EtherNet/IP Interface User Manual
Manual
May 2019
Doc.: 0185-1165-E_5V2_MA_EtherNet-IP-CIP-Sync
© 2019 NTI AG
This work is protected by copyright.
Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or
mechanical, including photocopying, recording, microfilm, storing in an information retrieval system, not even for
didactical use, or translating, in whole or in part, without the prior written consent of 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. NTI AG reserves itself the right to make changes at any time and without notice to reflect
further technical advance or product improvement.
NTI AG
LinMot
Bodenaeckerstrasse 2
CH-8957 Spreitenbach
2 / 33 NTI AG / LinMot
Tel.: +41 56 419 91 91
Fax.: +41 56 419 91 92
Email: office@LinMot.com
Homepage: www.LinMot.com
1.
System overview ............................................................................................................... 4
1.1 References ................................................................................................................. 4
2.
Connection to the EtherNet/IP Network ...................................................................... 4
2.1 Pin Assignment of the Connectors X17-X18 ........................................................... 4
2.2 Default IP Address Settings ...................................................................................... 5
2.3 RT Bus LEDs .............................................................................................................. 5
3.
Setup in the PLC ............................................................................................................... 6
3.1 RSLinx Classic ............................................................................................................ 6
3.2 LinMot Configuration in the PLC ............................................................................. 7
3.3 Getting started with the Watch Window ................................................................ 12
3.3.1 Control Word ..................................................................................................... 13
3.3.2 Motion Command Interface ............................................................................. 18
4.
EtherNet/IP Parameters ................................................................................................. 25
4.1 EtherNet/IP Dis-/Enable .......................................................................................... 25
4.2 EtherNet/IP \ Ethernet Configuration \ IP Configuration Mode ......................... 26
4.3 EtherNer/IP \ EtherNet Configuration \ IP Configuration ................................... 26
5.
Realtime IO Data Mapping ............................................................................................ 26
5.1 Exclusive Owner, CIP Sync, 0x78/0x64 ................................................................. 26
5.1.1 Configuration Assembly Instance 1 ................................................................ 27
5.1.2 O->T Assembly Instance 120 (0x78) ................................................................ 27
5.1.3 T->O Assembly Instance 100 (0x64) ................................................................ 29
5.2 Legacy: Exclusive Owner, As_0x28_0x18 ............................................................. 29
5.2.1 O->T Assembly Instance 40 ............................................................................. 30
5.2.2 T->O Assembly Instance 24 ............................................................................. 30
6.
CIP Sync Streaming ....................................................................................................... 31
3 / 33NTI AG / LinMot
1 System overview
Device Property
Value / Remark
Minimal EtherNet/IP cycle time
1 ms
Minimal CIP Sync based streaming period
2 ms
DHCP
Supported
EDS
Supported
IEEE1588 (CIP-Sync)
with Rockwell PLC
DLR Support (Device Level Ring Protocol)
Yes
Ref
Title
Source
1
0185-1093-E_XXX_MA_MotionCtrlSWSG5-SG7
www.linmot.com
2
0185-1074-E_XXX_MA_DriveConfiguration-Over-Fieldbus-SG5-SG7
www.linmot.com
The LinMot Ethernet/IP drives have the following functionalities:
EtherNet/IP is a real time Ethernet protocol based on the standard Ethernet protocols
TCP/IP and UDP/IP.
For further information on EtherNet/IP please visit: http://www.odva.org
1.1 References
All user manuals are distributed with the LinMot-Talk configuration software. The newest
version can also be downloaded from the LinMot homepage in the download section.
