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EtherCAT Interface

1. Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte 80h LinMot Sdo Service ID Input WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 34 Command Table delete all entries in RAM This service deletes all Command table entries in the RAM FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte 81h LinMot Sdo Service ID Input WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBus BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Page 56 70 User Manual EtherCAT Interface NTI AG LinMot 5 2 35 Command Table delete entry RAM This service delete a single Command Table entry defined by its ID in t
2. 5 2 25 Curves read info and setpoint data block size in RAM Read the status and size of the data blocks of the curve defined by its ID the data is stored in the read buffer FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input 5 Byte 60h LinMot Sdo Service ID Input WORD 2000h ID Input pDstBuf DWORD ADR read_buffer 6bytes UINT Status UINT Info block size UINT Set point data block size Input cbBufLen UDINT 6 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 51 70 5 2 26 Curves read info block data RAM Read the info data block of the curve defined by its ID the 4 byte result is stored together with the read status in the 6 bytes of the read buffer This command has to be repeated until the whole info data block is read status 0 EtherCAT 7 FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byt
3. Configuration General EtherCAT DC Process Data Startup CoE Online Online sginc Configuration Sync Manager PDO List SE cam Configuration IA I O Configuration SM Size Type Flags Index Size Name Flags SM 50 cB Devices 0 128 MbxOut Dx1800 180 Default Inputs 3 0 Ej Device 1 EtherCAT 1 128 MbxIn Di DO 180 NC Inputs F 0 af Device 1 Image 2 24 Outputs 081808 80 Config Module F 0 3 20 Inputs 051810 40 Input Deel F 0 Device 1 Image Inf t me 01811 40 InputActVel F 0 T 01612 40 Input ActVelFilt F 0 amp i Outputs 01818 40 Input CAM Counts F 0 InfoData 041840 260 MC Link A1 Inputs F 0 Box 1 E1250 EC UC 0185 20 X4 Inputs 3 0 QT Default Inputs 0x1700 24 0 Default Outputs 2 0 Qf X4 Inputs 0x1701 250 NC Outputs F 0 0x1708 8 0 Config Module F 0 n M DE E 04718 20 Output CAM Start Enable F 0 051740 320 MC Link 1 Outputs F 0 InfoData lt is ef Mappings NC Task 1 SAF Device 1 EtherCAT PDO Assignment 0 1 13 PDO Content 01740 Size Offs Name Type Default hex 0 1 01 excluded by 0 1 00 01052 00 20 00 Control Word Edit Pd 0x1808 0 1080 00 20 20 Motion Command 10 1 10 Ox1E 40 00 40 40 Motion Command P4 1701811 x1E41 00 40 80 Motion Command Pq Name X4 Intf Outputs OK F10x812 0x1E42 00 40 120 MotionCommandP mcum 0x1818 0x1E43 00 40 16 0 Motion Command Pq Index hex 1089 7305 Cancel Ox1E44 00 4 0
4. PANEL PANEL EL Control Panel Motion Panel State Var 90 0 Motor Hot Sensor 1 Motor Short Time Overload 2 Motor Supply Voltage Low 3 Error 3 Motor Supply Voltage High 4 Position Lag Always 5 Position Lag Standing 6 GoTo Position Switch On Locked 6 Controller Hot T Error Acknowledge 7 Warning 7 Motor Not Homed 8 Jog Move 8 Event Handler Active 8 1 8 Jog Move 3 Special Motion Active B PTC2 10 Special Mode 10 Reserved 12 Clearance Check 12 Fatal Error 12 Reserved 13 Go To Initial Position 13 Motion Active 13 Reserved 14 Linearizing 15 Phase Search 15 Range Indicator 2 15 Application Wam Flag Ctrl Word 83F Status Word 4C37 Word 0 CIE NN NNI Bauste 3 Datent REM Target Local 10 255 255 226 1 1 Laufzeit ONLINE If the State Var changes to Ox90F the homing is finished which is also indicated by the vanished bit 7 in the Warn Word Motor not Homed and the set bit 11 in the Status Word Homed Reset the Control Word bit 11 Home to change to the operation mode TwinCAT PLC Control LM DEMO 00 pro CONTROL PANEL Datei Bearbeiten Projekt Einf gen Extras Online Fenster Hife 215
5. General EtherCAT DC Process Data Startup CoE Onine Online Name Box 5 E1250 C UC gt Type 1250 Comment C Disabled Name Online Type Se gt Addr In Out User KEE 00000 0 UINT 20 580 mpat 0 91 Statusword 0 0000 0 20 50 0 Si WarnWord 00000 0 UINT 50 0 Si DemandPosition 000000000 0 DINT 4 0 590 Iu 0 1 ActualPosition 0x00000000 0 DINT 4 0 63 0 Input 0 1 DemendCurrent 1000000000 0 DINT 40 en 0 OT wcstate 1 BOOL 0 1 15222 Input 0 QIState 0x0002 2 UINT 20 15560 0 Adsad r OAFFFFEZ0201 AMSADDRESS 8 0 15580 Input 0 AoeNetid OA FF FF E2 02 06 ARRAY D 60 15660 Input 0 Control Word 0 UINT 20 530 omg 0 Motion Command Header 0 UNT 20 550 omg 0 Motion Command Par 1 000000000 DINT 50 omg 0 Command Par 2 0x00000000 0 DINT 40 an Outpt 0 Command Par 3 000000000 0 DINT 40 en omg 0 Motion Command Par 4 000000000 0 DINT 4 0 690 omg 0 Motion Command Par 5 0x00000000 0 DINT 40 730 Output 0 Server Port Timestamp 65535 08 12 2009 06 33 56 671 ms rwincar Syst 06 12 2009 06 31 20 29 ms twincar Syst 08 12 2009 06 31 19 919 ms ronnt syst 08 12 2009 06 31 19 919 ms Frame returned gt force reinitialization Server TcEventLogger wird gestartet TCRTIME Server wurde gestartet TCRTIME TCPLC Server wurde gestartet TCPLC Lo
6. Server Port Timestamp Meldung 6 65535 08 12 2009 06 33 56671ms 1 Eth syst 08 12 2009 06 31 20 29 ms vue rwincar Syst 08 12 2009 06 31 19 919 ms syst 08 12 2009 06 31 19 919 ms Local 10 255 255 226 1M DEMO LI AoeNetld with Beckhoff Page 18 70 User Manual EtherCAT Interface NTI AG LinMot 4 1 ADS Services Overview For the LinMot drives in the ADS index group the service is coded In the index offset normally the UPID for parameters or curve ID for curves is coded Description Service Read Parameter UPID read RAM value Write 0041h UPID Parameter UPID write RAM value Read 0042h UPID Parameter UPID read ROM value Write 0043h UPID Parameter UPID write ROM value Read 0044h UPID Parameter Start read UPID list Read 0045h Parameter Get next UPID list item Read 0046h UPID Parameter Start read modified UPID list Read 0047h Parameter Get next modified UPID list item Write 0048h Inst Parameter Default SW instance Write 0050h Curves delete all in RAM Write 0051h ID Curves delete single curve in RAM Read 0052h ID Curves read info and data size Read 0053h ID Curves read info block data Read 0054h ID Curves read setpoint data Write 0055h ID Curves start write curve in RAM Write 0056h ID Curves write curve info block data in R
7. 1M DEM Target Local 10 255 255206 1 1 Laufzeit T ONLINE SIM UAUFT BP FORCE UE LESEN TwinCAT PLC Control LM_DEMO_00 pro CONTROL PANEL I Datei Bearbeiten Projekt Einf gen Extras Online Fenster Hife Visualisierungen MOTION PANEL Control Panel Motion Panel State Var 0 State Not Ready To Switch On 0 Operation Enabled 0 Motor Hot Sensor 1 Motor Short Time Overload 2 Enable Operation 2 Motor Supply Voltage Low 3 Error 3 Motor Supply Voltage High 6 GoTo Position T Error Acknowledge 4 Position Lag Always 5 Position Lag Standing 6 Controller Hot 8 Jog Move 8 Event Handler Active 8 1 3 Move 3 Special Motion Active EICH 10 Special Mode 10 In Target Position 10 Reserved 11 Home 11 Homed 11 Reserved 12 Clearance Check 12 Fatal Error 12 Reserved 13 Go To Initial Position 13 Mation Active 13 Reserved 14 Linearizing 14 Interface Wam Flag 15 Phase Search 15 Range Indicator 2 15 Application Wam Flag Ctrl Word Status Word 40F2 Word 80 2 Bauste 5 Datent GE 92 Ressou Target Local 10 255 255 226 1 1 Laufzeit ONLINE SIM W 08 LESEN Page 66 70 User Manu
8. State Var 965 Demand Pos 254 44 Actual Pos 4 4fmm Dem Current 2 3fA Run Mode Run Mode State i Auswahl des Zielsystems Erzeugen eines Bootprojekte Erzeugen eines Bootprojektes offline Bootprojekt l schen Max Vel 4 4f m s 44 5 2 Dec 4 4fm s 2 Lade Bibliothek CYTWINCATIPLCILIBISTANDARD LIB gt Target Local 10 255 255 226 1 1 Laufzeit 1 MESSER X 90 Y 255 Element 811 Rechteck ONLINE UB LESEN NTI AG LinMot User Manual EtherCAT Interface Page 65 70 LinMot TwinCAT PLC EvalMcPanel PRG LM_DEMO PRG Start the PLC program trol LM DEMO 00 pro MOTION PANEL Reset Url schen Breakpoint anfaus Breakpoint Dialog Enzelzykus Werte schreiben Werte forcen Forcen aufheben Umschalt F7 SchreibenjForcen Dialog Stro Umschalt F7 Aufrufhierachie Ablaufkontrolle Quellcode laden Erzeugen eines Boatprojektes Bootprojekt l schen Mex Vel 0 1000 m s 1 0000 m s 2 Dec 1 0000 m s 2 State Var 0 Demand Pos 0 0000 Actual Pos 0 0000 mm Dem Current 0 000 A Run Mode 0 Run Mode State 0 FS Datent GE Visualis 2 Ressou Steuerung starten
9. Write the content of the write buffer to the RAM and ROM value of the parameter specified by its UPID The write buffer can have an unique size of 4 bytes FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte 06h LinMot Sdo Service ID Input WORD 2000h UPID Input pSrcBuf DWORD ADR write_buffer 4bytes Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBus BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Page 42 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 7 5 2 9 Parameter default OS SW instance All parameters of the OS SW instance are set to their default value FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte 07h LinMot Sdo Service ID Input nlndex WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indic
10. Adapter EtherCAT Online CoE Onine Name Ger t 1 EtherCAT wb Type EtherCAT d Config Mode only B LM DEMO Online Delete Config Mode only LM DEMO Export Device C Disabled Create symbols C E Import copy 18 Change 1d Disabled Change To D Change Number Box Name Address InSze OutSze E Bus mA Server Port Timestamp 65535 08 12 2009 06 33 56 671 ms rwincar Syst 06 12 2009 06 31 20 29 ms ronnt 55 08 12 2009 06 31 19 919 ms syst 08 12 2009 06 31 19 919 ms Local 10 255 255 226 1 1 1M F Scan for EtherCAT slave devices NTI AG LinMot User Manual EtherCAT Interface Page 7 70 LinMot 0 EtherCAT 7 After this scan all recognized devices are imported to the project LM DEMO PCI 00 tsm TwinCAT System Manager Actions View Options Dc x xu a S9 9 Qe egt ERC SYSTEM Configuration IC Configuration PLC Configuration Configuration 10 Configuration IP 1 0 Devices Gerat 1 EtherCAT fe Ger t 1 Prozessabbild e Ger t 1 Prozessabbild Info i Eing nge l Ausg nge InfoData 2 Term 1 EK1100 DEEG H Westate InfoData Mappings fai LM_DEMO_00 Standard Ger t 1 EtherCAT f LM DEMO 00 Standard Ger t 1 EtherCAT Info
11. nN EtherCAT Documentation of the EtherCAT Interface of the following Drives C1150 EC XC C1250 EC XC E1250 EC UC E1450 EC QN EtherCAT Interface User Manual LinMot EtherCA 2013 NTI AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying 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 4 3 3 Whp Sep 2014 Page 2 70 User Manual EtherCAT Interface NTI AG LinMot E EE ij Ee Ett 12 seve d o edes 12 4 ASYNCHRONOUS CONFIGURATION PROTOCOL AQOE eene eee eere nnn 18 BI XA Sse EE 19 22 ADS PAIRAMEIBE EE 20 Dou i O D reud KAM ERR 20 22 Parameter UPD wrie EE 21 123 Parameter UPID read ROM putt co a der 21 42 4 Parameter UPID EE 21 Un Ure ux RIP EO ERREUR
