LinMot C1450-EC-VS-1S, C1150-EC-XC-1S, C1150-EC-XC-0S, C1450-EC-VS-0S, E1450-EC-QN-0S Interface Manual
...
Oktober 2018
Documentation of the EtherCAT Interface of the following
Drives:
·
C1150-EC-XC-0S/1S
·
C1250-EC-XC-0S/1S
·
C1450-EC-VS-0S/1S
·
E1450-EC-QN-0S/1S
·
E1250-EC-UC
Manual
EtherCAT LinMot Profile Interface
Doc.: 0185-1079-E_6V3_MA_EtherCAT
2 / 60 NTI AG / LinMot
© 2018 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
Tel.: +41 56 419 91 91
Fax.: +41 56 419 91 92
Email: office@LinMot.com
Homepage: www.LinMot.com
3 / 60NTI AG / LinMot
1. System overview ............................................................................................ 7
1.1 References .................................................................................................................. 7
1.2 Connecting In and Out ............................................................................................... 7
2.
Setup in the PLC ............................................................................................ 8
2.1 Copy Device Description File ................................................................................... 8
2.2 Scan the EtherCAT slave devices ............................................................................ 9
3. Process Data Object (PDO) Configuration .................................................... 11
3.1 Input PDO Modules ................................................................................................... 11
3.1.1 Cyclic Mode Inputs 0x1A02 .............................................................................. 12
3.1.2 User Defined Inputs 0x1A20 ............................................................................. 12
3.1.3 Default Inputs 0x1B00 ....................................................................................... 12
3.1.4 NC Inputs 0x1B01 .............................................................................................. 12
3.1.5 StateVar 0x1B03 ................................................................................................ 13
3.1.6 StatusWord 0x1B04 ........................................................................................... 13
3.1.7 WarnWord 0x1B05 ............................................................................................. 13
3.1.8 Config Module 0x1B08 ...................................................................................... 13
3.1.9 Input Demvel 0x1B10 ........................................................................................ 13
3.1.10 Input ActVel 0x1B11 .......................................................................................... 13
3.1.11 Input ActVelFilt 0x1B12 .................................................................................... 14
3.1.12 Input DemandPosition 0x1B13 ......................................................................... 14
3.1.13 Input ActualPosition 0x1B14 ............................................................................ 14
3.1.14 Input DemandCurrent 0x1B15 .......................................................................... 14
3.1.15 Input DemCurrFilt 0x1B16 ................................................................................ 14
3.1.16 CAM Counts 0x1B18 .......................................................................................... 14
3.1.17 Input Command Table Var 1 0x1B20 ............................................................... 14
3.1.18 Input Command Table Var 2 0x1B21 ............................................................... 15
3.2 Output PDO Modules ................................................................................................ 15
3.2.1 Cyclic Position Mode 0x1602 ........................................................................... 15
3.2.2 Cyclic Position Velocity Mode 0x1603 ............................................................ 16
3.2.3 Cyclic Position Velocity Torque Mode 0x1604 .............................................. 16
3.2.4 Cyclic Torque Mode 0x1606 ............................................................................. 16
3.2.5 User Defined Outputs 0x1620 .......................................................................... 16
3.2.6 Default Outputs 0x1700 ..................................................................................... 17
3.2.7 NC Outputs 0x1701 ............................................................................................ 17
3.2.8 Config Module 0x1708 ....................................................................................... 17
3.2.9 Max Current Set A 0x1710 ................................................................................ 17
3.2.10 CAM Start Enable 0x1718 ................................................................................. 18
4 / 60 NTI AG / LinMot
3.3 Typical Startup Telegrams ...................................................................................... 18
4. Asynchronous Configuration Protocol AoE .................................................. 19
4.1 ADS Services Overview .......................................................................................... 20
4.2 ADS Parameter Services ......................................................................................... 21
4.2.1 Parameter UPID read RAM value ..................................................................... 21
4.2.2 Parameter UPID write RAM value .................................................................... 22
4.2.3 Parameter UPID read ROM value .................................................................... 22
4.2.4 Parameter UPID write ROM value ................................................................... 23
4.2.5 Parameter start read UPID list ......................................................................... 23
4.2.6 Parameter get next UPID list item ................................................................... 24
4.2.7 Parameter start read modified UPID list ......................................................... 24
