Table of Contents:

1 PROFIdrive Example
- 1.1 Predefined Example Configuration
- 1.2 Custom Example Configuration
  - 1.2.1 Board Configuration
  - 1.2.2 Motor-specific Configuration
  - 1.2.3 PROFINET-IO Device Protocol Stack Configuration
    - 1.2.3.1 Identification and Maintenance Data
    - 1.2.3.2 PROFINET Device Type
    - 1.2.3.3 PROFIdrive Module Configuration
  - 1.2.4 PROFIdrive-specific Configuration
    - 1.2.4.1 Simulation Parameters
    - 1.2.4.2 Operation Parameters
    - 1.2.4.3 Diagnosis Parameters
    - 1.2.4.4 Sensor Interface Parameters
  - 1.2.5 Application Class 4 (AC4)

PROFIdrive Example

The example can be used with its pre-defined configurations, which are approved and tested to work with the above-mentioned scenario. All motor and PROFINET/PROFIdrive parameters are pre-set and can be used “as is” for a more straightforward experience. The user can select between two possible motors just by uncommenting a corresponding “define” in the wscript file as described below. However, if any customizations are required, the contents of the “Custom Example Configuration“ section may become useful.

Predefined Example Configuration

The PROFIdrive example comes with preset configurations that can be selected in the build script: “Targets/wscript”. Uncomment one of the options, according to the Motor used (or simulation without motor):

"SIMULATION_WITHOUT_MOTOR", # Simulation mode. Motor is not needed here. Profile Tester tests will run OK.
"MOTOR_EMPAPST_ECI4220K1B100", # Motor type: ECl-42.20-K1-B00, manufacturer: ebm-papst.
"MOTOR_MAXON_ECI30", # Motor type: EC-i 30 30 mm, manufacturer: Maxon.

Simulation Mode: the PROFIdrive example provides an option to “simulate” all the features according to the PROFIdrive standard (Application Class 1 and 4) but without a real Motor connected. Motor’s “Actual Speed” value is simulated mathematically by a “PT1 element” (First Order Lag element). Application Class 4 requires an “Actual position” value which is also simulated in this mode.

Custom Example Configuration

Board Configuration

The MCL_MC_BOARD_CFG_PRM_T structure contains some board-specific parameters. It provides the possibility to change configuration based on hardware changes and is initialized in “Targets\NXHX90-MC\Sources\FOCInitializer.c”. Normally these parameters are not supposed to be modified because they are tuned for the current NXHX90-MC board which is not expected to be changed once configured properly.

