PROFINET Integration Guide for the DC112-001 Servo Motor

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Tools Required

• PROFINET engineering software (e.g., TIA Portal)
• PC with Ethernet port
• Industrial Ethernet cable (Cat5e or better)

Article

This document outlines the standard procedure for integrating the NexBot Robotics DC112-001 DC Servo Motor (SKU: NXB-SRV-DC112-001) into an industrial automation system using the PROFINET protocol. Proper integration is critical for achieving the high-speed, high-precision performance required in NexBot Robotics platforms such as the R-10, C-5, C-10, and S-3 series, particularly for axes J4, J5, and J6.

1.0 System Prerequisites

Before beginning the integration process, ensure the following components and software are available:

• PROFINET IO Controller: A PLC or industrial controller that functions as a PROFINET IO Controller (e.g., Siemens S7-1500, Beckhoff TwinCAT PLC).
• Engineering Software: The programming environment for the IO Controller (e.g., TIA Portal, Step 7, TwinCAT).
• GSDML File: The General Station Description Markup Language (GSDML) file specific to the NXB-SRV-DC112-001. This file describes the motor's PROFINET interface, parameters, and data structure to the engineering software. The file is typically named in the format GSDML-V[version]-[Vendor]-[DeviceFamily]-[Date].xml.
• Network Hardware: Industrial Ethernet switches and shielded PROFINET-compliant cabling, such as the NXB-CBL-512-001, are required for reliable communication.
• Power Supply: A stable 48VDC power source capable of handling the motor's current requirements.

2.0 GSDML File Installation

The GSDML file is essential for the IO Controller to recognize and communicate with the DC112-001 motor.

1. Obtain the File: Download the latest GSDML file for the NXB-SRV-DC112-001 from the NexBot Robotics support portal.
2. Launch Engineering Software: Open your PLC programming environment (e.g., TIA Portal).
3. Install the GSDML File: Use the software's hardware management or GSD file installation tool. In TIA Portal, this is typically done via Options > Manage general station description files (GSD).
4. Browse and Install: Navigate to the location of the downloaded GSDML file and follow the on-screen prompts to install it.
5. Update Hardware Catalog: After installation, refresh or update your hardware catalog. The NexBot Robotics DC112-001 should now appear as a selectable device under PROFINET IO > Drives > NexBot Robotics.

3.0 Network and Hardware Configuration

With the GSDML file installed, the motor can be added to your project's network configuration.

1. Add Device: Drag the NXB-SRV-DC112-001 from the hardware catalog into your project's network or device view.
2. Assign to IO Controller: Connect the motor's PROFINET interface to the PROFINET network of your IO Controller within the software.
3. Configure Ethernet Properties:

• Device Name: Assign a unique PROFINET device name. This name must be written to the motor using the engineering tool's online functions (e.g., TIA Portal's 'Assign device name' feature). The name must be DNS-compliant (e.g., dc112-j5-axis).
• IP Address: Assign a static IP address and subnet mask that is valid for your control network.

1. Set Update Time: Configure the PROFINET update time (also known as the send clock). This determines how frequently data is exchanged. A typical value for motion control applications is 2-8 ms. The selected time must be supported by both the IO Controller and the motor.

4.0 Cyclic Data Exchange (Process Data)

Cyclic data is exchanged continuously between the controller and the motor at the specified update time. This data includes setpoints, actual values, and status information. The NXB-SRV-DC112-001 typically uses a standardized telegram for this purpose.

Example Standard Telegram Structure (32 bytes IN / 32 bytes OUT):

• Controller to Motor (Output Data)
• Control Word (2 bytes): Bits for enabling the drive, acknowledging faults, etc.
• Position Setpoint (4 bytes): Target position value.
• Velocity Setpoint (4 bytes): Target velocity value.
• Torque Setpoint (2 bytes): Target torque value.
• Reserved/Other Parameters

• Motor to Controller (Input Data)
• Status Word (2 bytes): Bits indicating drive status (ready, fault, warning).
• Actual Position (4 bytes): Current position value from the encoder (e.g., NXB-SNS-ENC521-001).
• Actual Velocity (4 bytes): Current motor velocity.
• Actual Torque (2 bytes): Current motor torque.
• Reserved/Other Parameters

Map these I/O addresses to the appropriate tags or variables in your PLC program to control the motor and monitor its status.

5.0 Acyclic Data Communication (Record Data)

Acyclic communication is used for on-demand reading and writing of device parameters that are not part of the cyclic data exchange. This is typically used for:

• Initial device parameterization (e.g., setting tuning gains, current limits, encoder resolution).
• Reading diagnostic buffers or fault codes.
• Triggering service functions.

These operations are performed using system functions in the PLC (e.g., RDREC and WRREC in Siemens S7) that target specific index and sub-index values defined in the motor's GSDML file.

6.0 Environmental and Installation Notes

The NXB-SRV-DC112-001 DC Servo Motor has an IP65 rating, indicating it is dust-tight and protected against low-pressure water jets from any direction. To maintain this rating:

• Ensure all cable connectors are fully seated and tightened to specified torque values.
• Use IP65-rated or higher cables and connectors, such as the NXB-CBL-512-001.
• Inspect connector seals for damage before installation.
• Avoid exposing the motor to high-pressure washdowns or submersion.

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