Festo Электромотор MTR-DCI - Manual (Page 29)

1. System overview
1-7 Festo P.BE-MTR-DCI-CO-EN en 1209a
1.2.2 Data profiles FHPP and CiA 402
Festo has developed an optimised data profile, the “Festo
Handling and Positioning Profile (FHPP)” tailored to handling
and positioning tasks.
For drives with a CANopen interface, the CANopen profile
CiA 402 for control by the master can also be used as an al-
ternative to the Festo profile. The CiA 402 profile is then also
the internally implemented profile; the FHPP interface is
mapped by an implementation of CiA 402. The communica-
tions profile is in both cases DS 301.
Data profile Description
FHPP Controller
Control is efected via the cyclic 8-byte control and status data,
see sections 5.5.2 and 5.5.3
Parametrizing
Parametrizing is carried out:
– via a further 8 I/O bytes (Festo Parameter Channel FPC)
– optionally via releant SDO accesses.
For detailed information on the implemented objects see
appendix B.1.1.
CiA 402 Controller
Control is effected as per device profile CiA 402 with the following
deviations:
– “Positioning profile” subprofile
– Status transfer 19 and 20, see section C.2.
– Quick Stop active, status transition 12, see section C.2.
Parameterisation
Parameterisation is effected via SDO accesses (
CiA 402).
For detailed information on the implemented objects see ap-
pendix C.1.
Tab. 1/1: Control and parametrizing methods depending on data profile
The FHPP enables uniform control and programming for the
various field bus systems and controllers from Festo. Para-
meter values, control and status bytes required during oper-
ation can be written and read via the Object Directory and a
structure description. Communication via the CANopen field
bus is made via 8 bytes of I/O data.