PROFIBUS Interface

Documentation of the PROFIBUS Interface of the following
Drives:
- E1130-DP (-HC, XC)

- E1230-DP-UC
- E1430-DP-QN
PROFIBUS Interface
User Manual
LinMot  PROFIBUS Interface
© 2018 NTI AG
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recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole or in
part, without the prior written consent of NTI AG.
LinMot® is a registered trademark of NTI AG.
Note
The information in this documentation reflects the stage of development at the time of press and is therefore without obligation.
NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product
improvement.
Document version 3.21 / FM, dc, Ro, August 2018
Page 2/25 User Manual PROFIBUS Interface / 29/08/2018 NTI AG / LinMot

PROFIBUS Interface
LinMot 
Table of Content
1 SYSTEM OVERVIEW...................................................................................................................4
2 INSTALLATION ON DRIVE........................................................................................................4
3 CONNECTING TO THE PROFIBUS...........................................................................................4
4 PROFIBUS PARAMETERS..........................................................................................................5
5 PROFIBUS VARIABLES...............................................................................................................7
6 PROFIBUS MODULES..................................................................................................................9
7 STATE MACHINE.......................................................................................................................17
8 PROFIBUS DIAGNOSIS..............................................................................................................17
9 DISPLAY.......................................................................................................................................17
10 ERROR CODES..........................................................................................................................17
11 WARN WORD.............................................................................................................................17
12 EXAMPLE FOR SIEMENS SIMATIC S7................................................................................18
12.1. BUS CONFIGURATION (HW CONFIG)...............................................................................................18
12.2. HOMING PROCEDURE.....................................................................................................................19
12.3. EXECUTE MOTION COMMAND: VAI GO TO POS (010XH).................................................................20
12.4. CHANGE A PARAMETER OF THE DRIVE WITH THE PARAMETER CHANNEL MODULE..................................22
13 TROUBLESHOOTING..............................................................................................................24
14 CONTACT ADDRESSES...........................................................................................................25
NTI AG / LinMot User Manual PROFIBUS Interface / 29/08/2018 Page 3/25

1 System overview
The LinMot PROFIBUS drives E1130-DP, E1230-DP and E1430-DP are PROFIBUS-DP
slaves.
Further information on PROFIBUS can be found under: http://www.profibus.com
Programming examples provided by LinMot are listed under:

http://download.linmot.com/plc_lib/
All baud rates are supported and automatically detected.
2 Installation on Drive
For installing the PROFIBUS-DP firmware on the drive, start the LinMot-Talk software and
press the install firmware button . Choose the file “Firmware_Buildxxxxxxxx.sct” and press
“Open“. The wizard will guide you through the installation. The PROFIBUS-DP interface will
be automatically selected and loaded.
3 Connecting to the PROFIBUS

Pin Assignment of the DP Connector X9:
The PROFIBUS connector is a standard DSBU 9 female with the following pin assignment:
Pin 1 not connected Pin 6 VP (+5VDC for bus termination)
Pin 2 not connected Pin 7 not connected
Pin 3 B Pin 8 A
Pin 4 CNTR-P Pin 9 not connected
Pin 5 GND

PROFIBUS Interface
LinMot 
4 PROFIBUS Parameters
The PROFIBUS drives have an additional parameter tree branch, which can be configured
with the distributed LinMot-Talk software. With these parameters, the PROFIBUS behaviour
can be configured. The software LinMot-Talk can be downloaded from http://www.linmot.com
under the section download, software & manuals.
Dis-/Enable With the Dis-/Enable parameter the LinMot drive can be run without
the PROFIBUS going online. So in first step the system can be
configured and run without any bus connection.
PROFIBUS Interface\ Dis-/Enable
Disable The drive runs without PROFIBUS.
Enable The drive runs only with a PROFIBUS connection.
IMPORTANT: To activate the PROFIBUS Interface, the Dip-Switch

S3.4 “Interface” at the bottom of the drive has to be set to “ON”
S3
ON – OFF
Interface
CAN Term
RS485 Term
RS485/232
Node Address This directory contains the parameters defining the node address.
Node Address Selection

The node address selection parameter defines the source of the node
address.
PROFIBUS Interface\ Node Address\ Node Address Selection
By Hex The node address is determined by the two Hex
Switches Switches S1 (ID High) and S2 (ID Low)
Attention, the ID defined by S1 and S2 is
hexadecimal coded and not decimal!
By Parameter The node address is determined by the parameter
“Node Address Parameter Value”.
By default, the node address is set by the rotary switches S1 and S2.
IMPORTANT: The rotary switches are hexadecimal.

