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NTI AG / LinMot

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 Main ID

Message Sub ID

Description

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
Offset

Value

Description

0

01h

Fix ID Telegram start

1

11h

Destination node ID

2

09h

Telegram length

3

02h

Fix ID start data

4

00h

Message Sub ID

5

02h

Message Main ID (Motion Command Interface)

6

01h

Motion Cmd Intf Header Low Byte (count =1) Sub ID =0

7

02h

Motion Cmd Intf Header High Byte Master ID =2

8

A0h

Target Position lowest byte

9

86h

Target Position middle low byte

10

01h

Target Position middle high byte

11

00h

Target Position highest byte

12

04h

Fix ID telegram end

Example:

Tx: 01 11 09 02 00 02 01 02 A0 86 01 00 04
Rx: 01 11 0C 02 00 00 00 37 68 A1 08 8B FC FF FF 04

8.2 Write Motion Command Interface example 2

Go back with the same motion command to 0mm.

Byte
Offset

Value

Description

0

01h

Fix ID Telegram start

1

11h

Destination node ID

2

09h

Telegram length

3

02h

Fix ID start data

4

00h

Message Sub ID

5

02h

Message Main ID (Motion Command Interface)

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Содержание E1100 Series

Страница 1: ...anuary 2020 Documentation of the LinRS Interface for the following Drives Series E1100 Series B1100 GP Series C1100 GP Series E1200 GP Series E1400 GP Manual LinRS Interface Doc 0185 1082 E_3V27_MA_LinRS ...

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: ...uest Default Response Example 15 6 3 Default MC Response Request with Status Word Request Example 16 7 Write Control Word 18 7 1 Write Control Word example 1 18 7 2 Write Control Word example 2 18 7 3 Write Control Word example 3 19 8 Write Motion Command Interface 20 8 1 Write Motion Command Interface example 1 20 8 2 Write Motion Command Interface example 2 20 9 Parameter Message Group 22 9 1 Pa...

Страница 4: ...or log and total occurred errors 52 14 4 Get error log entry 53 15 LinRS Parameters 55 15 1 Dis Enable 55 15 2 RS Config 55 15 3 RS Select 55 15 4 RS Parameter Def 55 15 5 Baud Rate 55 15 5 1 Baud Rate Source Select 55 15 5 2 Baud Rate Parameter Definition 56 15 6 Stop Bit 56 15 7 Parity 56 15 8 Protocol Config 56 15 9 MACID 56 15 9 1 MACID Source Select 56 15 9 2 MACID Parameter Definition 57 15 ...

Страница 5: ...k supports an USB to CAN Part No 0150 3532 converter for this purpose It is strongly recommended to use this USB to CAN converter to avoid programming debugging disappointment For the installation and use of the USB to CAN converter refer to document 3 1 1 References Ref Title Source 1 User Manual Motion Control SW www linmot com 2 LinMot Drive Configuration over Fieldbus Interfaces www linmot com...

Страница 6: ...t Do not connect 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 C1100 S4 1 selects the communication channel used for LinMot Talk communication OFF Default System RS232 on X19 ON System RS485 on X7 8 If the installed interface is LinRS the interface will automatically use the other channel supported with FW 6 9 2 3 Pin...

Страница 7: ...N Bus 3 1 Activating and Deactivating the LinRS Protocol Over the Interface Switch S3 the LinRS protocol can be activated S3 4 position On or deactivated S3 4 position Off This switch is only available on the E1100 drive If the Interface Switch S3 4 is off while the system is booting the LinRS will be deactivated for the rest of this power cycle In this case the drive can normally be accessed with...

Страница 8: ...efined Baud Rate 1h 4800Bit s 2h 9600 Bit s 3h 19200 Bit s 4h 38400 Bit s 5h 57600 Bit s 6h 115200 Bit s 7h Undefined Baud Rate 8h Fh Undefined Baud Rate 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 S1 S2 hex switches S2 ID code table S2 Value Selected MACID 0h MACID 00h 1h MACID 01h 2h MACID 02h Fh MACID 0...

Страница 9: ...ines are connected to all slave receive lines and all slave transmit lines are connected with the master receive lines With this topology debugging is quiet easy because the master 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 drives Activate RS485 Term on S3 2 S4 2 on B1100 C1100 series ...

Страница 10: ...r 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 drives 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 S4 2 on B1100 C1100 series or S5 2 on E1200 and E1400 series on the last slav...

Страница 11: ...Data 3 Message data 0 0 FFh 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 ...

Страница 12: ...Page 12 of 62 NTI AG LinMot Additionally the checksum start value can be defined UPID 20AAh ...

