Kollmorgen AKD PROFINET RT Communication, Руководство пользователя

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6.7 Signals
MDI_MOD
Bit
Description
0 0: Relative Positioning
1: Absolute Positioning
1 to 15 Reserved
6.8 Telegram configuration
The telegram configuration is made according to the PROFIdrive standard. The PROFIdrive
parameters used in the configuration are: P922, P923, P915, P916 (see PROFIdrive profile,
page 110). The following PROFIdrive signals are changing the corresponding AKD signals:
Signal No. Signal name PROFIdrive signal name AKD signal
1 Control word 1 STW1 Control word 1
2 Status word 1 ZSW1 Status word 1
5 Speed A NSOLL_A VL.CMD
6 Speed actual value NIST_A VL.FB
32 Traversing block selection SATZANW MT.MOVE
33 Actual traversing block AKTSATZ MT.PARAMS
34 MDI target position MDI_TARPOS MT.P*
35 MDI velocity MDI_VELOCITY MT.V*
36 MDI acceleration MDI_ACC MT.ACC*
37 MDI deceleration MDI_DEC MT.DEC*
38 MDI mode MDI_MOD MT.CNTL*
52 Active current (torque) ITIST_GLATT IL.FB
100 Homing distance HOME_DIST HOME.DIST
101 Motion task feedrate MT_FEEDRATE MT.FEEDRATE
102 Current Loop IL_CMD_FIELDBUS IL.CMD
103 Homing Mode HOME_MODE HOME.MODE
*Attention: The PROFIdrive signals are not mapped 1:1 to the AKD signals. The unit con-
version for PROFIdrive needs to be used.
Either the predefined standard telegrams can be used for accessing the signals or a free map-
ping can be used with telegram 0.
The signals are also available in the PNU list. Each signal can be read/write with the same
PNU number. For instance, signal “Speed actual value” is also available with PNU 6.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
Kollmorgen | December 2014 35