KEB COMBICOM, Instruction Manual

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GB - 9
Powerlink Operator
3.1.2 Set-addressing with subindex
The subindex is used for set-addressing at KEB parameters (Index = 2000h...5FFFh). The following coding is
valid:
Subindex Description
0 Indirect set-addressing: The addressed set is determined by the respective set indicator. Pa-
rameter Fr.09 is used for parameters of the FI control
1 Direct set-addressing of set 0
2 Direct set-addressing of set 1
4 Direct set-addressing of set 2
8 Direct set-addressing of set 3
16 Direct set-addressing of set 4
32 Direct set-addressing of set 5
64 Direct set-addressing of set 6
128 Direct set-addressing of set 7
With this bit coding it is generally possible to response several sets with one command. However this should not
be used at read access, because an error code is returned, if not all values in the addressed sets are equal. This
multiple set-addressing can be used without problems for the illustration of the process PDOCUT data (Rx-PDO).
The same reservation (like reading via SDO commands) applies to the PDIN data illustration.
3.2 Process data communication
New process output data (PDOUT) can be sent to the KEB Powerlink slave and the actual process input data
(PDIN) can be determined by means of process data communication. Which parameters concern to the data is
determined by the process data illustration in the Powerlink operator. Up-to-date a maximum of 8 byte process
data for each data direction can be transferred.
3.2.1 Functionality
Process data mapping
The process data mapping is located in the Powerlink operator. The default setting for this is:
PDOUT data ( Powerlink-Master KEB-Slave ):
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
SY.43: Control word (long) SY.52: Set speed IN.22: User Parameter 1
LSByte MSByte LSByte MSByte LSByte MSByte
PDIN data ( KEB-Slave * Powerlink-Master ):
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
SY.44: Status word (long) SY.53: Actual Speed IN.22: User Parameter 1
LSByte MSByte LSByte MSByte LSByte MSByte
The mapping is adjustable as well as Powerlink parameters with index = 1600h and 1A00h and via operator pa-
rameters PD_Inx_Map and PD_Outx_Map (see below).
A mapping entry according to Powerlink specification for objects (1600h, 1A00h) is based on the following:
b63 b48 b47 b32 b31 b24 b23 b16 b15 b0
BitLength BitOffset Reserved Subindex Index