AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
6.6 Supported PNU's
List of all supported PROFIdrive PNU's
The table mentions all supported PROFIdrive specific parameters. The access needs to be
done via base mode parameter access described in "Parameter Configuration with
PROFIdrive over PROFINET IO" (
PNU
Name
Data type
Description
915
DO IO Data configuring
(set point telegram)
Array of U16
916
DO IO Data configuring
(actual value telegram)
Array of U16
922
Telegram selection
U16
The PROFIdrive telegram used for
the IO connection can be con-
figured.
923
List of all parameters for
signals
Array of U16 All supported signals and their cor-
responding PNU's.
930
Operating mode
U16
944
Fault message counter
U16
947
Fault number
Array of U16 All active faults.
964
Drive Unit Identification
Array of U16 Indices 0 – 4
965
Profile identification num-
ber
975
DO identification
980 to 989 Number list of defined
parameter
Array of U16
1002
No. of singleturn bits
U16
Scaling of singleturn part in signal
MDI_TARPOS
1004
Jog v1
S16
Jogging set point 1
1005
Jog v2
S16
Sogging set point 2
1006
Jog Acc
U16
Jogging acceleration. Uses the
acceleration ramp of velocity loop.
1007
Jog Dec
U16
Jogging deceleration. Uses the
deceleration ramp of velocity loop.
1008
Acceleration scaling
U16
Scaling factor for acceleration and
deceleration.
List of all manufacturer specific PNU's
The table shows all manufacture specific signals. All supported PROFIdrive and man-
ufacture specific signals can be mapped into telegram 0 (dynamic telegram configuration).
PNU
Name
Data type
Description
1
STW1
U16
I/O control word
2
ZSW1
U16
I/O status word
5
NSOLL_A
S16
Velocity set point value
6
NIST_A
S16
Velocity actual value
32
SATZANW
U16
Motion task selection
33
AKTSATZ
U16
Actual motion task running
52
ITIST_GLATT
U16
Active Current (torque)
Supported Formats:
Format
0x41
0x42 0x43
Data type
Byte
Word Dword
34
Kollmorgen | December 2014