12. 00 Dx1C85 00 20 0 0 X4 Inputs UINT 051808 20 051810 051811 051812 051818 051840 z Now you can choose the new generated PDO Data Page 14 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT LinMot 3 4 User defined Output PDO Modules Within the Beckhoff system manager you can also define your individual IO process data In the following example the X4 Intf Outputs UPID 1C89h is mapped To write the outputs over the communication the IO also has to be defined as Interface Outputs LinMot Tz File Search Controller Services Options GH 2 Unnamed IP 192168210 DEVEL fe e S g PF Window Tools Manuals Help E Project EE x zm SE 168210 DEVELOPER Name RawData uPID Type Scale Offset jam Parameters State Machine Main State 02h 1B5Eh Ulnt8 3 D R State Machine Sub State 00h 1B5Fh Ulnt amp 1 0 R State Ready To Switch On 02h 1B amp 0h Ulnt8 Enumerator R State Var 0200h 0200h 1B amp 2h Ulntl amp 1 0 R EI EtherCAT Intf Demand Position Omm 00000000h 1B84h Suz 0 0001 mm Omm R El Variables Demand Velocity Om s 00000000h 1B8Bh SInt32 1E 6 m s Oms R User Defined Demand Acceleration m s 2 00000000 1B8Ch 5132 1E5m s 2 n s 2 R 05 SW Operating Hours Ti
13. 07 528 4733 80 7 854 29 2 9 UO Devices gt r Device 1 EtherCAT MAC Address 00121291220 1 TH EN bo Becker IP Address 169 254 122 226 255 255 0 0 Compatible Devices LM DEMO 00 Standard Device 1 EtherCAT Info Freerun Cycle ms 4 E Promiscuous Mode use with Netmon Wireshark anly C Vitual Device Names Device Found At LAN Verbindung 4 TwinCAT Intel PCI Ethemet Adapter Gigabit LAN Verbindung 5 Intel R PRO 100 S Desktopadapter 2 TwinCAT Number Box Name alt Drive 1 E1250 Server Port Timestamp Meldung rwincar Syst 08 12 2009 07 34 46 561 ms Server TeEventLogger wird gestartet Syst 08 12 2009 07 34 46 237 ms Server wurde gestartet TCRTIME rwincar Syst 08 12 2009 07 34 46 221 ms TCPLC Server wurde gestartet TCPLC rwincar Syst 08 12 2009 07 34 46 221 ms Server wurde gestartet Local 10 255 255 226 1 1 7 Ready Dee AREA Fy ee 1 12 02116719101 60 SYSTEM Configuration ES BB nic Configuration General Adapter EtherCAT Online CoE Online PLC Configuration ramen Configuration Description LAN Verbindung 4 TwinCAT Intel PCI Ethemet Adapter Gigabit Twi JO Configuration Device Name DEVICE 342EAF3 A7E 1 4D8E A5B2 1BB52FB10046 Bi 1 0 Devices Device 1 EtherCAT M
14. reset READ input to assure rising edge for start reading AoE NetId of slave device to read ADS port of slave device to read Parameter UPID read RAM value service ID UPID value of parameter P Gain of position controller read length 4 bytes for all LinMot parameter types pointer to read result data buffer generate rising edge on input for start reading timeout value for read command busy output for detecting end of reading error output for assure correct reading error id for debugging problem busy output for detecting end of reading error output for assure correct reading error id for debugging problem DWORD TO UINT 1 Page 20 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 7 eval error condition END IF END IF 4 2 2 Parameter UPID write RAM value Write the RAM value of the parameter specified by its UPID FUNCTION BLOCK ADSWRITE Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0041h LinMot Service ID Input IDXOFFS UDINT UPID Input LEN UDINT always 4 bytes Input SRCADDR DWORD ADR write buffer Abytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Err
15. 02h LinMot Sdo Service ID Input WORD 2000h UPID Input pSrcBuf DWORD ADR write_buffer 4bytes Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBus BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Page 40 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT LinMot 5 2 5 Parameter read minimal value Read the minimal value of the parameter specified by its UPID and stores the result in the 4 bytes of the read_buffer FUNCTION_BLOCK FB_EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubindex Byte 03h LinMot Sdo Service ID Input WORD 2000h UPID Input pDstBuf DWORD ADR read buffer 4bytes Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 6 Parameter UPID read maximal value Read the maximal value of the parameter specified by its UPID and stores the result in the 4 bytes of the read buffer
16. 200 Motion Command 4 Ox1B40 01709 00 20 240 ConfigContrl Word Direction Exclude Syne Unit Iv 0x1 704 00 20 280 Config Index Out 0x1708 00 40 280 Config Value Out O 0 320 RsPdo Output Download d lags le Load PDO info from device PDO Configuration Syne Unit Assignment Fixed Content Virtual PDO Then give a name and choose the correct UPID as index of the data you want to map Then push the OK button SYSTEM Configuration pa z Configuration General EtherCAT DC Process Data Startup CoE Online Online Sync Manager PDO List Configuration SM Size Type Flags Index Size Name Flags SM SU SO 1 0 Devices D 128 MbxOut 01800 18 0 Default Inputs 3 0 5 7 Device 1 EtherCAT 1 128 Mbdn 051801 180 NC Inputs F 0 22 20 eu 40 Input F 0 ice t3 nputs Demel T ie 051811 40 InputAciVel F 0 T 0 1812 40 Input ActVelFilt F 0 1 Outputs Ox1B18 40 Input CAM Counts F 0 InfoData 051840 260 MC Link 1 Inputs 0 al Box 1 E1250 EC UC 081 85 20 X4 Inputs 3 0 Default Inputs Dei 200 240 Default Outputs 2 0 ER vos 80 Cong Mea F 0 onfig Module 7 e ao 041718 20 Start Enable F 0 T 01740 320 MC Link Outputs F D din Infodata gt 01088 00 4 Intf Outputs 0 5 88 Mappings K ep NC Task 1 SAF Device 1 Eth
17. 2222 Reud error 33 3 2 33 Command Table copy entries from RAM to FLASH seenetan 56 5 2 34 Command Table delete all entries EE 56 4 70 User Manual EtherCAT Interface NTI AG LinMot 6 ETHERCAT PARAMETERS AND VARIABLES eere eene eene eene tn 61 unc EE 61 7 CONNECTING TO THE ETHERCAT 62 K NEE EE ONNECTORE X F X lU E 62 8 TWINCAT DEMO PROGRAM 63 RI PLO Lesser 69 9 CONTACT ADDRESSES beta cat hey ael ear e 70 NTI AG LinMot User Manual EtherCAT Interface Page 5 70 1 System overview EtherCAT is the open real time Ethernet network originally developed by Beckhoff The LinMot act as Slave in this network and is implemented with the standard ASIC ET1100 from Beckhoff For further information on the EtherCAT fieldbus please visit http www ethercat org 1 1 References All user manuals are distributed with the LinMot Talk software the newest version can be downloaded from the LinMot homepage in the download section Ref Title Source 1 User Manual Motion Control SW www linmot com 2 LinMot Drive Configuration ov
18. ADR write buffer 4bytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 4 8 Command Table start write entries from RAM to FLASH Copy the whole Command Table section from RAM to FLASH memory FUNCTION BLOCK ADSWRITE Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 006Fh LinMot Service ID Input IDXOFFS UDINT Curve ID to write Input LEN UDINT Always 0 bytes Input SRCADDR DWORD ADR write buffer Obytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID Page 34 70 User Manual EtherCAT Interface NTI AG LinMot 4 5 Program handling 4 5 1 Reset device Resets the device FUNCTION BLOCK ADSWRITE Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0070h LinMot Service ID Input IDXOFFS UDINT Input LEN UDINT Always 0 bytes Input SRCADDR DWORD ADR write buffer Obytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value gt 65 Output BUSY BOOL Indicates reading active fi
19. Address of slave Input nSubIndex Byte 41h LinMot Sdo Service ID Input WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 49 70 5 2 22 Curves start write curve in RAM This service initiate the writing of a new curve in the RAM EtherCAT FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte 50h LinMot Sdo Service ID Input WORD 2000h ID Input pSrcBuf DWORD ADR write buffer Input cbBufLen UDINT 4 bytes UINT Info Data Size UINT Set Point Data Size Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 23 Curves write curve info block data in RAM This service writes the curve info data block in the RAM it has to be repeated until the whole info data block is wr
20. Enabled MOTION_PANEL State Var 800 0 Motor Hot Sensor 1 Motor Short Time Overload 2 Motor Supply Voltage Low 3 Motor Supply Voltage High 4 Position Lag Always 5 Position Lag Standing 6 GoTo Position 6 Switch On Locked 6 Controller Hot 7 Error Acknowledge 8 Jog Move 8 Event Handler Active 8 1 3 Move 3 Special Motion Active EICH 10 Special Mode 10 In Target Position 10 Reserved 11 Home 11 Homed 11 Reserved 12 Clearance Check 12 Fatal Error 12 Reserved 13 Go To Initial Position 13 Motion Active 13 Reserved 14 Linearizing 14 Interface Wam Flag 15 Phase Search 15 Range Indicator 2 15 Application Wam Flag Ctrl Word Status Word 4087 Word 80 E Baue 43 Daten 825 Ressou Target Local 10 255 255 226 1 1 Laufzeit 1 ONLINE SIM FORCE DS LESEN Now the motor is in the position controlled mode NTI AG LinMot User Manual EtherCAT Interface Page 67 70 LinMot Set the Control Word bit 11 Home to start the homing process TwinCAT PLC Control LM_DEMO_00 pro CONTROL_PANEL ete Bearbeiten Projekt gen Extras Online Fenster slo 3 Visualisierungen
21. NC Configuration PLC Configuration General EtherCAT DC Process Data Startup CoE Online Online Sync Manager PDO List Cam Configuration See i m Configuration SM Size Type Flags Index Size Name Flags SM 50 1 0 Devices D 128 MbxOut 051800 180 Default Inputs 3 0 e Device 1 EtherCAT 1 128 Mbxln 01601 18 0 NC Inputs 0 Device 1 Image 2 24 Outputs Ox1B08 80 Config Module F 0 aere 3 18 Inputs 051810 40 Input DemVel F D D 1 1 Inf SE Ox1B11 40 eut ActVel F 0 051812 40 InputAciVeFik 0 E l Outputs Ox1B18 40 Input CAM Counts F 0 Infodata 0518401 260 MC Link 1 Inputs F 0 Box 1 E1250 EC UC 051700 24 0 Default Outputs 2 0 QT Default Inputs 0 1701 26 0 NC Outputs F 0 Q Default Outputs 0x1708 80 Config Module F 0 E Wcstate 051718 20 Output CAM Start Enable E 0 dr 0 1740 320 MC Link A1 Outputs F 0 InfoData Mappings lt T lx ee NC Task 1 SAF Device 1 PDO Assignment 01012 PDO Content 0x1 700 L b Edit Pdo D 0 1701 excluded by 051700 RA Name Inputs Index hex 1084 Direction Syne Unit T Pdo Input O RxPdo Output Flags Download v PDO Assignment C PDO Configuration _ Fixed Content C Virtual PDO Then give a name and choose the correct UPID as index of the data you want to map Then push the OK bu
22. NC Configuration Bl PLC Configuration General EtherCAT DC Process Data Startup CoE Online Online TE cam Configuration Sync Manager PDO List Configuration DN Size Type Flags Index Size Name Flags SM DU 1 0 Devices 0 128 MbxOut 051 00 180 Default Inputs 3 SS Device 1 EtherCAT 1 128 Dei DO 18 0 NC Inputs F 0 Device 1 Image 2 24 Dutputs 80 Config Module F D SE S 3 18 Inputs Ox1B10 40 Input F 0 1 ies OdBil 40 Input ActVel F 0 P Ox1812 40 Input ActVelFilt F 0 Outputs 01 18 40 Input CAM Counts F 0 InfoData 04840 260 MC Link A1 Inputs E 0 Box 1 E1250 EC UC 0 1 85 0 0 X4 Inputs D E gt Default Inputs 0x1700 24 0 Default Outputs 2 0 9 l Default Outputs Ox1701 26 0 NC Dutputs F 0 wcstate 0x1708 80 Config Module 0 InfoData 051718 20 Output Start Enable F 0 Mappings 091740 320 MC Link 1 Outputs F 0 CRT NC Task 1 SAF Device 1 EtherCAT lt gt PDO Assignment 0x1C12 PDO Content 0x1C85 v 0x1700 Index Size Offs Name Type Default hex 181701 excluded by 0 1700 0 0 0x1708 101718 Edit Pdo Entry 01740 Name X4 Inputs K Index bel 1085 ran Sublndex 0 em Download v PDO Assignment Bit Lentgh s 7 Load PDO info from device Sync Unit Assignment PDO Configura