According to the PROFIBUS standard the maximal
node address is 127 (addresses 126 and 127 are
reserved for special purpose and should normally not
be used).
Node Address Parameter Value

Defines the node address when “By Parameter” is selected.
Byte Order Defines the used byte order.

PROFIBUS Interface\ Byte/Word Order\Byte Order
Reversed Byte order is reversed. For S7 PLCs select
reversed.
Not reversed Byte order is not reversed.

Word Order Defines the used word order.
PROFIBUS Interface\ Byte/Word Order\Word Order
Reversed Word order is reversed. For S7 PLCs select
reversed.
Not reversed Word order is not reversed.
MC CMD Intf Par Order Defines the used parameter word order.
PROFIBUS Interface\ Byte/Word Order\MC CMD Intf Par Order
Reversed Order is reversed. CMD Header - Par word 1 - Par word 0 - Par
word 3 - Par word 2 - etc...
Not reversed Order is not reversed. CMD Header - Par word 0 - Par word 1 -
Par word 2 - Par word 3 - etc...
Diagnose Priority Defines the behaviour of the diagnostic telegram.

PROFIBUS Interface\ Diagnose Priority
None Only minimal diagnostic data is transmitted.
Low The diagnostic data is sent as status information
only.
High The diagnostic data is sent high priority in the error
state.
Monitoring Channels Defines the source variable by UPID of the four monitoring
channels.
PROFIBUS Interface\ Monitoring Channels
Channel 1 UPID Source UPID for Monitoring Channel 1

PROFIBUS Interface
LinMot 
5 PROFIBUS Variables
In the Variables directory of the LinMot-Talk there is a section \PROFIBUS which contains
some information about the actual state of the PROFIBUS interface:
 Node Address:
This shows the used node address, which can be either configured by
the two rotary hex-switches S1/S2 or by parameter settings, as a
decimal number.
 Baud Rate:
The baud rate is auto detect. This shows the baud rate, which was
found on the bus. Zero means no baud rate found.
 Bus Cycle Time fast:
This shows the actual cycle time in s. The fast Cycle time is updated
up to 10ms.
 Bus Cycle Time slow:
This shows the actual cycle time in ms. This value can be used when
the bus cycle time is extremely large (>10ms).
 DP State:
This shows the actual state of the LinMot internal DP-State machine:
- (0) Initialise: The firmware is initialising the PROFIBUS Interface
- (1) Searching Baud rate: The detection of the baud rate is in
progress.
- (2) Wait for Parameter Telegram: No valid parameter telegram has
been received.
- (3) Wait for Configuration Telegram: No valid configuration telegram
has been received.
- (4) Ready for Data Exchange: The PROFIBUS is ready for Data
Exchange, but the master has not done the transition.
- (5) Data Exchange: The PROFIBUS is running and exchanging
cyclic data with the master.


PROFIBUS Interface
LinMot 
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 11.
Get ErrorCode [1 Word DI]

Returns the Error Code. Please refer to chapter 10.
Monitoring Channel X [2 Word DI]

Transmits cyclically the value of the variable, which is defined by the Monitoring Channel
Parameter (see chapter 4).

