Using The Master/Slave Sw - LinMot E1100-GP User Manual

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LinMot
MasterSlave Application

3. Using the Master/Slave SW

To install the Master/Slave Application SW start the LinMot-Talk1100 SW, or if already
started and logged in logout, then push the Install Firmware button, select the installation
script under:
//Firmware/Applications/MasterSlave/MasterSlave_V3Sxxyy.sct
The same Master/Slave application SW has to be loaded to both the master servo controller
and the slave servo controller.
Select the needed serial link CAN or RS 485 (UPID3100).
After the Master/Slave application SW is installed log in the Servo and Select the correct
Master Slave Mode (UPID 30D4h) on both servo controllers. The rest could be leave as
configured as default.
After power up the master servo controller try to connect to its slave controller, when it
succeed to connect to the slave, the application Warn Flag bit 15 vanish ant the connection
state (UPID 3A98h or 3A99h) changes to 1 which means 'Data Exchange'.
The state of the slave servo controller could be monitored over the variable Slave State Var
(UPID 3B70h).
Though the slave servo is in a streaming mode (current or position) in state 8 'Operation
Enabled' the bit 5 'Motion Active' normally is set and bit 6 'In Target Position' is cleared in
the Slave State Var. But bit 8 'Homed ' indicates if the slave servo has correctly homed or
not.
The slave state machine is controlled from the master, so if connecting a serial fieldbus link to
the slave servo for monitoring reasons, take care to not write to the control word of the
slave. So with Profibus DP interface do not configure the control status module, the status
word could be monitored word over a monitoring channel with UPID 1D51h.
Page 6/8 User Manual MasterSlave Application / 13.12.2007 NTI AG / LinMot