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1. 17 1 1 WARE CONTROL EXAMPLE 1 E EXER ERE EXHI REXRREIREKY MARRE 17 7 2 WRITE CONTROL WORD EXAMPLE 2 18 CONTROL WORD aa 19 8 WRITE MOTION COMMAND 20 8 1 Write Motion COMMAND INTERFACE EXAMPLE 1 20 8 2 Write Motion COMMAND INTERFACE EXAMPLE 2 21 S PARAMETER u uuu ua au a aa aa aa A NA AA AA Aa 22 9 1 PARAMETER VARIABLE READ RAM 23 9 2 PARAMETER WRITE RAM EXAMPLE ccscccecceccsescesseceoscseseuseseeeessusensuseseseesusesseueseneasseuesenessanessens 23 10 PARAMETER CONFIGURATION 25 Bae cl st ene enh a la cea nea es esac sk Sse s 26 10 1 PARAMETER CONFIGURATION READ ROM VALUE 27 10 2 PARAMETER CONFIGURATION READ OUT CHANGED
2. 28 10 3 PARAMETER CONFIGURATION READ OUT UPID Lisr eee nennen nennen 29 10 4 PaRAMETER CONFIGURATION DEFAULTING SW INSTANCE 30 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 3 59 LinMot LinRS Interface 11 CURVE CONFIGURATION MESSAGE 31 11 1 Reap CURVE FROM SERVO EXAMPLE u uU e En ta xo Fu ER Ra 34 11 2 Wee To SERVO EXAMPLE u uu u Ee Eo ER EE Ea Ede RE RE od Een EE p Fu uisa RU 36 12 COMMAND TABLE MESSAGE 38 12 1 READ TABLE ENTRY FROM SERVO ExXANPILE ssasaassssssssssssssasssssssaaa 42 12 2 Write ComMAND TABLE ENTRY SERVO ExAMPILE sssssassssssssssssssassssssssasssass 43 13 PROGRAM HANDLING MESSAGE 44 13 1 Reset SERVO CONTROLLER WITH RESPONSE AFTER 44 13 2 Reset SERVO CONTROLLER WITH IMMEDIATE 8 nenne nennen nennen 45 13 3 NIC AND uin uu iier Rr sta
3. RS RS 28 Documentation of the LinRS Interface for the following Controllers E1100 GP HC XC E1100 RS HC XC E1130 DP HC XC B1100 GP HC XC Series E1200 LinRS Interface V3 12 V4 0 User Manual LinMot LinRS Interface 2010 NTIAG 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 didactic use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Document version 3 12 June 2010 Page 2 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t Table of Content 2 CONNECTING THE RS BL sue nitate hi tat bissl lap Eb At kd pel niti tibt ks cR a dag 6 2 1 Pin Our or THE COM Connector X5 Seres E1100 AND B1100 6 2 2 Pin Our or THE SYSTEM X19 EE oda d 6 2 Pin QUT OF THE CMD CONNECTO
4. 00006 ID 0 1111b ID 15 plus offset B1100 only The MACID is defined by Digln5 1 X14 16 X14 3 X14 15 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset Digln5 is the most Digln1 the least significant bit 000006 ID 0 111116 ID 31 plus offset B1100 only The MACID is defined by DigIn6 1 X14 4 X14 16 X14 3 X14 15 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset DigIn6 is the most Digln1 the least significant bit 000000b ID 0 111111b ID 63 plus offset The MACID when Parameter is selected The ID when Parameter is selected as ID Source 11h default The checksum parameter defines the checksum generation LinRS Protocol Config Checksum None No checksum is expected or generated default Add A simple byte wise addition modulo 2 16 fast and easy CRC CCITT CRC checksum with CCITT polynomial 16 bit Page 54 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t Checksum Start Value 2222222222222292929 The checksum parameter defines the checksum generation LinRS Protocol Config Checksum Start Value 0000h checksum is expected or generated default FFFFh A simple byte wise addition modulo 2 16 fast and easy 1DOFh CCITT checksum with CCITT polynomial 16 bit standard Receive Time Out Specifies the byte to byte time out during receiving if the tim
5. Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Response node ID 2 03h Telegram length 3 02h Fix ID start data 4 01h Message Sub ID default response request 5 00h Message Main ID Response 6 04h Fix ID telegram end Response Default Response Byte Value Description Offset 0 01h Fix ID telegram start 1 11h MACID 2 OCh Data length 3 02h Fix ID start data 4 00h Sub ID Default Response 5 00h Main ID Response Message 6 00h Communication State ok 7 37h Status Word Low Byte 8 4Ch Status Word High Byte 9 C2h State Var Low Byte 10 08h State Var High Byte MainState 11 9Dh Actual Position Low Word Low Byte 12 FCh Actual Position Low Word High Byte 13 FFh Actual Position High Word Low Byte 14 FFh Actual Position High Word High Byte 15 04h Fix ID telegram end Example Tx 01 11 03 02 01 00 04 Rx 01 11 OC 02 00 00 00 37 4C C2 08 9D FC FF FF 04 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 15 59 LinMot LinRS Interface 6 3 Default MC Response Request with Status Word Request Example The following example documents a Default MC Response Request with Status Word Request the controller will answer with the configured default response and adds the Status Word in a 4Byte Container at the end of the data section Request Default MC Response Request with Status Word Request Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Response node ID 2
6. LinRS Interface 8 2 Write Motion Command Interface example 2 Go back with the same motion command to Omm Byte Value Description Offset 0 ON OA No 01h 11h 09h 02h 00h 02h 02h 02h 00h 00h 00h 00h 04h Fix ID Telegram start Destination node ID Telegram length Fix ID start data Message Sub ID Message Main ID Motion Command Interface Motion Intf Header Low Byte count 21 Sub ID 0 Motion Intf Header High Byte Master ID 22 Target Position lowest byte Target Position middle low byte Target Position middle high byte Target Position highest byte Fix ID telegram end Tx 01 11 09 02 00 02 02 02 00 00 00 00 04 Rx 01 11 OC 02 00 00 00 37 28 A2 08 5E 81 01 00 04 With the next example the VAI motion command with defined Position Max Velocity Acceleration and Deceleration is used The message length is increased to 15h to debug the send data push the read button in the Control Panel Tx 01 11 15 02 00 02 03 01 FO 49 02 00 40 42 OF 00 40 42 OF 00 40 42 OF 00 04 Rx 01 11 OC 02 00 00 00 37 OD D3 08 F3 49 02 00 04 Name Header 1 Par 2 Par 3 Par 4 Par Offs 0 2 5 10 14 Description 010xh Go Target Position Maximal Velocity Acceleration Deceleration Scaled Value Int Value Dec Int Value Hex 259 259 0103h 15 mm 150000 000249F0h 1 m s 1000000 OO0F4240h 10 m s 2 1000000 ODOF 4240h 10 m s 2 1000000 ODOF 4
7. Message Message Description Main ID Sub ID 01h 00h Write Control Word With the following examples the first steps in runtime programming should be explained To this message request the LinMot servo controller will always answer with the default motion response 7 1 Write Control Word example 1 With this control word command the lock state is cleared Request Write Control Word Clear Control Word Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 05h Telegram length 3 02h Fix ID start data 4 00h Message Sub ID 5 01h Message Main ID Write Control Word 6 00h Control Word Low Byte 7 00h Control Word High Byte 8 04h Fix ID telegram end This request is answered with the Default Response Example Tx 01 11 05 02 00 01 00 00 04 Rx 01 11 02 00 00 00 B4 40 00 02 AB 00 00 00 04 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 17 59 LinMot LinRS Interface 7 2 Write Control Word example 2 With this control word command causes a transition to enable state and starts homing Request Write Control Word Set all Bits for Operation and Home Flag Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 05h Telegram length 3 02h Fix ID start data 4 00h Message Sub ID 5 01h Message Main ID Write Control Word 6 3Fh Control Word Low Byte 7 08h Control Word High Byte 8 04h Fix ID telegram end Exa
8. By 53 1 Look at S3 1 for RS232 RS 485 selection default Parameter Take value from parameter RS Parameter Def RS Parameter Def Over the RS select parameter the bus topology is defined LinRS RS Config RS Select RS Parameter Def RS 485 RS 485 two wire bus topology default RS 422 RS 422 four wire bus topology RS 232 RS 232 two wire point to point bus topology Baud Rate this section the parameters for the baud rate selection are located Baud Rate Source Select Defines if the baud rate is defined over Hex Switch S1 or parameter E1100 only By Hex Switch Look at S1 for Baud Rate Selection default S1 By Parameter Take value from parameter Baud Rate Parameter Definition Page 52 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t Baud Rate Parameter Definition The baud rate definition if defined with parameter LinRS RS Config Baud Rate Baud Rate Parameter Def 4800 Bit s RS baud rate 4800 Bit s 9600 Bit s RS baud rate 9600 Bit s 19200 Bit s RS baud rate 19200 Bit s 38400 Bit s RS baud rate 38400 Bit s 57600 Bit s RS baud rate 57600 Bit s default 115200 Bit s RS baud rate 115200 Bit s Stop Bit Defines the stop bit length LinRSY RS Config Stop Bit 1 One stop bit 2 Two bit time stop bit Parity Defines the parity bit behaviour LinRS RS Config Parit None No parity bit Even Even parity bit Odd Odd parity bit Protocol Config In this section the
9. reached with homed flag set Operation Enabled state NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 19 59 LinRS Interface 8 Write Motion Command Interface With the access to the Motion Command Interface of the MC SW 1 the run time motion could be controlled There are a lot of different motion commands which are described in 1 for the different needs of the applications Message Message Description Main ID Sub ID 02h 00h Write Motion Control Interface 8 1 Write Motion Command Interface example 1 With this motion command a VA interpolator motion with default parameters for max velocity and acceleration and deceleration to the target position 10mm is defined Byte Value Description Offset 0 O N O Example 01h 11h 09h 02h 00h 02h 01h 02h AOh 86h 01h 00h 04h Fix ID Telegram start Destination node ID Telegram length Fix ID start data Message Sub ID Message Main ID Motion Command Interface Motion Intf Header Low Byte count 21 Sub ID 0 Motion Intf Header High Byte Master ID 22 Target Position lowest byte Target Position middle low byte Target Position middle high byte Target Position highest byte Fix ID telegram end Tx 01 11 09 02 00 02 01 02 0 86 01 00 04 Rx 01 11 OC 02 00 00 00 37 68 A1 08 8B FC FF FF 04 Page 20 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot
10. run time 17 04h Fix ID telegram end Example Tx 01 11 05 02 03 07 00 00 04 Rx 01 11 OE 02 73 00 00 OC 00 11 OE 00 6F 02 00 00 04 The slave responds Error code 000Ch Err Pos Lag Standing Too Big Milli second counter 000E113Eh 2 921218ms 15min 21s 918ms Hour counter 0000026Fh 623h NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 51 59 LinRS Interface 15 LinRS Parameters The E1100 Servo Controllers with loaded LinRS protocol SW have an additional parameter tree branch which can be configured with the distributed LinMot Talk software With these parameters the LinRS behaviour can be configured The software LinMot Talk can be downloaded from http www linmot com under the section download software amp manuals Dis Enable With the Dis Enable parameter the LinMot servo controller can be run without the LinRS going online LinRS Dis Enable Disable Servo controller runs without LinRS Enable Servo controller runs with a LinRS connection the RS configuration is not port is no longer active default IMPORTANT To activate the LinRS Interface the Dip Switch S3 4 Interface at the bottom of the drive has to be set to with power up RS Config this section the RS UART behaviour can be configured RS Select In this section the RS line type of RS can be configured RS Source Select Over the RS select parameter the bus topology is defined E1100 only
11. 00 03 00 FF FF FF FF 04 Tx 01 11 09 02 07 08 04 00 00 00 00 00 04 Rx 01 11 0A 02 87 00 00 04 00 FF FF FF FF 04 Tx 01 11 09 02 07 08 05 00 00 00 00 00 04 Rx 01 11 0A 02 87 00 00 05 00 FF FF FF FF 04 Tx 01 11 09 02 07 08 06 00 00 00 00 00 04 Rx 01 11 0A 02 87 00 00 06 00 FF FF FF FF 04 Tx 01 11 09 02 07 08 07 00 00 00 00 00 04 Rx 01 11 0A 02 87 00 00 07 00 FF FF FF FF 04 CT entry list 0 31 1 2 4 5 6 defined CT entry list 32 63 no entry defined CT entry list 64 95 no entry defined CT entry list 96 127 no entry defined CT entry list 128 159 no entry defined CT entry list 160 191 no entry defined CT entry list 192 223 no entry defined CT entry list 224 255 no entry defined NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 41 59 LinMot LinRS Interface 12 1Read Command Table Entry From Servo Example Tx 01 11 05 02 05 08 02 00 04 Rx 01 11 0A 02 85 00 00 02 00 40 00 00 00 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 0A 02 86 00 04 02 00 01 A7 FF FF 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 02 86 00 04 02 00 00 01 40 42 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 02 86 00 04 02 00 OF 00 20 A1 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 02 86 00 04 02 00 07 00 40 OD 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 02 86 00 04 02 00 03 00 40 OD 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 0A 02 86 00 04 02 00 03 00 00 00 04 Tx 01 11 05 02 06 08 02 00 04
12. 00 A2 13 09 00 00 00 04 Writing 16200000010h the P Gain Position Controller Set A 13A2h ROM value Tx 01 11 09 02 01 05 A2 13 10 00 00 00 04 Rx 01 11 0A 02 51 00 00 A2 13 10 00 00 00 04 Reading again the P Gain Position Controller Set A UPID 13A2h ROM value Tx 01 11 05 02 00 05 A2 13 04 Rx 01 11 0A 02 50 00 00 A2 13 10 00 00 00 04 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 27 59 LinMot LinRS Interface Reading the Parameter address acces of P Gain Position Controller Set A UPID 13A2h Tx 01 11 05 02 03 05 A2 13 04 Rx 01 11 02 53 00 00 A2 13 01000004 RAM ROM Read Write and life Reading the Parameter Type of P Gain Position Controller Set A UPID 13A2h Tx 01 11 05 02 04 05 A2 13 04 Rx 01 11 02 54 0000 2 13 03 00 00 00 04 Par Type UINT16 Reading Min Value the P Gain Position Controller Set A UPID 13A2h Tx 01 11 05 02 05 05 A2 13 04 Rx 01 11 0A 02 55 00 00 A2 13 00 00 00 00 04 Reading Max Value the P Gain Position Controller Set A UPID 13A2h Tx 01 11 05 02 06 05 A2 13 04 Rx 01 11 0A 02 56 00 00 A2 13 FF FF 00 00 04 Reading Default Value the P Gain Position Controller Set A UPID 13A2h Tx 01 11 05 02 07 05 A2 13 04 Rx 01 11 0A 02 57 00 00 A2 13 OF 00 00 00 04 10 2Parameter Configuration read out changed Parameters This feature is only available on E1100 controller types With the commands Start Get Modified UPID List and Get Next Modified UPID for e
13. 03h Telegram length 3 02h Fix ID start data 4 02h Message Sub ID default response request 5 00h Message Main ID Response 6 04h Fix ID telegram end Response Default MC Response Request with Status Word Request Byte Value Description Offset 0 01h Fix ID telegram start 1 11h MACID 2 10h Data length 3 02h Fix ID start data 4 00h Sub ID Default Response with Status Word 5 00h Main ID Response Message 6 00h Communication State ok 7 37h Status Word Low Byte 8 4Ch Status Word High Byte 9 C2h State Var Low Byte 10 08h State Var High Byte MainState 11 9Dh Actual Position Low Word Low Byte 12 FCh Actual Position Low Word High Byte 13 FFh Actual Position High Word Low Byte 14 FFh Actual Position High Word High Byte 15 B4h Low Byte Status Word 16 00h High Byte Status Word 17 00h No Meaning 18 00h No Meaning 19 04h Fix ID telegram end Examples Tx 01 11 03 02 02 00 04 Request Default Response with Status Word Rx 01 11 10 02 00 00 00 B4 00 00 02 D5 6A 10 00 B4 00 00 00 04 Tx 01 11 03 02 03 00 04 Request Default Response with Warn Word Rx 01 11 10 02 00 00 00 B4 00 00 02 D5 6A 10 00 80 00 00 00 04 Tx 01 11 03 02 04 00 04 Request Default Response with State Var Rx 01 11 10 02 00 00 00 B4 00 00 02 D5 6A 10 00 00 02 00 00 04 Page 16 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 7 Write Control Word With the access to the control Word the main state machine could be controlled
14. 06 2010 NTI AG LinMot LinRS Interface Request Get Command Table Defined Entry List Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 05h Telegram length 3 02h Fix ID start data 4 07h Message Sub ID Delete CT Entry in RAM 5 08h Message Main ID CT Message 6 00h Low byte CT entry ID O 7 7 00h High byte CT entry ID 8 04h Fix ID telegram end Configuration Response Get Command Table Defined Entry List Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 OAh Telegram length 3 02h Fix ID start data 4 82h Message Sub ID CT Flashing completed Response 5 00h Message Main ID Response 6 00h Communication state 7 00h Low byte CT entry List ID 8 00h High byte CT entry ID 9 89h Entry List 0 7 bit 0 entry exists bit 1 entry not defined 10 00h Entry List 8 15 bit 0 entry exists bit 1 entry not defined 11 00h Entry List 16 23 bit 0 entry exists bit 1 entry not defined 12 00h Entry List 24 31 bit 0 entry exists bit 1 entry not defined 13 04h Fix ID telegram end Example Tx 01 11 09 02 07 08 00 00 00 00 00 00 04 Rx 01 11 0A 02 87 00 00 00 00 89 FF FF FF 04 Tx 01 11 09 02 07 08 01 00 00 00 00 00 04 Rx 01 11 0A 02 87 00 00 01 00 FF FF FF FF 04 Tx 01 11 09 02 07 08 02 00 00 00 00 00 04 Rx 01 11 0A 02 87 00 00 02 00 FF FF FF FF 04 Tx 01 11 09 02 07 08 03 00 00 00 00 00 04 Rx 01 11 0A 02 87 00
15. 1 System Overview The LinMot servo controllers E1100 RS E1100 GP E1130 DP the whole series E1200 and the B1100 GP support the LinRS communication profile LinRS is a LinMot specific RS protocol to run the E1100 Servo controller over RS232 RS422 or RS485 serial links When running the E1100 servo controller over an RS connection with LinRS the configuration and debugging can be done over the CAN bus link LinMot Talk supports an USB to CAN Part No 0150 3134 converter for this purpose It is strongly recommended to use this USB to CAN converter to avoid programming debugging disappointment 47 For the installation and use of the USB to CAN converter refer to document 3 1 1 References Title 1 User Manual Motion Control SW www linmot com 2 LinMot E1100 Servo Controller Configuration over Fieldbus www linmot com Interfaces 3 Installation Guide USB CAN Converter www linmot com The documentation is distributed with the LinMot Talk software 1 2 Definitions Items Shortcuts LM LinMot linear motor OS Operating System Software MC Motion Control Software Intf Interface Software Appl Application Software UPID Unique Parameter ID 16 bit CT Command Table Msg Message Cmd Command NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 5 59 LinMot LinRS Interface 2 Connecting the RS bus 2 1 Pin Out of the COM Connector X5 Series E1100 and B1100 Over this connector th
16. ID telegram end Configuration Response Delete Curve in RAM Byte Offset Q Q N O O N O Example 01h 11h OAh 02h 40h 00h 00h 01h 00h 09h 00h 00h 00h 04h Tx 01 11 05 02 02 04 01 00 04 Rx 01 11 0A 02 40 00 00 01 00 00 00 00 00 04 55 7 7 C Fix ID Telegram start Destination node ID Telegram length Fix ID start data Message Sub ID Curve Cfg Response Message Main ID Response Communication state low byte curve ID high byte curve ID No meaning response data low word low byte No meaning response data low word high byte No meaning response data high word low byte No meaning response data high word high byte Fix ID telegram end NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 33 59 LinMot LinRS Interface 11 1 Read Curve From Servo Example Only for E1100 controllers For a detailed description about the saving structure of a curve refer to 2 In the following example the curve with ID 1 is read from the servo controller Reading Curve 1 Info Block and Data Block size Tx 01 11 05 02 08 04 01 00 04 Rx 01 11 0A 02 40 00 00 01 00 46 00 54 00 04 info block 46bytes data block 54bytes Reading Curve 1 Info Block Data Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 46 00 03 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 15 00 04 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 02 40 00 0
