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NTI AG LinMot E1250-PN-UC User Manual Download Page 18

LinMot

PROFIBNET Interface

11.2. Homing procedure

1. Release lock state: Control Word = 0000h (Only needed if StateVar MainState is 00h) :

StateVar MainState 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

Page 18/24

User Manual PROFINET Interface / 09/09/2015

NTI AG / LinMot

Summary of Contents for LinMot E1250-PN-UC

Page 1: ...Documentation of the PROFINET Interface of the following Drives C1150 PN XC C1250 PN XC E1250 PN UC E1450 PN QN PROFINET Interface User Manual...

Page 2: ...e 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...

Page 3: ...OT CONFIGURATION 7 6 PROFINET MODULES 8 7 STATE MACHINE 16 8 PROFINET DIAGNOSIS 16 9 ERROR CODES 16 10 WARN WORD 16 11 EXAMPLE FOR SIEMENS SIMATIC S7 17 11 1 BUS CONFIGURATION HW CONFIG 17 11 2 HOMING...

Page 4: ...ttp 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 Choose...

Page 5: ...t as defined by EIA TIA T568B X17 X18 RealTime Ethernet Connector Pin Wire color code Assignment 100BASE TX 1 2 3 4 5 6 7 8 case WHT ORG ORG WHT GRN BLU WHT BLU GRN WHT BRN BRN Rx Rx Tx Tx RJ 45 Use s...

Page 6: ...face 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 PROFINET...

Page 7: ...unique MAC address of the PROFINET IO device can be used to identify a device IP Address Actual configured normally written from the PLC during power up IP address Net Mask Net mask for the IP address...

Page 8: ...of the motor 32 Bit integer value resolution 0 1 m Get Demand Position Returns the demand position of the motor 32 Bit integer value resolution 0 1 m Get Current Returns the set current of the motor 3...

Page 9: ...t in two parts Parameter Command ID to be executed bits 8 15 see table Command ID Command Count bits 0 3 Real Time Config Status Parameter Status Reserved Command Count Response 15 14 13 12 11 10 9 8...

Page 10: ...tart 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 L...

Page 11: ...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 ite...

Page 12: ...ck 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 D...

Page 13: ...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...

Page 14: ...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 C...

Page 15: ...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...

Page 16: ...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...

Page 17: ...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 NTI AG Li...

Page 18: ...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...

Page 19: ...0m s 2 000F4240h 4 Par Deceleration 10m s 2 000F4240h In the case of Parameters PROFINET Interface Byte Word Order MC CMD Intf Par Order not reversed default setting In the case of Parameters PROFINET...

Page 20: ...LinMot PROFIBNET Interface As it appears with LinMot Talk after Read Command in the Control Panel Page 20 24 User Manual PROFINET Interface 09 09 2015 NTI AG LinMot...

Page 21: ...ord 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 0000088...

Page 22: ...able 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 cha...

Page 23: ...lling 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 LINM09...

Page 24: ...upport linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration 877 546 3270 262 743 2555 Tech Support 877 804 0718 262 743 1284...

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