Festo Электромотор MTR-DCI - Manual (Page 130)

5. Commissioning
5-32
Festo P.BE-MTR-DCI-DN-EN en 1209a
5.5.2 Structure of the cyclic I/O data (FHPP standard)
The FHPP protocol stipulates 8 bytes of input data and
8 bytes of output data.
Further 8 byte I/O according to FHPP-FPC
In the cyclic data a further 8 bytes of input data and 8 bytes
of output data are permissible for transmitting parameters
according to the FPC protocol (Festo Parameter Channel).
A description of the I/O data and the parameters is provided
in section 5.7.
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
O data Bytes 1 and 2 (fix)
are retained in every
operating mode and
transfer control and
status bytes (e.g.
CCon, SCON....) for
enabling the MTR-
DCI and setting the
operating modes Bytes 3 to 8 depend on the selected operating mode (direct task,
record selection) and transfer further control and/or status bytes
(e.g. CDir, SDir...), as well as nominal and actual values:
– Record number or nominal position in the output data
– Feedback of actual position and record number in the input data
– Additional mode-dependent nominal and actual values.
I data
I/O data: Record selection
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
O data CCON CPOS Record no. Reserved Reserved
I data SCON SPOS Record no. RSB Actual position
I/O data: Direct Task
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
O data CCON CPOS CDIR Nominal
value 1
(Velocity) Nominal value 2
(position, force/torque, ...)
I data SCON SPOS SDIR Actual
value 1
(position,
force/
torque, ...) Actual value 2
(Actual position)