LinMot E1130-DP-HC User manual

Documentation of the PROFIBUS Interface of the following
Drives:
- E11 0-DP (-HC, XC)
- E12 0-DP-UC
- E14 0-DP-QN
PROFIBUS Interface
User Manual

LinMot

PROFIBUS Interface
© 2012 NTI AG
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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 3.17/5. / FM, May 2 12
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PROFIBUS Interface
LinMot
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Table of Content
1 SYSTEM OVERVIEW .................................................................................................................... 4
2 INSTALLATION ON DRIVE ......................................................................................................... 4
3 CONNECTING TO THE PROFIBUS ............................................................................................ 4
4 PROFIBUS PARAMETERS ........................................................................................................... 5
5 PROFIBUS VARIABLES ................................................................................................................ 7
6 PROFIBUS MODULES ................................................................................................................... 9
7 STATE MACHINE ........................................................................................................................ 17
PROFIBUS DIAGNOSIS ............................................................................................................... 17
9 ERROR CODES ............................................................................................................................. 17
10 WARN WORD .............................................................................................................................. 17
11 EXAMPLE FOR SIEMENS SIMATIC S7 ................................................................................. 1
11.1.BUS CONFIGURATION (HW CONFIG) .................................................................................................. 18
11.2.HOMING PROCEDURE ........................................................................................................................ 19
11.3.EXECUTE MOTION COMMAND: VAI GO TO POS (010XH) ................................................................... 20
11. .CHANGE A PARAMETER OF THE DRIVE WITH THE PARAMETER CHANNEL MODULE .................................... 22
12 TROUBLESHOOTING ............................................................................................................... 24
13 CONTACT ADDRESSES ............................................................................................................ 25
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LinMot

PROFIBUS Interface
1 System overview
The LinMot PROFIBUS drives E113 -DP, E123 -DP and E143 -DP are PROFIBUS-DP
slaves.
Further information on PROFIBUS can be found under: http://www.profibus.com
Programming examples provided by LinMot are listed under:
http://www.linmot.com/index.php?id=141
All baud rates are supported and automatically detected.
2 Installation on Drive
For installing the PROFIBUS-DP firmware on the drive, start the LinMot-Talk software and
press the install firmware button . Choose the file “Firmware_Buildxxxxxxxx.sct” and
press “Open“. The wizard will guide you through the installation. When asking for the
application software choose “ProfibusDP”:
Press ok and follow the rest of the wizard.
Connecting to the PROFIBUS
Pin Assignment of the DP Connector X9:
The PROFIBUS connector is a standard DSBU 9 female with the following pin assignment:
Pin 1 not connected Pin 6 VP (+5VDC for bus termination)
Pin 2 not connected Pin 7 not connected
Pin 3 B Pin 8 A
Pin 4 CNTR-P Pin 9 not connected
Pin 5 GND
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4 PROFIBUS Parameters
The PROFIBUS drives have an additional parameter tree branch, which can be configured
with the distributed LinMot-Talk software. With these parameters, the PROFIBUS behaviour
can be configured. The software LinMot-Talk can be downloaded from http://www.linmot.com
under the section download, software & manuals.
Dis-/Enable With the Dis-/Enable parameter the LinMot drive can be run without
the PROFIBUS going online. So in first step the system can be
configured and run without any bus connection.
PROFIBUS Interface\ Dis-/Enable
Disable The drive runs without PROFIBUS.
Enable The drive runs only with a PROFIBUS connection.
IMPORTANT: To activate the PROFIBUS Interface, the Dip-Switch
S3.4 “Interface” at the bottom of the drive has to be set to “ON”
Node Address This directory contains the parameters defining the node address.
Node Address Selection
The node address selection parameter defines the source of the node
address.
PROFIBUS Interface\ Node Address\ Node Address Selection
By Hex
Switches
The node address is determined by the two Hex
Switches S1 (ID High) and S2 (ID Low)
Attention, the ID defined by S1 and S2 is
hexadecimal coded and not decimal!
By Parameter The node address is determined by the parameter
“Node Address Parameter Value”.
By default, the node address is set by the rotary switches S1 and S2.
IMPORTANT: The rotary switches are hexadecimal.
According to the PROFIBUS standard the maximal
node address is 127 (addresses 126 and 127 are
reserved for special purpose and should normally not
be used).
Node Address Parameter Value
Defines the node address when “By Parameter” is selected.
Byte Order Defines the used byte order.
PROFIBUS Interface\ Byte/Word Order\Byte Order
Reversed Byte order is reversed. For S7 PLCs select
reversed.
Not reversed Byte order is not reversed.
NTI AG / LinMot User Manual PROFIBUS Interface / 15/ 5/2 12 Page 5/25
S
ON – OFF
Interface
CAN Term
RS485 Term
RS485/232

