Command Table Entry Format - LinMot B1100 series Manual

LinMot Drive Configuration over Fieldbus
6.1

Command Table Entry Format

NTI AG Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016
Each CT entry consists of one bit in a presence list (bit = 0 entry
exists) and a command table entry data block of 64 bytes size. The
CT service provides commands for reading/writing those blocks. For
further details how the CT services can be used for reading and
writing CT entries over a fieldbus interface, please consult the
corresponding interface manual.
Command Table Entry Presence List
Byte Off Description
00h..03h Bit field for entries 1..31 (Bit = 0 entry exists)
04h..07h Bit field for entries 32..63
08h..0Bh Bit field for entries 64..95
0Ch..0Fh Bit field for entries 96..127
10h..13h Bit field for entries 128..159
14h..17h Bit field for entries 160..191
18h..1Bh Bit field for entries 192..223
1Ch..1Fh Bit field for entries 224..255
Table 9: Command Table Entry Saving Format
Command Table Entry Data Block
Byte Off Description
00h..01h Command entry Version ID fix A701h
02h..03h Linked Command Entry ID (ID=FFFFh not linked)
04h..05h Motion Command Header
06h..25h Motion Command Parameters
26h..35h Entry Name (0 terminated string with up to 16
characters)
36h..3Fh Reserved for further use
Table 10: Command Table Entry Data Block Format
For reading a CT entry, the start reading entry with ID command
returns the data block size in bytes (40h). After this command a read
command can be repeated until the whole data block is read out.
For writing a CT entry, start with a command which defines the ID and
the data block size, after this repeat writing the data with a command
until the whole data is written. If this is done correctly the bit in the
presence list will be cleared.
For modifying a single motion command parameter during runtime, a
motion command exists, with ID, write offset and data as parameters.
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