Festo Электромотор MTR-DCI - Manual (Page 137)

5. Commissioning
5-39
Festo P.BE-MTR-DCI-CO-EN en 1209a
5.5.2 Composition of the cyclic I/O data (FHPP standard)
The FHPP standard protocol always contains 8 bytes in-
put and 8 bytes output data.
Further 8 bytes I/O as per FHPP-FPC
In the cyclic data a further 8 bytes input data and 8 bytes
output data are permitted for transmitting parameters in ac-
cordance with the FPC protocol (Festo Parameter Channel).
The I/O data and the parameters are described in section B.1.
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data Bytes 1 and 2 (fixed)
are retained in each
operating mode and
transmit control and
status bytes (e. g.
CCon, SCON....) for
enabling the MTR-DCI
and for setting the
operating modes. Bytes 3 to 8 depend on the operating mode selected (Direct mode,
Record select) and transmit further control and status bytes (e. g.
CDir, SDir...), as well as nominal and actual values.
– Record number or nominal position in the output data,
– Return message of actual position and record number in the
input data,
– Further nominal and actual values depending on the operating
mode.
Input
data
I/O data Record select
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data CCON CPOS Record
number reserved reserved
Input
data SCON SPOS Record
number RSB Actual position
I/O data Direct mode
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data CCON CPOS CDIR Nominal
value 1
(velocity) Nominal value 2
(position, force/torque,...)
Input
data SCON SPOS SDIR Actual
value 1
(velocity,
force/
torque,...) Actual value 2
(actual position)