Mapping Telegram 400 for AKD Profinet

There are three types of Profinet telegrams for use with the AKD drive:

• Standard Telegrams
• Manufacturer Specific Telegrams
• Free-mappable Telegram (400)

The Standard Telegrams and Manufacturer Specific Telegrams are pre-configured telegrams with fixed configurations for the cyclic data that is transmitted between the AKD and the PLC.

If the other telegrams do not offer the data that is needed, use Telegram 400 for free mapping the telegram data words. The manual refers to using Telegram 0, but 400 is better. TG400 is similar to TG0, but it defines a real size for Profinet data and allows flexible mapping. TG400 has 12 words available for commands and 12 words available for status. Each word is 16 bits.

Telegram 400 can be free-mapped with any available telegram data. Telegram 400 is mapped using Signal numbers that refer to AKD drive parameters. The available signal numbers are listed in the AKD Profinet Manual. Telegram 400 by default is mapped with the data in Telegram 9. The default mapping can be left intact by only adding or changing specific words. Or an entirely new mapping can be written. Following is a procedure for mapping Telegram 400.

Telegram 400 is mapped by using the Parameter Access channel to write to PNU 915 and PNU 916. The subindex of these PNU's refers to the order of the data in the telegram. The value written to each subindex is the signal number that is to be configured for that data word. For reference, see the Parameter Access Byte Descriptions.

Default mapping of TG400 based on TG9:

Commands (Send):
Word 1 = STW1: Signal number 1 (0x01)
Word 2 = SATSANW: Signal number 32 (0x20)
Word 3 = STW2: Signal number 3 (0x03)
Word 4 = MDI_TARPOS: Signal number 34 (0x22) upper 16 bits
Word 5 = MDI_TARPOS: lower 16 bits
Word 6 = MDI_VELOCITY: Signal number 35 (0x23) upper 16 bits
Word 7 = MDI_VELOCITY: lower 16 bits
Word 8 = MDI_ACC: Signal number 36 (0x24)
Word 9 = MDI_DEC: Signal number 37 (0x25)
Word 10 = MDI_MOD: Signal number 38 (0x26)
Status (Receive):
Word 1 = ZSW1: Signal number 2 (0x02)
Word 2 = AKTSATZ: Signal number 33 (0x21)
Word 3 = ZSW2: Signal number 4 (0x04)
Word 4 = XIST_A: Signal number 28 (0xC1) upper 16 bits
Word 5 = XIST_A: lower 16 bits

To rewrite the default mapping:

PNU 915 for the commands (Send):
For Word 1, Write PNU 915 Subindex 0 = 1 (0x01) for STW1
For Word 2, Write PNU 915 Subindex 1 = 32 (0x20) for SATSANW
For Word 3, Write PNU 915 Subindex 2 = 3 (0x03) for STW2
For Word 4, Write PNU 915 Subindex 3 = 34 (0x22) for MDI_TARPOS
For Word 5, (will automatically be the lower 16 bits of MDI_TARPOS)
For Word 6, Write PNU 915 Subindex 4 = 35 (0x23) for MDI_VELOCITY
For Word 7, (will automatically be the lower 16 bits of MDI_VELOCITY)
For Word 8, Write PNU 915 Subindex 5 = 36 (0x24) for MDI_ACC
For Word 9, Write PNU 915 Subindex 6 = 37 (0x25) for MDI_DEC
For Word 10, Write PNU 915 Subindex 7 = 38 (0x26) for MDI_MOD
Then add whatever data to the next words.

PNU 916 for the status (Receive):
For Word 1, Write PNU 916 Subindex 0 = 2 (0x02) for ZSW1
For Word 2, Write PNU 916 Subindex 1 = 33 (0x21) for AKTSATZ
For Word 3, Write PNU 916 Subindex 2 = 4 (0x04) for ZSW2
For Word 4, Write PNU 916 Subindex 3 = 28 (0xC1) for XIST_A (PL.FB)
For Word 5, (will automatically be the lower 16 bits of XIST_A)
Then add whatever data to the next words.

Adding to the default mapping:

PNU 915 for the commands (Send):
For Word 11, Write PNU 915 Subindex 8 = 100 (0x64) for HOME.DIST

PNU 916 for the status (Receive):
For Word 6, Write PNU 916 Subindex 4 = 6 (0x06) for NIST_A (VL.FB)
For Word 7, Write PNU 916 Subindex 5 = 52 (0x34) for ITIST_GLATT (IL.FB)

Or you can change any or all of the words of the default mapping.  The data will be in the order of the subindex assignments, and any data that has a Double Word data size will automatically use two consecutive words.

Once the mapping has been written, it can be checked using the parameter PN.DIAG in the Workbench Terminal screen. This will output some Profinet information including the last acyclic transmission data and the mapping of the current telegram. The mapping data lists the signal numbers in the order of the telegram words.

-->PN.DIAG
--Profinet--
Connected:    Yes
Configuration:
api  : 0x00000000
slot : 0
ident: 0x00000001
api  : 0x00000000
slot : 1
ident: 0x00000190

Acyclic write request:
0xFE    0x2    0x0    0x1    0x10    0x1    0x3    0xA2    0x0    0x0    0x42    0x1    0x2    0x2    
Acyclic read response:
0xFE    0x2    0x0    0x1    
Telegram configured:400
Mapping in TX PNU 915:
0x1    0x20    0x3    0x22    0x23    0x24    0x25    0x26    0x64    
Mapping in RX PNU 916:
0x2    0x21    0x4    0x1C    0x6    0x34
-->