4.2.8 Parameter get next modified UPID list item .................................................. 25
4.2.9 Parameter Default SW instance ....................................................................... 25
4.3 ADS Curves Services ............................................................................................... 26
4.3.1 Curves delete all in RAM .................................................................................. 26
4.3.2 Curves delete single curve in RAM ................................................................ 26
4.3.3 Curves read info and data size ........................................................................ 27
4.3.4 Curves read info block data ............................................................................. 27
4.3.5 Curves read setpoint data ................................................................................ 28
4.3.6 Curves start modify curve in RAM .................................................................. 28
4.3.7 Curves modify curve info block data in RAM ................................................ 29
4.3.8 Curves modify curve setpoint data in RAM ................................................... 29
4.3.9 Curves start write curve to RAM ..................................................................... 30
4.3.10 Curves write curve info block data to RAM .................................................... 30
4.3.11 Curves write curve setpoint data to RAM ...................................................... 31
4.3.12 Curves read presence list ................................................................................ 31
4.3.13 Curves start write curves from RAM to FLASH ............................................. 32
4.4 ADS Command Table Services ............................................................................... 32
4.4.1 Command Table delete all entries from RAM ................................................ 32
4.4.2 Command Table delete single entry from RAM ............................................ 33
4.4.3 Command Table read data size ....................................................................... 33
4.4.4 Command Table read data ............................................................................... 34
4.4.5 Command Table start write entry in RAM ...................................................... 34
4.4.6 Command Table write entry data in RAM ....................................................... 35
4.4.7 Command Table read presence list ................................................................ 35
4.4.8 Command Table start write entries from RAM to FLASH ............................. 36
4.5 ADS Program handling ............................................................................................. 36
4.5.1 Reset device ...................................................................................................... 36
4.5.2 Stop SW instances ............................................................................................ 37
5 / 60NTI AG / LinMot
4.5.3 Start SW instances ............................................................................................ 37
5.
Asynchronous Configuration Protocol CoE .................................................. 38
5.1 Communication Profile Area(1000h-1FFFh) .......................................................... 38
5.2 Manufacturer specific Profile Area(2000h-5FFFh) ................................................ 39
5.2.1 Parameter UPID read RAM value ..................................................................... 40
5.2.2 Parameter UPID write RAM value .................................................................... 40
5.2.3 Parameter UPID read ROM value .................................................................... 41
5.2.4 Parameter UPID write ROM value ................................................................... 41
5.2.5 Parameter UPID read minimal value ............................................................... 41
5.2.6 Parameter UPID read maximal value .............................................................. 42
5.2.7 Parameter UPID read default value ................................................................. 42
5.2.8 Parameter UPID write RAM & ROM value ....................................................... 43
5.2.9 Parameter default OS SW instance ................................................................. 43
5.2.10 Parameter default MC SW instance ................................................................. 43
5.2.11 Parameter default Intf SW instance ................................................................. 44
5.2.12 Parameter default Appl SW instance .............................................................. 44
5.2.13 Reset device ...................................................................................................... 45
5.2.14 Start read UPID List ........................................................................................... 45
5.2.15 Read next UPID List entry ................................................................................ 45
5.2.16 Start read modified UPID List ........................................................................... 46
5.2.17 Read next modified UPID List entry ................................................................ 46
5.2.18 Stop MC and Application SW instances .......................................................... 47
5.2.19 Start MC and Application SW instances .......................................................... 47
5.2.20 Curves copy curves from RAM to FLASH ...................................................... 48
5.2.21 Curves delete all curves in RAM ..................................................................... 48
5.2.22 Curves start write curve in RAM ..................................................................... 49
5.2.23 Curves write curve info block data in RAM .................................................... 49
5.2.24 Curves write curve set point data in RAM ...................................................... 49