Страница 13: ...es with the Main IDs 0 1 and 2 are needed to control the behavior of the drive 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 drive into the superior PLC IPC is supported and needed As an alternative to this LinMot offers a configuration service which means yo...

Страница 14: ...e 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 0 5ms 1 5ms The bold named ...

Страница 15: ...sage Main ID Response 6 04h Fix ID telegram end Response Default Response Byte Offset Value Description 0 01h Fix ID telegram start 1 11h MACID 2 0Ch 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 ...

Страница 16: ...5 00h Message Main ID Response 6 04h Fix ID telegram end Response Default MC Response Request with Status Word Request Byte Offset Value Description 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 S...

Страница 17: ...0 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 ...

Страница 18: ...x 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 0C 02 00 00 00 B4 40 00 02 AB 00 00 00 04 7 2 Write Control Word ...

Страница 19: ...01 11 0C 02 00 00 00 B7 62 0C 09 4D 24 FF FF 04 Tx 01 11 05 02 00 01 3F 08 04 Rx 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 Offset Value Description 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 I...

Страница 20: ...ram start 1 11h Destination node ID 2 09h Telegram length 3 02h Fix ID start data 4 00h Message Sub ID 5 02h Message Main ID Motion Command Interface 6 01h Motion Cmd Intf Header Low Byte count 1 Sub ID 0 7 02h Motion Cmd Intf Header High Byte Master ID 2 8 A0h Target Position lowest byte 9 86h Target Position middle low byte 10 01h Target Position middle high byte 11 00h Target Position highest b...

Страница 21: ...0 02 02 02 00 00 00 00 04 Rx 01 11 0C 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 F0 49 02 00 40 42 0F 00 40 42 0F 00 40 42 0F 00 04 Rx 01 11 0C 02 00 00 00...

Страница 22: ...rameter value memory field is relevant a byte parameter in the lowest byte and word parameter into the two lower bytes Message Main ID Message Sub ID B1100 Description 03h 00h Yes Read RAM value with MC Default Response 03h 01h Yes 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 ...

Страница 23: ...0 00 00 37 4C 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 drives it is UPID 6198h is changed to 11 Byte Offset Value Description 0 01h 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...

Страница 24: ...r 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 0C 00 00 00 04 The following sequence shows the behavior of the write RAM and ROM command Message Sub ID 04h to the same parameter with UPID 13A2h P Gain Position controller Set A UPID 61...

Страница 25: ...e 05h 03h Get parameter address usage 05h 04h Get parameter type 05h 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 0Ah Start Get UPID List 05h 0Bh Get Next UPID 05h 0Ch Set OS Operating System ROM parameter values to default 05h 0Dh Set MC Motion Control ROM pa...

Страница 26: ...Fh 32 CAP_DIRLET Part of String 4 Characters 10 1 Parameter Configuration 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 Offset Value Description 0 01h Fix ID Telegram start 1 11h Destination node ID 2 0...

Страница 27: ...alue Tx 01 11 05 02 00 05 A2 13 04 Rx 01 11 0A 02 50 00 00 A2 13 09 00 00 00 04 Writing 16 00000010h the P Gain Position Controller Set A UPID 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 Reading...

Страница 28: ...Page 28 of 62 NTI AG LinMot Rx 01 11 0A 02 56 00 00 A2 13 FF FF 00 00 04 ...

Страница 29: ... 02 09 05 00 20 04 get next changed Intf parameter Rx 01 11 0A 02 59 00 00 0E 20 02 00 00 00 04 UPID 200Eh Value 00000002h Tx 01 11 05 02 09 05 00 20 04 get next changed Intf parameter Rx 01 11 0A 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 0A 02 59 00 00 6C 20 03 00 00 00 04 UPID 206Ch Value 00000003h Tx 01 11 ...

Страница 30: ...ication state 7 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 The following example shows the principle of reading the UPID List of a SW instance if generating a configuration out of this l...

Страница 31: ...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 0C 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 0D 05 00 00 04 Rx 01 11 0A 02 5D 00 00 00 00 ...

Страница 32: ...Size 04h 09h Read Curve Info Block 04h 0Ah Read Curve Data Block or FLASH on C1100 Request Save Curves from RAM to FLASH Byte Offset Value Description 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 f...

Страница 33: ... Curves in RAM 5 04h Message Main ID Curve Message 6 04h Fix ID telegram end Configuration Response Delete all Curves in RAM Byte Offset Value Description 0 01h Fix ID Telegram start 1 11h Destination node ID 2 0Ah 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 mean...

