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1. L in Mo te DeviceNet Interface 1 System Overview The LinMot DeviceNet controllers E1100 DN HC and E1100 GP HC supports the DeviceNet communication profile Further information on DeviceNet can be found under http www odva org The LinMot DeviceNet controller is a UCMM Group 3 capable slave And supports polled IO runtime data transmission With the B1100 device the Servo act as group 2 only server 2 Connecting the CAN bus 2 1 Pin Description of the COM Connector X5 DSBU 9 male O Pin 1 RS 485 Y Pin 6 RS 485B Pin2 RS 232 TX Pin 7 RS 485 Z Pin 3 RS 232 RX Pin8 CANL Pin 4 RS 485 A Pin9 CANH z Pin5 GND 2 2 Pin Description of the CMD Connector X7 X8 The CMD connector exists only on the E1100 RS HC XC E1100 DP HC XC 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 RS485A Pin 2 RS485B Pin 3 RS485 Y Pin 4 5Ground Pin 6 RS485 Z Pin7 CANH Pin8 CANL Page 4 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo te 2 3 CAN Termination The CAN bus must be terminated by two 120 Ohm resistors at both ends of the bus line according the following scheme CAN Bus Line CAN_L For easy installation the LinMot DeviceNet controllers have built in termination resistors which
2. 0 63 Master ID D5h Service ID 0000h Trap State 0 FFFFFFFFh Info Block Data Write Curve Data Request Master MACID 1 byte Write Curve Info Block response 1 byte LinMot Trap response 0000h ok end of data reached 0004h ok more data follows Echo of the curve info block data 4bytes Write Curve Data Request 10 bytes Po Data Description a l 0 63 Master ID 56h Service ID 0041h Class 0 FFFFh Instance 0 FFFFFFFFh Info Block Data Master MACID 1 byte Write Curve Data 1 byte LinMot Curve Class 2 bytes The curve ID 1 99 is mapped to the instance 2 bytes Curve info block data 4bytes Page 26 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo te Write Curve Data Response Write Curve Data Response 8 bytes a ip 0 63 Master ID Master MACID 1 byte D6h Service ID Write Curve Data response 1 byte 0000h Trap State LinMot Trap response 0000h ok end of data reached 0004h ok more data follows 0 FFFFFFFFh Curve Echo of the curve data 4bytes Data Delete Single Curve in RAM Request Delete Single Curve in RAM Request 6 bytes Po Data Description 0 63 Master ID Master MACID 1 byte 58h Service ID Delete Single Curve in RAM 1 byte 0041h Class LinMot Curve Class 2 bytes 0 FFFFh Instance The curve ID 1 99 is mapped to the instance 2 bytes Delete Single Curve RAM Response Delete Single Curve RAM Response 8 bytes a
3. DeviceNet Polled IO Config Command Config Definition of the command data exchanged Response Config Polled IO Time Out through the polled IO telegrams Master gt Slave Definition of the response data exchanged through the polled IO telegrams Slave gt Master This parameter defines the polled data exchange timeout at startup Page 10 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface Command Config The command configuration determines the data that is sent from the PLC to LinMot servo controller The length of the default configured command data is 20 bytes Control Word Control Word is sent from PLC Default Selection On Motion Cmd Intf Motion Command Interface with 3 different length e 3 Words e 6 Words e 9 Words Default Selection On RAM Parameter RAM Parameter Channel Default Selection Off Channel Memory Mapping of Parameter Channel e 1 Word UPID e 2 Word Parameter Value Low Word e 3 Word Parameter Value High word NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 11 35 L in Mo te DeviceNet Interface Response Config The response configuration determines the data that is responded from the LinMot servo controller to the PLC The length of the default configured response data is 18 bytes Each direct variable needs 4 bytes data space in the response telegram DeviceNet Polled IO Config Response Configuration Status Word Status Wor
4. 0 gt H Bridges a al 1 Operation ee disabled a enabled la Fe i E command is cleared 1 Operation _ Freeze motion EE Stop position control rests active Target position not cleared curves motions are aborted lt jo ooo oH eee eee edge will reactivate motion command a To Position osc To Position Go to fixed a Position Wait for release of signal oe Acknowledge 8 Jog Move 9 Jog Move 10 Special Mode 11 Home 12 Clearance Check 13 Go To Initial Position 14 Reserved 15 Phase Search a Pe re Ie ee ee er Error Acknowledge Rising edge of signal acknowledges error EE aa Pat ogMove S O i Sa SSE Pat ogMove SS O 2 SS SSS a PURI SLi ae a ea a Se ee ee Oo is finished 0 Stop Clearance Check t t Clearance Check Enable Clearance Check Movements _ astaihel Postion Rene Sis Wil Gavigs hi Sse edge will start go to initial position S Se Le aie SAS ee o 0 Stop Phase Search za Phase Search erate Phase Seach o Phase Search Movements NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 15 35 DeviceNet Interface 8 Status Word Following table shows detailed meaning of the single bits Beene Enabled 1 Switch On Active eye Operation ae 4 Voltage Enable Quick Stop 6 Switch On Locked 7 Warning 8 Event Handler Active 9 Special Motion Active 10 In Target Posit
