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LinMot Series E1100 User Manual

Linrs interface
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See also: User Manual , Manual
Documentation of the LinRS Interface for the following
Drives:
- Series E1100
- Series B1100-GP
- Series C1100-GP
- Series E1200-GP
- Series E1400-GP
LinRS Interface
User Manual

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Summary of Contents for LinMot Series E1100

  • Page 1 Documentation of the LinRS Interface for the following Drives: - Series E1100 - Series B1100-GP - Series C1100-GP - Series E1200-GP - Series E1400-GP LinRS Interface User Manual...
  • Page 2 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.

  • Page 3: Table Of Contents

    11.2 W ..................36 RITE URVE ERVO XAMPLE 12 COMMAND TABLE CONFIGURATION MESSAGE GROUP (NOT ON B1100) ..... 38 12.1 R ............42 OMMAND ABLE NTRY ERVO XAMPLE NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 3/59...
  • Page 4 ODES 17 TROUBLESHOOTING ..................... 57 17.1 S B1100 D .................. 57 TOPPING RIVES 18 ACCESSORIES ....................... 58 18.1 O ..................... 58 RDERING INFORMATION 19 CONTACT ADDRESSES ....................59 Page 4/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 5: System Overview

    1 System Overview The LinMot drives of the E1100 series, B1100-GP, E1200-GP, C1100-GP, and E1400-GP support the LinRS communication profile. LinRS is a LinMot specific RS protocol to run the drives over RS232, RS422, or RS485 serial links (C1100-GP only supports RS422/RS485).

  • Page 6: Connecting The Rs Bus

    Pin 8 Do not connect 2.3 Pin Out of the CMD Connector (X7, X8): The CMD connector exists on the series E1100 (except E1100-GP), B1100-GP, E1200-GP, C1100-GP, and E1400-GP drives, 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.

  • Page 7: Power Up Behaviour

    If the Interface Switch S3.4 is on while the system is booting, the LinRS protocol will be activated. The RS line of the drive is no longer available for the LinMot-Talk software. In this case configuring, debugging and testing can only be done over the CAN link. Now switching off the interface to off reactivates the RS line for the LinMot-Talk software, then switching on again, reinstall the LinRS protocol for the RS line.

  • Page 8: Id And Baud Rate Selection

    MACID = 0Fh S1&S2 ID code table S1 Value S2 Value Selected MACID MACID = 00h MACID = 01h MACID = 02h MACID = 10h MACID = FFh Page 8/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 9: Rs Topologies

    S3.2 (S4.2 on B1100 series or S5.2 on E1200 and E1400 series) on the last slave drive. With B1100 the switch S4.1 has to be set to RS485 select! NTI AG / LinMot User Manual LinRS Interface / 03/10/2017...
  • Page 10 Rx and the Tx signal lines. Activate RS485 Term on S3.2 (S4.2 on B1100 series or S5.2 on E1200 and E1400 series) on the last slave drive. With B1100 the switch S4.1 has to be set to RS485 select! Page 10/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 11: Linrs Message Format

    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 the LinMot drive. This ID is defined by two Hex Switches or by a parameter. 4.2 Length The length defines the data length in bytes.

  • Page 12: Message Data Definitions

    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 you can store your configuration with LinMot and order the drive with installed firmware and configuration (parameter and curves).

  • Page 13: Response Request

    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 entries are configured in default configuration (factory setting) of the LinRS firmware installation.

  • Page 14: Request Default Response Example

    Fix ID telegram end Example: 01 11 03 02 01 00 04 01 11 0C 02 00 00 00 37 4C C2 08 9D FC FF FF 04 Page 14/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 15: Default Mc Response Request With Status Word Request Example

    01 11 03 02 04 00 04 ; Request Default Response with State Var 01 11 10 02 00 00 00 B4 00 00 02 D5 6A 10 00 00 02 00 00 04 NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 15/59...

  • Page 16: Write Control Word

    Write Control Word With the following examples the first steps in runtime programming should be explained. To this message request the LinMot drive will always answer with the default motion response. 7.1 Write Control Word example 1 With this control word command the lock state is cleared...

  • Page 17: Write Control Word Example 2

    01 11 05 02 00 01 3F 08 04 01 11 0C 02 00 00 00 37 4C 0F 09 DA FB FF FF 04 -> Homing finished NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 17/59...

  • Page 18: Write Control Word Example 3

    01 11 05 02 00 01 3F 00 04 01 11 0C 02 00 00 00 37 4C C0 08 DA FB FF FF 04 ‘Operation Enabled’ state reached with homed flag set Page 18/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 19: Write Motion Command Interface

    01 11 09 02 00 02 01 02 A0 86 01 00 04 01 11 0C 02 00 00 00 37 68 A1 08 8B FC FF FF 04 NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 19/59...