Parameter	Data Type	Meaning	Note

Parameter	Data Type	Meaning	Note
tMcBoardCfgPrm	MCL_MC_BOARD_CFG_PRM_T	Motor control board's configuration structure
flAdcVrefExtPin	float	ADC external reference voltage. The reference voltage determines the highest signal level that the ADC can convert, and all quantized digital outputs from an ADC will be some ratio of this input reference voltage.	Maximum V_ref is 3.3V. For more detailed information, refer to the datasheet.
tMotorPhaseShuntRes	MCL_MOTOR_PHASE_SHUNT_RES_T	Motor phases shunt resistor structure	These resistors are used to measure the current flowing through the phases in terms of voltage. These provide feedback to the gate driver. It is multiplied by 20 using the internal operational amplifier inside the Gate driver and read by the netX90's ADCs. 3. Formula: V_{meas_curr}= I_{ph_curr} x R_sh x G_{curr_gain} I_{ph_curr}: Phase current[A]; R_sh: Shunt resistor[Ω]; G_{curr_gain}: Current amp. gain
flPhaseAOhm	float	Phase A - Current measurement shunt resistor[Ω].
flPhaseBOhm	float	Phase B - Current measurement shunt resistor[Ω].
flPhaseCOhm	float	Phase C - Current measurement shunt resistor[Ω].
tMotorPhaseVoltageDivRes	MCL_MOTOR_PHASE_VOLTAGE_DIV_T	Motor phases voltage divider structure	Since the motor operating voltage is between 12V and 36 volts, the voltage must be attenuated to be read by the microcontroller's ADC. Formula: V_out= V_inx[R_{low_side/}(R_{low_side}+R_{high_side})] V_in: Input voltage V_out: Attenuated signal voltage R_{low_side}: Low-side resistor R_{high_side}: High-side resistor
tPhaseA	MCL_VOLTAGE_DIV_T	Phase A voltage divider structure
I. flHighSideResOhm	float	Phase A voltage divider high-side.
II. flLowSideResOhm	float	Phase A voltage divider low-side.
tPhaseB	MCL_VOLTAGE_DIV_T	Phase B voltage divider structure
I. flHighSideResOhm	float	Phase B voltage divider high-side.
II. flLowSideResOhm	float	Phase B voltage divider low-side.
tPhaseC	MCL_VOLTAGE_DIV_T	Phase C voltage divider structure
I. flHighSideResOhm	float	Phase C voltage divider high-side.
II. flLowSideResOhm	float	Phase C voltage divider low-side.
flManualCtrlPotValOhm	float	NXHX90-MC board potentiometer resistance [Ω].	Look at the NXHX90-MC board’s schematics for detailed information
tMcBoardLimits	MCL_MC_BOARD_LIMIT_T	NXHX90-MC Board’s limits
flMaxAdcVrefPinVoltage	float	Maximum ADC pin reference voltage [V].	Maximum V_ref is 3.3V for NXHX90-MC.
flMaxPhaseCurrentAmp	float	Maximum phase current [A].	It is related to the used output MOSFETs' current handling.
flMaxPhaseShuntResOhm	float	Maximum phase shunt resistance [Ω].

Motor-specific Configuration

The Motor-specific parameters are typically found in the Manufacturer's specification for the motor. In the PROFIdrive example, this configuration is found in the structure

The parameters defined by the following structure affects fundamental motor behavior - torque, speed, etc. Some of them require experimental fine-tuning for acquiring the best results. For the pre-defined motors provided with this example all the parameters have been already inspected and fine-tuned. However, if a new motor is to be adapted, those parameters might/should be changed accordingly. Not setting proper values may result in the motor producing strange sounds and heat. Please keep the motor under continuous supervision until the parameters are being adapted prove to be right.

FOC_USER_CFG_INITIALIZER

(in Targets/NXHX90-MC/FOCInitializer.c).

Parameter	Data Type	Meaning	Note

Parameter	Data Type	Meaning	Note
bMotorPolePairs	uint8_t	Number of Motor pole pairs.
flMaxPhaseCurrAmp	float	Max continuous motor phase current[A].
usMotorSvpwmFreqHz	uint16_t	Space-Vector modulation PWM working frequency[Hz].	It is generally greater than 10 kHz and differs depending on the motor.
tMotorSpeedCfg	MCL_MOTOR_SPEED_CFG_T	Motor speed configuration structure
usMinSpeedRpm	uint16_t	Minimum speed value - used for “stall” detection.
usNominalSpeedRpm	uint16_t	Nominal speed of the Motor [rpm].
usMaxSpeedRpm	uint16_t	Maximum speed of the Motor [rpm]. Setting speed to greater values will result in error.
tSpeedPiCtrlCfg	MCL_PI_CTRL_CFG_T	Motor speed PI control parameters structure	They varies depending on the motor and must be tuned.
flKp	float	Proportional gain - K_p
flKi	float	Integral gain - K_i
tTorquePiCtrlCfg	MCL_PI_CTRL_CFG_T	Motor torque PI control parameters structure	They varies depending on the motor and must be tuned.
flKp	float	Proportional gain - K_p
flKi	float	Integral gain - K_i
usQeiNumOfSlots	uint16_t	Maximum counts per revolution (Encoder resolution).
eQeiMotorEncSrc	MCL_QEI_MOTOR_ENC_SRC_E	Connected encoder source to the NXHX-DH adapter. Single-ended encoder(QEI_TTL) - MCL_QEI_MOTOR_ENC_SRC_ENC0 Differential encoder(QEI__RS422) - MCL_QEI_MOTOR_ENC_SRC_ENC1	Since these encoders are connected to the NXHX-DH adapter, the encoder source differs according to the electrical characteristics of the encoder. Single-ended encoder is connected directly to ENC0 input, and differential encoder is connected to ENC1 input via transiever. This routing is provided by NXHX-DH.
eQeiInvMotorEncDir	MCL_QEI_INV_ENC_DIR_E	MCL_QEI_INV_ENC_DIR_DISABLE - Position values gotten from the encoder are not inverted. MCL_QEI_INV_ENC_DIR_ENABLE - Position values gotten from the encoder are inverted.
fInvMotorDir	bool	Invert the direction of rotation. If “false” positive speed values refer to clockwise rotation, negative - counter clockwise. If “true” - positive speed values refer to counter clockwise direction of rotation.

