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NTI AG / LinMot

2.2

Scan the EtherCAT slave devices

Connect the EtherCAT LinMot CiA402 Servo Drive to the EtherCAT-Master and power
on the signal supply. Then scan for the connected devices in the System Manager:

Scan for EtherCAT slave devices.

Summary of Contents for E1250-EC-UC

Page 1: ...umentation of the EtherCAT Interface of the following Drives C1150 EC XC 0S 1S C1250 EC XC 0S 1S C1450 EC VS 0S 1S E1450 EC QN 0S 1S E1250 EC UC Manual EtherCAT LinMot Profile Interface Doc 0185 1079 E_6V3_MA_EtherCAT ...

Page 2: ...ole 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 NTI AG LinMot Bodenaecke...

Page 3: ...1 10 Input ActVel 0x1B11 13 3 1 11 Input ActVelFilt 0x1B12 14 3 1 12 Input DemandPosition 0x1B13 14 3 1 13 Input ActualPosition 0x1B14 14 3 1 14 Input DemandCurrent 0x1B15 14 3 1 15 Input DemCurrFilt 0x1B16 14 3 1 16 CAM Counts 0x1B18 14 3 1 17 Input Command Table Var 1 0x1B20 14 3 1 18 Input Command Table Var 2 0x1B21 15 3 2 Output PDO Modules 15 3 2 1 Cyclic Position Mode 0x1602 15 3 2 2 Cyclic ...

Page 4: ...lock data 27 4 3 5 Curves read setpoint data 28 4 3 6 Curves start modify curve in RAM 28 4 3 7 Curves modify curve info block data in RAM 29 4 3 8 Curves modify curve setpoint data in RAM 29 4 3 9 Curves start write curve to RAM 30 4 3 10 Curves write curve info block data to RAM 30 4 3 11 Curves write curve setpoint data to RAM 31 4 3 12 Curves read presence list 31 4 3 13 Curves start write cur...

Page 5: ...List entry 45 5 2 16 Start read modified UPID List 46 5 2 17 Read next modified UPID List entry 46 5 2 18 Stop MC and Application SW instances 47 5 2 19 Start MC and Application SW instances 47 5 2 20 Curves copy curves from RAM to FLASH 48 5 2 21 Curves delete all curves in RAM 48 5 2 22 Curves start write curve in RAM 49 5 2 23 Curves write curve info block data in RAM 49 5 2 24 Curves write cur...

Page 6: ...lias Address Source 57 6 1 3 EtherCAT Station Alias Alias Address Parameter 58 6 1 4 EtherCAT Station Alias Alias Address Parameter Mask 58 6 1 5 EtherCAT NC Configuration Position Scale 58 6 1 6 EtherCAT NC Configuration Velocity Scale 58 6 1 7 EtherCAT NC Configuration Acceleration Scale 58 6 1 8 EtherCAT NC Configuration Velocity Scale Numerator Denominator 58 6 1 9 EtherCAT Connection Timeout ...

Page 7: ...erences All user manuals are distributed with the LinMot Talk software the newest versions can be downloaded from the LinMot homepage in the download section Ref Title Source 1 User Manual Motion Control SW www linmot com 2 LinMot Drive Configuration over Fieldbus Interfaces SG5 www linmot com 1 2 Connecting In and Out In the EtherCAT the cabling is directed due topology support so In and Out is d...

Page 8: ...tware This file is only used when offline configuration is desired Example Source path of EtherCAT Device description file C Programme LinMot LinMot Talk 6 2 Build 20140915 Firmware Interfaces EtherCAT XML NTIL_LM_Servos_V1_7 xml Example Destination path of EtherCAT Device description file TwinCAT 2 C TwinCAT Io EtherCAT NTIL_LM_Servos_V1_7 xml TwinCAT 3 C TwinCAT 3 1 Config Io EtherCAT NTIL_LM_Se...

Page 9: ... Scan the EtherCAT slave devices Connect the EtherCAT LinMot CiA402 Servo Drive to the EtherCAT Master and power on the signal supply Then scan for the connected devices in the System Manager Scan for EtherCAT slave devices ...

