Festo EMCA-EC-67 CO Series, Описание

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7 FHPP
114 Festo – EMCA-EC-C-HP-EN – 2017-11e – English
7 FHPP
7.1 FHPP communication
7.1.1 Function
The device profile “Festo Handling and Positioning Profile (FHPP)” provides a simple and standardised
interface for various bus systems to control the EMCA or access the parameters of the EMCA (e.g.
speed when positioning).
The following cyclical data interfaces for process data are available for FHPP communication between
control and EMCA:
– FHPP standard data (I/O data)
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for transmission of control and status data for operation of the EMCA
(e.g. setpoint position/actual position/record number/operation-dependent setpoint and actual values)
– Festo Parameter Channel (FPC)
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for transmission of parameter values or a parameter file
– FHPP+ data
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for transmission of additional FHPP parameters
The Festo Parameter Channel (FPC) and the FHPP+ data are an extension of the FHPP standard data and
can optionally be used.
With CANopen, FHPP reference parameters (PNUs) can optionally be accessed via the
service data objectsSDO (Service data objects)
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page 366.
controller EMCA
Status data
(actual value)
FHPP standard data
Parameter channel FPC
FHPP+ data
Control data
(setpoint value)
Input data
(I data)
Output data
(O data)
FHPP standard data
Parameter channel FPC
FHPP+ data
Answer
Acknowledgment
SDO (tx)
Request SDO (rx)
FHPP communication
SDO communication (CANopen)
Fig. 7.1 Overview: FHPP communication