Festo Электромотор MTR-DCI - Manual (Page 229)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-11
Festo P.BE-MTR-DCI-CO-EN en 1209a
Step 4 Write record number 1 with target position 0x1234 (decimal 4660
increments): PNU 404, subindex 2 – Modify parameter value, array,
double word: ReqID 8 (0x8) with value 0x00001234.
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 81 0x 94 0x 00 0x 00 0x 12 0x 34
Input
data 0x00 0x02 0x 81 0x 94 0x 00 0x 00 0x 12 0x 34
Step 5 After receiving the input data with ResID 0x8 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 0x94 0x00 0x00 0x12 0x34
Input
data 0x00 0x02 0x 01 0x94 0x00 0x00 0x12 0x34
Step 6 Write record number 1 with speed 0x7743 (decimal 30531 in-
crements/s): PNU 406, subindex 2 – Modify parameter value, array,
double word: ReqID 8 (0x8) with value 0x00007743.
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 81 0x 96 0x 00 0x 00 0x 77 0x 43
Input
data 0x00 0x02 0x 81 0x 96 0x 00 0x 00 0x 77 0x 43
Step 7 After receiving the input data with ResID 0x8 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 0x94 0x00 0x00 0x77 0x43
Input
data 0x00 0x02 0x 01 0x94 0x00 0x00 0x77 0x43