Telegram Mappings
Telegram 0
Telegram 0 is used for the free mapping of PROFIdrive signals into the PROFINET IO data. AXIS#.PROFINET.SETPOINTMAP (P915) defines then setpoint signals and AXIS#.PROFINET.ACTUALVALUEMAP (P916) the actual value signals. These parameters are saved to NV so the drive retains the mappings when rebooted.
Each direction signal mapping supports up to 16 words. The signals that can be configured are provided with AXIS#.PROFINET.SIGNALLIST (P923).
-
- If the telegram is changed from telegram 0 to a different one, the signal maps are overwritten to match the selected telegram. Additionally, if a save operation is subsequently performed the saved mapping gets overwritten.
Standard Telegram 1
Typically used for application class 1 (Velocity mode). The setpoint velocity value can be directly controlled by an PROFINET master.
| I/O Data Number | Setpoint | Actual Values | ||||
|---|---|---|---|---|---|---|
| Profidrive Signal Name | Description | AKD2G Signal | Profidrive Signal Name | Description | AKD2G Signal | |
|
1 |
STW1 |
Controlword 1 | AXIS#.PROFINET.STW1 |
ZSW1 |
Statusword1 | AXIS#.PROFINET.ZSW1 |
|
2 |
NSOLL_A |
16-bit target velocity | AXIS#.VL.CMD |
NIST_A |
16-bit actual velocity | AXIS#.VL.FB |
Standard Telegram 2
| I/O Data Number | Setpoint | Actual Values | ||||
|---|---|---|---|---|---|---|
| Profidrive Signal Name | Description | AKD2G Signal | Profidrive Signal Name | Description | AKD2G Signal | |
|
1 |
STW1 |
Controlword 1 | AXIS#.PROFINET.STW1 |
ZSW1 |
Statusword1 | AXIS#.PROFINET.ZSW1 |
|
2 |
NSOLL_B |
32-bit target velocity | AXIS#.FBUS.VL.CMD |
NIST_B |
32-bit actual velocity | AXIS#.VL.FB |
| 3 | ||||||
| 4 | STW2 | Controlword 2 | AXIS#.PROFINET.STW2 | ZSW2 | Statusword 2 | AXIS#.PROFINET.ZSW2 |
Standard Telegram 3
32-bit speed setpoint interface with one sensor position feedback.
| I/O Data Number | Setpoint | Actual Values | ||||
|---|---|---|---|---|---|---|
| Profidrive Signal Name | Description | AKD2G Signal | Profidrive Signal Name | Description | AKD2G Signal | |
|
1 |
STW1 |
Controlword 1 | AXIS#.PROFINET.STW1 |
ZSW1 |
Statusword1 | AXIS#.PROFINET.ZSW1 |
|
2 |
NSOLL_B |
32-bit target velocity | AXIS#.FBUS.VL.CMD |
NIST_B |
32-bit actual velocity | AXIS#.VL.FB |
| 3 | ||||||
| 4 | STW2 | Controlword 2 | AXIS#.PROFINET.STW2 | ZSW2 | Statusword 2 | AXIS#.PROFINET.ZSW2 |
| 5 | G1_STW | Sensor 1 Controlword | AXIS#.PROFINET.G1STW | G1_ZSW | Sensor 1 Statusword | AXIS#.PROFINET.G1ZSW |
| 6 | G1_XIST1 | 3-bit position value with 12 bits MT | FB#.P | |||
| 7 | ||||||
| 8 | G1_XIST2 | 32-bit position value with 12 bits MT or error code | FB#.P | |||
|
9 |
|
|||||
Standard Telegram 5
32-bit speed setpoint interface with one sensor position feedback and additionally, position error and position gains to enable Dynamic Servo Control (DSC).
| I/O Data Number | Setpoint | Actual Values | ||||
|---|---|---|---|---|---|---|
| Profidrive Signal Name | Description | AKD2G Signal | Profidrive Signal Name | Description | AKD2G Signal | |
|
1 |
STW1 |
Controlword 1 | AXIS#.PROFINET.STW1 |
ZSW1 |
Statusword1 | AXIS#.PROFINET.ZSW1 |
|
2 |
NSOLL_B |
32-bit target velocity | AXIS#.FBUS.VL.CMD |
NIST_B |
32-bit actual velocity | AXIS#.VL.FB |
| 3 | ||||||
| 4 | STW2 | Controlword 2 | AXIS#.PROFINET.STW2 | ZSW2 | Statusword 2 | AXIS#.PROFINET.ZSW2 |
| 5 | G1_STW | Sensor 1 Controlword | AXIS#.PROFINET.G1STW | G1_ZSW | Sensor 1 Statusword | AXIS#.PROFINET.G1ZSW |
| 6 | XERR | System deviation/position error | AXIS#.PROFINET.XERR | G1_XIST1 | 3-bit position value with 12 bits MT | FB#.P |
| 7 | ||||||
| 8 | KPC
|
Position controller gain | AXIS#.PROFINET.KPC
|
G1_XIST2 | 32-bit position value with 12 bits MT or error code | FB#.P |
|
9 |
||||||
Standard Telegram 7
Typically used for application class 3 (Position mode). Predefined motion tasks can be selected using I/O data.