5. 0 Control Word Bit mapped word to control the state machine of the servo 1 Motion command Header Defines the command to execute split into three parts e Main ID 8 bit e Sub ID 4 bit e Execution count toggle 4bit Word Motion command Parameter Word Motion command Parameter Word Motion command Parameter Word Motion command Parameter Word Motion command Parameter Word Motion command Parameter Word Motion command Parameter Word Motion command Parameter Motion Cmd 1 Par Word Motion Cmd 2 Par Word Motion Cmd 3 Par Word Motion Cmd 4 Par Word Motion Cmd 5 Par Word Motion Cmd 6 Par Word Motion Cmd 7 Par Word Motion Cmd 8 Par Word OANDaABRWND CONDOaABRWN 5 2 Default Configured Response Data With the default configured response data the Servo can be supervised and monitored Mapping Default Configured Produced Data Name Description Offse t 0 Status Word Bit mapped word to monitor some important events states 1 State Var Mirror of the main state machine split into high and low byte e Main State ID high byte e Sub State ID low byte Warn Word Bit mapped word to monitor the warnings Monitoring Channel 1 Data Low Word Monitoring Channel 1 Data High Word Monitoring Channel 2 Data Low Word Monitoring Channel 2 Data High Word Monitoring Channel 3 Data Low Word Monitoring Channel 3 Data High Word N OAONOaKRW NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Pa
6. Size of the curve info block Size of the curve data block Read Curve Info Block Request Read Curve Info Block Request 6 bytes PSS Sasa 0 63 Master ID 51h Service ID 0041h Class 0 FFFFh Instance Master MACID 1 byte Read Curve Info Block 1 byte LinMot Curve Class 2 bytes The curve ID 1 99 is mapped to the instance 2 bytes This Request contains no data and could be transmitted non fragmented 6 bytes long Page 24 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo te Read Curve Info Block Response Read Curve Info Block Response 8 bytes Data Description a 0 63 Master ID Master MACID 1 byte D1h Service ID Read Curve Info Block response 1 byte 0000h Trap State LinMot Trap response 0000h ok end of info block reached 0004h ok more data follows 0 FFFFFFFFh Data Info block data 4bytes Read Curve Data Request Read Curve Data Request 6 bytes Po Data Description 0 63 Master ID Master MACID 1 byte 52h Service ID Read Curve Data Request 1 byte 0041h Class LinMot Curve Class 2 bytes 0 FFFFh Instance The curve ID 1 99 is mapped to the instance 2 bytes Read Curve Data Response Read Curve Data Response 8 bytes Pt Data Description a 0 63 Master ID Master MACID 1 byte D2h Service ID Read Curve Data Response 1 byte 0000h Trap State LinMot Trap response 0000h ok end of data reached 0004h ok more data fol
7. et ae Documentation of the DeviceNet Interface of the following Controllers E1100 DN HC XC E1100 GP HC XC E1130 DP HC XC B1100 GP HC XC a F RS D N amp DeviceNet Interface V3 12 User Manual 2010 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 3 12 June 2010 IGURED Commanp Dara GURED RESPONSE 18
8. X13 2 and X13 14 at power up DigIn3 is the most DigIn1 the least significant bit 000b D 0 111b ID 7 By Dig In 4 1 B1100 only The MACID is defined by DigIn4 1 X13 3 X13 15 X13 2 and X13 14 at power up DigIn4 is the most DigIn1 the least significant bit 0000b ID 0 1111b ID 15 By Dig In 5 1 B1100 only The MACID is defined by DigIn5 1 X13 16 X13 3 X13 15 X13 2 and X13 14 at power up DigIn5 is the most Digln1 the least significant bit 00000b ID 0 11111b ID 31 By Dig In 6 1 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 DigIn1 the least significant bit 000000b ID 0 111111b ID 63 By Dig In 1 B1100 only The MACID is defined by DigIn1 Offset X14 14 at power up plus the value of 6081h MACID Parameter Value as offset OV ID 0 24V ID 1 plus offset By Dig In 2 1 B1100 only The MACID is defined by DigIn2 1 Offset X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset DigIn2 is the most DigIn1 the least significant bit NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 9 35 DeviceNet Interface 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 00b ID O 11b ID 3 plus offset B1100 only The MACID is defined by DigI
