Communication Principle, General; Overview Of The Control And Status Bytes - Festo EXCM-30 -PF Series Manual

5 Operation
5.2

Communication principle, general

Communication between a higher-order controller and the controller takes place in all operating modes
through the FHPP protocol (Festo Handling and Positioning Profile) with cyclical data exchange of
8 bytes of output and 8 bytes of input data each.
5.2.1

Overview of the control and status bytes

The function assignment of the control and status bytes (byte 3 ... 8) is dependent on the
operating mode.
Record selection mode
Control word
Data Byte 1 Byte 2 Byte 3
Output data CCON
(control bytes)
Tab. 5.1 Record selection mode, control byte overview
Status word
Data Byte 1 Byte 2 Byte 3
Input data SCON
(status bytes)
Tab. 5.2 Record selection mode, status byte overview
Direct mode
Control word
Data Byte 1 Byte 2 Byte 3
Output data CCON
(control bytes)
Tab. 5.3 Direct mode, control byte overview
Status word
Data Byte 1 Byte 2 Byte 3
Input data SCON
(status bytes)
Tab. 5.4 Direct mode, status byte overview
Festo – EXCM-30/-40-...-PF-EN – 1603 – English
Output word 1
Byte 4
CPOS Record no. Reserved =0
Input word 1
Byte 4
SPOS Record no. Error num­
ber
Output word 1
Byte 4
CPOS Speed
Input word 1
Byte 4
SPOS Reserved Error num­
= 0 ber
Output word 2 Output word 3
Byte 5 Byte 6 Byte 7
Input word 2 Input word 3
Byte 5 Byte 6 Byte 7
Actual Actual
X-position Y position
Output word 2 Output word 3
Byte 5 Byte 6 Byte 7
Setpoint Setpoint
X position Y position
Input word 2 Input word 3
Byte 5 Byte 6 Byte 7
Actual Actual
X-position Y position
Byte 8
Byte 8
Byte 8
Byte 8
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