23. active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 53 70 5 2 30 Read logged error item time low Read the error time milisecond part of the specified ID logged error item EtherCAT 7 FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input 5 Byte 72h LinMot Sdo Service ID Input WORD 2000h ID Input pDstBuf DWORD ADR read buffer 4bytes DINT Error time ms Input cbBufLen UDINT 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 31 Read logged error item time high Read the error time hours part of the specified ID logged error item FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubindex Byte 73h LinMot Sdo Service ID Input WORD 2000h ID Input pDstBuf DWORD ADR read buffer 4bytes DINT Error time h Input cbBufLen UDINT 4 bytes Input bExecute BOOL Rising edge starts writing Inpu
24. of slave Input nSubIndex Byte 87h ID LinMot Sdo Service ID ID 0 entries 0 31 ID 1 entries 32 63 ID 2 entries 64 95 ID 3 entries 96 127 ID 4 entries 128 159 ID 5 entries 160 191 ID 6 entries 192 223 ID 7 entries 224 225 Input WORD 2000h Input pDstBuf DWORD ADR read buffer 4bytes DWORD presence list O means entry exists Input cbBufLen UDINT 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Page 60 70 User Manual EtherCAT Interface NTI AG LinMot 6 EtherCAT Parameters and Variables 6 1 Parameters The EtherCAT Interface has an additional parameter tree branch Parameters gt EtherCAT which can be configured with the distributed LinMot Talk software With these parameters the EtherCAT interface can be enabled or disabled The LinMot Talk software be downloaded from http www linmot com under the section download software amp manuals EtherCAT Dis Enable With the Dis Enable parameter the LinMot drive can be run without the Ethernet EtherCAT Interface going online So in a first step the system can be configured and run without any bus connection Dis Enable Disable The drive runs without ETHE
25. start UPID of which the UPID list will be read out The list contains all parameters and variables of the SW layer FUNCTION BLOCK ADSREAD Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0044h LinMot Service ID Input IDXOFFS UDINT Start UPID 0000h OS SW layer 1000h MC SW layer 2000h Intf SW layer 3000h Appl SW layer Input LEN UDINT Always 8 bytes Input DESTADDR DWORD ADR read buffer 8bytes Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 00h ok 4 2 6 Parameter get next UPID list item Read the UPID address usage and ROM value of the parameter and the RAM value of the variables FUNCTION BLOCK ADSREAD Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0045h LinMot Service ID Input IDXOFFS Not evaluated Input LEN UDINT Always 8 bytes Input DESTADDR DWORD ADR read buffer 8bytes Bytes 0 1 UPID Bytes 2 3 Address usage Bytes 4 7 ROM Value Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Out
26. 18 I Visuslisierungen CONTROL PANEL PANEL Control Panel Motion Panel State Var 8 State Operation Enabled lode Stet 0 Motor Hot Sensor 1 Motor Short Time Overload 2 Motor Supply Voltage Low 3 Error 3 Motor Supply Voltage High 4 Position Lag Always 5 Position Lag Standing 6 GoTo Position Switch On Locked 6 Controller Hot 7 Error Acknowledge 7 Waming 7 Motor Not Homed 8 Jog Move 8 Event Handler Active 8 PTC1 9 Jog Move 9 PTC2 3 Special Motion Active 10 Special Mode 10 Reserved 11 Home 11 Reserved 12 Clearance Check 12 Fatal Error 12 Reserved 13 Go To Initial Position 13 Motion Active 13 Reserved 14 Linearizing 14 Interface War Flag 15 Phase Search 15 Range Indicator 2 15 Application Wam Flag Ctrl Word Status Ward 4C37 Word 0 Baue 43 Datent Vioualis eet Target Local 10 255 255 226 1 1 Laufzeit 1 ONLINE In the operation mode the high byte of the State Var is 8 In this state the drive accepts motion commands Page 68 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT Change to the Motion Panel View of the visualisation TwinC
27. 1E44 00 4 20 MotionCommand Par 5 Word32 Default output PDO mapping of 24 Bytes the index is the UPID value of the variable The default PDO output data contains the control word and the generic motion command interface over which all types of motion commands can be accessed 3 2 2 Configuration Module Output Offset 0x1708 8 Variables RECORD 0x1709 00 2 0 Config Control Word Uint16 0x170A 00 2 2 Config Index Uint16 0x170B 00 4 4 Config Value Word32 With this module the LinMot drive can be completely configured So it gives access over parameters curves command table entries and the error log The detail functionality is Page 10 70 User Manual EtherCAT Interface NTI AG LinMot described the document 2 Configuration over fieldbus 565 As response module Configuration Module Input 0x1B08 has to be configured 3 2 3 Start Enable Index Size Byte Name Data Type Byte Offset 0x1718 2 Variables RECORD 0x1528 00 2 0 CAM Start Enable Uint16 Bit 0 of the 16 bit data field is mapped to CAM Start Enable Flag UPID 1528 Write O to all other bits 3 2 4 MC Link A1 Outputs Byte Offset 0x1740 24 Variables RECORD 0x1D52 00 ControlWord Uint16 Ox1DBO 0 2 2 MotionCommandHeader Uint16 0 Ox1E40 00 4 4 MotionCommand Par 1 Word32 0 1 41 00 4 8 MotionCommand 2 Wo
28. 22 42 0 uuo ind CUPID EE 22 4 2 7 Parameter start read modi jeg LOT PESE esos ads da RR M LL 23 4 3 ADS CURVES O 25 ESI RA CEE E NN 25 4 3 2 Curves delete single curve in 1 RAM 25 4 4 ADS EE cce tsi iode b or ceci EE Fi oc a cop Ee dc 31 4 4 1 Command Table delete all entries from e ss sa aa 3l NTI AG LinMot User Manual EtherCAT Interface Page 3 70 403 EE 32 Command Table redd Eeer 32 ko Pocta EE EE 35 EE 35 5 ASYNCHRONOUS CONFIGURATION PROTOCOL CO E eere eroe nonno 37 5 1 COMMUNICATION Peorme E KE E WEE 37 5 2 MANUFACTURER SPECIFIC PROFILE 2000 5 2 eene 21 Jd Parameter UPID read RAM EE 39 dE UPID wrie RAM valig ege 39 UFI redd RON A I TERRENUM 40 geen ROV WG AAA EE 40 33 Parameter UP ED EE 41 5 26 Parameter UPID EE 41 EE EE 42 5 2 8 Parameter UPID write RAM AER 42 5 2 9 Parameter default OS S W instance 43 3221 E EES 49 2 7 22 EE 50 5 2 23 Curves write curve info block data UR LU ATTE NX 50 22 21 Redd error nb e aiu oc ac RR Rd 34
29. AC Address 00 1b21 Te 6f b Search Mappings 16a L DEMO DO Device 1 EtherCAT IP Address 169 254 122 226 255 255 0 0 Compatible Devices f LM_DEMO_00 Standard Device 1 EtherCAT Info Freerun Cycle ms 4002 Promiscuous Mode use with Netmon Wireshark only C Vitual Device Names T System Manager 2 Activate Configuration configurations wil be overwritten ze Number Box Name Address InSize Out Size E Bus mA E Drive 1 1250 EC UC 1001 E1250 EC UC 18 0 24 0 Server Port Meldung syst COM Server TcEventLogger wird gestartet LE TCRTIME Server wurde gestartet TCRTIME D rrwncarsyst 09 12 2009 07 34 46 221 ms TCPLC Server wurde gestartet TCPLC Oo twincar Syst 08 12 2009 07 34 46 221 ms Server wurde gestartet Ready Local 10 255 255 226 1 1 Page 64 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT LinMot Offnen Dateiname LM_DEM0_00 pro Daiyp TwinCAT PLC Control Projekt v _Abbrechen Projekt aus der Steuerung ffnen Projekt aus Projektdatenbank ffnen Lade Bibliothek TIWINCANIPLCILIBISTANDARD LIB a E gt Projekt offnen Target Local 10 255 255 226 1 1 Laufzeit IESSEN ONLINE U5 LESEN EvalMcPanel PRG LM DEMO PRG
30. AM Write 0057h ID Curves write curve set point data in RAM Write 0058h ID Curves start modify curve in RAM Write 0059h ID Curves modify curve info block data in RAM Write 005Ah_ ID Curves modify curve set point data in RAM Read 005Eh ID Off Curves read presence list Write 005Fh Curves start write curves from RAM to FLASH Write 0060h Command Table delete all entries in RAM Write 0061h ID Command Table delete single entry in RAM Read 0062h ID Command Table read data size Read 0063h ID Command Table read data Write 0065h ID Command Table start write entry in RAM Write 0066h ID Command Table write entry data in RAM Read 006 ID Off Command Table read presence list Write 006Fh Command Table start write entries from RAM to FLASH Write 0070h Reset device Write 0071h Inst Stop SW instances Write 0072h Inst Start SW instances For a general description and an overview of the concepts used in fieldbus configuration please refer to the document LinMot 1100 Drive Configuration over Fieldbus Interfaces NTI AG LinMot User Manual EtherCAT Interface Page 19 70 LinMot 4 2 ADS Parameter Services The LinMot drive supports a unique parameter access for all parameter data types bit byte uint16 The parameter data can always be mapped into a 4 bytes data field The parameter itself is specified by its UPID unique parameter ID 4 2 1 EtherCAT 7 Parameter read R
31. AM value Read the RAM value of the parameter specified by its UPID FUNCTION BLOCK ADSREAD Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0040h LinMot Service ID Input IDXOFFS UDINT UPID Input LEN UDINT always 4 bytes Input DESTADDR DWORD ADR read buffer 4bytes Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id Example VARIABLES FbAdsRead ADSREAD instance of ADSREAD function block NetID T AmsNetId AoE net ID of slave device Port T AmsPort ADS port of slave device TimeOut TIME time out value for AoE communication RdVal DWORD 4byte buffer for read response bErr BOOL flag for error return 7 ber les DUINT error ID CODE starting parameter UPID read RAM value should be called only once per reading FbAdsRead READ FbAdsRead NETID PORT IDXGRP IDXOFFS LEN DESTADDR READ TMOUT BUSY ERR ERRID FALSE NetID Port 0 0040 0x13A2 4 ADR RdVal TRUE TimeOut RdBusy bErr brrld j X OF polling for read response should be called cyclic FbAdsRead BUSY RdBusy ERR pErr ERRID ErrId IF RdBusy FALSE IF bErr FALSE PosCtrlPGain ELSE
32. AT PLC Control LM DEMO 00 pro MOTION PANEL tras Online Fenster Hife IE Datei Bearbeiten Projekt Einf gen Gi Visusiierungen State Operation Enabled Node State FALSE SS CONTROL PANEL MAIN_PANEL MOTION_PANEL State Var 2241 2 Point Mode Demand Pos 0 0000 Actual Pos 0 1064 mm Wait T 1s0ms Dem Current 0 343A Pos 1 0 0000 BS 0 Max Vel 0 1000 m s Run Mode State 0 1 0000 m s Dec 1 0000 mie Wait T 500ms Pos 2 50 0000 mm Mex Vel 0 1000 m s 1 0000 m s 2 Dec 1 0000 m s 2 E Bauste 3 SS Visus Bea Target Local 10 255 255 226 1 1 Laufzeit 1 ONLINE 51 MMM 55 FORCE 08 LESEN In the 2 Point Mode the motor alternately moves between Pos 1 and Pos 2 These values probably have to be adapted if your motor is limited to a smaller stroke To activate the mode just press the 2 Point Mode button Now the motor should change between the two positions The motion parameters can be changed any time and are taken to account at the next motion start The lowest nibble of the State Var contains the count nibble of the motion command header Every time this nibble changes the motion control SW interprets the data of the generic motion control interface This
