Telegrams
Following telegrams with the corresponding PROFIdrive parameters are supported for cyclic exchange of process data. You select the telegram via the PROFIdrive parameter 922 Telegram Selection, which you can set via the Plug & Drive Studio 3 software.
You determine the source for the telegram selection with 752 Automatic Telegram Assignment:
- Value "0" The telegram is selected via the PROFINET project planning (TIA portal) and the selected telegram is shown in 922 Telegram Selection.
- Value "1": You select the telegram via the PROFIdrive parameter 922 Telegram Selection.
Should you need more parameters in addition to the parameters in the selected telegram, set PNU 922 to "0", in order to be able to Add parameters.
Standard Telegram 1
This telegram contains setpoint and actual values (16 bit) for the operation mode Speed Control.
Setpoint values:
Actual values:
Standard Telegram 2
This telegram contains setpoint and actual values (32 bit) for the operation mode Speed Control.
Setpoint values:
Actual values:
Standard Telegram 7
This telegram is used for the operation mode Positioning.
Setpoint values:
Actual values:
Standard Telegram 9
This telegram is used for the operation mode Positioning and conttains also the setpoints for the Manual Data Input (MDI).
Setpoint values:
| PNU | Signal Name | Data type |
|---|---|---|
| 967 | STW1 | U16 |
| 808 | SATZANW | U16 |
| 750 | STW2 | U16 |
| 810 | MDI_TARPOS_High | U16 |
| 810 | MDI_TARPOS_Low | U16 |
| 811 | MDI_VELOCITY_High | U16 |
| 811 | MDI_VELOCITY_Low | U16 |
| 812 | MDI_ACC | U16 |
| 813 | MDI_DEC | U16 |
| 819 | MDI_MOD | U16 |
Actual values:
Manufacturer Telegram 200
This telegram is used for the operation mode Torque.
Setpoint values:
| PNU | Signal Name | Data type |
|---|---|---|
| 967 | STW1 | U16 |
| 6071h | Target Torque | S16 |
| 750 | STW2 | U16 |
| 6087h | TORQUE_SLOPE_High | U16 |
| 6087h | TORQUE_SLOPE_Low | U16 |
| 841 | MAX_TORQUE_VELOCITY_High | U16 |
| 841 | MAX_TORQUE_VELOCITY_Low | U16 |
Actual values:
Manufacturer Telegram 207
This telegram is used for the operation submode Homing.
Setpoint values:
Actual values:
Manufacturer Telegram 209
This telegram is used for the operation mode Positioning.
Setpoint values:
| PNU | Signal Name | Data type |
|---|---|---|
| 967 | STW1 | U16 |
| 808 | SATZANW | U16 |
| 750 | STW2 | U16 |
| 810 | MDI_TARPOS_High | U16 |
| 810 | MDI_TARPOS_Low | U16 |
| 811 | MDI_VELOCITY_High | U16 |
| 811 | MDI_VELOCITY_Low | U16 |
| 812 | MDI_ACC | U16 |
| 813 | MDI_DEC | U16 |
| 819 | MDI_MOD | U16 |
| 6098h | HM (Homing Method) | S8 |
Actual values:
Manufacturer Telegram 300
This telegram is used for the Nanotec Plug&Drive interface. You can find additional information in document Function description Plug&Drive interface.
Setpoint values:
| PNU | Signal Name | Data type |
|---|---|---|
| 2291h:1 | PDI Set Value 1 | S32 |
| 2291h:2 | PDI Set Value 2 | S16 |
| 2291h:3 | PDI Set Value 3 | S8 |
| 2291h:4 | PDI CMD | S8 |
Actual values:
Manufacturer Telegram 900
This is a complementary telegram and can be additionaly used. It has no preset parameters.
You can map with Plug&Drive Studio 3 a maximum of 8 additional 32 bit parameters respectively, in the objects 3505h Additional PROFIDRIVE Mapping RX and 3605h Additional PROFIDRIVE Mapping TX .
Setpoint values:
| PNU | Signal Name | Data type |
|---|---|---|
| U32 | ||
| U32 | ||
| U32 | ||
| U32 | ||
| U32 | ||
| U32 | ||
| U32 | ||
| U32 |
Actual values:
| PNU | Signal Name | Data type |
|---|---|---|
| U32 | ||
| U32 | ||
| U32 | ||
| U32 | ||
| U32 | ||
| U32 | ||
| U32 | ||
| U32 |
Add parameters
PROFIdrive allows only the mapping of parameters or of the first sub-index of a parameter. In order to be able to map parameters from the Nanotec object dictionary that are available in records or arrays, two arrays are provided by the firmware, where you can enter the proper (sub-)indices:
The value of these parameters correspond to the currently selected telegram, until you set 922 Telegram Selection to "0".
The first mapped parameters must remain STW1 and ZSW1 respectively
|
Example |
|
| The parameters 967 Control Word 1 (STW1) and 3203h Feedback Selection:02 shall be mapped. | |