LinMot C1251-MI-XC-2S-XE User manual

February 2022
Documentation of the PROFIdrive Interface of the following
Drives:
· C1251-MI-XC-2S-XE
· C1250-MI-XC-PD-1S
Manual
PROFINET PROFIdrive Interface
Doc.: 0185-1154-E_1V1_MA_PROFIdriveMI

© 2022 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

Page 3 of 44NTI AG / LinMot
Table of Contents
1 System overview ........................................................................................................................... 5
1.1 References ............................................................................................................................... 5
1.2 Port assignment ........................................................................................................................ 5
2 Process Data Object (PDO) Configuration ..................................................................................... 7
2.1 Bidirectional PDO Modules ......................................................................................................... 7
2.1.1 Standard telegram 3, PZD-5/9 ............................................................................................... 7
2.1.2 Standard telegram 5, PZD-9/9 ............................................................................................... 8
2.1.3 Standard telegram 7, PZD-2/2 ............................................................................................... 8
2.1.4 Standard telegram 9, PZD-10/5 ............................................................................................. 9
2.1.4.1 Output Data ................................................................................................................... 9
2.1.4.2 Input Data .................................................................................................................... 10
2.1.5 Safety Standard telegram 30 ............................................................................................... 11
2.1.5.1 Output Data ................................................................................................................. 11
2.1.5.2 Input Data .................................................................................................................... 12
2.1.6 Siemens telegram 105, PZD-10/10 ....................................................................................... 12
2.1.7 Siemens telegram TDB 200, PZD-3/1 ................................................................................... 13
2.1.8 Real Time Config telegram 404, PZD-4/4 .............................................................................. 14
2.1.9 LinMot telegram 516 PZD-16/13 ........................................................................................... 14
2.1.10 Supplement telegram 701, PZD-2/5 .................................................................................... 15
2.1.10.1 Output Data ................................................................................................................ 15
2.1.10.2 Input Data .................................................................................................................. 16
2.1.11 Siemens telegram 750, PZD-3/1 ........................................................................................ 17
2.2 Output PDO Modules ............................................................................................................... 18
2.2.1 Par Channel 1 telegram 417, PZD 2/0 .................................................................................. 18
2.2.2 Par Channel 2 telegram 418, PZD 2/0 .................................................................................. 18
2.2.3 Par Channel 3 telegram 419, PZD 2/0 .................................................................................. 18
2.2.4 Par Channel 4 telegram 420, PZD 2/0 .................................................................................. 18
2.3 Input PDO Modules .................................................................................................................. 18
2.3.1 Actual Position telegram 405, PZD 0/2 ................................................................................. 18
2.3.2 Demand Position telegram 406, PZD 0/2 .............................................................................. 18
2.3.3 WarnWord telegram 407, PZD 0/1 ....................................................................................... 19
2.3.4 ErrorCode telegram 408, PZD 0/1 ........................................................................................ 19
2.3.5 Demand Current 32b telegram 409, PZD 0/2 ......................................................................... 19
2.3.6 Mon Channel 1 telegram 410, PZD 0/2 ................................................................................. 19
2.3.7 Mon Channel 2 telegram 411, PZD 0/2 ................................................................................. 19
2.3.8 Mon Channel 3 telegram 412, PZD 0/2 ................................................................................. 19
2.3.9 Mon Channel 4 telegram 413, PZD 0/2 ................................................................................. 20
2.3.10 Demand Current 16b telegram 414, PZD 0/1 ....................................................................... 20
2.3.11 Actual Velocity telegram 415, PZD 0/2 ............................................................................... 20
2.3.12 Demand Velocity telegram 416, PZD 0/2 ............................................................................ 20
2.3.13 Supplement telegram 700, PZD-0/3 .................................................................................... 20
3 Asynchronous Configuration Protocol ......................................................................................... 21
3.1 PROFIdrive Profile Area ........................................................................................................... 21
3.2 Manufacturer specific Profile Area ............................................................................................. 21
3.3 Supported Services .................................................................................................................. 21
4 PROFIdrive Parameters ............................................................................................................... 23
4.1 Parameters ............................................................................................................................. 23