9. FE tS src 0 63 Master ID Master MACID 1 byte D8h Service ID Delete Single Curve in RAM response 1 byte 0000h Trap State LinMot Trap response 0000h ok Oh Data Dummy data always 0 4bytes Delete All Curves in RAM Request Delete All Curves in RAM Request 8 bytes SSS Data Description nn 0 63 Master ID Master MACID 1 byte 59h Service ID Delete All Curves in RAM 1 byte 0041h Class LinMot Curve Class 2 bytes 0 FFFFh Instance The curve ID 1 99 is mapped to the instance 2 bytes Delete All Curves in RAM Response Delete All Curves in RAM Response 8 bytes Po Data Description n O 0 63 Master ID Master MACID 1 byte D9h Service ID Delete All Curves in RAM response 1 byte 0000h Trap State LinMot Trap response 0000h ok Oh Data Dummy data always 0 4bytes Write Curves from RAM to FLASH Request Write Curves from RAM to FLASH Request 6 bytes NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Lin Mo te DeviceNet Interface po Data Description 0 63 Master ID Master MACID 1 byte 5Ah Service ID Write Curves from RAM to FLASH 1 byte 0041h Class LinMot Curve Class 2 bytes 0 FFFFh Instance 0 no meaning not evaluated Write Curves from RAM to FLASH Response Write Curves from RAM to FLASH Response 8 bytes PS Data Description 0 63 Master ID Master MACID 1 byte DAh Service ID Write Curves from RAM to FLASH 1 byte 0000h Trap State LinMot Trap response 0000h ok
10. Not used Motion Cmd 7 Par Word 0000h Not used Motion Cmd 8 Par Word 0000h Not used OANDARWN OO After this command the high byte of the state variable changes to 2 9 2 Set Control Word Switch On CTIA ETI U EAER TL TE R ETE ORELE Offset Control Word 003Fh Set bits 0 5 in Ctrl Word Motion Cmd Header 0000h No Motion Cmd Motion Cmd 1 Par Word 0000h Not used Motion Cmd 2 Par Word 0000h Not used Motion Cmd 3 Par Word 0000h Not used Motion Cmd 4 Par Word 0000h Not used Motion Cmd 5 Par Word 0000h Not used Motion Cmd 6 Par Word 0000h Not used Motion Cmd 7 Par Word 0000h Not used Motion Cmd 8 Par Word 0000h Not used OOANDABRWN O After this command the high byte of the state variable changes to 8 NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 17 35 DeviceNet Interface 9 3 Set Control Word Home Request UCTU AETI U EAER TL E R ETE ODELE Word Name Offset OMANDARWN OO Control Word Motion Cmd Header Motion Cmd 1 Par Word Motion Cmd 2 Par Word Motion Cmd 3 Par Word Motion Cmd 4 Par Word Motion Cmd 5 Par Word Motion Cmd 6 Par Word Motion Cmd 7 Par Word Motion Cmd 8 Par Word 083Fh 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h Set bits 0 5 and 11 in Ctrl Word No Motion Cmd Not used Not used Not used Not used Not used Not used Not used Not used After this command the high byte of the state variable changes to 9 Wait unti
11. Oh Data Dummy data always 0 4bytes Page 28 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface 10 4 LinMot Command Table Class Within the LinMot Command Table class services are supported to read and write command table entries of the servo controller The command table ID is mapped to the instance ID of the explicit message service Services within the LinMot Command Table Class E1100 B1100 X f 50h 51h 52h 53h 54h 55h 56h 57h X XK XK XK XK XK X Description Command Table Get Entry List Setup Read Command Table Entry Read Command Table Entry Data Setup Write Command Table Entry Write Command Table Entry Data Delete Single Command Table Entry In RAM Delete All Command Table Entries In RAM Write Command Table Entries from RAM to FLASH Command Table get entry list Request Command Table get entry list Request 6 bytes Data___ Description 0 63 50h 0042h 0 FFFFh Master ID Service ID Class Instance Master MACID 1 byte Command Table get entry list Request 1 byte LinMot Command Table Class 2 bytes Instance mapping 0 get entry list 0 31 1 get entry list 32 63 7 get entry list 224 255 Command Table get entry list Response Command Table get entry list Response 8 bytes Data___ Description 0 63 DOh 0000h 0 FFFFFFFFh Master ID Service ID Trap State Entry List bit field Master MACID 1 byte Command Tab
12. can be activated if the LinMot controller is at the end of the bus line and if there is no termination in the connector 2 3 1 E1100 3 ON OFF Interface CAN Term RS485 Term RS485 232 The built in termination resistor for the CAN bus can be activated by setting the DIP switch CAN Term to ON ATTENTION For normal operation 3 4 Interface has to be set to ON 2 3 2 B1100 S4 Se The built in termination resistor for the CAN bus can be activated CAN Term by setting the DIP switch CAN Term to ON RS485 Term RS485 232 S4 ATTENTION For normal operation 4 4 Bootstrap has to be set to OFF NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 5 35 L in Mo te DeviceNet Interface 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 With the B1100 there are no switches to define the Baud rate ID and interface Enable for this reason all this configuration has to be done by Parameter with LinMotTalk 4 software over CAN Bus This CAN bus configuration parameters for the B1100 lay in the OS parameter section 3 1 Activating and Deactivating the DeviceNet Over the Interface Switch on the S3 4 switches the DeviceNet protocol can be activated Switch On or deactivated Switch Off S3 On Off Interface CAN Term RS485 Term RS485 232 3 2 ID and Baud Rate Selectio