Parameter Channel [4 Word DI/DO]

The Parameter Channel module allows access to parameters, variables, curves, error log
and command table. Also restart, start and stop of the drive is possible. Of course the
Parameter Channel module works independently from the MC Cmd Interface. For this reason
changing a parameter and sending a motion command can be done in parallel.
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Argument (meaning depends on Cmd Argument (meaning depends on Cmd
ID) ID)
ID) ID)
ID) ID)
Parameter Channel Control

Parameter Command ID to be executed Reserved Command Count
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
The Parameter Channel Control is split in two parts:
 Parameter Command ID to be executed (bits 8-15), see table Command ID
 Command Count (bits 0-3)
Parameter Channel Status

Command Count
Parameter Status Reserved
Response
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
The Parameter Channel Status is split in two parts:
 Parameter Status (bits 8-15), see table Parameter Status
 Command Count Response (bits 0-3)
Command Count
A new command is only evaluated, if the value of the command count changes. In the
easiest way bit 0 could be toggled.
Parameter Command ID
This selects the command.
Possible Commands are:

Command ID Description
00h No Operation
Parameter Access
10h Read ROM Value of Parameter by UPID
11h Read RAM Value of Parameter by UPID
12h Write ROM Value of Parameter by UPID
13h Write RAM Value of Parameter by UPID
14h Write RAM and ROM Value of Parameter by UPID
15h Get minimal Value of Parameter by UPID
16h Get maximal Value of Parameter by UPID
17h Get default Value of Parameter by UPID

PROFIBUS Interface
LinMot 
Parameter (UPID) List
20h Start Getting UPID List
21h Get next UPID List item
22h Start Getting Modified UPID List
23h Get next Modified UPID List item
Stop / Start / Default
30h Restart drive
31h Set parameter ROM values to default (OS SW)
32h Set parameter ROM values to default (MC SW )
33h Set parameter ROM values to default (Interface SW)
34h Set parameter ROM values to default (Application SW)
35h Stop MC and Application Software (for Flash access)
36h Start MC and Application Software
Curve Service
40h Save all Curves from RAM to Flash
41h Delete all Curves (RAM)
50h Start Adding Curve (RAM)
51h Add Curve Info Block (RAM)
52h Add Curve Data (RAM)
53h Start Modifying Curve (RAM)
54h Modify Curve Info Block (RAM)
55h Modify Curve Data (RAM)
60h Start Getting Curve (RAM)
61h Get Curve Info Block (RAM)
62h Get Curve Data (RAM)
Error Log
70h Get Error Log Entry Counter
71h Get Error Log Entry Error Code
72h Get Error Log Entry Time low
73h Get Error Log Entry Time high
74h Get Error Code Text Stringlet
Command Table
80h Command Table: Save to Flash
81h Command Table: Delete All Entries (RAM)
82h Command Table: Delete Entry
83h Command Table: Write Entry
84h Command Table: Write Entry Data
85h Command Table: Get Entry
86h Command Table: Get Entry Data
87h Get Presence List of Entries 0..31 from RAM
8Ah Get Presence List of Entries 96..127 from RAM
8Bh Get Presence List of Entries 128..159 from RAM
8Ch Get Presence List of Entries 160..191 from RAM
8Dh Get Presence List of Entries 192..223 from RAM
8Eh Get Presence List of Entries 224..255 from RAM

Parameter Status Description

00h OK, done
02h Command Running / Busy
04h Block not finished (Curve Service)
05h Busy
C0h UPID Error

C1h Parameter Type Error
C2h Range Error
C3h Address Usage Error
C5h Error: Command 21h “Get next UPID List item” was executed
without prior execution of “Start Getting UPID Lis”
C6h End of UPID List reached (no next UPID List item found)
D0h Odd Address

D1h Size Error (Curve Service)
D4h Curve already defined / Curve not present (Curve Service)

PROFIBUS Interface
LinMot 
Overview Parameter access:
Word DO DI
2. Parameter UPID Parameter UPID
3. Parameter Value Low Parameter Value Low
4. Parameter Value High Parameter Value High
Overview Curve access:

Word DO DI
2. Curve Number Curve Number
3. Data Value Low / Info Block size Data Value Low / Info Block size
4. Data Value High / Data Block size Data Value High / Data Block size
Start getting UPID List:

Word DO DI
2. Start UPID (search from this UPID) -
3. - -
4. - -
Get next UPID List item:

