PROFIdrive Signals
The following PROFIdrive signals are permitted.
-
- The PROFIdrive signals are not mapped 1:1 to the AKD2G signals. The unit conversion for PROFIdrive must be used. For more information, see Units.
The predefined standard telegrams are used for accessing the signals or a free mapping is used with telegram 0.
| Signal Number |
Signal Format |
PROFIdrive
Signal Name |
AKD2G Signal | Description |
|---|---|---|---|---|
| 1 | WORD | STW1 | AXIS#.PROFINET.STW1 | Controlword 1 can only be mapped at index 0 of AXIS#.PROFINET.SETPOINTMAP (P915) |
| 2 | WORD | ZSW1 | AXIS#.PROFINET.ZSW1 | Statusword 1 can only be mapped at index 0 of AXIS#.PROFINET.ACTUALVALUEMAP (P916) |
| 3 | WORD | STW2 | AXIS#.PROFINET.STW2 | Controlword 2 |
| 4 | WORD | ZSW2 | AXIS#.PROFINET.ZSW2 | Statusword 2 |
| 5 | WORD | NSOLL_A | AXIS#.VL.CMD | 16-bit target velocity |
| 6 | WORD | NIST_A | AXIS#.VL.FB | 16-bit actual velocity |
| 7 | DWORD | NSOLL_B | AXIS#.FBUS.VL.CMD | 32-bit target velocity |
| 8 | DWORD | NIST_B | AXIS#.VL.FB | 32-bit actual velocity |
| 9 | WORD | G1_STW | AXIS#.PROFINET.G1STW | Sensor 1 Controlword |
| 10 | WORD | G1_ZSW | AXIS#.PROFINET.G1ZSW | Sensor 1 Statusword |
| 11 | DWORD | G1_XIST1 | FB#.P | 32-bit position value with 12 bits multi-turn |
| 12 | DWORD | G1_XIST2 | FB#.P | 32-bit position value with 12 bits multi-turn or error code |
| 21 | WORD | E_DIGITAL | DIN.STATES | |
| 22 | WORD | A_DIGITAL | AXIS#.PROFINET.ADIGITAL | Digital output fieldbus states |
| 23 | WORD | E_ANALOG |
AIN1.VALUE |
Scaling: mV |
| 24 | WORD | A_ANALOG |
AOUT1.VALUE |
Analog output 1 fieldbus value, scaling: mV |
| 25 | WORD | XERR | AXIS#.PROFINET.XERR | System deviation/position error |
| 26 | WORD | KPC | AXIS#.PROFINET.KPC | Position controller gain |
| 28 | DWORD | XISTA | AXIS#.PL.FB | 32-bit position value scaled according to position units |
| 32 | WORD | SATZANW | AXIS#.PROFINET.SATZANW | Position mode Controlword (MT select/MDI mode) |
| 33 | WORD | AKTSATZ | AXIS#.PROFINET.AKTSATZ | Position mode Statusword |
| 34 | DWORD | MDI_TARPOS | AXIS#.PROFINET.MDITARPOS | 32-bit target position |
| 35 | DWORD | MDI_VELOCITY | AXIS#.PROFINET.MDIVELOCITY | 32-bit target velocity |
| 36 | WORD | MDI_ACC | AXIS#.PROFINET.MDIACC | Acceleration |
| 37 | WORD | MDI_DEC | AXIS#.PROFINET.MDIDEC | Deceleration |
| 38 | WORD | MDI_MOD | AXIS#.PROFINET.MDIMOD | MDI mode. Bit 0: 0: Relative Positioning 1: Absolute Positioning |
| 5025 | DWORD | AXIS#.MOTIONSTAT | ||
| 5100 | WORD | AXIS#.FBUS.ACC | Similar to MDIACC but updates keyword directly regardless of controlword. | |
| 5101 | WORD | AXIS#.FBUS.DEC | Similar to MDIACC but updates keyword directly regardless of controlword. | |
| 5104 | WORD | AXIS#.FBUS.IL.CMD | ||
| 5803 | WORD | AXIS#.IL.FB | ||
| 5829 | WORD | AXIS#.IL.LIMITP / AXIS#.IL.LIMITN | ||
| 5901 | DWORD | AXIS#.PL.ERR | ||
| 6104 | DWORD | AXIS#.HOME.DIST | ||
| 6107 | WORD | AXIS#.HOME.MODE | ||
| 6311 | WORD | AXIS#.MT.FEEDRATE | Scaling: 100% per 65535 counts | |
| 10008 | DWORD | AXIS#.SAFE.FUNCTIONSTATUS | ||
| 23101 | WORD | AIN2.VALUE |
Scaling: mV | |
| 24151 | WORD | AOUT2.VALUE |
Analog output 2 fieldbus value, scaling: mV |