Page 10: ...10 60 NTI AG LinMot After this scan all recognized devices are imported to the project In this example the scan found the LinMot drive C1150 EC XC 0S which is added to the project ...

Page 11: ...umented in the tables below The inputs and outputs correspond to the PLC point of view For a detailed description of the exchanged data and its meaning refer to 1 For a detailed description of the PDO data refer to 1 or have a look at the TwinCAT demo program which is included with the LinMot Talk software 3 1 Input PDO Modules Overview of the predefined Input Process data objects ...

Page 12: ... possible to map 1 to 8 entries defined by its UPID in this PDO Allowed are only 16 or 32 bit entries The defined Size of the data has to match with the size defined by the UPID 3 1 3 Default Inputs 0x1B00 Index Size Byte Byte Offset Name Data Type 0x1B00 18 Variables RECORD 0x1B62 00 2 0 StateVar Uint16 0x1D51 00 2 2 StatusWord Uint16 0x1D8E 00 2 4 WarnWord Uint16 0x1B8A 00 4 6 DemandPosition Int...

Page 13: ...rnWord 0x1B05 Index Size Byte Byte Offset Name Data Type 0x1B05 2 Variables 0x1D8E 00 2 4 WarnWord Word16 3 1 8 Config Module 0x1B08 Index Size Byte Byte Offset Name Data Type 0x1B08 8 Variables RECORD 0x1B09 00 2 0 Config Status Word Uint16 0x1B0A 00 2 2 Config Index Uint16 0x1B0B 00 4 4 Config Value Word32 This module is the feedback data module of the module 1708 Configuration Module Output 3 1...

Page 14: ...Int32 3 1 14 Input DemandCurrent 0x1B15 Index Size Byte Byte Offset Name Data Type 0x1B15 4 Variables 0x1B14 00 4 0 DemandCurrent Int32 3 1 15 Input DemCurrFilt 0x1B16 Index Size Byte Byte Offset Name Data Type 0x1B16 4 Variables 0x1B98 00 4 0 DemandCurrentFilt Int32 3 1 16 CAM Counts 0x1B18 Index Size Byte Byte Offset Name Data Type 0x1B18 4 Variables RECORD 0x1C50 00 4 0 CAM Counts Int32 This PD...

Page 15: ...mand Table Var 2 Int32 3 2 Output PDO Modules Overview of the predefined Output Process data objects 3 2 1 Cyclic Position Mode 0x1602 Index Size Byte Byte Offset Name Data Type 0x1602 8 Variables RECORD 0x6040 00 2 0 Controlword Word16 0x607A 00 4 2 Target position Int32 0x6060 00 1 6 Mode of Operation Byte 0x0000 00 1 7 Byte Padding Byte ...

Page 16: ...mode has to be changed during run time At the moment the cyclic postion mode 0x08 and the cyclic torque mode 0xA are supported To change the operation mode simply change the value of Mode of Operation variable 3 2 4 Cyclic Torque Mode 0x1606 Index Size Byte Byte Offset Name Data Type 0x1606 6 Variables RECORD 0x6040 00 2 0 Controlword Word16 0x6071 00 2 2 Target torque Int32 0x6060 00 1 4 Mode of ...

Page 17: ...1 26 Variables RECORD 0x1D52 00 2 0 ControlWord Uint16 0x1E80 00 8 2 Setpoint Position LREAL64 0x1E81 00 8 10 Setpoint Velocity LREAL64 0x1E82 00 8 18 Setpoint Acceleration LREAL64 This module could be mapped to the setpoint generator of an axis as motion interface 3 2 8 Config Module 0x1708 Index Size Byte Byte Offset Name Data Type 0x1708 8 Variables RECORD 0x1709 00 2 0 Config Control Word Uint...

Page 18: ...me Data Type 0x1718 2 Variables RECORD 0x1528 00 2 0 CAM Start Enable Uint16 Bit 0 of the 16 bit data field is mapped to CAM Start Enable Flag UPID 1528 Write 0 to all other bits 3 3 Typical Startup Telegrams This figure shows the startup telegram list of LinMot EtherCAT servo drive ...

