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LinMot E1400-GP Series Manual

Linrs interface
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LinRS Interface
Manual
Documentation of the LinRS Interface for the following Driv es:
January 2020
·
Series E1100
·
Series B1100-GP
·
Series C1100-GP
·
Series E1200-GP
·
Series E1400-GP
Doc.: 0185-1082-E_3V27_MA_LinRS

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Summary of Contents for LinMot E1400-GP Series

  • Page 1 LinRS Interface Manual Documentation of the LinRS Interface for the following Driv es: · Series E1100 · Series B1100-GP · Series C1100-GP · Series E1200-GP · Series E1400-GP January 2020 Doc.: 0185-1082-E_3V27_MA_LinRS...
  • 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

    11.1 Read Curve From Servo Example .................... 35 11.2 Write Curve To Servo Example ....................37 12 Command Table Configuration Message Group (not on B1100) ..........39 12.1 Read Command Table Entry From Servo Example ..............44 NTI AG / LinMot Page 3 of 62...
  • Page 4 15.14 Respond On Msg With Error ....................59 16 Error ............................60 16.1 LinRS Error Codes ......................... 60 17 Troubleshooting ........................60 17.1 Stopping LinRS on B1100 Drives ..................... 60 18 Accessories ..........................61 18.1 Ordering information ....................... 61 Page 4 of 62 NTI AG / LinMot...

  • Page 5: 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 (RS232 on C1100 drives supported with FW >=6.9).

  • Page 6: Connecting The Rs Bus

    Use standard patch cables (twisted pair, S/UTP, AWG26) for wiring. This type of cable is usually referred to as a “Cat5e-Cable”. C1100: S4.1 selects the communication channel used for LinMot-Talk communication. OFF (Default): System RS232 on X19, ON: System RS485 on X7/8. If the installed interface is LinRS, the interface will automatically use the other channel.

  • Page 7: Power Up Behaviour

    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 = 01h MACID = 02h 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 of 62 NTI AG / LinMot...

  • Page 9: Rs Topologies

    Activate RS485 Term on S3.2 (S4.2 on B1100/C1100 series or S5.2 on E1200 and E1400 series) on the last slave drive. Attention: With B1100/C1100 the switch S4.1 has to be set correctly in order to select RS485 for LinRS! NTI AG / LinMot Page 9 of 62...

  • Page 10: Rs485 Topology

    Activate RS485 Term on S3.2 (S4.2 on B1100/C1100 series or S5.2 on E1200 and E1400 series) on the last slave drive. Attention: With B1100/C1100 the switch S4.1 has to be set correctly in order to select RS485 for LinRS! Page 10 of 62 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 Additionally the checksum start value can be defined (UPID 20AAh). Page 12 of 62 NTI AG / LinMot...

  • Page 13: Message Data Definitions

    The other Main messages IDs are only needed if configuration or setup functionality over the 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.

  • Page 14: Response Request

    The content of the default response can be configured, so the information for the normal operation can be adapted to the application needs. 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 15: Request Default Response Example

    Actual Position High Word High Byte 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 NTI AG / LinMot Page 15 of 62...

  • Page 16: Default Mc Response Request With Status Word Request Example

    Actual Position Low Word High Byte Actual Position High Word Low Byte Actual Position High Word High Byte Low Byte Status Word High Byte Status Word No Meaning No Meaning Fix ID telegram end Examples: Page 16 of 62 NTI AG / LinMot...
  • Page 17 Tx: 01 11 03 02 04 00 04 ; Request Default Response with State Var Rx: 01 11 10 02 00 00 00 B4 00 00 02 D5 6A 10 00 00 02 00 00 04 NTI AG / LinMot Page 17 of 62...

  • Page 18: 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 19: Write Control Word Example 3

    Tx: 01 11 05 02 00 01 3F 00 04 Rx: 01 11 0C 02 00 00 00 37 4C C0 08 DA FB FF FF 04 ‘Operation Enabled’ state reached with homed flag set NTI AG / LinMot Page 19 of 62...

  • Page 20: Write Motion Command Interface

    Go back with the same motion command to 0mm. Byte Value Description Offset Fix ID Telegram start Destination node ID Telegram length Fix ID start data Message Sub ID Message Main ID (Motion Command Interface) Page 20 of 62 NTI AG / LinMot...
  • Page 21 Tx: 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 Rx: 01 11 0C 02 00 00 00 37 49 94 08 61 3D FF FF 04 NTI AG / LinMot Page 21 of 62...

  • Page 22: 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 Page 22 of 62 NTI AG / LinMot...

