5.2 Disassembly ........................................................................................................... 22
6 Description of module and commissioning .................................................................. 23
6.1 Connector assignment ........................................................................................... 23
6.2 LED status indicators ............................................................................................. 23
6.3 Setting the station address ................................................................................... 23
6.4 Alarm messages ..................................................................................................... 24
6.5 Operating behavior in the case of bus connection failure ..................................... 25
7 Setting the process data .............................................................................................. 26
7.1 Configuration process on PROFINET IO controller................................................ 26
7.2 Available objects .................................................................................................... 28
8 Handling of objects ...................................................................................................... 29
8.1 Parameter access via communication channel PKW ............................................ 29
8.1.1 Order ID ..................................................................................................................30
8.1.2 Response ID ............................................................................................................30
8.1.3 Error message ..........................................................................................................31
8.1.4 Communication procedure ........................................................................................32
8.1.5 Parameters, data set selection and cyclic writing ........................................................33
8.1.5.1 Communication examples ...................................................................................34
8.1.6 Handling of index parameters / cyclic writing .............................................................36
8.1.6.1 Example: Writing of index parameters ................................................................37
8.1.6.2 Example: Reading of index parameters ...............................................................39
8.2 Parameter access through reading/writing of data sets ...................................... 40
8.3 Process data channel ............................................................................................. 42
8.3.1 Data types of OUT/IN objects ...................................................................................42
8.3.2 PROFINET output sources (OUT-PZD x) .....................................................................44
8.3.3 PROFINET input parameters (IN-PZD x).....................................................................45
8.4 Frequency conversion PDP-Word to internal representation ................................ 47
8.5 Resetting errors ..................................................................................................... 48
9 Operation without Motion Control ............................................................................... 49
10 Motion Control Interface (MCI) ................................................................................... 49
10.1 Object and parameter relationships ................................................................... 50
10.2 Functions of the Motion Control Interface (MCI) ............................................... 54
10.2.1 Reference system .....................................................................................................54
10.2.2 Modes of operation ...................................................................................................55
10.2.3 Modes of operation display .......................................................................................55
10.2.4 Current position and contouring errors ......................................................................55
10.2.5 Position Controller ....................................................................................................55
10.2.6 Profile position mode ................................................................................................57
10.2.7 Velocity mode vl .......................................................................................................57
10.2.8 Profile velocity mode pv ............................................................................................58
10.2.9 Homing mode ..........................................................................................................58
10.2.10 Table travel record mode .......................................................................................59
10.3 Move away from Hardware limit switches ......................................................... 59
10.4 Motion Control Mapping for PROFINET .............................................................. 60
10.5 Motion Control Override ..................................................................................... 61
4 CM-PROFINET 10/13
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