Festo Контроллеры двигателя SFC-LAC User Manual
Page 192

B. Supplementary information
B−30
Festo GDCP−SFC−LACI−IO−EN en 0812NH
CI record table element
CI
20E0h
01h...0Bh
Struct
rw
Description
Editing the entries in the positioning record table:
1. Selection of line with object 2032h (record pointer).
2. Select column under subindex 20E0h: 01...0Bh.
20E0/01
20E0/02
V
20E0/03
20E0/04
20E0/05
20E0/...
Record
number
RCW
Target
position
Velocity
Accelera Ć
tion
Jerk
...
02
2032h
}
03
<1>
<...>
...
The values are only saved in the position record table with this command; no
movement is made.
Record Control
Word (RCW)
20E0h
01h
uint16
Word (RCW)
Record control word (SSW) Matches 20EAh and 20EBh.
Bit0:
=0 absolute position specification;
=1 relative position specification
Bits1..2: Both =0 standard path generator;
Both =1 energy optimised path generator
Bits3..7: Not used (=0)
Bit8:
=0 No record chaining; =1 record chaining
Bits9..14:Not used (=0)
Bit15:
= 0 Record chaining is not locked out;
= 1 Record chaining is locked out
Note: The energy optimised path generator enables higher dynamics with less
heat, the parametrised positioning curve (a trapeze) is not maintained exactly.
The parametrised maximum values for speed and acceleration may be slightly
exceeded.
Target position 20E0h
02h
int32
Target position in [increments] (matches 607Ah and 20ECh).
Velocity
(speed)
20E0h
03h
int32
(speed)
Speed in [increments] (matches 6081h and 20EDh).
Acceleration 20E0h
04h
int32
Acceleration in [increments/s
2
] (matches 6083h and 20EEh).