Communication according to PROFIdrive
3.4 Acyclic communication
Communication
Function Manual, 12/2018, 6SL3097-5BD00-0BP0
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3.4.3 Determining the drive object numbers
Further information about the drive system (e.g. drive object numbers) can be determined as
follows using parameters p0101, r0102, and p0107/r0107:
1. The value of parameter r0102 ("Number of drive objects") for drive object/axis 1 is read
via a read request.
Drive object 1 is the Control Unit (CU) which is a minimum requirement for each drive
system.
2. Depending on the result of the initial read request, further read requests for drive object 1
are used to read the indices for parameter p0101 "Drive object numbers", as specified by
parameter r0102.
Example:
If the number of drive objects is "5", the values of indices 0 to 4 of parameter p0101 are
read. Of course, the relevant indexes can also be read at once.
3. Following this, parameter r0107/p0107 ("Drive object type") is read for each drive
object/axis (indicated by the drive object number).
Depending on the drive object, parameter 107 can be either an adjustable parameter or a
display parameter.
The value in parameter r0107/p0107 indicates the drive object type. The coding for the
drive object type is specified in the parameter list.
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