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PROFINET Interface

1. 4 5 NTI AG LinMot User Manual PROFINET Interface 19 09 2014 Page 15 25 LinMot PROFINET Interface Command Table Get Entry Data Command ID 86h Parameter Channel Status 2 Entry Number Entry Number 3 Data 4 Data Command Table Get Entry List 0 7 Command IDs 87h 8Eh Parameter Channel Status Offset in bytes Bit field Bit set undefined Bit cleared used Bit field Bit set undefined Bit cleared used Parameter Channel Control can be found on the additional manual Parameterization of LinMot SG5 servo Further documentation on how to configure a drive by fieldbus and handle curves drives over Fieldbus Interfaces Page 16 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot 7 State Machine Please refer to User Manual Motion Control Software 8 PROFINET Diagnosis The LinMot drive supports 12 bytes of diagnostic data The diagnosis telegram is according the following table 0 5 Data according PROFINET IO standard 6 7 Extended Diagnosis Header and stuffing 8 9 Warn Word see chapter 10 for description 10 11 Error Code see chapter 9 for description 9 Error Codes Please refer to User Manual Motion Control Software for the Error Codes of the MC Software The PROFINET Interface has the following additional Error Codes Cth Fatal Error drive not supported C2h Config Erro
2. Documentation of the PROFINET Interface of the following Drives E1250 PN UC E1450 PN QN C1250 PN XC C1150 PN XC Www AM AMAN ANN AW wy Ww NS WM OS WS ON x wwe WW WH WU jh wwe ANN AW AN f us oa Ae EL ge 5 aiiin Samm uii oo Ua cmm 5 amo A AF Z EFE 222277 TM Z222 Bia Oya 22 mami n o 2 5 2 22 i e S TNR 4S 7 WA 4 aja mam C m emu W RR PROFINET Interface User Manual LinMot PROFINET Interface 2013 NTI AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Document version 6 1 Whp September 2014 Page 2 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot Table of Content DSS TIVE OVERVIEW 225i iae eed E cas sonadans E
3. Stringlet Command ID 74h 2 Parameter Channel Control Error Code i Stringlet Number 0 7 Parameter Channel Status Error code Stringlet Byte 0 and 1 Stringlet Byte 2 and 3 Co N I Page 14 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot Command Table Save to Flash Command ID 75h 1 Parameter Channel Control Parameter Channel Status 3 4 For this command the MC software must be stopped with command 35h Stop MC and Application Software The PROFINET Interface will stay active while the MC software is stopped Command Table Delete All Entries RAM Command ID 81h 1 Parameter Channel Control Parameter Channel Status 2 4 Command Table Delete Entry Command ID 82h djs Parameter Channel Control 2 Entry Number 4 Parameter Channel Status Entry Number Command Table Write Entry Command ID 83h j Parameter Channel Control Entry Number Block Size even number of bytes Parameter Channel Status Entry Number Block Size AIIN Command Table Write Entry Data Command ID 84h Parameter Channel Control Parameter Channel Status Entry Number Entry Number Data 4 Data Data Command Table Get Entry Command ID 85h ls Parameter Channel Control Parameter Channel Status 2 Entry Number Entry Number Block Size
4. transmitted Low The diagnostic data is sent as status information only High The diagnostic data is sent with high priority in the error state Monitoring Channels Defines the source variable by UPID of the four monitoring channels PROFINET Interface Monitoring Channels Channel 1 UPID Source UPID for Monitoring Channel 1 Channel 2 UPID Source UPID for Monitoring Channel 2 Channel 3 UPID Source UPID for Monitoring Channel 3 Channel 4 UPID Source UPID for Monitoring Channel 4 Page 6 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot 5 PROFINET Variables 5 1 ProfiNet In the Variables directory of the LinMot Talk there is a section PROFINET containing