Baumer_EAx_PROFINET_EN_202011_MNL.docx
55/74
www.baumer.com
11.20
6.4.5. PROFIdrive telegram 81
Output data
STW2
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Master Sign-of-Life
0
CP
0
0
0
0
0
0
0
0
0
0
G1_STW1
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
SEA PS TAR PR REL
0
0
0
0
0
0
0
0
0
0
0
CP: Control by PLC
SEA: Sensor Error Acknowledge
PS: Parking Sensor
TAR: Transfer Absolut Request
PR: Preset absolute (
„Request set/shift of home position“)
REL: Preset relative (
„Home position mode“)
Input data
ZSW2
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Slave Sign-of-Life
0
0
CR
0
0
0
0
0
0
0
0
0
G1_ZSW1
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
SE PSA TAA PA EAIP
0
0
0
0
0
0
0
0
0
0
0
G1_XIST1
31
0
Encoder position (right-aligned) with or without preset offset
G1_XIST2
31
0
Encoder position (right-aligned) or error message
CR: Control by PLC (
„Control Requested“)
SE: Sensor Error
PSA: Parking Sensor Active
TAA: Transfer Absolute Acknowledge
PA: Preset Acknowledge
EAIP: Error Acknowledgment In Process
6.4.6. PROFIdrive Telegram 82
Output data: same as in telegram 81
Input data: same as in telegram 81, but in addition speed information NIST_A (16 bit)
Input data
ZSW2
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Slave Sign-of-Life
0
0
CR
0
0
0
0
0
0
0
0
0
G1_ZSW1
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
SE PSA TAA PA EAIP
0
0
0
0
0
0
0
0
0
0
0
G1_XIST1
31
0
Encoder position (right-aligned) with or without preset offset
G1_XIST2
31
0
Encoder position (right-aligned) or error message
NIST_A
15
0
Speed information as a 16 bit
2’s complement