17. Rx 01 11 02 5B 00 C6 37 2101 10 03 0004 UPID 2137h AU 1001h 0003h 10 4Parameter Configuration Defaulting SW Instance Parameters This feature is only for E1100 controllers Before writing the parameters of a SW instance it is advised to set all parameters of the corresponding SW instance to default values This can be done with a single parameter configuration message The response is given after the defaulting of the SW instance is completed could be more than 1s Examples Defaulting the parameters of the OS SW Tx 01 11 05 02 OC 05 00 00 04 Rx 01 11 0A 02 5C 00 00 00 00 01 00 00 00 04 Defaulting the parameters of the MC SW Tx 01 11 05 02 OD 05 00 00 04 Rx 01 11 0A 02 5D 00 00 00 00 02 00 00 00 04 Defaulting the parameters of the Interface SW Tx 01 11 05 02 OE 05 00 00 04 Rx 01 11 0A 02 5E 00 00 00 00 03 00 00 00 04 Defaulting the parameters of the Application SW Tx 01 11 05 02 OF 05 00 00 04 Rx 01 11 0A 02 5F 00 00 00 00 04 00 00 00 04 Page 30 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 11 Curve Configuration Message Group Only for E1100 controllers With the Curve Message Group curves can be read out or written from to the servo controller To store a new curves in the ROM the MC SW layer has to be stopped Message Message Description Main ID Sub ID 04h 00h Save Curves from RAM to FLASH MC SW has to be stopped 04h 01h Delete all Curves
18. SW with Response after completion Byte Value Description Offset 0 01h Fix ID telegram start 1 11h MACID 2 04h Data length 3 02h Fix ID start data 4 60h Sub ID Program Handling Response 5 00h Main ID Response Message 6 00h Communication State ok 7 04h Fix ID telegram end Example Tx 01 11 03 02 04 06 04 Rx 01 11 04 02 60 00 00 04 The response is given after the start is completed ca 3s Page 46 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface 13 5 Start MC and Application SW with immediate Response Request Start MC and Application SW with immediate Response Byte Value Offset 0 01h 1 11h 2 03h 3 02h 4 01h 5 06h 6 04h Description Fix ID telegram start MACID Data length Fix ID start data Sub ID Reset Servo Controller with immediate Response Main ID Program Handling Message Group Fix ID telegram end Response Start MC and Application SW with immediate Response The servo controller answers with the configured default response Example Tx 01 11 03 02 05 06 04 Rx 01 11 OC 02 00 00 00 F6 40 00 00 00 00 00 04 The default response is given immediate to detect restart completion poll servo controller until it answers NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 47 59 LinRS Interface 14 Read Error Info Message Group With the Read Error Info message group error strings and the stor
19. character N Characters 2 32 Fix ID telegram end NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 49 59 LinRS Interface 14 3 Get error counters of error log and total occurred errors With the Get error short text of defined error code request the slave answers with string with 32 characters which contains the short text of the actual error code unused characters are filled with OOh Request Get error counters of error log and total occurred erros Byte Value Description Offset 0 N 01h 11h 03h 02h 02h 07h 04h Fix ID telegram start MACID Data length Fix ID start data Sub ID Get error counters Main ID Read Error Info Message Group Fix ID telegram end Response Get error short text of defined error code Byte Value Description Offset 0 OMAN O Q Q N A Example Tx 01 11 03 02 02 07 04 Rx 01 11 08 02 72 00 00 15 00 90 00 04 01h 11h 08h 02h 72h 00h 00h 15h 00h 4Eh 00h 04h Fix ID telegram start MACID Data length Fix ID start data Sub ID Response Get error short text of actual error Main ID Response Message Communication State ok Low byte Number of error log entries High byte Number of error log entries Low byte Number of occurred errors High byte Number of occurred errors Fix ID telegram end The slave responds 21 15h Logged errors buffer size and 144 90h occurred errors Page 50 59 User Manua
20. in RAM 04h 02h Delete Curve in RAM 04h 04h Add Curve to RAM Define Info Block Size and Data Block Size 04h 05h Write Curve Info Block 04h 06h Write Curve Data Block 04h 08h Read Curve Info Block Size and Data Block Size 04h 09h Read Curve Info Block 04h OAh Read Curve Data Block Request Save Curves from RAM to FLASH Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 03h Telegram length 3 02h Fix ID start data 4 00h Message Sub ID Save curves from RAM to FLASH 5 04h Message Main ID Curve Message 6 04h Fix ID telegram end Configuration Response Save Curves from RAM to FLASH Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 OAh Telegram length 3 02h Fix ID start data 4 40h Message Sub ID Curve Cfg Response 5 00h Message Main ID Response 6 00h Communication state 7 00h No meaning low byte curve ID 8 00h No meaning high byte curve ID 9 09h No meaning response data low word low byte 10 00h No meaning response data low word high byte 11 00h No meaning response data high word low byte 12 00h No meaning response data high word high byte 13 04h Fix ID telegram end Example Tx 01 11 03 02 00 04 04 timeout 10s Rx 01 11 0A 02 40 00 00 00 00 00 00 00 00 04 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 31 59 LinMot LinRS Interface Request Delete all Curves in RAM With this command all curves defined
21. protocol can be configured MACID In this section the MAC ID controller number can be configured ID Source Select The MACID parameter defines the source of the MACID Node Address E1100 LinRS Protocol Config MACID MACID Source Select B1100 OS Communication MACID MACID Source Select By Hex Switch 52 1100 1200 only The MACID is determined by the hex switch S2 default By Hex Switches E1100 E1200 only The MACID is determined 1 and S2 by the two hex switches S1 and S2 By Parameter The MACID is determined by parameter setting By Dig In 1 B1100 only The MACID is defined by DiglIn1 X13 14 at power up OV ID 0 24V ID 1 By Dig In 2 1 B1100 only The MACID is defined by Digln2 1 X13 2 and X13 14 at power up DigIn2 is the most Digln1 the least significant bit 00b ID 0 11b 2 ID 3 By Dig In 3 1 B1100 only The MACID is defined by Digln3 1 X13 15 X13 2 and X13 14 at power up Digln3 is the most Digln1 the least significant bit 0006 ID 0 111b ID 7 By Dig In 4 1 B1100 only The MACID is defined by Digln4 1 X13 3 X13 15 X13 2 and X13 14 at power up Digln4 is the most Digln1 the least significant bit 00006 ID 0 1111b ID 15 By Dig In 5 1 B1100 only The MACID is defined by Digln5 1 X13 16 X13 3 X13 15 X13 2 and X13 14 at power up Digln5 is the most Digln1 the least significant bit 000006 ID 0 11111b ID 31 NTI AG LinMot User Manual Lin
22. 00 04 Rx 01 11 0A 02 40 00 04 01 00 18 000004 position value 2 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 OA 02 40 00 04 01 00 98 00 00 04 position value 3 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 0 02 40 00 04 01 00 D4 00 00 04 position value 4 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 02 40 00 04 01 00 04 75 01 00 04 position value 5 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 02 40 00 04 01 00 OF 020004 position value 6 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 OA 02 40 00 04 01 00 1B 25 03 00 04 position value 7 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 02 40 00 04 01 00 6D 2A 04 0004 position value 8 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 94 45 05 00 04 position value 9 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 OA 02 40 00 04 01 00 97 6F 06 00 04 position value 10 Tx 01 11 05 02 04 01 00 04 Rx 01 11 02 40 00 04 01 00 20A1070004 position value 11 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 OA 02 40 00 04 01 00 A9 D2 08 0004 position value 12 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 AC FC 090004 position value 13 Tx 01 11 05 02 04 01 00 04 Rx 01 11 0 02 40 00 04 01 00 D3 17 0004 position value 14 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 0A 02 40 00 04 0100 25 1D 0004 position value 15 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 0A 02 40 00 04 0100 3106 OD 0004 position value 16 Tx 01 11 05 02 OA
23. 02 40 00 00 01 00 00 00 00 00 04 Download Window Upload from Controller go Download into Controller Name 10 Type Setpoint Wizard Length No of Setpoints SinRise 1 Position vs Time Sine 1000 ms 21 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 37 59 LinRS Interface 12 Command Table Message Group Only for E1100 controllers With the Command Table Message Group Command table Entries can be read out or written from to the servo controller To store a new command table in the ROM the MC SW layer has to be stopped Message Messag Description Main ID Sub ID 08h 00h Save Command Table from RAM to FLASH MC SW has to be stopped 08h 01h Delete all Command Table Entries in RAM 08h 02h Delete Command table entry 08h 03h Setup Write Command Table entry in RAM 08h 04h Write Command Table entry data in RAM 08h 05h Setup Read Command Table Entry 08h 06h Read Command Table entry data 08h 07h Get Command Table defined entry list Request Save Command Table from RAM to FLASH Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 03h Telegram length 3 02h Fix ID start data 4 00h Message Sub ID Save CT from RAM to FLASH 5 08h Message Main ID CT Message 6 04h Fix ID telegram end Configuration Response Save Command Table from RAM to FLASH Byte ELT Description Offset 0 01h Fix ID Telegram start
24. 04 01 00 04 Rx 01 11 OA 02 40 00 04 01 00 CD OD 0004 position value 17 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 02 40 00 04 01 00 6D OE 0004 position value 18 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 02 40 00 04 01 00 A8 E2 0004 position value 19 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 02 40 00 04 01 00 34 2A OF 0004 position value 20 Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 0 02 40 00 00 01 00 4042 OF 0004 position value 21 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 35 59 LinMot LinRS Interface 11 2Write Curve To Servo Example Write curve 1 info block size and data block size Tx 01 11 09 02 04 04 01 00 46 00 54 00 04 Rx 01 11 0A 02 40 00 00 01 00 00 00 00 00 04 Write curve 1 info block data Tx 01 11 09 02 05 04 01 00 46 00 03 00 04 Rx 01 11 0 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 15 00 04 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 53 69 6E 52 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 69 73 65 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 00 00 00 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 00 00 00 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 00 00 00 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 00 00 01 00 0