33. Bool R SW Phase Search X4 Intf Outputs 0000h 0000h 1C83h Ulnti6 1 0 RW MC SW Linearizing Digital Inputs Word 0200h 0200h 1C85h Ulntl amp 1 0 R MC SW Motion Interface Digital Input Force Mask 0000h 0000h 1CCOh Us 1 0 RW MC SW Winding Digital Input Force Value 0000h 0000h 1CCih Ulntl amp 1 0 AW MC SW Capture Trigger amp Mapped Inputs 4 Output Mask O1FFh DTFFh 1C88h Ulntl amp 1 0 R MC SW VA interpolator Digital Output Force Mask 0000h 0000h 1CC2h Ulnt16 1 0 RW MCSWD Digital Output Force Value 0000h 0000h 1CC3h 1 0 Rw uve 4 4 Analog Voltage 0 0108108108 0004h 1CAdh Ulntl amp 0 0027027027 V ov R MC SW PVT Stream X4 4 Analog Voltage Filtered av 00000000h 1CA7h FloallEEE754 0 0027027027 V 0v R MC SW Monitoring Diff Analog Voltage 0 02148227712 V FFFCh 1CA6h 51816 000537056928 V av R MC SW Errors Diff Analog Voltage Filtered av 00000000h 1CA8h FloallEEE754 0 00537056928 V 0v R MP CU Eecher CAM System Manager File Edit Actions View Options Help Dc E D Si sav mo 9 028 67 96 eot SYSTEM Configuration Reg reg e Configuration General Process Data Startup CoE Online Online 2 Sync Manager PDO List gll uo Configuration SM Size Type Flags Index Size Name Flags SM SU B 1 0 Devices 0 128 MbxOut 01800 18 0 Default Inputs 3 0 5 9
34. C Link 1 Outputs 0 ji x 05184 20 X4 Intf Qutputs 2 0 PDO Assignment 0 1 12 PDO Content 0 1C893 v 01700 Index Size Offs Name Type D I 01701 excluded by 041700 0 1 89 00 20 00 Intf Outputs UINT 0 1708 20 00 1718 C 01740 iv Download v PDO Assignment PDO Configuration Load PDO info from device Sync Unit Assignment Now you can choose the new generated PDO Data NTI AG LinMot User Manual EtherCAT Interface Page 17 70 LinMot EtherCAT 4 Asynchronous Configuration Protocol AoE For configuration purpose Parameter Curves Command Table and Program Handling the Beckhoff ADS Protocol is used Within EtherCAT this protocol is integrated as AoE ADS over EtherCAT For this reason the AoeNetld has to be used for ADS over EtherCAT LM_DEMO_PCI_00 tsm TwinCAT System Manager GH Edit Actions Options 5 sso A ORNS 116019109 60 9 Variable Flags Online Name AoeNelld ARRAY 0 5 OF USINT Group InfoData Size 60 Address 1566 User ID 0 Comment Slave contains an ADS router with this Netld 7 AoeNetd 0 AoeNettd 1 ADS Into Pott 300 IGrp 012003 10 Len ei AceNetld 2 91 AceNetld 4 ei AceNetld S 88 Mappings ep LM_DEMO_00 Standard Ger t 1 EtherCAT LM DEMO 00 Standard Ger t 1 EtherCAT Info
35. DR write buffer Obytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID Page 36 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 5 Asynchronous Configuration Protocol CoE 5 1 Communication Profile Area 1000h 1FFFh Index Name Flags Value 1000 Device type RO 0 00000000 0 1008 Device name R E1250 EC UC 1003 Hardware version R V1RD 1004 Software version RO 4 3 Beta 20110901 1018 0 Identity RO gt 4 lt 101 amp 01 Vendor ID RO 0 4 4 5443 1280201801 1018 02 Product code RO OxO09606E 3 9832163 1018 03 Revision RO 0x000001 06 262 1018 04 Serial number RO 0x15950004 36208641 0 5 2 Manufacturer specific Profile Area 2000h 5FFFh Parameters can be modified via their UPIDs Unique Parameter ID via CoE To use a UPID command an SDO read FB_EcCoeSdoReadEx or write FB_EcCoeSdoWriteEx has to be performed on the index 2000h The sub index specifies the command which is performed Sdo Index Sub Description Service Index Read 2000h UPID 01h Parameter UPID read RAM value Write 2000h UPID 01h Parameter UPID write RAM value Read 2000h UPID 02h Parameter UPID read ROM value Write 2000h UPID 02h Parame
36. Device 1 EtherCAT 1 128 Mbsln Dx1B01 18 0 NC Inputs E 0 Device 1 Image 2 24 Outputs 0 1808 80 Config Module F 0 Sg 3 18 Inputs 0x1B10 40 Input DemVel F 0 Di 1 1 1 pA es mage Info Ox1B11 40 Input Actel F 0 S E 0 1812 40 Input ActVelFilt F 0 Outputs Ox1B18 40 Input Counts F 0 InfoData Ox1B40 250 MC Link 1 Inputs F 0 al Box 1 E1250 EC LIC 0x1700 Default Outputs 0 QT Default Inputs 01701 26 0 NC Outputs I 0 Default Outputs 01708 80 Config Module Delete 0 westate 051718 20 Output CAM Start Enable 0 InfoData 0 1740 320 MC Link Outputs Edit 0 Mappings lt 7 gt Move Up Sm NC Task 1 SAF Device 1 EtherCAT Move Down PDO Assignment 041012 PDO Content 051700 700 E Index Size Offs Name Type Default hex L01701 excluded by 041700 0x1D52 00 20 00 Control Word UINT 0 1708 0 1080 00 20 20 Motion Command Header UINT ip 0x1718 0 1 40 00 40 40 Motion Command Par 1 DINT x1E41 00 40 80 Motion Command Par 2 DINT 0 1 42 00 4 0 12 0 Motion Command Par 3 DINT Ox1E43 00 4 0 16 0 Motion Command Par 4 DINT Ox1E 44 00 40 20 0 Motion Command Par 5 DINT 240 Download SIUE t Load PDO info from device PDO Configuration Sync Unit Assignment First define a new process data group by inserting into the PDO list Page 12 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT LinMot 8 SYSTEM Configuration E E
37. F 0 0x1B40 260 MC Link Inputs F 0 l Box 1 1250 0 1 85 20 X4 Inputs 3 0 gt Default Inputs 051700 240 Default Outputs 2 0 Ee ox 80 Config Modu F 0 onfig Module dereen 0178 20 OutputCAM Stat Enable F 0 HQ Westate 0x1 740 C 8 InfoData i lt ll IA 88 Mappings Delete NC Task 1 SAF Device 1 EtherCAT PDO Assignment 0x1C13 PDO Content 01740 Edit 7 0 1 00 Size Offs D 051801 excluded by 0 1 00 01052 00 20 00 Co Move Up UINT Ox1B08 0x1DB0 00 2 0 2 0 Move Down UINT 0x1810 40 00 40 40 Mouurr commaria rar DINT 71051811 0 1 41 00 40 8 0 Motion Command Par 2 DINT 1051812 Ox1E42 00 40 120 Motion Command Par 3 DINT 051818 Ox1E43 00 40 16 0 Motion Command Par 4 DINT 0 1 44 00 40 200 Motion Command Par 5 DINT 01840 041709 00 20 240 Config Control word UINT 0x1 704 00 20 280 Config Index Out UINT 0x170B 00 40 28 0 Config Value Out DINT 32 0 Download v PDO Assignment PDO Configuration Load PDO info from device Syne Unit Assignment First define a new process data group by inserting into the PDO List NTI AG LinMot User Manual EtherCAT Interface Page 15 70 LinMot EtherCAT SYSTEM Configuration oc
38. FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 04h LinMot Sdo Service ID Input WORD 2000h UPID Input pDstBuf DWORD ADR read_buffer 4bytes Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBus BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 41 70 EtherCAT 7 5 2 7 Parameter UPID read default value Read the default value of the parameter specified by its UPID and stores the result in the 4 bytes of the read_buffer FUNCTION_BLOCK FB_EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubindex Byte 05h LinMot Sdo Service ID Input nlndex WORD 2000h UPID Input pDstBuf DWORD ADR read buffer 4bytes Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 8 Parameter UPID write RAM amp ROM value
39. MOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 4 3 Command Table delete single entry from RAM Delete a single command table entry in RAM FUNCTION BLOCK ADSWRITE Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0061h LinMot Service ID Input IDXOFFS UDINT Command Table ID to delete Input LEN UDINT Always 0 bytes Input SRCADDR DWORD ADR write buffer Obytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 31 70 4 4 3 Command Table read data size Start command to read a Command Table entry The entry size will be returned EtherCAT 7 FUNCTION BLOCK ADSREAD Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0062h LinMot Service ID Input IDXOFFS UDINT Command Table ID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR read buffer 4bytes 0 3 Command Table size in bytes 0x0040 Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BO
40. OCK ADSWRITE Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0050h LinMot Service ID Input IDXOFFS UDINT Not evaluated Input LEN UDINT Always 0 bytes Input SRCADDR DWORD ADR write buffer Obytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 3 2 Curves delete single curve in RAM Delete single curves in RAM FUNCTION BLOCK ADSWRITE Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0051h LinMot Service ID Input IDXOFFS UDINT Curve ID to delete Input LEN UDINT Always 0 bytes Input SRCADDR DWORD ADR write buffer Obytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 25 70 4 3 3 Curves read info and data size Read the info block and curve setpoint data size of the specified curve EtherCAT 7 FUNCTION BLOCK ADSREAD Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Inp
41. OL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 4 4 Command Table read data Read the Command Table data This command has to be repeated until all 64 bytes are read FUNCTION BLOCK ADSREAD Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0063h LinMot Service ID Input IDXOFFS UDINT Command Table ID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR read buffer 4bytes Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id Page 32 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 7 4 4 5 Command Table start write entry in RAM Start command to write a Command Table entry in the RAM FUNCTION BLOCK ADSWRITE Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0065h LinMot Service ID Input IDXOFFS UDINT Command Table ID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR write buffer 4bytes 0 3 Command Table size in bytes 0x0040 Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL In
42. Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 29 70 EtherCAT 7 4 3 13 Curves start write curves from RAM to FLASH Save the whole curve section from RAM to FLASH memory FUNCTION BLOCK ADSWRITE Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 005Fh LinMot Service ID Input IDXOFFS UDINT Input LEN UDINT Always 0 bytes Input SRCADDR DWORD ADR write buffer Obytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID Page 30 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 7 4 4 ADS Command Table Services 4 4 1 Delete all command table entries in RAM Command Table delete all entries from RAM FUNCTION BLOCK ADSWRITE Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0060h LinMot Service ID Input IDXOFFS UDINT Not evaluated Input LEN UDINT Always 0 bytes Input SRCADDR DWORD ADR write buffer Obytes Input WRITE BOOL Rising edge starts reading Input T