Page 4 of 44 NTI AG / LinMot
4.1.1 PROFdrive/Dis-/Enable ....................................................................................................... 23
4.1.2 PROFdrive/Byte Order ........................................................................................................ 23
4.1.3 PROFdrive/Word Order ....................................................................................................... 23
4.1.4 PROFdrive/Monitoring Channels .......................................................................................... 23
4.1.5 PROFIdrive/Parameter Channels .......................................................................................... 24
4.1.6 PROFdrive/Axis Configuration/ Axis Type ............................................................................. 24
4.1.7 PROFdrive/Axis Configuration/ Linear/Rotative Reference Velocity .......................................... 24
4.1.8 PROFdrive/Axis Configuration/ MDI Configuration .................................................................. 24
4.1.9 PROFIdrive/Axis Configuration/G1 Configuration .................................................................... 25
4.1.10 PROFIdrive/Axis Configuration/Std Tlg 5/105 Anti Windup .................................................... 25
4.1.11 PROFIdrive/Axis Configuration/Monitoring ........................................................................... 25
5 Connecting to the PROFINET Network ......................................................................................... 25
5.1 Pin Assignment of the Connectors X17-X18 ............................................................................... 25
6 Example Setup ............................................................................................................................ 26
6.1 Setup in S7-1500 System ......................................................................................................... 26
6.1.1 Assumed preconditions ...................................................................................................... 26
6.1.2 Adding Safety Drive to System ............................................................................................ 26
6.2 Configure the Project- TIA Configuration .................................................................................... 26
6.2.1 Create a new project ........................................................................................................... 26
6.2.2 Configure a Device .............................................................................................................. 27
6.2.3 Add new Device ................................................................................................................. 27
6.2.4 Select PLC Controller ......................................................................................................... 28
6.2.5 Configure PROFINET .......................................................................................................... 28
6.2.6 Install LinMot GSDML device description file ......................................................................... 29
6.2.7 Configure LinMot PROFIdrive to PROFINET network .............................................................. 30
6.2.7.1 Assign LinMot drive to the PLC ...................................................................................... 30
6.2.7.1.1 Define the PROFINET Topology ................................................................................ 32
6.2.8 Configure communication module to the LinMot PROFIdrive ................................................... 32
6.2.8.1 Add Safety Telegram 30 ................................................................................................ 33
6.2.8.2 Safety Parameters in LinMot Talk ................................................................................... 34
6.3 Creating Technology Objects .................................................................................................... 34
6.3.1 Configure axis .................................................................................................................... 35
6.4 Compile and Download PLC_1 configuration ............................................................................... 38
6.5 Move the Axis with the Commissioning panel .............................................................................. 39

Page 5 of 44NTI AG / LinMot
1 System overview
PROFINET is an open real-time Ethernet network. In this manual the PROFIdrive profiles of LinMot drives are
described. The LinMot drive acts as a slave in this network and is implemented with the netXchip from
Hilscher.
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
Doc Reference
Source
1
Safety Manual 2S Products
0185-1174-E
shop.linmot.com
2
User Manual Motion Control SW
0185-1093-E_6V8
shop.linmot.com
3
LinMot Drive Configuration over Fieldbus
Interfaces SG5-SG7
0185-1074-E_1V7
shop.linmot.com
4
Sinamics S120 Safety Integrated Function
Manual
6SL3097-5AR00-
0BP3
https://support.industry.sie
mens.com/cs/document/109
781722
1.2 Port assignment
Attention: Within a 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.

Page 6 of 44 NTI AG / LinMot

Page 7 of 44NTI AG / LinMot
2 Process Data Object (PDO) Configuration
The cyclic process data is configured in the master and transmitted to the slave during start-up. The data
object modules can be configured by drag and drop to any of the device slots from 1 to 8. The DO-SERVO can
have its submodules in subslots from 1 to 12.
Overview of the supported Data Objects Modules.
2.1 Bidirectional PDO Modules
2.1.1 Standard telegram 3, PZD-5/9
The telegram content has speed-setpoint interface, 32 bit, with one sensor
Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 3
10
-
Variables
RECORD
1
2
0
STW1
Uint16
2, 3
4
2
NSOLL_B
Int32
4
2
6
STW2
Uint16
5
2
8
G1_STW
Uint16
Input Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 3
18
-
Variables
RECORD
1
2
0
ZSW1
Uint16
2, 3
4
2
NIST_B
Int32
4
2
6
ZSW2
Uint16

