LinMot E1250-EC-UC User Manual
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LinMot E1250-EC-UC User Manual

Documentation of the ethercat interface of the controller, ethercat interface 3.11
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Documentation of the EtherCAT Interface of the following
Controller:
- E1250-EC-UC
EtherCAT Interface 3.11
User Manual

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Summary of Contents for LinMot E1250-EC-UC

  • Page 1 Documentation of the EtherCAT Interface of the following Controller: - E1250-EC-UC EtherCAT Interface 3.11 User Manual...
  • 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

    Reset device ........................26 4.5.2 Stop SW instances......................27 4.5.3 Start SW instances ......................27 ETHERCAT PARAMETERS AND VARIABLES ..............28 .......................... 28 ARAMETERS CONNECTING TO THE ETHERCAT NETWORK .............. 29 NTI AG / LinMot User Manual EtherCAT Interface Page 3/37...
  • Page 4 ® LinMot X17-X18 ..............29 SSIGNMENT OF THE ONNECTORS TWINCAT DEMO PROGRAM....................30 CONTACT ADDRESSES ......................37 Page 4/37 User Manual EtherCAT Interface NTI AG / LinMot...

  • Page 5: System Overview

    1 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 6: Setup In The Plc

    ® LinMot 2 Setup in the PLC In the following the steps the integration of a LinMot EtherCAT servo controller in the PLC is described. In the example a Beckhoff master PLC is used. 2.1 Copy Device Description File The LinMot servo controller is described with *.xml device description file distributed with the LinMot-Talk1100 SW.
  • Page 7 ® LinMot After this scan all recognized devices are imported to the project: In this example the scan found an EK1100 and the LinMot Servo controller E1250-EC-UC and are imported to the project. NTI AG / LinMot User Manual EtherCAT Interface...

  • Page 8: Process Data Object (Pdo) Configuration

    Interface over which all types of motion commands could be accessed. 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 SW. Page 8/37...

  • Page 9: Asynchronous Configuration Protocol

    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 User Manual EtherCAT Interface Page 9/37...

  • Page 10: Ads Services Overview

    ® LinMot 4.1 ADS Services Overview For the LinMot servo controllers 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...

  • Page 11: Ads Parameter Services

    LinMot 4.2 ADS Parameter Services The LinMot Servo controller supports a unique parameter access for all parameter data types (bit, byte, uint16, ..). The parameter data could always be mapped into a 4 bytes data field. The parameter itself is specified by its UPID (unique parameter ID).

  • Page 12: 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 13: Parameter Start Read Upid List

    Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0044h (LinMot Service ID) Input IDXOFFS UDINT Start UPID: 0000h: OS SW layer 1000h: MC SW layer 2000h: Intf SW layer 3000h: Appl SW layer Input UDINT...

  • Page 14: Parameter Start Read Modified Upid List

    Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0046h (LinMot Service ID) Input IDXOFFS UDINT Start UPID: 0000h: OS SW layer 1000h: MC SW layer 2000h: Intf SW layer 3000h: Appl SW layer Input UDINT...

  • Page 15: Parameter Default Sw Instance

    T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0048h (LinMot Service ID) Input IDXOFFS UDINT SW instance selection Bit 0: OS SW layer Bit 1: MC SW layer Bit 2: Intferace SW layer Bit 3: application SW layer...

  • Page 16: 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 17: Curves Read Info And Data Size

    Type 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...

  • Page 18: Curves Start Modify Curve In Ram

    Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0058h (LinMot Service ID) Input IDXOFFS UDINT Curve ID Input UDINT Always 4 bytes Input DESTADDR DWORD ADR(write _buffer (4bytes)) 0..1 : Info block size in bytes 0x0046 2..3 : setpoint data size in bytes...

  • Page 19: 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 20: 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 21: Curves Start Write Curves From Ram To Flash

    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 Curve ID to write Input UDINT Always 0 bytes Input SRCADDR DWORD ADR(write_buffer (0bytes)) Input WRITE...

