Festo Электромотор MTR-DCI - Manual (Page 31)

1. System overview
1-9 Festo P.BE-MTR-DCI-CO-EN en 1209a
Direct mode
1
2
...
n
Record Select
PDO 1 (FHPP standard)
TxPDO 2 RxPDO 2
8 bytes I/O as per FHPP standard 8 bytes I/O as per FHPP FPC
PNU SI
CDIR.B1/B2*
Power
operation
Positioning
mode
Positioning
mode
CCON.B6/B7*
CPOS* (reference travel, teach, start...)
TxPDO 1 RxPDO 1
— ....
— Parameter no. PNU
— Subindex SI
— Parameter value
— ....
— *Control/status bytes
— Record no.
— ....
...-FHPP.EDS
100
Festo Handling and Positioning Profile (FHPP)
Parameter access
— ....
— Object (Index)
— Subindex SI
— Parameter value
— ....
— *Control/status bytes
— Nominal/actual value
1, 2...
— ....
Object SI
2064 h
Sequence control
PNU hex + 2000h
...
1043
...
2413 h
Object SI
2...
1000h
3...
acyclic data channel (optional)
cyclic data channel
PDO 2 (FHPP-FPC)
TxSDO RxSDO
SD0
...
Fig. 1/2: Festo Handling und Positioning Profile (FHPP)