Festo Электромотор MTR-DCI - Manual (Page 228)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-10
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.1.4 Example of parametrizing
The following tables show an example of parametrizing a
positioning task in the position record table via FPC – (Festo
Parameter Channel).
Step 1 Output status of the 8 bytes of FPC data:
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
reserved Subindex ReqID/ResID + PNU Parameter value
Output
data 0x00 0x00 0x 00 0x00 0x00 0x00 0x00 0x00
Input
data 0x00 0x00 0x 00 0x00 0x00 0x00 0x00 0x00
Step 2 Write record number 1 with absolute positioning:
PNU 401, subindex 2 – Modify parameter value, array, byte:
ReqID 12 (0xC) with value 0x00.
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
reserved Subindex ReqID/ResID + PNU Parameter value
Output
data 0x00 0x 02 0x C1 0x 91 Unused Unused Unused 0x 00
Input
data 0x00 0x 02 0x C1 0x 91 0x00 0x00 0x00 0x 00
Step 3 After receiving the input data with ResID 0xC send
output data with ReqID = 0x0 and wait for input data
with ResID = 0x0:
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
reserved Subindex ReqID/ResID + PNU Parameter value
Output
data 0x00 0x02 0x 01 0x91 Unused Unused Unused 0x00
Input
data 0x00 0x02 0x 01 0x91 0x00 0x00 0x00 0x00