43. PDO Configuration Online Type Size gt Addr InfOut ei stateVar 0x0200 512 UINT 2 0 26 0 Input Here you can again define a name and index choose the UPID again and choose the correct data format UINT16 in this case Then push the OK button again At the moment only 2 bytes and 4 bytes data size is supported SYSTEM Configuration e MB Configuration WI PLC Configuration Cam Configuration amp ll 1 0 Configuration SB Devices Se Device 1 EtherCA Device 1 Image Device 1 Image Info j Qf Inputs 8 l Outputs InfoData Box 1 E1250 I H 0 8 QT x4 Inputs wcstate InfoData 5 88 Mappings 8 8 NC Task 1 SAF Device 1 EtherCAT EC UC QT Default Inputs l Default Outputs x4 Intf Outputs General EtherCAT DC Process Data Startup CoE Online Online Sync Manager PDO List SM Size Type Flags Index Size Name Flags SM Su D 128 MbxOut 051800 180 Default Inputs 3 1 128 0x1B01 18 0 NC Inputs E 0 2 26 Outputs 0x1808 8 0 Config Module F 0 3 20 Inputs 0x1810 40 Input DemVel F D x1B11 40 Input ActVel F 0 Ox1B12 40 Input ActVelFilt F 0 051818 40 Input Counts 5 0 0 1840 260 MC Link A1 Inputs 0 0 1 85 20 X4 Inputs 3 0 051700 240 Default Qutputs 2 051701 26 0 NC Outputs IF 0 01708 8 0 Config Module F D 051718 20 Output Start Enable F D 051740 320 M
44. RCAT Enable The drive runs with ETHERCAT connection ETHERCAT ASIC rests in reset state No messages will be sent to other IMPORTANT If the Interface is disabled the integrated devices connected to the ETHERCAT Network via the E1250 or E1450 drive NTI AG LinMot User Manual EtherCAT Interface Page 61 70 EtherCAT 7 7 Connecting to the EtherCAT Network 7 1 Pin Assignment of the Connectors X17 X18 The ETHERCAT connector is a standard RJ45 female connector with a pin assignment as defined by EIA TIA T568B X17 X18 ETHERCAT Connector Pin Wire color code Assignment 100BASE TX 1 WHT ORG Rx 2 ORG Rx 3 WHT GRN Tx 4 BLU 5 WHT BLU 6 GRN 7 WHT BRN 8 BRN case RJ 45 Use standard patch cables twisted pair S UTP AWG26 for type of cable is usually referred to as a Cat5e Page 62 70 User Manual EtherCAT Interface NTI AG LinMot mens EtherCAT 7 8 TwinCAT Demo Program LinMot With the LinMot Talk software a TwinCAT demo program is included as start point for new LinMot users to get familiar with the concepts that stands behind LinMot motion SW For getting started with this demo program connect a LinMot EtherCAT drive directly to the master Wire the signal supply 24V Dc and the motor power supply Wire also the Safety Voltage Enable on X4 12 to 24V Then connect the motor to the servo power on the signal suppl
45. S Port Input IDXGRP UDINT 0059h LinMot Service ID Input IDXOFFS UDINT Curve ID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR write buffer 4bytes Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 3 8 Curves modify curve setpoint data in RAM Write the setpoint data of the specified curve This command has to be repeated until all data is written FUNCTION BLOCK ADSWRITE Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 005Ah LinMot Service ID Input IDXOFFS UDINT Curve ID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR write buffer 4bytes Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id NTI AG LinMot User Manual EtherCAT Interface EtherCAT 7 4 3 9 Curves start write curve to RAM Initiates writing a curve to RAM Then the Curves write curve info block data to RAM service has to be called several times Only non existing curve IDs can be written If the curve exists it has to be deleted before Command Curves delete single curve in RAM Repeated curve writing ca
46. al EtherCAT Interface NTI AG LinMot EtherCAT Release the Control Word bit 0 Switch On PLC Control LM DEMO 00 CONTROL PANI tei Bearbeiten Projekt Einf gen Extras Online Fenster Hilfe ES Visualisierungen CONTROL PANEL MAIN PANEL MOTION PANEL State Var 0 State Not Ready To Switch On 0 Operation Enabled 0 Motor Hot Sensor 1 Motor Short Time Overload 2 Enable Operation 2 Motor Supply Voltage Low 3 Error 3 Motor Supply Voltage High 6 GoTo Position 7 Error Acknowledge 4 Position Lag Always 5 Position Lag Standing 6 Controller Hot 8 Jog Move 8 Event Handler Active 8 1 9 Jog Move 3 Special Motion Active B PTC2 10 Special Mode 10 In Target Position 10 Reserved 11 Home 11 Homed 11 Reserved 12 Clearance Check 12 Fatal Error 12 Reserved 13 Go To Initial Position 13 Motion Active 13 Reserved 14 Linearizing 14 Interface Flag 15 Phase Search 15 Range Indicator 2 15 Application Wam Flag Ctrl Word Status Word 40F2 Wam Word 80 Bauste 13 Datent B Vioualis 5 Ressou Target Local 10 255 255 226 1 1 Laufzeit ONLINE State Operation
47. alue UDINT Value of Parameter 8 Address usage UINT 5 2 18 Stop MC and Application SW instances This service stops the execution of the MC and application SW layers This command should be used before configuring writing to ROM values of these instances FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte 35h LinMot Sdo Service ID Input nlndex WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 47 70 5 2 19 Start Application SW instances This service starts the execution of the MC and application SW layers This command should be used after configuring writing to ROM values of these instances are finished FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 36h LinMot Sdo Service ID Input WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Inpu
48. ates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 10 Parameter default MC SW instance All parameters of the MC SW instance are set to their default value FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 08h LinMot Sdo Service ID Input WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 43 70 5 2 11 Parameter default Intf SW instance All parameters of the interface SW instance are set to their default value EtherCAT FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte 09h LinMot Sdo Service ID Input nlndex WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writ
49. cal 10 255 255 22 In this example the scan found an EK1100 and the LinMot drive E1250 EC UC and are imported to the project Page 8 70 User Manual EtherCAT Interface NTI AG LinMot 3 Process Data Object PDO Configuration The cyclic process data is configured in the master and transmitted to the slave during startup The default mapping is documented in the tables below The inputs and outputs correspond to the PLC point of view For a detailed description of the exchanged data and its meaning refer to 1 For a detailed description of the PDO data refer to 1 or have a look at the TwinCAT demo program which is included with the LinMot Talk software 3 1 Input PDO Modules 3 1 1 Default Inputs 0x1B00 Variables RECORD 0x1B62 00 StateVar Uint16 0x1D51 00 StatusWord Uint16 D8E 0 WarnWord Uint16 E B8A 00 DemandPosition Int32 0x1B8D 0 ActualPosition Int32 0 0x1B93 00 DemandCurrent Int32 Default input PDO mapping of 18 Bytes the index is the UPID value of the variable 3 1 2 Configuration Module Input 0x1B08 Variables RECORD 0x1B09 00 2 0 Config Status Word Uint16 0 1 0 00 2 2 Config Index Uint16 0x1B0B 00 Config Value Word32 This module is the feedback data module of the module 1708 Configuration Module Output 3 1 3 Input Demvel Inde ize 0x1B10 4 Variables RECORD 0x1B8B 00 4 DemandVelocit Int32 3 1 4 Input ActVel 0x1B11 Va
50. consists of the motion control header which selects the type of motion that has to be executed its count nibble to assure consistent data and the motion command parameters section which depends on the type of motion command 8 1 PLC Library For the Beckhoff PLC s exist a PLC library which could ease the programming of your application it could be downloaded under http linmot2 dynalias net plc_lib For further information please contact our support NTI AG LinMot User Manual EtherCAT Interface Page 69 70 9 Contact Addresses SWITZERLAND NTI AG LinMot Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration Tech Support Tech Support Skype Fax Web EtherCAT 41 0 56 419 91 91 office linmot com 41 0 56 544 71 00 support linmot com skype support linmot 41 0 56 419 91 92 http www linmot com LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration Tech Support 877 546 3270 262 743 2555 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www linmot usa com Please visit http www linmot com to find the distributor nearest to you Smart solutions are www LinMot com Page 70 70 User Manual EtherCAT Interface NTI AG LinMot
51. dicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 4 6 Command Table write entry data in RAM Write the Command Table data This command has to be repeated until all 64 bytes are written FUNCTION BLOCK ADSWRITE Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0066h LinMot Service ID Input IDXOFFS UDINT Command Table ID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR write buffer Abytes Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id NTI AG LinMot User Manual EtherCAT Interface Page 33 70 4 4 7 Command table read presence list Gets the presence list of all Command Table entries EtherCAT 7 FUNCTION BLOCK ADSREAD Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT OO6Eh LinMot Service ID Input IDXOFFS UDINT Bit 0 means Entry exists IDOff 0 entries 1 31 32 entries 33 63 64 entries 65 95 96 entries 96 127 128 entries 128 159 160 entries 160 191 192 entries 192 223 224 entries 224 255 Input LEN UDINT Always 4 bytes Input SRCADDR DWORD
52. ding Digital Input Force Value 0000h 0000h 10018 Uegg 1 0 RW MC SW Capture Trigger amp Mapped Inputs 4 Output Mask 1C8Bh 1 0 R MC SW V interpolator Digital Output Force Mask 0000h 0000h 1CC2h Ulnt16 1 D RW MC SW Digital Output Force Value 0000h 0000h 1CC3h Ulnt16 1 D Rw 4 4 Analog Voltage 0 0108108108 V 0004h 1 4 Ulntl amp 0 0027027027 V ov R MC SW PVT Stream X4 4 Analog Voltage Filtered Du 00000000h 1CA7h FloallEEE754 0 0027027027 V Du MC SW Monitoring Diff Analog Voltage 002148227712 V FFFCh 1 SlntiB 0 00537056928 V Du R MC SW Errors Diff Analog Voltage Filtered Du 00000000 1CABh 754 0 00537056928 V 0v R _VAR_02 tsm System Manager File Edit Actions View Options Help Dee sie 8 El SYSTEM Configuration 61968 60 General EtherCAT DC Process Data Startup CoE Online Online E NC Configuration rc Configuration Sync Manager PDO List Configuration 1 0 Configuration SM Size Type Flags Index Size Name Flags SM 50 Bf 1 0 Devices 0 128 MbxQut Ox1B00 18 0 Default Inputs 3 0 SS Device 1 EtherCAT 1 128 Mbxln 0x1B01 18 0 NC Inputs F 0 ndi led 2 Vi Cen 40 WA F 0 1 e nputs 2 OdBll 4 0 F 0 P 051812 40 Input ActVelFilt 0 Outputs Ox1B18 40 Input CAM Counts
53. e 61h LinMot Sdo Service ID Input WORD 2000h ID Input pDstBuf DWORD ADR read_buffer 6bytes UINT Status DWORD data Input cbBufLen UDINT 6 bytes Input bExecute BOOL Rising edge starts writing tTimeout TIME Timeout value bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 27 Curves read set point data in RAM Read the set point data block of the curve defined by its ID the 4 byte result is stored together with the read status in the 6 bytes of the read buffer This command has to repeated until the whole set point data block is read status 0 FUNCTION BLOCK FB EcCoeSdoReadEx Direction Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 62h LinMot Sdo Service ID Input WORD 2000h ID Input pDstBuf DWORD ADR read_buffer 6bytes UINT Status DWORD data Input cbBufLen UDINT 6 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Page 52 70 User Manual EtherCAT Interface NTI AG LinMot E