some information about the actual state of the PROFINET interface e Device Type Device type string this string is fix for each device type e Device Name The Device name can be freely defined by the user this string is normally defined with the HW manager of Step 7 and is used for identifying the device in the PROFINET network e MAC ID Individual unique MAC address of the PROFINET IO device can be used to identify a device e IP Address Actual configured normally written from the PLC during power up IP address e Net Mask Net mask for the IP address e Standard Gateway IP Address IP address of the standard gateway e Receive Data Counter Counts the received PROFINET IO data messages up to 1000 then restarts with 0 e 10 Cycle Time Act
5. 12 Troubleshooting If the PROFINET connection is not working proceed as followed Is the correct firmware installed on the drive When installing the firmware the PROFINET interface must be selected The actual firmware and configuration software can always be downloaded from http www linmot com Check if the correct GSD file is used LINM092D GSD which is provided together with LinMot4Talk 4 in the subdirectory firmware PROFINET GSDML Page 24 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot PROFINET Interface 13 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration Tech Support Tech Support Skype Fax Web 41 0 56 419 91 91 office linmot com 41 0 56 544 71 00 support linmot com skype support linmot 41 0 56 419 91 92 http www linmot com LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration Tech Support 877 546 3270 262 743 2555 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www linmot usa com Please visit http www linmot com to find the distribution near you Smart solutions are www LinMot com NTI AG LinMot User Manual PROFINET Interface 19 09 2014 Page 25 25
6. 14 Page 11 25 LinMot PROFINET Interface 00h OK done 02h Command Running Busy 04h Block not finished Curve Service 05h Bus COh UPID Error Cth Parameter Type Error C2h Range Error C3h Address Usage Error C5h Error Command 21h Get next UPID List item was executed without prior execution of Start Getting UPID Lis C6h End of UPID List reached no next UPID List item found DOh Odd Address Dih Size Error Curve Service D4h Curve already defined Curve not present Curve Service Page 12 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot PROFINET Interface Overview Parameter access 1 Parameter Channel Control 2 Parameter UPID Parameter Value Low Parameter Channel Status Parameter UPID Parameter Value Low Parameter Value High Parameter Value High Overview Curve access Parameter Channel Control Parameter Channel Status Curve Number Curve Number Curve Number CuveNumber 1 Data Value Low Info Block size Data Value Low Info Block size Data Value High Data Block size Data Value High Data Block size Start getting UPID List Parameter Channel Status 1 Parameter Channel Control 27 Start UPID search from this UPID 3 4 Get next UPID List item Parameter Channel Control Parameter Channel Status UPID found Address Usage Ad
7. 16 0101 aw 22 HEX W 16 0007 W 16 0007 QW 24 HEX W 16 A120 W 16 A120 QW 26 HEX W 16 000F w 16 000F QW 28 HEX W 16 4240 W 16 4240 aw 30 HEX W 16 000F w 16 000F QW 32 HEX W 16 4240 W 16 4240 aw 34 HEX W 16 000F w 16 000F QW 36 HEX W 16 4240 W 16 4240 QW 38 HEX wieso 7 To send the next command the count nibble has to be changed The header for the next VAI Go To Pos command is therefore 0100h Page 20 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot As it appears with LinMot Talk after Read Command in the Control Panel Motion Command Interface Enable Manual Override A 0mm mim i mm 10 mm Command Category Most Commonly Used Command Type vai Go To Pos 010xh Count Nibble Toggle Bits th Auto Increment Count Nibble Name Offs Description Scaled Value Int Value Dec Int Value Hex Header 0 010xh V I Go To Pos 257 257 0101h 1 Par 2 Target Position 50 mm 500000 00074120h 2 Par 6 Maximal Velocity 1 m s 1000000 OO0F4240h 3 Par 10 Acceleration 10 m s 2 1000000 DOO0F4240h 4 Par 14 Deceleration 10 m s 2 1000000 OO0F4240h Send Command NTI AG LinMot User Manual PROFINET Interface 19 09 2014 Page 21 25 LinMot PROFINET Interface 11 4 Change a parameter of the drive with the Parameter Channel Module Example Change the Maximal Current UPID 13A6h over PROFINET while firmware is running Add module Parameter Ch
