Siemens SINAMICS S120 Function Manual page 362

Communication PROFIBUS DP/PROFINET IO
10.1 Communications according to PROFIdrive
The format of XERR is identical to the format of G1_XIST1.
KPC (position controller gain factor) )
The position controller gain factor for dynamic servo control (DSC) is transmitted via this
setpoint.
Transmission format: KPC is transmitted in the unit 0.001 1/s
Range of values: 0 to 4000.0
Special case: When KPC = 0, the "DSC" function is deactivated.
Example:
A2C2A hex ≐ 666666 dec ≐ KPC = 666.666 1/s ≐ KPC = 40 1000/min
MDIPos (pos MDI position)
This process data defines the position for MDI sets.
Normalization: 1 corresponds to 1 LU
MDIVel (pos MDI velocity)
This process data defines the velocity for MDI sets.
Normalization: 1 corresponds to 1000 LU/min
MDIAcc (pos MDI acceleration)
This process data defines the acceleration for MDI sets.
Normalization: 4000 hex (16384 dec) = 100 %
The value is restricted to 0.1 ... 100% (internally).
MDIDec (pos MDI deceleration override)
This process data defines the percentage for the deceleration override for MDI sets.
Normalization: 4000 hex (16384 dec) = 100 %
The value is restricted internally to 0.1 ... 100%
MDIMode (pos MDI mode)
This process data defines the mode for MDI sets.
Requirement: p2654 > 0
MDIMode = xx0x hex –> Absolute
MDIMode = xx1x hex –> Relative
MDIMode = xx2x hex –> Abs_pos (with modulo correction only)
MDIMode = xx3x hex –> Abs_neg (with modulo correction only)
362
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Drive Functions