Word DO DI
2. - UPID found
3. - Address Usage
4. - -
Address Usage:
calculationNot used for Hash
Life Parameter
ROM Write
RAM Write
ROM Read
RAM Read
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Start getting Modified UPID List (Command ID 22h):

Word DO DI
2. Start UPID (search from this UPID) -
3. - -
4. - -

Get next Modified UPID List item (Command ID 23h):

Word DO DI
2. - UPID found
3. - Data Value Low
4. - Data Value High
Get Error Log Entry Counter (Command ID 70h):

Word DO DI
2. - -
3. - Number of Logged Errors
4. - Number of Occurred Errors
Get Error Log Entry Error Code (Command ID 71h):

Word DO DI
2. Entry Number (0..20) Entry Number
3. - Logged Error Code
4. - -
Get Error Log Entry Time Low (Command ID 72h):

Word DO DI
3. - Entry Time Low Word
4. - Entry Time Mid Low Word
Get Error Log Entry Time High (Command ID 73h):

Word DO DI
3. - Entry Time Mid High Word
4. - Entry Time High Word
The Error Log Entry Time consists of 32Bit hours (Time High) and 32Bit ms (Time Low).
Get Error Code Text Stringlet (Command ID 74h):

Word DO DI
2. Error Code Error code
3. Stringlet Number (0..7) Stringlet Byte 0 and 1
4. - Stringlet Byte 2 and 3

PROFIBUS Interface
LinMot 
Command Table: Save to Flash (Command ID 75h):
Word DO DI
2. - -
3. - -
4. - -
For this command, the MC software must be stopped (with command “35h: Stop MC and
Application Software”).
The PROFIBUS Interface will stay active while the MC software is stopped.
Command Table: Delete All Entries (RAM) (Command ID 81h)

Word DO DI
2. - -
3. - -
4. - -
Command Table: Delete Entry (Command ID 82h):

Word DO DI
2. Entry Number Entry Number
3. - -
4. - -
Command Table: Write Entry (Command ID 83h)

Word DO DI
3. Block Size (even number of bytes) Block Size
4. - -
Command Table: Write Entry Data (Command ID 84h)

Word DO DI
3. Data Data
4. Data Data
Command Table: Get Entry (Command ID 85h)

Word DO DI
3. - Block Size
4. - -

Command Table: Get Entry Data (Command ID 86h)

Word DO DI
3. - Data
4. - Data
Command Table: Get Entry List (0..7) (Command IDs 87h .. 8Eh)
Word DO DI
2. - Offset in bytes
3. - Bit field (Bit set= undefined / Bit cleared =
used)
4. - Bit field (Bit set= undefined / Bit cleared =
used)
Further documentation on how to configure a drive by fieldbus and handle curves

can be found on the additional manual “Parameterization of LinMot E1100 drives
over Fieldbus Interfaces”.
With STEP7 from Siemens the module “Universal Module” must never be
configured.

PROFIBUS Interface
LinMot 
7 State Machine
Please refer to “User Manual Motion Control Software”.
8 PROFIBUS Diagnosis
The LinMot drive supports 12 bytes of diagnostic data. The diagnosis telegram is according
the following table:
Byte Description
0..5 Data according PROFIBUS-DP standard
6..7 Extended Diagnosis Header and stuffing
8..9 Warn Word (see chapter 11 for description)
10..11 Error Code (see chapter 10 for description)
9 Display
The drive has two real-time LEDs:
• OK (green LED)
• RT BUS ERROR (red LED)
Following you find different blink patterns and their definition:
Green LED Red LED Description

Off Blink: 20Hz Fatal error
Off Blink: 2.5Hz DP State 0: Initialise
Blink alternate: 2.5Hz DP State 1: Searching Baud rate
Blink: 5Hz Off DP State 2: Wait for Parameter Telegram
Blink: 5Hz Off DP State 3: Wait for Configuration Telegram
Blink: 5Hz Off DP State 4: Ready for Data Exchange
On Off DP State 5: Data Exchange
10 Error Codes
Please refer to “User Manual Motion Control Software” for the Error Codes of the MC
Software. The PROFIBUS Interface has the following additional Error Codes:
Error Code Error Description

Hexadecimal
C1h Fatal Error: Drive not supported
C2h Config Error: Invalid MACID
C3h DP Err: Connection lost
11 Warn Word
Please refer to “User Manual Motion Control Software”.

