Communication
C3I20T11 / C3I32T11
326
192-120103 N13 C3I20T11 / C3I32T11 December 2010
Status word 2
Status word 2 in the "Positioning with set selection" operating mode contains the selected set
number as well as the PSBs.
Bit
Description
0
Address 0 of the current set
1
Address 1 of the current set
2
Address 2 of the current set
3
Address 3 of the current set
4
Address 4 of the current set
5 ... 11
factory use
12
Programmable status bit 0 (PSB0)
13
Programmable status bit 1 (PSB1)
14
Programmable status bit 2 (PSB2)
15
factory use
Function description: Positioning with set selection
Communication between Master/controller and Compax3 takes place via the
Process data channel (PZD)
Procedure:
Defining the motion sets with the Compax3 ServoManager or via the acyclic
channel.
Selecting the desired motion set via control word 2
Start the motion with control word 1 Bit 6.
Layout of the PZD:
Layout of the telegram: Profibus-Master / Profinet-Controller -> Compax3
CW1
CW2
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
CW2
Control word 2
1100.4
1
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)