Pdo mapping in ds 402 – Festo Контроллеры двигателя SFC-LAC User Manual
Page 136
5. Commissioning
5−34
Festo GDCP−SFC−LACI−CO−EN en 0812NH
PDO mapping in DS 402
Receive PDO 1 (DS402)
1)
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Control word 6040h
Record no.
2032h
Operating
mode
6060h
Nominal value:
Ĉ Positioning mode: setpoint (nominal) position
607Ah
Ĉ Force mode: nominal torque 6071h
Ĉ Interpolated position mode: data 60C1h
1)
Evaluation sequence:
Ĉ Read the operating mode 6060h
Ĉ Accept record number 2032h
Ĉ Accept nominal value (only if set number 0 is for direct set". Otherwise the value from the
record list applies to the specified record).
Ĉ Execute control word 6040h.
Receive PDO 2 (DS402)
1)
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Velocity 6081h
Work item mass 20E0/06h
1)
The velocity and work item mass are only accepted if the record number received via PDO 1 is 0 for
Direct record." It is not possible to overwrite the set list by PDO.