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PROFIBUS / PROFIsafe - Commissioning
6.6.2.1.3 Speed
Integer16
Byte X+4 X+5
Bit 15 – 8 7 – 0
Data 2 15 – 2 8 2 7 – 2 0
The speed is output as a two's complement value with preceding sign.
Setting the direction of rotation = forward
– Looking at the flange connection, turn the shaft clockwise:
--> positive speed output
Setting the direction of rotation = backward
– Looking at the flange connection, turn the shaft clockwise:
--> negative speed output
If the measured speed exceeds the display range of
–32768…+32767, this results in an overflow, which is reported in the cam register via
bit 2 0 . At the time of the overflow the speed stops at the respective +/- maximum
value, until the speed is once again in the display range. In this case the message in
the cam register is also cleared.
The speed is specified in increments per Integration time Safe.
6.6.2.1.4 Multi turn / Single turn
Multi-Turn, Integer16
Byte X+6 X+7
Bit 15 – 8 7 – 0
Data 2 15 – 2 8 2 7 – 2 0
Single-Turn, Integer16
Byte X+8 X+9
Bit 15 – 8 7 – 0
Data 2 15 – 2 8 2 7 – 2 0
As only 16-bit registers have previously been possible on the control side, the position
value must be calculated first. The number of revolutions is noted in the Multi-Turn
register, and the current Single-Turn position is noted in steps in the Single-Turn
register. Together with the measuring system resolution, max. number of steps per
revolution according to type plate, the actual position can then be calculated:
Position in steps = (steps per revolution * number of revolutions) + Single-Turn position
Steps per revolution: 8191 ≙ 13 bit
Number of revolutions: 0…32767 ≙ 15 bit
The output position does not have a preceding sign.
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