25. 05h Get minimal value of parameter 05h 06h Get maximal value of parameter 05h 07h Get default value of parameter 05h 08h Start Get Modified UPID List 05h 09h Get Next Modified UPID 05h OAh Start Get UPID List 05h OBh Get Next UPID 05h OCh Set OS Operating System ROM parameter values to default 05h ODh Set MC Motion Control ROM parameter values to default 05h OEh Set Interface ROM parameter values to default 05h OFh Set Application ROM parameter values to default NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 25 59 Meaning of the bits in the response to the telegram Get parameter address usage Address Usage LinRS Interface Life Parameter RAM Write RAM Read ROM Write ROM Read ic 7 I fe e o 5 pa z 5 E 3 9 5 E 2 10299 8 7 5 4 3 2 1 0 Meaning of the code in the response to the telegram Get parameter type Supported Parameter Types 00h 1 BOOL 01h 8 UINT8 02h 8 SINT8 03h 16 UINT16 04h 16 SINT16 05h 32 UINT32 06h 32 SINT32 O7h 32 LIN FLOAT not used as parameter 08h Char x 8 STRING 09h Char x 8 CAP DIR OAh 1 RADIO_DIR_BIT OBh 16 RADIO_DIR16 OCh 8 ENUM_DIR8 16 ENUM DIR16 OEh 32 STRINGLET Part of String 4 Characters OFh 32 CAP_DIRLET Part of String 4 Characters Page 26 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 10 1 Parameter Confi
26. 1 11h Destination node ID 2 OAh Telegram length 3 02h Fix ID start data 4 80h Message Sub ID CT Flashing completed Response 5 00h Message Main ID Response 6 00h Communication state 7 00h No meaning low CT entry ID 8 00h No meaning high CT entry ID 9 00h No meaning response data low word low byte 10 00h No meaning response data low word high byte 11 00h No meaning response data high word low byte 12 00h No meaning response data high word high byte 13 04h Fix ID telegram end Example Tx 01 11 03 02 00 08 04 timeout 10s Rx 01 11 0A 02 80 00 00 00 00 00 00 00 00 04 Request Delete all Command Table Entries in RAM Page 38 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Byte Offset UU 01h 11h 03h 02h 01h 08h 04h Fix ID Telegram start Destination node ID Telegram length Fix ID start data Message Sub ID Delete all CT Entries in RAM Message Main ID CT Message Fix ID telegram end Configuration Response Delete all Command Table Entries in RAM Byte Value Offset 0 01h 1 11h 2 OAh 3 02h 4 81h 5 00h 6 00h 7 00h 8 00h 9 00h 10 00h 11 00h 12 00h 13 04h Example Tx 01 11 03 02 01 08 04 Description Fix ID Telegram start Destination node ID Telegram length Fix ID start data Message Sub ID Delete all CT Entries in RAM Message Main ID Response Communication state No meaning low byte CT entry ID No meaning high byte CT entry I
27. 11 00 00 00 04 UPID 2076h Value 0000001 1h Tx 01 11 05 02 09 05 00 20 04 get next changed Intf parameter Page 28 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t Rx 01 11 02 59 00 C6 C7 20 01 00 00 0004 UPID 20C7h Value 00000001h The Communication state C6h indicates that this was the last parameter To read out the changed parameters of MC SW layer start as follows Tx 01 11 05 02 08 05 00 10 04 init read out changed MC SW Par Rx 01 11 02 58 00 00 00 10 00 00 00 00 04 Tx 01 11 05 02 09 05 00 00 04 get next changed parameter Rx 01 11 02 59 00 00 37 10 07 00 00 0004 UPID 1037h Value 00000007h 10 3Parameter Configuration Read out UPID List This feature is only available on E1100 controller types With the commands Start Get UPID List and Get Next UPID for each SW layer all parameters of the actual configuration can be read out from the servo controller With this functionality a parameter list of the servo controller can be read out and stored in the PC PLC In a second step with the request read ROM value all the values of the list can be read out Request Get Next UPID Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 05h Telegram length 3 02h Fix ID start data 4 OBh Message Sub ID Get Next UPID 5 05h Message Main ID Parameter Configuration 6 00h Not used don t have to be transmitted 7 00h
28. 11 09 02 04 08 02 00 03 00 40 0D 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 03 00 00 00 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 00 00 00 00 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 00 00 00 00 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 00 00 00 00 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 00 00 55 6E 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 6E 61 6D 65 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 64 00 00 00 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 00 00 00 00 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 00 00 FF FF 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 FF FF FF FF 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 FF FF FF FF 04 Rx 01 11 0A 02 84 00 00 02 00 00 00 00 00 04 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 43 59 LinMot LinRS Interface 13 Program Handling Message Group With the program handling message group the whole servo controller or and SW instances of it can be accessed Message Message B1100 Description Sub ID 01h Reset Servo Controller Completely restart of all SW instances with response after r
29. 240h Tx 01 11 15 02 00 02 04 01 FF FF 40 42 OF 00 40 42 OF 00 40 42 OF 00 04 Rx 01 11 OC 02 00 00 00 37 49 94 08 61 3D FF FF 04 Name Offs Description Scaled Value Int Value Dec Int Value Header 0 010xh VAI Go Pos 250 260 0104h 1 2 Target Position 5 mm 50000 FFFF3CB h 2 Par B Maximal Velocity 1 m s 1000000 DDOF4240h 3 10 Acceleration 10 m s 2 1000000 DOOF 4240h 4 Par 14 Deceleration 10 m s 2 1000000 000 42408 Read Command Send Command NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 21 59 LinMot LinRS Interface 9 Parameter Group With the parameter group parameter can be changed or read Within the MC SW two different kinds of parameters are supported Live Parameters during MC runtime Message Sub ID s 00h and 01h e Configuration Parameters While live parameters can be changed during the MC SW is running the configuration parameters affects the behavior of its SW instance only after a restart of it A Reset command or Power cycle restarts all SW instances The parameters are accessed with a 16 Bit Unique Parameter ID All parameters values are mapped in a 4 byte value memory area With bit parameters the lowest bit of parameter value memory field is relevant a byte parameter in the lowest byte and word parameter into the two lower bytes Message Message B1100 Description wl ID a Read RAM v
30. 4 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 AO 86 01 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 1A 00 05 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 01 03 AO 86 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 01 00 00 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 00 00 40 42 04 Rx 01 11 0 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 OF 00 00 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 00 00 00 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 00 00 00 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 00 00 00 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 05 04 01 00 00 00 00 00 04 Rx 01 11 02 40 00 00 01 00 00 00 00 00 04 Page 36 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t Write curve 1 data Tx 01 11 09 02 06 04 01 00 00 00 00 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 OC 18 00 00 04 Rx 01 11 0 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 98 5F 00 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 E1 D4 00 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 04
31. 4 01 00 53 69 6E 52 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 69 73 65 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 00 00 01 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 02 40 00 04 01 00 AO 86 01 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 1A 00 05 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 OA 02 40 00 04 01 00 01 03 AO 86 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 01 00 00 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 02 40 00 04 01 00 00 00 40 42 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 OF 00 00 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 00 01 00 00 00 00 00 04 Page 34 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t Reading Curve data 21 Position values Tx 01 11 05 02 OA 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 position value 1 Tx 01 11 05 02 OA 04 01
32. 75 01 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 OF 3C 02 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 1B 25 03 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 6D 2A 04 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 94 45 05 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 97 6F 06 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 20 A1 07 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 A9 D2 08 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 AC FC 09 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 D3 17 OB 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 25 1D OC 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 31 06 OD 00 04 Rx 01 11 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 3C CD OD 00 04 Rx 01 11 0 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 5F 6D OE 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 A8 E2 OE 00 04 Rx 01 11 OA 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 34 2A OF 00 04 Rx 01 11 0 02 40 00 04 01 00 00 00 00 00 04 Tx 01 11 09 02 06 04 01 00 40 42 OF 00 04 Rx 01 11