13. services are supported which allows the handling of different SW layers Services within the LinMot Prog ram BEUC Mm Od ERS ae ott 50h Reset Servo Controller 51h x x Stop MC and Application SW layers Reset Servo Controller Request After configuration data has been written to ROM or FLASH areas reset the controller to affect the changes Reset Servo Controller Request 6 bytes Pe Data Description 0 63 Master ID Master MACID 1 byte 50h Service ID Reset Servo Controller Request 1 byte 0043h Class LinMot Program Handling Class 2 bytes 0 FFFFh Instance 0 no meaning not evaluated Reset Servo Controller Response Reset Servo Controller Response 8 bytes Pe Data Description a 0 63 Master ID Master MACID 1 byte DOh Service ID Reset Servo Controller Response 1 byte 0000h Trap State LinMot Trap response 0000h ok Oh Data Dummy data always 0 4bytes Stop MC and Application SW layers Request Before accessing the FLASH areas the MC SW and Application SW has to be stopped Stop MC and Application SW layers Request 6 bytes Data So Description S 0 63 Master ID Master MACID 1 byte 51h Service ID Stop MC and Application SW layers 1 byte 0043h Class LinMot Program Handling Class 2 bytes 0 FFFFh Instance 0 no meaning not evaluated Stop MC and Application SW layers Response Stop MC and Application SW layers Response 8 bytes Description 0 63 Master ID Master MACID 1 byte D1h Service ID
14. Stop MC and Application SW layers 1 byte 0000h Trap State LinMot Trap response 0000h ok Oh Data Dummy data always 0 4bytes Page 34 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface 11 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 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 Fax E Mail Web 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 DeviceNet Interface 16 06 2010 Page 35 35
15. able Entry Data Response Write Command Table Entry Data Response 8 bytes P Data Description 0 63 Master ID Master MACID 1 byte D4h Service ID Write Command Table Entry Data response 1 byte 0000h Trap State LinMot Trap response 0000h ok end of data reached 0004h ok more data follows Oh Data Dummy data always 0 4bytes NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 31 35 DeviceNet Interface Delete Single Command Table Entry In RAM Request Delete Single Command Table Entry In RAM Request 6 bytes SSS SS aii SSS Ss 0 63 55h 0042h 0 FFFFh Master ID Service ID Class Instance Master MACID 1 byte Delete Single Command Table Entry In RAM Request 1 byte LinMot Command Table Class 2 bytes The Command table Entry ID 1 255 is mapped to the instance 2 bytes Delete Single Command Table Entry In RAM Response Delete Single Command Table Entry In RAM Response 8 bytes Data Description Ses 0 63 D5h 0000h Oh Master ID Service ID Trap State Data Master MACID 1 byte Delete Single Command Table Entry In RAM Response 1 byte LinMot Trap response 0000h ok Dummy data always 0 4bytes Delete All Command Table Entries In RAM Request Delete All Curves in RAM Request 6 bytes Pe Data Description 0 63 56h 0042h 0 FFFFh Master ID Service ID Class Instance Master MACID 1 byte Delete All Command Table Entries In RAM RAM 1 byt
16. alue Response 8 bytes Data Description 000 OOOO O O 0 63 Master ID Master MACID 1 byte DOh Service ID Read RAM value response 1 byte 0000h Trap State LinMot Trap response 0000h ok OOCOh parameter doesn t exist 0 FFFFFFFFh Value RAM Value of the requested parameter 4bytes Write RAM Value Request Write RAM Value Request 10 bytes Po Data Description a 0 63 Master ID Master MACID 1 byte 51h Service ID Write RAM value 1 byte 0040h Class LinMot Parameter Class 2 bytes 0 FFFFh Instance The parameter UPID is mapped to the instance 2 bytes 0 FFFFFFFFh Value 4 bytes NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 21 35 Lin Mo te DeviceNet Interface Write RAM Value Response Write RAM Value Response 8 bytes Data Description nn 0 63 Master ID Master MACID 1 byte Dth Service ID Write RAM value response 1 byte 0000h Trap State LinMot Trap response 0000h ok OOCOh parameter doesn t exist 0 FFFFFFFFh Value Echo set value 4 bytes Read ROM Value Request Read ROM Value Request 6 bytes Po Data Description 0 63 Master ID Master MACID 1 byte 52h Service ID Read ROM value 1 byte 0040h Class LinMot Parameter Class 2 bytes 0 FFFFh Instance The parameter UPID is mapped to the instance 2 bytes Read ROM Value Response Read ROM Value Response 8 bytes Po Data Description S 0 63 Master ID Master MACID 1 byte D2h Service ID Read ROM value respon
17. d Default Selection On State Var State Variable Default Selection On Error Code Error Code Default Selection Off Warn Word Warn Word Default Selection On Echo MC Intf Header Send back MC interface header Default is 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 On Channel 2 UPID Monitoring Channel 2 UPID Monitoring Channel 3 Monitoring Channel 3 Selection Default On Channel 3 UPID Monitoring Channel 3 UPID Slave Config The LinMot servo controller offers a UCMM Grp 3 Service opened explicit message channel And a Group 2 Master Slave allocable explicit message channel DeviceNet Dis Slave Config Enable Grp 3 Group 3 UCMM service is enabled UCMM Force Group 2 Only Group 3 UCMM service is disabled Default Server IMPORTANT Turn on the UCMM behaviour only if needed second master to serve at the same time Otherwise the Group 2 only server capabilities should be enough to serve the master at start up Page 12 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo te 5 Memory Mapping Of The Default IO Configuration 5 1 Default Configured Command Data Below the default configured receive data memory mapping is listed The size of the consumed data is 10 words One motion command parameter may use two words of the motion command parameter word
