Pkw Interface Of Profidrive Slaves - Beckhoff FC3102 Documentation

3.6.4

PKW Interface of PROFIDRIVE Slaves

The PKW interface is integrated into the FC310x; it can then be accessed via ADS [} 28] from the control
program. PKW Read is then mapped in ADS Read, PKW Write in ADS Write and PKW-Read No Of Array
Elements in ADS Read:
PKW Read
ADS-Read parameters
Net-ID
Port
IndexGroup
IndexOffset
Length
Data
PKW Write
ADS-Write parameters
Net-ID
Port
IndexGroup
IndexOffset
Length
Data
PKW ReadNoOfArrayElements
ADS-Read parameters
Net-ID
Port
IndexGroup
IndexOffset
Length
Data
FC3101 and FC3102
Meaning
Net-ID of the master (see the device's ADS [} 44] tab)
0x1000 + station address of the slave
Bits 0-11: parameter number (PNU)
Bits 12-25: 0
Bit 26: 1 = Subindex in octet 3 (standard), 0 = subindex in octet 4 (Simodrive
611U)
Bit 27: 1 = ARRAY codes are not supported by PROFIDRIVE slave
Bits 28-31: axis number (for single axis modules always 1)
Subindex (for ARRAY access)
Parameter length: 2 or 4
In response: Parameter value
Meaning
Net-ID of the master (see the device's ADS [} 44] tab)
0x1000 + station address of the slave
Bits 0-11: parameter number (PNU)
Bits 12-25: 0
Bit 26: 1 = Subindex in octet 3 (standard), 0 = subindex in octet 4 (Simodrive
611U)
Bit 27: 1 = ARRAY codes are not supported by PROFIDRIVE slave
Bits 28-31: axis number (for single axis modules always 1)
Subindex (for ARRAY access)
Parameter length: 2 or 4
In request: Parameter value
Meaning
Net-ID of the master (see the device's ADS [} 44] tab)
0x1000 + station address of the slave
Bits 0-11: parameter number (PNU)
Bits 12-15: 0
Bit 16: 1
Bits 17-25: 0
Bit 26: 1 = Subindex in octet 3 (standard), 0 = subindex in octet 4 (Simodrive
611U)
Bit 27: 1 = ARRAY codes are not supported by PROFIDRIVE slave
Bits 28-31: axis number (for single axis modules always 1)
0
Parameter length: 1
In response: Number of the parameter 's array elements
Version: 3.0
FC310x as master
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