 (decimal 30531 in-
crements/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
Output
data
0x00
0x02
0x
81
0x
96
0x
00
0x
00
0x
77
0x
43
Input
data
0x00
0x02
0x
81
0x
96
0x
00
0x
00
0x
77
0x
43
Step 7
After receiving the input data with ResID 0x8 send output data with
ReqID = 0x0 and wait for input 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
Output
data
0x00
0x02
0x
01
0x94
0x00
0x00
0x77
0x43
Input
data
0x00
0x02
0x
01
0x94
0x00
0x00
0x77
0x43