Festo Электромотор MTR-DCI - Manual (Page 128)

5. Commissioning
5-30
Festo P.BE-MTR-DCI-DN-EN en 1209a
5.5 Festo profile for handling and positioning (FHPP)
5.5.1 Supported operating modes
The operating modes differ in the contents and meaning of
the cyclical I/O data and in the functions which can be
accessed in the MTR-DCI.
Operating mode Description
Record selection (default) 31 position set records can be saved in the MTR-DCI. A record con-
tains all the parameters which are specified for a positioning task.
The record number is transferred to the cyclical I/O data (FHPP stan-
dard) as a nominal or actual value.
Direct Task The positioning task is transferred directly in the I/O telegram (FHPP
standard). The key nominal values (position, speed, force/torque)
are transmitted with it. Supplementary parameters are defined via
the parameterisation (FHPP FPC).
Tab. 5/7: Overview of operation modes
The mode is switched by the control byte CCON (see below)
and the mode status is indicated in the status byte SCON.
Definition by means of parameterisation is not possible.
Switching between modes is only permissible in the “drive
disabled” or “drive enabled” state.
Record selection
Positioning drive The MTR-DCI has 31 records (1 ... 31) containing all the
information necessary for a positioning task (+ set 0
= homing).
The record number which the MTR-DCI is to execute at the
next startup is transferred in the output data of the master.
Its input data contains the last executed record number.
The positioning task itself does not need to be still active.