Siemens SINAMICS S120, Function Manual

Page: 741 / 1094

Communication
11.1 Communication according to PROFIdrive
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
741
The telegram structure
● Parameter p0978 contains the drive objects that use a cyclic PZD exchange. All drive
objects after the first zero do not participate in the cyclic exchange.
● If the value 255 is written to p0978, this drive object is visible to the PROFIdrive controller
and empty (without actual process data exchange). This permits cyclic communication of
a PROFIdrive controller in the following cases:
–
with unchanged configuration to drive units that have a different number of drive
objects.
– with deactivated drive objects, without having to change the project
● One PZD = one word.
● Physical word and double word values are inserted in the telegram as referenced
variables.
● p200x apply as reference variables (telegram contents = 4000 hex or 4000 0000 hex in
the case of double words if the input variable has the value p200x).
Figure 11-2 Normalization of speed
You can find the detailed structure of the telegrams in the SINAMICS S120/S150 List Manual
in the associated function diagrams.
Which drive objects support which telegrams?
Drive object Telegrams (p0922) Function dia-
grams
A_INF 370, 371, 999 2421, 2423
B_INF 370, 371, 999 2421, 2423
S_INF 370, 371, 999 2421, 2423
SERVO 1, 2, 3, 4, 5, 6, 102, 103, 105, 106, 116, 118, 125, 126,
136, 138, 139, 220, 999
2415, 2419,
2420
SERVO (EPOS) 7, 9, 110, 111, 999 2415, 2423
SERVO (position control) 139, 999 2420
VECTOR 1, 2, 3, 4, 20, 220, 352, 999 2415, 2416,
2421
VECTOR (EPOS) 7, 9, 110, 111, 999 2415, 2419,
2423
ENC 81, 82, 83, 999 2416, 2423
TM15DI_DO No predefined telegram. -
HLA 166, 999 2415, 2420
TM31 No predefined telegram. -