  • Page 20: Write Motion Command Interface Example 2

    01 11 15 02 00 02 04 01 B0 3C FF FF 40 42 0F 00 40 42 0F 00 40 42 0F 00 04 01 11 0C 02 00 00 00 37 49 94 08 61 3D FF FF 04 Page 20/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 21: Parameter Message Group

    Set OS (Operating System) ROM parameter values to default Set MC (Motion Control) ROM parameter values to default Set Interface ROM parameter values to default Set Application ROM parameter values to default NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 21/59...

  • Page 22: Parameter/Variable Read Ram Example

    01 11 05 02 00 03 A2 13 04 01 11 10 02 00 00 00 37 4C C0 08 BF FB FF FF 0B 00 00 00 04 Page 22/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...
  • Page 23 01 11 05 02 02 03 A2 13 04 01 11 10 02 00 00 00 37 4C C2 08 95 09 00 00 09 00 00 00 04 NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 23/59...

  • Page 24: Parameter Configuration Message Group

    Set OS (Operating System) ROM parameter values to default Set MC (Motion Control) ROM parameter values to default Set Interface ROM parameter values to default Set Application ROM parameter values to default Page 24/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...
  • Page 25 LIN_FLOAT ( not used as parameter) #Char x 8 STRING #Char x 8 CAP_DIR RADIO_DIR_BIT RADIO_DIR16 ENUM_DIR8 ENUM_DIR16 STRINGLET (Part of String 4 Characters) CAP_DIRLET (Part of String 4 Characters) NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 25/59...

  • Page 26: Parameter Configuration Read Rom Value Example

    Writing 16=00000010h the P Gain Position Controller Set A (UPID: 13A2h) ROM value: 01 11 09 02 01 05 A2 13 10 00 00 00 04 01 11 0A 02 51 00 00 A2 13 10 00 00 00 04 Page 26/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...
  • Page 27 Reading Default Value the P Gain Position Controller Set A (UPID: 13A2h): 01 11 05 02 07 05 A2 13 04 01 11 0A 02 57 00 00 A2 13 0F 00 00 00 04 NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 27/59...

  • Page 28: Parameter Configuration Read Out Changed Parameters

    01 11 05 02 09 05 00 00 04 ; get next changed parameter 01 11 0A 02 59 00 00 37 10 07 00 00 00 04 ; UPID: 1037h, Value; 00000007h Page 28/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 29: Parameter Configuration Read Out Upid List

    Address Usage low byte of found UPID Address Usage high byte of found UPID Parameter Type low byte of found UPID Parameter Type high byte of found UPID Fix ID telegram end NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 29/59...

  • Page 30: Parameter Configuration Defaulting Sw-Instance Parameters

    Defaulting the parameters of the Application SW: 01 11 05 02 0F 05 00 00 04 01 11 0A 02 5F 00 00 00 00 04 00 00 00 04 Page 30/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 31: Curve Configuration Message Group (Not On B1100)

    Fix ID telegram end Example: 01 11 03 02 00 04 04 ; timeout 10s 01 11 0A 02 40 00 00 00 00 00 00 00 00 04 NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 31/59...
  • Page 32 No meaning (response data high word high byte) Fix ID telegram end Example: 01 11 03 02 01 04 04 01 11 0A 02 40 00 00 00 00 00 00 00 00 04 Page 32/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...
  • Page 33 Fix ID telegram end Example: 01 11 05 02 02 04 01 00 04 01 11 0A 02 40 00 00 01 00 00 00 00 00 04 NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 33/59...

  • Page 34: Read Curve From Servo Example

    01 11 0A 02 40 00 00 01 00 00 00 00 00 04 The seventh byte in the answer (in the example bold) indicates whether the info block has been read completely (00) or is only partly read (04). Page 34/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...
  • Page 35 ; position value 21 The seventh byte in the answer (in the example bold) indicates whether the data block has been read completely (00) or is only partly read (04). NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 35/59...

  • Page 36: Write Curve To Servo Example

    01 11 0A 02 40 00 00 01 00 00 00 00 00 04 The seventh byte in the answer (in the example bold) indicates whether the info block has been written completely (00) or is only partly written (04). Page 36/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...
  • Page 37 01 11 0A 02 40 00 00 01 00 00 00 00 00 04 The seventh byte in the answer (in the example bold) indicates whether the data block has been written completely (00) or is only partly written (04). NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 37/59...

  • Page 38: Command Table Configuration Message Group (Not On B1100)

    Fix ID telegram end Example: 01 11 03 02 00 08 04 ; timeout 10s 01 11 0A 02 80 00 00 00 00 00 00 00 00 04 Page 38/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...
  • Page 39 No meaning (response data high word high byte) Fix ID telegram end Example: 01 11 03 02 01 08 04 01 11 0A 02 81 00 00 00 00 00 00 00 00 04 NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 39/59...
  • Page 40 Fix ID telegram end Example: 01 11 05 02 02 08 02 00 04 01 11 0A 02 82 00 00 02 00 00 00 00 00 04 Page 40/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...
  • Page 41 01 11 09 02 07 08 07 00 00 00 00 00 04 01 11 0A 02 87 00 00 07 00 FF FF FF FF 04 ; CT entry list 224..255; no entry defined NTI AG / LinMot User Manual LinRS Interface / 03/10/2017...

