igus Motion Plastics dryve D1, Manual

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External Signal Exchange
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Operating Manual dryve D1, ST-, DC-, EC/BLDC-Motor Control System - V2.4
6.5.5 RX/TX Telegram Example
The following examples show how Ethernet telegrams must be structured to ensure proper communication between the dryve D1 and a Modbus TCP Gateway Master.
Listed below are read/write telegrams with the respective response telegram from the dryve D1. The Bytes highlighted in green must be configured for the respective purpose (e.g. reading the
Statusword 6041 or writing the Controlword 6040h).
The following telegrams describe the passage of the "State Machine", the execution of the "Homing" and a pendulum motion in "Profile Position" mode.
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22
bin 0000 1111 0000 1111 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 not send not send not send not send
hex Fh*
Fh* 0h 0h 0h 0Dh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h not send not send not send not send
dec 15* 15* 0 0 0 13 0 43 13 0 0 0 96 65 0 0 0 0 2 not send not send not send not send
bin 0000 1111 0000 1111 0000 0000 0000 0000 0000 0000 0000 1111 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 0100 0000 0000 0100 not send not send
hex Fh*
Fh* 0h 0h 0h 0Fh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h 40h 4h not send not send
dec 15* 15* 0 0 0 15 0 43 13 0 0 0 96 65 0 0 0 0 2 64 4 not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 not send not send not send not send
hex 0h
0h 0h 0h 0h 0Dh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h not send not send not send not send
dec 0 0 0 0 0 13 0 43 13 0 0 0 96 65 0 0 0 0 2 not send not send not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1111 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 0100 0000 0000 0110 not send not send
hex 0h
0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h 40h 6h not send not send
dec 0 0 0 0 0 15 0 43 13 0 0 0 96 65 0 0 0 0 2 64 6 not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1110 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0100 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0000 0110 not send not send not send
hex 0h
0h 0h 0h 0h 0Eh 0h 2Bh 0Dh 1h 0h 0h 60h 40h 0h 0h 0h 0h 1h 6h not send not send not send
dec 0 0 0 0 14 0 43 13 1 0 0 96 64 0 0 0 0 1 6 not send not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0100 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 not send not send not send not send
hex 0h
0h 0h 0h 0h 0Dh 0h 2Bh 0Dh 1h 0h 0h 60h 40h 0h 0h 0h 0h 0h not send not send not send not send
dec 0 0 0 0 0 13 0 43 13 1 0 0 96 64 0 0 0 0 0 not send not send not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 not send not send not send not send
hex 0h
0h 0h 0h 0h 0Dh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h not send not send not send not send
dec 0 0 0 0 0 13 0 43 13 0 0 0 96 65 0 0 0 0 2 not send not send not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1110 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 0010 0001 0000 0110 not send not send
hex 0h
0h 0h 0h 0h 0Eh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h 21h 6h not send not send
dec 0 0 0 0 0 15 0 43 13 0 0 0 96 65 0 0 0 0 2 33 6 not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1110 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0100 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0000 0111 not send not send not send
hex 0h
0h 0h 0h 0h 0Eh 0h 2Bh 0Dh 1h 0h 0h 60h 40h 0h 0h 0h 0h 1h 7h not send not send not send
dec 0 0 0 0 14 0 43 13 1 0 0 96 64 0 0 0 0 1 7 not send not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0100 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 not send not send not send not send
hex 0h
0h 0h 0h 0h 0Dh 0h 2Bh 0Dh 1h 0h 0h 60h 40h 0h 0h 0h 0h 0h not send not send not send not send
dec 0 0 0 0 0 13 0 43 13 1 0 0 96 64 0 0 0 0 0 not send not send not send not send
*Only used to identify the response telegram in multi axis application
10
1
2
3
4
5
6
7
8
9
Digital Input DI 7 set "high" - Bit 9 "Remote" in Statusword 6041h
Answer Telegram (RX)
Ready To
Switch On
Send Telegram (TX)
Write
Controlword 6040h
Command:
Shutdown
Answer Telegram (RX) Handshake
Send Telegram (TX)
Read
Statusword 6041h
Status Request
Answer Telegram (RX) Switch On Disabled
Send Telegram (TX)
Write
Controlword 6040h
Command: Switch
on
Answer Telegram (RX) Handshake
Telegram Type Task/Information
Byte
Send Telegram (TX)
Read
Statusword 6041h
Status Request
Send Telegram (TX)
Read
Statusword 6041h
Status Request
Answer Telegram (RX) Switch On Disabled