YASKAWA Sigma-7 SGD7S Series - 13.6.4 Standard Position Telegram (ST7); 13.6.5 Standard Position Telegram (ST9)

13.6.4 Standard Position Telegram (ST7)
Operating mode PNU 930
n 0002h (PROFIdrive position mode) (Program
submode)
n 80FFh (Pole detection mode)
Modes of Operation (6060h,
6061h)
n -2 (PROFIdrive position mode) (Program sub-
mode)
n -1 (Pole detection mode)
Telegram 7
Application Class 3
PZD 1 Controlword 1 (STW1) Statusword 1 (ZSW1)
PZD 2 Traversing Block Selec-
tion (SATZANW)
Actual Traversing Block
(AKTSATZ)
Related objects
Object Index
(hex)
Pn No. Units, Scaling Info
STW1 6040h B11 - -
ZSW1 6041h B12 - -
SATZANW 2532h BD0 - -
AKTSATZ 2533h BD1 - -
13.6.5 Standard Position Telegram (ST9)
Operating mode PNU 930
n 0002h (PROFIdrive position mode) (MDI sub-
mode, Program submode)
n 80FFh (Pole detection mode)
Modes of Operation (6060h,
6061h)
n -2 (PROFIdrive position mode) (MDI submode,
Program submode)
n -1 (Pole detection mode)
Telegram 9
Application Class 3
PZD 1 Controlword 1 (STW1) Statusword 1 (ZSW1)
PZD 2 Traversing Block Selec-
tion (SATZANW)
Actual Traversing Block
(AKTSATZ)
PZD 3 Controlword 2 (STW2) Statusword 2 (ZSW2)
PZD 4 Target Position
(MDI_TARPOS)
Position Actual Value
(XIST_A)
PZD 5
PZD 6 Profile Velocity
(MDI_VELOCITY)
PZD 7
PZD 8 MDI Acceleration
(MDI_ACC)
Sigma-7 Series SERVOPACKs
PROFINET Communication
Telegrams > Standard Position Telegram (ST9)
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