Page 8 of 44 NTI AG / LinMot
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
5
2
8
G1_ZSW
Uint16
6, 7
4
10
G1_XIST_1
Int32
8, 9
4
14
G1_XIST_2
Int32
2.1.2 Standard telegram 5, PZD-9/9
The standard telegram 5 is derived from standard telegram 3 for additional use of the Dynamic Servo Control
(DSC). The telegram contain speed-setpoint interface, 32 bit with one sensor, additionally position difference
and position controller gain in the setpoint direction for DSC.
Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 5
18
-
Variables
RECORD
1
2
0
STW1
Uint16
2, 3
4
2
NSOLL_B
Int32
4
2
6
STW2
Uint16
5
2
8
G1_STW
Uint16
6, 7
4
10
XERR
Int32
8, 9
4
14
KPC
Int32
Input data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 5
18
-
Variables
RECORD
1
2
0
ZSW1
Uint16
2, 3
4
2
NIST_B
Int32
4
2
6
ZSW2
Uint16
5
2
8
G1_ZSW
Uint16
6, 7
4
10
G1_XIST_1
Int32
8, 9
4
14
G1_XIST_2
Int32
2.1.3 Standard telegram 7, PZD-2/2
The standard telegram 7 is defined for positioning mode.
Content: Positioning interface (Program submode)
Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 7
4
-
Variables
RECORD
1
2
0
STW1
Uint16
2
2
2
SATZANW
Uint16

Page 9 of 44NTI AG / LinMot
Input Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 7
4
-
Variables
RECORD
1
2
0
ZSW1
Uint16
2
2
2
AKTSATZ
Uint16
2.1.4 Standard telegram 9, PZD-10/5
The standard telegram 9 is also defined for positioning mode.
Content: Positioning interface (Program sub-mode plus Manual Data Input sub-mode)
2.1.4.1 Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 9
20
-
Variables
RECORD
1
2
0
STW1
Uint16
2
4
2
SATZANW
Uint16
3
2
4
STW2
Uint16
4, 5
2
6
MDI_TARPOS
Int32
6, 7
4
10
MDI_VELOCITY
Int32
8
2
14
MDI_ACC
Uint16
9
2
16
MDI_DEC
Uint16
10
2
18
MDI_MOD
Uint16
Details Of STW1
Bit
Name
Significance
0
ON/OFF
Switched On (1) / Power-Down (0)
1
No STO active / STO active
No STO (1) / STO active (0)
2
No Quick Stop / Quick Stop
No Quick Stop (1) / Quick Stop (0)
3
Enable Operation / Disable
Operation
Enable Operation (1) / Inhibit Operation (0)
4
Abort - forced by parameter
No Abort (1) / Abort (0)
5
Freeze - forced by parameter
No Freeze (1) / Freeze (0)
6
Go To Position
Activate traversing task or a new MDI setpoint (0 -> 1)
7
Error Acknowledge
The group signal is acknowledged with a positive edge (0
-> 1)
8
Jog Move +
Jog 1 signal source
9
Jog Move -
Jog 2 signal source
10
Control via PLC
Control by PLC (1) / No Control by PLC (0)
11
Home
Start Homing (1) / No Homing (0)
Details of SATZANW

Page 10 of 44 NTI AG / LinMot
Bit
Name
Significance
0 -9
The Command Table Entry ID is
entered here
The Command Table Entry ID can be from 0 to 255. This
is used in Command Table Entry mode
10 -14
Reserved
15
MDI selection
Activation of MDI submode (1) / Deactivation of MDI
submode (0)
STW2 - This is not used
MDI_TARPOS is MDI target position
MDI_VELOCITY is MDI target velocity
MDI_ACC is MDI acceleration
MDI_DEC is MDI deceleration
If MDI_MOD = 0, VAI Increment (Relative) Demand Position Command is used (011xh).
If MDI_MOD = 1, VAI Go to absolute positioning mode command (010xh) is used.
Telegram 9 supports the Command Table entry when the Traversing task is activated (STW1.bit6) along with
No Abort and No Freeze and when no MDI is activated (SATZANW.bit 15). In this scenario "Set Command
Table Command" 200xh is selected. The Command Table Entry ID which is taken as the parameter of the
Command Table Command has to be programmed in SATZANW.bit 0-9.
2.1.4.2 Input Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 9
10
-
Variables
RECORD
1
2
0
ZSW1
Uint16
2
2
2
AKTSATZ
Uint16
3
2
4
ZSW2
Uint16
4, 5
4
6
XIST_A
Int32
Details of ZSW1
Bit
Name
Significance
0
Ready To Switch On
Ready for switching ON (1) / Not Ready for Switch ON
(0)
1
Ready To Operate
Ready to Operate (1) / Not Ready to Operate (0)
2
Operation Enabled
Operation Enabled (1) / Operation Disabled (0)
3
Fault Present
Fault Present (1) / No fault (0)
4
Coast Stop Not activated
No Abort (1) / Abort (0)
5
QuickStop Not activated
No Freeze (1) / Freeze (0)
6
Switch ON Inhibited
Switch On Inhibited (1) / Switch On Not Inhibited (0)
7
Warning Present
Warning Present (1) / No Warning Present (0)
8
Within Tolerance Range
Following Error within tolerance range (1) / Following
Error out of tolerance range (0)

