Instruction Manual

B. Supplementary information
B−43
Festo P.BE−GDCP−SFC−LACI−PB−EN en 0812NH
FHPP Control Data
PNU 321 1 ... 2 Record uint32 r
Description FHPP output data (8 bytes of status date), 4 bytes each, consistent
1
FHPP control bytes 1 ... 4 (CCON, CPOS, ...)
2
FHPP control bytes 5 ... 8 (setpoint position)
CI 20A1h 01h ... 02h uint32 r
Control Word
PNU 330  uint16 rw
Description Control word: Modify the current controller status or trigger an activity.
As status modifications require a certain amount of time, all status modifica
tions triggered via the control word must be read back via the status word
(6041h). Further commands cannot be written via the control word until the
requested status can be read in the status word.
Typical values: see Tab.B/9
Bit assignment: see Tab.B/10
CI 6040h 00h uint16 rw
Value Function
0x000F ENABLE OPERATION, Controller enable
0x000D VOL TAGE DISABLE, end stage off
0x001F Start ABSOLUTE movement
0x005F Start RE LATIVE movement
0x010F Stop movement
0x008F Reset error + ENABLE OPERATION
0x004F Set target position as RELATIVE
Tab.B/9: Typical values control word