8. 3 Post 4 PN IO PROFINET IO System 100 T 1 120 CI ae emi 2 xachse Steckplatz e Baugruppe Bestellnummer afe PASE fit HAS Fit 2 FBS Control Status Get StateVar MC Interface Page 18 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot PROFINET Interface LinMot 11 2 Homing procedure 1 Release lock state Control Word 0000h Only needed if StateVar MainState is OOh Online via assigned CPU services Path BasicHw ConfigE 1 130 SIMATIC 300 1 CPU 3130 2 DP Modify value Address Symbol W 10 HEX W 16 0000 W 16 0000 Display format Status value HEX W 16 3334 StateVar MainState becomes 02h Ready to Switch On Address Symbol Display format Status value Modify value 1 W 20 HEX W 16 0200 2 Homing Control Word 083Fh Online via assigned CPU services Path BasicHwConfigE1 130 SIMATIC 300 1 NCPLI 313C 2 Dp Modify value Display format Status value IW 10 HEX W 16 4C37 HEX W 16 083F W 16 083F StateVar MainState becomes 09h Homing Homing is finished if SubState becomes OFh Address Symbol Display format Status value Modify value W 16 090F 1 IW 20 HEX 3 Enter Operational State Control Word 003Fh Online via assigned CPU services Path BasicHw ConfigE 1 130 SIMATIC 300 1 CPU 313C 2 DP Status vate modiy vawe re
9. FI Eb EE HIR UD E EK REIR E Ebo NER MdL Hd ea E E 4 2 INSTALLATION ON SERVO DRIV E ears na tantae then beta b Ea po 2 DE ERE MBA ERES E Fer E EEERE eee pa buo RE kRA 4 3 CONNECTING TO THE PROPINET iiidiiniisck tries oboe khe th eee b eere Ira EE EE Eee ERE baia Rass 5 2 1 Pi ASSIGNMENT DE THE CONNECTORS Ro TS apace iai ance caccia Ac tote 3 4 PROFINET PARAMETERS aii iiit tease pubis on ida npn cia EK i ta puc s eu ian IRURE ERE 6 5 PROFINET VARIABLES aiii eec ita coti trai crb a eits Ses risp e cras cain pns Ge 7 DD PROPRIE ua ricco crga CO a ub UC cac re n es E Fed daar ovata elas i Sod PROUD SLOT CONTOUR AT ON GL si iecit a E ee a 7 6 PROFINET MODTULES iiiiisea sessi sides iani coa eE E anb E Repos ccu t rtu mcos eb on Eee a oni cin on Cdi 8 7 STATE MACHINE iet iso neci isi i esa aca sinu cuu ba D OE rrisin 17 8 PROFINET DIAGNOSIS iini eren k b p cii ba erbe t EEUU D A CUSRU D AQUA dinetan apear ib rrua 17 9 ERROR CODES ssssesssssssssessssascsnosisscnssdnssiensaidcesssssbaassnassdssesisussa biases saenenbsdassaasssieaainessisassabansbanebanbead 17 10 WARN WORD 2 iet ct o tese ee eb E Ek a Eoo I EH SE EE EGLI Lea E E EE Eos rasa 17 11 EXAMPLE FOR SIEMENS SIMATIC 87 ssccuissssvasnteessavcbcascentiesrensenctissreosenasacsnicsasdensastetassieiens 18 TLI E isis ie TRE es C GNIS osse at stata ie dois icd o D et Sucre edet dne 18 11 4 CHANGE A PARAMETER OF THE DRIVE WITH THE PARAMETER CHANNEL MODULE eene 22 IEPER La aan gece udlmme
10. INET Interface 4 PROFINET Parameters The PROFINET Servo drives have an additional parameter tree branch which can be configured with the distributed LinMot Talk software With these parameters the PROFINET behaviour can be configured The software LinMot Talk can be downloaded from http www linmot com under the section download software amp manuals Dis Enable With the Dis Enable parameter the LinMot servo drive can be run without the PROFINET going online So in first step the system can be configured and run without any bus connection PROFINET Interface Dis Enable Disable Servo drive runs without