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NTI AG / LinMot

Command ID

Description

85h

Command Table: Get Entry

86h

Command Table: Get Entry Data

87h

Get Presence List of Entries 0..31 from RAM

88h

Get Presence List of Entries 32..63 from RAM

89h

Get Presence List of Entries 64..95 from RAM

8Ah

Get Presence List of Entries 96..127 from RAM

8Bh

Get Presence List of Entries 128..159 from RAM

8Ch

Get Presence List of Entries 160..191 from RAM

8Dh

Get Presence List of Entries 192..223 from RAM

8Eh

Get Presence List of Entries 224..255 from RAM

Parameter Status

Description

00h

OK, done

02h

Command Running / Busy

04h

Block not finished (Curve Service)

05h

Busy

C0h

UPID Error

C1h

Parameter Type Error

C2h

Range Error

C3h

Address Usage Error

C5h

Error: Command 21h “Get next UPID List item” was
executed without prior execution of “Start Getting
UPID List”

C6h

End of UPID List reached (no next UPID List item
found)

D0h

Odd Address

D1h

Size Error (Curve Service)

D4h

Curve already defined / Curve not present (Curve
Service)

Overview Parameter access

Word

Parameter Channel Control

Parameter Channel Status

Parameter UPID

Parameter Value Low

Parameter Value High

Overview Curve access:

Summary of Contents for C1250-LU-XC

Page 1: ...November 2019 Documentation of the LinUDP V2 Interface of the following Drives E1250 LU UC C1250 LU XC E1450 LU QN V2 Manual LinUDP V2 Interface Doc 0185 1108 E_1V9_MA_LinUDP_V2 ...

Page 2: ... 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 NTI AG LinMot Bodenaeckerstrasse ...

Page 3: ...s X17 X18 4 3 2 Default IP Address Settings 4 4 LinUDP V2 Telegram 6 4 1 DHCP Header 6 4 2 IPv4 Header 6 4 3 LinUDP V2 Header 6 4 4 LinUDP V2 Data 6 4 4 1 Request from the Master 6 4 4 2 Response from the Drive 8 5 LinUDP V2 Parameters 9 6 LinUDP V2 Modules 10 6 1 Master to drive Modules 10 6 2 Drive to master Modules 10 7 Real Time Config Module 12 ...

Page 4: ...ill install LinUDP V2 on the servo drive if it is a drive with the letters LU in the name C1250 LU XC xS 000 E1250 LU UC E1450 LU QN xS or C1450 LU VS xS 000 3 Connecting LinUDP V2 3 1 Pin Assignment of the Connectors X17 X18 The Ethernet IP connector is a standard RJ45 female connector with a pin assignment as defined by EIA TIA T568B X17 X18 Real Time Ethernet Connector Pin Wire color code Assig...

Page 5: ...se switches depends on the type of fieldbus which is used Please see the corresponding manual for further information Important The switch value S1 S2 0 factory default setting is a special configuration which acquires the IP address via DHCP ...

Page 6: ...padding are not used 4 3 LinUDP V2 Header The LinUDP V2 header consists of four parts They are showing in the following table Name Size Byte Source Port 2 Destination Port 2 Length of UDP Telegram 2 UDP Checksum 2 The LinUDP V2 ports are fix assigned For the Master it is port 41136 and for the drive it is port 49360 In Hex Code they are A0B0 and C0D0 4 4 LinUDP V2 Data In LinUDP V2 data are the da...

Page 7: ...or future expansions Each of the definition bits shows if the corresponding parameter is part of the communication The order of the requested data parts is the same as the definition bits When a definition bit is not set the data part would not be transferred When all bits of the request definition are set then the LinUDP V2 data looks like it is shown in the following table Each field represents ...

Page 8: ...tivated then the bit number 2 is set in the request definition and the bit number 8 is set in the response definition When all bits in the response definition are set then the response data part looks like in the following table If the response frame is shorter then 64 bytes the drive fill the response with 0s until the length is 64 bytes 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 0 R...

Page 9: ...arameter UPID 20A8 Channel 2 UPID Source UPID for Monitoring Channel 2 Parameter UPID 20A9 Channel 3 UPID Source UPID for Monitoring Channel 3 Parameter UPID 20AA Channel 4 UPID Source UPID for Monitoring Channel 4 Parameter UPID 20AB Master Configuration is for the communication safety With the radio buttons under single master there can be chosen three possibilities No Filter means the drive doe...

