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LinMot E1250-PL Series Manual

Ethernet powerlink interface
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Ethernet POWERLINK Interface
Manual
This document applies to the following devices:
(with POWERLINK Interface SW installed)
October 2019
·
E1250-PL-xx-xx-xxx (SG5)
·
E1450-PL-xx-xx-xxx (SG5)
·
C1250-PL-xx-xx-xxx (SG6)
Doc.: 0185-1088-E_1V12_MA_POWERLINK-SG5-SG6

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Summary of Contents for LinMot E1250-PL Series

  • Page 1 Ethernet POWERLINK Interface Manual This document applies to the following devices: · E1250-PL-xx-xx-xxx (SG5) · E1450-PL-xx-xx-xxx (SG5) · C1250-PL-xx-xx-xxx (SG6) (with POWERLINK Interface SW installed) October 2019 Doc.: 0185-1088-E_1V12_MA_POWERLINK-SG5-SG6...
  • 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

    4.3.1 Example how to read a parameter via its UPID ................ 9 5 CONFIGURATION VIA POWERLINK INTERFACE ................11 5.1 LINMOT CONFIGURATION MODULE VIA PDO ................. 11 5.2 LINMOT PARAMETER COMMANDS VIA SDO ................11 5.2.1 UPID Commands ....................... 12 5.2.2 System Commands ......................

  • Page 4: System Overview

    1 SYSTEM OVERVIEW The LinMot POWERLINK devices are Ethernet POWERLINK CNs (Controlled Nodes) with the following parameters (according to EPSG-DS-301-V1.1.0): Device Property Value Minimal POWERLINK cycle time 200 µs Size of isochronous transmit buffer 64 Byte (maximal size of isochronous frames)

  • Page 5: Connecting To The Powerlink Network

    LSB, bit 4 the MSB. Setting the ID high & low to 0xFF resets the drive to manufacturer settings! 3 POWERLINK PARAMETERS AND VARIABLES 3.1 PARAMETERS be configured with the distributed LinMot-Talk software. NTI AG / LinMot Page 5 of 40...

  • Page 6: Dis-/Enable

    & manuals. 3.1.1 Dis-/Enable With the Dis-/Enable parameter the LinMot device can be run without the POWERLINK Interface going online. So in a first step the system can be configured and run without any bus connection. POWERLINK\ Dis-/Enable Disable Device runs without POWERLINK.
  • Page 7 NMT_CS_OPERATIONAL is the normal operating state of the drive. NMT_CS_STOPPED In the NMT_CS_STOPPED state, the node shall be largely passive. NMT_CS_STOPPED shall be used for controlled shutdown of a selected CN while the system is still running. NTI AG / LinMot Page 7 of 40...

  • Page 8: Mapping Of Pres And Preq

    4 MAPPING OF PRES AND PREQ The LinMot drive is a POWERLINK CN (Controlled Node). To configure it with a POWERLINK master, the corresponding XDD file is used. The XDD File can be found in the installation directory. (typically C:\Program Files\LinMot\LinTalk x.x\Firmware\Interfaces\POWERLINK\XDD) 4.1 PDO MAPPING...

  • Page 9: Additional Parameters

    Parameters 4F00hSub10h-19h are mappable for easy interface compatibility with legacy drives. Use the 32 Bit Versions if possible. The MCSW_MotionCommandByte_xx_xx UInt32 parameters shall not be configured together with their UInt16 counterparts. 1See chapter „5.1 LinMot Configuration Module via PDO" for details 4.2 ADDITIONAL PARAMETERS These Parameters can be set to configure additional services.
  • Page 10 Settings for UPID m apping in the B&R Autom ation Studio Page 10 of 40 NTI AG / LinMot...

  • Page 11: Configuration Via Powerlink Interface

    5.1 LINMOT CONFIGURATION MODULE VIA PDO This type of configuration access is supported on all type of ethernet fieldbus interfaces of the LinMot drive family. For a detailed description on how to use this module please consult the manual “LinMot drive Configuration over Fieldbus Interfaces SG5”.

  • Page 12: Upid Commands

    CT: Get Entry List (Entry 224..255) For a general description and a Overview of the concepts used in fieldbus configuration, please refer to the document “LinMot Drive Configuration over Fieldbus Interfaces SG5”. 5.2.1 UPID Commands Parameters can be modified via their UPIDs (Unique Parameter ID). To use a UPID command, an SDO read or write has to be performed on the index “2000h + UPID”.
  • Page 13 Read / Write the RAM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be read or written. Read RAM Value by UPID SDO Read from PLC to LinMot Drive: Index Sub-Index 2000h...
  • Page 14 Sub-Index 2000h Payload Data Byte UPID xx xx xx xx: Read Value of the UPID Write RAM Value by UPID SDO Write from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data Byte UPID xx xx xx xx: Value of the UPID to write...
  • Page 15 Access Type Data Type 2000h + Default Value Bool - Unsigned32 UPID The default value of the UPID is returned. Read Default Value by UPID SDO Read from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data Byte UPID Return value:...
  • Page 16 Index Sub-Index Description Access Type Data Type Write RAM/ROM Value by UPID SDO Write from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data Byte UPID xx xx xx xx: Any Data Return value: Index Sub-Index 2000h Payload Data Byte...
  • Page 17 This command is used the in same way as the “Get Next UPID List item” command (2000h sub 21h). Only UPIDs with values that differ from their default values are returned. NTI AG / LinMot Page 17 of 40...