33. C2 08 AA 06 00 00 0A 00 00 00 04 9 2 Parameter Write RAM example With this command example the RAM value of the UPID 13A2h P Gain Position Controller for B1100 controllers it is UPID 6198h is changed to 11 Byte ELITS Description Offset 0 Oth Fix ID Telegram start 1 11h Destination node ID 2 09h Telegram length 3 02h Fix ID start data 4 01h Message Sub ID Write Ram Value 5 03h Message Main ID Parameter 6 A2h UPID Low Byte P Gain Position Controller 7 13h UPID High Byte P Gain Position Controller 8 OBh Parameter value low word low byte 9 00h Parameter value low word high byte 10 00h Parameter value high word low byte 11 00h Parameter value high word high byte 12 04h Fix ID telegram end Tx 01 11 09 02 01 03 A2 13 OB 00 00 00 04 Rx 01 11 OC 02 00 00 00 37 4C CO 08 BF FB FF FF 04 Reading the parameter again shows the changed value Tx 01 11 05 02 00 03 A2 13 04 Rx 01 11 10 02 00 00 00 37 4C CO 08 BF FB FF FF OB 00 00 00 04 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 23 59 LinMot LinRS Interface Reading the ROM value of the same parameter shows that it is still unchanged OAh Tx 01 11 05 02 02 03 A2 13 04 Rx 01 11 10 02 00 00 00 37 4C CO 08 BF FB FF FF 0A 00 00 00 04 Write 12 OCh to the ROM value of the same parameter Tx 01 11 09 02 03 03 A2 13 OC 00 00 00 04 Rx 01 11 OC 02 00 00 00 37 4C C2 08 AB 09 00 00 04 Reading the ROM value of the same parameter shows that
34. D No meaning response data low word low byte No meaning response data low word high byte No meaning response data high word low byte No meaning response data high word high byte Fix ID telegram end Rx 01 11 0A 02 81 00 00 00 00 00 00 00 00 04 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 39 59 LinMot LinRS Interface Request Delete Command Table Entry in RAM Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 03h Telegram length 3 02h Fix ID start data 4 02h Message Sub ID Delete CT Entry in RAM 5 08h Message Main ID CT Message 6 02h Low byte CT entry ID 7 00h High byte CT entry ID 8 04h Fix ID telegram end Configuration Response Delete Command Table Entry in RAM Byte VEIG Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 OAh Telegram length 3 02h Fix ID start data 4 82h Message Sub ID CT Flashing completed Response 5 00h Message Main ID Response 6 00h Communication state 7 02h Low byte CT entry ID 8 00h High byte CT entry ID 9 00h No meaning response data low word low byte 10 00h No meaning response data low word high byte 11 00h No meaning response data high word low byte 12 00h No meaning response data high word high byte 13 04h Fix ID telegram end Example Tx 01 11 05 02 02 08 02 00 04 Rx 01 11 0A 02 82 00 00 02 00 00 00 00 00 04 Page 40 59 User Manual LinRS Interface 16
35. D Program Handling Message Group Fix ID telegram end Response Reset Servo Controller with immediate Response The servo controller answers with the configured default response Example Tx 01 11 03 02 02 06 04 Rx 01 11 OC 02 00 00 00 40 00 00 8A 00 00 00 04 The default response is given immediate to detect reboot completion poll servo controller until it answers 13 3Stop MC and Application SW Request Stop MC and Application SW Offset 0 OI 01h 11h 03h 02h 03h 06h 04h Fix ID telegram start MACID Data length Fix ID start data Sub ID Stop MC and Application SW Main ID Program Handling Message Group Fix ID telegram end Response Reset Servo Controller with immediate Response The servo controller answers with the configured default response Example Tx 01 11 03 02 03 06 04 Rx 01 11 OC 02 00 00 00 00 00 00 00 D9 00 00 00 04 NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 45 59 LinMot LinRS Interface 13 4Start MC and Application SW with Response after completion Request Start MC and Application SW with Response after completion Byte Value Description Offset 0 01h Fix ID telegram start 1 11h MACID 2 03h Data length 3 02h Fix ID start data 4 01h Sub ID Reset Servo Controller with Response after completion 5 06h Main ID Program Handling Message Group 6 04h Fix ID telegram end Response Start MC and Application
36. Not used don t have to be transmitted 8 04h Fix ID telegram end Configuration Response Get Next UPID Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 OAh Telegram length 3 02h Fix ID start data 4 5Bh Message Sub ID Cfg Read ROM Value 5 00h Message Main ID Response 6 00h Communication state T A2h Found UPID Low Byte 8 13h Found UPID High Byte 9 09h Address Usage low byte of found UPID 10 00h Address Usage high byte of found UPID 11 00h Parameter Type low byte of found UPID 12 00h Parameter Type high byte of found UPID 13 04h Fix ID telegram end NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 29 59 LinMot LinRS Interface The following example shows the principle of reading the UPID List of a SW instance if generating a configuration out of this list all UPIDs with the ROM write address usage bit set have to be read out with the get ROM value command Tx 01 11 05 02 05 00 20 04 start Get UPID List Intf SW layer Rx 01 11 0A 02 5A 00 00 00 20 00 00 00 00 04 Tx 01 11 05 02 05 00 20 04 Rx 01 11 02 5B 00 00 08 20 0D 000A 0004 UPID 2008h AU 000Dh Type 000Ah Tx 01 11 05 02 OB 05 00 20 04 Rx 01 11 02 5B 00 00 36 21 01 10 03 0004 2136h AU 1001h 0003h Tx 01 11 05 02 05 00 20 04 Rx 01 11 02 5B 00 00 37 21 01 10 03 0004 2137h AU 1001h 0003h Tx 01 11 05 02 OB 05 00 20 04
37. R XA X8 uu aa 6 3 POWER UP BEHAVIOUR vaccine u u u bus 7 3 1 ACTIVATING AND DEACTIVATING THE LINRS 7 3 2 ID AND Baup SELECTION aee asssasasssmsyasanaqasnsaysiksasyssanssaysassusayksassasayxsamssaryskhasssays 8 3 2 1 S EICHENSEER 8 222 NECS NEUTER 8 33 RS NE I In SERERE 9 2a l ROZ J2 9 J 9 2 TOES hadi ch th a i ei ck ch an 9 Nie 00 ET 10 4 LINKS MESSAGE FORMAT lu ulula dra De vaa EUR 11 PE u x gt s 11 22 2 duci c LEM 11 DA Tes u m 11 ee RETE 11 5 MESSAGE DATA 12 S L bie sas dicm 12 6 RESPONSE REQUEST uuu ull ee ee ee ee ee er ee 14 6 1 CONFIGURATION OF THE DEFAULT RESPONSE ccccceccessesesceseeseseeesseseeceseesausessusesenseseusesensesesensenens 14 6 2 REQUEST DEFAULT RESPONSE EXAMPLE u uu u u uuu uanasskasskaanaqakaqsiyanapaqapanqsskunassshuyasqqastapaqss 15 6 3 MC Response REQUEST WITH STATUS Worn REQUEST 16 7 WRITE CONTROL
38. RS Interface 16 06 2010 Page 53 59 LinRS Interface By Dig In 6 1 By Dig In 1 Offset By Dig In 2 1 Offset By Dig In 3 1 Offset By Dig In 4 1 Offset By Dig In 5 1 Offset By Dig In 6 1 Offset Parameter Value MACID Parameter Value The ID parameter defines the source of the MACID LinRS Protocol Config MACID MACID Parameter Value Checksum MACID Parameter Value B1100 only The MACID is defined by DigIn6 1 X13 4 X13 16 X13 3 X13 15 X13 2 and X13 14 at power up DigIn6 is the most Digln1 the least significant bit 000000b ID 0 111111b ID 63 B1100 only The MACID is defined by DigIn1 X14 14 at power up plus the value of 6081h MACID Parameter Value as offset OV ID O 24V ID 1 plus offset B1100 only The MACID is defined by Digln2 1 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset DigIn2 is the most Digln1 the least significant bit 00b ID 0 11b plus offset B1100 only The MACID is defined by DigIn3 1 X14 15 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset Digln3 is the most Digln1 the least significant bit 000b ID 0 111b ID 7 plus offset B1100 only The MACID is defined by Digln4 1 X14 3 X14 15 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset DigIn4 is the most Digln1 the least significant bit
39. Rate Selection With the default parameterization the baud rate can be selected over S1 and the ID is selected over S2 3 2 1 Baud Rate Selection The baud rate can be defined over the S1 hex switch default setting or by parameter value S1 Baud Rate Code Table 51 Value Selected Baud Rate Undefined Baud Rate 4800Bit s 9600 Bit s 19200 Bit s 38400 Bit s 57600 Bit s 115200 Bit s Undefined Baud Rate Undefined Baud Rate NOOR WBN O 3 2 2 ID Selection Like the baud rate the protocol ID can be defined over the S2 hex switch default setting by parameter value or by the 51852 hex switches 52 ID code table S2Value Selected MACID 0 MACID 00h 1 MACID 01h 2 MACID 02h F MACID 0Fh S1 amp S2 ID code table S1 Value S2 Value Selected MACID 0 0 MACID 00h 0 1 MACID 01h 0 2 MACID 02h 1 0 MACID 10h F F MACID FFh Page 8 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 3 3 RS Topologies 3 3 1 RS232 Topology Over a RS232 line only one slave can be connected to the master controlling several slaves needs several RS232 lines The RS232 serial lines are only on the COM connector X5 available Master Slave PLC IPC E1100 3 3 2 RS422 Topology With the RS422 topology several Slaves can be accessed The master transmit lines are connected to all slave receives lines and all slave transmit lines are connected with master rece
40. Rx 01 11 0A 02 86 00 04 02 00 00 00 00 00 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 0A 02 86 00 04 02 00 00 00 00 00 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 0A 02 86 00 04 02 00 00 00 00 00 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 02 86 00 04 02 00 00 00 55 6E 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 02 86 00 04 02 00 6E 61 6D 65 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 02 86 00 04 02 00 64 00 00 00 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 0A 02 86 00 04 02 00 00 00 00 00 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 02 86 00 04 02 00 00 00 FF FF 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 0A 02 86 00 04 02 00 FF FF FF FF 04 Tx 01 11 05 02 06 08 02 00 04 Rx 01 11 0A 02 86 00 00 02 00 FF FF FF FF 04 Page 42 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface 12 2Write Command Table Entry To Servo Example Only for E1100 controllers Setup Write Command Table entry 2 data size 40hbytes Tx 01 11 09 02 03 08 02 00 40 00 00 00 04 Rx 01 11 0A 02 83 00 00 02 00 00 00 00 00 04 Write Command Table entry 2 data Tx 01 11 09 02 04 08 02 00 01 A7 FF FF 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 00 01 40 42 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 OF 00 20 A1 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01 11 09 02 04 08 02 00 07 00 40 0D 04 Rx 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 Tx 01