PROFINET Enable Servo drive runs only with a PROFINET connection Byte Order Defines the used byte order Reversed Byte order is reversed For S7 PLCs select reversed Not reversed Byte order is not reversed Word Order Defines the used word order Reversed Word order is reversed For S7 PLCs select reversed Not reversed Word order is not reversed MC CMD Intf Par Order Defines the used parameter word order PROFINET Interface Byte Word Order MC CMD Intf Par Order Reversed Order is reversed CMD Header Par word 1 Par word 0 Par word 3 Par word 2 etc Not reversed Order is not reversed CMD Header Par word 0 Par word 1 Par word 2 Par word 3 etc Diagnose Priority Defines the behaviour of the diagnostic telegram PROFINET Interface Diagnose Priorit None Only minimal diagnostic data is
11. anged The size of this mapping is 26 bytes OCh MC SW MotionCommandPar Bytes 08 11 Uint32 Command specific MC SW StateVar Uint16 coded state depending MC SW StatusWord Uint16 Bit coded MC SW WarnWord Uint16 Bit coded MC SW DemandPosition Int32 Position 100nm Cfg Module Value Uint32 Sint32 The use of the Control word and Motion Command interface is described in 1 The real time configuration module is described in 2 Control Status This module should always be configured It contains the Control and Status word which are described in the document User Manual Motion Control Software MC Cmd Interface This maps the MC Command interface of the drive Please refer to the documentation of the MC software Page 8 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot Get Actual Position Returns the actual position of the motor 32 Bit integer value resolution 0 1um Get Demand Position Returns the demand position of the motor 32 Bit integer value resolution 0 1m Get Current Returns the set current of the motor 32 Bit integer value resolution 1mA Get StateVar The StateVar consists of the MainState and the SubState Please refer to the table State Var on chapter 3 of the User Manual Motion Control Software The StateVar has all relevant flags and information for clean handshaking within one word and can therefore replace the modules Get MC Header Echo and Ge
12. annel 4 Word DI DO Gs HW Config SIMATIC 300 1 Configuration BasicHWConfigE1 130 fly Station Edit Insert PLC View Options Window Help Def ES 5 ai B x Find at ai Profile Standard ba PROFIBUS DP __PROFIBUS 1 DP Mastersystem 1 Additional Field Devices m LinMot E 7 a Drives ERG Lenze l J LinMot B LinMot E1130 DP Id Universal mod Id Control Status lt ld MC Cmd Interf Id Get MC Head Id GetActualPo Id GetDemandF Order Number Designation l Address O Address Id Get Current 1 Control Status 1 Word DI DO 10 11 10 11 d Get StateVar 128 MC Cmd Interface 10WordDO 20 389 J GetwWamwor 3 amp 5 jBetStaeVa l WerdD 20 21 lg Parameter Channel 4 Wed amp 5 BetActudPostionwordD 22 25 d Parameter Chi AOS Ee a E ld Paratfeter Ch 193 Parameter Channel 4 Word DI DO 40 47 40 47 As Command ID use 13h Write RAM Value of Parameter by UPID Command Count 1 The UPID of Maximal Current is 13A6h The internal scaling of the current value is 0 001A 3A Scaled 3000 Int 0000088Bh HEX Word Description Value Hex 1 Parameter Channel Control 1301h 2 Parameter UPID 13A6h 3 Parameter Value Low 088Bh 4 Parameter Value High 0000h Page 22 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot Online via assigned CPU services Path B
