Table of Contents
Related Manuals for LinMot C1250-EC-XC-0S
Summary of Contents for LinMot C1250-EC-XC-0S
- Page 1 EtherCAT LinMot Profile Interface Manual Documentation 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 Oktober 2018 Doc.: 0185-1079-E_6V3_MA_EtherCAT...
- 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.
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Page 3: Table Of Contents
3.2.6 Default Outputs 0x1700 ..................17 3.2.7 NC Outputs 0x1701 .................... 17 3.2.8 Config Module 0x1708 ..................17 3.2.9 Max Current Set A 0x1710 ................17 3.2.10 CAM Start Enable 0x1718 ................. 18 NTI AG / LinMot 3 / 60... - Page 4 Command Table read presence list ..............35 4.4.8 Command Table start write entries from RAM to FLASH ......36 ADS Program handling ..................... 36 4.5.1 Reset device ...................... 36 4.5.2 Stop SW instances .................... 37 4 / 60 NTI AG / LinMot...
- Page 5 Command Table copy entries from RAM to FLASH ........53 5.2.34 Command Table delete all entries in RAM ............. 54 5.2.35 Command Table delete entry in RAM ............. 54 5.2.36 Command Table start write entry in RAM ............55 NTI AG / LinMot 5 / 60...
- Page 6 EtherCAT/NC Configuration/Acceleration Scale ..........58 6.1.8 EtherCAT/NC Configuration/Velocity Scale Numerator /Denominator ..58 6.1.9 EtherCAT/Connection Timeout/Timeout Behavior ........58 Connecting to the EtherCAT Network ............59 Pin Assignment of the Connectors X17-X18 ............59 6 / 60 NTI AG / LinMot...
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Page 7: System Overview
System overview EtherCAT is the open real-time Ethernet network originally developed by Beckhoff. The LinMot act as Slave in this network and is implemented with the standard ASIC ET1100 from Beckhoff. For further information on the EtherCAT fieldbus please visit: http://www.ethercat.org/... -
Page 8: Setup In The Plc
Setup in the PLC In the following steps the integration of a LinMot EtherCAT Servo Drive in the PLC is described. In the example a Beckhoff master PLC is used. The easiest way is the online configuration when the device is connected to the EtherCAT network. -
Page 9: Scan The Ethercat Slave Devices
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. NTI AG / LinMot... - Page 10 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. 10 / 60 NTI AG / LinMot...
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Page 11: Process Data Object (Pdo) Configuration
[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. Input PDO Modules Overview of the predefined Input Process data objects... -
Page 12: Cyclic Mode Inputs 0X1A02
3.1.4 NC Inputs 0x1B01 Index Size Byte Name Data Type [Byte] Offset 0x1B01 Variables RECORD 0x1B62:00 StateVar Uint16 0x1D51:00 StatusWord Uint16 0x1D8E:00 WarnWord Uint16 0x1B8A:00 DemandPosition Int32 0x1B8D:00 ActualPosition Int32 0x1B93:00 DemandCurrent Int32 12 / 60 NTI AG / LinMot... -
Page 13: Statevar 0X1B03
Input Demvel 0x1B10 Index Size Byte Name Data Type [Byte] Offset 0x1B10 Variables 0x1B8B:00 DemandVelocity Int32 3.1.10 Input ActVel 0x1B11 Index Size Byte Name Data Type [Byte] Offset 0x1B11 Variables 0x1B8E:00 ActualVelocity Int32 NTI AG / LinMot 13 / 60... -
Page 14: Input Actvelfilt 0X1B12
This PDO is only available on the drives, which support the CAM functionality. 3.1.17 Input Command Table Var 1 0x1B20 Index Size Byte Name Data Type [Byte] Offset 0x1B20 Variables 0x1E72:00 Command Table Var 1 Int32 14 / 60 NTI AG / LinMot... -
Page 15: Input Command Table Var 2 0X1B21
Overview of the predefined Output Process data objects 3.2.1 Cyclic Position Mode 0x1602 Index Size Byte Name Data Type [Byte] Offset 0x1602 Variables RECORD 0x6040:00 Controlword Word16 0x607A:00 Target position Int32 0x6060:00 Mode of Operation Byte 0x0000:00 Byte Padding Byte NTI AG / LinMot 15 / 60... -
