User Manual

C. CI interface
C−25
Festo GDCP−SFC−LACI−DN−EN en 0812NH
Record Table Element CI
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. Selection of 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 (RCW)
20E0h 01h uint16
Word (RCW)
Record control word (RCW). Corresponds to 20EAh and 20EBh
Bit 0:= 0 absolute position specified;
= 1 relative position specified
Bit 1 ... 2:= 00 Standard path generator;
= 11 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 parameterised positioning curve (a trapezoid) is not maintained exactly.
The parameterised maximum values for speed and acceleration may be slightly
exceeded.
Target Position 20E0h 02h int32
Target position in [Increments] (corresponds to 607Ah and 20ECh)
Velocity
(speed)
20E0h 03h int32
(speed)
Speed in [Increments/s] (corresponds to 6081h und 20EDh)
Acceleration 20E0h 04h int32
Acceleration in [Increments/s
2
] (corresponds to 6083h and 20EEh)