Printed in the Federal Republic of Germany TR-Electronic GmbH 2008, All Rights Reserved
06/06/2019 TR - EMO - BA - DGB - 0019 - 08 Page 129 of 252
Contents
Contents ............................................................................................................................................ 129
Revision index .................................................................................................................................. 136
1 General information ...................................................................................................................... 137
1.1 Target group .................................................................................................................... 137
1.2 Applicability ...................................................................................................................... 137
1.3 References ...................................................................................................................... 138
1.4 Abbreviations used / Terminology ................................................................................... 139
2 Additional safety instructions ...................................................................................................... 141
2.1 Definition of symbols and instructions ............................................................................. 141
2.2 Organizational measures................................................................................................. 141
3 PROFINET general information .................................................................................................... 142
3.1 PROFINET IO .................................................................................................................. 143
3.2 Real-Time Communication .............................................................................................. 144
3.3 Protocol ............................................................................................................................ 145
3.4 PROFINET IO – Services ................................................................................................ 146
3.5 PROFINET IO – Protocols ............................................................................................... 146
3.6 PROFINET System boot ................................................................................................. 147
3.7 PROFINET – Certificate, further information ................................................................... 147
4 PROFIdrive drive profile ............................................................................................................... 148
4.1 The object directory ......................................................................................................... 148
4.2 PROFIdrive object directory ............................................................................................ 148
4.3 State machine, status and control word .......................................................................... 149
5 PROFINET communication with encoTRive ............................................................................... 150
5.1 Data communication via PROFINET-IO .......................................................................... 150
5.1.1 Communication relationship for cyclic data exchange .................................... 151
5.1.1.1 Cyclic transmission of process data ................................................ 151
5.1.1.2 Cyclic transmission of the PKW channel ......................................... 151
5.1.2 Communication relationship for acyclic data exchange .................................. 152
5.1.3 Communication relationship for alarms ........................................................... 152
5.2 Configuration of process data ......................................................................................... 153
5.3 Access to parameters via PKW channel ......................................................................... 156
5.3.1 Examples of access to parameters via PKW channel ..................................... 158
5.3.1.1 Read command P947[0] .................................................................. 158
5.3.1.2 Write command P100 with value 1000000 ...................................... 158
5.4 Parameter access via acyclic data exchange (record data) ........................................... 159
5.4.1 Examples of access to parameters via acyclic data exchange ....................... 161
5.4.1.1 Write command: Write P930 with value 2 ........................................ 161
5.4.1.2 Write command: Write P915 with a number of values .................... 162
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