IAI America PCON-CFA - Manual (Page 257)

5. Flow and Commands of Basic MECHA
TROLINK Communication
251
5.7 PROFIBUS-DP Parameters
The parameters relating to PROFIBUS-DP are parameter Nos. 84 to 87, 90 and 159.
Category: C: External interface parameter
No. Category Symbol Name Factory default
1
~
83
For parameter Nos. 1 to 83, refer to the operation
manual for the controller.
84 C FMOD Fieldbus operation mode 0
85 C NADR Fieldbus node address 1
86 C FBRS Fieldbus baud rate 0
87 C NYTP Network type 3
90 C FMIO Fieldbus I/O format 0
159 C FBVS FB Half Direct Mode Speed Unit 0
z Fieldbus operation mode (No. 84 FMOD)
Specify a desired operation mode in parameter No. 84 using a value between 0 and 4.
Set value of
parameter No. 84
Mode name
Number of
occupied bytes
Description
0 (factory setting) Remote I/O mode 2
The actuator is operated by PIOs (24-V I/Os) via
PROFIBUS-DP.
1
Position/simple direct
mode
8
The target position can be specified directly as a value or
using a value in the position data table. Other values
required for operation are set in the position data table.
2 Half direct mode 16
Operate the actuator by specifying the speed,
acceleration/deceleration and push-current value, in
addition to the target position, directly using values.
3 Full direct mode 32
Operate the actuator by specifying all values relating to
position control directly using values.
4 Remote I/O mode 2 12
The current-position and current-speed read functions
are added to the functions available in the remote I/O
mode.
5
Position/simple direct
mode 2
8
Set this value to implement force control in the
position/simple direct numerical mode.
6 Half direct mode 2 16
Set this value to implement force control in the half direct
numerical mode.
7 Remote I/O mode 3 12
Set this value to implement force control in the remote I/O
mode 2.
8 Half direct mode 3 16
Set this value to switch servo gains or vibration damping
control parameters in the half direct numerical mode.
z Fieldbus node address (No. 85 NADR)
Specify the slave number of the remote station in parameter No. 85.
Setting range: 0 to 125 (The factory setting is 1.)
z Fieldbus baud rate (No. 86 FBRS)
The baud rate is automatically set according to the corresponding setting on the master side and thus need not be
set.