5.2.25 Curves read info and setpoint data block size in RAM ................................. 50
5.2.26 Curves read info block data in RAM ................................................................ 50
5.2.27 Curves read set point data in RAM .................................................................. 51
5.2.28 Read error counters .......................................................................................... 51
5.2.29 Read logged error item Code and instance ................................................... 52
5.2.30 Read logged error item time low ..................................................................... 52
5.2.31 Read logged error item time high ................................................................... 52
5.2.32 Read error short text ......................................................................................... 53
5.2.33 Command Table copy entries from RAM to FLASH ...................................... 53
5.2.34 Command Table delete all entries in RAM ..................................................... 54
5.2.35 Command Table delete entry in RAM ............................................................. 54
5.2.36 Command Table start write entry in RAM ...................................................... 55
6 / 60 NTI AG / LinMot
5.2.37 Command Table write entry data in RAM ....................................................... 55
5.2.38 Command Table entry data size in RAM ........................................................ 55
5.2.39 Command Table read entry data in RAM ........................................................ 56
5.2.40 Command Table read presence list ................................................................ 56
6. EtherCAT Parameters ................................................................................... 57
6.1 Parameters ................................................................................................................ 57
6.1.1 EtherCAT/Dis-/Enable ....................................................................................... 57
6.1.2 EtherCAT/Station Alias/Alias Address Source ............................................... 57
6.1.3 EtherCAT/Station Alias/Alias Address Parameter ......................................... 58
6.1.4 EtherCAT/Station Alias/Alias Address Parameter Mask ............................... 58
6.1.5 EtherCAT/NC Configuration/Position Scale .................................................... 58
6.1.6 EtherCAT/NC Configuration/Velocity Scale ................................................... 58
6.1.7 EtherCAT/NC Configuration/Acceleration Scale ............................................ 58
6.1.8 EtherCAT/NC Configuration/Velocity Scale Numerator /Denominator ....... 58
6.1.9 EtherCAT/Connection Timeout/Timeout Behavior ........................................ 58
7. Connecting to the EtherCAT Network ........................................................... 59
7.1 Pin Assignment of the Connectors X17-X18 ......................................................... 59
7 / 60NTI AG / LinMot
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/
1.1 References
All user manuals are distributed with the LinMot-Talk software the newest versions can
be downloaded from the LinMot homepage in the download section.
Ref
Title
Source
1
User Manual Motion Control SW
www.linmot.com
2
LinMot Drive Configuration over Fieldbus Interfaces SG5
www.linmot.com
1.2 Connecting In and Out
In the EtherCAT the cabling is directed due topology support, so In
and Out is different! The real time Ethernet RJ45 connector X17 is
the input and the real time RJ45 connector X18 is the output.
8 / 60 NTI AG / LinMot
2 Setup in the PLC
In the following steps the integration of a LinMot EtherCAT Servo Drive in the PLC is
described. In the example a Beckhoff master PLC is used. The easiest way is the online
configuration when the device is connected to the EtherCAT network.
2.1 Copy Device Description File
The LinMot Servo Drive is described with *.xml device description file distributed with
the LinMot-Talk software. This file is only used when offline configuration is desired.
Example Source path of EtherCAT Device description file:
C:\Programme\LinMot\LinMot-Talk 6.2 Build
20140915\Firmware\Interfaces\EtherCAT\XML\NTIL_LM_Servos_V1_7.xml
Example Destination path of EtherCAT Device description file:
TwinCAT 2:
C:\TwinCAT\Io\EtherCAT\ NTIL_LM_Servos_V1_7.xml
TwinCAT 3:
C:\TwinCAT\3.1\Config\Io\EtherCAT\ NTIL_LM_Servos_V1_7.xml
Omron:
C:\OMRON\Sysmac Studio\IODeviceProfiles\EsiFiles\UserEsiFiles\
NTIL_LM_Servos_V1_7.xml
If this is done the PLC should recognize the corresponding LinMot drives on the
EtherCAT fieldbus automatically.
9 / 60NTI AG / LinMot
2.2 Scan the EtherCAT slave devices
Connect the EtherCAT LinMot CiA402 Servo Drive to the EtherCAT-Master and power
on the signal supply. Then scan for the connected devices in the System Manager:
Scan for EtherCAT slave devices.
10 / 60 NTI AG / LinMot
After this scan all recognized devices are imported to the project:
In this example the scan found the LinMot drive C1150-EC-XC-0S which is added to the
project.
11 / 60NTI AG / LinMot
3 Process Data Object (PDO) Configuration
The cyclic process data is configured in the master and transmitted to the slave during
startup. The default mapping is documented in the tables below. The inputs and outputs
correspond to the PLC point of view. For a detailed description of the exchanged data
and its meaning refer to [1].
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 software.
3.1 Input PDO Modules
Overview of the predefined Input Process data objects
12 / 60 NTI AG / LinMot
3.1.1 Cyclic Mode Inputs 0x1A02
Index
Size
[Byte
]
Byte
Offset
Name
Data
Type
0x1A02
16-Variables
RECORD
0x6041
20Statusword
Uint16
0x6064
42Position actual value
Int32
0x1B8A
46DemandPosition
Int32
0x1B93
410DemandCurrent
Int32
0x6061
114Mode of Operation display
Byte
0x000
115Byte Padding
Byte
This module could be used to map the inputs of an CiA402 NC axis.