2 Connection to the EtherNet/IP Network
2.1 Pin Assignment of the Connectors X17-X18
The Ethernet/IP connector is a standard RJ45 female connector with a pin assignment
as defined by EIA/TIA T568B:
4 / 33 NTI AG / LinMot
X17 - X18
RealTime Ethernet Connector
Pin
Wire color code
Assignment 100
BASE-TX
1
2
3
4
5
6
7
8
case
WHT/ORG
ORG
WHT/GRN
BLU
WHT/BLU
GRN
WHT/BRN
BRN
-
Rx+
Rx-
Tx+
-
-
Tx-
-
-
-
RJ-45
Use standard patch cables (twisted pair, S/UTP, AWG26) for
wiring. This type of cable is usually referred to as a “Cat5eCable”.
2.2 Default IP Address Settings
S1, S2
IP Selectors
S1S2Bus ID High (0h...Fh)
Bus ID Low (0h...Fh)
The switch value S1 = S2 = 0 (factory default setting) is a special
configuration which acquires the IP address via DHCP.
RT Bus LEDs
Function
The RT Bus LEDs have no
function.
They are always turned off.
The default IP address is 192.168.1.xxx, where the last byte xxx is defined via the two
hex switches S1 and S2. S1 sets the high and S2 the low digit.
2.3 RT Bus LEDs
5 / 33NTI AG / LinMot
3 Setup in the PLC
Use only AB PLC firmware 18.0 or higher!
The following steps describe the integration of a LinMot Ethehernet/IP drive in the PLC.
In the example an Allen Bradley master PLC is used. RSLinx tool can only be used to
see if the device is on the network and under which IP-address it can be accessed. The
whole configuration is done in the PLC, which is described in chapter 3.2.
3.1 RSLinx Classic
In the RSLinx the LinMot device should occur under the defined IP address as
“Unrecognized Device”
LinMot Device with the IP address 192.168.1.89. in the RSLinx tool.
6 / 33 NTI AG / LinMot
LinMot device properties
3.2 LinMot Configuration in the PLC
The LinMot Drive must be configured in the PLC using an EDS-File.
To configure the LinMot with the EDS File, the EDS-File must be downloaded into the
configuration software of the PLC. In the RSLogix 5000 there is the EDS Hardware
Installation Tool, which is used for the installation. It can be found in the menu under
"Tools".
Then you can click next until the "Options" window is shown. In this window "Register
an EDS file(s)" has to be selected.
7 / 33NTI AG / LinMot
In the "Registration" window, “Register a directory of EDS files” has to be selected. The
path of the directory is:
../LinMot-TalkX.X BuildX/Firmware/Interfaces/EtherNetIP_NX/EDS
After this selection you can click next and finish the EDS Hardware Installation.
8 / 33 NTI AG / LinMot
When the EDS-Files are downloaded in the PLC configuration software, the LinMot can
Exclusive Owner, CIPSync, 0x78/0x64: Realtime IO with configuration module and
CIP Sync Timestamp (Default)
Legacy: Exclusive Owner, As_0x28_0x18: Realtime IO with configuration module,
only for retrofit without CIP Sync functionality, no streaming supported
be configured in the I/O configuration section, in the Ethernet section as a new module.
In the section “Module Type Vendor Filters” there is the Vendor “NTI Limited”, where the
drive can be selected.
After creating a new module, on the Tab "General", under "Module Definition" using the
button "Change ...", two communication types can be chosen.
9 / 33NTI AG / LinMot
In the Connection tab of the Module Properties the desired cycle time is specified in the
range between 1ms and 3200ms.
Only Unicast Connection is supported.
To add more modules the EDS-File registration does not need to be repeated.
If the setup was successful the LinMot module status will be "Running".
10 / 33 NTI AG / LinMot
The table below shows which EDS-File is for which Drive. If the full EDS folder is loaded
File Name
Art.-Number
Drive Type
C1250CMXC0S.eds
0150-2900
C1250CMXC0S
C1250CMXC1S.eds
0150-2901
C1250CMXC1S
in the configuration tool, the names of the Drives are visualized.
