Rx/Tx Telegram Example - igus Motion Plastics dryve D1 Manual

External Signal Exchange

6.5.5 RX/TX Telegram Example

The following examples show how Ethernet telegrams must be structured to ensure proper communication between the dryve D1 and a Modbus TCP Gateway Master.
Listed below are read/write telegrams with the respective response telegram from the dryve D1. The Bytes highlighted in green must be configured for the respective purpose (e.g. reading the
Statusword 6041 or writing the Controlword 6040h).
The following telegrams describe the passage of the "State Machine", the execution of the "Homing" and a pendulum motion in "Profile Position" mode.
Byte
Telegram Type Task/Information 0
Send Telegram (TX) bin 0000 1111 0000 1111 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 not send not send not send not send
1 Read Status Request hex Fh*
Statusword 6041h dec 15*
bin 0000 1111 0000 1111 0000 0000 0000 0000 0000 0000 0000 1111 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 0100 0000 0000 0100 not send not send
2 Answer Telegram (RX) Switch On Disabled hex Fh*
dec 15*
Send Telegram (TX) bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 not send not send not send not send
3 Read Status Request hex 0h
Statusword 6041h dec 0
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1111 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 0100 0000 0000 0110 not send not send
4 Answer Telegram (RX) Switch On Disabled hex 0h
dec 0
Send Telegram (TX) bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1110 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0100 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0000 0110 not send not send not send
Command:
5 Write hex 0h
Shutdown
Controlword 6040h dec 0
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0100 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 not send not send not send not send
6 Answer Telegram (RX) Handshake hex 0h
dec 0
Send Telegram (TX) bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 not send not send not send not send
7 Read Status Request hex 0h
Statusword 6041h dec 0
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1110 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 0010 0001 0000 0110 not send not send
Ready To
8 Answer Telegram (RX) hex 0h
Switch On
dec 0
Send Telegram (TX) bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1110 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0100 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0000 0111 not send not send not send
Command: Switch
9 Write hex 0h
on
Controlword 6040h dec 0
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0100 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 not send not send not send not send
10 Answer Telegram (RX) Handshake hex 0h
dec 0
Operating Manual dryve D1, ST-, DC-, EC/BLDC-Motor Control System - V2.4
1 2 3 4 5 6
Fh* 0h 0h 0h 0Dh 0h
15* 0 0 0 13 0
Fh* 0h 0h 0h 0Fh 0h
15* 0 0 0 15 0
Digital Input DI 7 set "high" - Bit 9 "Remote" in Statusword 6041h
*Only used to identify the response telegram in multi axis application
0h 0h 0h 0h 0Dh 0h
0 0 0 0 13 0
0h 0h 0h 0h 0Fh 0h
0 0 0 0 15 0
0h 0h 0h 0h 0Eh 0h
0 0 0 14 0
0h 0h 0h 0h 0Dh 0h
0 0 0 0 13 0
0h 0h 0h 0h 0Dh 0h
0 0 0 0 13 0
0h 0h 0h 0h 0Eh 0h
0 0 0 0 15 0
0h 0h 0h 0h 0Eh 0h
0 0 0 14 0
0h 0h 0h 0h 0Dh 0h
0 0 0 0 13 0
7 8 9 10 11 12
2Bh 0Dh 0h 0h 0h 60h
43 13 0 0 0 96
2Bh 0Dh 0h 0h 0h 60h
43 13 0 0 0 96
2Bh 0Dh 0h 0h 0h 60h
43 13 0 0 0 96
2Bh 0Dh 0h 0h 0h 60h
43 13 0 0 0 96
2Bh 0Dh 1h 0h 0h 60h
43 13 1 0 0 96
2Bh 0Dh 1h 0h 0h 60h
43 13 1 0 0 96
2Bh 0Dh 0h 0h 0h 60h
43 13 0 0 0 96
2Bh 0Dh 0h 0h 0h 60h
43 13 0 0 0 96
2Bh 0Dh 1h 0h 0h 60h
43 13 1 0 0 96
2Bh 0Dh 1h 0h 0h 60h
43 13 1 0 0 96
13 14 15 16 17 18
41h 0h 0h 0h 0h 2h
65 0 0 0 0 2
41h 0h 0h 0h 0h 2h
65 0 0 0 0 2
41h 0h 0h 0h 0h 2h
65 0 0 0 0 2
41h 0h 0h 0h 0h 2h
65 0 0 0 0 2
40h 0h 0h 0h 0h 1h
64 0 0 0 0 1
40h 0h 0h 0h 0h 0h
64 0 0 0 0 0
41h 0h 0h 0h 0h 2h
65 0 0 0 0 2
41h 0h 0h 0h 0h 2h
65 0 0 0 0 2
40h 0h 0h 0h 0h 1h
64 0 0 0 0 1
40h 0h 0h 0h 0h 0h
64 0 0 0 0 0
19 20 21 22
not send not send not send not send
not send not send not send not send
40h 4h not send not send
64 4 not send not send
not send not send not send not send
not send not send not send not send
40h 6h not send not send
64 6 not send not send
6h not send not send not send
6 not send not send not send
not send not send not send not send
not send not send not send not send
not send not send not send not send
not send not send not send not send
21h 6h not send not send
33 6 not send not send
7h not send not send not send
7 not send not send not send
not send not send not send not send
not send not send not send not send
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