Festo Электромотор MTR-DCI - Manual (Page 133)

5. Commissioning
5-35
Festo P.BE-MTR-DCI-CO-EN en 1209a
Receive PDO 1 (FHPP standard)
Operating
mode Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Record Select SCON SPOS Record
no. RSB Actual position
Direct mode SDIR Actual
value 1
Receive PDO 2 (FHPP-FPC)
Function Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Control reserved
Parametrize reserved Subindex Task identifier +
parameter number Parameter value
PDO mapping with CiA 402
Receive PDO 1 (CiA 402)
1)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Control word 6040h Set
number
2032h Operating
mode
6060h Nominal value
– Positioning mode Setpoint (nominal) position
607Ah
– Power operation Nominal torque 6071h
1) Evaluation sequence:
– Read the operating mode 6061h
– Accept the set number 2032h
– Accept nominal value (only if set number 0 is for “Direct set”. Otherwise the value from the set
list applies to the specified set).
– Execute control word 6040h.