Efficient Networks Siemens Sinamics S120 - Manual (Page 361)

Communication PROFIBUS DP/PROFINET IO
10.1 Communications according to PROFIdrive
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
361
Bit Meaning Comments BICO
0 The sensor for the fixed stop is inactive
4 Reserved - - -
1 Jogging incremental active 5 Jogging, incremental
0 Jogging velocity active
BI: 2591
6 ...
15
Reserved - - -
Note:
See also: SINAMICS S Function Manual, Function module "basic positioner"
NSOLL_A (speed setpoint A (16-bit))
● Speed setpoint with a 16-bit resolution with sign bit.
● Bit 15 determines the sign of the setpoint:
– Bit = 0 --> positive setpoint
– Bit = 1 --> negative setpoint
● The speed is normalized via p2000.
NSOLL_A = 4000 hex or 16384 dec ≐ speed in p2000
NSOLL_B (speed setpoint B (32-bit))
● Speed setpoint with a 32-bit resolution with sign bit. .
● Bit 31 determines the sign of the setpoint:
– Bit = 0 --> positive setpoint
– Bit = 1 --> negative setpoint
● The speed is normalized via p2000.
NSOLL_B = 4000 0000 hex or 1 073 741 824 dec ≐ speed in p2000
162//B$
162//B%
Q
S
KH[
KH[
Figure 10-9 Normalization of speed
Gn_STW (encoder n control word)
This process data belongs to the encoder interface.
XERR (position deviation)
The position deviation for dynamic servo control (DSC) is transmitted via this setpoint.