Alarm Queue
Signal Exception
Alarm
Mechanism
Clock
Synchronous
Operation
Axis type
Drive object
Master Clock
sync information
Master Clock
Regeneration
Cyclic Data
Exchange
Transmit
setpoint
values
cyclically
Transmit
actual
values
cyclically
DO I/O
Data
Acyclic Data
Exchange
Write
parameter
Read
parameter
sync/trigger
Parameter
Access
Parameter
Data Base
Parameter
Manager
Actual ValuesSetpoint Values
General
State Machine
Axis Control Task
(closed loop control, motion control, ...)
Actors and Sensors
(e.g. motor and measurement system)
sync/trigger
Fig. 360: Drive Object
It contains the following items:
n General state machine
n Axis control task
n Parameter manager with parameter data base
Multiple communication channels are used for read/write data values over PROFINET IO.
The Drive Object can be accessed via:
n Cyclic data exchange
n Acyclic data exchange
n Alarm queue (optional)
n Clock synchronous operation (currently not supported)
The cyclic data exchange includes the transmission/reception of data values like set point
values (e.g. Position set point, velocity set point or control word) and actual values (actual
position value, actual velocity or status word) between the IO-Controller and the drive
object. These values are called IO data and are transferred in real time.
The acyclic data is used for configuring the drive, which typically is not time critical. Each
DO has an own parameter manager, which handles the access. PROFINET IO uses the
non real time channel for this purpose.
The alarm queue is used for signalling an exceptional situation to the IO-Controller, which
is generated through the state machine or the axis control task itself.
The clock synchronous operation requires PROFINET IRT (conformance class C), which
is currently not supported.
Sigma-7 Series SERVOPACKs
PROFINET Communication
Drive Units (DU) and Drive Objects (DO)
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 487
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