11 / 33NTI AG / LinMot
In the LinMot-Talk configuration software the EtherNet/IP connection state is shown in
"Variables\EtherNet/IP". If set up correctly, the "Main State" should change to
"Connected" after some time when powered on.
3.3 Getting started with the Watch Window
In this section the basics of the LinMot device handling are explained. Instead of
programming the LinMot drive, data can be directly set with the watch window. For the
next steps, map the modules input data and output data in the quick watch window as
shown below.
In the following examples it is assumed that a motor has been configured, the power
supply is on and the drive is correctly embedded in the Ethernet/IP network.
12 / 33 NTI AG / LinMot
3.3.1 Control Word
The Control Word is mapped to the output data word 4 (byte 16/17). If setting this value
to 1 the “Switch On” bit (bit 0) of the Control Word is set.
13 / 33NTI AG / LinMot
This can also be monitored on the Control Panel of the LinMot-Talk software.
Setting the Control Word to 2049 (0x0801) sets also the “Home” bit (Bit 11) in the
Control Word. Wait until the input word 4 “State Var” has the value 2319 (0x090F) Main
State 9 (Homing) Sub State 0x0F (Homing finished).
14 / 33 NTI AG / LinMot
15 / 33NTI AG / LinMot
The Control Word can then be set to 1 again, the drive will change to Main State 8
(Operation Enabled) Sub State 0xC0 (Homed and In Target Position), the corresponding
State Var has the value 2240.
16 / 33 NTI AG / LinMot
17 / 33NTI AG / LinMot
3.3.2 Motion Command Interface
Other output data are mapped to the “Motion Command
Interface” (MCSW_MotionCommandHeader and MCSW_MotionCommandByte_0 ... 19).
The first word (MCSW_MotionCommandHeader) is the motion command header, the
remaining (MCSW_MotionCommandByte 0 ... 19) are the command specific motion
parameters. In the next example we will set up a “Predef VAI Go To Pos (020xh)” Motion
Command. First we set the target position low word
(MCSW_MotionCommandByte_00_01) to 0 then the target position high word
(MCSW_MotionCommandByte_02_03) to 2 and the motion command header
(MCSW_MotionCommandHeader) to 513 (0x0201).
18 / 33 NTI AG / LinMot
19 / 33NTI AG / LinMot
Press the “Read Command” button to see the sent command.
We will use the same command to move back to 0mm. Change the target position high
word to 0. Then change the count nibble in the motion command header to 0.
20 / 33 NTI AG / LinMot
21 / 33NTI AG / LinMot
In the next example we are going to use the most common motion command “VAI Go
To Pos (010xh)”. In this example we define the motion command in the control panel
first.
22 / 33 NTI AG / LinMot
Then, the same hexadecimal values are inserted in the watch window. First the motion
parameters - the motion header has to be written last, otherwise the movement starts
before data entering is completed.
The data is written from low byte to high byte. (MotionCommandByte_00_01 = 16#A120,
MotionCommandByte_02_03 = 16#0007, ...)
23 / 33NTI AG / LinMot
To move back to 0mm with the same motion command and the same parameters, set
the target position to 0 (MotionCommandByte_00 .. 03), then change the count nibble in
the motion command header to 2 for example.
24 / 33 NTI AG / LinMot
4 EtherNet/IP Parameters
EtherNet/IP Dis-/Enable
Disable
The drive runs without EtherNet/IP.
Enable
The drive runs with EtherNet/IP.
If the EtherNet/IP interface is disabled, the integrated EtherNet/IP switch is
not powered. No data will be sent to other devices connected to the
Ethernet network over the LinMot drive.
The EtherNet/IP interface has an additional parameter tree branch (Parameters ->
EtherNet/IP), which can be configured with the distributed LinMot-Talk software.
With these parameters, the EtherNet/IP communication parameters can be configured.
The LinMot-Talk software can be downloaded from http://www.linmot.com under the
section download, software.
