ID15 'Telegram types parameter'

Sphere of action:

Device-specific values

Default value:

Device-specific values

Access:

READING / WRITING

Scale:

1

Temporarily changeable:

NO

Unit:

-

Data length:

2 byte

Min. value:

0

Signed:

NO

Max. value:

7

Format:

DEC

 

 

List:

NO

  

 

Values for KW-R24-R / 

Default value:

6

Sphere of action:

GLOBAL

 

In 'Telegram types parameter', you can select between preferred telegrams and configured telegrams.

The specified type of telegram is activated in the master and in the slave starting from communication phase 3.
Construction ID15 'Telegram types parameter'

Bit no.

Condition

Bit 2 Bit 1 Bit 0 (LSB)

Meaning

MDT (cyclical target values)

AT (cyclical actual values)

0-2

000

Preferred telegram 0

No cyclical data

Preferred telegram 0

No cyclical data

001

Preferred telegram 1

Data field 1: ID80 'Torque command value'

Preferred telegram 1

No cyclical data

010

Preferred telegram 2

Data field 1: ID36 'Velocity command value'

Preferred telegram 2

Data field 1: ID40 'Velocity feedback value'

011

Preferred telegram 3

Data field 1: ID36 'Velocity command value'

Preferred telegram 3

Data field 1: ID51 'Position feedback value'

100

Preferred telegram 4

Data field 1: ID47 'Position command value'

Preferred telegram 4

Data field 1: ID51 'Position feedback value'

101

Preferred telegram 5

Data field 1: ID47 'Position command value'

Data field 2: ID36 'Velocity command value'

Preferred telegram 5

Data field 1: ID51 'Position feedback value'

Data field 2: ID40 'Velocity feedback value'

110

Preferred telegram 6

Data field 1: ID36 'Velocity command value'

Preferred telegram 6

No cyclical data

111

Configured telegram

Siehe ID24 'Configuration list MDT'.

Configured telegram

Siehe ID16 'Configuration list AT'.

3-15

0

Reserved

Reserved

1

Reserved

Reserved