Festo Контроллеры двигателя SFC-LAC - Manual (Page 356)

C. Object directory DS402 and CI
C−30
Festo GDCP−SFC−LACI−CO−EN en 0812NH
Record_Table_Element (element in position record table)
DS402 / CI 20E0h 01h...0Bh Record Various rw
Description Editing the entries in the positioning record table:
1 Selection of line with object 2032
h
(record pointer).
2 Select column under subindex 20E0: 01...0B
20E0/01 20E0/02
V 20E0/03 20E0/04 20E0/05 20E0/...
Record
number RCW Target
position Velocity AccelerĆ
ation Profile
jerk ...
02
2032h
} 03 <1> <...>
...
The values are only saved in the position record table with this command; no
movement is made. The subindices 02h...06h refer to the objects 607A, 6081,
6083, 2036 and 2037. Different data types are appropriately converted when
reading and writing.
Record control
word
20E0h 01h uint16 rw
word
(RCW) Record control word (SSW)
Bit0: =0 absolute position specified; =1 relative position specified
Bit1..2: =00 Standard path generator;
=11 Energy optimised path generator
Bit3..7: Not used (=0)
Bit8:
Only with FHPP: =0 no record chaining; =1 record chaining
Bit9..14: Not used (=0)
Bit15:
Only with FHPP: = 0 record chaining is not blocked;
=1 record chaining blocked
Target
position
20E0h 02h int32 rw
position
Target position in increments (see 607Ah).
Value range: −2
31 ...+(2 31 −1) (0x80000000...0x7FFFFFFF). Default: 0
Velocity 20E0h 03h int32 rw
Speed in increments/s (see 6081h).
Value range: 0...3072000 (0x002EE000) Inc/s
Z 0...3000 mm/s. Default: 0.
Acceleration 20E0h 04h int32 rw
Acceleration in increments/s 2 (see 6083h).
Value range:1024...61440000 (0x400...0x3A98000) Inc/s 2 Z 1...60000 mm/s 2
Default: 7168000 (0x6D6000) Z 7000 mm/s 2 .