Page 11 of 44NTI AG / LinMot
Bit
Name
Significance
9
Control Request
Target Position Reached (1) / Not at Target Position (0)
10
Target Reached
Control by PLC (1) / No control by PLC (0)
11
Homing Position Set
Home Position Set (1) / Home Position Not set (0)
12
Traversing Task Acknowledgment
Using positive edge 0->1 , it is acknowledged that a new
traversing task or MDI set-point was accepted
13
Drive Stopped
Drive Stopped (1) / Drive Moving (0)
Details of AKTSATZ
Bit
Name
Significance
0 -9
The evaluated Command Table
Entry ID
This is active when telegram 9 is used for Command
Table Command
10 -14
Reserved
15
Status of sub-mode switch and
currently active submode
1 if MDI sub-mode active, The input values for the motion
command will be taken from MDI_TARPOS,
MDI_VELOCITY, MDI_ACC and MDI_DEC.
XIST_A is position actual value.
2.1.5 Safety Standard telegram 30
This telegram is applicable only for the 2S drive - C1251-MI-XC-2S-XE.
Control of the Drive Safety Process inside the DO by the Safety Application Controller. The details of the safety
telegram is described in Safety Manual for 2S drive.
2.1.5.1 Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 30
7
-
Variables
RECORD
1
2
0
S_STW1
Uint16
2
1
2
Control Byte in safety PDU
Uint8
3
4
3
CRC2
Int32
Details of PROFIsafe Control Word - S_STW1
Bit
Name
Significance
0
STO
No STO (1) / STO active (0)
1
SS1
No SS1 (1) / SS1 active (0)
2
SS2
No SS2 (1) / SS2 active (0)
3
SOS
No SOS (1) / SOS active (0)
4
SLS
No SLS (1) / SLS active (0)
5
Reserved
6
Reserved
7
Internal Event Ack
Safety Fault Buffer Fault Acknowledge (1-->0)
8
Reserved

Page 12 of 44 NTI AG / LinMot
Bit
Name
Significance
9
Select SLS Bit 0
Selection of the speed limit for SLS - selection bit 0
10
Select SLS Bit 1
Selection of the speed limit for SLS - selection bit 1
11-15
Reserved
For more details refer to the Safety Manual 2S [1].
2.1.5.2 Input Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 30
7
-
Variables
RECORD
1
2
0
S_ZSW1
Uint16
2
1
2
Status Byte in Safety PDU
Uint8
3
4
3
CRC2
Int32
Details of PROFIsafe Status Word - S_ZSW1
Bit
Name
Significance
0
STO
STO active (1) / STO not active (0)
1
SS1
SS1 active (1) / SS1 not active (0)
2
SS2
SS2 active (1) / SS2 not active (0)
3
SOS
SOS active (1) / SOS not active (0)
4
SLS
SLS active (1) / SLS not active (0)
5
Reserved
6
Reserved
7
Internal Event ACK
Internal Event (1) / No Internal Event (0)
8
Reserved
9
Select SLS Bit 0
Selected SLS level - bit 0
10
Select SLS Bit 1
Selected SLS level - bit 1
11
SOS Selected
SOS selected (1) / SOS deselected (0)
12-15
Reserved
For more details refer the Safety Manual 2S [1].
2.1.6 Siemens telegram 105, PZD-10/10
Siemens telegram 105 can only support IRT mode.
Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 105
20
-
Variables
RECORD
1
2
0
STW1
Uint16
2, 3
4
2
NSOLL_B
Int32
4
2
6
STW2
Uint16