12 Example for Siemens Simatic S7

The following example shows the homing procedure, the execution of a motion command
and the change of a parameter together with S7 and Simatic from Siemens:
12.1. Bus configuration (HW Config)

PROFIBUS Interface
LinMot 
12.2. Homing procedure
1. Release lock state: Control Word = 0000h (Only needed if StateVar MainState is 00h) :
StateVar MainState becomes 02h: Ready to Switch On
2. Homing: Control Word = 083Fh
StateVar MainState becomes 09h: Homing, Homing is finished if SubState becomes 0Fh
3. Enter Operational State: Control Word = 003Fh
StateVar MainState becomes 08h: Operation Enabled, Drive is ready for motion commands

12.3. Execute Motion Command: VAI Go To Pos (010xh)
Name Description Scaled Value Int. Value (HEX)

Header VAI Go To Pos (010xh) 257
0101h
1. Par Target Position: 50mm 0007A120h
2. Par Maximal Velocity: 1m/s 000F4240h
3. Par Acceleration: 10m/s^2 000F4240h
4. Par Deceleration: 10m/s^2 000F4240h
In the case of \Parameters\PROFIBUS Interface\Byte/Word Order\MC CMD Intf Par

Order\not reversed (default setting):
In the case of \Parameters\PROFIBUS Interface\Byte/Word Order\MC CMD Intf Par

Order\ reversed:
To send the next command the count nibble has to be changed. The header for the next VAI
Go To Pos command is therefore 0100h.
PROFIBUS Interface
LinMot 
As it appears with LinMot-Talk after “Read Command” in the Control Panel:

12.4. Change a Parameter of the Drive with the Parameter Channel

Module
Example task: Change the “Maximal Current” (UPID 13A6h) over Profibus while firmware is
running
Add module Parameter Channel [4 Word DI/DO]
As Command ID use 13h “Write RAM Value of Parameter by UPID”, Command Count 1
The UPID of “Maximal Current” is 13A6h. The internal scaling of the current value is 0.001A:
3A (Scaled) = 3000 (Int) = 0000088Bh (HEX)
Word Description Value (Hex)

1. Parameter Channel Control 1301h
2. Parameter UPID 13A6h
3. Parameter Value Low 088Bh
4. Parameter Value High 0000h

PROFIBUS Interface
LinMot 
Check if parameter has been changed with LinMot-Talk.
Add a new User Defined variable by clicking on the button UPID and search for the UPID
13A6h
Hint: Consider the Command Count in the Parameter Channel Control. A new command is
only evaluated, if the value of the command count changes. In the easiest way bit 0 could be
toggled.

13 Troubleshooting
If the PROFIBUS connection is not working, proceed as followed:
- Is the correct firmware installed on the drive? When installing the firmware the
PROFIBUS interface must be selected. The actual firmware and configuration
software can always be downloaded from http://www.linmot.com
- Is the node address correct (attention, the rotary switches are hexadecimal)?
The correct setting can be verified with LinMot-Talk in the variables section
under \PROFIBUS\Node Address
- The interface switch S3.4 must be ON

S3
ON – OFF
Interface
CAN Term
RS485 Term
RS485/232
- When using a S7 PLC from Siemens, the “universal module” should never be
configured.
- Check if the correct GSD file is used (LINM092D.GSD, which is provided

together with LinMot4Talk 4 in the subdirectory. \firmware\PROFIBUS\GSD).
NOTE: The drive Series E430-DP and E4030-DP have a different and
incompatible GSD file.
- Check bus cabling and termination.