4.1 EtherNet/IP Dis-/Enable
With the Dis-/Enable parameter the LinMot drive can be operated without the Ethernet/IP
interface. Therefore, the system can initially be configured and tested without any bus
connection.
25 / 33NTI AG / LinMot
4.2 EtherNet/IP \ Ethernet Configuration \ IP Configuration Mode
EtherNet/IP \ Ethernet Configuration \ IP Configuration Mode
DHCP
IP address is acquired over DHCP.
Static by IP Configuration
IP address is set by parameters.
Static with hex switches S1 and S2
(DHCP)
IP address is set by parameters and the
last byte is set with the value of the
switches S1 and S2. The default IP
address
setting is 192.168.1.xxx ( xxx denoting the
value of the switches S1 and S2)
The switch value S1 = 0 and S2 = 0 (factory default setting) defines that
the the IP address is acquired over DHCP.
When setting the IP address from the PLC, the IP Configuration Mode is
changed to "Static by IP Configuration".
EtherNet/IP Intf\Ethernet Configuration\IP Confirguration
IP address 1st Byte
Highest byte of IP address
IP address 2nd Byte
Mid high byte of IP address
IP address 3rd Byte
Mid low byte of IP address
IP address 4th Byte
Lowest byte of IP address
Netmask 1st Byte
Highest byte of Netmask
Netmask 2nd Byte
Mid high byte of Netmask
Netmask 3rd Byte
Mid low byte of Netmask
Netmask 4th Byte
Lowest byte of Netmask
Default Gateway 1st Byte
Highest byte of Default Gateway
Default Gateway 2nd Byte
Mid high byte of Default Gateway
Default Gateway 3rd Byte
Mid low byte of Default Gateway
Default Gateway 4th Byte
Lowest byte of Default Gateway
This parameter defines how the IP address is assigned.
4.3 EtherNer/IP \ EtherNet Configuration \ IP Configuration
In this section the setting of the parameters for the IP address, the netmask and the
default gateway is described.
5 Realtime IO Data Mapping
The default IO data mapping is the Exclusive Owner, CIP Sync, 0x78/0x64. If you
want to use the legacy IO mapping without the CIP Sync functionality for backward
compatibility, the Legacy: Exclusive Owner, As_0x28_0x18 may be used.
5.1 Exclusive Owner, CIP Sync, 0x78/0x64
This IO data mapping shall be used for all IO data exchange, except if backward
compatibility is explicitly needed.
26 / 33 NTI AG / LinMot
It provides the possibility to exchange timestamps between the PLC and the LinMot
Assembly Class Instance 1
Byte
Offset
Size /
Type
Name
Description
00h
UInt32
StreamPeriod
Period time of CIP Sync streaming
commands
04h
UInt32
TimingModel
Timing model of the originator PLC (1 or 2)
08h
UInt32
CFG_ParMonChannelCon
figID
ID which is used to identify the currently
effective configuration assembly
1
0Ch
UInt16
ParamChannelUPID_0
UPID of the parameter which shall be written
with ParChannel_0 of O->T assembly
2
0Eh
UInt16
ParamChannelUPID_1
UPID of the parameter which shall be written
with ParChannel_1 of O->T assembly
2
10h
UInt16
ParamChannelUPID_2
UPID of the parameter which shall be written
with ParChannel_2 of O->T assembly
2
12h
UInt16
ParamChannelUPID_3
UPID of the parameter which shall be written
with ParChannel_3 of O->T assembly
2
14h
UInt16
MonChannelUPID_0
UPID of the variable which shall be returned in
MonChannel_0 of T->O assembly
2
16h
UInt16
MonChannelUPID_1
UPID of the variable which shall be returned in
MonChannel_1 of T->O assembly
2
18h
UInt16
MonChannelUPID_2
UPID of the variable which shall be returned in
MonChannel_2 of T->O assembly
2
1Ah
UInt16
MonChannelUPID_3
UPID of the variable which shall be returned in
MonChannel_3 of T->O assembly
2
1Ch
UInt32
MCSW_MaximalCurrentP
ositiveActive
Set to 1 if the positive current limit
MCSW_MaximalCurrentPositive of O->T
assembly shall be applied, 0 otherwise
20h
UInt32
MCSW_MaximalCurrentN
egativeActive
Set to 1 if the negative current limit
MCSW_MaximalCurrentNegative of O->T
assembly shall be applied, 0 otherwise
1
If the configuration assembly 1 is sent to the drive with new parameter channel UPIDs,
this ID is needed to identify if the parameter data in the O->T assembly sent to the drive
belong to the last configured UPIDs or already to the newly configured UPIDs.
