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