41. ach SW layer the changed parameters of the actual configuration could be read out the servo controller With this functionality the whole parameter configuration of the servo controller could be read out and stored in the PC PLC Each firmware layer has its own range of UPIDs for its parameters 1 0000h 0EFFh Operating System 2 1000h 1EFFh Motion Control SW 3 2000h 2EFFh Interface Software 4 3000h 3EFFh Application In the following example the changed parameters of the Intf SW LinRS in the example the 4 listed UPID s are changed UPID 200Eh Baud Rate Source Select Value 00000002h By Parameter UPID 2012h Baud Rate Parameter Def Value 00000008h 38400 Baud UPID 206Ch MACID Source Select Value 00000003h By Parameter UPID 2076h MACID Parameter Value Value 00000011h MACID Tx 01 11 05 02 08 05 00 20 04 init read out changed Intf Par LinRS Rx 01 11 02 58 00 00 00 20 00 00 00 00 04 Tx 01 11 05 02 09 05 00 20 04 get next changed Intf parameter Rx 01 11 02 59 00 00 OE 20 02 00 000004 UPID 200Eh Value 00000002h Tx 01 11 05 02 09 05 00 20 04 get next changed Intf parameter Rx 01 11 02 59 00 00 12 20 08 00 00 00 04 UPID 2012h Value 00000008h Tx 01 11 05 02 09 05 00 20 04 get next changed Intf parameter Rx 01 11 02 59 00 00 6 20 03 00 00 0004 UPID 206Ch Value 00000003h Tx 01 11 05 02 09 05 00 20 04 get next changed Intf parameter Rx 01 11 02 59 00 00 76 20
42. alue with MC Default Response oh A vs Write RAM value with MC Default Response 03h 02h Yes Read ROM value with MC Default Response 03h 03h Yes Write ROM value with MC Default Response 03h 04h Write RAM and ROM value with MC Default Response 03h 058 Get minimal value of parameter with MC Default Response 03h 06h Get maximal value of parameter with MC Default Response 03h 078 Get default value of parameter with MC Default Response 03h 11h Set OS Operating System ROM parameter values to default 03h 12h Set MC Motion Control ROM parameter values to default 03h 13h Set Interface ROM parameter values to default 03h 14h Set Application ROM parameter values to default Page 22 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 9 1 Parameter Variable Read RAM example With this command example the RAM value of the UPID 13A2h P Gain Position Controller for B1100 controllers it is UPID 6198h is read With the default MC response the requested value is added in the last 4 bytes of it Byte Description Offset 0 Oth Fix ID Telegram start 1 11h Destination node ID 2 05h Telegram length 3 02h Fix ID start data 4 00h Message Sub ID Read Ram Value 5 03h Message Main ID Parameter 6 A2h UPID Low Byte P Gain Position Controller 7 13h UPID High Byte P Gain Position Controller 8 04h Fix ID telegram end Tx 01 11 05 02 00 03 A2 13 04 Rx 01 11 10 02 00 00 00 37 4C
43. are deleted in RAM Byte ELITS Description Offset 0 Oth Fix ID Telegram start 1 11h Destination node ID 2 03h Telegram length 3 02h Fix ID start data 4 01h Message Sub ID Delete all Curves in RAM 5 04h Message Main ID Curve Message 6 04h Fix ID telegram end Configuration Response Delete all Curves in RAM Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 OAh Telegram length 3 02h Fix ID start data 4 40h Message Sub ID Curve Cfg Response 5 00h Message Main ID Response 6 00h Communication state 7 00h No meaning low byte curve ID 8 00h No meaning high byte curve ID 9 09h No meaning response data low word low byte 10 00h No meaning response data low word high byte 11 00h No meaning response data high word low byte 12 00h No meaning response data high word high byte 13 04h Fix ID telegram end Example Tx 01 11 03 02 01 04 04 Rx 01 11 0A 02 40 00 00 00 00 00 00 00 00 04 Page 32 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Request Delete Curve in RAM With this command the curve with ID 1 defined is deleted in RAM Byte VEIG Description Offset 0 01h 11h 03h 02h 02h 04h 01h 00h 04h Fix ID Telegram start Destination node ID Telegram length Fix ID start data Message Sub ID Delete Curve in RAM Message Main ID Curve Message Curve ID low byte Curve ID high byte Fix
44. com skype support linmot 41 0 56 419 91 92 http www linmot com LinMot Inc 5750 Townline Road Elkhorn WI 53121 Sales and Administration Tech Support 877 546 3270 262 743 2555 877 804 0718 262 743 1284 800 463 8708 262 723 6688 us sales linmot com http www linmot usa com Please visit http www linmot com to find the distribution near you Smart solutions are www LinMot com NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 59 59
45. commended to use the USB to CAN converter If you don t have one you can follow the sequence below to have access over the RS port in the meantime 1 Power down the B1100 servo 2 Launch the LinMot Talk software don t login it s not possible 3 Under File Install firmware select the stop script and open it Look in O Firmware ET Cj Applications Interfaces Recent sw Documents 5 OlderReleases G y Firmware V351 1 Beta20091125 sct Desktop t StopFirmware sck My Documents My Computer File name StopFirmware sct x My Network Files of type Script sct Cancel Places Open as read only 4 select the correct COM port 5 Power on the B1100 controller 24V Logic Supply ipi xi Sending stop command and waiting for response from controller Firmware successfully stopped 6 The servo is now stopped Firmware successfully stopped during booting before starting the LinRS Now the RS COM port is free for login and configuration or diagnostics This procedure can also be used to stop other controllers over the RS232 link Page 58 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface 18 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration Tech Support Tech Support Skype Fax Web 41 0 56 419 91 91 office linmot com 41 0 56 544 71 00 support linmot
46. e RS232 the RS422 RS485 serial lines are available This connector is available with all E1100 series servo controllers DSBU 9 male 1 RS 485 RS 485 Rx Pin2 RS 232 TX Pin 7 RS 485 Tx Pin3 RS 232 RX Pin8 CANL Pin 4 RS 485 Rx Pin9 CANH Pin5 GND 1009 2 2 Pin Out of the System Connector X19 Series E1200 Pin 1 Do not connect Pin2 Do not connect Pin3 RS232RX Pin4 GND Pin5 GND Pin6 RS232 TX Pin7 Do not connect Pin8 Do not connect 2 3 Pin Out of the CMD Connector X7 X8 The CMD connector exists only on the E1100 RS HC XC E1100 DP HC XC series E1200 and B1100 GP HC XC controllers 2xRJ45 with 1 1 connected signals Standard twisted pairs 1 2 3 6 4 5 7 8 Use Ethernet cables according the EIA TIA 568A standard Pin 1 5485 Rx 2 5485 Rx Pin 3 RS485 Pin 4 5 Ground 1 Pin6 RS485 Tx Pin7 CANH Pin8 CANL Page 6 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 3 Power Up Behaviour The power up behaviour can be defined over the S3 switches and the S1 and S2 hex switches and the parameter configuration So the servo controller can be configured over the LinRS protocol It is possible to setup completely the controller over LinRS when the LinRS software has been installed On the B1100 there are no switches to define the baud rate ID and interface enable for this reason all configuration has to be done by pa
47. e out occurs the receive state machine is reset This behaviour enables a correct receive of the following telegram even if the actual telegram is corrupted LinRS Protocol Config Receive Time Out Enable e Enable e Disable Time Out Byte to byte time out value MC Response Configuration The response configuration determines the data that is responded from the LinMot servo controller to the PLC The orders of the data correspond to selection order in the response Communication State LinRS Status byte of communication Default Selection On Status Word Status Word Default Selection On State Var State Variable Default Selection Off Error Code Error Code Default Selection Off Warn Word Warn Word Default Selection Off MC Intf Header MC command interface echo Default Echo Selection Off Monitoring Channel 1 Monitoring Channel 1 Selection Default On Channel 1 UPID Monitoring Channel 1 UPID Monitoring Channel 2 Monitoring Channel 2 Selection Default Off Channel 2 UPID Monitoring Channel 2 UPID MC Response 4 byte Place holder for MC Response Default Off Error In this section the Error behaviour can be defined Error Detection Mask With the error detection mask a single error can be disabled Also a LinRS error causes the MC SW go to the error state LinRS Error Error Detection Mask Checksum Error Default Selection On End Of Telegram Missing Default Selection On Wrong Msg Main ID Default Selection On Wrong M
48. ed error log of the controller could be read out Message Message Description Main ID Sub ID 07h 00h Get error short text of actual error 07h 01h Get error short text of defined error code 07h 02h Get error counters of error log and total occurred error 07h 03h Get error log entry error code short text and time 14 1 Get error short text of actual error Only for E1100 controllers With the get error short text of actual error request the slave answers with string with 32 characters which contains the short text of the actual error code unused characters filled with Request Get error short text of actual error Byte Value Description Offset 0 01h Fix ID telegram start 1 11h MACID 2 03h Data length 3 02h Fix ID start data 4 00h Sub ID Get error short text of actual error 5 07h Main ID Read Error Info Message Group 6 04h Fix ID telegram end Response Get error short text of actual error Byte Value Description Offset 0 01h Fix ID telegram start 1 11h MACID 2 24h Data length 3 02h Fix ID start data 4 70h Sub ID Response Get error short text of actual error 5 00h Main ID Response Message 6 00h Communication State ok 7 4Eh First character N 3 Characters 2 32 39 04h Fix ID telegram end Example Tx 01 11 03 02 00 07 04 Rx 01 11 24 02 70 00 00 4E 6F 20 45 72 72 6F 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 The slave responds with the strin