54. entries 224 255 Page 38 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 7 LinMot 5 2 1 Parameter read RAM value Read the RAM value of the parameter specified by its UPID and stores the result in the 4 bytes of the read buffer FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubindex Byte 01h LinMot Sdo Service ID Input WORD 2000h UPID Input pDstBuf DWORD ADR read_buffer 4bytes Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 2 Parameter UPID write RAM value Write the content of the write buffer to the RAM value of the parameter specified by its UPID The write buffer can have an unique size of 4 bytes FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubindex Byte 01h LinMot Sdo Service ID Input WORD 2000h UPID Input pSrcBuf DWORD ADR write buffer 4bytes Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge s
55. er Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bCompleteAc BOOL FALSE cess Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Page 46 70 User Manual EtherCAT Interface NTI AG LinMot Output nErrld UDINT Error ID 5 2 17 Read next modified UPID List entry Read the response state UPID address usage and ROM value of the next modified parameter The reading of the list doesn t stop at the end of a SW instance only at the end of all instances FUNCTION BLOCK FB EcCoESdoReadEx Direction Name Type Description Input sNetld T AmsNetld AMS NetlD Input nSlaveAddr T AmsPort ADS Port Input nSublndex UDINT 0027h LinMot Service ID Input UDINT 2000h Input pDstBuf Struct ADR read buffer 10bytes Input cbBufLen UDINT Always 10 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bCompleteAc BOOL FALSE cess Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Response Data Structure Offset Name Type Description 0 Res State UINT 0x0000 No error 0x00C5 Reading not initialized 0x00C6 No UPID found finished 2 UPID UINT UPID of Parameter Or Variable 4 V
56. er Fieldbus Interfaces SG5 www linmot com 1 2 Connecting In and Out A In PLC Other Devices Master In the EtherCAT the cabling is directed so In and Out is different The right realtime IN RJ45 X17 connector is the input and the left realtime RJ45 X18 connector is the output Page 6 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 7 LinMot 2 Setup in the PLC In the following steps the integration of a LinMot EtherCAT drive in the PLC is described In the example a Beckhoff master PLC is used 2 1 Copy Device Description File The LinMot drive is described with xml device description file distributed with the LinMot Talk software Copy this file to PLC so it can access it Example Source path of EtherCAT Device description file C Programme LinMot LinTalk1100 3 11 Build 20091204 Firmware Interfaces EtherCAT XML LinMot_ECAT_Servos_V1_4 xml Example Destination path of EtherCAT Device description file C TwinCAT lo EtherCAT LinMot_ECAT_Servos_V1_4 xml If this is done the PLC should recognize all LinMot drive on the EtherCAT fieldbus automatically 2 2 Scan the EtherCAT slave devices Connect the EtherCAT LinMot drive to the EtherCAT Master and power on the signal supply Then scan for the connected devices in the System Manager LM_DEMO_PCI_00 tsm TwinCAT System Manager File Edit Actions View Options Help amp 8 5 8908 95 Qaem egt General
57. erCAT PDO Assignment 0113 PDO Content 0x1C89 0x1B00 Index Size Offs Name Type D 1 1 1 excl by 00000 RER Ers Rm 01810 e1 01812 01818 01840 par Then select the new defined process data and define the data format by inserting PDO content Page 16 70 User Manual EtherCAT Interface NTI AG LinMot Fees EtherCAT 7 LinMot General EtherCAT DC Process Data Startup CoE Online Online Sync Manager PDO List SM Size Type Flags Index Size Name TA SM SU 0 128 MbxOut Ox1B00 18 0 Default Inputs 3 0 1 128 Mbxln 0x1801 18 0 NC Inputs F 0 2 24 Outputs 0x1B08 8 0 Contig Module F 0 3 20 Inputs 051810 40 Input F 0 0 1 11 40 Input Actel F 0 091812 40 Input ActV elFilt F 0 051818 40 Input Counts F 0 081840 260 MC Link Inputs 0 0 1 85 20 X4 Inputs 3 0 051700 240 Default Outputs 2 0 051701 26 0 NC Outputs 0 051708 80 Config Module F 0 081218 20 Output CAM Start Enable F 0 0 1740 32 0 MC Link 1 Outputs F 0 lt Io 0 1 89 0 0 X4 Intf Outputs Edit Pdo Entry PDO Assignment Dx1C13 PDO Content 0 1C83 N zm ame ntf Outputs 081800 Offs Name 0 1801 excluded by 01800 0 0 Index 1089 7305 10 1 08 0 1810 Sublndex 0 01811 Data Type 0x1B18 5 7051840 Bit Lentgh 1 0 1 85 From Dictionary Download RUD RSTO Load PDO info from device C
58. he RAM FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte 82h LinMot Sdo Service ID Input nlndex WORD 2000h ID Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 57 70 5 2 36 Command Table start write entry RAM EtherCAT 7 This service initiate the writing of a new Command Table entry in the RAM FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte 83h LinMot Sdo Service ID Input WORD 2000h ID Input pSrcBuf DWORD ADR write buffer Input cbBufLen UDINT 4 bytes UDINT Entry Data Size Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 37 Com
59. ing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 12 Parameter default Appl SW instance All parameters of the application SW instance are set to their default value FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte OAh LinMot Sdo Service ID Input WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Page 44 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 7 5 2 13 Reset device This service resets the device FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte OBh LinMot Sdo Service ID Input nlndex WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted In
60. ing active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID Page 28 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 7 4 3 11 Curves write curve setpoint data to RAM Write the curve setpoint data to RAM This has to be repeated until the whole setpoint data block is written FUNCTION BLOCK ADSWRITE Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0057h LinMot Service ID Input IDXOFFS UDINT Curve ID to write Input LEN UDINT Always 4 bytes Input SRCADDR DWORD ADR write buffer 4bytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 3 12 Curves read presence li st Write the RAM value of the parameter specified by its UPID FUNCTION BLOCK ADSREAD Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT O05Eh LinMot Service ID Input IDXOFFS UDINT IDOff 0 curves 1 32 32 curves 33 64 64 curves 65 96 96 curves 96 100 Input LEN UDINT Always 4 bytes Input SRCADDR DWORD ADR write buffer 4bytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value
61. itten FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte 53h LinMot Sdo Service ID Input WORD 2000h ID Input pSrcBuf DWORD ADR write buffer Input cbBufLen UDINT 4 bytes data of curve info block Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Page 50 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT LinMot 5 2 24 Curves write curve set point data in RAM This service writes the curve setpoint data block in the RAM it has to be repeated until all setpoints are written FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 53h LinMot Sdo Service ID Input WORD 2000h ID Input pSrcBuf DWORD ADR write buffer Input cbBufLen UDINT 4 bytes of setpoint data Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID
62. locity 0 m s 00000000h 1B8Bh 51932 1E 6 m s m s R User Defined Demand Acceleration Om s 2 00000000h 1B8Ch Slnt32 1E 5 m s 2 O m s 2 R 05 SW Operating Hours Time Actual Position 0 0421 mm 000001 5 1B8Dh Slnt32 0 0001 mm Omm R DS SW Message Enor Actual Velocity Om s 00000000h 1 8 51732 1E 6 m s Om s R Actual Velocity Filtered Om s 000000008 1BAFh Slni32 1E 6 m s R Difference Position 0 0421 mm FFFFFESBh 1890h 510032 0 0001 mm Omm R OS SW Monitoring Difference Velocity 00000000h 1891 Slni32 1E 6 m s m s R 05 SW HW Configuration Demand Current Pos Ctrl 75A FFFFE2B4h 1 92 Sint32 0 001 A OS Hash Value Demand Current 0 00000000h 1B93h SInt32 0 001 A 0 R OS SW Status Demand Position 16 Bit 0 0000h 1B94h 1 0 R 05 Sw Debug Actual Position 16 Bit 0 0000h 1B95h 51816 1 0 R 10 Config 10 State Word 0200h 0200h 1C84h Ulntl amp 1 0 R HESSEN 10 State Bit 0 4 3 FALSE Oh 1C8Eh Bool R 10 State 54 4 FALSE Oh 1C8Fh Bool R MC SW E1200 Debug ID State Bit 2 44 5 FALSE Oh 1C90h Bool MC SW Motor 10 State Bit 30446 FALSE Oh 1C31h Bool R MC SW X13 Ext Sensor 10 State Bit 4 44 7 FALSE Oh 12921 Bool MC SW Current Controller 10 State Bit 5 54 8 FALSE Oh 1 93 Bool MC SW Control Word 10 State Bit 6 54 9 FALSE Oh 1C84h 10 State Bit 74 10 FALSE Oh 1C95h Bool ia 10 State Bit 8 4 11 FALSE Oh 1 98 Bool R 10 State Bit 9 44 12 TRUE th 12978
63. mand Table write entry data in RAM This service writes the Command Table data block in the RAM FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 84h LinMot Sdo Service ID Input WORD 2000h ID Input pSrcBuf DWORD ADR write_buffer Input cbBufLen UDINT 4 bytes of entry data Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Page 58 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 7 5 2 38 Command Table entry data size in RAM Read the the entry size of the Command Table entry specified by its ID and stores the result in the 6 bytes of the read buffer FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubindex Byte 85h LinMot Sdo Service ID Input WORD 2000h ID Input pDstBuf DWORD ADR read_buffer 6bytes UINT Status UDINT entry size Input cbBufLen UDINT 6 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bC
64. me Actual Position 0 0421 mm 00000145 1880 51432 0 0001 mm Omm R 05 Sw Actual Velocity m s 00000000h 1B8Eh SInt32 1E 6 m s Oms R 05 SWT Actual Velocity Filtered 00000000h 1 SInt32 1E 6 m s m s R fap Difference Position 0 0421 mm FFFFFESBh 1B90h 517032 0 0001 mm Omm R 05 SW Monitoring Difference Velocity Om s 00000000h 1891 Slni32 1E6 m s m s R 05 Sw HW Configuration Demand Current Pos Ctrl 75A FFFFE2B4h 1892h 32 0 001 A 0A R Demand Current 0A 00000000 1BS3h 519032 0 001 A 0A Demand Position 16 Bit 0 0000h 1B94h 51816 1 0 Actual Position 16 Bit 0 0000h 1B95h 51816 1 0 10 State Word 0200h 0200h 1C84h Ulntl amp 1 0 10 State Bit 0 4 3 FALSE Oh 1C8Eh Bool R 10 State Bit 1 44 4 FALSE Dh 1C8Fh Bool 10 State Bit 2 44 5 FALSE Oh 1C90h Bool 10 State Bit 3 44 5 FALSE Oh 1 91 Bool MC SW X13 Ext Sensor 10 State Bit 4 44 7 FALSE Oh 1 92 Bool MC SW Current Controller 10 State Bit 5 4 8 FALSE Oh 12938 Bool ME SW Control Word 10 State 4 3 FALSE Oh 1C94h Bool R 10 State Bit 7 x4 10 FALSE Oh 1C95h Bool ME Wai ID State Bit 8 44 11 FALSE Dh 1C38h Bed R Kid 10 State Bit 9 4 12 TRUE th 1C97h R MC SW Phase Search X4 Intf Outputs o000h 0000h 1C89h Ulntl6 1 0 RW MC SW Linearizing Digital Inputs Word 0200h 0200h 1C85h Ulntl amp 1 0 R MC SW Motion Interface Digital Input Force Mask 0000h 0000h 1CCOh Ulntl6 1 0 Rw MC SW Win