  • Page 22: Ads Command Table Services

    FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0060h (LinMot Service ID) Input IDXOFFS UDINT Not evaluated Input UDINT Always 0 bytes Input SRCADDR DWORD ADR(write_buffer (0bytes)) Input WRITE...

  • Page 23: Command Table Read Data Size

    Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0062h (LinMot Service ID) Input IDXOFFS UDINT Command Table ID Input UDINT Always 4 bytes Input DESTADDR DWORD ADR(read_buffer (4bytes)) 0..3 : Command Table size in...

  • Page 24: Command Table Start Write Entry In Ram

    Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0065h (LinMot Service ID) Input IDXOFFS UDINT Command Table ID Input UDINT Always 4 bytes Input DESTADDR DWORD ADR(write_buffer (4bytes)) 0..3 : Command Table size in...

  • Page 25: Command Table Read Presence List

    Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 006Eh (LinMot Service ID) Input IDXOFFS UDINT IDOff : 0: entries 1..31 32: entries 33..63 64: entries 65..95 96: entries 96..127 128: entries 128..159 160: entries 160..191 192: entries 192..223...

  • Page 26: Program Handling

    FUNCTION_BLOCK ADSWRITE Direction Name Type Description Input NETID T_AmsNetId AoE NetID Input PORT T_AmsPort ADS Port Input IDXGRP UDINT 0070h (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 27: 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: Intferace SW layer Bit 2: application SW layer Input UDINT Always 0 bytes...

  • Page 28: Ethercat Parameters And Variables

    & manuals. EtherCAT Dis-/Enable With the Dis-/Enable parameter the LinMot servo controller 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 29: Connecting To The Ethercat Network

    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 User Manual EtherCAT Interface Page 29/37...
  • Page 30 LinMot 7 TwinCAT Demo Program With the LinMot-Talk SW a TwinCAT demo program is included as start point for new LinMot users, to get familiar with the concepts that stands behind LinMot motion SW. For getting started with this demo program Connect one LinMot EtherCAT Servo directly to the master Wire signal supply (24V Dc) and the motor power Supply.
  • Page 31 ® LinMot Change the EtherCAT device to the one of your runtime environment: Activate theConfiguration: NTI AG / LinMot User Manual EtherCAT Interface Page 31/37...
  • Page 32 ® LinMot Open the demo PLC program in the TwinCAT PLC control programm: Login and load the program into your target system: Page 32/37 User Manual EtherCAT Interface NTI AG / LinMot...
  • Page 33 ® LinMot Start the PLC program: Change to the Visualisation Control panel view: NTI AG / LinMot User Manual EtherCAT Interface Page 33/37...
  • Page 34 ® LinMot Release the Control Word bit 0 “Switch On”: Set the Control Word bit 0 “Switch On”: Now the motor is position controlled mode. Page 34/37 User Manual EtherCAT Interface NTI AG / LinMot...
  • Page 35 Reset the Control Word bit 11 Home to change to the Operation mode: In the operation mode the high byte of the State Var is 8 in this state the servo accepts motion commands. NTI AG / LinMot User Manual EtherCAT Interface Page 35/37...
  • Page 36 Page 36/37 User Manual EtherCAT Interface NTI AG / LinMot...
  • Page 37 ® LinMot Contact Addresses --------------------------------------------------------------------------------------------------------------------------- SWITZERLAND NTI AG / LinMot Haerdlistr. 15 CH-8957 Spreitenbach Sales and Administration: +41-(0)56-419 91 91 office@linmot.com Tech. Support: +41-(0)56-544 71 00 support@linmot.com Tech. Support (Skype) : skype:support.linmot Fax: +41-(0)56-419 91 92 Web: http://www.linmot.com -------------------------------------------------------------------------------------------------------------------------- LinMot, Inc.

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