Page 19: ... configuration purpose Parameter Curves Command Table and Program Handling the Beckhoff ADS Protocol is used Within EtherCAT this protocol is integrated as AoE ADS over EtherCAT For this reason the AoeNetId has to be used for ADS over EtherCAT AoeNetId with Beckhoff ...

Page 20: ...te 0055h ID Curves start write curve in RAM Write 0056h ID Curves write curve info block data in RAM Write 0057h ID Curves write curve set point data in RAM Write 0058h ID Curves start modify curve in RAM Write 0059h ID Curves modify curve info block data in RAM Write 005Ah ID Curves modify curve set point data in RAM Read 005Eh ID Off Curves read presence list Write 005Fh Curves start write curve...

Page 21: ...d the RAM value of the parameter specified by its UPID FUNCTION_BLOCK ADSREAD Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0040h LinMot Service ID Input IDXOFFS UDINT UPID Input LEN UDINT always 4 bytes Input DESTADDR DWORD ADR read_buffer 4bytes Input READ BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUS...

Page 22: ... BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 2 3 Parameter UPID read ROM value Read the ROM value of the parameter specified by its UPID FUNCTION_BLOCK ADSREAD Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0042h LinMot Service ID Input IDXOFFS UDINT UPID Input L...

Page 23: ...tput ERRID UDINT Error id 4 2 5 Parameter start read UPID list Specify the SW layer by its start UPID of which the UPID list will be read out The list contains all parameters and variables of the SW layer FUNCTION_BLOCK ADSREAD Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0044h LinMot Service ID Input IDXOFFS UDINT Start UPID 000...

Page 24: ...ERRID UDINT Error ID 00h ok C6h No new UPID found 4 2 7 Parameter start read modified UPID list Specify the SW layer by its start UPID of which the UPID list will be read out The list contains only the parameter that differs in the ROM value of its default value FUNCTION_BLOCK ADSREAD Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT ...

Page 25: ...Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 00h ok C6h No new UPID found 4 2 9 Parameter Default SW instance With this command all parameters of one SW instance can be set to the default value FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0048h LinMo...

Page 26: ...t BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 3 2 Curves delete single curve in RAM Delete a single curve in RAM FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0051h LinMot Service ID Input IDXOFFS UDINT Curve ID to delete Input LEN UDINT ...

Page 27: ...nput TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 3 4 Curves read info block data Read the info block data of the specified curve This command has to be repeated 18 times FUNCTION_BLOCK ADSREAD Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXG...

Page 28: ... finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 3 6 Curves start modify curve in RAM Read the info block and curve setpoint data size of the specified curve FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0058h LinMot Service ID Input IDXOFFS UDINT Curve ID Input LEN UDINT Alwa...

Page 29: ...OL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 3 8 Curves modify curve setpoint data in RAM Write the setpoint data of the specified curve This command has to be repeated until all data is written FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 005Ah...

Page 30: ...lock size Bytes 2 3 curve data block size Input WRITE BOOL Rising edge starts reading Input TMOUT TIME Timeout value Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 3 10 Curves write curve info block data to RAM Write the curve header data to RAM This command has to be repeated until the whole curve info block data is written...

Page 31: ...e Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 3 12 Curves read presence list Read out the presence list which curves are defined FUNCTION_BLOCK ADSREAD Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 005Eh LinMot Service ID Input IDXOFFS UDINT IDOff 0 curve...

Page 32: ...ates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 4 ADS Command Table Services 4 4 1 Command Table delete all entries from RAM Delete all command table entries in RAM FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0060h LinMot Service ID Input IDXOFFS UDINT No...

Page 33: ...ing active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 4 3 Command Table read data size Start command to read a Command Table entry The entry size will be returned FUNCTION_BLOCK ADSREAD Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0062h LinMot Service ID Input IDXOFFS UDINT Command Table ID Inp...

Page 34: ...icates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error id 4 4 5 Command Table start write entry in RAM Start command to write a Command Table entry in the RAM FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0065h LinMot Service ID Input IDXOFFS UDINT Command Table ID I...

