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PROFIBUS-Manual Servo positioning controller DIS-2 48/10 FB Version 2.0
9.4.3 Command overview....................................................................................................46
10 Manufacturer-specific parameter numbers.....................................................................................48
10.1Overview .................................................................................................................................48
10.2PNUs for positioning mode .....................................................................................................50
10.2.1 PNU 1000: Position Set Number................................................................................50
10.2.2 PNU 1001: Position Data............................................................................................50
10.2.3 PNU 1002: Start Set Number.....................................................................................52
10.2.4 PNU 1003: Position Profile Type................................................................................52
10.2.5 PNU 1050: Homing Method .......................................................................................53
10.2.6 PNU 1051: Home Offset.............................................................................................53
10.3PNUs for speed control mode.................................................................................................55
10.3.1 PNU 1010: Target Velocity.........................................................................................55
10.3.2 PNU 1011: Accelerations for Velocity Control............................................................55
10.4PNUs for Different Operating Modes ......................................................................................57
10.4.1 PNU 1022: Current Limitiation....................................................................................57
10.4.2 PNU 1040: Jogging ....................................................................................................58
10.4.3 PNU 1290: Motor Data...............................................................................................58
10.4.4 PNU 1350: Enable Logic............................................................................................59
10.5Actual values...........................................................................................................................60
10.5.1 PNU 1100: Position Actual Value...............................................................................60
10.5.2 PNU 1101: Velocity Actual Value ...............................................................................60
10.5.3 PNU 1102: Current Actual Value................................................................................61
10.5.4 PNU 1140: Digital Outputs .........................................................................................61
10.5.5 PNU 1141: Digital Inputs............................................................................................61
10.6Parameters for the telegram structure....................................................................................62
10.6.1 PNU 2000: PKW Access............................................................................................62
10.6.2 PNU 2010: Placeholders............................................................................................63
10.6.3 PNU 2011: Element 0.................................................................................................64
10.7Parameter for Various Intents.................................................................................................65
10.7.1 PNU 1601: Last Error Code .......................................................................................65
10.7.2 PNU 1610: Error Managment.....................................................................................66
11 Operating modes ............................................................................................................................67
11.1Overview .................................................................................................................................67
11.2Parameters..............................................................................................................................67
11.2.1 PNU 1500: Operating Mode.......................................................................................67
11.3Speed control mode................................................................................................................68
11.4Positioning mode.....................................................................................................................68
12 Profile-specific parameter numbers................................................................................................70
12.1Overview .................................................................................................................................70
12.2PNU description ......................................................................................................................70
12.2.1 PNU 971: Transfer into a Non-Volatile Memory.........................................................70
13 Function and data blocks for SIEMENS S7....................................................................................71
13.1Overview .................................................................................................................................71
13.2Function and data blocks for DIS-2 48/10 FB servo positioning controllers............................72
13.2.1 Function block (FB) overview.....................................................................................72
13.2.2 FBs of DIS-2 48/10 FB servo positioning controllers..................................................73
13.2.2.1 FB_position (FB 41 positioning mode) ............................................................73
13.2.2.2 FB_velocity (FB 43 speed control) ..................................................................76
13.2.3 Integration of FBs and DBs ........................................................................................77
13.2.4 PROFIBUS connection of DIS-2 48/10 FB servo positioning controller.....................80
13.2.4.1 Reception telegram of the speed control example project..............................................80