PROFINET-IO Device Protocol Stack Configuration

The data described below can be found in “Targets\NXHX90-MC\Sources\main.c”.

Identification and Maintenance Data

Identification & Maintainance Data are found at the static structure (in file “Targets\NXHX90-MC\Sources\main.c”):

PNS_IF_IM0_DATA_T tIM0_Data

Parameter	Data Type	Meaning

Parameter	Data Type	Meaning
abManufacturerSpecific	uint8_t	Unused on Profinet, set to zero.
abOrderId	uint8_t	Order ID. Space(0x20) padded.
abSerialNumber	uint8_t	Serial number. Space(0x20) padded.
tSoftwareRevision	struct	Software revision: PrefixX.Y.Z.
bPrefix	uint8_t	`/** Type Recogninition / Prefix * * Allowed values: * -# 'V' officially released version * -# 'R' Revision * -# 'P' Prototype * -# 'U' Under Test (field test) * -# 'T' Test Device */`
bX	uint8_t	Functional enhancement.
bY	uint8_t	Bug fix.
bZ	uint8_t	Internal change.
usIMSupported	uint16_t
usIMVersion	uint16_t	I&M Version.
usManufacturerId	uint16_t	Manufacturer ID as assigned by PNIO/PROFIBUS office.
usProfileId	uint16_t	Profile ID (default 0xF600).
usProfileSpecificType	uint16_t	Profile specific type (optional).

PROFINET Device Type

PROFINET Device Type data is found at the static structure (in file “Targets\NXHX90-MC\Sources\main.c”):

Parameter	Data Type	Meaning

Parameter	Data Type	Meaning
ptSubmoduleList	PNS_SUB_LIST_ENTRY*	Pointer to a structure describing module configuration needed to meet the PROFIdrive standard.
ptIM0_Data	PNS_IF_IM0_DATA_T*	Pointer to an Identification and Maintainance structure.
szDeviceType	char*	Device type string, e.g. "NETX 90 RE/PNS“.
ulDeviceTypeLen	uint32_t	Length of the device type string.
szNameOfStation	char*	PROFINET Name of Station string, e.g. "netx90repns".
ulNameOfStationLen	uint32_t	Length of the Name of Station string.
szTypeOfStation	char*	PROFINET Type of Station string, e.g. "NETX 90 RE/PNS".
ulTypeOfStationLen	uint32_t	Length of the Type of Station.
ulApplyOutputsDuration	uint32_t	The time it takes to apply the Controller Outputs (e.g. speed setpoint). This affects IRT mode only (PROFIdrive Standard Telegram 3, AC4).

PROFIdrive Module Configuration

The application example V4.0.0.1 supports PROFIdrive Standard Telegrams 1 and 2 (AC1 only). V4.1.0.0 supports Standard Telegram 3 as well (for AC4). The corresponding module/submodule configuration is described by the array:

in “Targets\NXHX90-MC\Sources\main.c”.

This configuration matches the GSDML provided with the example.

GSDML for Application example V4.0.0.1 (GSDML-V2.43-HILSCHER-NETX 90-RE PNS_PROFIdrive-20200402.xml);
GSDML for Application example V4.1.0.0 (GSDML-V2.43-HILSCHER-NETX 90-RE PNS_PROFIdrive-20230728.xml).

