Festo EMCA-EC-67 CO Series, Описание

Страница: 123 / 416

8 FHPP standard data (I/O data)
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 123
8.2 Structure of the FHPP standard data (I/O data)
8.2.1 Function
The FHPP standard data are used for cyclical transmission of control and status data (I/O data) for
operation of the EMCA. The first 8 bytes of the FHPP message are permanently assigned to the FHPP
standard data. The first two control and status bytes 1 and 2 are valid for all operating modes.
The control and status bytes 3 … 8 depend on the selected operating mode. Additional control or status
data and target or actual values can be transmitted in these data.
The following data can be exchanged between the controller and the EMCA via the FHPP standard data:
FHPP standard
data (8 bytes)
FHPP operating modes
Record selection mode Direct operation
Up to 64 records, which include all
parameters for the positioning task,
can be controlled through the record
number.
è
page 174.
In the direct mode, the target (posi­
tion, speed, torque) in setpoint value 2
and the supplemental parameter (e.g.
acceleration) in setpoint value 1 are
transferred
è
page 193.
Control data/out­
put data (O data)
– Control bytes
– Target record number
– Control bytes
– Target setpoint value
– Supplemental setpoint values
Status data/input
data (I data)
– Status bytes
– Actual record number
– Supplemental actual values
– Status bytes
– Actual value
– Supplemental actual values
Tab. 8.3 Overview:FHPP operating modes
8.2.2 Structure of the FHPP message
In the FHPP message, the first 8 bytes are used for the FHPP standard data.
FHPP message (byte 1 ... 32)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
FHPP standard data
(8 bytes)
FPC parameter channel
(8 bytes)
FHPP+ data
(Max. 16 bytes)
1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
CCON, CPOS, ... PNU…/file PNU… PNU...
Tab. 8.4 Structure of the FHPP message with FPC parameter