B.2.8 record list – Festo Электромотор MTR-DCI User Manual
Page 248
B. Reference – Festo Handling and Positioning Profile (FHPP)
B-30
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.2.8
Record list
PNU 400
Record number
uint8
PNU 401
RCB1
1)
uint8
PNU 404
Target position
int32
PNU 406
Speed
uint32
PNU 407
Acceleration
uint32
0
Homing
1
...
...
...
...
2
...
...
...
...
...
...
...
...
...
31
...
...
...
...
1) RCB = Record Control Byte. Defines whether positioning is relative or absolute.
Tab. B/8: Position set table structure (record list)
FHPP
With FHPP record selection for reading and writing is made
via the subindex of the PNUs 401 ... 407. The active record for
positioning or teaching is selected with PNU 400.
CANopen
With CANopen, record selection is made with object 2032h;
the record thus selected is then addressed with object 20E0h,
whereby the record element is selected with the subindex,
see section C.1.3, Tab. C/2.
Record Number
FHPP
400
–
Var
uint8
rw
Description
The active/selected record is also valid when the drive is not in Record Select
mode (e. g. during teaching). In Record Select mode this parameter is trans-
ferred to the cyclic I/O data.
Value range: 0 ... 31 (0x00 ... 0x1F)
CI
2033h
– / 00h
Var
uint8
rw
Note: Object 2032h is intended for access via CANopen.