The PROFIdrive Module/Submodules data within the application example code (in main.c) should NOT be changed as they match the PROFIdrive specification.

The GSDML is to be imported to the Profile Tester (PRONETA), TIA Portal (for configuring a Siemens Controller or a CP1616 board) or SYCON.net.

PROFIdrive-specific Configuration

PROFIdrive-specific parameters are held by the structure:

in “Targets\NXHX90-MC\Sources\main.c”.

It includes the simulation, operation parameters and diagnosis parameters parameters. In the PROFIdrive application example V4.1.0.0 (that supports AC4) also sensor interface parameters are included.

Simulation Parameters

These matter ONLY in Simulation Mode (SIMULATION_WITHOUT_MOTOR should be uncommented in “Targets/wscript”). They are defined in the structure:

Parameter	Data Type	Meaning

Parameter

Data Type

Meaning

bSimulationMode

PDRV_BOOL

If TRUE - simulation without motor. Output speed is computed by a First-order lag element based on the input setpoint speed. All PROFIdrive features are functional, Profile Tester (PRONETA) tests run successfully.

If FALSE - a motor is driven via Field Oriented Control (FOC).

sPT1GainFactor

Array of two PDRV_INT16-s.

Gain factor (data type N4 - PROFIdrive normalized value) for computing the output speed in simulation mode based on the input setpoint. An array of two values:

Gain factor during normal operation;
Gain factor during coast stop.

Operation Parameters

The operation parameters are defined in the structure:

Parameter	Data Type	Meaning

Parameter	Data Type	Meaning
usTelegramNo	PDRV_UINT16	PROFIdrive Standard Telegram number. Supported are 1, 2 and 3.
fltVelocityReferenceValue	float	Physical value in [rpm]. For normalized data type (such as the cyclic data values for the control/actual speed transmitted on the bus from/to the PROFINET Controller), this is the speed corresponding to 100%. Here the nominal speed in [revolutions per minute] of the motor is usually used, e.g. 4000 for ECI-42.40-K1-B00.
fltVelocityMax	float	Maximum velocity [rpm] allowed to set to the motor drive.
lRampGradient	PDRV_INT32	Step in [% / ms] to increase/decrease the speed in case of normal operation. This parameter is used by the Ramp Generator in the PROFIdrive application. When a speed is set (by the Controller), a “ramp” is calculated increasing/decreasing the speed with this step.
lNTolerance	PDRV_INT32	Tolerance for calculation of “speed error in tolerance range” of Status Word 1 (ZSW1) bit 8 (PROFIdrive spec V4.2, Table 146). Bit 8 meaning: 0 - Speed in tolerance 1 - Speed out of tolerance
usTmax	PDRV_UINT16	Time in [ms] to get in the tolerance for speed.
lRampDown	PDRV_INT32	Ramps in [%/ms] during [0]=ramp stop, [1]=quick stop.
lCompVal	PDRV_INT32	Comparison value to calculate ZSW Bit 10 [N4].

For example, the operation parameters for ECI-42.20-BK1S.G7 are:

Parameter	Value

Parameter	Value
usTelegramNo	1 (Standard Telegram 1. Can also be 2.)
fltVelocityReferenceValue	4000 rpm
fltVelocityMax	5000 rpm
lRampGradient	0x0010 (N2 value, PROFIdrive spec V4.2, Table 3) 16 (dec) * 0.0061% = 0.0976 %/ms → 3.9 rpm/ms Acceleration/deceleration from 0 to 4000 rpm in: 4000 / 3.9 = 1025 ms.
lNTolerance	0x0100 → 256 (dec) * 0.0061 = 1.56 %/ms = 62.4 rpm/ms
usTmax	100 ms
lRampDown [0]	= Ramp gradient 3.9 rpm/ms
lRampDown [1]	Quick stop 0x0020 (N2 value, PROFIdrive spec V4.2, Table 3) 32 (dec) * 0.0061% = 0.1952 %/ms → 7.8 rpm/ms Deceleration from 4000 to 0 rpm in: 4000 / 7.8 = 512 ms.
lCompVal

Diagnosis Parameters

The diagnostic parameters are defined in the structure:

Parameter	Data Type	Meaning

Parameter	Data Type	Meaning
m_tWarningAttribs	PDRV_WARNINGATTRIBS	An array
m_tFaultAttribs	PDRV_FAULTATTRIBS	The value for the velocity reference in [rpm] (100% value) for N2/N4 normalized speed setpoint and actual values.

