Description

Description

Facts at a glance

• The implementation provides the basis for a flexible handling of the PROFIdrive parameters and includes the basic drive functions for
  • initialization and configuration
  • state machine of the drive
  • simple motion control frontend
• These functions are combined in a frame work, which can be easily adapted and expanded to the respective manufacturer-specific drive features
• Interface wrapper and capeselated operating system calls make porting to different hardware platforms and operating systems secure.

The PROFIdrive Profile implementation is done according to the PROFIdrive Specification v4.1 of the PNO. The errata list as of 21.09.2010 is also considered.

At the actual state all mandatory and some optional functionality of the Application Class 1 (Standard drive) and the related speed control mode are supported. The simple host application shows the usage of all interfaces of the PROFIdrive Profile Stack and implements PROFIdrive state machine in order to handle minimal application class 1 drive.

Following Features are implemented actually in the INX PROFIdrive Profile Stack:

• Handling of all PROFIdrive parameters using a well defined structure.
  • The mandatory parameter value and the standard data types are supported.
  • Additionally to Parameter Value the optional “description and text” parameter elements are fully supported already.
  • The stack provides support to automatically generate all of the mandatory parameters. According to their functions the length of some Mandatory Parameters is manufacturer specific. Therefore several defines are provided to set the length.
  • The stack provides a function to create the manufacturer-specific or Optional Parameter Block easily.

• Two parameter access modes are supported:
  • Base Mode Parameter Access: Local
  • Base Mode Parameter Access: Global (for compatibility reasons to PROFIBUS).

• The number of transferred parameters and the size of Parameter request/response Block may be freely defined by the application and may be up to 1024 Byte length (in case of PROFINET).

• Support for all defined Fault Buffer configurations. The Fault Buffer configuration can be selected using the specific defines:
  • mandatory (minimal possible configuration)
  • complete
  • optional

• the DO IO Data normalisation is supported only for standard data types. The profile specific data types will be extended later.

• The Telegram configuring is supported by means of the configuring of the IO Data in data telegram by the application using the following Parameters: P922, P915 and P916.

• The signals used in the telegram configuration support the standard data types only.

• The Control Word 2 and Status Word 2 are not supported yet as these are optional for application class 1.