13. asicHWConfigE 1 130 SIMATIC 300 1 CPU 3130 2 DP _ Address Symbol Display format Status value Modify value W 40 HEX w 16 0001 2 w 42 HEX W 16 1346 3 W 44 HEX w 16 088B 4 W 46 HEX w 16 0000 s aw 40 HEX W 16 1301 wst6s1301 e aw 42 HEX WHIGHIZAG W 16 13A6 QW 44 HEX weie 0ssB W 16 088B 3 QW 46 HEX we1e 0000 vv 16 0000 Check if parameter has been changed with LinMot Talk Add a new User Defined variable by clicking on the button UPID and search for the UPID 13A6h LinMot Talk1100 V3 7 Build 20071219 File Search Controller Services Options Window Tools Manuals Help D 53 uk unco v gt OD E Sv E GB ATTE Project r i l ig i ex pin on COMS m E E E EN RoN G pu XY Control Panel Name Value RawData UPID Type Scale Eg Parameters Maximal Current 13 amp 5h 3 3000 1346h SintlG 0 001 A S Variables User Defined OS SW Operating Hour Counter Hint Consider the Command Count in the Parameter Channel Control A new command is only evaluated if the value of the command count changes In the easiest way bit 0 is toggled 11 5 PLC Library For the Siemens S7 developing environment exists PLC libraries which could ease the programming of your application it could be downloaded under http linmot2 dynalias net plc lib For further information please contact our support NTI AG LinMot User Manual PROFINET Interface 19 09 2014 Page 23 25 LinMot PROFINET Interface
14. atiuataean ab wustan enuresis 23 1 ELIROUBLEESHOCG DENUX itesiediszciidat t e doe Cotta h ceo e Se iab cu tape occu occi o UI a Eee aee eH 24 LICONTAUT ADDEBSSES ee ane kei di err p casas Shales nea dirt in uacua a abc MIR OSCAR MEER EES 25 NTI AG LinMot User Manual PROFINET Interface 19 09 2014 Page 3 25 LinMot PROFINET Interface 1 System overview The LinMot PROFINET drives E1250 PN and E1450 PN are PROFINET IO slaves Further information on PROFINET can be found under http www profibus com Programming examples provided by LinMot are listed under http www linmot com index php id 141 2 Installation on Servo Drive For installing the PROFINET IO firmware on the servo drive start the LinMot Talk software and press the install firmware button 9 Choose the file Firmware Build ooooooo sct and press Open The wizard will guide you through the installation When asking for the interface software choose PROFINET Choose Interface Interface ProfiNet Press ok and follow the rest of the wizard Page 4 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot 3 Connecting to the PROFINET 3 1 Pin Assignment of the Connectors X17 X18 The Ethernet IP connector is a standard RJ45 female connector with a pin assignment as defined by EIA TIA T568B X17 X18 RealTime Ethernet Connector NTI AG LinMot User Manual PROFINET Interface 19 09 2014 Page 5 25 LinMot PROF
15. dress Usage Start getting Modified UPID List Command ID 22h Parameter Channel Control Parameter Channel Status 1 2 Start UPID search from this UPID 3 pane NTI AG LinMot User Manual PROFINET Interface 19 09 2014 Page 13 25 LinMot PROFINET Interface Get next Modified UPID List item Command ID 23h 1 Parameter Channel Control Parameter Channel Status 2 UPID found 3 Data Value Low 4 Data Value High Get Error Log Entry Counter Command ID 70h Parameter Channel Status Number of Logged Errors Number of Occurred Errors Parameter Channel Control Sx eo to Get Error Log Entry Error Code Command ID 71h Parameter Channel Status Entry Number Logged Error Code 1 Parameter Channel Control 2 Entry Number 0 20 3 4 z Get Error Log Entry Time Low Command ID 72h 1 Parameter Channel Control Parameter Channel Status 2 Entry Number 0 20 Entry Number 3 Entry Time Low Word 4 Entry Time Mid Low Word Get Error Log Entry Time High Command ID 73h Parameter Channel Status Entry Number Entry Time Mid High Word Entry Time High Word he Error Log Entry Time consists of 32Bit hours Time High and 32Bit ms Time Low 1 Parameter Channel Control Entry Number 0 20 2 3 4 T Get Error Code Text
