LinMot C1250-CM-XC-0S User Manual page 28

Assembly Class Instance 120
Byte Size /
Offset Type
00h UInt64 StreamTimestamp
08h UInt64 StreamClockOffset/reserv
10h UInt16 MCSW_ControlWord
12h UInt16 MCSW_MotionCommand
14h UInt32 MCSW_MotionCommand
18h UInt32 MCSW_MotionCommand
1Ch UInt32 MCSW_MotionCommand
20h UInt32 MCSW_MotionCommand
24h UInt32 MCSW_MotionCommand
28h UInt16 TX_Cfg_Module_Control
2Ah UInt16 TX_Cfg_Module_Index
2Ch UInt32/
SInt32
30h UInt32 MCSW_MaximalCurrentP
34h UInt32 MCSW_MaximalCurrentN
38h UInt32 TX_ParChannelConfigID
3Ch UInt32/
SInt32
40h UInt32/
SInt32
44h UInt32/
SInt32
48h UInt32/
SInt32
1
This time stamp is needed for CIP Sync based streaming. It represents the point in
time when the corresponding command target shall be reached on the drive.
2
Motion command fields, see [1] "0185-1093-E_XXX_MA_MotionCtrlSW-SG5-SG7".
3
Config module fields, see [2] "0185-1074-E_XXX_MA_Drive-Configuration-Over-Fieldbus-
SG5-SG7".
4
Sets the actual current limit for positive and negative direction in 0.1% resolution. Only
positive values allowed. Fields only take effect if the corresponding field in the
configuration assembly
5
The parameter channel values are only written to the corresponding UPIDs if the
TX_ParChannelConfigID is equal to the CFG_ParMonChannelConfigID of the last
configuration assembly.
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Name
ed
Header
_Bytes_00..03
_Bytes_04..07
_Bytes_08..11
_Bytes_12..15
_Bytes_16..19
TX_Cfg_Module_Value
ositive
egative
ParChannel_0
ParChannel_1
ParChannel_2
ParChannel_3
is set to active.
Description
Time stamp of streaming command
Shall be set to 0
Bit coded control word
12 Bit Command, 4Bit count nibble
2
Command specific
2
Command specific
2
Command specific
2
Command specific
2
Command specific
3
Config module header
3
Config module index
3
Config module value
Maximal current in positive direction.
Maximal current in negative direction.
ID to identify to which configuration assembly
data set the parameters below belong to.
Value which shall be written to parameter
defined in config assembly
ParamChannelUPID_0.
Value which shall be written to parameter
defined in config assembly
ParamChannelUPID_1.
Value which shall be written to parameter
defined in config assembly
ParamChannelUPID_2.
Value which shall be written to parameter
defined in config assembly
ParamChannelUPID_3.
1
2
4
4
5
5
5
5
5
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