Festo Контроллеры двигателя SFC-LAC - Manual (Page 140)

5. Commissioning
5−38
Festo GDCP−SFC−LACI−CO−EN en 0812NH
5.5.2 Structure of the cyclic I/O data (FHPP standard)
FHPP standard contains 8 bytes of input and 8 bytes of outĆ
put data:
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data Bytes 1 and 2 (fixed)
are retained in each
operating mode and
transmit control and Bytes 3 to 8 depend on the operating mode selected (Direct mode,
Record select) and transmit further control and status bytes as well
as setpoint and actual values:
Ĉ Record number or setpoint position in the output data,
Input
data
transmit control and
status bytes for enĆ
abling the SFC−LACI
and for setting the
operating modes. Ĉ Record number or setpoint position in the output data,
Ĉ Feedback of actual position and record number in the input
data,
Ĉ Further setpoint and actual values depending on the operating
mode.
I/O data: Record selection
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data CCON CPOS Record
no. Reserved Reserved
Input
data SCON SPOS Record
no. RSB Actual position
I/O data: Direct mode
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data CCON CPOS CDIR Setpoint
value 1
(velocity) Setpoint value 2
(position, force/torque...)
Input
data SCON SPOS SDIR Actual
value 1
(velocity,
force/
torque...) Actual value 2
(actual position)
Further 8 bytes I/O as per FHPP−FPC
In the cyclic data a further 8 bytes input data and 8 bytes
output data are permitted for transferring parameters in
accordance with the FPC protocol (Festo Parameter Channel)
} section B.2.