  • Page 23: Parameter/Variable Read Ram Example

    Tx: 01 11 09 02 01 03 A2 13 0B 00 00 00 04 Rx: 01 11 0C 02 00 00 00 37 4C C0 08 BF FB FF FF 04 Reading the parameter again shows the changed value: NTI AG / LinMot Page 23 of 62...
  • Page 24 Reading changed ROM value Tx: 01 11 05 02 02 03 A2 13 04 Rx: 01 11 10 02 00 00 00 37 4C C2 08 95 09 00 00 09 00 00 00 04 Page 24 of 62 NTI AG / LinMot...

  • Page 25: Parameter Configuration Message Group

    Set MC (Motion Control) ROM parameter values to default Set Interface ROM parameter values to default Set Application ROM parameter values to default Meaning of the bits in the response to the telegram “Get parameter address usage” Address Usage: NTI AG / LinMot Page 25 of 62...

  • Page 26: Parameter Configuration Read Rom Value Example

    Fix ID start data Message Sub ID (Cfg Read ROM Value) Message Main ID (Parameter Configuration) UPID Low Byte (P Gain Position Controller) UPID High Byte (P Gain Position Controller) Fix ID telegram end Page 26 of 62 NTI AG / LinMot...
  • Page 27 Rx: 01 11 0A 02 55 00 00 A2 13 00 00 00 00 04 Reading Max Value the P Gain Position Controller Set A (UPID: 13A2h): Tx: 01 11 05 02 06 05 A2 13 04 NTI AG / LinMot Page 27 of 62...
  • Page 28 Rx: 01 11 0A 02 56 00 00 A2 13 FF FF 00 00 04 Page 28 of 62 NTI AG / LinMot...

  • Page 29: Parameter Configuration Read Out Changed Parameters

    PC/PLC. In a second step with the request read ROM value all the values of the list can be read out. NTI AG / LinMot Page 29 of 62...
  • Page 30 Tx: 01 11 05 02 0B 05 00 20 04 Rx: 01 11 0A 02 5B 00 00 36 21 01 10 03 00 04 ; UPID 2136h, AU: 1001h Type: 0003h Page 30 of 62 NTI AG / LinMot...

  • Page 31: Parameter Configuration Defaulting Sw-Instance Parameters

    Defaulting the parameters of the Application SW: Tx: 01 11 05 02 0F 05 00 00 04 Rx: 01 11 0A 02 5F 00 00 00 00 04 00 00 00 04 NTI AG / LinMot Page 31 of 62...

  • Page 32: Curve Configuration Message Group (Not On B1100)

    Communication state (D7h if MC SW not stopped) No meaning (low byte curve ID) No meaning (high byte curve ID) No meaning (response data low word low byte) No meaning (response data low word high byte) Page 32 of 62 NTI AG / LinMot...
  • Page 33 No meaning (response data high word high byte) Fix ID telegram end Example: Tx: 01 11 03 02 01 04 04 Rx: 01 11 0A 02 40 00 00 00 00 00 00 00 00 04 NTI AG / LinMot Page 33 of 62...
  • Page 34 No meaning (response data high word high byte) Fix ID telegram end Example: Tx: 01 11 05 02 02 04 01 00 04 Rx: 01 11 0A 02 40 00 00 01 00 00 00 00 00 04 Page 34 of 62 NTI AG / LinMot...

  • Page 35: Read Curve From Servo Example

    Rx: 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). NTI AG / LinMot Page 35 of 62...
  • Page 36 Rx: 01 11 0A 02 40 00 00 01 00 40 42 0F 00 04 ;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). Page 36 of 62 NTI AG / LinMot...

  • Page 37: 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). NTI AG / LinMot Page 37 of 62...
  • Page 38 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). Page 38 of 62 NTI AG / LinMot...

  • Page 39: Command Table Configuration Message Group (Not On B1100)

    Communication state (D7h if MC SW not stopped) No meaning (low CT entry ID) No meaning (high CT entry ID) No meaning (response data low word low byte) No meaning (response data low word high byte) NTI AG / LinMot Page 39 of 62...
  • Page 40 Byte Offset Value Description No meaning (response data high word low byte) No meaning (response data high word high byte) Fix ID telegram end Page 40 of 62 NTI AG / LinMot...
  • Page 41 Rx: 01 11 0A 02 81 00 00 00 00 00 00 00 00 04 Request: Delete Command Table entry in RAM Byte Offset Value Description Fix ID Telegram start Destination node ID Telegram length NTI AG / LinMot Page 41 of 62...
  • Page 42 Fix ID start data Message Sub ID (Get CT defined entry list) Message Main ID (CT Message) Low byte CT entry ID 0..7 High byte CT entry ID Fix ID telegram end Page 42 of 62 NTI AG / LinMot...
  • Page 43 Tx: 01 11 09 02 07 08 07 00 00 00 00 00 04 Rx: 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 Page 43 of 62...

