Pilz Motion Control PMC, Руководство пользователя

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n + 46 ZSW Status Word
PZD - Receive Panel
n + 48 HIW Main Actual Value
n + 50 PZD3E
n + 52 PZD4E
n + 54 PZD5E
n + 56 PZD6E
(n = 2, 4, 6, … Begin of user data)
There can be parameters for several drives in one user data block. The number is limited by the
maximum possible block size and by the max. number for the parameter NUDB of FC100. The low
byte of this parameter is the number of the actual drive’s data begin inside the user data block. It’s
max. value therefore is FFh.
The Parameter Data Block (example for 2 axes, DB100)
Adress Name Comment
0 dbw0 Reserved
System Parameters
(per DP-Master)
2 dbw1 Reserved
4 dbw2 Reserved
6 WDH Reserved
8 ppo_typ Telegram type PPO2 (fixed)
10 Bus_nr Slave address of the drive (ADDR)
12 DB_Nutzdaten Number of User Data Block (101)
14 Kom_st_wort
Begin of user data for slave 1 inside the user
data block ('n', s.a.) (W#16#C)
16 Peri_PKW
Startadress of PKW – peripheral range
(W#16#0100)
18 Peri_PZD
Startadress PZD - peripheral range
(W#16#0108)
20 ppo_typ2 Telegram type PP02
22 Bus_nr2 Profibus slave number (ADDR)
24 DB_Nutzdaten2 Number of User Data Block (102)
26 Kom_st_wort2 Begin of user data (W#16#C)
28 Peri_PKW2
Start adress PKW - peripheral range
(W#16#0114)
30 Peri_PZD2
Start adress PZD - peripheral range
(W#16#011C)
How to Handle
To use one of the functions it is mandatory to call the FC100. FC100 must be called first. Out of the
functions FC101 to FC110 only those FCs/FBs must be called that are used. If FB102 is used, make
sure that the call of FC110 that axis is skipped, since FC110 is used by FB102. All calls of FCs/FBs
are made absolutely. Between the call of the FC100 and the calls of FC101 to FC110 no other function
block is allowed to use the scratch flags MW200 – MW254. When processing alarms, the scratch flag
area MW200 – MW254 bust be saved and reloaded.
Seperate function block calls, beginning with the FC100, are required for each drive. Only one task at a
time can be started per drive. The next task can not be started, before the previous one is finished and
BUSY = 0. If data words are declared as parameters to the FCs, they are placed in the parameterized
user data block(FC100 NUDB).
Please notice that due to the change of the data address system of the S7 (byte wise instead of word
wise as for S5) the right byte of the parameter NUDB of FC100 must be interpreted differently. Here
half the value of the start data word is required. However in the parameter data block the start data
word is required. Start data word means that address, where the data for the particular drive starts
inside the user data block. For the example above it means ‘n’ for the parameter Kom_st_wort inside
the parameter data block and ‘n/2’ for the right byte of the paramter NUDB (s.a. description of the
FC100).
T
he FC22 must be called before the FC21! The FC22 and FC21 should be called directly
after the calls oft the handling blocks and within the same function block (FC, FB, OB).
Page 56 User manual PROFIBUS DP PMCtendo DD4
9 Appendix