In “Targets\NXHX90-MC\Sources\main.c”, the user may define their own array of warnings and faults (with fault code and Controller reactions). In the static arrays:

the application example provides exemplary values.

Sensor Interface Parameters

The Sensor parameters are defined in the structure:

Parameter	Data Type	Meaning

Parameter	Data Type	Meaning
ulHeader	PDRV_UINT32	Corresponds to Parameter 979, Subindex 0 (Header). See PDRV Specification, Table 103. This PROFIdrive example application supports one sensor only.
ulSensorType	PDRV_UINT32	Corresponds to Parameter 979, Subindex 1 (Sensor Type). See PDRV Specification, Table 104. This PROFIdrive example application defines: Rotary sensor; Absolute position.
bSensorResolutionBitLength	PDRV_UINT8	Sensor resolution (number of pulses) bit length - see PDRV Specification, Table 105.
bShiftFactorXIST1BitLength	PDRV_UINT8	“Shift factor” of Gx_XIST1 bit length - see PDRV Specification, section “6.3.6.2.2 Structure of parameter 979 “sensor format” “.
bShiftFactorXIST2BitLength	PDRV_UINT8	“Shift factor” of Gx_XIST2 bit length - see PDRV Specification, section “6.3.6.2.2 Structure of parameter 979 “sensor format” “.
bDeterminableRevolutionsBitLength	PDRV_UINT8	Determinable revolutions bit length - see PDRV Specification, section “6.3.6.2.2 Structure of parameter 979 “sensor format” “.

For example, the Sensor parameters for the motor ECI-42.20-BK1S.G7 are:

Parameter	Value

Parameter	Value
ulHeader	0x00005112 (One sensor, 5 assigned indeces.)
ulSensorType	0xC0000002 (Rotary sensor; Absolute position; No 64 bit absolute information available; Data in parameter 979 is static; Validity of data in parameter 979 is static; Data in parameter 979 is valid.)
bSensorResolutionBitLength	8 (G1 sensor resolution (Number of pulses) bit length).
bShiftFactorXIST1BitLength	2 (G1 shift factor of Gx_XIST1 (bit length)).
bShiftFactorXIST2BitLength	2 (G1 shift factor of Gx_XIST2 (bit length)).
bDeterminableRevolutionsBitLength	22 (G1 determinable revolutions (bit length)).

Application Class 4 (AC4)

This section summarizes the AC4 specifics.

Process Data configuration:
- The PLC or CP161 Board should be configured with Standard Telegram 3. The GSDML that comes with example V4.1.0.0 provides a submodule for this. It should be added to the PROFIdrive module.
Isochronous mode:
- Standard Telegram 3 requires isochronous mode.
  - It should be activated in TIA Portal for the device and PLC. “Send clock” parameter (on the PLC side) can be adjusted, min value supported is 1 ms;
  - main.c: .tOperationParams → .usTelegramNo should be set to PDRV_STDTLG3.
- CP1616 board or PLC:
  - LAN port matters. The physical connection between the port of the CP1616 board and the device-under-test port should exactly match the one in the Topology Editor in TIA Portal. No switch should be introduced between the ports (special industrial switches might work, provided they support the PROFINET isochronous requirements). Only a netANALYZER or a special device like a TAP can be used to create a trace of this communication because such device do not interrupt the IRT communication.
- PRONETA: watch for “Sign-of-life synchronized” message on connection establishment. If only “Station come” message is present, check whether physical port connection matches the topology in TIA Portal.