Страница 34: ...Response Delete Curve in RAM Byte Offset Value Description 0 01h Fix ID Telegram start 1 11h Destination node ID 2 0Ah 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 01h low byte curve ID 8 00h high byte curve ID 9 09h No meaning response data low word low byte 10 00h No meaning response data low word high ...

Страница 35: ...x 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 01 00 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 A0 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 0A 02 40 00 04 01 00 01 03 A0 86 04 Tx 01 11 05 02 09 04 01 00 04 Rx 01 11 0A 02 40 00 04 01...

Страница 36: ...tion value 10 Tx 01 11 05 02 0A 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 20 A1 07 00 04 position value 11 Tx 01 11 05 02 0A 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 A9 D2 08 00 04 position value 12 Tx 01 11 05 02 0A 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 AC FC 09 00 04 position value 13 Tx 01 11 05 02 0A 04 01 00 04 Rx 01 11 0A 02 40 00 04 01 00 D3 17 0B 00 04 position value 14 Tx 01 11 05 02...

Страница 37: ... 00 00 00 04 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 01 11 09 02 05 04 01 00 00 00 01 00 04 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 01 11 09 02 05 04 01 00 A0 86 01 00 04 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 01 11 09 02 05 04 01 00 1A 00 05 00 04 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 01 11 09 02 05 04 01 00 01 03 A0 86 04 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 01 11 09 02 05 04 01 ...

Страница 38: ...09 02 06 04 01 00 97 6F 06 00 04 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 01 11 09 02 06 04 01 00 20 A1 07 00 04 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 01 11 09 02 06 04 01 00 A9 D2 08 00 04 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 01 11 09 02 06 04 01 00 AC FC 09 00 04 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 01 11 09 02 06 04 01 00 D3 17 0B 00 04 01 11 0A 02 40 00 04 01 00 00 00 00 00 04 0...

Страница 39: ...et Command Table defined entry list or FLASH on C1100 Request Save Command Table from RAM to FLASH Byte Offset Value Description 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 ...

Страница 40: ...Page 40 of 62 NTI AG LinMot Byte Offset Value Description 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 ...

Страница 41: ...m start 1 11h Destination node ID 2 0Ah Telegram length 3 02h Fix ID start data 4 81h Message Sub ID Delete all CT entries in RAM 5 00h Message Main ID Response 6 00h Communication state 7 00h No meaning low byte CT entry ID 8 00h No meaning 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...

Страница 42: ...tion 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 Request Get Command T...

Страница 43: ... 00 00 00 00 89 FF FF FF 04 CT entry list 0 31 1 2 4 5 6 defined 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 CT entry list 32 63 no entry defined 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 CT entry list 64 95 no entry defined Tx 01 11 09 02 07 08 03 00 00 00 00 00 04 Rx 01 11 0A 02 87 00 00 03 00 FF FF FF FF 04 ...

Страница 44: ...00 03 00 40 0D 04 01 11 05 02 06 08 02 00 04 01 11 0A 02 86 00 04 02 00 03 00 00 00 04 01 11 05 02 06 08 02 00 04 01 11 0A 02 86 00 04 02 00 00 00 00 00 04 01 11 05 02 06 08 02 00 04 01 11 0A 02 86 00 04 02 00 00 00 00 00 04 01 11 05 02 06 08 02 00 04 01 11 0A 02 86 00 04 02 00 00 00 00 00 04 01 11 05 02 06 08 02 00 04 01 11 0A 02 86 00 04 02 00 00 00 55 6E 04 01 11 05 02 06 08 02 00 04 01 11 0A 0...

Страница 45: ...02 84 00 04 02 00 00 00 00 00 04 01 11 09 02 04 08 02 00 03 00 00 00 04 01 11 09 02 04 08 02 00 03 00 00 00 04 01 11 09 02 04 08 02 00 00 00 00 00 04 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 01 11 09 02 04 08 02 00 00 00 00 00 04 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 01 11 09 02 04 08 02 00 00 00 00 00 04 01 11 0A 02 84 00 04 02 00 00 00 00 00 04 01 11 09 02 04 08 02 00 00 00 55 6E 04 01 11 0...

Страница 46: ...ith immediate response 13 1 Reset Drive with Response after completion Request Reset Drive Byte Offset Value Description 0 01h Fix ID telegram start 1 11h MACID 2 03h Data length 3 02h Fix ID start data 4 01h Sub ID Reset Drive with Response after completion 5 06h Main ID Program Handling Message Group 6 04h Fix ID telegram end Response Reset Drive Byte Offset Value Description 0 01h Fix ID telegr...