3.1.2 User Defined Inputs 0x1A20
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
0x1A20
2..32
-
Variables
RECORD
1..8
User defined Parameter/Variables accessed by
UPID
The PDO 0x1620 could be used, to read Variables/Parameters for which no predefined
PDO exists. It is possible to map 1 to 8 entries defined by its UPID in this PDO. Allowed
are only 16 or 32 bit entries. The defined Size of the data has to match with the size,
defined by the UPID.
3.1.3 Default Inputs 0x1B00
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B00
18-Variables
RECORD
0x1B62:00
20StateVar
Uint16
0x1D51:00
22StatusWord
Uint16
0x1D8E:00
24WarnWord
Uint16
0x1B8A:00
46DemandPosition
Int32
0x1B8D:00
410ActualPosition
Int32
0x1B93:00
414DemandCurrent
Int32
The Default input PDO mapping of 18 Bytes the index is the UPID value of the variable.
3.1.4 NC Inputs 0x1B01
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B01
18-Variables
RECORD
0x1B62:00
20StateVar
Uint16
0x1D51:00
22StatusWord
Uint16
0x1D8E:00
24WarnWord
Uint16
0x1B8A:00
46DemandPosition
Int32
0x1B8D:00
410ActualPosition
Int32
0x1B93:00
414DemandCurrent
Int32
13 / 60NTI AG / LinMot
The NC Inputs could be used to map the variables for the feedback of a virtual axis.
3.1.5 StateVar 0x1B03
Index
Size
[Byte]
Byte
Offset
Name
Data
Type
0x1B03
2-Variables
0x1B62:00
20StateVar
Uint16
The StateVar is recomended for monitoring the main state machine of the drive in the
PLC program.
3.1.6 StatusWord 0x1B04
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B04
2-Variables
0x1D51:00
22StatusWord
Word16
3.1.7 WarnWord 0x1B05
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B05
2-Variables
0x1D8E:00
24WarnWord
Word16
3.1.8 Config Module 0x1B08
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B08
8-Variables
RECORD
0x1B09:00
20Config Status Word
Uint16
0x1B0A:00
22Config Index/..
Uint16
0x1B0B:00
44Config Value
Word32
This module is the feedback data module of the module 1708 "Configuration Module
Output".
3.1.9 Input Demvel 0x1B10
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B10
4-Variables
0x1B8B:00
40DemandVelocity
Int32
3.1.10 Input ActVel 0x1B11
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B11
4-Variables
0x1B8E:00
40ActualVelocity
Int32
14 / 60 NTI AG / LinMot
3.1.11 Input ActVelFilt 0x1B12
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B12
4-Variables
0x1BAF:00
40ActualVelocityFilt
Int32
3.1.12 Input DemandPosition 0x1B13
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B13
4-Variables
0x1B8A:00
40DemandPosition
Int32
3.1.13 Input ActualPosition 0x1B14
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B14
4-Variables
0x1B8D:00
40ActualPosition
Int32
3.1.14 Input DemandCurrent 0x1B15
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B15
4-Variables
0x1B14:00
40DemandCurrent
Int32
3.1.15 Input DemCurrFilt 0x1B16
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B16
4-Variables
0x1B98:00
40DemandCurrentFilt
Int32
3.1.16 CAM Counts 0x1B18
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B18
4-Variables
RECORD
0x1C50:00
40CAM Counts
Int32
This PDO is only available on the drives, which support the CAM functionality.
3.1.17 Input Command Table Var 1 0x1B20
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B20
4-Variables
0x1E72:00
40Command Table Var 1
Int32
15 / 60NTI AG / LinMot
3.1.18 Input Command Table Var 2 0x1B21
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1B21
4-Variables
0x1E73:00
40Command Table Var 2
Int32
3.2 Output PDO Modules
Overview of the predefined Output Process data objects
3.2.1 Cyclic Position Mode 0x1602
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1602
8-Variables
RECORD
0x6040:00
20Controlword
Word16
0x607A:00
42Target position
Int32
0x6060:00
16Mode of Operation
Byte
0x0000:00
17Byte Padding
Byte
16 / 60 NTI AG / LinMot
3.2.2 Cyclic Position Velocity Mode 0x1603
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1603
12-Variables
RECORD
0x6040:00
20Controlword
Word16
0x607A:00
42Target position
Int32
0x60FF:00
46Target velocity
Int32
0x6060:00
110Mode of Operation
Byte
0x0000:00
111Byte Padding
Byte
3.2.3 Cyclic Position Velocity Torque Mode 0x1604
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1603
12-Variables
RECORD
0x6040:00
20Controlword
Word16
0x607A:00
42Target position
Int32
0x60FF:00
46Target velocity
Int32
0x6071:00
210Target torque
Int16
0x6060:00
112Mode of Operation
Byte
0x0000:00
113Byte Padding
Byte
This module can be used, if the operation mode has to be changed during run time. At
the moment the cyclic postion mode (0x08) and the cyclic torque mode (0xA) are
supported. To change the operation mode simply change the value of “Mode of
Operation” variable.
