TO_speed axis or Sina_Speed????

Hello,

this is really up to you. There is almost no difference. The only difference is using telegram 1 and SINA_SPEED FB or using technology object and programming with PLC open commands (MC_Power,...). Anyway you can use the PROFIsafe telegram additionally to your standard telegram.

By the way: There are ready-to-use safety function blocks to communicate with the safety telegrams:

https://support.industry.siemens.com/cs/ww/en/view/109485794

Hi,

if you want to save performance on the PLC side and want to add additional data to the telegram I would recommend to use the SINA_SPEED block (so no technology object) and add supplementary data to the telegram. This can be read out by system function GETIO(_PART). Please see this post if you are interested on how to program the cyclic communication:

https://support.industry.siemens.com/tf/ww/en/posts/telegrams-adaptive/201376/?page=0&pageSize=10

Hello,

what are you talking about now exactly? What do you want to do now and what is unclear?

Hi,

ok, now I know. There are system UDTs available for all telegrams that can be used with any technology object (e.g. Tel 3, 5, 105,...). You will not see them by autocompletion. You need to type them as:

PD_TEL3 or PD_TEL105 for example, then you get the telegram structure.

There is also an additional telegram library available in SIOS for some telegrams that are not implemented as system UDTs:

https://support.industry.siemens.com/cs/ww/en/view/82841762

(in this case you need to copy the UDT from the library to the PLC datatypes and then you can create a variable of this type)

But you can also type the structure manually. This is also possible if you do not find the suitable UDT for your application.