65. n lead to a full curve memory In this case the complete curve memory has to be deleted with the command Delete all curves FUNCTION BLOCK ADSWRITE Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0055h LinMot Service ID Input IDXOFFS UDINT Curve ID to write Input LEN UDINT Always 4 bytes Input SRCADDR DWORD ADR write buffer Obytes Bytes 0 1 curve info block size Bytes 2 3 curve data block size Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 3 10 Curves write curve info block data to RAM Write the curve header data to RAM This command has to be repeated until the whole curve info block data is written Then the Curves write curve info block data to service has to be called several times FUNCTION BLOCK ADSWRITE Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0056h LinMot Service ID Input IDXOFFS UDINT Curve ID to write Input LEN UDINT Always 4 bytes Input SRCADDR DWORD ADR write buffer 4bytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates read
66. nished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID Typical restart time are 5 seconds take this fact in account when setting the ADS timeout value NTI AG LinMot User Manual EtherCAT Interface Page 35 70 4 5 2 Stop SW instances EtherCAT 7 Stop the selected SW instances e g for saving the curves into the FLASH memory FUNCTION BLOCK ADSWRITE Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0071h LinMot Service ID Input IDXOFFS UDINT SW instance selection Bit 0 MC SW layer Bit 1 Interface SW layer Bit 2 application SW layer Input LEN UDINT Always 0 bytes Input SRCADDR DWORD ADR write buffer Obytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 5 3 Start SW instances Start the selected SW instances e g after flashing the curves FUNCTION BLOCK ADSWRITE Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0072h LinMot Service ID Input IDXOFFS UDINT SW instance selection Bit 0 MC SW layer Bit 1 Interface SW layer Bit 2 application SW layer Input LEN UDINT Always 0 bytes Input SRCADDR DWORD A
67. ogged entry Read 2000h ID 74h Read error text stringlet 0 of error code Read 2000h ID 75h Read error text stringlet 1 of error code Read 2000h ID 76h Read error text stringlet 2 of error code Read 2000h ID 77h Read error text stringlet 3 of error code Read 2000h ID 78h Read error text stringlet 4 of error code Read 2000h ID 79h Read error text stringlet 5 of error code Read 2000h ID Read error text stringlet 6 of error code Read 2000h ID 7Bh Read error text stringlet 7 of error code Write 2000h 80h Command Table copy entries from RAM to FLASH Write 2000h 81h Command Table delete all entries in RAM Write 2000h ID 82h Command Table delete single entry in RAM Write 2000h ID 83h Command Table start write entry in RAM Write 2000h ID 84h Command Table write entry data in RAM Read 2000h ID 85h Command Table read entry data size Read 2000h ID 86h Command Table read entry data Read 2000h 87h Command Table read presence list entries 0 31 Read 2000h 88h Command Table read presence list entries 32 63 Read 2000h 89h Command Table read presence list entries 64 95 Read 2000h 8Ah Command Table read presence list entries 96 127 Read 2000h 8Bh Command Table read presence list entries 128 159 Read 2000h 8Ch Command Table read presence list entries 160 191 Read 2000h 8Dh Command Table read presence list entries 192 223 Read 2000h 8Eh Command Table read presence list
68. omplAccess BOOL FALSE Output bBus BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 39 Command Table read entry data in RAM Read the Command Table entry data specified by its ID and stores the result in the 6 bytes of the read buffer FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubindex Byte 86h LinMot Sdo Service ID Input WORD 2000h ID Input pDstBuf DWORD ADR read buffer 6bytes UINT Status DWORD data Input cbBufLen UDINT 6 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 59 70 5 2 40 Command Table read presence list Read the Command Table entry list definied by its subindex ID and stores the result in the 4 bytes of the read buffer A zero of the corresponding bit means command table entry is present a one means the corresponding entry doesn t exists FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address
69. or id 4 2 3 Parameter UPID read ROM value Read the ROM value of the parameter specified by its UPID FUNCTION BLOCK ADSREAD Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0042h LinMot Service ID Input IDXOFFS UDINT UPID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR read buffer Abytes Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 2 4 Parameter UPID write ROM value Write the RAM value of the parameter specified by its UPID FUNCTION BLOCK ADSWRITE Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0043h LinMot Service ID Input IDXOFFS UDINT UPID Input LEN UDINT Always 4 bytes Input SRCADDR DWORD ADR write buffer 4bytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error NTI AG LinMot User Manual EtherCAT Interface Page 21 70 EtherCAT Output ERRID UDINT Error id 4 2 5 Parameter start read UPID list Specify the SW layer by its
70. put ERRID UDINT Error ID OOh ok C6h No new UPID found Page 22 70 User Manual EtherCAT Interface NTI AG LinMot 4 2 7 EtherCAT 7 Parameter start read modified list Specify the SW layer by its start UPID of which the UPID list will be read out The list contains only the parameter that differs in the ROM value of its default value FUNCTION BLOCK ADSREAD Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0046h LinMot Service ID Input IDXOFFS UDINT Start UPID 0000h OS SW layer 1000h MC SW layer 2000h Intf SW layer 3000h Appl SW layer Input LEN UDINT 0 Input DESTADDR DWORD ADR read buffer 8bytes Bytes 0 1 UPID Bytes 2 3 Address usage Bytes 4 7 ROM Value Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 00h ok 4 2 8 Parameter get next modified UPID list item Read the UPID Address usage and ROM value of the parameter of the defined SW layer specified by its start UPID FUNCTION BLOCK ADSREAD D irection Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0047h LinMot Service ID Input IDXOFFS Not e
71. put bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 14 Start read UPID List Specify the SW layer by its start UPID of which the UPID list will be read out The list contains all parameters and variables of the SW layer FUNCTION BLOCK FB EcCoESdoWriteEx Direction Description Input sNetld T AmsNetld AoE NetID Input nSlaveAddr T AmsPort ADS Port Input nSubindex UDINT 0024h LinMot Service ID Input UDINT 2000h Input pSrcBuf DWORD ADR write buffer 4bytes Start UPID 0000h OS SW layer 1000h MC SW layer 2000h Intf SW layer 3000h Appl SW layer Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bCompleteAc BOOL FALSE cess Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 45 70 5 2 15 Read the response state UPID address usage and ROM value of the parameter and the Read next UPID List entry EtherCAT 7 RAM value of the variables reading of the list doesn t stop at the end of a SW instance only a
72. rd32 0x1E42 00 4 12 MotionCommand 3 Word32 0x1E43 00 4 16 MotionCommand Par A Word32 Ox1E44 00 4 20 MotionCommand Par 5 Word32 0x1709 00 2 Config Control Word Uint16 0x170A 00 2 Config Index Uint16 0x170B 00 4 Word32 MC Link Outputs PDO mapping of 32 bytes the index is the UPID value of the variable With this module a B1150 ML XX connected on X11 can be controlled NTI AG LinMot User Manual EtherCAT Interface Page 11 70 3 3 User defined Input PDO Modules Within the Beckhoff System Manager you can also define your individual IO process data In the following example the Digital Input Word UPID 1C85h is mapped Talk File Search Controller Services Options Window Tools Manuals Help 85 uk amp d Una 192168210 DEVEL gt m SI Project e e R sn 2 DEVELOPER Value RawData Scale Offset State Machine Main State 2 02h 1B5Eh Ulnt8 1 0 R State Machine Sub State 0 00h 1B5Fh 1 0 R State Ready To Switch On 02h 1B50h Ulnt8 Enumerator R Motion Control Sw State Var 0200h 0200h 1B62h Uetig 1 0 R EtherCAT Intf Demand Position 00000000 1B84h SInt32 0 0001 mm Omm R EE Variables Demand Ve
73. riables RECORD 0x1B8E 00 4 ActualVelocity Int32 3 1 5 Input ActVelFilt 0x1B12 4 Variables RECORD Ox1BAF 0 4 ActualVelocityFilt Int32 0 NTI AG LinMot User Manual EtherCAT Interface Page 9 70 EtherCAT 7 3 1 6 Input CAM Counts Index ed Byte Data Type Offset 0x1B18 Variables RECORD 0x1C50 00 4 CAM Counts Int32 3 1 7 MC Link A1 Inputs Index Size Byte Data Byte Offset 0x1B00 18 Variables RECORD 0 1 62 00 2 0 StateVar Uint16 0x1D51 00 2 2 StatusWord Uint16 0 108 0 2 4 WarnWord Uint16 0 0x1B8A 00 4 6 DemandPosition Int32 Ox1B8D 0 4 10 ActualPosition Int32 0 0x1B93 00 4 14 DemandCurrent Int32 0x1B09 00 2 18 Config Status Word Uint16 0x1B0A 00 2 20 Config Index Uint16 0 1 00 4 22 Config Value Word32 MC Link A1 PDO mapping of 26 Bytes the index is the UPID value of the variable With this module a B1150 ML XX connected on X11 can be monitored 3 2 Output PDO Modules 3 2 1 Default Outputs Index Size Byte Name Data Type Byte Offset 0x1700 24 Variables RECORD 0x1D52 00 2 0 ControlWord Uint16 Ox1DBO 0 2 2 MotionCommandHeader Uint16 0 Ox1E40 00 4 4 MotionCommand Par 1 Word32 0 1 41 00 4 8 MotionCommand Par 2 Word32 0 1 42 00 4 12 MotionCommand Par 3 Word32 0x1E43 00 4 16 MotionCommand Par 4 Word32 Ox
74. t cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Page 48 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 5 2 20 Curves copy curves from RAM to FLASH This service copies the actual in the RAM defined curves to the FLASH memory so they are available after power up Use this command only with stopped MC SW FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 40h LinMot Sdo Service ID Input WORD 2000h Input pSrcBuf DWORD ADR write buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 21 Curves delete all curves in RAM This service deletes all curves in the RAM FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT
75. t tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBus BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Page 54 70 User Manual EtherCAT Interface NTI AG LinMot 5 2 32 Read error short text Read the short text of an error defined by its error code for each stringlet 4 characters a service number 74h 7Bh is defined FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input 5 Byte 74h LinMot Sdo Service ID stringlet Count 0 7 Input WORD 2000h ID Input pDstBuf DWORD ADR read buffer 4bytes 4 characters of error short text Input cbBufLen UDINT 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBus BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 55 70 5 2 33 Command Table copy entries from RAM to FLASH This service copies the actual in the RAM defined Command Table entries to the FLASH memory so they are available after power up Use this command only with stopped MC SW FUNCTION BLOCK FB EcCoeSdoWriteEx
