n Current telegram configuration: Standard telegram 1 (ST1)
n New telegram configuration: Free configurable telegram (with changed mapping)
n Sequence to change telegram configuration and mapping of the free configurable
telegram:
– Set PNU 922 to “999”
– Store configuration in non-volatile memory
– Perform “drive reset” to re-initialize SERVOPACK
Þ telegram 999 with last used telegram mapping is active (default: All PZDs
"0").
– Set PNU 922 to “0”
– Change mapping of set points/actual values with PNU 915 and PNU 916
Example for Positioning Axis:
Set PNU 915|0 to 6040h (Controlword 1) (Note: PZD1 is required to be Control-
word 1)
Set PNU 915|1 to 2532h (Traversing Block Selection)
Set PNU 915|2 to 2538h (MDI Mode)
Set PNU 915|3 to 607Ah (Target Position)
Set PNU 915|4 to 607Ah (Target Position)
Set PNU 915|5 to 6081h (Profile Velocity)
Set PNU 915|6 to 6081h (Profile Velocity)
Set PNU 915|7 to 6083h (Profile Acceleration)
Set PNU 915|8 to 6083h (Profile Acceleration)
Set PNU 915|9 to 6084h (Profile Deceleration)
Set PNU 915|A to 6084h (Profile Deceleration)
Set PNU 916|0 to 6041h (Statusword 1) (Note: PZD1 is required to be Status-
word 1)
Set PNU 916|1 to 2533h (Actual Traversing Block)
Set PNU 916|2 to 6064h (Position Actual Value)
Set PNU 916|3 to 6064h (Position Actual Value)
Set PNU 916|4 to 606Ch (Velocity Actual Value)
Set PNU 916|5 to 606Ch (Velocity Actual Value)
Set PNU 916|6 to 6077h (Torque Actual Value)
– Set PNU 922 to “999”
Þ First it is checked whether the configured mapping is valid, and if so, tele-
gram 999 is activated with the new mapping. Otherwise there is an error mes-
sage if PNU 922 is to be set to 999.
Example
Operating mode PNU 930
n 0001h (PROFIdrive velocity mode)
n 0002h (PROFIdrive position mode) (MDI sub-
mode, Program submode)
n 80FFh (Pole detection mode)
n 8004h (Profile Torque Mode)
Mode of Operation (6060h,
6061h)
n -3 (PROFIdrive velocity mode)
n -2 (PROFIdrive position mode) (MDI submode,
Program submode)
n -1 (Pole detection mode)
n 4 (Profile Torque Mode)
Telegram 999
Application Class 1, 3
Sigma-7 Series SERVOPACKs
PROFINET Communication
Telegrams > Free Configurable Telegram (Telegram 999)
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 496
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