System Overview - LinMot E1100 Series User Manual

Master/Slave Application

2. System Overview

The Master/Slave application SW is an additional firmware part for the following features:

Current master motor with a maximum of three current slave motors to increase the
force. The current delay in all slaves is about 300us

Gantry master motor with a maximum of three gantry slave motors, which have the
same position setpoints. The setpoint delay for all slaves is about 300us.
If a synchronous communication mode is used, or if the cycle time of the used
fieldbus is short enough, it is recommended to realize the master gantry mode
within the PLC, because of higher flexibility and easier use (2 normal axis
instead of 1 master axis with attached slave information; especially in the error
handling case).
The Master/Slave application SW supports the Master/Slave communication link either over
the CAN bus (X7/X8, X10/X11 or X5) or RS485 (X7/X8 or X5).
If CAN bus interfaces (like CANopen or DeviceNet) are to be used for communication with
the drive, the RS485 based link has to be used for the Master/Slave application. For all other
interfaces the CAN bus link mode should be used, because the RS232 maintenance link on
X5 Connector is still available. The performance of both links CAN or RS485 is the same.
If the Master/Slave is linked over RS485, it is no longer possible to configure
or to debug the drive over RS232 (X5). LinMot-Talk configuration software
supports an USB to CAN converter (Part No. 0150-3134 ) for this purpose.
Although the Master/Slave application is available on E1100, E1200 and
E1400 drive series, drives from different series cannot be linked together.
NTI AG / LinMot User Manual Master/Slave Application / 11/07/2016
LinMot
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