User Manual

5. Commissioning
5−30
Festo GDCP−SFC−LACI−DN−EN en 0812NH
5.5 Festo Handling and Positioning Profile (FHPP)
5.5.1 FHPP operating modes
The FHPP operating modes differ regarding their contents
and the meaning of the cyclic I/O data and in the functions
which can be accessed in the
SFC−LACI.
Operation mode
Description
Record selection A total of 31 position sets (= positioning tasks) can be saved in the SFC−LACI.
A record contains all the parameters which are required for a positioning task.
The record number is transferred in the cyclic I/O data.
Direct mode The task is transferred directly in the I/O telegram. Only the most important
setpoint values (target position, speed) are thereby transferred. Supplemen
tary parameters (e.g.acceleration) are defined via the parameterisation.
Tab.5/2:Overview of F HPP operating modes
The operating mode is switched by the control byte CCON
(see below) and indicated in the status byte SCON
. Definition
by means of parameterising is not possible. Switching
between modes is only permitted in the Drive disabled" or
D
rive enabled" status.
Record selection
Preset operating mode when the SFC−LACI is started up.
The SFC−LACI has 31 records (1 ... 31), which contain all the
information necessary for a position
ing task
(+ record 0 = homing run).
The record number, which the SFC−LACI is to process at the
next start, is transferred in the output data of the master. The
input
data contains the record number that was processed
last. The positioning job itself does not need to be active.