Instruction Manual

B. Supplementary information
B−50
Festo P.BE−GDCP−SFC−LACI−PB−E N en 0812NH
Record Control Byte 1
PNU 401 1 ... 34
d
0 ... 33
d
uint8 rw
Description Record control byte 1
Settings for record selection:
 Relative/absolute positioning
 Path generator, standard/energy optimized
Bit 0: = 0 absolute position specification
= 1 relative position specification
Bit 1 ... 2: both = 0 standard path generator
both = 1 energy optimised path generator
Bit 3 ... 7: not used (=0)
Note:
The energy−optimized path generator enables higher dynamics with less
heat; the parameterized positioning curve (a trapezoid as e.g.in Fig.5/4)
is not maintained exactly. The parametrised maximum values for speed and
acceleration may be slightly exceeded.
Record 0
(positioning record 0)
401 1 0
(positioning record 0)
Do not use (Homing)
Record 1
(positioning record 1)
401 2 1
(positioning record 1)
Record control byte 1 Positioning record 1
Record ...
(positioning record )
401 ... ...
(positioning record ...)
Record control byte 1 Positioning record 2 ... 30
Record 31
(positioning record 31)
401 32 31
(positioning record 31)
Record control byte 1 Positioning record 31
Jog Mode
(inching operation)
33 32
(inching operation)
Record control byte 1 for jog mode
Direct Mode 34 33
Record control byte 1 for direct mode
CI 20EAh 01h ... 22h uint8 rw
Note: The CI object 20E0h/01h is intended for access via CI.