Festo Электромотор MTR-DCI - Manual (Page 125)

5. Commissioning
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Festo P.BE-MTR-DCI-PB-EN en 1209a
5.7 Festo profile for handling and positioning (FHPP)
The MTR-DCI supports the Festo handling and positioning
profile FHPP (see also section 1.6).
5.7.1 Supported operation modes
The operation modes differ as regards the contents and
meaning of the cyclical I/O data and in the functions which
can be accessed in the MTR-DCI.
Operation mode Description
Record Select 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 as a nom-
inal or actual value.
Direct mode The positioning task is transferred directly in the I/O telegram. Only
the most important nominal values (position, speed) are transferred.
Supplementary parameters (e.g. acceleration) are defined by para-
meter assignment.
Tab. 5/7: Overview of operation modes
Record Select
Preset operation mode when the SFC-DC is started up.
The MTR-DCI has 31 records (1 ... 31) which contain all the
information necessary for a positioning task (+ record 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.