Supported Pnu's - Kollmorgen AKD Manual

AKD PROFINET | 5 PROFIDRIVE over PROFINET IO

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. 18).
PNU Name
915
916
922
923
930
944
947
964
965
975
980
to 989
1002 No. of singleturn bits
1004 Jog v1
1005 Jog v2
1006 Jog Acc
1007 Jog Dec
1008 Acceleration scaling
1009 Velocity Scaling
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
1
2
5
6
28
32
33
52
30 Kollmorgen | kdn.kollmorgen.com | November 2018
DO IO Data configuring (set
point telegram)
DO IO Data configuring
(actual value telegram)
Telegram selection
List of all parameters for sig-
nals
Operating mode
Fault message counter
Fault number
Drive Unit Identification
Profile identification number
DO identification
Number list of defined para-
meter
Name Data type
STW1 U16
ZSW1 U16
NSOLL_A S16
NIST_A S16
XIST_A U32
SATZANW U16
AKTSATZ U16
ITIST_GLATT U16
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
U16 Scaling of singleturn part in signal MDI_
TARPOS
S16 Jogging set point 1
S16 Sogging set point 2
U16 Jogging acceleration. Uses the accel-
eration ramp of velocity loop.
U16 Jogging deceleration. Uses the decel-
eration ramp of velocity loop.
U16 Scaling factor for acceleration and decel-
eration.
U16 Scaling factor for velocity signals
Description
I/O control word
I/O status word
Velocity set point value
Velocity actual value
Actual feedback position
Motion task selection
Actual motion task running
Active Current (torque)