The same holds if the monitoring channel UPIDs are changed. This ID may be used on
the PLC to identify if the monitoring data in the T->O assembly belong to the last
configured UPIDs or already to the newly configured UPIDs.
2
Set to 0 if no parameter/variable shall be written/read. Values will not be written to
ROM in the parameter channel.
drive which is needed for synchronized streaming using CIP Sync.
5.1.1 Configuration Assembly Instance 1
This Assembly is used to configure the data handling within the O->T and T->O
assembly instances. The size of this assembly is 36 bytes.
5.1.2 O->T Assembly Instance 120 (0x78)
This output data mapping contains the real time data sent to the LinMot drive. The size
is 76 bytes. The AB generic Ethernet module adds 6 bytes (status and sequence count)
so the real exchanged size is 82 bytes.
27 / 33NTI AG / LinMot
Assembly Class Instance 120
Byte
Offset
Size /
Type
Name
Description
00h
UInt64
StreamTimestamp
Time stamp of streaming command
1
08h
UInt64
StreamClockOffset/reserv
ed
Shall be set to 0
10h
UInt16
MCSW_ControlWord
Bit coded control word
12h
UInt16
MCSW_MotionCommand
Header
12 Bit Command, 4Bit count nibble
2
14h
UInt32
MCSW_MotionCommand
_Bytes_00..03
Command specific
2
18h
UInt32
MCSW_MotionCommand
_Bytes_04..07
Command specific
2
1Ch
UInt32
MCSW_MotionCommand
_Bytes_08..11
Command specific
2
20h
UInt32
MCSW_MotionCommand
_Bytes_12..15
Command specific
2
24h
UInt32
MCSW_MotionCommand
_Bytes_16..19
Command specific
2
28h
UInt16
TX_Cfg_Module_Control
Config module header
3
2Ah
UInt16
TX_Cfg_Module_Index
Config module index
3
2Ch
UInt32/
SInt32
TX_Cfg_Module_Value
Config module value
3
30h
UInt32
MCSW_MaximalCurrentP
ositive
Maximal current in positive direction.
4
34h
UInt32
MCSW_MaximalCurrentN
egative
Maximal current in negative direction.
4
38h
UInt32
TX_ParChannelConfigID
ID to identify to which configuration assembly
data set the parameters below belong to.
5
3Ch
UInt32/
SInt32
ParChannel_0
Value which shall be written to parameter
defined in config assembly
ParamChannelUPID_0.
5
40h
UInt32/
SInt32
ParChannel_1
Value which shall be written to parameter
defined in config assembly
ParamChannelUPID_1.
5
44h
UInt32/
SInt32
ParChannel_2
Value which shall be written to parameter
defined in config assembly
ParamChannelUPID_2.
5
48h
UInt32/
SInt32
ParChannel_3
Value which shall be written to parameter
defined in config assembly
ParamChannelUPID_3.
5
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-FieldbusSG5-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 is set to active.
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.
