Communication
C3I20T11 / C3I32T11
322
192-120103 N13 C3I20T11 / C3I32T11 December 2010
Function description: Direct positioning
Communication between Master/controller and Compax3 takes place via the
Process data channel (PZD)
Procedure:
Selection of the motion function: Bit 15, 13, 12 of the control word 1
Start of the motion function: Bit 6 of the control word 1
Specification of the motion parameters: Objects of the PZD
Layout of the PZD:
Layout of the telegram: Profibus-Master / Profinet-Controller -> Compax3
CW1
XSOLL_A(1) XNOM_A(2)
Aw
n
Aw
n+2
Aw
n+4
Aw
n+6
Aw
n+8
Aw
n+10
Aw
n+12
Aw
n+14
Aw
n+16
Possible assignment:
Abbreviation
Designation
Object No.
Assigned
words
Assignment
XNOM_A
Position setpoint value A
(3 decimal places)*
1100.6
2
fixed
Abbreviation
Designation
Object No. Assigned
words
Assignment
CW1:
Control word 1
1100.3
1
fixed
A_DIGITAL
Digital outputs O0 ... O3
140.3
1
optional
-
Digital outputs of the M10/M12
option
133.3
1
optional
-
Demand movement speed C (1
decimal place)*
1100.8
1
optional
-
Demand movement speed D (3
decimal places)*
1100.7
2
optional
-
Setpoint acceleration A
(no decimal place)
1111.10
1
optional
-
Setpoint acceleration B
(no decimal place)
1111.3
2
optional
Setpoint deceleration
1111.16
1
optional
(only
Profinet)
Setpoint deceleration
1111.4
2
optional
(only
Profinet)
* The values are transmitted as int16 (1 word) or int32 (2 words).
With 1 decimal place: Divide value by 10.
With 3 decimal places: Divide value by 1000.
Example:
PLC Value
Compax3 value
1000
1.000
(3 decimal places)
10
1.0
(1 decimal place)
The setpoint movement speeds C & D do have the same function, they differ only
in the word width.
The same applies for the setpoint accelerations A & B
You should therefore only use one of these two values.
