Contents
3
5
PROFIBUS IO data description ................................................................................... 37
5.1
Encoder profile for PROFIBUS version 4.1 .......................................................... 37
5.2
Application class definition ................................................................................... 38
5.3
Standard signals ................................................................................................... 38
5.4
Standard telegrams .............................................................................................. 39
5.4.1
Standard telegram 81 ............................................................................... 39
5.4.2
Standard telegram 82 ............................................................................... 40
5.4.3
Standard telegram 83 ............................................................................... 41
5.4.4
Standard telegram 84 ............................................................................... 42
5.5
Format of G1_XIST1 and G1_XIST2 ..................................................................... 43
5.6
Format of G1_XIST3 ............................................................................................. 44
5.7
Control word 2 (STW2_ENC) ............................................................................... 45
5.8
Status word 2 (ZSW2_ENC) ................................................................................. 46
5.9
Control word (G1_STW) ....................................................................................... 47
5.10
Status word (G1_ZSW)......................................................................................... 48
5.11
Isochronous operation .......................................................................................... 49
6
Alarms and warnings ................................................................................................... 51
6.1
Alarm mechanism ................................................................................................ 51
6.2
Channel related diagnosis .................................................................................... 51
6.3
Faults ..................................................................................................................... 52
6.4
Error message ...................................................................................................... 53
7
Acyclic parameter data ................................................................................................ 54
7.1
Acyclic data exchange .......................................................................................... 54
7.2
Identification and Maintenance (I&M functions) ................................................. 54
7.3
Base mode parameter access ............................................................................. 55
7.3.1
General characteristics ............................................................................. 55
7.3.2
Parameter requests and responses ......................................................... 55
7.3.3
Changing the preset value........................................................................ 55
7.3.4
Reading the preset value .......................................................................... 56
7.4
Detailed description of supported parameters .................................................... 57
7.4.1
Parameter 918, read only ......................................................................... 57
7.4.2
Parameter 922, read only ......................................................................... 57
7.4.3
Parameter 925, read/write ........................................................................ 57
7.4.4
Parameter 964, read only ......................................................................... 57
7.4.5
Parameter 965, read only ......................................................................... 57
7.4.6
Parameter 971, read/write ........................................................................ 57
7.4.7
Parameter 974, read only .......................................................................... 57
7.4.8
Parameter 975, read only ......................................................................... 58
7.4.9
Parameter 979, read only ......................................................................... 58
7.4.10
Parameter 980, read only ......................................................................... 59
7.4.11
Parameter 65000 read/write .................................................................... 59
7.4.12
Parameter 65001, read only ..................................................................... 59
7.4.13
Parameter 65002, read/write ................................................................... 60
7.4.14
Parameter 65003, read only ..................................................................... 60
7.5
Example of reading and writing to a parameter .................................................. 60
7.5.1
Used blocks .............................................................................................. 61