Supported Pnu's - Kollmorgen AKD Manual

AKD PROFINET | Table of Contents

5.6 Supported PNU's

List of all supported PROFIdrive PNU's
The table mentions all supported PROFIdrive specific parameters. The access needs to be done via base mode
parameter access described in "Parameter Configuration with PROFIdrive over PROFINET IO" (=> p. 20).
PNU Name
915 DO IO Data configuring (set point telegram)
916 DO IO Data configuring (actual value tel-
egram)
922 Telegram selection
923 List of all parameters for signals
930 Operating mode
944 Fault message counter
947 Fault number
964 Drive Unit Identification
965 Profile identification number
975 DO identification
980 to 989 Number list of defined parameter
1004 Jog v1
1005 Jog v2
1006 Jog Acc
1007 Jog Dec
List of all manufacturer specific PNU's
The table shows all manufacture specific signals. All supported PROFIdrive and manufacture specific signals
can be mapped into telegram 0 (dynamic telegram configuration).
PNU Name
1 STW1
2 ZSW1
5 NSOLL_A
6 NIST_A
32 SATZANW
33 AKTSATZ
52 ITIST_GLATT
Supported Formats:
Format 0x41 0x42 0x43
Data type Byte Word Dword
32 Kollmorgen™ | March 2012
Data type Description
U16 I/O control word
U16 I/O status word
S16 Velocity set point value
S16 Velocity actual value
U16 Motion task selection
U16 Actual motion task running
U16 Active Current (torque)
Data type Description
Array of U16
Array of U16
U16 The PROFIdrive telegram used for the
IO connection can be configured.
Array of U16 All supported signals and their cor-
responding PNU's.
U16
U16
Array of U16 All active faults.
Array of U16 Indices 0 – 4
Array of U16
S16 Jogging set point 1
S16 Sogging set point 2
U16 Jogging acceleration. Uses the accel-
eration ramp of the velocity loop.
U16 Jogging deceleration. Uses the decel-
eration ramp of the velocity loop.