18. e LinMot Command Table Class 2 bytes The Command table Entry ID 1 255 is mapped to the instance 2 bytes Delete All Command Table Entries In RAM Response Delete All Curves in RAM Response 8 bytes SSS Cee 0 63 D6h 0000h Oh Master ID Service ID Trap State Data Master MACID 1 byte Delete All Command Table Entries In RAM response 1 byte LinMot Trap response 0000h ok Dummy data always 0 4bytes Page 32 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo te Write Command Table Entries from RAM to FLASH Request Write Command Table Entries from RAM to FLASH Request 6 bytes SSS SS Description SS Sel 0 63 Master ID Master MACID 1 byte 57h Service ID Write Command Table Entries from RAM to Flash 1 byte 0042h Class LinMot Command Table Class 2 bytes 0 FFFFh Instance 0 no meaning not evaluated Write Command Table Entries from RAM to FLASH Response Write Command Table Entries from RAM to FLASH Response 8 bytes l o Data ID scrip tic eee 0 63 Master ID Master MACID 1 byte D7h Service ID Write Command Table Entries from RAM to Flash Response 1 byte 0000h Trap State LinMot Trap response 0000h ok Oh Data Dummy data always 0 4bytes NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 33 35 Lin Mo te DeviceNet Interface 10 5 LinMot Program Handling Class Within the LinMot program handling class
19. ed 10 1 Vendor specific Classes Following LinMot specific classes are implemented for configuration and program handling reasons LinMot Specific Classes a gat 0040h LinMot Parameter Class 0041h LinMot Curve Class 0042h X LinMot Command Table Class 0043h X X LinMot Program Handling Class To simplify the access with the LinMot specific classes and services only two message sizes of requests are implemented 6 bytes non fragmented and 10 bytes fragmented The response is always transmitted in a 8 byte long non fragmented message if no data is needed dummy data is transmitted Page 20 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo te 10 2 LinMot Parameter Class Within the LinMot parameter class services are supported to access the LinMot specific parameters identified by the LinMot specific UPID The UPID is mapped to the instance ID of the explicit message service Services within the LinMot Parameter Class ike gue 50h Read RAM value 51h x Write RAM value 52h x X Read ROM value 53h X X Write ROM value 56h X Default SW instance Read RAM Value Request Read RAM Value Request 6 bytes Po Data Description a 0 63 Master ID Master MACID 1 byte 50h Service ID Read RAM value 1 byte 0040h Class LinMot Parameter Class 2 bytes 0 FFFFh Instance The parameter UPID is mapped to the instance 2 bytes Read RAM Value Response Read RAM V
20. ge 13 35 6 State Machine The main behavior of the axles is controlled with the control word it s shown in the following state diagram Not Ready to Switch On 0 DeviceNet Interface Bit 0 0 Error 4 Switch On Disabled 1 A Control Word Setup Error 3 XXXX XXXX XXXX X110 Ready to A Switch On 2 Bit O 1 HW Tests 5 Ready to Operate 6 3 Bit 3 1 Error Behavior Quick Stop 14 I 0 Operation Enabled 8 AE TNE Bit O 0 Bit 1 0 Bit 2 0 Disable QuickStop ovem on Power On Voltage Homing 9 Aborting 12 Going To Position 15 Clearance Checking 10 Freezing 13 Linearizing 18 Jogging 16 Going To Initial Position 11 Phase Searching 19 Jogging 17 Special Mode 20 Page 14 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface 7 Control Word With the Control Word 16Bit the main state machine of the servo controller can be accessed Following table shows the meaning of each bit A On 1 Voltage Enable 2 Quick Stop Enable Operation 4 Abort as A Stop gt Current 0 power switches disabled i a ea ori ready to switch on ee eee et eae ae action 1 Operation OFF3 a Sop GE SS Stop gt Current
21. ion Fatal Error 13 Motion Active 14 Range Indicator 1 15 Range Indicator 2 Posi StateNr lt s8 OS Nr lt 8 e Sts or ger ado Conia EEED o Switch On Disabled Control Word Bit 0 Ci Swich On Enabled 0 Operation Disabled Control Word Bit 3 Ci peraton Ro Er ee ee 0 Power Bridge Off Control Word Bit 1 0 Active J Control Word Bit 2 Ci Operation To Net Locked O S SSS TiC Smeh On loded Release win 0 of Contr word bn OSO Co Wamra raracive Nobis setin te Wem Wod o Eveni Handler racive Event Handler dared ordsabled oomai f o hamo Woron active or actual postion out of window o Weier nathomed inremenia sensor nat homed reference CE pee ae rs er ae 0 No Motion Setpoint generation inactive o hamene Datned UPID is rotin Range o Notin Range Bened UPD sotin Ranz Page 16 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo te 9 Examples IO Messages With the following examples the first steps in programming should be explained 9 1 Reset Control Word Taare aM VET e L MAENT is U KO EE AELE Offset Control Word 0000h Reset all bits in Ctrl Word Motion Cmd Header 0000h No Motion Cmd Motion Cmd 1 Par Word 0000h Not used Motion Cmd 2 Par Word 0000h Not used Motion Cmd 3 Par Word 0000h Not used Motion Cmd 4 Par Word 0000h Not used Motion Cmd 5 Par Word 0000h Not used Motion Cmd 6 Par Word 0000h