Page 10: ...itiated Of course the parameter channel module works independently from the MC command interface For this reason changing a parameter and sending a motion command can be done in parallel The real time configuration has influence on both telegram directions For details see chapter 7 Real Time Config The Real Time Config would also transferred with Low Byte First order 6 2 Drive to master Modules St...

Page 11: ...Motion Control Software Error Code Returns the error code Please refer to User Manual Motion Control Software for the Error Codes of the MC software Monitoring Channel Transmits cyclically the value of the variable which is defined by the monitoring channel Parameter LinUDP V2 Parameters 9 ...

Page 12: ...Parameter Channel Control is split in two parts Parameter Command ID to be executed bits 8 15 see table Command ID Command Count bits 0 3 Real Time Config Status Parameter Status Reserved Command Count Response 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The Parameter Channel Status is split in two parts Parameter Status bits 8 15 see table Parameter Status Command Count Response bits 0 3 Command Count ...

Page 13: ...Stop MC and Application Software for Flash access 36h Start MC and Application Software Curve Service 40h Save all Curves from RAM to Flash 41h Delete all Curves RAM 50h Start Adding Curve RAM 51h Add Curve Info Block RAM 52h Add Curve Data RAM 53h Start Modifying Curve RAM 54h Modify Curve Info Block RAM 55h Modify Curve Data RAM 60h Start Getting Curve RAM 61h Get Curve Info Block RAM 62h Get Cu...

Page 14: ...om RAM Parameter Status Description 00h OK done 02h Command Running Busy 04h Block not finished Curve Service 05h Busy C0h UPID Error C1h Parameter Type Error C2h Range Error C3h Address Usage Error C5h Error Command 21h Get next UPID List item was executed without prior execution of Start Getting UPID List C6h End of UPID List reached no next UPID List item found D0h Odd Address D1h Size Error Cu...

Page 15: ...Mot Word DO DI 1 Parameter Channel Control Parameter Channel Status 2 Curve Number Curve Number 3 Data Value Low Info Block size Data Value Low Info Block size 4 Data Value High Data Block size Data Value High Info Block size ...

Page 16: ...ter Channel Control Parameter Channel Status 2 UPID found 3 Address Usage 4 Address Usage Start getting Modified UPID List Command ID 22h Word DO DI 1 Parameter Channel Control Parameter Channel Status 2 Start UPID search from this UPID 3 4 Get next Modified UPID List item Command ID 23h Word DO DI 1 Parameter Channel Control Parameter Channel Status 2 UPID found 3 Data Value Low 4 Data Value High...

Page 17: ...Entry Number 0 20 Entry Number 3 Entry Time Low Word 4 Entry Time Mid Low Word Get Error Log Entry Time High Command ID 73h Word DO DI 1 Parameter Channel Control Parameter Channel Status 2 Entry Number 0 20 Entry Number 3 Entry Time Mid High Word 4 Entry Time High Word The Error Log Entry Time consists of 32 Bit hours Time High and 32 Bits ms Time Low Get Error Code Text Stringlet Command ID 74h ...

Page 18: ...ord DO DI 1 Parameter Channel Control Parameter Channel Status 2 Entry Number Entry Number 3 4 Command Table Write Entry Command ID 83h Word DO DI 1 Parameter Channel Control Parameter Channel Status 2 Entry Number Entry Number 3 Block Size even number of bytes Block Size 4 Command Table Write Entry Data Command ID 84h Word DO DI 1 Parameter Channel Control Parameter Channel Status 2 Entry Number ...

Page 19: ... Control Parameter Channel Status 2 Entry Number Entry Number 3 Data 4 Data Command Table Get Entry List 0 7 Command IDs 87h 8Eh Word DO DI 1 Parameter Channel Control Parameter Channel Status 2 Offset in bytes 3 Bit field Bit set undefined Bit cleared used 4 Bit field Bit set undefined Bit cleared used ...

Page 20: ...and Administration Tech Support Tech Support Skype Web 41 56 419 91 91 office linmot com http www linmot com support support linmot 41 56 544 71 00 support linmot com http www linmot com 41 56 419 91 92 N1922 State Road 120 Unit 1 Lake Geneva WI 53147 USA Phone E Mail Web usasales linmot com http www linmot usa com http www linmot com contact to find the distribution close to you ...

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