Metronix ARS 2000 Profibus-Handbuch Seite 5

9.4.2 Gerätesteuerung ........................................................................................................48
9.4.3 Kommandoübersicht ..................................................................................................50
10 Herstellerspezifische Parameternummern......................................................................................52
10.1 Übersicht .................................................................................................................................52
10.2 PNUs zur Betriebsart Positionieren.........................................................................................54
10.2.1 PNU 1000: Position Set Number ................................................................................54
10.2.2 PNU 1002: Start Set Number .....................................................................................55
10.2.3 PNU 1001: Position Data............................................................................................55
10.2.4 PNU 1003: Position Profile Type ................................................................................57
10.2.5 PNU 1004: Override Factor ........................................................................................58
10.2.6 PNU 1005: Software Position Limits ..........................................................................59
10.2.7 PNU 1006: Rotary Axis...............................................................................................59
10.2.8 PNU 1050: Homing Method .......................................................................................60
10.2.9 PNU 1051: Home Offset.............................................................................................61
10.2.10 PNU 1060: Thread Speed ..........................................................................................62
10.2.11 PNU 1270: Position control parameters .....................................................................62
10.2.12 PNU 1271: Position Window Data..............................................................................63
10.2.13 PNU 1272: Following Error Data ................................................................................64
10.2.14 PNU 1273: Position Error Data...................................................................................64
10.3 PNUs zur Betriebsart Drehzahlregelung .................................................................................65
10.3.1 PNU 1010: Target Velocity .........................................................................................65
10.3.2 PNU 1011: Accelerations for Velocity Control ............................................................65
10.4 PNUs für verschiedene Betriebsarten.....................................................................................67
10.4.1 PNU 1040: Jogging ....................................................................................................67
10.4.2 PNU 1041: Jogging Positive.......................................................................................68
10.4.3 PNU 1042: Jogging Negative .....................................................................................69
10.5 Istwerte....................................................................................................................................70
10.5.1 PNU 1100: Position Actual Value ...............................................................................70
10.5.2 PNU 1101: Velocity Actual Value ...............................................................................71
10.5.3 PNU 1102: Current Actual Value................................................................................71
10.5.4 PNU 1110: Sampling Positions ..................................................................................72
10.5.5 PNU 1141: Digital Inputs ............................................................................................72
10.6 Parameter für den Telegrammaufbau.....................................................................................73
10.6.1 PNU 2000: PKW Access ............................................................................................73
10.6.2 PNU 2010: Placeholder ..............................................................................................74
10.6.3 PNU 2011: Element 0.................................................................................................75
10.7 Parameter für verschiedene Zwecke ......................................................................................75
10.7.1 PNU 1600: Last Error Code .......................................................................................75
10.7.2 PNU 1510: CAM Control ............................................................................................76
11 Betriebsarten...................................................................................................................................78
11.1 Übersicht .................................................................................................................................78
11.2 Parameter ...............................................................................................................................78
11.2.1 PNU 1500: Operating Mode .......................................................................................79
11.3 Betriebsart Drehzahlregelung..................................................................................................79
11.4 Betriebsart Positionieren .........................................................................................................79
12 Profilspezifische Parameternummern.............................................................................................81
12.1 Übersicht .................................................................................................................................81
12.2 Beschreibung der PNUs..........................................................................................................81
12.2.1 PNU 918: Node address ............................................................................................82
12.2.2 PNU 963: Actual baud rate.........................................................................................82
12.2.3 PNU 964: Device Identification...................................................................................83
PROFIBUS-Handbuch"Servopositionierregler ARS 2000"
Seite 5
Version 1.4