Kollmorgen AKD PROFINET RT Communication, Руководство пользователя

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6.11 I/O Telegrams
6.11.1 Telegram 0
Telegram 0 is used for the free mapping of PROFIdrive signals into the PROFINET I/O data.
With PNU 922 the telegram can be configured. PNU915 defines then set point signals and
PNU 916 the actual value signals.
Limitations: The number and kind of signals, which can be mapped, are depending on the con-
figuration of your PROFINET master. The length for input and output values in the IO com-
munication is given through telegram configuration in slot 1.
6.11.2 Standard telegram 1
Typically used for application class 1 (velocity mode). The set point velocity value can be dir-
ectly controlled by an PROFINET master.
IO Data Number Set point Actual values
1 STW1 ZSW1
2 NSOLL_A NIST_A
6.11.3 Standard telegram 7
Typically used for application class 3 (position mode). Predefined motion tasks can be selec-
ted directly via IO data.
IO Data Number Set point Actual values
1 STW1 ZSW1
2 SATZANW AKTSATZ
6.11.4 Standard telegram 9
Typically used for application class 3 (position mode). A motion task can be directly con-
figured via IO data.
IO Data Number Set point Actual values
1 STW1 ZSW1
2 SATZANW AKTSATZ
3 STW2 ZSW2
4 MDI_TARPOS XIST_A
5 XIST_A
6 MDI_VELOCITY
7
8 MDI_ACC
9 MDI_DEC
10 MDI_MOD
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
Kollmorgen | December 2014 41