Page 35: ...L Indicates reading error Output ERRID UDINT Error id 4 4 7 Command Table read presence list Gets the presence list of all Command Table entries FUNCTION_BLOCK ADSREAD Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 006Eh LinMot Service ID Input IDXOFFS UDINT Bit 0 means Entry exists IDOff 0 entries 1 31 32 entries 33 63 64 entries ...

Page 36: ... BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 5 ADS Program handling 4 5 1 Reset device FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0070h LinMot Service ID Input IDXOFFS UDINT Input LEN UDINT Always 0 bytes Input SRCADDR DWORD ADR write_buffe...

Page 37: ...Output BUSY BOOL Indicates reading active finished Output ERR BOOL Indicates reading error Output ERRID UDINT Error ID 4 5 3 Start SW instances Start the selected SW instances e g after flashing the curves FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0072h LinMot Service ID Input IDXOFFS UDINT SW instance ...

Page 38: ...t 5 Asynchronous Configuration Protocol CoE For configuration purpose Parameter Handling the standard Sercos over EtherCAT SoE Protocol is used 5 1 Communication Profile Area 1000h 1FFFh LinMot EtherCAT Object Dictionary ...

Page 39: ...ID List entry Write 2000h 26h Parameter Start Read modified UPID List Read 2000h 27h Parameter Read next modified UPID List entry Write 2000h 35h Stop MC and Appl SW instances Write 2000h 36h Start MC and Appl SW instances Write 2000h 40h Curves copy curves from RAM to FLASH Write 2000h 41h Curves delete all in RAM Write 2000h ID 50h Curves start write curve in RAM Write 2000h ID 54h Curves write ...

Page 40: ...arameter UPID read RAM value Read the RAM value of the parameter specified by its UPID and stores the result in the 4 bytes of the read_buffer FUNCTION_BLOCK FB_EcCoeSdoReadEx Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 01h LinMot Sdo Service ID Input nIndex WORD 2000h UPID Input pDstBuf DWORD ADR read_buffe...

Page 41: ...eout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrId UDINT Error ID 5 2 4 Parameter UPID write ROM value Write the content of the write_buffer to the ROM value of the parameter specified by its UPID The write_buffer can have an unique size of 4 bytes FUNCTION_BLOCK FB_EcCoeSdoWriteEx Direction Name Typ...

Page 42: ...Id of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 04h LinMot Sdo Service ID Input nIndex WORD 2000h UPID Input pDstBuf DWORD ADR read_buffer 4bytes Input cbBufLen UDINT Always 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates r...

Page 43: ...g Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrId UDINT Error ID 5 2 9 Parameter default OS SW instance All parameters of the OS SW instance are set to their default value FUNCTION_BLOCK FB_EcCoeSdoWriteEx Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of m...

Page 44: ...yte 09h LinMot Sdo Service ID Input nIndex WORD 2000h Input pSrcBuf DWORD ADR write_buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrId UDINT Error ID 5 2 12 Paramete...

Page 45: ...bles of the SW layer FUNCTION_BLOCK FB_EcCoESdoWriteEx Direction Name Type Description Input sNetId T_AmsNetId AoE NetID Input nSlaveAddr T_AmsPort ADS Port Input nSubIndex UDINT 0024h LinMot Service ID Input nIndex UDINT 2000h Input pSrcBuf DWORD ADR write_buffer 4bytes Start UPID 0000h OS SW layer 1000h MC SW layer 2000h Intf SW layer 3000h Appl SW layer Input cbBufLen UDINT Always 4 bytes Input...

Page 46: ... List Specify the SW layer by its start UPID of which the UPID list will be read out The list contains all parameters and variables of the SW layer FUNCTION_BLOCK FB_EcCoESdoWriteEx Direction Name Type Description Input sNetId T_AmsNetId AoE NetID Input nSlaveAddr T_AmsPort ADS Port Input nSubIndex UDINT 0026h LinMot Service ID Input nIndex UDINT 2000h Input pSrcBuf DWORD ADR write_buffer 4bytes S...

Page 47: ...s usage UINT 5 2 18 Stop MC and Application SW instances This service stops the execution of the MC and application SW layers This command should be used before configuring writing to ROM values of these instances FUNCTION_BLOCK FB_EcCoeSdoWriteEx Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 35h LinMot Sdo Se...