PROFIBUS Interface
LinMot 
14 Contact Addresses
---------------------------------------------------------------------------------------------------------------------------
SWITZERLAND NTI AG
Bodenaeckerstrasse 2
CH-8957 Spreitenbach
Sales and Administration: +41-(0)56-419 91 91

office@linmot.com
Tech. Support: +41-(0)56-544 71 00

support@linmot.com
Tech. Support (Skype) : skype:support.linmot
Fax: +41-(0)56-419 91 92
Web: http://www.linmot.com
--------------------------------------------------------------------------------------------------------------------------
USA LinMot USA Inc.

N1922 State Road 120, Unit 1
Lake Geneva, WI 53147
Phone: 262-743-2555
E-Mail: usasales@linmot.com
Web: http://www.linmotusa.com/
--------------------------------------------------------------------------------------------------------------------------
Please visit http://www.linmot.com to find the distribution near you.
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Documentation of the PROFIBUS Interface of the following

- E1130-DP (-HC, XC)

Document version 3.21 / FM, dc, Ro, August 2018

Page 2/25 User Manual PROFIBUS Interface / 29/08/2018 NTI AG / LinMot

NTI AG / LinMot User Manual PROFIBUS Interface / 29/08/2018 Page 3/25

Programming examples provided by LinMot are listed under:

All baud rates are supported and automatically detected.

3 Connecting to the PROFIBUS

Page 4/25 User Manual PROFIBUS Interface / 29/08/2018 NTI AG / LinMot

IMPORTANT: To activate the PROFIBUS Interface, the Dip-Switch

Node Address Selection

IMPORTANT: The rotary switches are hexadecimal.

Node Address Parameter Value

Byte Order Defines the used byte order.

NTI AG / LinMot User Manual PROFIBUS Interface / 29/08/2018 Page 5/25

Diagnose Priority Defines the behaviour of the diagnostic telegram.

Page 6/25 User Manual PROFIBUS Interface / 29/08/2018 NTI AG / LinMot

NTI AG / LinMot User Manual PROFIBUS Interface / 29/08/2018 Page 7/25

Page 8/25 User Manual PROFIBUS Interface / 29/08/2018 NTI AG / LinMot

Control/Status [1 Word DI/DO]

MC Cmd Interface [10 Word DO]

Get MC Header Echo [1 Word DI]

Get Actual Position [2 Word DI]

Get Demand Position [2 Word DI]

Get Current [1 Word DI]

Get StateVar [1 Word DI]

Get WarnWord [1 Word DI]

Get ErrorCode [1 Word DI]

Monitoring Channel X [2 Word DI]

NTI AG / LinMot User Manual PROFIBUS Interface / 29/08/2018 Page 9/25

Parameter Channel [4 Word DI/DO]

Parameter Channel Control

Parameter Channel Status

Possible Commands are:

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NTI AG / LinMot User Manual PROFIBUS Interface / 29/08/2018 Page 11/25

Parameter Status Description

C0h UPID Error

D0h Odd Address

Page 12/25 User Manual PROFIBUS Interface / 29/08/2018 NTI AG / LinMot

Overview Curve access:

Start getting UPID List:

Get next UPID List item:

Start getting Modified UPID List (Command ID 22h):

NTI AG / LinMot User Manual PROFIBUS Interface / 29/08/2018 Page 13/25

Get next Modified UPID List item (Command ID 23h):

Get Error Log Entry Counter (Command ID 70h):

Get Error Log Entry Error Code (Command ID 71h):

Get Error Log Entry Time Low (Command ID 72h):

Get Error Log Entry Time High (Command ID 73h):

Get Error Code Text Stringlet (Command ID 74h):

Page 14/25 User Manual PROFIBUS Interface / 29/08/2018 NTI AG / LinMot

Command Table: Delete All Entries (RAM) (Command ID 81h)

Command Table: Delete Entry (Command ID 82h):

Command Table: Write Entry (Command ID 83h)

Command Table: Write Entry Data (Command ID 84h)

Command Table: Get Entry (Command ID 85h)

NTI AG / LinMot User Manual PROFIBUS Interface / 29/08/2018 Page 15/25

Command Table: Get Entry Data (Command ID 86h)