22. l bit 11 in the status word occurs then release bit 11 in the control word again 9 4 Reset Control Word Home Request CTIA ETI U EAER TL TER ETE ORELE Word Name Offset 0 OANDARWN Control Word Motion Cmd Header Motion Cmd 1 Par Word Motion Cmd 2 Par Word Motion Cmd 3 Par Word Motion Cmd 4 Par Word Motion Cmd 5 Par Word Motion Cmd 6 Par Word Motion Cmd 7 Par Word Motion Cmd 8 Par Word 003Fh 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h Set bits 0 5 and reset bit 11 in Ctrl Word No Motion Cmd Not used Not used Not used Not used Not used Not used Not used Not used After this command the high byte of the state variable changes to 8 Now the servo controller is ready for motion commands Page 18 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface 9 5 Motion Command Go To Absolute Position 50mm Memory Mapping Default Configured Consumed Data Word Name Offset Control Word Motion Cmd Header Motion Cmd 1 Par Word Motion Cmd 2 Par Word Motion Cmd 3 Par Word Motion Cmd 4 Par Word Motion Cmd 5 Par Word Motion Cmd 6 Par Word Motion Cmd 7 Par Word Motion Cmd 8 Par Word OMANDARWBN OO 003Fh 0101h A120h 0007h 4240h OOOFh 4240h OOOFh 4240h OOOFh Set bits 0 5 in Ctrl Word VAI Go To Pos Cmd Count 1 Target position 50mm low word Target position 60mm high word Maximal Velocity 1m
23. le Entry Data Response 1 byte 0000h Trap State LinMot Trap response 0000h ok end of data reached 0004h ok more data follows 0 FFFFFFFFh Data Command Table Entry data 4bytes Page 30 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo te Setup Write Command Table Entry Request Setup Write Command Table Entry Request 10 bytes UO SSS SS 0 63 Master ID Master MACID 1 byte 53h Service ID Setup Write Command Table Entry 1 byte 0042h Class LinMot Command Table Class 2 bytes 0 FFFFh Instance The Command table Entry ID 1 255 is mapped to the instance 2 bytes 0 FFFFA Info Block Size of the curve info block Size 0 00000040h Data size Size of the Command Table entry Data 40h Setup Write Command Table Entry Response Setup Write Command Table Entry Response 8 bytes 0 63 Master ID Master MACID 1 byte D3h Service ID Setup Write Command Table Entry response 1 byte 0000h Trap State LinMot Trap response 0000h ok Oh Data Dummy data always 0 4bytes Write Command Table Entry Data Request Write Command Table Entry Data Request 10 bytes po Data Description S 0 63 Master ID Master MACID 1 byte 54h Service ID Write Command Table Entry Data 1 byte 0042h Class LinMot Command Table Class 2 bytes 0 FFFFh Instance The Command table Entry ID 1 255 is mapped to the instance 2 bytes 0 FFFFFFFFh Data Command Table Entry data 4bytes Write Command T
24. le get entry list Response 1 byte LinMot Trap response 0000h ok Entry List for 32 command Table entries bit 0 entry exists bit 1 entry not defined NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 29 35 Lin Mo te DeviceNet Interface Setup Read Command Table Entry Request Setup Read Command Table Entry Request 6 bytes UEO 0 63 Master ID Master MACID 1 byte 51h Service ID Setup Read Command Table entry Request 1 byte 0042h Class LinMot Command Table Class 2 bytes 0 FFFFh Instance The Command table Entry ID 1 255 is mapped to the instance 2 bytes Setup Read Command Table Entry Response Setup Read Command Table Entry Response 8 bytes po Data Description 0 63 Master ID Master MACID 1 byte Dth Service ID Setup Read Command Table entry Response 1 byte 0000h Trap State LinMot Trap response 0000h ok 0 00000040h Size Command Table Entry size 40 bytes Read Command Table Entry Data Request Read Command Table Entry Data Request 6 bytes Description 0 63 Master ID Master MACID 1 byte 52h Service ID Read Command Table Entry Data Request 1 byte 0042h Class LinMot Command Table Class 2 bytes 0 FFFFh Instance The Command table Entry ID 1 255 is mapped to the instance 2 bytes Read Command Table Entry Data Response Read Command Table Entry Data Response 8 bytes Description 0 63 Master ID Master MACID 1 byte D2h Service ID Read Command Tab