  • Page 42: Read Command Table Entry From Servo Example

    01 11 0A 02 86 00 04 02 00 FF FF FF FF 04 01 11 05 02 06 08 02 00 04 01 11 0A 02 86 00 00 02 00 FF FF FF FF 04 Page 42/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 43: Write Command Table Entry To Servo Example

    01 11 0A 02 84 00 04 02 00 00 00 00 00 04 01 11 09 02 04 08 02 00 FF FF FF FF 04 01 11 0A 02 84 00 00 02 00 00 00 00 00 04 NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 43/59...

  • Page 44: Program Handling Message Group

    Fix ID telegram end Example: 01 11 03 02 01 06 04 01 11 04 02 60 00 00 04 The response is given after the reset is completed (ca. 3s) Page 44/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 45: Reset Drive With Immediate Response

    The drive answers with the configured default response. Example: 01 11 03 02 03 06 04 01 11 0C 02 00 00 00 00 00 00 00 D9 00 00 00 04 NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 45/59...

  • Page 46: Start Mc- And Application Sw With Response After Completion

    Fix ID telegram end Example: 01 11 03 02 04 06 04 01 11 04 02 60 00 00 04 The response is given after the start is completed (ca. 3s) Page 46/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 47: Start Mc- And Application Sw With Immediate Response

    01 11 0C 02 00 00 00 F6 40 00 00 8A 00 00 00 04 The default response is given immediate, to detect restart completion poll the drive until it answers. NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 47/59...

  • Page 48: Read Error Info Message Group

    01 11 24 02 70 00 00 4E 6F 20 45 72 72 6F 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 The slave responds with the string ‚No Error’. Page 48/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 49: Get Error Short Text Of Defined Error Code

    01 11 26 02 71 00 00 01 00 45 72 72 3A 20 58 34 20 4C 6F 67 69 63 20 53 75 70 70 6C 79 20 54 6F 6F 20 4C 6F 77 00 00 00 00 04 The slave responds with the string ‚Err: X4 Logic Supply Too Low’. NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 49/59...

  • Page 50: Get Error Counters Of Error Log And Total Occurred Errors

    01 11 03 02 02 07 04 01 11 08 02 72 00 00 15 00 90 00 04 The slave responds 21 (15h) Logged errors (=buffer size) and 144 (90h) occurred errors. Page 50/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 51: Get Error Log Entry

    01 11 0E 02 73 00 00 0C 00 3E 11 0E 00 6F 02 00 00 04 The slave responds: Error code: 000Ch, ‚Err. Pos Lag Standing Too Big’ Millisecond counter: 000E113Eh= 921218ms=15min 21s 918ms Hour counter: 0000026Fh= 623h NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 51/59...

  • Page 52: Linrs Parameters

    15 LinRS Parameters The LinRS protocol SW has an additional parameter tree branch, which can be configured with the distributed LinMot-Talk software. With these parameters, the LinRS behaviour can be configured. The software LinMot-Talk can be downloaded from http://www.linmot.com. Dis-/Enable With the Dis-/Enable parameter the LinMot drive can be run without the LinRS going online.
  • Page 53 X14.14) at power up plus the value of 6081h (MACID Parameter Value) as offset. DigIn2 is the most, DigIn1 the least significant bit. ( 00b = ID 0, 11b = ID 3 (plus offset)) NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 53/59...
  • Page 54 LinRS\ Protocol Config\ Receive Time Out Enable Enable/Disable Time Out Byte to byte time out value Page 54/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...
  • Page 55 LinRS Interface MC 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...

  • Page 56: Error

    Message format error End of Telegram (04h) missing Undefined Message Main ID Undefined Message Sub ID Wrong Baud Rate Defined With S1 Parameter Unknown UPID Parameter Wrong Type Page 56/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 57: Troubleshooting

    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 / Install firmware select the stop script StopFirmware.sct and open it 4. Select the correct COM port 5.

  • Page 58: Accessories

    Description 0150-3532 USB-CAN Converter Pro E1100/E1200/B1100 0150-3120 Isolated USB RS232/422/485 converter for config and/or LinRS 0150-2143 RS232 Config Cable for C1100/E1200 0150-3307 RS232 Config cable DSUB9 f/f 2m Page 58/59 User Manual LinRS Interface / 03/10/2017 NTI AG / LinMot...

  • Page 59: Contact Addresses

    Sales and Administration: 877-546-3270 262-743-2555 Tech. Support: 877-804-0718 262-743-1284 Fax: 800-463-8708 262-723-6688 E-Mail: us-sales@linmot.com Web: http://www.linmot-usa.com/ ----------------------------------------------------------------------------------------------------------------------------- Please visit http://www.linmot.com/ to find the distribution near you. Smart solutions are… NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 59/59...

This manual is also suitable for:

Series b1100-gpSeries c1100-gpSeries e1200-gpSeries e1400-gp

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