Festo Электромотор MTR-DCI - Manual (Page 227)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-9
Festo P.BE-MTR-DCI-CO-EN en 1209a
Sequence of parameter processing
Caution
Observe the following when modifying parameters:
An FHPP control signal, which is to refer to a modified
parameter, may only follow when the Response identifier
“Parameter value transferred” is received for the relevant
parameter and if applicable for the index.
If, e. g. a position value in a position register is to be modified
and if movement is then to be made to this position, the posi-
tioning command must not be given until the MTR-DCI has
completed and confirmed the modification of the position
register.
Caution
In order to be sure that an “old” reply cannot be inter-
preted as a “new” reply, the Task identifier 0 (no task)
must be sent and the Response identifier 0 (no reply) must
be awaited between two consecutive tasks with the same
Task identifier (AK), parameter number (PNU) and subin-
dex (IND).
Evaluating faults
In the case of tasks which cannot be carried out, the slave
replies as follows:
– Output Reponse identifier = 7
– Output a fault number in bytes 7 and 8 of the parameter
channel (FPC).