PROFIBUS-DP interface
3–10
1070 066 091-102 (01.08) GB
3.2.4
Velocity control with actual value feedback
Features:
D
Input of a velocity/speed setpoint via PROFIBUS-DP
D
Feedback of actual velocity/speed values to the master.
D
Feedback of actual position value to the master (8192 increments per
motor revolution)
Function:
Setpoints, actual values, ”PROFIBUS control word” (P-0-2800) and the
”PROFIBUS status word” (P-0-2801) are cyclically exchanged between the
master and the drive using the ”Data_Exchange” service.
The drive stores the setpoint in parameter S-0-0036.
The drive takes the actual velocity/speed value from S-0-0040, and the ac-
tual position value from P-0-2816.
The following is exchanged cyclically between the master and the drive
using the ”Data_Exchange” service in order to
control the drive
and for spe-
cial status messages of
velocity control with actual value feedback
:
D
PROFIBUS control word
(P-0-2800)
Bit 0: Drive Halt
drive halt, setpoints are inhibited
setpoints are effective
r r r r r r r r r r r r X X X X
15
0
1
0
X = 0 or 1
r = reserved
2
1
0
1
Bit 1: Drive enable
no drive enable
drive has been enabled
0
1
Bit 2: Drive on
drive off
drive on.
0
1
Bit 3: Reset diagnostics class 1
no effect
reset diagnostics class 1
.
Bits 0, 1 and 2 are high:
Power is connected. The motor is controlled.
D
PROFIBUS status word
(P-0-2801)
Bit 3:
Error has ocurred
r r r X X X r r r r r r X r r r
15
0
1
2
Bit 10:
n
act
= n
set
Bit 11:
n
set
= n
limit
Bit 12:
n
act
= 0
X = 0 or 1
r = reserved
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