Festo Контроллеры двигателя SFC-LAC - Manual (Page 192)

B. Supplementary information
B−30
Festo GDCP−SFC−LACI−IO−EN en 0812NH
CI record table element
CI 20E0h 01h...0Bh Struct rw
Description Editing the entries in the positioning record table:
1. Selection of line with object 2032h (record pointer).
2. Select column under subindex 20E0h: 01...0Bh.
20E0/01 20E0/02
V 20E0/03 20E0/04 20E0/05 20E0/...
Record
number RCW Target
position Velocity Accelera Ć
tion Jerk ...
02
2032h
} 03 <1> <...>
...
The values are only saved in the position record table with this command; no
movement is made.
Record Control
Word (RCW)
20E0h 01h uint16
Word (RCW)
Record control word (SSW) Matches 20EAh and 20EBh.
Bit0:
=0 absolute position specification;
=1 relative position specification
Bits1..2: Both =0 standard path generator;
Both =1 energy optimised path generator
Bits3..7: Not used (=0)
Bit8: =0 No record chaining; =1 record chaining
Bits9..14:Not used (=0)
Bit15:
= 0 Record chaining is not locked out;
= 1 Record chaining is locked out
Note: The energy optimised path generator enables higher dynamics with less
heat, the parametrised positioning curve (a trapeze) is not maintained exactly.
The parametrised maximum values for speed and acceleration may be slightly
exceeded.
Target position 20E0h 02h int32
Target position in [increments] (matches 607Ah and 20ECh).
Velocity
(speed)
20E0h 03h int32
(speed)
Speed in [increments] (matches 6081h and 20EDh).
Acceleration 20E0h 04h int32
Acceleration in [increments/s 2 ] (matches 6083h and 20EEh).