25. lows 0 FFFFFFFFh Data Curve data 4bytes 1 position point Write Curve Info Block and Data Size Request Write Curve Info Block and Data Size Request 10 bytes SSS Ssh eS a 0 63 Master ID Master MACID 1 byte 54h Service ID Read Curve Info Block and Data Size 1 byte 0041h Class LinMot Curve Class 2 bytes 0 FFFFA Instance The curve ID 1 99 is mapped to the instance 2 bytes 0 FFFFA Info Block Size of the curve info block Size 0 FFFFh Data size Size of the curve data block NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 25 35 DeviceNet Interface Write Curve Info Block and Data Size Response Write Curve Info Block and Data Size Response 8 bytes SSS i SSS 0 63 Master ID D4h Service ID 0000h Trap State 0 FFFFh Info Block Size 0 FFFFh Data size Write Curve Info Block Request Write Curve Info Block Request 10 bytes Ee Master MACID 1 byte Write Curve Info Block and Data Size response 1 byte LinMot Trap response 0000h ok Echo of the curve info block size Echo of the curve data block size 0 63 Master ID 55h Service ID 0041h Class 0 FFFFh Instance 0 FFFFFFFFh Info Block Data Master MACID 1 byte Write Curve Info Block 1 byte LinMot Curve Class 2 bytes The curve ID 1 99 is mapped to the instance 2 bytes Curve info block data 4bytes Write Curve Info Block Response Write Curve Info Block Response 8 bytes Data Description ad
26. n For E1100 controllers with the default parameterization the baud rate is selected over S1 and the MACID is selected over S2 For B1100 controllers the default parameterization sets the baud rate and MACID selector to parameters Baud Rate is set to 500kBaud MACID is set to 63dec 3Fh 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 S1 Value Selected Baud Rate Undefined Baud Rate set to 125 kBaud 125 kBaud 250 kBaud 500 kBaud 1000 kBaud Invalid for DeviceNet Undefined Baud Rate set to 125 kBaud Undefined Baud Rate set to 125 kBaud aRWwWN O r Undefined Baud Rate Page 6 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo t 8 3 2 2 MACID Selection Like the baud rate the MACID can be defined over the S2 hex switch default setting by parameter value or by the S1 amp S2 hex switches S2 ID code table S2 Value Selected MACID 0 MACID 0x00h 1 MACID 0x01h 2 MACID 0x02h F MACID 0x0Fh 1 amp S2 ID code table S1 Value S2Value Selected MACID 0 0 MACID 0x00h 1 1 MACID 0x01h 2 2 MACID 0x02h 1 0 MACID 0x10h 3 F MACID 0x3Fh 4 0 Invalid MACID 7 Invalid MACID F F Invalid MACID NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 7 35 L in Mo te DeviceNet Interface 4 DeviceNet Parameters The DeviceNet Servo Controlle
27. n3 1 X14 15 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset DigIn3 is the most DigIn1 the least significant bit 000b ID 0 111b ID 7 plus offset B1100 only The MACID is defined by DigIn4 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 0000b ID 0 1111b ID 15 plus offset B1100 only The MACID is defined by DigIn65 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 DigIn5 is the most DigIn1 the least significant bit 00000b ID O 11111b 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 DigIn1 the least significant bit 000000b ID 0 111111b ID 63 plus offset The MACID when Parameter is selected The ID when By Parameter is selected as source Polled IO Config These parameters define the mapping of the exchanged polled 1O data The configuration is split into the Command Configuration the input to the Servo controller And Response Configuration the output of the servo controller The polled IO timeout value normally is configured from the master with the expected package rate but is defaulted at startup
28. nMot Trap response 0000h ok 0 FFFFFFFFh Value Echo of the defaulted SW layer 4bytes NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 23 35 DeviceNet Interface 10 3 LinMot Curve Class Within the LinMot curve class services are supported to read and write motion profiles of the servo controller The curve ID is mapped to the instance ID of the explicit message service Services within the LinMot Curve Class E1100 B1100 X z 50h 51h X 52h 54h 55h 56h 58h 59h 5Ah X XK XK XK XK X X Read curve info block and data size Read curve info block Read curve data Write curve info block and data size Write curve info block Write curve data Delete single curve in RAM Delete all curves in RAM Write curves from RAM to FLASH Read Curve Info Block and Data Size Request Read Curve Info Block and Data Size Request 6 bytes Data Description 0 63 Master ID 50h Service ID 0041h Class 0 FFFFh Instance Master MACID 1 byte Read Curve Info Block and Data Size 1 byte LinMot Curve Class 2 bytes The curve ID 1 99 is mapped to the instance 2 bytes Read Curve Info Block and Data Size Response Read Curve Info Block and Data Size Response 8 bytes Data 0 63 Master ID DOh Service ID 0000h Trap State 0 FFFFh Info Block Size 0 FFFFh Data size Description Master MACID 1 byte Read Curve Info Block and Data Size response 1 byte LinMot Trap response 0000h ok
