C.1 Signal and parameter mapping to OPC UA Variables

The PROFINET Drive Information Model covers a subset of the Signals and parameters defined in [PI 3172 PDP]. Table 58 gives an overview which parameters and Signals are mapped to OPC UA Variables in the PROFINET Drive Information Model.

Table 58 is grouped into several sections headed by the name of the folder the listed Variable is part of in the Drive Information Model. The “PD Application Class” column entries show the PROFIdrive Application Class of the concrete Axis ObjectTypes providing the respective Variable. If a Variable is not provided for a specific Application Class, the respective column is empty.

The “Signal Variable” column contains the BrowseName of a Signal Variable representing a Standard Signal in the “PNSignals” folder, as described in chapter 7.1, “PNSignals folder in Signals sub-aspect”.

Variables connected by 0:RepresentsSameEntityAs References (see Figure 11 also) are entered in the same line of Table 58. If there is no connection, the respective Variables are entered in their section of the table separately.

The “PROFIdrive Signal/Param” column contains the name of the Signal (see [PI 3172 PDP], Table 86 – Signal list – assignment) or PROFIdrive Parameter (see [PI 3172 PDP], Table 144 – PROFIdrive Parameter listed by number) the respective Variable represents. If a Variable represents a Signal, the Signal number is listed in the “Signal No.” column. If the Variable represents a parameter, the corresponding PROFIdrive Parameter number is entered in the “Param No.” column. Some Variables are available both by a Signal and a PROFIdrive Parameter.

Table 58 – Variable mapping and coverage

<Folder>/Variable

PD Application Class

Signal Variable

PROFIdrive Signal/Param

SignalNo.

Param No.

BrowseName

DataType

1

3

4

5

BrowseName

DataType

Monitoring Folder

PNSignals Folder

AccelerationActualValue

0:Float

X

X

X

Override

0:Float

X

AxisState

0:UInt16

X

X

X

X

ZSW1

0:UInt16

Status word 1

2

968

BrakeResistorTemperature

0:Float

X

X

X

X

BrakeStatus

0:Byte

X

X

X

ControlMode

0:UInt16

X

X

X

X

Operating Mode

930

ControlPriority

0:UInt16

X

X

X

X

Control Priority

928

DcBusVoltage

0:Float

X

X

X

X

DC bus voltage rated

60226

PositionFollowingError

0:Float

X

X

X

X

VelocityFollowingError

0:Float

X

X

X

X

DeviceTemperature

0:Float

X

X

X

X

<FeedbackSensor1..3Temperature>

0:Float

X

X

X

X

Force

0:Float

X

X

X

X

FrequencyActualValue

0:Float

FIST

0:UInt16

Frequency actual value

63

FrequencyCommandValue

0:Float

X

FSOLL

0:UInt16

Frequency setpoint

55

FrequencySetpoint

0:Float

X

ConverterTemperature

0:Float

X

X

X

X

Inverter temperature

60235

LimitFollowingError

0:Float

X

X

X

X

MotorTemperature

0:Float

X

X

X

X

Motor temperature

60235

OutputCosPhi

0:Float

X

OutputCurrent

0:Float

X

X

X

X

IAIST

0:UInt16

Output current

59

OutputFrequency

0:Float

X

OutputVoltage

0:Float

X

PositionActualValue

0:Float

X

X

XIST_A

0:Int32

Position actual value A

28

PositionCommandValue

0:Float

X

XSOLL_A

0:Int32

Position setpoint value A

27

PositionSetpoint

0:Float

X

X

Power

0:Float

X

X

X

X

PIST

0:UInt16

Active power

62

Torque

0:Float

X

X

X

X

MIST

0:Int16

Torque actual value

60

VelocityActualValue

0:Float

X

X

X

X

NIST_A(B)

0:Int16(32)

Speed actual value A(B)

6(8)

VelocityCommandValue

0:Float

X

X

NSOLL_A(B)

0:Int16(32)

Speed Setpoint A(B)

5(7)