| I/O Data Number | Setpoint | Actual Values | ||||
|---|---|---|---|---|---|---|
| Profidrive Signal Name | Description | AKD2G Signal | Profidrive Signal Name | Description | AKD2G Signal | |
|
1 |
STW1 |
Controlword 1 | AXIS#.PROFINET.STW1 |
ZSW1 |
Statusword1 | AXIS#.PROFINET.ZSW1 |
|
2 |
SATZANW |
Position mode controlword (MT select/MDI mode) | AXIS#.PROFINET.SATZANW |
AKTSATZ |
Position mode statusword | AXIS#.PROFINET.AKTSATZ |
Standard Telegram 9
Typically used for application class 3 (Position mode). A motion task can be configured using I/O data.
| I/O Data Number | Setpoint | Actual Values | ||||
|---|---|---|---|---|---|---|
| Profidrive Signal Name | Description | AKD2G Signal | Profidrive Signal Name | Description | AKD2G Signal | |
|
1 |
STW1 |
Controlword 1 | AXIS#.PROFINET.STW1 |
ZSW1 |
Statusword 1 | AXIS#.PROFINET.ZSW1 |
|
2 |
SATZANW |
Position mode controlword (MT select/MDI mode) | AXIS#.PROFINET.SATZANW |
AKTSATZ |
Position mode statusword | AXIS#.PROFINET.AKTSATZ |
| 3 | STW2 | Controlword 2 | AXIS#.PROFINET.STW2 | ZSW2 | Statusword 2 | AXIS#.PROFINET.ZSW2 |
| 4 | MDI_TARPOS | 32-bit target position | AXIS#.PROFINET.MDITARPOS | XIST_A | 32-bit position value scaled according to position units | AXIS#.PL.FB |
| 5 | ||||||
| 6 | MDI_VELOCITY | 32-bit target velocity | AXIS#.PROFINET.MDIVELOCITY | |||
| 7 | ||||||
| 8 | MDI_ACC | Acceleration | AXIS#.PROFINET.MDIACC | |||
| 9 | MDI_DEC | Deceleration | AXIS#.PROFINET.MDIDEC | |||
|
10 |
MDI_MOD |
MDI Mode bit 0: 0-Rel, 1-Abs | AXIS#.PROFINET.MDIMOD |
|
||
Telegram 800
Used for gantry slave axis. The axis will be set to gantry command source. No data is mapped because the axis is controlled by the gantry master axis.
Telegrams 970-973
These telegrams add additional user selectable signals to the PROFINET I/O data appended after the Standard Telegram data. This telegram is inserted into subslot 3. When not configured, subslot 3 should be occupied by empty submodule (id=5000). AXIS#.PROFINET.SUPPTELEGRAMID is used to set or view currently configured supplementary telegram. The setpoint and actual value mappings for the supplemental telegram is changed by using the associated keyword or PNU similar to standard telegram 0.
| Telegram ID | Setpoint Mapping Parameter | Setpoint Mapping PNU | Actual Value Mapping Parameter | Actual Value Mapping PNU | Description |
|---|---|---|---|---|---|
|
5000 |
N/A |
N/A |
N/A |
N/A |
Default empty telegram for no supplemental data |
|
970 |
AXIS#.PROFINET.970SETPOINTMAP |
5213 |
AXIS#.PROFINET.970ACTUALVALUEMAP |
5214 |
Supports 2 signals for both setpoint and actual value |
|
971 |
AXIS#.PROFINET.971SETPOINTMAP |
5215 |
AXIS#.PROFINET.971ACTUALVALUEMAP |
5216 |
Supports 2 signals for setpoints and 4 for actual values |
|
972 |
AXIS#.PROFINET.972SETPOINTMAP |
5217 |
AXIS#.PROFINET.972ACTUALVALUEMAP |
5218 |
Supports 2 signals for setpoints and 6 for actual values |
|
973 |
AXIS#.PROFINET.973SETPOINTMAP |
5219 |
AXIS#.PROFINET.973ACTUALVALUEMAP |
5220 |
Supports 8 signals for setpoints and 8 for actual values |
The supplmental telegram data can be viewed with AXIS#.PROFINET.SUPPACTUALVALUEDATA (P5224) and AXIS#.PROFINET.SUPPSETPOINTDATA (P5225).
See Also
AXIS#.PROFINET.xSETPOINTMAP and AXIS#.PROFINET.ACTUALVALUEMAP
