I am fairly new with Simotion and I am developing a project including following components:

Unidrive SP 2403

Simotion C230-2

POS axis license (1 axis).

I need to use Unidrive SP + servo like a linear axis, linked with Simotion by Profibus.

Because Unidrive SP does not handle the Siemens Profidrive telegram, I am using the GSD's Unidrive SP CTSM0672.GSD, in order to link Unidrive with Simotion by Profibus. This communication was performed successfully: I can read data from Unidrive in Simotion, and also I can write data to Unidrive, but only using common Ladder instructions.

My problem is how to configure the axis and also the Unidrive, in order to use advanced functions.

I am doing like this:

When I am configuring this real axis, I select standard 3 telegram (speed control, 1 encoder position).in the unidirve's configuration I'm using 5 input, 5 output words I try to manipulate real axis by control panel tool but it doesn't work

Yes I have an encoder connected on the unidrive.

I'm reading the encoder position via profibus. I'm setting the unidrive sp with 5 input words , 5 output words (starting at 256/256). In unidrive's documentation I founded this configuration:
*first input word is the word state.

*second and third is the Reference speed.

*Fourth is the encoder position.

*Fifthis free .

I'm reading reading the drive state via profibus with peripheral words with this configuration:

*PIW 256 word state.

*PID 258 reference speed.

*PIW 262 encoder position.

I'm using on the simotion the standard telegram 2, (speed control,4 words), It's according sinamic's documentation (sinamics list manual page 2-583).

I founded that this telegram It's similar to unidrive's configuration, but I have a problem when I'm reading the speed value in the control panel. In this control panel I read the encoder position without troubles and also word state. When I try to send commands to Unidrive there is a time monitoring fault.