Operating Instructions

Communication via PROFIBUS and PROFINET
3.1 PROFIDRIVE profile - Cyclic communication
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
29
3.1.3
Control and status word, encoder
Telegrams 3 and 4 allow the higher-level control system to directly access the encoder.
Direct access is necessary, if the higher-level control is responsible for the closed-loop
position control for the drive.
If you enable the "Basic positioner" position control in the inverter, then telegrams 3 and 4
cannot be selected, and the inverter handles the encoder control.
Control word encoder (G1_STW and G2_STW)
Bit
Meaning
Explanation
Signal interconnec-
tion in the inverter
Bit 7 = 0
Bit 7 = 1
0 Function 1 1 = search for refer-
ence cam 1 with a
positive start direction
1 = request flying referenc-
ing to the rising edge of
reference cam 1
Telegram 3:
Encoder 1:
p0480[0] = r2050[4]
Telegram 4:
Encoder 1:
p0480[0] = r2050[4]
encoder 2:
p0480[1] = p2050[9]
Telegram 102:
Encoder 1:
p0480[0] = r2050[5]
Telegram 103:
Encoder 1:
p0480[0] = r2050[5]
encoder 2:
p0480[1] = p2050[10]
1 Function 2 1 = search for refer-
ence cam 1 with a
negative start direction
1 = request flying referenc-
ing to the falling edge of
reference cam 1
2 Function 3 1 = search for refer-
ence cam 2 with a
positive start direction
1 = request flying referenc-
ing to the rising edge of
reference cam 2
3 Function 4 1 = search for refer-
ence cam 2 with a
negative start direction
1 = request flying referenc-
ing to the falling edge of
reference cam 2
4
Command bit 0
1 = activate the function requested using bit 0 … 3
5
Command bit 1
1 = read the value requested using bit 0 … 3
6
Command bit 2
Reserved
7 Mode 1 = flying referencing
0 = search for reference cams
8
…
12
Reserved ---
13 Cyclic absolute
value
1 = request for the cyclic transfer of the position actu-
al value in G1_XIST2 or G2_XIST2
14
Parking
1 = request to park the encoder
15
Acknowledge
0 → 1 = acknowledge encoder fault