User guide

Profinet IO vacon • 31
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1
5.3.
Profidrive profile
std telegram 1
std telegram 1 + 1pd
std telegram 1 + 2pd
std telegram 1 + 3pd
std telegram 1 + 4pd
std telegram 1 + 5pd
std telegram 1 + 6pd
std telegram 1 + 7pd
std telegram 1 + 8pd
Process Data field
PDI5
PDO5
PDI6
PDO6
PDI7
PDO7
PDI2
ZSW1
STW1
NSOLL_A
NIST_A
PDI1
PDI8
PDO8
PDO1
PDO2
PDI3
PDO3
PDI4
PDO4
The PROFIDRIVE profile has been jointly defined by drive manufacturers. The profile specifies as-
pects of drive parameterization and how the setpoints and actual values should be transmitted. This
makes drives in a fieldbus vendor-independent and possible to be replaced by a drive from a differ-
ent vendor. The profile contains specifications needed for speed control and positioning and it speci-
fies the basic drive functions while leaving sufficient freedom for application-specific expansions and
further developments.
5.3.1. Application class 1
The Profinet board supports Application Class 1 of the Profidrive profile (version 4.1 ). Application
Class 1 defines Standard Telegram 1. The standard telegrams have the following structure:
I/O data num-
ber
1 2
Setpoint STW1 NSOLL_A
Actual value ZSW1 NIST_A
Table 5.
5.3.1.1. STW1
STW1 is the Profidrive profile’s control word. The control word is for controlling the drive from a
fieldbus. It is sent by the fieldbus master to the drive. The drive switches between its states accord-
ing to the bit-coded instructions on the control word. Because the STW1 and the drive’s own control
words are different the STW1 has to be written to Drive Interface through state machine. Some of
the STW1 bits go straight to Drive Interface.
The STW1 is composed of 16 bits that have the following meanings: