LinMot C1250-PD-XC-0S/1S User manual

August 2019
Documentation of the PROFIdrive Interface of the following
Drives:
· C1250-PD-XC-0S/1S
· C1450-PD-VS-0S/1S
· E1450-PD-QN-0S/1S
Manual
PROFINET PROFIdrive Interface
Doc.: 0185-1132-E_1V5_MA_PROFIdrive

© 2019 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.
NTI AG
LinMot
Bodenaeckerstrasse 2
CH-8957 Spreitenbach
Tel.: [phone]
Fax.: [phone]
Email: [e-mail]
Homepage: www.LinMot.com

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Table of Contents
1 System overview ..................................................................................................................................... 5
1.1 References .......................................................................................................................................... 5
1.2 Port assignement ................................................................................................................................ 5
2 Setup in Simotion Motion Control System ........................................................................................... 6
2.1 Assumed preconditions ....................................................................................................................... 6
2.2 TIA Configuration ................................................................................................................................ 6
2.2.1 Create a new project ..................................................................................................................... 6
2.2.2 Configure a Device ........................................................................................................................ 7
2.2.3 Add new Device ............................................................................................................................ 8
2.2.4 Select Device ................................................................................................................................ 9
2.2.5 Configure PROFINET ................................................................................................................... 9
2.2.6 Install LinMot GSDML device description file .............................................................................. 11
2.2.7 Select correct GSDML device description file ............................................................................. 12
2.2.8 Add NTI drive to PROFINET network ......................................................................................... 12
2.2.8.1 Assign NTI drive to the SIMOTION ....................................................................................... 13
2.2.9 Define the PROFINET Topology ................................................................................................. 15
2.2.10 Add communication module to the NTI PROFIdrive drive ........................................................ 15
2.2.11 Define the PROFIBUS Cycle time ............................................................................................. 17
2.2.12 Compile the HW Configuration ................................................................................................. 19
2.2.13 Download the HW Configuration ............................................................................................... 19
2.3 SIMOTON SCOUT TIA Configuration ............................................................................................... 21
2.3.1 Insert axis .................................................................................................................................... 22
2.3.2 Configure axis ............................................................................................................................. 23
2.3.3 Download SIMOTION SCOUT configuration .............................................................................. 28
2.3.4 Move the Axis with the Control panel .......................................................................................... 32
3 Process Data Object (PDO) Configuration .......................................................................................... 38
3.1 Input PDO Modules ........................................................................................................................... 38
3.1.1 Standard telegram 3 ................................................................................................................... 38
3.1.2 Standard telegram 5 ................................................................................................................... 38
3.1.3 Standard telegram 7 ................................................................................................................... 39
3.1.4 Standard telegram 9 ................................................................................................................... 39
3.1.5 Siemens telegram 105 ................................................................................................................ 39
3.1.6 Siemens telegram TDB 200 ........................................................................................................ 39
3.1.7 Real Time Config telegram 404 .................................................................................................. 39
3.1.8 Actual Position telegram 405 ...................................................................................................... 40
3.1.9 Demand Position telegram 406 ................................................................................................... 40
3.1.10 WarnWord telegram 407 .......................................................................................................... 40
3.1.11 ErrorCode telegram 408 ........................................................................................................... 40
3.1.12 Demand Current 32b telegram 409 .......................................................................................... 40
3.1.13 Mon Channel 1 telegram 410 .................................................................................................... 40
3.1.14 Mon Channel 2 telegram 411 .................................................................................................... 40
3.1.15 Mon Channel 3 telegram 412 .................................................................................................... 41
3.1.16 Mon Channel 4 telegram 413 .................................................................................................... 41
3.1.17 Demand Current 16b telegram 414 .......................................................................................... 41
3.1.18 Actual Velocity telegram 415 ..................................................................................................... 41
3.1.19 Demand Velocity telegram 416 ................................................................................................. 41
3.2 Output PDO Modules ........................................................................................................................ 41

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3.2.1 Standard telegram 3 ................................................................................................................... 41
3.2.2 Standard telegram 5 ................................................................................................................... 42
3.2.3 Standard telegram 7 ................................................................................................................... 42
3.2.4 Standard telegram 9 ................................................................................................................... 42
3.2.5 Siemens telegram 105 ................................................................................................................ 42
3.2.6 Siemens telegram TDB 200 ........................................................................................................ 43
3.2.7 Real Time Config telegram 404 .................................................................................................. 43
4 Asynchronous Configuration Protocol ............................................................................................... 44
4.1 PROFIdrive Profile Area .................................................................................................................... 44
4.2 Manufacturer specific Profile Area .................................................................................................... 44
4.3 Suported Services ............................................................................................................................. 44
5 PROFIdrive Parameters ........................................................................................................................ 45
5.1 Parameters ........................................................................................................................................ 45
5.1.1 PROFdrive/Dis-/Enable ............................................................................................................... 45
5.1.2 PROFdrive/Byte Order ................................................................................................................ 45
5.1.3 PROFdrive/Word Order .............................................................................................................. 45
5.1.4 PROFdrive/Monitoring Channels ................................................................................................ 45
5.1.5 PROFdrive/Axis Configuration/ Axis Type .................................................................................. 46
5.1.6 PROFdrive/Axis Configuration/ Linear/Rotative Reference Velocity ........................................... 46
5.1.7 PROFdrive/Axis Configuration/ MDI Configuration ..................................................................... 46
6 Connecting to the PROFINET Network ............................................................................................... 47
6.1 Pin Assignment of the Connectors X17-X18 ..................................................................................... 47

