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Profibus

Referencing

  1. Send referencing command
  2. Have understood referencing command. The ,,MsgCount'' is incremented by 1.
  3. After some time, ,,in position 5.792 [mm]''

D-Len Cmd Data State/MsgCount
M->S 0x01 0x92 0x?? 0x?? 0x?? 0x?? 0x?? 0x??
S->M 0x03 0x92 0x4F 0x4B 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x00 0x01
Impulse 0x05 0x93 0x21 0x56 0xB9 0x40 0x61 0x01

MOVE POS 10 [mm]

Default positioning command.

  1. Send command for movement to position 10 [mm].
  2. Message ,,will reach position in 3.358 [s]''. Movement is started. The ,,MsgCount'' is incremented by 1.
  3. After some time,,,in position 9.9969 [mm]''

D-Len Cmd Data State/MsgCount
M->S 0x05 0xB0 0x00 0x00 0x20 0x41 0x?? 0x??
S->M 0x05 0xB0 0xEE 0xEE 0x56 0x40 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x01 0x02
Impulse 0x05 0x94 0xB6 0xF3 0x1F 0x41 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x61 0x02

GET STATE 1 [s]

Send every 1 [s] the actual position.

  1. Command Get State 1 [s] only position.
  2. Actual position and state. (position 1.011 [mm], moving, no error) The ,,MsgCount'' is incremented by 1.
  3. Every second new message.
  4. Actual position and state. (position 5.054 [mm], moving, no error)

D-Len Cmd Data State/MsgCount
M->S 0x07 0x95 0x00 0x00 0x80 0x3F 0x01 0x??
S->M 0x08 0x95 0x36 0x89 0x81 0x3F 0x02 0x00 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x02 0x03
S->M 0x08 0x95 .. .. .. .. .. .. .. 0x02 0x03
S->M 0x08 0x95 0x76 0xBE 0xA1 0x40 0x02 0x00 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x02 0x03

Troubleshooting

An (,,ERROR MOTOR VOLTAGE LOW'') error has occurred.

  1. Interpret and eliminate error (extended diagnostics are supported). Switch off power supply to motor => switch on power supply.
  2. Acknowledge error with ,,CMD ACK''. The ,,MsgCount'' is incremented by 1.
  3. ,,CMD ACK'' command confirmed. The ,,MsgCount'' is incremented by 1.
  4. Information message ,,No other errors'' displayed.

D-Len Cmd Data State/MsgCount
S->M 0x02 0x88 0x74 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x30 0x02
M->S 0x01 0x8B 0x?? 0x?? 0x?? 0x?? 0x?? 0x??
S->M 0x03 0x8B 0x4F 0x4B 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x20 0x03
Impulse 0x03 0x8A 0x08 0x00 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x20 0x03

CHECK MC PC COMMUNICATION (Float)

Check communication from module to control with test data.

  1. Request test data from module (floating point value -1.2345).
  2. Test data is sent by module. The ,,MsgCount'' is incremented by 1.

D-Len Cmd Data State/MsgCount
M->S 0x03 0xE4 0x01 0x01 0x?? 0x?? 0x?? 0x??
S->M 0x07 0xE4 0x19 0x04 0x9E 0xBF 0x01 0x01 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x20 0x04

CHECK PC MC COMMUNICATION

Check communication from control to module test data Fragmentation is required.

Fragmentation is not mandatory for the operation and/or testing of the module.


  1. Send first fragment of test data to module.
  2. Wait for Bestätigung.
  3. Send second fragment of test data to module.
  4. Wait for Bestätigung.
  5. Send third fragment of test data to module.
  6. Wait for Bestätigung.
  7. Send last fragment of test data to module.
  8. Module acknowledges receipt of test data and identifies the data that has been interpreted incorrectly (all data OK). The ,,MsgCount'' is incremented by 1.

D-Len Cmd Data State/MsgCount
M->S 0x15 0x84 0xE5 0x19 0x04 0x9E 0xBF 0xA4
S->M 0x02 0x87 0x15 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x20 0x04
M->S 0x0F 0x85 0x70 0x3C 0x42 0x44 0x33 0x22
S->M 0x02 0x87 0x0F 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x20 0x04
M->S 0x09 0x85 0x11 0xCC 0xDD 0xEE 0xFF 0x00
S->M 0x02 0x87 0x09 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x20 0x04
M->S 0x03 0x86 0x02 0xFE 0xAF 0x?? 0x?? 0x??
S->M 0x04 0xE5 0x4F 0x4B 0x00 0x?? 0x?? 0x?? 0x?? 0x?? 0x?? 0x20 0x05