76. t the end of all instances FUNCTION BLOCK FB EcCoESdoReadEx Direction Name Type Description Input sNetld T AmsNetld AMS NetlD Input nSlaveAddr T AmsPort ADS Port Input nSublndex UDINT 0025h LinMot Service ID Input UDINT 2000h Input pDstBuf Struct ADR read buffer 10bytes Input cbBufLen UDINT Always 10 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bCompleteAc BOOL FALSE cess Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID Response Data Structure Offset Name Type Description 0 Res State UINT 0x0000 No error 0x00C5 Reading not initialized 0x00C6 No UPID found finished 2 UPID UINT UPID of Parameter Or Variable 4 Value UDINT Value of Parameter 8 Address usage UINT 5 2 16 Start read modified UPID List Specify the SW layer by its start UPID of which the UPID list will be read out The list contains all parameters and variables of the SW layer FUNCTION BLOCK FB EcCoESdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AoE NetID Input nSlaveAddr T AmsPort ADS Port Input nSubindex UDINT 0026h LinMot Service Input UDINT 2000h Input pSrcBuf DWORD ADR write buffer 4bytes Start UPID 0000h OS SW layer 1000h MC SW layer 2000h Intf SW layer 3000h Appl SW lay
77. tarts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBus BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID NTI AG LinMot User Manual EtherCAT Interface Page 39 70 5 2 3 Parameter UPID read ROM value bytes of the read buffer EtherCAT 7 Read the ROM value of the parameter specified by its UPID and stores the result in the 4 FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubindex Byte 02h LinMot Sdo Service ID Input WORD 2000h UPID Input pDstBuf DWORD ADR read buffer 4bytes Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 4 Parameter UPID write ROM value Write the content of the write buffer to the ROM value of the parameter specified by its UPID The write buffer can have an unique size of 4 bytes FUNCTION BLOCK FB EcCoeSdoWriteEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSublndex Byte
78. ter UPID write ROM value Read 2000h UPID O3h Parameter UPID read minimal value Read 2000h UPID 04h Parameter UPID read maximal value Read 2000h UPID 05h Parameter UPID read default value Write 2000h UPID 06h Parameter UPID write RAM and ROM value Write 2000h 07h Parameter Default OS SW instance Write 2000h 08h Parameter Default MC SW instance Write 2000h 09h Parameter Default Intf SW instance Write 2000h OAh Parameter Default Appl SW instance Write 2000h OBh Reset device Write 2000h 24h Parameter Start Read UPID List Read 2000h 25h Parameter Read next UPID List entry Write 2000h 26h Parameter Start Read modified UPID List Read 2000h 27h Parameter Read next modified UPID List entry Write 2000h 35h Stop MC and Appl SW instances Write 2000h 36h Start MC and Appl SW instances Write 2000h 40h Curves copy curves from RAM to FLASH Write 2000h 41h Curves delete all in RAM Write 2000h ID 50h Curves start write curve in RAM Write 2000h ID 54h Curves write curve info block data in RAM Write 2000h ID 53h Curves write curve set point data in RAM Read 2000h ID 60h Curves read info and data size Read 2000h ID 61h Curves read info block data Read 2000h ID 62h Curves read setpoint data NTI AG LinMot User Manual EtherCAT Interface Page 37 70 Read 2000h 70h Read error counters Read 2000h ID 71h Read error code of logged entry Read 2000h ID 72h Read error time low of logged entry Read 2000h ID 73h Read error time high of l
79. therCAT 7 5 2 28 Read error counters Read the number of logged errors and total occurred errors and stores them in the read buffer FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input nSubindex Byte 70h LinMot Sdo Service ID Input WORD 2000h Input pDstBuf DWORD ADR read buffer 4bytes UINT Number of logged errors UINT Number of total errors Input cbBufLen UDINT 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBus BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrld UDINT Error ID 5 2 29 Read logged error item Code and instance Read the error code of the specified ID logged error item FUNCTION BLOCK FB EcCoeSdoReadEx Direction Name Type Description Input sNetld T AmsNetld AmsNetld of master Input nSlaveAddr UINT Address of slave Input 5 Byte 71h LinMot Sdo Service ID Input WORD 2000h ID Input pDstBuf DWORD ADR read buffer 4bytes UINT Error code UINT Error instance Input cbBufLen UDINT 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading
80. tion From Dictionary Name Online Type Size OT Statevar 0x0200 512 UINT 2 0 Here you can again define a name and index choose the UPID again and choose the correct data format UINT16 in this case Then push the OK button again At the moment only 2 bytes and 4 bytes data size is supported 8 SYSTEM Configuration cc BI Configuration General EtherCAT DC Process Data Startup CoE Online Online B PLC Configuration Cam Configuration Syne Manager PDO List 5 1 0 Configuration SM Size Type Flags Index Size Name Flags SM Su 5 89 1 0 Devices 0 128 MbxOut 051800 180 Default Inputs 3 0 5 5 Device 1 EtherCAT 1 128 Ox1B01 180 NC Inputs 0 BN EE i ice 12 Inputs H input DemVel E t 1 eebe Ox1B11 40 Input Actel F 0 051812 40 Input ActVelFilt 0 9 6 Outputs Ox1B18 40 Input CAM Counts F 0 InfoData Ox1B40 260 MC Link 1 Inputs F 0 Box 1 E1250 EC UC 051285 20 X4 Inputs 3 0 e f Default Inputs 081700 240 Default Outputs 2 D o on 80 Modul F 9 1 onfig Module 4 091718 20 Output Stat Enable F 0 H 0 1740 320 MC Link 1 Outputs F 0 InfoData lt gt 5 88 Mappings NC Task 1 SAF Device 1 EtherCAT PDO Assignment 0x1C13 PDO Content 0 1 95 0 1800 Offs Name Type D 0x1B01 excluded by 0 1
81. tton SYSTEM Configuration amp ll Configuration General EtherCAT DC Process Data Startup CoE Online Online s a Configuration Sync Manager PDO List LG Cam Configuration o ee und z E Bl uo Configuration SM Size Type Flags Index Size Name Flags SM su B 1 0 Devices 128 MbxOut 051 00 18 0 Default Inputs 3 0 5 79 Device 1 EtherCAT 1 128 Mbxln 0x1B01 18 0 NC Inputs 0 Device 1 Image 2 24 Dutputs Ox1B08 80 Config Module F 0 Device 1 1 Inf Si 18 Inputs 051 10 40 Input DemVel F 0 t Sinn OdBll 40 Input Actel F 0 P 091812 40 Input ActVelFilt F 0 E l Outputs Ox1B18 40 Input CAM Counts F 0 InfoData Ox1B40 26 0 MC Link Inputs F 0 Box 1 E1250 EC UC 0185 00 X4 Inputs 0 QT Default Inputs 01700 240 Default Outputs 2 0 z l Default Outputs 051701 25 0 NC Dutputs 0 Wcstate 051708 80 Config Module F 0 G3 InfoData 051718 20 Dutput Start Enable F d em 051740 320 MC Link 1 Outputs 0 B ae Mappings lt E NC Task 1 SAF Device 1 EtherCAT PDO Assignment 0x1C12 PDO Content 0x1C85 i v 01700 Index Size Offs Name Type Default hex nn SEENEN 051708 0 1718 0 1740 Then select the new defined process data and define the data format by inserting content NTI AG LinMot User Manual EtherCAT Interface Page 13 70 LinMot EtherCAT 8 SYSTEM Configuration
82. ut IDXGRP UDINT 0052h LinMot Service ID Input IDXOFFS UDINT Curve ID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR read buffer 4bytes 0 1 Info block size in bytes 0x0046 2 3 setpoint data size in bytes 4 bytes per setpoint Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 3 4 Curves read info block data Read the info block data of the specified curve This command has to be repeated 18 times FUNCTION BLOCK ADSREAD Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0053h LinMot Service ID Input IDXOFFS UDINT Curve ID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR read buffer 4bytes Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 3 5 Curves read setpoint data Read the setpoint data of the specified curve This command has to be repeated until all data is read out FUNCTION BLOCK ADSREAD Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0054h LinMot Service ID Inp
83. ut IDXOFFS UDINT Curve ID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR read buffer 4bytes Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id Page 26 70 User Manual EtherCAT Interface NTI AG LinMot 4 3 6 Curves start modify curve in RAM Read the info block and curve setpoint data size of the specified curve EtherCAT FUNCTION BLOCK ADSWRITE Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0058h LinMot Service ID Input IDXOFFS UDINT Curve ID Input LEN UDINT Always 4 bytes Input DESTADDR DWORD ADR write buffer 4bytes 0 1 Info block size in bytes 0x0046 2 3 setpoint data size in bytes 4 bytes per setpoint Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 3 7 Curves modify curve info block data in RAM Write the info block data of the specified curve This command has to be repeated 18 times FUNCTION BLOCK ADSWRITE Direction Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort AD
84. valuated Input LEN UDINT Always 8 bytes Input DESTADDR DWORD ADR read buffer 8bytes Bytes 0 1 UPID Bytes 2 3 Address usage Bytes 4 7 ROM Value Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 00h ok C6h No new UPID found NTI AG LinMot User Manual EtherCAT Interface Page 23 70 4 2 9 Parameter Default SW instance With this command all parameters of one SW instances can be set to the default value EtherCAT 7 FUNCTION BLOCK ADSWRITE Direction Name Type Description Input NETID T AmsNetld AoE NetlD Input PORT T AmsPort ADS Port Input IDXGRP UDINT 0048h LinMot Service ID Input IDXOFFS UDINT SW instance selection 0 OS SW layer 1 MC SW layer 2 Intferace SW layer 3 application SW layer Input LEN UDINT Always 0 bytes Input SRCADDR DWORD ADR write buffer Obytes Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID Page 24 70 User Manual EtherCAT Interface NTI AG LinMot EtherCAT 7 4 3 ADS Curves Services 4 3 1 Curves delete all in RAM Delete all curves in RAM FUNCTION BL
85. y and configure the motor with the help of the LinMot Talk software The demo program files are saved under the path C Program Files LINMOT LinMot Talk 4 Build 20100616 Firmware Interfaces EtherCAT TwinCAT_Demo Open the TwinCAT demo program in the TwinCAT System Manager Unbenannt TwinCAT System Manager 5 sso BEE 12 el 9 860 9 General Boot Settings TwinCAT System Manager v2 11 Build 1534 TwinCAT NCI v2 11 Build 1539 Copyright BECKHOFF 1996 2008 kd GA g ien E e Netewerkumgeb Dateityp Dateiname LM DEMO TwinCAT System Manager P Zei Server Port Timestamp rwincar 08 12 2009 07 34 46 581 ms Q twincar syst 08 12 2009 07 34 46 237 ms rwincar Syst 08 12 2009 07 34 46 221 ms Brach syst 08 12 2009 07 34 46 221 ms Server TcEventLogger wird gestartet t TCRTIME di Local 10 255 255 NTI AG LinMot User Manual EtherCAT Interface Page 63 70 LinMot EtherCAT Change the EtherCAT device to the one of your runtime environment tsm TwinCAT System Manager Deel SEAS SV Sc 4 0 61 6 egt SYSTEM Config iti e p General Adapter EtherCAT Online CoE Online ILC Configuration E am Configuration Description abeng 3 T wint tel Bo Device 4

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