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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

Содержание C1250-LU-XC

Страница 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 ...

Страница 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 ...

Страница 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 ...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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 ...

Страница 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 ...

Страница 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 ...

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