Page 13 of 44NTI AG / LinMot
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
5
2
8
TORQUERED
Uint16
6
2
10
G1_STW
Uint16
7, 8
4
12
XERR
Int32
9, 10
4
16
KPC
Int32
The telegram part TORQRED is mapped to the MC SW parameter with UPID 0x1399 “Motor relative Max
Current Limit”.
Input Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 105
20
-
Variables
RECORD
1
2
0
ZSW1
Uint16
2, 3
4
2
NIST
Int32
4
2
6
ZSW2
Uint16
5
2
8
MELDEW
Uint16
6
2
10
G1_ZSW
Uint16
7, 8
4
12
G1_XIST_1
Int32
9, 10
4
16
G1_XIST_2
Int32
2.1.7 Siemens telegram TDB 200, PZD-3/1
The Siemens telegram 200 is used on Simotion PLC.
Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg TDB
6
-
Variables
RECORD
1
2
0
M_Add
Int16
2
2
2
(B+) pos torque Limit
Uint16
3
2
4
(B-) neg torque Limit
Uint16
The additional torque (M_Add) is calculated with UPID 0x119E (maximal Motor Current) and written to UPID
0x139C or 0x13B0 depending on which control parameter set is active.
The additional torque is standardised by 4000h. The unit of M_Add is N (or Nm if rotary).
Value at UPID 0x139C/ 0x13B0 = M_Add * maximal Motor Current / 4000h
The torque limits B+ and B- are also calculated with UPID 0x119E (maximal Motor Current) and written to UPID
0x13FC/0x13FD or 0x13FE/0x13FF depending on which control parameter set is active.
The unit of (B+) pos torque Limit and (B-) neg torque Limit are N (or Nm if rotary).
Value at UPID 0x13FC/0x13FE = (B+) pos torque Limit * maximal Motor Current / 4000h
Value at UPID 0x13FD0/x13FF = -(B-) neg torque Limit * maximal Motor Current / 4000h
Input Data

Page 14 of 44 NTI AG / LinMot
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg TDB
20
-
Variables
RECORD
1
2
0
M_act
Int16
M_act is the standardised actual torque/ force.
For linear motor, M_act = Motor Actual Force (UPID 0x1BFF) / Motor Maximim Force (UPID 0x1BB0)* 0x4000.
The unit is N.
For rotary motor, M_act = Motor Actual Torque (UPID 0x1BBF) / Motor Maximim Torque (UPID 0x1BBE) *
0x4000. The unit is Nm.
2.1.8 Real Time Config telegram 404, PZD-4/4
Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 404
8
-
Variables
RECORD
1
2
0
Config Control Word
Uint16
2
2
2
Config Index/..
Uint16
4, 5
4
4
Config Value
Word32
Input Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 404
8
-
Variables
RECORD
1
2
0
Config Status Word
Uint16
2
2
2
Config Index/..
Uint16
4, 5
4
4
Config Value
Word32
Please refer to the document 0185-1074-E_1V7_MA_Drive-Configuration-Over-Fieldbus-SG5-SG7.pdf [3] from
LinMot for more details.
2.1.9 LinMot telegram 516 PZD-16/13
Default-IO mapping with Config
Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 16
32
-
Variables
RECORD
1
2
0
ControlWord
Word16
2
2
2
Motion Command Header
Word16
3,4
4
4
Motion Command parameter 1
Word32
5,6
4
8
Motion Command parameter 2
Word32
7,8
4
12
Motion Command parameter 3
Word32
9,10
4
16
Motion Command parameter 4
Word32
11,12
4
20
Motion Command parameter 5
Word32
13
2
24
Config Header
Word16

