Festo SFC-LAC CO Series, Руководство пользователя

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5. Commissioning
5−35
Festo P.BE−SFC−LAC−CO−EN en 0708NH
5.5.2 Structure of the cyclic I/O data (FHPP standard)
The FHPP standard protocol contains 8 bytes inputand
8bytes output 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
(e.g. CDIR, SDIR ...), as well as nominal and actual values:
Record number or nominal position in the output data
Input
data
transmit control and
status bytes for en
abling the SFC−LAC
and for setting the
operating modes. Record number or nominal position in the output data
Return message of actual position and record number in the
input data
Further nominal and actual values depending on the operating
mode.
I/O data: Record select
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 Nominal
value 1
(velocity)
Nominal 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),
see appendix B.1.