Festo Контроллеры двигателя SFC-LAC - Manual (Page 44)

1. System overview
1−22
Festo GDCP−SFC−LACI−CO−EN en 0812NH
Direct mode
1
2
...
n
Record selection
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*
Force
mode
Positioning
mode
Positioning
mode
CCON.B6/B7*
CPOS* (homing, teach, start...)
TxPDO 1 RxPDO 1
Ċ ....
Ċ Parameter no. PNU
Ċ Subindex SI
Ċ Parameter value
Ċ ....
Ċ *Control/status bytes
Ċ Record no.
Ċ ....
...−FHPP.EDS
100
Festo Handling and Positioning Profile FHPP
Parameter access
Ċ ....
Ċ Object (Index)
Ċ Subindex SI
Ċ Parameter value
Ċ ....
Ċ *Control/status bytes
Ċ Nominal/actual value 1, 2...
Ċ ....
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. 1/3: Festo Handling and Positioning Profile (FHPP)