Profibus Modules - LinMot E1130-DP-HC User Manual

PROFIBUS Interface

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 LINM092D.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 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 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 10.
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).
NTI AG / LinMot User Manual PROFIBUS Interface / 15/05/2012
LinMot
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