Festo Электромотор MTR-DCI - Manual (Page 226)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-8
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.1.3 Rules for task reply processing
Rules Description
1 If the master sends the identifier for “No task,” the MTR-DCI replies with the Response
identifier for “No reply.”
2 A task or reply telegram always refers to a single parameter.
3 The master must continue to send a task until it receives the appropriate reply from the
MTR-DCI.
4 The master recognizes the reply to the task placed:
– by evaluating the Response identifier
– by evaluating the parameter number (PNU)
– if applicable, by evaluating the subindex (IND)
– if applicable, by evaluating the parameter value.
5 The MTR-DCI provides the reply until the master sends a new task.
6 a) A write task, even with cyclic repetition of the same task, will only be carried out once
by the MTR-DCI.
b) Between two consecutive tasks with the same Task identifier (AK), parameter
number (PNU) and subindex (IND), the Task identifier 0 (no task) must be sent
and the Response identifier 0 (no reply) must be awaited. This is to ensure that an
“old” reply is not interpreted as a “new” reply.
Tab. B/6: Rules for task reply processing