Nado NDRA91, Руководство пользователя

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Interface description
NDRA91-92
Manual
Page 54
NADO
Cyclic data exchange – Input (Slave

Master)
The localization data from the
NDRA91
P are signed. With the SF parameters
(scale factor) the signs can inverted. The resolution is also determined by SF.
The arrangement of the octet in the telegrams is Profibus-compliant (big
endian), e.g. the MSB comes first and the LSB last.
Table 16 : Profibus Input
4 byte input:
Octet Type Input
1..4 signed 32 distance value
8 byte input and mode VT:
Octet Type Input
1..4 signed 32 distance value
5..8 signed 32 speed value
Cyclic data exchange – Output (Master

Slave)
The most significant bit in the preset value (32 bit) determines the validity of
the preset.
Table 17 : Profibus Output
Octet Type Output
1..4 signed 32 Preset-Value
Normal Mode: MSB = 0 (bit 31)
Preset Mode: MSB = 1 (bit 31)
With the preset value, the actual value can be set to a desired value. This
offset is used internally offset M
Offset
. By setting the bit 31, the offset value can
be changed. It applies the following:
M
DataEx
output value for cyclic data exchange
M
Laser
value determined by the laser measurement
M
Offset
internally calculated offset
M
Preset
with the preset function of transferred value