Page 16: Cyclic Position Velocity Mode 0X1603
PDO exists. It is 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 mach with the size defined with the UPID. 16 / 60 NTI AG / LinMot... -
Page 17: Default Outputs 0X1700
Config Value Word32 With this module the LinMot drive can be completely configured. So it gives access over parameters curves command table entries and the error log. The detail functionality is described in the document [2] "Configuration over fieldbus SG5". As response module "Configuration Module Input"... -
Page 18: Cam Start Enable 0X1718
Bit 0 of the 16 bit data field is mapped to CAM Start Enable Flag (UPID 1528). Write 0 to all other bits. Typical Startup Telegrams This figure shows the startup telegram list of LinMot EtherCAT servo drive 18 / 60 NTI AG / LinMot... -
Page 19: Asynchronous Configuration Protocol Aoe
For 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 NTI AG / LinMot 19 / 60... -
Page 20: Ads Services Overview
ADS Services Overview For the LinMot drives in the ADS index group, the service is coded. In the index offset normally the UPID for parameters or curve ID for curves is coded. Index Index Description Service Group Offset Read 0040h... -
Page 21: Ads Parameter Services
ADS Parameter Services The LinMot drive supports a unique parameter access for all parameter data types (bit, byte, uint16, ..). The parameter data is always be mapped into a 4 bytes data field. The parameter itself is specified by its UPID (unique parameter ID). -
Page 22: Parameter Upid Write Ram Value
FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0041h (LinMot Service ID) Input IDXOFFS UDINT UPID Input UDINT always 4 bytes Input SRCADDR DWORD ADR(write_buffer (4bytes)) Input WRITE BOOL... -
Page 23: Parameter Upid Write Rom Value
FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0043h (LinMot Service ID) Input IDXOFFS UDINT UPID Input UDINT Always 4 bytes Input SRCADDR DWORD ADR(write_buffer (4bytes)) Input WRITE BOOL... -
Page 24: Parameter Get Next Upid List Item
Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0045h (LinMot Service ID) Input IDXOFFS Not evaluated Input UDINT Always 8 bytes Input DESTADDR DWORD ADR(read_buffer (8bytes)) Bytes 0..1 UPID Bytes 2..3 Address usage Bytes 4..7 ROM Value... -
Page 25: Parameter Get Next Modified Upid List Item
Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0047h (LinMot Service ID) Input IDXOFFS Not evaluated Input UDINT Always 8 bytes Input DESTADDR DWORD ADR(read_buffer (8bytes)) Bytes 0..1 UPID Bytes 2..3 Address usage Bytes 4..7 ROM Value... -
Page 26: Ads Curves Services
FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0050h (LinMot Service ID) Input IDXOFFS UDINT Not evaluated Input UDINT Always 0 bytes Input SRCADDR DWORD ADR(write_buffer (0bytes)) Input WRITE... -
Page 27: Curves Read Info And Data Size
Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0052h (LinMot Service ID) Input IDXOFFS UDINT Curve ID Input UDINT Always 4 bytes Input DESTADDR DWORD ADR(read_buffer (4bytes)) 0..1 : Info block size in bytes 0x0046 2..3 : setpoint data size in bytes (4 bytes per... -
Page 28: Curves Read Setpoint Data
FUNCTION_BLOCK ADSREAD Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0054h (LinMot Service ID) Input IDXOFFS UDINT Curve ID Input UDINT Always 4 bytes Input DESTADDR DWORD ADR(read_buffer (4bytes)) Input READ BOOL... -
Page 29: Curves Modify Curve Info Block Data In Ram
Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0059h (LinMot Service ID) Input IDXOFFS UDINT Curve ID Input UDINT Always 4 bytes Input DESTADDR DWORD ADR(write _buffer (4bytes)) Input READ BOOL... -
Page 30: Curves Start Write Curve To Ram
Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0055h (LinMot Service ID) Input IDXOFFS UDINT Curve ID to write Input UDINT Always 4 bytes Input SRCADDR DWORD ADR(write_buffer (0bytes)) Bytes 0..1 curve info block size Bytes 2..3 curve data block size... -
Page 31: Curves Write Curve Setpoint Data To Ram
Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0057h (LinMot Service ID) Input IDXOFFS UDINT Curve ID to write Input UDINT Always 4 bytes Input SRCADDR DWORD ADR(write_buffer (4bytes)) Input WRITE... -
Page 32: Curves Start Write Curves From Ram To Flash
FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 005Fh (LinMot Service ID) Input IDXOFFS UDINT Input UDINT Always 0 bytes Input SRCADDR DWORD ADR(write_buffer (0bytes)) Input WRITE BOOL Rising edge starts reading... -
Page 33: Command Table Delete Single Entry From Ram
Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0061h (LinMot Service ID) Input IDXOFFS UDINT Command Table ID to delete Input UDINT Always 0 bytes Input SRCADDR DWORD ADR(write_buffer (0bytes)) Input... -
Page 34: Command Table Read Data
Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0063h (LinMot Service ID) Input IDXOFFS UDINT Command Table ID Input UDINT Always 4 bytes Input DESTADDR DWORD ADR(read_buffer (4bytes)) Input READ BOOL... -
Page 35: Command Table Write Entry Data In Ram
Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0066h (LinMot Service ID) Input IDXOFFS UDINT Command Table ID Input UDINT Always 4 bytes Input DESTADDR DWORD ADR(write_buffer (4bytes)) Input READ BOOL... -
Page 36: Command Table Start Write Entries From Ram To Flash
Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 006Fh (LinMot Service ID) Input IDXOFFS UDINT Curve ID to write Input UDINT Always 0 bytes Input SRCADDR DWORD ADR(write_buffer (0bytes)) Input WRITE... -
Page 37: Stop Sw Instances
Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0071h (LinMot Service ID) Input IDXOFFS UDINT SW instance selection Bit 0: MC-SW layer Bit 1: Interface SW layer Bit 2: application SW layer Input UDINT Always 0 bytes... -
Page 38: Asynchronous Configuration Protocol Coe
Asynchronous Configuration Protocol CoE For configuration purpose (Parameter Handling) the standard Sercos over EtherCAT SoE-Protocol is used. Communication Profile Area(1000h-1FFFh) LinMot EtherCAT Object Dictionary 38 / 60 NTI AG / LinMot... -
Page 39: Manufacturer Specific Profile Area(2000H-5Fffh)
Read error text stringlet 4 of error code Read 2000h+ID Read error text stringlet 5 of error code Read 2000h+ID Read error text stringlet 6 of error code Read 2000h+ID Read error text stringlet 7 of error code NTI AG / LinMot 39 / 60... -
Page 40: Parameter Upid Read Ram Value
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_buffer (4bytes)) Input cbBufLen UDINT Always 4 bytes... -
Page 41: Parameter Upid Read Rom Value
Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 02h (LinMot Sdo Service ID) Input nIndex WORD 2000h + UPID Input pDstBuf DWORD ADR(read_buffer (4bytes)) Input cbBufLen UDINT Always 4 bytes... -
Page 42: Parameter Upid Read Maximal Value
Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 03h (LinMot Sdo Service ID) Input nIndex WORD 2000h + UPID Input pDstBuf DWORD ADR(read_buffer (4bytes)) Input cbBufLen UDINT Always 4 bytes... -
Page 43: Parameter Upid Write Ram & Rom Value
Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 06h (LinMot Sdo Service ID) Input nIndex WORD 2000h + UPID Input pSrcBuf DWORD ADR(write_buffer (4bytes)) Input cbBufLen UDINT Always 4 bytes... -
Page 44: Parameter Default Intf Sw Instance
Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 08h (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) -
Page 45: Reset Device
Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 0Bh (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) -