3.2.4 Cyclic Torque Mode 0x1606
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1606
6-Variables
RECORD
0x6040:00
20Controlword
Word16
0x6071:00
22Target torque
Int32
0x6060:00
14Mode of Operation
Byte
0x0000:00
15Byte Padding
Byte
3.2.5 User Defined Outputs 0x1620
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1620
2..32
-
Variables
RECORD
1..8
User defined Parameter/Variables
accessed by UPID
The PDO 0x1620 could be used to set Variables/Parameters for which no predefined
PDO exists. It is possible to map 1 to 8 entries defined by its UPID in this PDO. Allowed
are only 16 or 32 bit entries. The defined Size of the data has to mach with the size
defined with the UPID.
17 / 60NTI AG / LinMot
3.2.6 Default Outputs 0x1700
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1700
24-Variables
RECORD
0x1D52:00
20ControlWord
Uint16
0x1DB0:00
22MotionCommandHeader
Uint16
0x1E40:00
44MotionCommand Par 1
Word32
0x1E41:00
48MotionCommand Par 2
Word32
0x1E42:00
412MotionCommand Par 3
Word32
0x1E43:00
416MotionCommand Par 4
Word32
0x1E44:00
420MotionCommand Par 5
Word32
Default output PDO mapping of 24 Bytes the index is the UPID value of the variable
The default PDO output data contains the control word and the generic motion
command interface over which all types of motion commands can be accessed.
3.2.7 NC Outputs 0x1701
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1701
26-Variables
RECORD
0x1D52:00
20ControlWord
Uint16
0x1E80:00
82Setpoint Position
LREAL64
0x1E81:00
810Setpoint Velocity
LREAL64
0x1E82:00
818Setpoint Acceleration
LREAL64
This module could be mapped to the setpoint generator of an axis as motion interface.
3.2.8 Config Module 0x1708
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1708
8-Variables
RECORD
0x1709:00
20Config Control Word
Uint16
0x170A:00
22Config Index/..
Uint16
0x170B:00
44Config Value
Word32
With this module the LinMot drive can be completely configured. So it gives access over
parameters curves command table entries and the error log. The detail functionality is
described in the document [2] "Configuration over fieldbus SG5". As response module
"Configuration Module Input" (0x1B08) has to be configured.
3.2.9 Max Current Set A 0x1710
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1710
2-Variables
0x13A6:00
20Max Current Set A
Uint16
18 / 60 NTI AG / LinMot
3.2.10 CAM Start Enable 0x1718
Index
Size
[Byte]
Byte
Offset
Name
Data Type
0x1718
2-Variables
RECORD
0x1528:00
20CAM Start Enable
Uint16
Bit 0 of the 16 bit data field is mapped to CAM Start Enable Flag (UPID 1528). Write 0
to all other bits.
3.3 Typical Startup Telegrams
This figure shows the startup telegram list of LinMot EtherCAT servo drive
19 / 60NTI AG / LinMot
4 Asynchronous Configuration Protocol AoE
For configuration purpose (Parameter, Curves, Command Table and Program Handling)
the 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
20 / 60 NTI AG / LinMot
4.1 ADS Services Overview
For the LinMot drives 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.
