Festo Электромотор MTR-DCI User Manual
Page 249
B. Reference – Festo Handling and Positioning Profile (FHPP)
B-31
Festo P.BE-MTR-DCI-CO-EN en 1209a
Record Control Byte 1
FHPP
401
1...32
d
Array
uint8
rw
Description
Record control byte 1 (RCB1) controls important settings for the positioning
task in Record Select mode.
Bit 0:
Nominal value absolute/relative
Bit 1 ... 7: reserved (= 0)
Values:
0 (0x00): Nominal value is absolute (default)
1 (0x01): Nominal value is relative to the last nominal value/switch further
value
Record 0 401
1
uint8
rw
Record control byte 0 (reference travel)
Record ... 401
...
uint8
rw
Record control byte positioning record 1 ... 30
Record 31 401
32
uint8
rw
Record control byte positioning record 31
CI
20EAh
01h...20h
Array
uint8
rw
Note: Object 20E0h/01h is intended for access via CANopen.
Record Target Position
FHPP
404
1...32
d
Array
int32
rw
Description
Target position of the positioning record table in increments.
Value range: -2
31
...+(2
31
-1) (0x80000000 ... 0x7FFFFFFF)
Default: 0
Record 0 404
1
int32
rw
Nominal position value positioning record 0 (reference travel)
Record ... 404
...
int32
rw
Nominal position value positioning record 1 ... 30
Record 31 404
32
int32
rw
Nominal position value positioning record 31 ...
CI
20ECh
01h...20h
Array
int32
rw
Note: Object 20E0h/01h is intended for access via CANopen.