49. eset completion 06h 02h Yes Reset Servo Controller with immediate response 06h 03h Stop MC and Application SW 06h 04h Start MC and Application SW with response after start completion 06h 05h Start MC and Application SW with immediate response 13 1 Reset Servo Controller with Response after completion Request Reset Servo Controller Byte Value Description Offset 0 01h Fix ID telegram start 1 11h MACID 2 03h Data length 3 02h Fix ID start data 4 01h Sub ID Reset Servo Controller with Response after completion 5 06h Main ID Program Handling Message Group 6 04h Fix ID telegram end Response Reset Servo Controller Byte Value Description Offset 0 01h Fix ID telegram start 1 11h MACID 2 04h Data length 3 02h Fix ID start data 4 60h Sub ID Program Handling Response 5 00h Main ID Response Message 6 00h Communication State ok 7 04h Fix ID telegram end Example Tx 01 11 03 02 01 06 04 Rx 01 11 04 02 60 00 00 04 The response is given after the reset is completed ca 3s Page 44 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface 13 2Reset Servo Controller with immediate Response Request Reset Servo Controller with immediate Response Byte Offset 0 1 2 3 4 5 Value 01h 11h 03h 02h 01h 06h 04h Description Fix ID telegram start MACID Data length Fix ID start data Sub ID Reset Servo Controller with immediate Response Main I
50. followed directly as shown below LinMot Talk1100 V3 6 Build 20060626 File Search Controller Services Options Window Tools Manuals Help Hm 5 25148 ID 16 on CAN xu 0 Ep Project Unnamed ID 16 on Contral Panel tg LinRS Test Tool E Trigger X4 6 6 Master Encoder H E Monitoring E Limit Switches 54 8 and 4 8 E PTC 1 20n54 10 x4 11 Control Status 4 Monitoring 0 Switch D n 1 0 Operation Enabled a Connection Status Online Eme r WE 1 Firmware Status Running H Motor Status Switched On 1 1 87 FB FF FF 04 87 FB FF FF 04 Op State Operation Enabled 95 FS FF FF 04 38400 m 1 0 76 FD FF FF 04 Open Fort Actual Position 0 00 mm Close Port Demand Position 0 00 mm 0 Force Factor 96 88 2 Motor Current 0 07 A Command Category Command Type vai Go To Pos 010xh J0 Count Nibble Toggle Bits ah Auto Increment Count Nibble Logic Supply Volt 23 69 V Motor Supply Volt 75 10 V 1 mm Most Commonly Used Offs Description 0 2 10 14 O10xh Go Pos Target Position Maximal Velocity Acceleration Deceleration Scaled Value Int Value Dec Int Va
51. g Page 48 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface 14 2 Get error short text of defined error code Only for E1100 controllers With the get error short text of defined error code request the slave answers with string with 32 characters which contains the short text of the actual error code unused characters are filled with 00h Request Get error short text of defined error code Byte Value Description Offset 0 ON 01h 11h 05h 02h 01h 07h 01h 00h 04h Fix ID telegram start MACID Data length Fix ID start data Sub ID Get error short text of defined error code Main ID Read Error Info Message Group Error code low byte Error code High byte have to be 00h Fix ID telegram end Response Get error short text of defined error code Byte Offset 0 01h 1 11h 2 26h 3 02h 4 71h 5 00h 6 00h 7 01h 8 00h 9 4 41 04h Example Read Error text of Error Code 01h Tx 01 11 05 02 01 07 01 00 04 Rx 01 11 26 02 71 00 00 01 00 45 72 72 3A 20 58 34 20 4C 6F 67 69 63 20 53 75 70 70 6C 79 20 54 6F GF 20 4C 6F 77 00 00 00 00 04 The slave responds with the string Err X4 Logic Supply Too Low Fix ID telegram start MACID Data length Fix ID start data Sub ID Response Get error short text of actual error Main ID Response Message Communication State ok Error code low byte Error code high byte First
52. guration Read ROM value example With command the RAM value of the UPID 13A2h P Gain Position Controller UPID 6198h for B1100 is read With the default MC response the requested value is added in the last 4 bytes of it Request Read ROM value of UPID Byte CI Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 05h Telegram length 3 02h Fix ID start data 4 00h Message Sub ID Cfg Read ROM Value 5 05h Message Main ID Parameter Configuration 6 A2h UPID Low Byte P Gain Position Controller 7 13h UPID High Byte P Gain Position Controller 8 04h Fix ID telegram end Configuration Response Read ROM value of UPID Byte Value Description Offset 0 01h Fix ID Telegram start 1 11h Destination node ID 2 OAh Telegram length 3 02h Fix ID start data 4 50h Message Sub ID Cfg Read ROM Value Response 5 00h Message Main ID Response 6 00h Communication state 7 A2h UPID Low Byte P Gain Position Controller 8 13h UPID High Byte P Gain Position Controller 9 09h Parameter value low word low byte 10 00h Parameter value low word high byte 11 00h Parameter value high word low byte 12 00h Parameter value high word high byte 13 04h Fix ID telegram end Examples Stopping MC SW Tx 01 11 03 02 03 06 04 Rx 01 11 OC 02 00 00 00 00 00 00 00 87 00 00 00 04 MC default response Reading the P Gain Position Controller Set A UPID 13A2h ROM value Tx 01 11 05 02 00 05 A2 13 04 Rx 01 11 0A 02 50 00
53. h a message itself Normally the response contains the configured data 6 1 Configuration of the Default Response The content of the default response can be configured so the information for the normal operation can be adapted to the application needs The order of the information is the same as they appear in the LinMot Talk configuration tool The Default Response is normally responded within the time gt 0 5ms lt 1 5ms The bold named entries are configured in default configuration factory setting of the LinRS firmware installation Communication State 1 bytes Status of communication Checksum error Default Cfg Status Word 2 bytes Status Word bit coded Default Cfg State Var 2 bytes High byte state number low byte state depending Default Cfg Error Code 2bytes Error Code Warn Word 2 bytes Warn Word bit coded Echo MC Intf Header 2bytes Echo of the motion command interface header Monitoring Channel 1 4 bytes Monitoring Channel 1 Data Default Cfg Monitoring Channel 2 4bytes Monitoring Channel 2 Data MC Response 4 bytes Place holder for a response request Page 14 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 6 2 Request Default Response Example The following example documents a default response request the controller will answer with the configured default response This request could be used to monitor state changes or direct variable changes Request default response
54. ied in a first level by following main Message IDs Message B1100 Description Main ID 00h Yes Response Request Response itself 01h Yes Write Control Word 02h Yes Write Motion Command Interface 03h Yes Parameter Message Group with default Response 04h Curve Configuration Message Group 05h Parameter Configuration Message Group 06h Yes Program Handling Message Group 07h Read Error Info Message Group 08h Command Table Configuration Message Group In the easiest way of using the LinRS protocol only the Messages with the Main IDs 0 1 and 2 are needed to control the behavior of the servo controller The other Main messages IDs are only needed if configuration or setup functionality over the LinRS protocol is needed and supported In these cases a much deeper integration of the LinMot servo controller into the superior PLC IPC is supported and needed As an alternative to this LinMot offers a configuration service which means you can store your configuration with LinMot and order the servo controller with installed firmware and configuration parameter and curves In many cases this will be the more cost effective solution Page 12 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface LinMot For debugging reasons and to get familiar with the LinRS protocol the LinMot Talk has an integrated LinRS test tool Tools LinRS test Tool Together with the USB to CAN converter the steps could be
55. it is still unchanged OCh This change will affect the position controller behavior only after a restart of the MC SW for this reason it is recommended to change the ROM values only in the stopped MC SW mode Tx 01 11 05 02 02 03 A2 13 04 Rx 01 11 10 02 00 00 00 37 4C C2 08 AB 09 00 00 OC 00 00 00 04 The following sequence shows the behavior of the write RAM nad ROM command Message Sub ID 04h to the same parameter with UPID 13A2h P Gain Position controller Set A UPID 6198h for B1100 Write 09h to Ram and ROM Tx 01 11 09 02 04 03 A2 13 09 00 00 00 04 Rx 01 11 OC 02 00 00 00 37 4C C2 08 95 09 00 00 04 Reading changed RAM value Tx 01 11 05 02 00 03 A2 13 04 Rx 01 11 10 02 00 00 00 37 4C C2 08 EB 09 00 00 09 00 00 00 04 Reading changed ROM value Tx 01 11 05 02 02 03 A2 13 04 Rx 01 11 10 02 00 00 00 37 4C C2 08 95 09 00 00 09 00 00 00 04 Page 24 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 10 Parameter Configuration Group The parameter Configuration Group Messages could be used to read out a configuration and or write a configuration For configuring it is needed to stop the MC SW of the servo controller first Program Handling Message Group and after configuring the controller re start the MC SW again Message Message Description Main ID Sub ID 05h 00h Read ROM value 05h 01h Write ROM value 05h 03h Get parameter address usage 05h 04h Get parameter type 05h