28 / 33 NTI AG / LinMot
5.1.3 T->O Assembly Instance 100 (0x64)
Assembly Class Instance 100
Byte
Offset
Size /
Type
Name
Description
00h
UInt64
StreamTimestamp
unused, set to 0
08h
UInt64
StreamClockOffset/reserv
ed
unused, set to 0
10h
UInt16
MCSW_StateVar
coded state dependent
12h
UInt16
MCSW_StatusWord
Bit coded
14h
UInt16
MCSW_WarnWord
Bit coded
16h
UInt16
reserved16
reserved 16 bits
18h
Int32
MCSW_DemandPosition
Position [100nm]
1Ch
Int32
MCSW_ActualPosition
Position [100nm]
20h
Int32
MCSW_DemandCurrent
Current [1mA]
24h
Int32
MCSW_DifferencePositio
n
Position [100nm]
28h
Int32
MCSW_ActualVelocityFil
tered
Velocitiy [1um/s]
2Ch
UInt16
RX_Cfg_Module_Status
Config module status
1
2Eh
UInt16
RX_Cfg_Module_Index
Config module index
1
30h
UInt32/
SInt32
RX_Cfg_Module_Value
Config module value
1
34h
UInt32
RX_MonChannelConfigID
ID to identify to which configuration assembly
data set the following monitoring variables
belong to.
2
38h
UInt32/
SInt32
MonChannel_0
Value of the variable defined in the
configuration assembly MonChannelUPID_0.
2
3Ch
UInt32/
SInt32
MonChannel_1
Value of the variable defined in the
configuration assembly MonChannelUPID_1.
2
40h
UInt32/
SInt32
MonChannel_2
Value of the variable defined in the
configuration assembly MonChannelUPID_2.
2
44h
UInt32/
SInt32
MonChannel_3
Value of the variable defined in the
configuration assembly MonChannelUPID_3.
2
1
Config module fields, see [2] "0185-1074-E_XXX_MA_Drive-Configuration-Over-FieldbusSG5-SG7".
2
RX_MonChannelConfigID contains the ID of CFG_ParMonChannelConfigID of the last
configuration assembly. This can be used on the PLC to identify to which configuration
assembly data set the monitoring channel values belong to.
This input data mapping contains the real time data sent by the LinMot drive. The size is
72 bytes. For the AB generic Ethernet module another 2 bytes (status and sequence
count) are added, so the real exchanged size is 74 bytes.
5.2 Legacy: Exclusive Owner, As_0x28_0x18
This IO data mapping may be used if backward compatibility is needed.
29 / 33NTI AG / LinMot
CIP Sync streaming is not supported when using this IO data mapping.
5.2.1 O->T Assembly Instance 40
Assembly Class Instance 40
Byte
Offset
Size /
Type
Name
Description
00h
UInt16
MCSW_ControlWord
Bit coded
02h
UInt16
MCSW_MotionCommand
Header
12Bit Command 4Bit count nibble
1
04h
UInt32
MCSW_MotionCommand
Byte_00..03
Command specific
1
08h
UInt32
MCSW_MotionCommand
Byte_04..07
Command specific
1
0Ch
UInt32
MCSW_MotionCommand
Byte_08..11
Command specific
1
10h
UInt32
MCSW_MotionCommand
Byte_12..15
Command specific
1
14h
UInt32
MCSW_MotionCommand
Byte_16..19
Command specific
1
18h
UInt16
TX_Cfg_Module_Control
Config module header
2
1Ah
UInt16
TX_Cfg_Module_Index
Config module index
2
1Ch
UInt32/
SInt32
TX_Cfg_Module_Value
Config module value
2
1
Motion command fields, see [1] "0185-1093-E_XXX_MA_MotionCtrlSW-SG5-SG7".
2
Config module fields, see [2] "0185-1074-E_XXX_MA_Drive-Configuration-Over-FieldbusSG5-SG7".
In this real time IO Mapping the 16 bit control word, the 16 bit motion command header
and the motion command parameters are exchanged. The size of this mapping is 32
bytes or 16 words. The AB generic Ethernet module adds another 6 bytes (status and
sequence count) so the real exchanged size is 38 bytes.
