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LinMot E1130-DP-HC, User Manual

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LinMot E1130-DP-HC User Manual Download Page 3

PROFIBUS Interface 

LinMot

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

   

 8 PROFIBUS DIAGNOSIS

 

                                                                                                                

 

 

...............................................................................................................

 

 17

   

 9 ERROR CODES

 

                                                                                                                              

 

 

.............................................................................................................................

 

 17

   

 10 WARN WORD

 

                                                                                                                               

 

 

..............................................................................................................................

 

 17

   

 11 EXAMPLE FOR SIEMENS SIMATIC S7

 

                                                                                  

 

 

.................................................................................

 

 18

   

11.1.B

US

 

CONFIGURATION

 (HW C

ONFIG

)

 

                                                                                                   

 

 

..................................................................................................

 

 18

   

11.2.H

OMING

 

PROCEDURE

 

                                                                                                                         

 

 

........................................................................................................................

 

 19

   

11.3.E

XECUTE

 M

OTION

 C

OMMAND

: VAI G

O

 T

O

 P

OS

 (010

XH

)

 

                                                                    

 

 

...................................................................

 

 20

   

11.4.C

HANGE

 

A

 P

ARAMETER

 

OF

 

THE

 D

RIVE

 

WITH

 

THE

 P

ARAMETER

 C

HANNEL

 M

ODULE

 

                                     

 

 

....................................

 

 22

   

 12 TROUBLESHOOTING

 

                                                                                                                

 

 

...............................................................................................................

 

 24

   

 13 CONTACT ADDRESSES

 

                                                                                                             

 

 

............................................................................................................

 

 25

   

NTI AG / LinMot

User Manual PROFIBUS Interface / 15/05/2012

Page 3/25

Summary of Contents for E1130-DP-HC

Page 1: ...Documentation of the PROFIBUS Interface of the following Drives E1130 DP HC XC E1230 DP UC E1430 DP QN PROFIBUS Interface User Manual ...

Page 2: ...se 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 D...

Page 3: ...CHINE 17 8 PROFIBUS DIAGNOSIS 17 9 ERROR CODES 17 10 WARN WORD 17 11 EXAMPLE FOR SIEMENS SIMATIC S7 18 11 1 BUS CONFIGURATION HW CONFIG 18 11 2 HOMING PROCEDURE 19 11 3 EXECUTE MOTION COMMAND VAI GO TO POS 010XH 20 11 4 CHANGE A PARAMETER OF THE DRIVE WITH THE PARAMETER CHANNEL MODULE 22 12 TROUBLESHOOTING 24 13 CONTACT ADDRESSES 25 NTI AG LinMot User Manual PROFIBUS Interface 15 05 2012 Page 3 25...

Page 4: ...nMot 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 3 Connecting to the PROFIBUS Pin Assignment of the DP Connector X9 The PROFIBUS connector is a standard DSBU 9 female with the follo...

Page 5: ... 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 Param...

Page 6: ... 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...

Page 7: ...ed up to 10ms 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 10ms DP State This shows the actual state of the LinMot internal DP State machine 0 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 paramet...

Page 8: ...LinMot PROFIBUS Interface Page 8 25 User Manual PROFIBUS Interface 15 05 2012 NTI AG LinMot ...

Page 9: ...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 0 1µm Get Demand Position 2 Word DI Returns the demand position of the motor 32 Bit integer value resolution 0 1µm Get Current 1 Word DI Returns the set current of the motor 16 Bit integer...

Page 10: ...is split in two parts Parameter Command ID to be executed bits 8 15 see table Command ID Command Count bits 0 3 Parameter Channel Status Parameter Status Reserved Command Count Response 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The Parameter Channel Status is split in two parts Parameter Status bits 8 15 see table Parameter Status Command Count Response bits 0 3 Command Count A new command is only eva...

Page 11: ...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 Entr...

Page 12: ...r 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 D0h Odd Address D1h Size Error Curve Service D4h Curve already defined Curve not present Curve Service Page 12 25 User Manual PROFIBUS Interface 15 05 2012 NTI AG LinMot ...

Page 13: ...ock 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...

Page 14: ...r Log Entry Time Low Command ID 72h Word DO DI 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 Word DO DI 1 Parameter Channel Control Parameter Channel Status 2 Entry Number 0 20 Entry Number 3 Entry Time Mid High Word 4 Entry Time High Word The Error Log Entry Time co...

Page 15: ...mmand 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 83h 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...

Page 16: ...ol 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 E1100 drives over Fieldbus Interfaces With STEP7 from Siemens the module Universal Module must never be configured ...

Page 17: ...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 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 W...

Page 18: ... 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 Page 18 25 User Manual PROFIBUS Interface 15 05 2012 NTI AG LinMot ...

Page 19: ...nState becomes 02h Ready to Switch On 2 Homing Control Word 083Fh StateVar MainState becomes 09h Homing Homing is finished if SubState becomes 0Fh 3 Enter Operational State Control Word 003Fh StateVar MainState becomes 08h Operation Enabled Drive is ready for motion commands NTI AG LinMot User Manual PROFIBUS Interface 15 05 2012 Page 19 25 ...

Page 20: ...10m s 2 000F4240h 4 Par Deceleration 10m s 2 000F4240h 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 0100h Page 20 25 User ...

Page 21: ...PROFIBUS Interface LinMot As it appears with LinMot Talk after Read Command in the Control Panel NTI AG LinMot User Manual PROFIBUS Interface 15 05 2012 Page 21 25 ...

Page 22: ... 4 Word DI DO 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 PROFIBUS Interface 15 05 ...

Page 23: ...e by clicking on the button UPID and search for the UPID 13A6h 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 could be toggled NTI AG LinMot User Manual PROFIBUS Interface 15 05 2012 Page 23 25 ...

Page 24: ...e correct setting can be verified with LinMot Talk in the variables section under PROFIBUS Node Address The interface switch S3 4 must be ON When using a S7 PLC from Siemens the universal module should never be configured Check if the correct GSD file is used LINM092D GSD which is provided together with LinMot4Talk 4 in the subdirectory firmware PROFIBUS GSD NOTE The drive Series E430 DP and E4030...

Page 25: ...upport linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot Inc 5750 Townline Road Elkhorn WI 53121 Sales and Administration 877 546 3270 262 743 2555 Tech Support 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 NTI AG LinMot User Manual P...

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