Set-Addressing With Subindex; Process Data Communication; Functionality - KEB COMBICOM Instruction Manual

Powerlink Operator

3.1.2 Set-addressing with subindex

The subindex is used for set-addressing at KEB parameters (Index = 2000h...5FFFh). The following coding is
valid:
Subindex
0
1
2
4
8
16
32
64
128
With this bit coding it is generally possible to response several sets with one command. However this should not
be used at read access, because an error code is returned, if not all values in the addressed sets are equal. This
multiple set-addressing can be used without problems for the illustration of the process PDOCUT data (Rx-PDO).
The same reservation (like reading via SDO commands) applies to the PDIN data illustration.
3.2

Process data communication

New process output data (PDOUT) can be sent to the KEB Powerlink slave and the actual process input data
(PDIN) can be determined by means of process data communication. Which parameters concern to the data is
determined by the process data illustration in the Powerlink operator. Up-to-date a maximum of 8 byte process
data for each data direction can be transferred.

3.2.1 Functionality

Process data mapping
The process data mapping is located in the Powerlink operator. The default setting for this is:
PDOUT data ( Powerlink-Master KEB-Slave ):
Byte0 Byte1
SY.43: Control word (long)
LSByte
PDIN data ( KEB-Slave * Powerlink-Master ):
Byte0 Byte1
SY.44: Status word (long)
LSByte
The mapping is adjustable as well as Powerlink parameters with index = 1600h and 1A00h and via operator pa-
rameters PD_Inx_Map and PD_Outx_Map (see below).
A mapping entry according to Powerlink specification for objects (1600h, 1A00h) is based on the following:
b63
BitLength
Description
Indirect set-addressing: The addressed set is determined by the respective set indicator. Pa-
rameter Fr.09 is used for parameters of the FI control
Direct set-addressing of set 0
Direct set-addressing of set 1
Direct set-addressing of set 2
Direct set-addressing of set 3
Direct set-addressing of set 4
Direct set-addressing of set 5
Direct set-addressing of set 6
Direct set-addressing of set 7
Byte2 Byte3
MSByte
Byte2 Byte3
MSByte
b48 b47 b32
BitOffset
Byte4 Byte5
SY.52: Set speed
LSByte MSByte
Byte4 Byte5
SY.53: Actual Speed
LSByte MSByte
b31 b24 b23
Reserved Subindex
Byte6 Byte7
IN.22: User Parameter 1
LSByte MSByte
Byte6 Byte7
IN.22: User Parameter 1
LSByte MSByte
b16 b15
Index
b0
GB - 9