BECKHOFF AX2000 PROFIBUS DP communication profile - Manual (Page 39)

5.2.2 Digital speed (operating mode 1)
Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
Controller to Amplifier STW n cmd - - -
Amplifier to Controller ZSW n act -
incremental actual position
32-bit
manuf.-specific
status
Alternative assignment of the process data sections with STW Bit 14=1:
Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
Controller to Amplifier STW n cmd (32-bit) - -
Amplifier to Controller ZSW n act (32-bit)
incremental actual position
32-bit
manuf.-specific
status
Alternative assignment of the process data sections with STW Bit 15=1:
Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
Controller to Amplifier STW n cmd - - -
Amplifier to Controller ZSW n act -
position (20 bits/turn and 16
turns)
manuf.-specific
status
Actual speed n
act
(16-bit)
The representation of the 16-bit actual speed value is normalized to the parameter for the
overspeed VOSPD n
n
VOSPD
act
act
16
15 2 = ´
Actual position (32-bit)
The range for the incremental position covers values from -2
31
to (2
31
-1).
Here one turn corresponds to 2
PRBASE
increments. Reporting the information in User
Units (SI) is not supported.
Manufacturer-specific status
In the process data (PZD5), the upper 16 bits of the manufacturer-specific status register
(PNU 1002) are made available. The numbering starts again from 0.
The significance of the status register bits can be seen in the table in Chapter 4.2.3.3.
Speed setpoint n
cmd
(16-bit)
The 16-bit speed setpoint is normalized to the parameter for the
overspeed VOSPD.
n
n
VOSPD
cmd
cmd
16
15 2 = ´
Position
The actual position value is an incremental value with a resolution of 24 bits.
Her one turn corresponds to 2
PRBASE
increments.
So 2
24 - PRBASE
turns can be represented.
Speed values n
act
(32-bit)
The digital speed values are converted according to the formula.
( )
n in rpm n
60 4000
32 2
cmd/ act cmd/ act, dig. PRBASE
= ´
´
´
with 2
PRBASE
= Increments per Motor turn, 60s/min,
4000 = Number of position controller cycles / sec.
5.2.3 Analog speed (operating mode -1)
In this operating mode the control word (STW) can only be used to enable and disable the amplifier.
Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
Controller to Amplifier STW - - - - -
Amplifier to Controller ZSW n act -
incremental actual position
32-bit
manuf.-specific
status
PROFIBUS for AX2000/2500 39
BECKHOFF
12/05
Process data channel