5
Operation
Festo – EXCM-30/-40-...-PF-EN – 1603 – English
39
5.2
Communication principle, general
Communication between a higher-order controller and the controller takes place in all operating modes
through the FHPP protocol (Festo Handling and Positioning Profile) with cyclical data exchange of
8 bytes of output and 8 bytes of input data each.
5.2.1
Overview of the control and status bytes
The function assignment of the control and status bytes (byte 3 … 8) is dependent on the
operating mode.
Record selection mode
Control word
Output word 1
Output word 2
Output word 3
Data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Output data
(control bytes)
CCON
CPOS
Record no. Reserved =0
Tab. 5.1
Record selection mode, control byte overview
Status word
Input word 1
Input word 2
Input word 3
Data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Input data
(status bytes)
SCON
SPOS
Record no. Error num
ber
Actual
X-position
Actual
Y position
Tab. 5.2
Record selection mode, status byte overview
Direct mode
Control word
Output word 1
Output word 2
Output word 3
Data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Output data
(control bytes)
CCON
CPOS
Speed
Setpoint
X position
Setpoint
Y position
Tab. 5.3
Direct mode, control byte overview
Status word
Input word 1
Input word 2
Input word 3
Data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Input data
(status bytes)
SCON
SPOS
Reserved
= 0
Error num
ber
Actual
X-position
Actual
Y position
Tab. 5.4
Direct mode, status byte overview