Page 15 of 44NTI AG / LinMot
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
14
2
26
Config Index
Word16
15,16
4
28
Config Value
Word32
For the meaning of the „Control Word“ and the „Motion Command interface“ refer to [2] , for the „Real Time
Config Interface“ refer to [3].
Input Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 16
26
-
Variables
RECORD
1
2
0
StateVar
Word16
2
2
2
StatusWord
Word16
3
2
4
WarnWord
Word16
4,5
4
6
Demand Position
Word32
6,7
4
10
Actual Position
Word32
8,9
4
14
Demand Current
Word32
10
2
18
Config Status Word
Word16
11
2
20
Config Index Response
Word16
12,13
4
22
Config Value Response
Word32
For the meaning of the variables 1-6 refer to [2], for the „Real Time Config Interface“ refer to [3].
2.1.10 Supplement telegram 701, PZD-2/5
This telegram is applicable only for the 2S drive - C1251-MI-XC-2S-XE.
The predefined PROFIdrive supplementary safety telegrams 700 and 701 of Siemens are available for the
transfer of the " Safety Info Channel" (SIC) and "Safety Control Channel" (SCC).
The Safety Info Channel enables Safety integrated functionality status information of the drive to be transmitted
to higher level controller.
The Safety Control channel is used to sent the control information from the higher-level control to the safety
functions of the drive.
(Reference to Function Manual Safety Integrated from Sinamics [4], section 5.8).
2.1.10.1 Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 701
4
-
Variables
RECORD
1
2
0
S_STW1B
Uint16
2
2
2
S_STW3B
Uint16
S_STW1B is not used for now.
Details of S_STW3B

Page 16 of 44 NTI AG / LinMot
Bit
Name
Significance
0
Select Brake Test
Brake test selected (1) / Brake test deselected (0)
1
Start Brake Test
Start brake test requested (1) / Start Brake test not
requested (0)
2
Brake Selection
Not used, default 0
3
Select the direction of rotation
Is always 0 ( Positive direction selected ); The negative
direction is selected in the SBT sequence
4
Select Test sequence
Not used, default 0
5
Status of External brake
Not used, default 0
6..15
Reserved
Not used, default 0
2.1.10.2 Input Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 701
10
-
Variables
RECORD
1
2
0
S_ZSW1B
Uint16
2
2
2
S_ZSW2B
Uint16
3,4
4
4
S_V_LIMIT_B
Int32
5
2
8
S_ZSW3B
Uint16
Details of S_ZSW1B
Bit
Name
Significance
0
STO
STO active (1) / STO not active (0)
1
SS1
SS1 active (1) / SS1 not active (0)
2
SS2
SS2 active (1) / SS2 not active (0)
3
SOS
SOS active (1) / SOS not active (0)
4
SLS
SLS active (1) / SLS not active (0)
5
SOS selected
SOS selected (1) / SOS deselected (0)
6
SLS selected
SLS selected (1) / SLS deselected (0)
7
Internal Event ACK
Internal Event (1) / No Internal Event (0)
8
Reserved
9
Active SLS Bit 0
Selected SLS level - bit 0
10
Active SLS Bit 1
Selected SLS level - bit 1
11-15
Reserved
Details of S_ZSW3B
Bit
Name
Significance
0
Brake test
Brake test selected (1) / Brake test deselected (0)
1
Reserved
2
Active brake
Not used, default 0
3
Brake test active
Test active (1) / Test not active (0)

Page 17 of 44NTI AG / LinMot
Bit
Name
Significance
4
Brake test result
Test successful (1) / Test error (0)
5
Brake test completed
Test run (1) / Test incomplete (0)
6
External brake request
Not used
7
Current load sign
Negative Sign (1) / Positive sign (0)
8
Reserved
9
Reserved
S_V_LIMIT_B is the SLS speed limit with 32- bit resolution and sign bit. SLS speed limit can be obtained from
UPID 1A2Ah.
The speed set point values are transmitted normalized, by setting it into in relation to the "Linear Reference
Velocity" value at UPID 2061h.
S_V_LIMIT_B = UPID 1A2Ah / UPID 2061h * 0x40000000
2.1.11 Siemens telegram 750, PZD-3/1
Telegram 750 is the same as telegram 200. Telegram 750 is used with S7-1500 PLC. This telegram is used for
the 2S drive - C1251-MI-XC-2S-XE.
Output Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg TDB
6
-
Variables
RECORD
1
2
0
M_Add
Int16
2
2
2
(B+) pos torque Limit
Uint16
3
2
4
(B-) neg torque Limit
Uint16
The additional torque (M_Add) is calculated with UPID 0x119E (maximal Motor Current) and written to UPID
0x139C or 0x13B0 depending on which control parameter set is active.
The additional torque is standardised by 4000h. The unit of M_Add is N (or Nm if rotary).
Value at UPID 0x139C/ 0x13B0 = M_Add * maximal Motor Current / 4000h
The torque limits B+ and B- are also calculated with UPID 0x119E (maximal Motor Current) and written to UPID
0x13FC/0x13FD or 0x13FE/0x13FF depending on which control parameter set is active.
The unit of (B+) pos torque Limit and (B-) neg torque Limit are N (or Nm if rotary).
Value at UPID 0x13FC/0x13FE = (B+) pos torque Limit * maximal Motor Current / 4000h
Value at UPID 0x13FD0/x13FF = -(B-) neg torque Limit * maximal Motor Current / 4000h
Input Data
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg TDB
20
-
Variables
RECORD
1
2
0
M_act
Int16
M_act is the standardised actual torque/ force.
For linear motor, M_act = Motor Actual Force (UPID 0x1BFF) / Motor Maximim Force (UPID 0x1BB0)* 0x4000.
The unit is N.
For rotary motor, M_act = Motor Actual Torque (UPID 0x1BBF) / Motor Maximim Torque (UPID 0x1BBE) *
0x4000. The unit is Nm.

