Festo Электромотор MTR-DCI - Manual (Page 134)

5. Commissioning
5-36
Festo P.BE-MTR-DCI-CO-EN en 1209a
Receive PDO 2 (CiA 402)
1)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Velocity 6081h Acceleration 6083h
1) The velocity and acceleration are only accepted if the set number received via PDO 1 is 0 for “Direct
set”. It is not possible to overwrite the set list by PDO.
Transmit PDO 1 (CiA 402)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Status word 6041h Set
number
2032h Operating
mode
6061h Actual value
– Actual position 6064h
1)
– Actual torque 6077h
1) With the Transmit PDO a new transmission is only sent if the value has changed by more than 1.
(To avoid high bus loading caused by jitter on the position decoder).
Transmit PDO 2 (CiA 402)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved (this PDO is not supported).