LinMot C1250-MI-XC-PD-1S, Руководство пользователя

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Page 14 of 44 NTI AG / LinMot
Index Size
[Byte] Byte
Offset Name Data
Type
Tlg TDB 20 - Variables RECORD
1 2 0 M_act Int16
M_act is the standardised actual torque/ force.
For linear motor, M_act = Motor Actual Force (UPID 0x1BFF) / Motor Maximim Force (UPID 0x1BB0)* 0x4000.
The unit is N.
For rotary motor, M_act = Motor Actual Torque (UPID 0x1BBF) / Motor Maximim Torque (UPID 0x1BBE) *
0x4000. The unit is Nm.
2.1.8 Real Time Config telegram 404, PZD-4/4
Output Data
Index Size
[Byte] Byte
Offset Name Data
Type
Tlg 404 8 - Variables RECORD
1 2 0 Config Control Word Uint16
2 2 2 Config Index/.. Uint16
4, 5 4 4 Config Value Word32
Input Data
Index Size
[Byte] Byte
Offset Name Data
Type
Tlg 404 8 - Variables RECORD
1 2 0 Config Status Word Uint16
2 2 2 Config Index/.. Uint16
4, 5 4 4 Config Value Word32
Please refer to the document 0185-1074-E_1V7_MA_Drive-Configuration-Over-Fieldbus-SG5-SG7.pdf [3] from
LinMot for more details.
2.1.9 LinMot telegram 516 PZD-16/13
Default-IO mapping with Config
Output Data
Index Size
[Byte] Byte
Offset Name Data
Type
Tlg 16 32 - Variables RECORD
1 2 0 ControlWord Word16
2 2 2 Motion Command Header Word16
3,4 4 4 Motion Command parameter 1 Word32
5,6 4 8 Motion Command parameter 2 Word32
7,8 4 12 Motion Command parameter 3 Word32
9,10 4 16 Motion Command parameter 4 Word32
11,12 4 20 Motion Command parameter 5 Word32
13 2 24 Config Header Word16