16. er ROM values to default Interface SW 34h Set parameter ROM values to default Application SW 35h Stop MC and Application Software for Flash access 36h Start MC and Application Software Curve Service 40h Save all Curves from RAM to Flash 41h Delete all Curves RAM 50h Start Adding Curve RAM 51h Add Curve Info Block RAM 52h Add Curve Data RAM 53h Start Modifying Curve RAM 54h Modify Curve Info Block RAM 55h Modify Curve Data RAM 60h Start Getting Curve RAM 61h Get Curve Info Block RAM 62h Get Curve Data RAM Error Log 70h Get Error Log Entry Counter 71h Get Error Log Entry Error Code 72h Get Error Log Entry Time low 73h Get Error Log Entry Time high 74h Get Error Code Text Stringlet Command Table 80h Command Table Save to Flash 81h Command Table Delete All Entries RAM 82h Command Table Delete Entry 83h Command Table Write Entry 84h Command Table Write Entry Data 85h Command Table Get Entry 86h Command Table Get Entry Data 87h Get Presence List of Entries 0 31 from RAM 88h Get Presence List of Entries 32 63 from RAM 89h Get Presence List of Entries 64 95 from RAM 8Ah Get Presence List of Entries 96 127 from RAM 8Bh Get Presence List of Entries 128 159 from RAM 8Ch Get Presence List of Entries 160 191 from RAM 8Dh Get Presence List of Entries 192 223 from RAM 8Eh Get Presence List of Entries 224 255 from RAM NTI AG LinMot User Manual PROFINET Interface 19 09 20
17. r Invalid MACID IC3h IO Err Connection lost 10 Warn Word Please refer to User Manual Motion Control Software NTI AG LinMot User Manual PROFINET Interface 19 09 2014 Page 17 25 LinMot PROFINET Interface 11 Example for Siemens Simatic S7 The following example shows the homing procedure the execution of a motion command and the change of a parameter together with S7 and Simatic from Siemens 11 1 Bus configuration HW Config Hw Konfig SIMOTION D Station Bearbeiten Einf gen Zielsystem Ansicht Extras Fenster Hilfe Desa S Rs amp alm oo ED 99 2 sox Suchen mt mil Profil Standard E PROFIBUS DP S32 PROFIBUS PA cA PROFINET ID 3 Drives a Gateway a HMI c3 va H E Network Components a Schaltaerate E Sensors EC Weitere FELDGERATE Drives NTIAG Ge 1250xPN 9 NTI IO Profile Control Status Get Actual Position Get Current Get Demand Position Get ErrorCode Get StateVar Get Wamword MC Interface Mon Channel 1 Mon Channel 2 Mon Channel 3 Mon Channel 4 Real Time Config Gy ET450 PN Y93400 Egg 1 0 m SIMATIC 300 mf SIMATIC 400 SIMATIC PC Based Control 300 400 B S SIMATIC PC Station Fe SIMOTION Drive Based fil SIMOTION D Konfiguration sampl_22 PROFIBUS Integrated DP Mastersystem 1 f 0 SIMOTION D445 Ta 2 SINAMII D445 m DPT J DPMP IET AOP JEZVNET CBES3OxPNxIO Post T Port 2 Post
18. rameter Command ID to be executed bits 8 15 see table Command ID e Command Count bits 0 3 Real Time Config Status IEEE REC ERE REESE 10 9 8 7 6 5 4 3 2 1 0 The Parameter Channel Status is split in two parts e Parameter Status bits 8 15 see table Parameter Status e Command Count Response bits 0 3 Command Count A new command is only evaluated if the value of the command count changes In the easiest way bit 0 can be toggled Parameter Command ID This selects the command Possible Commands are 00h No Operation Parameter Access 10h Read ROM Value of Parameter by UPID 11h Read RAM Value of Parameter by UPID Write ROM Value of Parameter by UPID Write RAM Value of Parameter by UPID Write RAM and ROM Value of Parameter by UPID 15h Get minimal Value of Parameter by UPID 16h Get maximal Value of Parameter by UPID 17h Get default Value of Parameter by UPID Page 10 25 User Manual PROFINET Interface 19 09 2014 NTI AG LinMot PROFINET Interface Parameter UPID List 20h Start Getting UPID List 21h Get next UPID List item 22h Start Getting Modified UPID List 23h Get next Modified UPID List item Stop Start Default 30h Restart drive 31h Set parameter ROM values to default OS SW 32h Set parameter ROM values to default MC SW 33h Set paramet
