Siemens simovert masterdrives

Communication / PROFIBUS 09.2008
6SE7087-6QX70 (Version AK) Siemens AG
8.2-70 Compendium Motion Control SIMOVERT MASTERDRIVES
Standard telegram 5:
PZD number 1 2 3 4 5 6 7 8 9
Setpoint STW1 NSOLL_B STW2 G1_STW XERR KPC
PZD number 1 2 3 4 5 6 7 8 9
Actual value ZSW1 NIST_B ZSW2 G1_ZSW G1_XIST1 G1_XIST2
Standard telegram 6:
PZD number 1 2 3 4 5 6 7 8 9 10
Setpoint STW1 NSOLL_B STW2 G1_STW G2_STW XERR KPC
PZD number 1 2 3 4 5 6 7 8 9 ...
Actual value ZSW1 NIST_B ZSW2 G1_ZSW G1_XIST1 G1_XIST2 ...
... ... 10 11 12 13 14
... ... G2_ZSW G2_XIST1 G2_XIST2
Signals:
Signal No. Meaning Abbreviation Length
16/32-bit
Sign
1 Control word 1 STW1 16
2 Status word 1 ZSW1 16
3 Control word 2 STW2 16
4 Status word 2 ZSW2 16
5 Speed setpoint A NSOLL_A 16 with
6 Actual speed A NIST_A 16 with
7 Speed setpoint B NSOLL_B 32 with
8 Actual speed B NIST_B 32 with
9 Encoder 1 control word G1_STW 16
10 Encoder 1 status word G1_ZSW 16
11 Encoder 1 actual position 1 G1_XIST1 32
12 Encoder 1 actual position 2 G1_XIST2 32
13 Encoder 2 control word G2_STW 16
14 Encoder 2 status word G2_ZSW 16
15 Encoder 2 actual position 1 G2_XIST1 32
16 Encoder 2 actual position 2 G2_XIST2 32
25 Control deviation XERR 32 with
26 Position controller gain factor KPC 32 with