Страница 47: ...ample Tx 01 11 03 02 02 06 04 Rx 01 11 0C 02 00 00 00 F6 40 00 00 8A 00 00 00 04 The default response is given immediate to detect reboot completion poll drive until it answers 13 3 Stop MC and Application SW Request Stop MC and Application SW Byte Offset Value Description 0 01h Fix ID telegram start 1 11h MACID 2 03h Data length 3 02h Fix ID start data 4 03h Sub ID Stop MC and Application SW 5 06...

Страница 48: ...sponse after start completion 5 06h Main ID Program Handling Message Group 6 04h Fix ID telegram end Response Start MC and Application SW with Response after completion Byte Offset Value Description 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 telegra...

Страница 49: ... start data 4 05h Sub ID Start MC and application SW with immediate response 5 06h Main ID Program Handling Message Group 6 04h Fix ID telegram end Response Start MC and Application SW with immediate Response The drive answers with the configured default response Example Tx 01 11 03 02 05 06 04 Rx 01 11 0C 02 00 00 00 F6 40 00 00 8A 00 00 00 04 The default response is given immediate to detect res...

Страница 50: ... 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 actual error Byte Offset Value Description 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 Res...

Страница 51: ...rror short text of defined error code 5 07h Main ID Read Error Info Message Group 6 01h Error code low byte 7 00h Error code High byte have to be 00h 8 04h Fix ID telegram end Response Get error short text of defined error code Byte Offset Value Description 0 01h Fix ID telegram start 1 11h MACID 2 26h Data length 3 02h Fix ID start data 4 71h Sub ID Response Get error short text of actual error 5...

Страница 52: ...ID Read Error Info Message Group 6 04h Fix ID telegram end Response Get error counters of error log and total occurred errors Byte Offset Value Description 0 01h Fix ID telegram start 1 11h MACID 2 08h Data length 3 02h Fix ID start data 4 72h Sub ID Response Get error short text of actual error 5 00h Main ID Response Message 6 00h Communication State ok 7 15h Low byte Number of error log entries ...

Страница 53: ...m start 1 11h MACID 2 0Eh 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 0Ch Low byte error code 8 00h High byte error code 9 3Eh Low byte low word millisecond counter run time 10 11h High byte low word millisecond counter run time 11 0Eh Low byte high word millisecond counter run time 12 00h High byte hig...

Страница 54: ...Page 54 of 62 NTI AG LinMot The slave responds Error code 000Ch Err Pos Lag Standing Too Big Millisecond counter 000E113Eh 921218ms 15min 21s 918ms Hour counter 0000026Fh 623h ...

Страница 55: ... at the bottom of the drive has to be set to ON with power up 15 2 RS Config In this section the RS UART behaviour can be configured 15 3 RS Select In this section the RS line type of RS can be configured 15 4 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 t...

Страница 56: ... 2 Two bit time stop bit 15 7 Parity Defines the parity bit behaviour LinRS RS Config Parity None No parity bit Even Even parity bit Odd Odd parity bit 15 8 Protocol Config In this section the protocol can be configured 15 9 MACID In this section the MAC ID drive number can be configured 15 9 1 MACID Source Select The MACID parameter defines the source of the MACID Node Address C1100 E1x00 LinRS P...

Страница 57: ...t bit 00b ID 0 11b ID 3 plus offset By Dig In 3 1 Offset 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 DigIn3 is the most DigIn1 the least significant bit 000b ID 0 111b ID 7 plus offset By Dig In 4 1 Offset 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 Paramete...

Страница 58: ...C Response Configuration The response configuration determines the data that is responded from the LinMot drive to the PLC The orders of the data correspond to selection order in the response LinRS Protocol Config MC Response Configuration Communication State LinRS Status byte of communication Default Selection On Status Word Status Word Default Selection On State Var State Variable Default Select...

Страница 59: ...m Missing Default Selection On Wrong Msg Main ID Default Selection On Wrong Msg Sub ID Default Selection On UPID Not Existing Default Selection On 15 14 Respond On Msg With Error Typically the LinMot drive 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 m...

Страница 60: ... have installed the LinRS firmware on a B1100 drive the RS port is occupied by the LinRS so no configuration or login can be done over RS It is recommended 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 In...

Страница 61: ...re listed with the article number Art No Description 0150 3532 USB CAN Converter Pro for E1100 E1200 B1100 0150 3110 USB RS232 Converter isolated for LinRS 0150 3356 USB RS485 422 Converter isolated for LinRS 0150 2143 RS232 PC config cable 2 5m for C1100 E1200 E1400 0150 3307 RS232 PC config cable 2m for E1100 B1100 ...

Страница 62: ...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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