The main Drive Object types, which are the scope of standardization in the PROFIdrive profile, are of axis type. The Axis Drive Object types contain an electric, pneumatic or hydraulic actuator like a motor, together with the actor related control structures as shown in Figure 3. Mandatory functionality of all Axis Type Drive Objects is the Axis state machine for the control of the actor power stage and control functions. In addition, every Axis Type Drive Object offers a standardized fault buffer for the management and tracing of fault and warning situations of the axis. The amount and quality of control structures inside the Axis Drive Object is dependent on the overall application scenario, where the drive axis is embedded. For the classification of such standardized application scenarios, the PROFIdrive standard defines the PROFIdrive Application Classes.

Figure 3 – Axis Type Drive Object Functionality [PI 3172 PDP]

Other logical objects which are defined in the context of a PROFIdrive Axis/DO:

• Objects for DO identification.
• Parameters for accessing information and settings of the individual function modules.
• Objects for drive control (for example, control words and status words).
• Objects for setpoint processing (for example, setpoint values and actual values).
• Objects for diagnostics and monitoring (for example, messages, alarms, faults).
• Objects for integrated sensor interface(s).