LinMot

PROFIBUS Interface
Word Order Defines the used word order.
PROFIBUS Interface\ Byte/Word Order\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.
PROFIBUS Interface\ Byte/Word Order\MC CMD Intf Par Order
Reversed Order is reversed. CMD Header - Par word 1 - Par word - Par
word 3 - Par word 2 - etc...
Not reversed Order is not reversed. CMD Header - Par word - Par word 1 -
Par word 2 - Par word 3 - etc...
Diagnose Priority Defines the behaviour of the diagnostic telegram.
PROFIBUS Interface\ Diagnose Priority
None Only minimal diagnostic data is transmitted.
Low The diagnostic data is sent as status information
only.
High The diagnostic data is sent high priority in the error
state.
Monitoring Channels Defines the source variable by UPID of the four monitoring
channels.
PROFIBUS 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
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PROFIBUS Interface
LinMot
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5 PROFIBUS Variables
In the Variables directory of the LinMot-Talk there is a section \PROFIBUS which contains
some information about the actual state of the PROFIBUS interface:
•Node Address:
This shows the used node address, which can be either configured by
the two rotary hex-switches S1/S2 or by parameter settings, as a
decimal number.
•Baud Rate:
The baud rate is auto detect. This shows the baud rate, which was
found on the bus. Zero means no baud rate found.
•Bus Cycle Time fast:
This shows the actual cycle time in µs. The fast Cycle time is updated
up to 1 ms.
•Bus Cycle Time slow:
This shows the actual cycle time in ms. This value can be used when
the bus cycle time is extremely large (>1 ms).
•DP State:
This shows the actual state of the LinMot internal DP-State machine:
- ( ) Initialise: The firmware is initialising the PROFIBUS Interface
- (1) Searching Baud rate: The detection of the baud rate is in
progress.
- (2) Wait for Parameter Telegram: No valid parameter telegram has
been received.
- (3) Wait for Configuration Telegram: No valid configuration telegram
has been received.
- (4) Ready for Data Exchange: The PROFIBUS is ready for Data
Exchange, but the master has not done the transition.
- (5) Data Exchange: The PROFIBUS is running and exchanging
cyclic data with the master.
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LinMot
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PROFIBUS Interface
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PROFIBUS Interface
LinMot

6 PROFIBUS Modules
The LinMot drive is a PROFIBUS-DP slave. To configure it with a PROFIBUS master, the
GSD file is used. You can find the GSD file LINM 92D.GSD in the LinMot-Talk installation
directory (typically C:\Program Files\LinMot\LinTalk-Talk 4 Build
xxxxxxxx\Firmware\Profibus\GSD).
There are the following modules defined, to be configured according the demands of the
desired application:
Control/Status [1 Word DI/DO]
This module should always be configured. It consists of the Control and Status word, which
are described in the document “User Manual Motion Control Software”.
MC Cmd Interface [10 Word DO]
This maps the MC Command interface of the drive. Please refer to the documentation of the
MC software.
Attention: Older Siemens S7 CPU firmware cannot directly write more than 4 bytes
consistently.
In this case the data has to be sent by SFC15 (please refer to the corresponding
Siemens documentation)
Get MC Header Echo [1 Word DI]
This echoes the Cmd Header of the MC Command interface of the drive. Please refer to the
documentation of the MC software.
Get Actual Position [2 Word DI]
Returns the actual position of the motor. (32 Bit integer value, resolution .1µm)
Get Demand Position [2 Word DI]
Returns the demand position of the motor. (32 Bit integer value, resolution .1µm)
Get Current [1 Word DI]
Returns the set current of the motor. (16 Bit integer value, resolution 1mA)
Get StateVar [1 Word DI]
The StateVar consists of MainState and 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 “Get Error Code”.
It’s strongly recommended to use this module for handshaking.
Get WarnWord [1 Word DI]
Returns the Warn Word. Please refer to chapter 1 .
Get ErrorCode [1 Word DI]
Returns the Error Code. Please refer to chapter 9.
Monitoring Channel X [2 Word DI]
Transmits cyclically the value of the variable, which is defined by the Monitoring Channel
Parameter (see chapter 4).
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LinMot