  • Page 44: 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 44 of 62 NTI AG / LinMot...

  • Page 45: 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 Page 45 of 62...

  • Page 46: Program Handling Message Group

    Fix ID telegram end Example: Tx: 01 11 03 02 01 06 04 Rx: 01 11 04 02 60 00 00 04 The response is given after the reset is completed (ca. 3s) Page 46 of 62 NTI AG / LinMot...

  • Page 47: Reset Drive With Immediate Response

    The drive answers with the configured default response. Example: Tx: 01 11 03 02 03 06 04 Rx: 01 11 0C 02 00 00 00 00 00 00 00 D9 00 00 00 04 NTI AG / LinMot Page 47 of 62...

  • Page 48: Start Mc- And Application Sw With Response After Completion

    Fix ID telegram end Example: Tx: 01 11 03 02 04 06 04 Rx: 01 11 04 02 60 00 00 04 The response is given after the start is completed (ca. 3s) Page 48 of 62 NTI AG / LinMot...

  • Page 49: Start Mc- And Application Sw With Immediate Response

    Rx: 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 Page 49 of 62...

  • Page 50: Read Error Info Message Group

    Sub ID: Response Get error short text of actual error Main ID: Response Message Communication State ok First character ‘N’ Characters 2..32 Fix ID telegram end Example: Tx: 01 11 03 02 00 07 04 Page 50 of 62 NTI AG / LinMot...

  • Page 51: Get Error Short Text Of Defined Error Code

    Rx: 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 Page 51 of 62...

  • Page 52: Get Error Counters Of Error Log And Total Occurred Errors

    Tx: 01 11 03 02 02 07 04 Rx: 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 52 of 62 NTI AG / LinMot...

  • Page 53: Get Error Log Entry

    Fix ID telegram end Example: Tx: 01 11 05 02 03 07 00 00 04 Rx: 01 11 0E 02 73 00 00 0C 00 3E 11 0E 00 6F 02 00 00 04 NTI AG / LinMot Page 53 of 62...
  • Page 54 The slave responds: Error code: 000Ch, ‚Err. Pos Lag Standing Too Big’ Millisecond counter: 000E113Eh= 921218ms=15min 21s 918ms Hour counter: 0000026Fh= 623h Page 54 of 62 NTI AG / LinMot...

  • Page 55: Linrs Parameters

    LinMot-Talk software. With these parameters, the LinRS behaviour can be configured. The software LinMot-Talk can be downloaded from http://www.linmot.com 15.1 Dis-/Enable With the Dis-/Enable parameter the LinMot drive can be run without the LinRS going online. LinRS\ Dis-/Enable Disable The drive runs without LinRS.

  • Page 56: Baud Rate Parameter Definition

    By Hex Switch S2 Not on B1100: The MACID is determined by the hex switch S2 (default) By Hex Switches Not on B1100: The MACID is determined by the two hex switches S1 and S2 S1 and S2 By Parameter The MACID is determined by parameter setting Page 56 of 62 NTI AG / LinMot...

  • Page 57: Macid Parameter Definition

    The checksum parameter defines the checksum generation. LinRS\ Protocol Config\ Checksum None No checksum is expected or generated (default) A simple byte wise addition modulo 2^16 (fast and easy) CRC CCITT CRC checksum with CCITT polynomial 16 bit NTI AG / LinMot Page 57 of 62...

  • Page 58: Checksum Start Value

    Byte to byte time out value 15.12 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...

  • Page 59: Error

    15.14 Respond On Msg With Error Typically the LinMot drive doesn’t answer to wrong telegrams, with this mask the response for certain errors can be enabled. With turned on Communication state in the MC default response the error will be responded to the master.

  • Page 60: Error

    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.

  • Page 61: Accessories

    USB-CAN Converter Pro for E1100/E1200/B1100 0150-3110 USB-RS232 Converter (isolated) for LinRS 0150-3356 USB-RS485/422 Converter (isolated) for LinRS 0150-2143 RS232 PC config. cable 2.5m for C1100/E1200/E1400 0150-3307 RS232 PC config. cable 2m for E1100/B1100 NTI AG / LinMot Page 61 of 62...
  • Page 62 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... Page 62 of 62 NTI AG / LinMot...

This manual is also suitable for:

E1200-gp seriesC1100-gp seriesB1100-gp seriesE1100 series

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