Festo Электромотор MTR-DCI - Manual (Page 171)

5. Commissioning
5-73
Festo P.BE-MTR-DCI-CO-EN en 1209a
Parameters involved
The entries in the positioning table can be written via the field
bus (see Tab. 5/20). Each nominal value is addressed by its
own PNU. A record consists of the nominal values with the
same subindex.
The composition of the positioning table as per FHPP is
described in appendix B.2.8.
Overview of parameters involved (see section B.2.8)
Record composition Description FCT PNU CO/CI
Position absolute/relative x 401 20E0/01h
Target position x 404 20E0/02h
Velocity x 406 20E0/03h
Acceleration x 407 20E0/04h
Start CPOS.B1 = positive edge: Start
Jogging and referencing have priority.
Reply message SPOS.B2 = 0: Motion Complete
SPOS.B1 = positive edge: Quit Start
SPOS.B4 = 1: Drive moves
Requirements Device control by PLC/field bus
Controller must be in status “Operation enabled”
Record number must be valid
Tab. 5/20: Parameters involved in Record Select mode