Device Profile - Kollmorgen S300 Original Manual

Kollmorgen
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Device Profile

1 2
PKE
Typ 1 : Octet-String 12
Typ 2 : Octet-String 20
Typ 3 : Octet-String 4
Typ 4 : Octet-String 12
Typ 5 : Octet-String 28
The PROFIBUS profile PROFIDRIVE includes the following parameter process-data objects (PPO):
The servo amplifier only uses the PPO-type 2 (with 4 words PKW-section and 6 words PZD-sec-
tion). The PKW-section is used mainly for the transmission of parameters for the servo amplifier,
the PZD-section is used principally for handling motion functions.
The telegram can be divided into two sections or data channels:
1.
2.
The PKW data channel can also be termed the service or parameter channel. The service channel
only uses confirmed communication services, and is used by the servo amplifier as a parameter
channel.
The PKW channel has no real-time capability.
The PZD data channel can also be termed the process data channel. The process data channel
uses unconfirmed communication services. The response of the servo amplifier to an unconfirmed
service can only be seen in the reaction of the amplifier (status word, actual values).
The PZD channel has real-time capability.
PROFIBUS for S300/S400/S600/S700
3 4 5 6 7 8 9 10
PKW
STW HSW
ZSW HIW
IND PWE
PZD1 PZD2 PZD3 PZD4
PKW-section (4 words, Bytes 1 to 8)
PZD-section (6 words, Bytes 8 to 20)
04/2017
BYTE
12 13 14 15 16 17 18 19 20
PZD
PZD5 PZD6 PZD7
Device Profile
21 22 23 24 25 26 27 28
PZD8 PZD9 PZD10
Abbreviations
PKW: Parameter ID value
PKE: Parameter ID (1st and 2nd octet)
IND: Index with PPO (3rd octet)
4th octet reserved
PWE: Parameter value (5th to 8th octet)
PZD: Process data
STW: Control word
ZSW: Status word
HSW: Main setpoint
HIW: Main actaul value
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