5.2.2 T->O Assembly Instance 24
In this real time IO mapping the StateVar for the main state machine and several other
helpful data is exchanged. The size of this mapping is 26 bytes or 13 words. For the AB
generic Ethernet module another 2 bytes (status and sequence count) are added, so the
real exchanged size is 28 bytes.
30 / 33 NTI AG / LinMot
Assembly Class Instance 24
Byte
Offset
Size /
Type
Name
Description
00h
UInt16
MCSW_StateVar
coded state dependent
02h
UInt16
MCSW_StatusWord
Bit coded
04h
UInt16
MCSW_WarnWord
Bit coded
06h
Int32
MCSW_DemandPosition
Position [100nm]
0Ah
Int32
MCSW_ActualPosition
Position [100nm]
0Eh
Int32
MCSW_DemandCurrent
Current [1mA]
12h
UInt16
RX_Cfg_Module_Status
Config module status
1
14h
UInt16
RX_Cfg_Module_Index
Config module index
1
16h
UInt32/
SInt32
RX_Cfg_Module_Value
Config module value
1
1
Config module fields, see [2] "0185-1074-E_XXX_MA_Drive-Configuration-Over-FieldbusSG5-SG7".
6 CIP Sync Streaming
Limitations
A streaming telegram must not arrive at the LinMot drive later than one
streaming period before the target time stamp. Otherwise, the telegram is
too late and cannot be processed anymore. It is important that the network
and the streaming period length are designed in a way that there is always
enough margin such that in a worst case scenario no telegram will arrive
late.
In order to achieve short streaming periods, the network traffic must be
minimized to the essential telegrams in order not to interfere with the tight
timing requirements. Broadcast bursts, such as ARP-requests sent by a
controller looking for multiple devices which are not online, may create
delays which result in late telegrams.
Once the clocks of all devices are synchronized and streaming is running,
no time steps shall occur. Otherwise, the LinMot drives cannot handle the
time stamp information correctly and the drives will stop the motion.
For example
·
the time of the grand master clock must not be changed by any means
during streaming motion,
CIP Sync streaming describes position, velocity and acceleration setpoint streaming
using a controller generated time stamp.
This streaming mode is based on standard PVA streaming described in [1] "0185-1093E_XXX_MA_MotionCtrlSW-SG5-SG7".
Additionally, the time stamp of the command has to be generated by the controller and
sent to the LinMot drive in the O->T Output Assembly Instance 120. Using this time
stamp, the jitter added to the telegram by the network does not influence the motion
anymore. Therefore, the time of the LinMot drive and the controller need to be
synchronized. This is achieved with the precision time protocol PTP (IEEE 1588).
The timing model must be set with the Configuration Assembly Instance 1.
Timing model 1 expects that the target time stamp lies 2 streaming periods in the future
from when the telegram is calculated.
Timing model 2 expects that the target time stamp lies 3 streaming periods in the future
from when the telegram is calculated.
31 / 33NTI AG / LinMot
·
no controller which is capable of acting as a grand master clock shall be
connected to a running system, even if its clock priority is lower than
that of the current grand master clock.
32 / 33 NTI AG / LinMot
Contact & Support
SWITZERLAND NTI AG
Bodenaeckerstrasse 2
CH-8957 Spreitenbach
Sales and Administration:
Tech. Support:
Tech. Support (Skype):
Fax:
Web:
USA LinMot USA Inc.
N1922 State Road 120, Unit 1
Lake Geneva, WI 53147
USA
Phone:
E-Mail:
Web:
+41 56 419 91 91
office@linmot.com
+41 56 544 71 00
support@linmot.com
http://www.linmot.com/support
support.linmot
+41 56 419 91 92
http://www.linmot.com
262-743-2555
usasales@linmot.com
http://www.linmot-usa.com/
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