Document Outline

• Contents
  • 1 General
    • 1.1 About this manual
    • 1.2 Use as directed
    • 1.3 Symbols used in this manual
    • 1.4 Abbreviations used in this manual
  • 2 Installation / Setup
    • 2.1 Installation
      • 2.1.1 Safety notes
      • 2.1.2 Inserting the expansion card (AX2000)
        • 2.1.2.1 Front view
        • 2.1.2.2 Setup of Station Address and Baud Rate
        • 2.1.2.3 Connection technology
        • 2.1.2.4 Connection diagram
      • 2.1.3 Profibus master module setup
        • 2.1.3.1 Configuration of the master controller ( e.g. Siemens S7)
      • 2.1.4 Standard function block for date exchange with the AX2000/2500
    • 2.2 Amplifier setup
      • 2.2.1 Guide to setup
      • 2.2.2 Important amplifier configuration parameter
      • 2.2.3 Setup Software
        • 2.2.3.1 Screen page PROFIBUS
        • 2.2.3.2 Screen page PROFIBUS instrument control
  • 3 Profile of AX2000/2500
    • 3.1 Parameter channel
      • 3.1.1 Parameter ID (PKE)
        • 3.1.1.1 Interpretation of the response IDs
        • 3.1.1.2 Response ID 7: Profile specific error numbers
      • 3.1.2 Index IND
      • 3.1.3 Parameter value PWE
    • 3.2 The process data channel (PZD)
  • 4 Using the parameter channel (PKW)
    • 4.1 Read/write an amplifier parameter
    • 4.2 Summary of the parameter numbers
      • 4.2.1 List of the parameters
      • 4.2.2 Standard PROFIDRIVE parameters
        • 4.2.2.1 PNU 940/911: PPO type write/read
        • 4.2.2.2 PNU 918: PROFIBUS node address
        • 4.2.2.3 PNU 963: baud rate
        • 4.2.2.4 PNU 965: PROFIDRIVE profile number
        • 4.2.2.5 PNU 970: default parameters
        • 4.2.2.6 PNU 971: non volatile saving of parameters
        • 4.2.2.7 PNU 930: Selection Switch for Operating Mode
      • 4.2.3 Manufacturer specific parameters
        • 4.2.3.1 PNU 1000: instrument ID
        • 4.2.3.2 PNU 1001: manufacturer specific error register
        • 4.2.3.3 PNU 1002: manufacturer specific status register
      • 4.2.4 Position control parameters
        • 4.2.4.1 PNU 1894: velocity multiplier
        • 4.2.4.2 PNU 1807: axis type
      • 4.2.5 Position data for the position control mode
        • 4.2.5.1 PNU 1790: position
        • 4.2.5.2 PNU 1791: velocity
        • 4.2.5.3 PNU 1785: motion task type
        • 4.2.5.4 PNU 1783: acceleration time
        • 4.2.5.5 PNU 1784: acceleration jolt limiting
        • 4.2.5.6 PNU 1786: deceleration time
        • 4.2.5.7 PNU 1787: deceleration jolt limiting
        • 4.2.5.8 PNU 1788: next motion task
        • 4.2.5.9 PNU 1789: start delay
        • 4.2.5.10 PNU 1310: copy motion task
        • 4.2.5.11 PNU 1311: position, 32 bit floating decimal point format
        • 4.2.5.12 PNU 1312: velocity, 32 bit floating decimal point format
      • 4.2.6 Setup mode: position
        • 4.2.6.1 PNU 1773: homing type
        • 4.2.6.2 PNU 1644: homing direction
      • 4.2.7 Actual values
        • 4.2.7.1 PNU 1401: speed
        • 4.2.7.2 PNU 1402: incremental position, actual value
        • 4.2.7.3 PNU 1800: actual position value in SI (User) units
        • 4.2.7.4 PNU 1414: actual position, 32 bit floating decimal point format
        • 4.2.7.5 PNU 1415: actual velocity, 32 bit floating decimal point format
      • 4.2.8 Digital I/O configuration
        • 4.2.8.1 PNUs 1698/1701/1704/1707: digital input configuration
        • 4.2.8.2 PNUs 1775/1778: digital output configuration
      • 4.2.9 Analog configuration
        • 4.2.9.1 PNU 1607: analog input configuration
        • 4.2.9.2 PNU 1613/1614: analog output configuration
      • 4.2.10 Manufacturer specific object channel (from PNU 1600)
  • 5 Process data channel
    • 5.1 Instrument control
      • 5.1.1 Control word (STW)
      • 5.1.2 Status word (ZSW)
    • 5.2 Operating modes
      • 5.2.1 Positioning (operating mode 2)
      • 5.2.2 Digital speed (operating mode 1)
      • 5.2.3 Analog speed (operating mode -1)
      • 5.2.4 Digital torque (operating mode -2)
      • 5.2.5 Analog torque (operating mode -3)
      • 5.2.6 Electronic gearing (operating mode -4)
      • 5.2.7 Trajectory (operating mode -5)
      • 5.2.8 ASCII channel (operating mode -16)
      • 5.2.9 Operating mode after switch-on (operating mode -126)
  • 6 Appendix
    • 6.1 Example telegrams
      • 6.1.1 Zero telegram (for initialization)
      • 6.1.2 Setting the Opmode
      • 6.1.3 Enable the AX2000/2500
      • 6.1.4 Start jog mode (on positioning opmode)
      • 6.1.5 Set reference point
      • 6.1.6 Start homing run
      • 6.1.7 Start a motion task
      • 6.1.8 Start a direct motion task
      • 6.1.9 Polling a warning or error message
      • 6.1.10 Writing a parameter (via parameter channel PKW)
      • 6.1.11 Reading actual values
      • 6.1.12 Write a parameter via the ASCII channel
    • 6.2 Index
• Index
  • A
    • abbreviations
    • acceleration time
    • actual position value
      • incremental
      • SI-units
    • analog inputs
    • analog outputs
    • axis type
  • B
    • baud rate
  • C
    • complete documentation
    • Connection diagram PROFIBUS
    • control word
  • D
    • data format, parameter
    • deceleration time
    • default parameters
    • digital inputs
    • digital outputs
  • E
    • error numbers
    • error register
    • example telegram
  • F
    • Fitting the expansion card
  • H
    • homing
    • homing direction
    • homing type
  • I
    • incremental position
    • Index IND
    • installation
    • instrument control
    • instrument ID
    • instrument profile
    • interface modules
  • J
    • jog mode
    • jolt limiting
      • acceleration
      • deceleration
  • M
    • motion task
      • copy
      • start
      • type
  • N
    • next motion task
  • O
    • operating modes
  • P
    • parameter channel
    • parameter description
    • parameter ID
    • parameter numbers
    • parameter value
    • parameterization of the amplifier
    • PNU list
    • position data
    • process data channel
    • PROFIDRIVE profile number
  • R
    • read actual values
    • read/write amplifier parameter
    • response IDs
  • S
    • saving
    • set reference point
    • Setup
    • Setup software
    • speed
    • standard function blocks
    • start delay
    • status machine
    • status register
    • status word
  • U
    • Use as directed
  • V
    • velocity
    • velocity multiplier