56. ive lines With this topology debugging is quiet easy because master communication and slave communication is separated The easiest way to loop through the communication lines at slave side are over the X7 X8 RJ45 connectors with the RS DP servo controllers Activate RS485 Term on 53 2 or 55 2 on E1200 series on the last slave servo controller Master PLC IPC With B1100 the switch S4 1 has to be set to RS485 select NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 9 59 LinMot LinRS Interface 3 3 3 RS485 Topology With the RS485 topology also several Slaves can be accessed The master transmit lines are connected to all slave receives lines and all slave transmit lines are connected with master receive lines With this topology debugging is quiet easy because master communication and slave communication is separated The easiest way to loop through the communication lines at slave side are over the X7 X8 RJ45 connectors with the RS DP servo controllers but at the first slave the RS485 AB lines from the master have to be connected with the Rx and the Tx signal lines Activate RS485 Term on S3 2 on the last slave servo controller Master PLC IPC With B1100 the switch S4 1 has to be set to RS485 select Page 10 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 4 LinRS Message Format The following tables define the principle structure of a LinRS Message Sta
57. l LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 14 4 Get error log entry With the Get error short text of defined error code request the slave answers with string with 32 characters which contains the short text of the actual error code unused characters are filled with Request Get error counters of error log and total occurred erros Byte Value Description Offset 0 01h Fix ID telegram start 1 11h MACID 2 05h Data length 3 02h Fix ID start data 4 03h Sub ID Get error log entry 5 07h Main ID Read Error Info Message Group 6 00h Low byte error log entry number 0 newest 7 00h How byte error log entry number 8 04h Fix ID telegram end Response Get error short text of defined error code Byte Value Description Offset 0 01h Fix ID telegram start 1 11h MACID 2 OEh Data length 3 02h Fix ID start data 4 73h Sub ID Response Get error log entry 5 00h Main ID Response Message 6 00h Communication State ok 7 OCh Low byte error code 8 00h High byte error code 9 3Eh Low byte low word milli second counter run time 10 11h High byte low word milli second counter run time 11 OEh Low byte high word milli second counter run time 12 00h High byte high word milli second counter run time 13 6Fh Low byte low word hour counter run time 14 02h High byte low word hour counter run time 15 00h Low byte high word hour counter run time 16 00h High byte high word hour counter
58. lue Hex 260 260 0104h 5 mm 50000 FFFF3CBOh 1 m s 1000000 O00F4240h 10 m s 2 1000000 000F4240h 10 m s 2 1000000 000F4240h H E Motor Configuration E State Machine Setup E Motion Interface E Position Controller Name Current Controller Header Errors amp Warnings 1 461 Protected Technology Functions 2 Par Links ipw Ez Dis Enable RS Config 461 Protocol Config E Error Read Command Send Command NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 13 59 LinMot LinRS Interface 6 Response Request The response to the response request is added to the configured response data or set to the configured reserved space Message Message Description Main ID Sub ID 00h 00h Default MC Response Answer Slave 00h 01h Default MC Response Request Master 00h 02h Default MC Response Request with Status Word Request Master 00h 03h Default MC Response Request with Warn Word Request Master 00h 04h Default MC Response Request with State Var Request Master 00h 30h Slave Response to Master Parameter Request 00h 40h Slave Response to Master Curve Request 00h 50h Reserved Slave Memory Group Response 00h 60h Slave Response to Master Program Handling Request 00h 7yh Slave Response to Master Read Error Requests 00h 8yh Slave Response to Master Command Table Request Every time the controller has accepted a Message it will respond wit
59. mple Tx 01 11 05 02 00 01 3F 08 04 Rx 01 11 0 02 00 00 00 40 00 02 A8 00 00 00 04 To detect when the homing sequence has finished poll the controller until the low byte in the StateVar is OFh and the main state 09h homing high byte of the state var Example Tx 01 11 05 02 00 01 3F 08 04 Rx 01 11 OC 02 00 00 00 B7 22 01 09 65 OE FB FF 04 Tx 01 11 05 02 00 01 3F 08 04 Rx 01 11 OC 02 00 00 00 B7 22 01 09 8B A3 F7 FF 04 Tx 01 11 05 02 00 01 3F 08 04 Rx 01 11 OC 02 00 00 00 B7 62 OC 09 4D 24 FF FF 04 Tx 01 11 05 02 00 01 3F 08 04 Rx 01 11 02 00 00 00 37 4C OF 09 DA FB FF FF 04 gt Homing finished Page 18 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface 7 3 Write Control Word example 3 With this control word command the normal operation is enabled Request Write Control Word Set all Bits for Operation and Reset Home Flag Byte Value Offset 0 01h 11h 05h 02h 00h 01h 3Fh 00h 04h Q Example Tx 01 11 05 02 00 01 3F 00 04 Description Fix ID Telegram start Destination node ID Telegram length Fix ID start data Message Sub ID Message Main ID Write Control Word Control Word Low Byte Control Word High Byte Fix ID telegram end Rx 01 11 OC 02 00 00 00 37 4C 00 09 3C FC FF FF 04 Poll again to make sure main state 08h is reached Tx 01 11 05 02 00 01 3F 00 04 Rx 01 11 OC 02 00 00 00 37 4C CO 08 DA FB FF FF 04
60. n a xc sane 45 13 4 Start MC AND APPLICATION SW RESPONSE AFTER 46 13 5 Start MC AND APPLICATION SW WITH IMMEDIATE 47 14 READ ERROR INFO MESSAGE 48 14 1 GET ERROR SHORT TEXT OF ACTUAL ERROR ssccccsccsccsessesseneoessesseseeeeeeesusseseseusessusesscsestuesensessens 48 14 2 GET ERROR SHORT TEXT OF DEFINED ERROR CODE cccesccccecccussesseseeeseussussessseesuseesssusseseevesenseusees 49 14 3 GET ERROR COUNTERS OF ERROR LOG AND TOTAL OCCURRED 5 50 14 45 OE ERROR DOR EHI toes tx ditat piri MK mM Eat e E EE Lid 51 15 LINRS PARAME TERS u u u uuu uuu uu u uuu unu u is 52 9 57 16 1 LNRS ERROR CODES TRECE 57 17 5 58 17 1 LINRS B1100 CONTROLLERS i a lY skim i 58 18 CONTACT ADDRESSES uu uu uu ulula oio 59 Page 4 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t
61. rameter with LinMotTalk 4 software over CAN Bus 3 1 Activating and Deactivating the LinRS Protocol Over the Interface Switch on the S3 4 switches the LinRS protocol can be activated position On or deactivated position Off This switch is not available on E1200 series controllers 53 On Off Interface CAN Term RS485 Term RS485 232 If the Interface Switch 53 4 is off during the system is booting the LinRS will be deactivated for the rest of this power cycle In this case the servo controller can normally be accessed with the LinMot Talk software over the RS or CAN link for configuration and testing If the Interface Switch 53 4 is on during the system is booting the LinRS protocol will be activated The RS line of the servo controller is no longer available for the LinMot Talk software in this case configuring debugging and testing can only be done over the CAN link Now switching off the interface to off reactivates the RS line for the LinMot Talk software then switching on again reinstall the LinRS protocol for the RS line this enables some debugging capabilities without running the LinMot Talk software over the CAN bus It is recommended to use the USB to CAN converter when working with the LinRS protocol for configuring and debugging With the RS485 RS232 switch on S3 the bus driver can be selected NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 7 59 LinMot LinRS Interface 3 2 ID and Baud
62. rt Len Start Data1 Data2 Data 577777 Check Header Data Msg Msg n 1 Sum Sum Tele 0 ID ID Low High gram Low High 01h O FFh 2 63 02h 0 FFh 0O FFh O FFh O FFh O FFh O FFh 04h Length Count Checksum Calculation 0 Start Header Fix ID at telegram start 01h 1 ID ID of LinMot Controller 0 FFh 2 Length Length of telegram data n 2 63 3 Start Data 0 Fix ID at telegram start 02h 4 Data 1 Msg ID Low Message Sub ID 0 FFh 5 Data 2 Msg ID High Message Main ID 0 FFh 6 Data 3 Message data 0 0 FFh r 2 0 FFh n 2 Data n 1 Message data n 1 0 FFh n 3 Checksum Low Optional checksum Low Byte 0 FFh n 4 Checksum High Optional checksum High Byte 0 FFh n 5 n 3 End Telegram Fix ID at telegram end 04h Data are transmitted lowest byte first highest byte last Dummy Data could be added to get a fix master transmission length 4 1 ID The ID is one byte that defines the address ID of the LinMot servo controller This ID is defined by two Hex Switches or by a parameter 4 2 Length The length defines the data length in bytes 4 3 Data In the data fields the command specific data are transmitted 4 4 Checksum The checksum field is optional Two different methods are supported Byte wise addition modulo 2 16 fast and easy CRC CCITT NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 11 59 LinRS Interface 5 Message Data Definitions 5 1 Message Main ID The Message object are identif
63. sg Sub ID Default Selection On UPID Not Existing Default Selection On NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 55 59 LinMot LinRS Interface Respond On Msg With Error Typically the LinMot servo controller doesn t answer to wrong telegrams with this mask the response for certain errors can be enabled With turned on Communication state in the MC default response the error will be responded to the master Checksum Error Default Selection On End Of Telegram Missing Default Selection On Page 56 59 User Manual LinRS Interface 16 06 2010 NTI AG LinMot LinRS Interface Lin Mo t 16 Error Within the LinRS Intf SW several errors are supported most of them can be disabled because they are not fatal For the motion control specific errors refer to document 1 16 1 LinRS Error Codes In the table below the LinRS specific error codes are listed Cth Checksum error C2h Message format error End of Telegram 04h missing C3h Undefined Message Main ID C4h Undefined Message Sub ID C5h Wrong Baud Rate Defined With S1 C8h Parameter Unknown UPID C9h Parameter Wrong Type NTI AG LinMot User Manual LinRS Interface 16 06 2010 Page 57 59 LinMot LinRS Interface 17 Troubleshooting 17 1 Stopping LinRS on B1100 Controllers If you have installed the LinRS firmware on a B1100 controller the RS port is occupied by the LinRS so no configuration or login can be done over RS It is re

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