Supported Pnu's - Kollmorgen AKD PROFINET RT Communication Manual

AKD PROFINET | 6 PROFIDRIVE over PROFINET IO

6.6 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. 22).
980 to 989 Number list of defined
List of all manufacturer specific PNU's
The table shows all manufacture specific signals. All supported PROFIdrive and man-
ufacture specific signals can be mapped into telegram 0 (dynamic telegram configuration).
PNU
Supported Formats:
Format
Data type
34 Kollmorgen | December 2014
PNU Name
915 DO IO Data configuring
(set point telegram)
916 DO IO Data configuring
(actual value telegram)
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 num-
ber
975 DO identification
parameter
1002 No. of singleturn bits
1004 Jog v1
1005 Jog v2
1006 Jog Acc
1007 Jog Dec
1008 Acceleration scaling
Name Data type
1 STW1
2 ZSW1
5 NSOLL_A
6 NIST_A
32 SATZANW
33 AKTSATZ
52 ITIST_GLATT
Data type Description
Array of U16
Array of U16
U16 The PROFIdrive telegram used for
the IO connection can be con-
figured.
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
U16 Scaling of singleturn part in signal
MDI_TARPOS
S16 Jogging set point 1
S16 Sogging set point 2
U16 Jogging acceleration. Uses the
acceleration ramp of velocity loop.
U16 Jogging deceleration. Uses the
deceleration ramp of velocity loop.
U16 Scaling factor for acceleration and
deceleration.
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)
0x41 0x42 0x43
Byte Word Dword