Technical data

Communication
9.2 Communication according to PROFIdrive
Function Manual
562 Function Manual, 06/2012, 6SL3097-4AB10-0BP4
The telegram structure
The parameter p0978 contains the sequence of DOs that use a cyclic PZD exchange. A zero
delimits the DOs that do not exchange any PZDs.
If the value 255 is written to p0978, the drive unit emulates an empty drive object that is
visible to the PROFIdrive Master. This permits cyclic communication of a PROFIdrive Master
● with unchanged configuration to drive units that have a different number of drive objects.
● with deactivated DOs without having to change the project.
Note
• The following must apply to ensure conformity with the PROFIdrive profile:
– Interconnect PZD receive word 1 as control word 1 (STW1).
– Interconnect PZD send word 1 as status word 1 (STW1).
Use WORD format for PZD1.
• One PZD = one word.
Only one of the interconnection parameters (p2051 or p2061) can have the value ≠ 0
for a PZD word.
• Physical word and double word values are inserted in the telegram as referenced
variables.
p200x are relevant as reference values (telegram contents = 4000 hex or
4000 0000 hex for double words if the input variable has a value of p200x).
Structure of the telegrams
You can find an overview of the structure of telegrams in function diagrams 2420, 2422, and
2423 in the SINAMICS S110 List Manual.
Depending on the drive object, only certain telegrams can be used:
Drive object Telegrams (p0922)
SERVO 1, 2, 3, 4, 102, 103, 999
SERVO (EPOS) 7, 9, 110, 111, 999
CU_S110 390, 391, 392, 393, 394, 999
Depending on the drive object, the following maximum number of process data items can be
transmitted for user-defined telegram structures:
Drive object Max. number of PZD for sending / receiving
• SERVO
Send 19, receive 16
• CU_S110
Send 15, receive 5