Page 18 of 44 NTI AG / LinMot
2.2 Output PDO Modules
2.2.1 Par Channel 1 telegram 417, PZD 2/0
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 417
4
-
Variables
RECORD
1, 2
4
0
Parameter Channel 1
Word32
2.2.2 Par Channel 2 telegram 418, PZD 2/0
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 418
4
-
Variables
RECORD
1, 2
4
0
Parameter Channel 2
Word32
2.2.3 Par Channel 3 telegram 419, PZD 2/0
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 419
4
-
Variables
RECORD
1, 2
4
0
Parameter Channel 3
Word32
2.2.4 Par Channel 4 telegram 420, PZD 2/0
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 420
4
-
Variables
RECORD
1, 2
4
0
Parameter Channel 4
Word32
2.3 Input PDO Modules
2.3.1 Actual Position telegram 405, PZD 0/2
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 405
4
-
Variables
RECORD
1, 2
4
0
Actual Position
Int32
2.3.2 Demand Position telegram 406, PZD 0/2
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 406
4
-
Variables
RECORD
1, 2
4
0
Demand Position
Int32

Page 19 of 44NTI AG / LinMot
2.3.3 WarnWord telegram 407, PZD 0/1
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 407
2
-
Variables
RECORD
1
2
0
WarnWord
Uint16
2.3.4 ErrorCode telegram 408, PZD 0/1
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 408
2
-
Variables
RECORD
1
2
0
ErrorCode
Uint16
2.3.5 Demand Current 32b telegram 409, PZD 0/2
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 409
4
-
Variables
RECORD
1, 2
4
0
Demand Current 32b
Int32
2.3.6 Mon Channel 1 telegram 410, PZD 0/2
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 410
4
-
Variables
RECORD
1, 2
4
0
Mon Channel 1
Word32
2.3.7 Mon Channel 2 telegram 411, PZD 0/2
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 411
4
-
Variables
RECORD
1, 2
4
0
Mon Channel 2
Word32
2.3.8 Mon Channel 3 telegram 412, PZD 0/2
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 412
4
-
Variables
RECORD
1, 2
4
0
Mon Channel 3
Word32

Page 20 of 44 NTI AG / LinMot
2.3.9 Mon Channel 4 telegram 413, PZD 0/2
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 413
4
-
Variables
RECORD
1, 2
4
0
Mon Channel 4
Word32
2.3.10 Demand Current 16b telegram 414, PZD 0/1
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 414
2
-
Variables
RECORD
1
2
0
Demand Current 16b
Int16
2.3.11 Actual Velocity telegram 415, PZD 0/2
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 415
4
-
Variables
RECORD
1, 2
4
0
Actual Velocity
Int32
2.3.12 Demand Velocity telegram 416, PZD 0/2
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 416
4
-
Variables
RECORD
1, 2
4
0
Actual Velocity
Int32
2.3.13 Supplement telegram 700, PZD-0/3
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
Tlg 700
6
-
Variables
RECORD
1
2
0
S_ZSW1B
Uint16
2,3
4
3
S_V_LIMIT_B
Int32
Please refer to telegram 701 for the details.