PROFIBUS Interface
Parameter Channel [4 Word DI/DO]
The Parameter Channel 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.
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Argument (meaning depends on Cmd
ID)
Argument (meaning depends on Cmd
ID)
3. Argument (meaning depends on Cmd
ID)
Argument (meaning depends on Cmd
ID)
4. Argument (meaning depends on Cmd
ID)
Argument (meaning depends on Cmd
ID)
Parameter Channel Control
Parameter Command ID to be executed Reserved Command Count
15 14 13 12 11 1 9 8 7 6 5 4 3 2 1
The Parameter Channel Control is split in two parts:
•Parameter Command ID to be executed (bits 8-15), see table Command ID
•Command Count (bits -3)
Parameter Channel Status
Parameter Status Reserved Command Count
Response
15 14 13 12 11 1 9 8 7 6 5 4 3 2 1
The Parameter Channel Status is split in two parts:
•Parameter Status (bits 8-15), see table Parameter Status
•Command Count Response (bits -3)
Command Count
A new command is only evaluated, if the value of the command count changes. In the
easiest way bit could be toggled.
Parameter Command ID
This selects the command.
Possible Commands are:
Command ID Description
h No Operation
Parameter Access
1 h Read ROM Value of Parameter by UPID
11h Read RAM Value of Parameter by UPID
12h Write ROM Value of Parameter by UPID
13h Write RAM Value of Parameter by UPID
14h 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
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PROFIBUS Interface
LinMot
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Parameter (UPID) List
2 h 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
3 h Restart drive
31h Set parameter ROM values to default (OS SW)
32h Set parameter ROM values to default (MC SW )
33h Set parameter 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
4 h Save all Curves from RAM to Flash
41h Delete all Curves (RAM)
5 h 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)
6 h Start Getting Curve (RAM)
61h Get Curve Info Block (RAM)
62h Get Curve Data (RAM)
Error Log
7 h 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
8 h 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 ..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 16 ..191 from RAM
8Dh Get Presence List of Entries 192..223 from RAM
8Eh Get Presence List of Entries 224..255 from RAM
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LinMot

PROFIBUS Interface
Parameter Status Description
h OK, done
2h Command Running / Busy
4h Block not finished (Curve Service)
5h Busy
C h UPID Error
C1h 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)
D h Odd Address
D1h Size Error (Curve Service)
D4h Curve already defined / Curve not present (Curve Service)
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PROFIBUS Interface
LinMot

Overview Parameter access:
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Parameter UPID Parameter UPID
3. Parameter Value Low Parameter Value Low
4. Parameter Value High Parameter Value High
Overview Curve access:
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Curve Number Curve Number
3. Data Value Low / Info Block size Data Value Low / Info Block size
4. Data Value High / Data Block size Data Value High / Data Block size
Start getting UPID List:
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Start UPID (search from this UPID) -
3. - -
4. - -
Get next UPID List item:
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - UPID found
3. - Address Usage
4. - -
Address Usage:
Not used for Hash calculation
Life Parameter
ROM Write
ROM Read RAM Write
RAM Read
15 14 13 12 11 1 9 8 7 6 5 4 3 2 1
Start getting Modified UPID List (Command ID 22h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Start UPID (search from this UPID) -
3. - -
4. - -
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LinMot
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PROFIBUS Interface
Get next Modified UPID List item (Command ID 2 h):
Word DO DI
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):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - -
3. - Number of Logged Errors
4. - Number of Occurred Errors
Get Error Log Entry Error Code (Command ID 71h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number ( ..2 ) Entry Number
3. - Logged Error Code
4. - -
Get Error Log Entry Time Low (Command ID 72h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number ( ..2 ) Entry Number
3. - Entry Time Low Word
4. - Entry Time Mid Low Word
Get Error Log Entry Time High (Command ID 7 h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number ( ..2 ) Entry Number
3. - Entry Time Mid High Word
4. - Entry Time High Word
The Error Log Entry Time consists of 32Bit hours (Time High) and 32Bit ms (Time Low).
Get Error Code Text Stringlet (Command ID 74h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Error Code Error code
3. Stringlet Number ( ..7) Stringlet Byte and 1
4. - Stringlet Byte 2 and 3
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PROFIBUS Interface
LinMot

