3 Device Profile
The PROFIBUS profile PROFIDRIVE includes the following parameter process-data objects (PPO):
The servo amplifier only uses the PPO-type 2 (with 4 words PKW-section and 6 words PZD-sec-
tion). The PKW-section is used mainly for the transmission of parameters for the servo amplifier,
the PZD-section is used principally for handling motion functions.
The telegram can be divided into two sections or data channels:
1. PKW-section (4 words, Bytes 1 to 8)
2. PZD-section (6 words, Bytes 8 to 20)
The PKW data channel can also be termed the service or parameter channel. The service channel
only uses confirmed communication services, and is used by the servo amplifier as a parameter
channel.
The PKW channel has no real-time capability.
The PZD data channel can also be termed the process data channel. The process data channel
uses unconfirmed communication services. The response of the servo amplifier to an unconfirmed
service can only be seen in the reaction of the amplifier (status word, actual values).
The PZD channel has real-time capability.
PROFIBUS for S300/S400/S600/S700 17
Kollmorgen 04/2017 Device Profile
PKW
PKE IND PWE
PZD
STW
ZSW
HSW
HIW
PZD1 PZD2 PZD3 PZD4
Typ 1 : Octet-String 12
Typ 2 : Octet-String 20
Typ 3 : Octet-String 4
Typ 4 : Octet-String 12
PKW:
PKE:
IND:
PWE:
PZD:
STW:
ZSW:
HSW:
HIW:
12 3 45 678910
12 13 14 15 16 17 18 19 20
BYTE
Typ 5 : Octet-String 28
PZD6 PZD7PZD5 PZD8
21 2322 24 272625 28
PZD9 PZD10
4th octet reserved
Abbreviations
Parameter ID value
Parameter ID (1st and 2nd octet)
Index with PPO (3rd octet)
Parameter value (5th to 8th octet)
Control word
Status word
Main setpoint
Main actaul value
Process data
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