29. rs have an additional parameter tree branch which can be configured with the distributed LinMot Talk software With these parameters the DeviceNet behaviour can be configured The LinMot Talk software 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 DeviceNet going online Disable Servo controller runs without DeviceNet Enable Servo controller runs only with a DeviceNet connection Default IMPORTANT To activate the DeviceNet Interface the Dip Switch Interface at the bottom of the drive has to be set to ON Baud Rate This directory contains the baud rate definition parameters Baud Rate Source Select Defines the source of the baud rate definition E1100 CANopen Interface Baud Rate Baud Rate Source Select B1100 OS Communication CAN Configuration Baud Rate Baud Rate Source Select By Hex Switch S1 E1100 only CAN bus baud rate dependent on S1 0 By BTR 1 125 kBit s 2 250 kBit s 3 500 kBit s 4 1 Mbit s By Parameter The CAN bus baud rate is selected by the Baudrate Parameter 125 kBit s 1 250 kBit s 2 500 kBit s 3 1 Mbit s 4 By BTR CAN bus baud rate is defined according to the Bit Timing Register By Digln 6 amp 5 B1100 only The baud rate is defined through the state of Digln5 and DigIn6 at startup DigIn6 is the most DigIn5
30. s low word Maximal Velocity 1m s high word Acceleration 10m s 2 low word Acceleration 10m s42 high word Deceleration 10m s 2 low word Deceleration 10m s 2 high word After this command the motor moves to the defined target position with the defined Maximal Velocity Acceleration and Deceleration 9 6 Motion Command Go To Absolute Position 0mm CTIA ETI U EAER TL TE K ETE ODELE Word Name Offset Control Word Motion Cmd Header Motion Cmd 1 Par Word Motion Cmd 2 Par Word Motion Cmd 3 Par Word Motion Cmd 4 Par Word Motion Cmd 5 Par Word Motion Cmd 6 Par Word Motion Cmd 7 Par Word Motion Cmd 8 Par Word OMOANDARWN OO 003Fh 0102h 0000h 0000h 4240h OOOFh 4240h OOOFh 4240h OOOFh Set bits 0 5 in Ctrl Word VAI Go To Pos Cmd Count 2 Target position 0mm low word Target position Omm high word Maximal Velocity 1m s low word Maximal Velocity 1m s high word Acceleration 10m s 2 low word Acceleration 10m s42 high word Deceleration 10m s 2 low word Deceleration 10m s 2 high word After this command the motor moves to the new defined target position with the defined Maximal Velocity Acceleration and Deceleration NTI AG LinMot User Manual DeviceNet Interface 16 06 2010 Page 19 35 Lin Mo te DeviceNet Interface 10 Explicit Message Services For configuration and program handling purposes different classes and object class specific services are implement
31. se 1 byte 0000h Trap State LinMot Trap response 0000h ok OOCOh parameter doesn t exist 0 FFFFFFFFh Value RAM Value of the requested parameter 4bytes Write ROM Value Request Write ROM Value Request 10 bytes SSS ea Description nl 0 63 Master ID Master MACID 1 byte 53h Service ID Write RAM value 1 byte 0040h Class LinMot Parameter Class 2 bytes 0 FFFFh Instance The parameter UPID is mapped to the instance 2 bytes 0 FFFFFFFFh Value 4 bytes Write ROM Value Response Write ROM Value Response 8 bytes a Data Description 0 63 Master ID Master MACID 1 byte D3h Service ID Write RAM value response 1 byte 0000h Trap State LinMot Trap response 0000h ok OOCOh parameter doesn t exist 0 FFFFFFFFh Value Echo set value 4 bytes Page 22 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo te Default SW instance Request Default SW instance Request 6 bytes Pe Data S Description 0 63 Master ID Master MACID 1 byte 56h Service ID Default SW instance 1 byte 0040h Class LinMot Parameter Class 2 bytes 0 FFFFh Instance Instance Mapping 1 default OS SW layer 2 default MC SW layer 3 default Interface SW layer 4 default Application SW layer Default SW instance Response Default SW instance Response 8 bytes Po Data Description O 0 63 MasterID Master MACID 1 byte D6h Service ID Default SW instance response 1 byte 0000h Trap State Li
32. the least significant bit DigIn6 DigInS5 BaudRate 0 0 125kBaud 0 1 250kBaud 1 0 500kBaud 1 1 1MBaud 1 Parameter not available on controllers of the B1100 series Page 8 35 User Manual DeviceNet Interface 16 06 2010 NTI AG LinMot DeviceNet Interface L in Mo t 8 Baud Rate Parameter Definition The Baud rate parameter defines the CAN bus baud rate for the DeviceNet connection DeviceNet Baud Rate Selection Baud Rate Parameter Def 125 kBit s 1 CAN bus baud rate 125 kBit s 250 kBit s 2 CAN bus baud rate 250 kBit s 500 kBit s 3 CAN bus baud rate 500 kBit s default MACID In this section the MACID controller number can be configured MACID Source Select The MACID parameter defines the source of the MACID Node Address E1100 CANopen Interface MACID MACID Source Select B1100 OS Communication MACID MACID Source Select By Hex Switch E1100 only The MACID is determined by the hex S2 switch S2 By Hex Switches E1100 only The MACID is determined by the two S1 and S2 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 DigIn1 X13 14 at power up OV ID 0 24V ID 1 By Dig In 2 1 B1100 only The MACID is defined by DigIn2 1 X13 2 and X13 14 at power up Digln2 is the most DigIn1 the least significant bit 00b ID 0 11b ID 3 By Dig In 3 1 B1100 only The MACID is defined by DigIn3 1 X13 15

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