94 Unidrive M SI-PROFIBUS User Guide
Issue Number: 3
14.7 Mode 2 - PPO 4 Word mode
PPO 4 word mode of non-cyclic data is a simple method of accessing non-cyclic data
without the need for the telegrams required with Mode 1 non-cyclic data and its
associated overheads. Mode 2 has the disadvantage of using four words of mappings
and reduces the available free mappings accordingly.
14.7.1 Mapping for PPO 4 Word non-cyclic data
To configure an SI-PROFIBUS for PPO 4 word mode non-cyclic data, the following
steps must be performed:
1. Set Pr S.01.030 to the required mode (see section Non-cyclic over cyclic on
page 40).
2. Set Pr MM.007 to ON to re-initialize SI-PROFIBUS.
3. Save the parameters if required (see the relevant drive documentation for
information on saving drive parameters).
When the SI-PROFIBUS resets, it will map cyclic data IN words 0 to 3 and OUT words 0
to 3 to the PPO 4 Word protocol parameter. All existing mapping parameters will be
moved down by one mapping, (i.e. the previous mappings set in Pr S.02.001 and
Pr S.03.001 will now appear in Pr S.02.002 and Pr S.03.002 respectively). Table 14.13
shows what happens to the mapping parameters when the data format is changed from
sending no cyclic data over the cyclic channel (Pr S.01.030=0) to sending non-cyclic
data over the cyclic channel with Mode 2 non-cyclic data. (Pr S.01.030=2).
Table 14.13 PPO 4 Word mode data mapping
Mapping
parameter
Before format change
(Pr S.01.030 = 0)
After format change
(Pr S.01.030 = 2)
Value Mapping Value Mapping
Pr S.02.001 10040 Pr 10.040, status word
Pr 61.051, PPO 4 Word
Pr S.02.002 2001
Pr 02.001, post ramp
speed ref
10040 Pr 10.040, status word
Pr S.02.003 0 Not mapped 2001 Pr 02.001, post ramp speed ref
Pr S.02.004
to
Pr S.02.032
0 Not mapped 0 Not mapped
Pr S.03.001 6042 Pr 06.042, control word
Pr 61.051, PPO 4 Word
Pr S.03.002 1021
Pr 01.021, digital speed
ref 1
6042 Pr 06.042, control word
Pr S.03.003 0 Not mapped 1021 Pr 01.021, digital speed ref 1
Pr S.03.004
to
Pr S.03.032
0 Not mapped 0 Not mapped
If all IN or OUT mapping parameters are being used when the data format change is
implemented, the last mapping parameter value will be lost.
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