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3
Control interfaces
3.5
Device profiles for fieldbuses
3.5.1
Festo Handling and Positioning Profile (FHPP)
Independent of the fieldbus used, a uniform control concept can be implemented through the device
profile "FHPP". The user does not have to know the specific functions of the respective fieldbuses or
controllers, but can commission and control the drive in the shortest possible time through a uniform
profile.
FHPP distinguishes between the triggering methods "record selection" and "direct operation".
With record selection, the positioning records parametrised in the motor controller are used.
In the direct mode, the following operating modes can be used:
– Positioning mode (position control)
– Speed mode (speed adjustment)
– Force/torque mode (current control)
The operating modes can be dynamically switched over in direct operation as needed.
Additional information can be found in the documentation
3.5.2
CANopen device profile CiA 402 (for electric drives)
Through the device profile "CiA 402", the following operating modes can be used:
– Positioning mode (CiA 402: Profile position mode)
– Homing mode (CiA 402: Homing mode)
– Interpolating position mode (CiA 402: Interpolated position mode)
– Speed mode (CiA 402: Profile velocity mode)
– Force/torque mode (CiA 402: Profile torque mode)
Communication can take place optionally over SDOs (service data objects) and/or PDOs (process data
objects). Up to 2 PDOs are available for each sending direction (transmit/receive).
Additional information can be found in the documentation
P.BE-CMMS-FHPP-CO-SW-...
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
FHPP manual P.BE−CMM−FHPP−SW−...
CiA 402 manual
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