Page 46: Start Read Modified Upid List
FUNCTION_BLOCK FB_EcCoESdoReadEx Direction Name Type Description Input nSlaveAddr T_AmsPort ADS Port Input nSubIndex UDINT 0025h (LinMot Service ID) Input nIndex UDINT 2000h Input pDstBuf Struct ADR(read_buffer (10bytes)) Input cbBufLen UDINT Always 10 bytes Input bExecute BOOL Rising edge starts writing... -
Page 47: Stop Mc And Application Sw Instances
Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 35h (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) -
Page 48: Curves Copy Curves From Ram To Flash
Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 36h (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) -
Page 49: Curves Start Write Curve In Ram
Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 50h (LinMot Sdo Service ID) Input nIndex WORD 2000h + ID Input pSrcBuf DWORD ADR(write_buffer) Input cbBufLen UDINT 4 bytes: - UINT: Info Data Size... -
Page 50: Curves Read Info And Setpoint Data Block Size In Ram
Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 60h (LinMot Sdo Service ID) Input nIndex WORD 2000h + ID Input pDstBuf DWORD ADR(read_buffer (6bytes)) - UINT: Status - UINT: Info block size... -
Page 51: Curves Read Set Point Data In Ram
Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 62h (LinMot Sdo Service ID) Input nIndex WORD 2000h + ID Input pDstBuf DWORD ADR(read_buffer (6bytes)) - UINT: Status - DWORD: data Input... -
Page 52: Read Logged Error Item Code And Instance
Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 71h (LinMot Sdo Service ID) Input nIndex WORD 2000h + ID Input pDstBuf DWORD ADR(read_buffer (4bytes)) - UINT: Error code - UINT: Error instance... -
Page 53: Read Error Short Text
Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 74h (LinMot Sdo Service ID) + stringlet Count 0..7) Input nIndex WORD 2000h + ID Input pDstBuf DWORD ADR(read_buffer (4bytes)) - 4 characters of error short text... -
Page 54: Command Table Delete All Entries In Ram
Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 81h (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) -
Page 55: Command Table Start Write Entry In Ram
Direction Name Type Description Input sNetId T_AmsNetId AmsNetId of master Input nSlaveAddr UINT Address of slave Input nSubIndex Byte 83h (LinMot Sdo Service ID) Input nIndex WORD 2000h + ID Input pSrcBuf DWORD ADR(write_buffer) Input cbBufLen UDINT 4 bytes: - UDINT: Entry Data Size... -
Page 56: Command Table Read Entry Data In Ram
UINT Address of slave Input nSubIndex Byte 87h + ID (LinMot Sdo Service ID) ID = 0: entries 0..31 ID = 1: entries 32..63 ID = 2: entries 64..95 ID = 3: entries 96..127 ID = 4: entries 128..159 ID = 5: entries 160..191... -
Page 57: Ethercat Parameters
& manuals. 6.1.1 EtherCAT/Dis-/Enable With the Dis-/Enable parameter the LinMot Servo Drive can be run without the Ethernet EtherCAT Interface going online. So in a first step the system can be configured and run without any bus connection. -
Page 58: Ethercat/Station Alias/Alias Address Parameter
Quick Stop is performed, when the IO timeout occurs. Error with Go To Pos Drive goes to Error State before the Voltage is disabled a Go To Position is performed, when the IO timeout occurs. 58 / 60 NTI AG / LinMot... -
Page 59: Connecting To The Ethercat Network
X17 – X18 ETHERCAT Connector Wire color code Assignment 100BASE-TX WHT/ORG WHT/GRN WHT/BLU WHT/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”. NTI AG / LinMot 59 / 60... - Page 60 LinMot USA Inc. N1922 State Road 120, Unit 1 Lake Geneva, WI 53147 Phone: 262-743-2555 E-Mail: usasales@linmot.com Web: http://www.linmot-usa.com/ Please visit http://www.linmot.com/contact to find the distribution close to you. Smart solutions are... 60 / 60 NTI AG / LinMot...