19. ss sym Jopay format HEX W 16 4C37 h w 10 HEX W 16 003F W 16 003F StateVar MainState becomes 08h Operation Enabled Drive is ready for motion commands Address Symbol Display format Status value Modify value W 16 08C0 1 IW 20 HEX Page 19 25 NTI AG LinMot User Manual PROFINET Interface 19 09 2014 LinMot PROFINET Interface 11 3 Execute Motion Command VAI Go To Pos 010xh Name Description Scaled Value Int Value HEX Header VAI Go To Pos 010xh 257 0101h 1 Par Target Position 50mm 0007A120h 2 Par Maximal Velocity 1m s 000F4240h 3 Par Acceleration 10m s 2 000F4240h 4 Par Deceleration 10m s 2 000F4240h In the case of Parameters PROFINET Interface Byte Word Order MC CMD Intf Par Orden not reversed default setting Online via assigned CPU services Path zu 130 SIMATIC 300 1 CPU 313C 2 DP 1 20 Weie 0101 W 16 0101 2 aw 22 HEX W 16 A120 W 16 A120 3 aw 24 HEX W 16 0007 W 16 0007 4 aw 26 HEX W 1684240 W 16 4240 s aw 28 HEX WH16 000F W 16 000F 6 aw 30 HEX W 16 4240 W 16 4240 7 ow 32 HEX W 16 000F W 16 000F 8 aw 34 HEX WM1684240 W 16 4240 9 aw 36 HEX W 16 000F W 16 000F 10 aw 38 HEX w 16 0000 In the case of Parameters PROFINET Interface Byte Word Order MC CMD Intf Par Order reversed Online via assigned CPU services Path es 130 SIMATIC 300 1 CPU 3130 2 DP Display format Status value Modify value QW 20 HEX weie 0101 w
20. t Error Code Get WarnWord Returns the Warn Word Please refer to chapter 10 Get ErrorCode Returns the Error Code Please refer to chapter 9 Monitoring Channel 1 4 Transmits cyclically the value of the variable which is defined by the Monitoring Channel Parameter see chapter 4 NC Setpoint Values With this setpoint module the axis could be connected to a NC axis 00h Streamed Position Setpoint Int32 Position 100nm 04h Streamed Velocity Setpoint Int32 Velocity 1um s 08h Streamed Acceleration Setoint Int32 Velocity 10um s 2 NTI AG LinMot User Manual PROFINET Interface 19 09 2014 Page 9 25 LinMot PROFINET Interface Real Time Config The Real Time Config module allows access to parameters variables curves error log and command table Also restart start and stop of the drive is possible Of course the Parameter Channel module works independently from the MC Cmd Interface For this reason changing a parameter and sending a motion command can be done in parallel 1 Parameter Channel Control Parameter Channel Status 2 Argument meaning depends on Cmd Argument meaning depends on Cmd ID ID 3 Argument meaning depends on Cmd Argument meaning depends on Cmd ID ID 4 Argument meaning depends on Cmd Argument meaning depends on Cmd ID ID Real Time Config Control B e ESSEECESSNIES S 10 9 8 7 6 5 4 3 2 1 0 The Parameter Channel Control is split in two parts e Pa
21. ual period time between the received PROFINET IO data messages 5 2 ProfiNet Slot Configuration In this directory the configured modules for the Slots 1 7 are displayed The configuration of the modules is done in the HW manager of the Step 7 NTI AG LinMot User Manual PROFINET Interface 19 09 2014 Page 7 25 LinMot PROFINET Interface 6 PROFINET Modules The LinMot drive is a PROFINET IO slave To configure it with a PROFINET master the GSD file is used You can find the GSD file LINM092D GSD in the LinMot Talk installation directory typically C Program Files LinMot LinTalk Talk 4 Build XXXXXXXx Firmware PROFINET GSD There are the following modules defined to be configured according the demands of the desired application Default IO mapping with Config With the data configured in this module most of the applications could be solved Output Data Mapping In this real time IO mapping the 16 bit control word the 16 bit motion command header and the motion command parameters are exchanged The size of this mapping is 32 bytes MC SW ControlWord Uint16 Bit coded MC SW MotionCommandHeader Uint16 12Bit Command 4Bit count nibble MC SW MotionCommandPar Bytes 00 03 Uint32 Command specific MC SW MotionCommandPar Bytes 04 07 Uint32 Command specific 10h 14h 18h 1Ah 1Ch Input Data Mapping In this real time IO mapping the StateVar for the main state machine and several other helpful data are exch

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