REXROTH IndraDrive Fc FCS01, Operating Instructions Manual

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Control Communication - Field Busses and Protocols Rexroth IndraDrive FCS01.1
DOK-INDRV*--FCS01*****-IB01_EN-P
CANopen Telegram Structure
Control word - CTW
see chapter "Profibus Telegram Structure, Control Word - CTW"
Status word - STW
see chapter "Profibus Telegram Structure, Status Word - STW"
Setpoint 1 - SP1
In parameter P546, the function of the 1. setpoint is set. The following
possibilities are available:
By default, the setpoint frequency is transmitted as a 16 bit value in
setpoint 1. Setpoint 1 is transmitted to the converter in the job telegram in
the process data section as the second word.
PCD 1 PCD 2 PCD 3 PCD 4
CTW
SP1
SP3 SP2
Fig. 15-44: Setpoint 1
The setpoint is transmitted as an integer figure with the value range -
32768 to 32767 (8000 hex to 7FFF hex). The value 16384 (4000 hex)
corresponds to 100%. The value C000 HEX corresponds to -100%. A
setpoint value of 100% corresponds to the parameter
maximum
frequency (parameter P105) set in the same parameter record.
Second and third setpoint - SP2 and SP3
If PPO type 2 or 4 is used, a 2. setpoint can be transmitted in word PCD4,
and a 3. setpoint in PCD3, both in addition to setpoint 1.
PCD1 PCD2 PCD3 PCD4
CTW
SP1 SP3 SP2
Fig. 15-45: Second and third setpoint
A third setpoint can only be transmitted if no 32 bit setpoint is transmitted
in the first setpoint.
PCD1 PCD2 PCD3 PCD4
CTW SP1 SP2
Fig. 15-46: Setpoint
Setpoint frequency (16 bit)