Command Table: Save to Flash (Command ID 75h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - -
3. - -
4. - -
For this command, the MC software must be stopped (with command “35h: Stop MC and
Application Software”).
The PROFIBUS Interface will stay active while the MC software is stopped.
Command Table: Delete All Entries (RAM) (Command ID 81h)
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - -
3. - -
4. - -
Command Table: Delete Entry (Command ID 82h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number Entry Number
3. - -
4. - -
Command Table: Write Entry (Command ID 8 h)
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number Entry Number
3. Block Size (even number of bytes) Block Size
4. - -
Command Table: Write Entry Data (Command ID 84h)
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number Entry Number
3. Data Data
4. Data Data
Command Table: Get Entry (Command ID 85h)
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number Entry Number
3. - Block Size
4. - -
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LinMot
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PROFIBUS Interface
Command Table: Get Entry Data (Command ID 86h)
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number Entry Number
3. - Data
4. - Data
Command Table: Get Entry List (0..7) (Command IDs 87h .. 8Eh)
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - Offset in bytes
3. - Bit field (Bit set= undefined / Bit cleared =
used)
4. - Bit field (Bit set= undefined / Bit cleared =
used)
Further documentation on how to configure a drive by fieldbus and handle curves
can be found on the additional manual “Parameterization of LinMot E11 drives
over Fieldbus Interfaces”.
With STEP7 from Siemens the module “Universal Module” must never be
configured.
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PROFIBUS Interface
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7 State Machine
Please refer to “User Manual Motion Control Software”.
8 PROFIBUS Diagnosis
The LinMot drive supports 12 bytes of diagnostic data. The diagnosis telegram is according
the following table:
Byte Description
..5 Data according PROFIBUS-DP standard
6..7 Extended Diagnosis Header and stuffing
8..9 Warn Word (see chapter 1 for description)
1 ..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 PROFIBUS Interface has the following additional Error Codes:
Error Code
Hexadecimal
Error Description
C1h Fatal Error: Drive not supported
C2h Config Error: Invalid MACID
C3h DP Err: Connection lost
10 Warn Word
Please refer to “User Manual Motion Control Software”.
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LinMot

PROFIBUS 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)
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PROFIBUS Interface
LinMot

11.2. Homing procedure
1. Release lock state: Control Word = h (Only needed if StateVar MainState is h) :
StateVar MainState becomes 2h: Ready to Switch On
2. Homing: Control Word = 83Fh
StateVar MainState becomes 9h: Homing, Homing is finished if SubState becomes Fh
3. Enter Operational State: Control Word = 3Fh
StateVar MainState becomes 8h: Operation Enabled, Drive is ready for motion commands
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LinMot
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PROFIBUS Interface
11.3. xecute Motion Command: VAI Go To Pos (010xh)
Name Description Scaled Value Int. Value (HEX)
Header VAI Go To Pos ( 1 xh) 257
1 1h
1. Par Target Position: 5 mm 7A12 h
2. Par Maximal Velocity: 1m/s F424 h
3. Par Acceleration: 1 m/s^2 F424 h
4. Par Deceleration: 1 m/s^2 F424 h
In the case of \Parameters\PROFIBUS Interface\Byte/Word Order\MC CMD Intf Par
Order\not reversed (default setting):
In the case of \Parameters\PROFIBUS Interface\Byte/Word Order\MC CMD Intf Par
Order\ reversed:
To send the next command the count nibble has to be changed. The header for the next VAI
Go To Pos command is therefore 1 0h.
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