User Manual

5. Commissioning
5−32
Festo GDCP−SFC−LACI−DN−EN en 0812NH
5.5.2 Structure of the cyclic I/O data (FHPP standard)
FHPP standard contains 8 bytes of inputand 8 bytes of
output data:
data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data
Bytes 1 and 2 (fixed)
are retained in each
operating mode and
transmit control and
Bytes 3 to 8 depend on the operating mode selected (Direct mode,
Record select) and transmit further control and status bytes as well
as setpoint and actual values:
Record number or tar
g
et
p
osition in the out
p
ut data
Input
data
transmit
control
and
status bytes for en
abling the SFC−LACI
and for setting the
operating modes.
Record
number
or
target
position
in
the
output
data
Feedback of actual position and record number in the input data
 Further setpoint and actual values depending on the operating
mode
I/O data: Record selection
data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data
CCON CPOS Record
no.
Reserved Reserved
Input
data
SCON SPOS Record
no.
RSB Actual position
I/O data: Direct mode
data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data
CCON CPOS CDIR Setpoint
value 1
(velocity)
Setpoint value 2
(position, force/torque,...)
Input
data
SCON SPOS SDIR Actual
value 1
(velocity,
force/
torque,...)
Actual value 2
(actual position)
Further 8 bytes I/O as per FHPP−FPC
In the cyclic data a further 8 bytes input data and 8 bytes
output data are permitted for transferring parameters in
accordance wi
th the FPC protocol (Festo Parameter Channel)
} section B.2.