Page 48: ...ter Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 40h LinMot Sdo Service ID Input nIndex WORD 2000h Input pSrcBuf DWORD ADR write_buffer 0 bytes Input cbBufLen UDINT 0 bytes 4 bytes also accepted Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicate...

Page 49: ...d until the whole info data block is written FUNCTION_BLOCK FB_EcCoeSdoWriteEx Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 53h LinMot Sdo Service ID Input nIndex WORD 2000h ID Input pSrcBuf DWORD ADR write_buffer Input cbBufLen UDINT 4 bytes data of curve info block Input bExecute BOOL Rising edge starts wri...

Page 50: ...k size Input cbBufLen UDINT 6 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrId UDINT Error ID 5 2 26 Curves read info block data in RAM Read the info data block of the curve defined by its ID the 4 byte result is stored tog...

Page 51: ...e BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrId UDINT Error ID 5 2 28 Read error counters Read the number of logged errors and total occurred errors and stores them in the read buffer FUNCTION_BLOCK FB_EcCoeSdoReadEx Direction Name Type Desc...

Page 52: ...he specified ID logged error item FUNCTION_BLOCK FB_EcCoeSdoReadEx Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 72h LinMot Sdo Service ID Input nIndex WORD 2000h ID Input pDstBuf DWORD ADR read_buffer 4bytes DINT Error time ms Input cbBufLen UDINT 4 bytes Input bExecute BOOL Rising edge starts writing Input t...

Page 53: ...cbBufLen UDINT 4 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrId UDINT Error ID 5 2 33 Command Table copy entries from RAM to FLASH This service copies the actual in the RAM defined Command Table entries to the FLASH memor...

Page 54: ...icates reading active finished Output bError BOOL Indicates reading error Output nErrId UDINT Error ID 5 2 35 Command Table delete entry in RAM This service delete a single Command Table entry defined by its ID in the RAM FUNCTION_BLOCK FB_EcCoeSdoWriteEx Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 82h LinMo...

Page 55: ...TION_BLOCK FB_EcCoeSdoWriteEx Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 84h LinMot Sdo Service ID Input nIndex WORD 2000h ID Input pSrcBuf DWORD ADR write_buffer Input cbBufLen UDINT 4 bytes of entry data Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BO...

Page 56: ...bBufLen UDINT 6 bytes Input bExecute BOOL Rising edge starts writing Input tTimeout TIME Timeout value Input bComplAccess BOOL FALSE Output bBusy BOOL Indicates reading active finished Output bError BOOL Indicates reading error Output nErrId UDINT Error ID 5 2 40 Command Table read presence list Read the Command Table entry list definied by its subindex ID and stores the result in the 4 bytes of t...

Page 57: ...igured and run without any bus connection ETHERCAT Dis Enable Disable Servo Drive runs without ETHERCAT Enable Servo Drive runs with ETHERCAT connection IMPORTANT If the ETHERCAT Interface is disabled the integrated ETHERCAT ASIC rests in reset state No messages will be sent to other devices connected to the ETHERCAT Network via the servo drive 6 1 2 EtherCAT Station Alias Alias Address Source Wit...

Page 58: ...e Resolution which is 10um s2 The LREAL Sepoint Acceleration value is multiplied with this factor 6 1 8 EtherCAT NC Configuration Velocity Scale Numerator Denominator This two parameters are taken to Scale the PDO Value of Target velocity Index 0x60FF to the Drive Resolution which is 1um s The Scaling factor is Velocity Scale Numerator divided by Velocity Scale Denominator Velocity Scale Denominat...

Page 59: ... female connector with a pin assignment as defined by EIA TIA T568B X17 X18 ETHERCAT Connector Pin Wire color code Assignment 100BASE TX 1 WHT ORG Rx 2 ORG Rx 3 WHT GRN Tx 4 BLU 5 WHT BLU 6 GRN Tx 7 WHT BRN 8 BRN case RJ 45 Use standard patch cables twisted pair S UTP AWG26 for wiring This type of cable is usually referred to as a Cat5e Cable ...

Page 60: ...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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