Festo SFC-LAC CO Series, Руководство пользователя

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1. System summary
1−11
Festo P.BE−SFC−LAC−CO−EN en 0708NH
1.2.2 Data profiles FHPP and DS402
Festo has developed an optimized data profile, the Festo
Handling and Positioning Profile (FHPP)" tailored to handling
and positioning tasks.
The CANopen profile DS402 for control by the master can
also be used as an alternative to the Festo profile. The DS402
profile is then also the internally implemented profile; the
FHPP interface is mapped by an implementation of DS402.
The communications profile is in both cases DS301.
Data profile Description
FHPP Control
Control is effected by way of the cyclic 8−byte control and status data;
see section 5.5.2.
Status machine FHPP: see appendix B.3.
Parametrizing
Parametrizing is carried out:
via a further 8 I/O bytes (Festo Parameter Channel FPC)
optionally via relevant SDO accesses.
For detailed information on the implemented objects see appendix B.1.
DS402 Control
Control is carried out as per device profile DS402 (sub−profile Positioning
Profile") with slight deviations (see appendix C.3 Status machine DS402).
Parametrizing
Parametrizing is effected via SDO accesses (DS402).
For detailed information on the implemented objects see appendix C.1.
Tab.1/1: Control and parametrizing methods depending on data profile
Detailed information on the FHPP can be found in section 5.5.