C.1.3 manufacturer specific profile area – Festo Электромотор MTR-DCI User Manual
Page 295
C. Reference – CANopen and CI objects
C-19
Festo P.BE-MTR-DCI-CO-EN en 1209a
C.1.3
Manufacturer specific profile area
Record number
CANopen / CI
2032h
01h
Array
1)
uint8
rw
1)
Pseudo-array due to compatibility
Description
Select a position record via the record number.
The record number is saved as the target for write and read operations on the
following Objects:
– Object 20E0/01h...05h: position_table_element
– or objects 607Ah, 6081h, 6083h, 6084h.
There is a direct correlation with object 2033h (PNU 401).
Record number 2032h
01h
uint8
rw
Read or write record number
Values:
0 (0x00): CANopen direct position record
1 (0x00): CANopen RS232 position record
2 (0x02): Homing (position record 0)
3 (0x03): Position record 1 (default)
4 (0x04): Position record 2
...
Position record ...
33 (0x21): Position record 31
Record
number
MTR-DCI
2032h
Record
number
uint8
20E0/01h
RCB1
uint16
20E0/02h
Nominal
(target)
position
int32
20E0/03h
Velocity
int32
20E0/04h
Acc. Movement
to
int32
0
2
Homing
1
3
...
...
...
...
2
4
...
...
...
...
...
...
...
...
...
...
31
33
...
...
...
...
Tab. C/2: Structure of CiA 402 record list
For CiA 402, the record is selected with object 2032h. The
selected record is then addressed with object 20E0h,
whereby the record element (column in Tab. C/2) with the
sub-index is selected. From the value received via object
2032h, subtract 2 in order to get the internal record number.