  • Page 18: System Commands

    Set all parameters of the OS to default values. This command needs about 0.5s to finish. Any data can be written for the command to be executed. Set ROM to default (OS) SDO Read from PLC to LinMot Drive: Index Sub-Index...
  • Page 19 Index Sub-Index Description Access Type Data Type SDO Write from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data Byte xx xx xx xx: Any Data Return value: Index Sub-Index 2000h Payload Data Byte Index Sub-Index Description Access Type Data Type...
  • Page 20 Data Type 2000h Reset Drive Unsigned8 - Unsigned32 Initiates a software reset of the drive. Any data can be written for the command to be executed. Reset Drive SDO Write from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data Byte...
  • Page 21 Start MC and APPL SW Unsigned8 - Unsigned32 MC SW and Application SW are started. Any data can be written for the command to be executed. Stop MC and APPL Software SDO Write from PLC to LinMot Drive: Index Sub-Index 2000h...

  • Page 22: Curve Service Commands

    5.2.3 Curve Service Commands See the “LinMot 1100 Drive Configuration over Fieldbus Interfaces” for additional detail on the use of curve commands and a description of the content of the curve info and data blocks. Index Sub-Index Description Access Type...
  • Page 23 Read Parameter to get the status of a flash operation: Result = 00h : State = Idle Result = 04h : State = Busy Curve Service: Poll Flash SDO Read from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data...
  • Page 24 Index Sub-Index Description Access Type Data Type Curve Service: Add Curve Data (32 Bit) SDO Write from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data Byte CurveID xx xx xx xx: Curve data block data: one setpoint as a 32Bit value...
  • Page 25 Index Sub-Index Description Access Type Data Type SDO Read from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data Byte CurveID Return value: Index Sub-Index 2000h Payload Data Byte CurveID 00h = Curve exists sult D4h = Curve does not exist...
  • Page 26 The Curve Data Block can be read in increments of 4 Bytes. To read the Data Block, this command has to be repeatedly called, with each call one can read the next 4 Bytes of the Data Block. Curve Service: Get Curve SDO Read from PLC to LinMot Drive: Index Sub-Index...

  • Page 27: Error Log Commands

    Get Error Log Entry Counter Unsigned32 This command returns the number of logged errors as well as the total number of occurred errors. Get Error Log Entry Counter SDO Read from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data...
  • Page 28 Get Error Log Entry Time low Unsigned32 EntryNr This command returns the lower 32 bits of the drive's system time when the error has occurred. Get Error Log Entry Time low SDO Read from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data...
  • Page 29 Payload Data (Stringlet Byte Nr. 0..7) Return value: Index Sub-Index 2000h 74h + Payload Data (Stringlet Byte Nr. 0..7) xx xx xx xx: Stringlet (each byte represents one character in ASCII format) NTI AG / LinMot Page 29 of 40...

  • Page 30: Command Table Commands

    5.2.5 Command Table Commands See the “LinMot 1100 Drive Configuration over Fieldbus Interfaces” for additional detail on the use of the command table and a description of the CT entry format. Index Sub-Index Description Access Type Data Type 2000h CT: Save to Flash Unsigned8 - Unsigned32 Write any data with this command to save the command table which is in the RAM to the ROM.
  • Page 31 Data Type 2000h CT: Delete all Entries (RAM) Unsigned32 Write anything to delete the complete Command Table in the RAM. CT: Delete all Entries (RAM) SDO Write from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data Byte xx xx xx xx: Any Data...
  • Page 32 Index Sub-Index Description Access Type Data Type SDO Write from PLC to LinMot Drive: Index Sub-Index 2000h Payload Data Byte EntryNr xx xx: Block size of CT entry Return value: Index Sub-Index 2000h Payload Data Byte EntryNr Index Sub-Index Description...
  • Page 33 The CT entry data can be read in increments of 4 Bytes. To read the entry data, this command has to be repeatedly called, while the response to each call contains the next 4 bytes of data. CT: Get Entry (Entry Nr.) SDO Read from PLC to LinMot Drive: Index Sub-Index...
  • Page 34 See command 2000h sub 87h for details. 2000h CT: Get Entry List (Entry Unsigned32 192..223) See command 2000h sub 87h for details. 2000h CT: Get Entry List (Entry Unsigned32 224..255) See command 2000h sub 87h for details. Page 34 of 40 NTI AG / LinMot...

  • Page 35: Rt Leds

    . The sequence is finished by a long off phase. Triple Flash: a sequence of three short flashes, separated by an off phase . The sequence is finished by a long off phase. NTI AG / LinMot Page 35 of 40...

  • Page 36: Interface Error Codes

    There are two basic wiring Topologies that can be used to build a POWERLINK network: · Tree Structure Figure 1: POWERLINK netw ork organised as a tree structure · Line Structure (Daisy Chain) Page 36 of 40 NTI AG / LinMot...
  • Page 37 In many cases a mixture of both structures is the most suitable solution, since sub-systems which functionally can be seen as one unit can be wired as line structures and joined together with a hub/switch.Mixed structure: Figure 3: POWERLINK netw ork organised as a line strucure NTI AG / LinMot Page 37 of 40...

  • Page 38: Calculating The Minimal Poll Response Time (Tpres) Of An Arbitrary Cn

    5ns should be taken into consideration. : Response time of the n-th CN Time it takes the n-th CN to process the poll request and to output its response. Page 38 of 40 NTI AG / LinMot...

  • Page 39: Troubleshooting

    Check if the Node-ID of the drive matches with the one configured in the PLC Possible Solution: Check if the Node-ID of the drive is unique, and no other node in the network has the same ID. NTI AG / LinMot Page 39 of 40...
  • Page 40 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 40 of 40 NTI AG / LinMot...

This manual is also suitable for:

E1450-pl seriesC1250-pl series

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