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1 System overview
PROFINET is the open real-time Ethernet network, in this manual the PROFIdrive profile drivs are described.
The LinMot drives act as slave in this network and is implemented with the TPS1 chip from Renesas.
For further information on the PROFINET and PROFIdrive fieldbus protocols please visit:
http://www.profibus.com/
1.1 References
All user manuals are distributed with the LinMot-Talk software the newest versions can be downloaded from
the LinMot homepage in the download section.
Ref
Title
Source
1
User Manual Motion Control SW
www.linmot.com
2
LinMot Drive Configuration over Fieldbus Interfaces SG5
www.linmot.com
1.2 Port assignement
Attention: Within the PROFINET network normally the topology is defined, for easy setup and
replacement of devices. The real time Ethernet RJ45 connector X17 is the P1 port and the real
time RJ45 connector X18 is the P2 port in this context.

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2 Setup in Simotion Motion Control System
In the following steps the integration of a LinMot PROFIdrive servo drive with a LinMot linear motor into the
SIMOTION motion controller is described. In the example a Siemens SIMOTION D445 and a Linmot C1250-
PD-XC-0S drive is used.
2.1 Assumed preconditions
The SIMOTION is in factory reset condition, the programming PC is connected over X127/P1. The Linmot
drive is completely wired, the PROFINET is wired from the SIMOTION X150/P1 to the LinMot X17.
It is supposed, that the motor and the drive have PnP functionality, means the motor is basically setup
automatically, otherwise the motor has to be setup manually with the LinMot-Talk Motor-Wizard in the drive.
Attention: To achieve a good response of the master setpoint, it is important to tune also the
position controller in the LinMot-drive well!
2.2 TIA Configuration
2.2.1 Create a new project
Start the TIA Portal and create a new project BSP_10.

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2.2.2 Configure a Device

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2.2.3 Add new Device

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2.2.4 Select Device
2.2.5 Configure PROFINET
Add the PROFINET network PN/IE_1 here assigned to X150 and choose the IP-address and subnet
netmask.

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Define the SIMOTION controller as Sync master in the real time settings.
2.2.6 Install LinMot GSDML device description file
If not already installed, install now the newest device description file of the device you want to use. The
device description files are distributed together with the firmware under path
C:\Program Files (x86)\LinMot\LinMot-Talk 6.4 Build 20151112\Firmware\Interfaces\ProfiNet\GSDML_PD

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2.2.7 Select correct GSDML device description file
2.2.8 Add NTI drive to PROFINET network
Now change to the network view and add the desired LinMot PROFIdrive device.
Select the correct NTI drive and drag and drop it to the PN/IE1 network.

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Then Network looks like this.
2.2.8.1 Assign NTI drive to the SIMOTION
Assigne the LinMot drive to the SIMOTION master PLC_1.
Select PLC_1 as IO Controller.

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2.2.9 Define the PROFINET Topology
Change to Topology view, and wire the PROFINET connection from PLC-1 X150/P1 port to the C1250-
PD/P1 port.
2.2.10 Add communication module to the NTI PROFIdrive drive
Double click in the Topology view the LinMot drive, then automatically the device view of the LinMot drive
opens.
Drag and drop from the Catalog the DO with standard telegr. 5 to the device Slot 1. Double click the device
and define the isochronous mode.

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Double click thethe Slot 1.2 and assign the I/O address to the Servo Process image.
2.2.11 Define the PROFIBUS Cycle time
For the SIMOTION D devices the DP cycle time has to be the same as the Isochronous PROFINET IO cycle
time, so change it to 1ms.

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2.2.12 Compile the HW Configuration
Select the SIMOTION device and click Compile button for compiling the HW configuration.
2.2.13 Download the HW Configuration
By clicking the button you start the download of the HW configuration. Select your HW devices for
accessing the SIMOTION master, click search, then select the SIMOTION device and start the loading by
clicking on the “Load” button.

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After successful download you get ask for starting the devices select “Start all” check box and click the
“Finish” button.