Instruction Manual

B. Supplementary information
B−113
Festo P.BE−GDCP−SFC−LACI−PB−EN en 0812NH
Record Table Element
CI 20E0h 01h ... 0Bh Record Various rw
Description Editing the entries in the positioning record table:
1. Selection of line with object 2032h (record pointer)
2. Select column under subindex 20E0: 01 ... 0Bh
20E0/01 20E0/02
V
20E0/03 20E0/04 20E0/05 20E0/...
Record
number
RCW Target
position
Velocity Acceler
ation
Jerk ...
02
2032h}
03 <1> <...>
...
The values are only saved in the position record table with this command;
no movement is made.
Record Control
Word
20E0h 01h uint16
Word
(RCW)
Record control word (SSW) Matches 20EAh and 20EBh.
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)
Bit 8: = 0 no further record switching
= 1 further record switching
Bit 9 ... 14: not used (= 0)
Bit 15: = 0 record chaining is not locked out
= 1 record chaining is locked out
Note:
The energy optimised path generator enables higher dynamics with less heat,
the parametrised positioning curve (a trapeze) is not maintained exactly.
The parametrised maximum values for speed and acceleration may be slightly
exceeded.
Target Position 20E0h 02h int32
Target position in [Increments] (matches 607Ah and 20ECh)
Velocity
(speed)
20E0h 03h int32
(speed)
Speed in [Increments/s] (matches 6081h und 20EDh)