LinMot
PROFIBNET Interface
6 PROFINET Modules
The LinMot drive is a PROFINET-IO slave. To configure it with a PROFINET master, the
GSD file is used. You can find the GSD file LINM092D.GSD in the LinMot-Talk installation
directory (typically C:\Program Files\LinMot\LinTalk-Talk 4 Build
xxxxxxxx\Firmware\PROFINET\GSD).
There are the following modules defined, to be configured according the demands of the
desired application:
Control/Status
This module should always be configured. It contains the Control and Status word, which are
described in the document “User Manual Motion Control Software”.
MC Cmd Interface
This maps the MC Command interface of the drive. Please refer to the documentation of the
MC software.
Get Actual Position
Returns the actual position of the motor. (32 Bit integer value, resolution 0.1µm)
Get Demand Position
Returns the demand position of the motor. (32 Bit integer value, resolution 0.1µm)
Get Current
Returns the set current of the motor. (32 Bit integer value, resolution 1mA)
Get StateVar
The StateVar consists of the MainState and the 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
Returns the Warn Word. Please refer to chapter 10.
Get ErrorCode
Returns the Error Code. Please refer to chapter 9.
Monitoring Channel 1..4
Transmits cyclically the value of the variable, which is defined by the Monitoring Channel
Parameter (see chapter 4).
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User Manual PROFINET Interface / 09/09/2015
NTI AG / LinMot