PD6-E/-EB EtherCAT Online Manual

Telegrams

Following telegrams with the corresponding PROFIdrive parameters are supported for cyclic exchange of process data.

You determine the source for the telegram selection with 752 Telegram Source Selection:

  • Value "0" The telegram is selected via the PROFINET project planning 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 7

This telegram is used for the operation mode Positioning.

Setpoint values:

PNU Signal Name Data type
967 STW1 U16
808 SATZANW U16

Actual values:

PNU Signal Name Data type
968 ZSW1 U16
809 AKTSATZ U16

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:

PNU Signal Name Data type
968 ZSW1 U16
809 AKTSATZ U16
751 ZSW2 U16
6064h XIST_A_High U16
6064h XIST_A_Low U16

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:

PNU Signal Name Data type
968 ZSW1 U16
6077h TORQUE_ACTUAL_VALUE S16
751 ZSW2 U16
6074h TORQUE_DEMAND S16

Manufacturer Telegram 207

This telegram is used for the operation submode Homing.

Setpoint values:

PNU Signal Name Data type
967 STW1 U16
808 SATZANW U16
750 STW2 U16
6098h HM (Homing Mode) S8

Actual values:

PNU Signal Name Data type
968 ZSW1 U16
809 AKTSATZ U16
751 ZSW2 U16

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:

PNU Signal Name Data type
968 ZSW1 U16
809 AKTSATZ U16
751 ZSW2 U16
6064h XIST_A_High U16
6064h XIST_A_Low U16

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.

Note: In order to use the Plug&Drive-Interface you must set the mode in 930 Operating Mode to "0".

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:

PNU Signal Name Data type
2292h:1 PDI Status S16
603Fh:0 Error Code U16
2292h:2 PDI Return Val S16

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:

Mapping Index Subindex
Rx (Sollwerte) PNU 915 PNU 715
Tx (Istwerte) PNU 916 PNU 716

The value of these parameters correspond to the currently selected telegram, until you set 922 Telegram Selection to "0".

Note: Enter the sub-index in PNU715 resp. PNU716 before the index in PNU915/PNU916, so that it is correctly checked, whether the parameter incl. sub-index can be mapped.

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.
  1. Set 922 Telegram Selection to "0".
  2. Set PNU 715:00 to the value "0".
  3. Set PNU 915:00 to the value "967".
  4. Set PNU 715:01 to the value "2".
  5. Set PNU 915:01 to the value "3203h".
  6. Set PNU 971 to the value "1", to save the changes..
  7. Reboot.

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