BECKHOFF AX2000 PROFIBUS DP communication profile - Manual (Page 40)

5.2.4 Digital torque (operating mode -2)
Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
Controller to Amplifier STW I cmd - - - -
Amplifier to Controller ZSW I act
incremental actual position
(32-bit, value range 24-bit)
manuf.-specific
status
-
Actual position (32-bit)
The range for the incremental position covers values from -2
31
to (2
31
-1).
Here one turn corresponds to 2
PRBASE
increments.
Manufacturer-specific status
In the process data, the upper 16 bits of the manufacturer-specific status register
(PNU 1002) are made available. The numbering starts again from 0.
The significance of the status register bits can be seen in the table in Chapter 4.2.3.3.
Digital current values (16-bit)
The digital current values are converted as follows:
[ ]
I A
digital current setpoint
I
setp
= ´
1640
5.2.5 Analog torque (operating mode -3)
In this operating mode the control word (STW) can only be used to enable and disable the amplifier.
Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
Controller to Amplifier STW - - - - -
Amplifier to Controller ZSW I act = IQ
incremental actual position
(32-bit, value range 24-bit)
manuf.-specific
status
-
5.2.6 Electronic gearing (operating mode -4)
Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
Controller to Amplifier STW - - - - -
Amplifier to Controller ZSW n act actual position (32-bit) manuf. status -
Actual speed (16-bit)
The representation of the 16-bit actual speed value is normalized to the parameter for the
overspeed VOSPD n
n
VOSPD act
act
16
15 2
= ´
Actual position (32-bit)
The range for the actual position covers values from -2
31
to (2
31
-1).
Here one turn corresponds to 2
PRBASE
increments.
Manufacturer-specific status
In the process data, the upper 16 bits of the manufacturer-specific status register
(PNU 1002) are made available. The numbering starts again from 0.
The significance of the status register bits can be seen in the table in Chapter 4.2.3.3.
5.2.7 Trajectory (operating mode -5)
Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
Controller to Amplifier STW - - - - -
Amplifier to Controller ZSW n act incremental actual position (32-bit) manuf. status -
Actual speed (16-bit)
The representation of the 16-bit actual speed value is normalized to the parameter for the
overspeed VOSPD n
n
VOSPD
act
act
16
15 2 = ´
Actual position (32-bit)
The range for the actual position covers values from -2
31
to (2
31
-1).
Here one turn corresponds to 2
PRBASE
increments.
40 PROFIBUS for AX2000/2500
Process data channel
12/05
BECKHOFF