Festo Электромотор MTR-DCI - Manual (Page 30)

1. System overview
1-8
Festo P.BE-MTR-DCI-CO-EN en 1209a
The FHPP defines uniform operating modes and I/O data
structures for the user.
– Parameter access as per FHPP FPC (PDO 2; optional:
SDO)
– Sequence control as per FHPP Standard (PDO 1) with the
operating modes Direct mode or Record Select.
Direct mode Positioning tasks in positioning or power operation can be
executed as direct mode. The positioning task is transferred
directly in the I/O telegram (FHPP standard). The most im-
portant nominal values (position, velocity, force/torque...)
are thereby transferred. Supplementary parameters are de-
termined via the parametrizing (FHPP FPC).
Record Select Positioning tasks in positioning mode can be executed with
Record Select. The positioning data are set indirectly via posi-
tioning sets which are taught via FCT, the control panel or
field bus and saved in the controller. 31 position sets can be
saved in the MTR-DCI. A record contains all the parameters
which are specified for a positioning task. The record number
is transferred to the cyclic I/O data as the nominal or actual
value (FHPP standard).
Detailed information on the FHPP can be found in
chapter 5.5.