Festo Электромотор MTR-DCI - Manual (Page 182)

5. Commissioning
5-84
Festo P.BE-MTR-DCI-DN-EN en 1209a
Step 4 Write record number 1 with target position 0x1234 (decimal
4660 increments):
PNU 404, subindex 2 – modify parameter value, array, double
word: ReqID 8 (0x8) with value 0x00001234.
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Subindex ReqID/ResID + PNU Parameter value
O data 0x00 0x02 0x 81 0x 94 0x 00 0x 00 0x 12 0x 34
I data 0x00 0x02 0x 81 0x 94 0x 00 0x 00 0x 12 0x 34
Step 5 After receiving the I-data with ResID 0x8 send O-data with
ReqID = 0x0 and wait for I-data with ResID = 0x0:
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Subindex ReqID/ResID + PNU Parameter value
O data 0x00 0x02 0x 01 0x94 0x00 0x00 0x12 0x34
I data 0x00 0x02 0x 01 0x94 0x00 0x00 0x12 0x34
Step 6 Write record number 1 with speed 0x7743
(decimal 30531 increments/s):
PNU 406, subindex 2 – modify parameter value, array, double
word: ReqID 8 (0x8) with value 0x00007743.
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Subindex ReqID/ResID + PNU Parameter value
O data 0x00 0x02 0x 81 0x 96 0x 00 0x 00 0x 77 0x 43
I data 0x00 0x02 0x 81 0x 96 0x 00 0x 00 0x 77 0x 43
Step 7 After receiving the I-data with ResID 0x8 send O-data with
ReqID = 0x0 and wait for I-data with ResID = 0x0:
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Subindex ReqID/ResID + PNU Parameter value
O data 0x00 0x02 0x 01 0x94 0x00 0x00 0x77 0x43
I data 0x00 0x02 0x 01 0x94 0x00 0x00 0x77 0x43