VelocitySetpoint

0:Float

X

X

X

CharacteristicsConverter Folder

PNSignals Folder

BrakingResistorExcessCurrentLimit

0:Float

X

X

X

X

ContouringError

0:Float

X

FollowingError

0:Float

X

IntermediateCircuitVoltageConfigured

0:UInt16

X

X

X

X

InputConverterAcInputVoltage

0:Float

X

X

X

X

AC input voltage

60510

ConverterExcessCurrentConfigured

0:Float

X

X

X

X

BrakeResistorExcessCurrentLimit

0:Float

X

X

X

X

OutputConverterPulseFrequency

0:Float

X

X

X

X

Inverter pulse frequency

60540

ConverterThermalLoadLimitConfigured

0:Float

X

X

X

X

CharacteristicsMechanics Folder

PNSignals Folder

ContouringError

0:Float

FollowingError

0:Float

Gearfactor

0:Float

X

SpindlePitch

0:Float

X

CharacteristicsMotorAndControl Folder

PNSignals Folder

FeedbackMode

0:UInt16

X

X

X

X

MotorExcessCurrentConfigured

0:Float

X

X

X

X

MotorThermalLoadLimitConfigured

0:Float

X

X

X

X

MotorType

0:Byte

X

X

X

X

PositionFollowingErrorLimit

0:Byte

X

X

X

X

VelocityFollowingErrorLimit

0:Byte

X

X

X

X

SpeedMaxConfigured

0:Float

X

X

X

X

PowerRated

0:Float

X

X

X

X

SpeedRated

0:Float

X

X

X

X

Velocity reference value

60000

TorqueRated

0:Float

X

X

X

X

ForceRated

0:Float

X

X

X

X

MaxCurrent

0:Float

X

X

X

X

UfRatio

0:Float

X

X

X

X

RunUpVoltage

0:Float

X

X

X

X

DcBrakingCurrent

0:Float

X

X

X

X

DcBrakingTime

0:Float

X

X

X

X

TorqueMaxConfigured

0:Float

X

X

X

X

UnitOfLength

0:Float

X

X

LimitSupervision Folder

PNSignals Folder

MotorCurrentLimitHigh

0:Float

X

X

MotorCurrentLimitLow

0:Float

X

X

SoftwareLowerPosLimit

0:Float

X

X

X

SoftwareUpperPosLimit

0:Float

X

X

X

TorqueLimiting

0:Boolean

X

X

X

TorqueLimit

0:Float

X

TorqueLimitHigh

0:Float

X

X

X

TorqueLimitLow

0:Float

X

X

X

Maintenance Folder

PNSignals Folder

OperationCycleCounter

0:UInteger

X

X

X

X

ConverterCapacityUtilization

0:UInt16

X

X

X

X

MotorCapacityUtilization

0:UInt16

X

X

X

X

OperationDuration

0:Duration

X

X

X

X

PowerOnDuration

0:Duration

X

X

X

X

TraversingTask Object

PNSignals Folder

Acceleration

0:Float

X

MDI_ACC

0:UInt16

36

Deceleration

0:Float

X

MDI_DEC

0:UInt16

37

PositioningMode

0:UInt16

X

MDI_MOD

0:UInt16

38

StateMachineState

0:UInt16

X

TargetPosition

0:Float

X

MDI_TARPOS

0:Int32

34

TraversingTaskNumber

0:Int32

X

AKTSATZ

0:UInt16

Actual traversing block

33

Velocity

0:Float

X

MDI_VELOCITY

0:Int32

35

VelocityProfile Folder

PNSignals Folder

JogSpeed1

0:Float

X

X

JogSpeed2

0:Float

X

X

JogPosInc1

0:Float

X

JogPosInc2

0:Float

X

MaximumVelocity

0:Float

X

Maximum Speed

60482

MinimumVelocity

0:Float

X

Minimum Speed

60480

NominalSpeed

0:Float

X

X

X

X

RfgRampUpTime

0:Float

X

RfgAcceleration

0:Float

X

RampDeceleration

0:Float

X

X

X

X

RfgRampDownTime

0:Float

X

X

X

X

QuickStopRampDeceleration

0:Float

X

X

X

X

QuickStopRampDownTime

0:Float

X

X

X

X

Homing Folder

PNSignals Folder

HomingDirection

0:Byte

X

X

HomingSpeedToCam

0:Float

X

X

HomingSpeedToMark

0:Float

X

X

HomingPointOffset

0:Float

X

X

HomingMode

0:Byte

X

X

PNSignals Folder

X

X

X

X

STW1

0:UInt16

Control word 1

1

X

X

X

X

STW2

0:UInt16

Control word 2

3

X

X

X

X

ZSW2

0:UInt16

Status word 2

4

X

X

X

X

G1_STW

0:UInt16

Sensor 1 control word

9

X

X

X

X

G1_ZSW

0:UInt16

Sensor 1 status word

10

X

X

X

X

G1_XIST1

0:UInt32

Sensor 1 position actual value 1

11

X

X

X

X

G1_XIST2

0:UInt32

Sensor 1 position actual value 2

12

X

X

X

X

G2_STW

0:UInt16

Sensor 2 control word

13

X

X

X

X

G2_ZSW

0:UInt16

Sensor 2 status word

14

X

X

X

X

G2_XIST1

0:UInt32

Sensor 2 position actual value 1

15

X

X

X

X

G1_XIST2

0:UInt32

Sensor 2 position actual value 2

16

X

X

X

X

G3_STW

0:UInt16

Sensor 3 control word

17

X

X

X

X

G3_ZSW

0:UInt16

Sensor 3 status word

18

X

X

X

X

G3_XIST1

0:UInt32

Sensor 3 position actual value 1

19

X

X

X

X

G3_XIST2

0:UInt32

Sensor 3 position actual value 2

20

X

X

X

X

E_DIGITAL

0:UInt16

Input (digital)

21

X

X

X

X

A_DIGITAL

0:UInt16

Output (digital)

22

X

X

X

X

E_ANALOG

0:UInt16

Input (analog)

23

X

X

X

X

A_ANALOG

0:UInt16

Output (analog)

24

X

X

X

X

XERR

0:Int32

System deviation

25

X

X

X

X

KPC

0:Int32

Position controller, gain factor

26

X

X

X

X

XIST_B

0:Int32

Position actual value B

29

X

X

X

X

XIST_C

0:Int32

Position actual value C

30

X

X

X

X

XIST_D

0:Int32

Position actual value D

31

X

X

X

X

SATZANW

0:UInt16

Traversing block selection

32

X

X

X

X

G1_XIST3

0:UInt64

Sensor 1 position actual value 3

39

X

X

X

X

IAIST_GLATT

0:UInt16

Output current smoothed

51

X

X

X

X

ITIST_GLATT

0:Int16

Active current (torque proportional)

52

X

X

X

X

MIST_GLATT

0:Int16

Torque actual value smoothed

53

X

X

X

X

PIST_GLATT

0:UInt16

Active power smoothed

54

X

X

X

X

FIST_GLATT

0:UInt16

Frequency actual value smoothed

56

X

X

X

X

NIST_A_GLATT

0:Int16

Speed actual value A

57

X

X

X

X

MELD_NAMUR

0:UInt16

Drive status/fault word

58

X

X

X

X

ITIST

0:UInt16

Active current smoothed (tor. prop.)

61

X

X

X

X

STW2_ENC

0:UInt16

Control word 2 for Encoder

80

X

X

X

X

ZSW2_ENC

0:UInt16

Status word 2 for Encoder

81