Communication / CBC
03.2010
6SE7087-6QX70 (Version AL) Siemens AG
8.4-28
Compendium Motion Control
SIMOVERT MASTERDRIVES
PZD-send processing, i.e. the sending of status words and actual
values, is to take place in the whole CAN network from identifier 100
onwards. Control word 1 is sent in the 1st word, the actual speed as a
32-bit value in the 2nd and 3rd words, status word 2 in the 4th word, the
output voltage in the 5th word, the output current in the 6th word and
the current torque in the 7th word.
Specification of the identifiers for PZD-send:
Drive with bus address 0:
1. P713 / P698 = 100
(PZD-send basic identifier)
2. P714 / P699 = 7
(number of actual values)
3. P918 = 0
(node address)
→
PZD-send 1 = 100
PZD-send 2 = 101
(PZD-send 3 = 102
PZD-send 4 = 103)
Drive with node address 1:
1. P713 / P698 = 100
(PZD-send basic identifier)
2. P714 / P699 = 7
(number of actual values)
3. P918 = 1
(node address)
→
PZD-send 1 = 104
PZD-send 2 = 105
(PZD-send 3 = 106
PZD-send 4 = 107)
and so on (PZD-send 3 and PZD-send 4 are not sent because the
number of actual values (P714 / P699) is only 7)
Connection of the actual values in the drive:
P734.01 = 32 / P694.01 = 968 (status word 1)
P734.02 = 151/ P694.02 = 218 (main actual value as a 32-bit value ->)
P734.03 = 151/ P694.03 = 218 (same connector-/parameter numbers
in 2 consecutive indices)
P734.04 = 33 / P694.04 = 553 (status word 2)
P734.05 = 189/ P694.05 = 3 (output voltage)
P734.06 = 168/ P694.06 = 4 (output current)
P734.07 = 241/ P694.07 = 5 (torque)
The PZD-receive-broadcast function is for simultaneously sending
setpoints and control information from the master to all slaves on the
bus. The CAN identifier must be the same for all slaves which use this
function. This CAN identifier is entered by means of P716 / P701, "CB
parameter 6".
The CAN identifier for the first PZD-receive-broadcast CAN telegram
(words 1 to 4) then corresponds to the contents of P716 / P701.
♦
CAN identifier for the 1st PZD-receive-broadcast CAN telegram
(words 1 to 4):
(value in P716 /
P701
)
♦
CAN identifier for the 2nd PZD-receive-broadcast CAN telegram
(words 5 to 8):
(value in P716 /
P701
) + 1
♦
CAN identifier for the 3rd PZD-receive-broadcast CAN telegram
(words 9 to 12):
(value in P716 /
P701
) + 2
♦
CAN identifier for the 4th PZD-receive-broadcast CAN telegram
(words 13 to 16):
(value in P716 /
P701
) + 3
Example
CAN identifiers for
addition process-
data functions
