Festo Контроллеры двигателя SFC-LAC - Manual (Page 136)

5. Commissioning
5−34
Festo GDCP−SFC−LACI−CO−EN en 0812NH
PDO mapping in DS 402
Receive PDO 1 (DS402) 1)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Control word 6040h Record no.
2032h Operating
mode
6060h Nominal value:
Ĉ Positioning mode: setpoint (nominal) position
607Ah
Ĉ Force mode: nominal torque 6071h
Ĉ Interpolated position mode: data 60C1h
1) Evaluation sequence:
Ĉ Read the operating mode 6060h
Ĉ Accept record number 2032h
Ĉ Accept nominal value (only if set number 0 is for direct set". Otherwise the value from the
record list applies to the specified record).
Ĉ Execute control word 6040h.
Receive PDO 2 (DS402) 1)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Velocity 6081h Work item mass 20E0/06h
1) The velocity and work item mass are only accepted if the record number received via PDO 1 is 0 for
Direct record." It is not possible to overwrite the set list by PDO.