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Communications profile PROFIBUS DP
Edition 07/02
6.1.2 Resetting PKW
In the following cases PKW should be reset (zero telegram):
•
•
•
At the start of communicating with the amplifier.
When changing between writing (AK=3) and reading (AK=1) a parameter.
After an error has occurred (AK=7)
The zero telegram should be present until the servo amplifier replies with a zero telegram.
Prerequisites:
Hardware enable is present (terminal X3 terminal 15)
Amplifier is in the state „operation enabled“
Example:
Output
Input
PKE
0000
PKE
0000
PKW
IND
PWE1
0000
0000
IND
PWE1
0000
0000
PWE2
0000
PWE2
0000
STW
0000
ZSW
0250
HSW
0000
HIW
0000
PZD
PZD3
PZD4
0000
0000
PZD3
PZD4
0000
0000
PZD5
0000
PZD5
0000
PZD6
0000
PZD6
0000
6.1.3 Selecting the new operating mode with PNU 930
With parameter 930 the new operating mode is selected via the parameter channel, but not taken over
yet.
Prerequisites:
Hardware enable is present (terminal X3 terminal 15)
Amplifier is in the state „operation enabled“
Example:
Output
Input
PKE
33A2
PKE
23A2
PKW
IND
PWE1
0000
0000
IND
PWE1
0000
0000
PWE2
0002
PWE2
0002
STW
0000
ZSW
2227
HSW
0000
HIW
VAR
PZD
PZD3
PZD4
0000
0000
PZD3
PZD4
VAR
0000
PZD5
0000
PZD5
VAR
PZD6
0000
PZD6
0000
Note:
Operating mode number 2 is set (PWE2).
PKE input is set to 23A2 hex. This means that the parameter value (operating mode 2) has been
transferred.
VAR in PZD Input: values vary; this indicates that the operating mode has been set.
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