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6 LinUDP V2 Modules
In LinUDP V2 there are three modules implemented for the master to drive communication and eight
modules for the drive to master communication.
6.1 Master to drive Modules
Control Word
With the control word the main state machine of the drive can be accessed. Please refer to "User Manual
Motion Control Software" for the control word. The Control Word is to transfer with Low Byte First order.
MC Cmd Interface
This maps the MC command interface of the drive. Please refer to the documentation of the MC software.
Each Part in the MC command interface would be transferred in the byte order low byte first. For example a
VAI Go To Pos 10mm order would look like this: 00 01 A0 86 01 00 40 42 0F 00 40 42 0F 00 40 42 0F 00.
Real Time Configuration
The real time configuration module allows accessing to parameters, variables, curves, error log and
command table. Also restart, start and stop of the drive can be initiated. Of course the parameter channel
module works independently from the MC command interface. For this reason, changing a parameter and
sending a motion command can be done in parallel. The real time configuration has influence on both
telegram directions. For details see chapter 7 Real Time Config. The Real Time Config would also
transferred with Low Byte First order.
6.2 Drive to master Modules
Status Word
The status word consists of 16 bits. Please refer to "User Manual Motion Control Software" for watch about
the meaning of each bit the status word.
State Var
The State Var consists of MainState and SubState. Please refer to the table "State Var" on chapter 3 of the
"User Manual Motion Control Software". The State Var has all relevant flags and information for clean
handshaking within one word and can therefore replace the modules "Get MC Header Echo" and "Get Error
Code".
Actual Position
Returns the actual position of the motor. (32 Bit integer value, resolution 0.1 µ m)
Demand Position
Returns the demand position of the motor. (32 Bit integer value, resolution 0.1 µ m)
Current
Returns the set current of the motor. (16 Bit integer value, resolution 1 mA)
Page 10 of 20
NTI AG / LinMot
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