13.6 Telegrams
13.6.1 Supported Telegrams
The SERVOPACK supports PROFIdrive standard telegrams for speed mode and position
mode. Further on, a YASKAWA manufacturer specific telegram can be selected. It is also
possible to configure the cyclic communication. See the following table for details.
Telegram Telegram
number
Operation Modes Description
ST1 (Standard Telegram 1) 1 Velocity Control
Pole Detection
Default setting
ST2 (Standard Telegram 2) 2 Velocity Control
Pole Detection
ST7 (Standard Telegram 7) 7 Position Control
Pole Detection
ST9 (Standard Telegram 9) 9 Position Control
Pole Detection
YASKAWA telegram 100 Position Control
Velocity Control
Torque Control
Pole Detection
Free configurable telegram 999 Position Control
Velocity Control
Torque Control
Pole Detection
A change of the telegram configuration will be activated during the initialization phase of
the SERVOPACK, i.e.:
n The settings have to be stored in non-volatile memory of the PROFINET module
(PNU 977)
n The SERVOPACK has to be re-initialized by one of the following options:
– Command drive reset (PNU 972)
– Power cycle SERVOPACK
13.6.2 Standard Speed Telegram (ST1)
Operating mode PNU 930
n 0001h (PROFIdrive velocity mode)
n 80FFh (Pole detection mode)
Modes of Operation (6060h,
6061h)
n -3 (PROFIdrive velocity mode)
n -1 (Pole detection mode)
Telegram 1
Application Class 1
Sigma-7 Series SERVOPACKs
PROFINET Communication
Telegrams > Standard Speed Telegram (ST1)
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 490
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