ADS
Service
Index
Group
Index
Offset
Description
Read
0040h
UPID
Parameter UPID read RAM value
Write
0041h
UPID
Parameter UPID write RAM value
Read
0042h
UPID
Parameter UPID read ROM value
Write
0043h
UPID
Parameter UPID write ROM value
Read
0044h
UPID
Parameter Start read UPID list
Read
0045h
-
Parameter Get next UPID list item
Read
0046h
UPID
Parameter Start read modified UPID list
Read
0047h
-
Parameter Get next modified UPID list item
Write
0048h
Inst
Parameter Default SW instance
Write
0050h
-
Curves delete all in RAM
Write
0051h
ID
Curves delete single curve in RAM
Read
0052h
ID
Curves read info and data size
Read
0053h
ID
Curves read info block data
Read
0054h
ID
Curves read setpoint data
Write
0055h
ID
Curves start write curve in RAM
Write
0056h
ID
Curves write curve info block data in RAM
Write
0057h
ID
Curves write curve set point data in RAM
Write
0058h
ID
Curves start modify curve in RAM
Write
0059h
ID
Curves modify curve info block data in RAM
Write
005Ah
ID
Curves modify curve set point data in RAM
Read
005Eh
ID Off
Curves read presence list
Write
005Fh
-
Curves start write curves from RAM to FLASH
Write
0060h
-
Command Table delete all entries in RAM
Write
0061h
ID
Command Table delete single entry in RAM
Read
0062h
ID
Command Table read data size
Read
0063h
ID
Command Table read data
Write
0065h
ID
Command Table start write entry in RAM
Write
0066h
ID
Command Table write entry data in RAM
Read
006Eh
ID Off
Command Table read presence list
Write
006Fh
-
Command Table start write entries from RAM to
FLASH
Write
0070h
-
Reset device
Write
0071h
Inst
Stop SW instances
Write
0072h
Inst
Start SW instances
For a general description and an overview of the concepts used in fieldbus
configuration, please refer to the document “LinMot 1100 Drive Configuration over
Fieldbus Interfaces”.
21 / 60NTI AG / LinMot
4.2 ADS Parameter Services
The LinMot drive supports a unique parameter access for all parameter data types (bit,
byte, uint16, ..). The parameter data is always be mapped into a 4 bytes data field. The
parameter itself is specified by its UPID (unique parameter ID).
4.2.1 Parameter UPID read RAM value
Read the RAM value of the parameter specified by its UPID.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0040h (LinMot Service ID)
Input
IDXOFFS
UDINT
UPID
Input
LEN
UDINT
always 4 bytes
Input
DESTADDR
DWORD
ADR(read_buffer (4bytes))
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
Example:
22 / 60 NTI AG / LinMot
4.2.2 Parameter UPID write RAM value
Write the RAM value of the parameter specified by its UPID.
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
LEN
UDINT
always 4 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (4bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
4.2.3 Parameter UPID read ROM value
Read the ROM value of the parameter specified by its UPID.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0042h (LinMot Service ID)
Input
IDXOFFS
UDINT
UPID
Input
LEN
UDINT
Always 4 bytes
Input
DESTADDR
DWORD
ADR(read_buffer (4bytes))
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
23 / 60NTI AG / LinMot
4.2.4 Parameter UPID write ROM value
Write the RAM value of the parameter specified by its UPID.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0043h (LinMot Service ID)
Input
IDXOFFS
UDINT
UPID
Input
LEN
UDINT
Always 4 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (4bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
4.2.5 Parameter start read UPID list
Specify the SW layer by its start UPID of which the UPID list will be read out. The list
contains all parameters and variables of the SW layer.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
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
LEN
UDINT
Always 8 bytes
Input
DESTADDR
DWORD
ADR(read_buffer (8bytes))
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID:
00h: ok
24 / 60 NTI AG / LinMot
4.2.6 Parameter get next UPID list item
Read the UPID, address usage and ROM value of the parameter and the RAM value of
the variables.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0045h (LinMot Service ID)
Input
IDXOFFS
-
Not evaluated
Input
LEN
UDINT
Always 8 bytes
Input
DESTADDR
DWORD
ADR(read_buffer (8bytes))
Bytes 0..1 UPID
Bytes 2..3 Address usage
Bytes 4..7 ROM Value
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID:
00h: ok
C6h: No new UPID found
4.2.7 Parameter start read modified UPID list
Specify the SW layer by its start UPID of which the UPID list will be read out. The list
contains only the parameter that differs in the ROM value of its default value.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
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
LEN
UDINT
0
Input
DESTADDR
DWORD
ADR(read_buffer (8bytes))
Bytes 0..1 UPID
Bytes 2..3 Address usage
Bytes 4..7 ROM Value
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID:
00h: ok
25 / 60NTI AG / LinMot
4.2.8 Parameter get next modified UPID list item
Read the UPID, Address usage and ROM value of the parameter of the defined SW
layer specified by its start UPID.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0047h (LinMot Service ID)
Input
IDXOFFS
-
Not evaluated
Input
LEN
UDINT
Always 8 bytes
Input
DESTADDR
DWORD
ADR(read_buffer (8bytes))
Bytes 0..1 UPID
Bytes 2..3 Address usage
Bytes 4..7 ROM Value
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID:
00h: ok
C6h: No new UPID found
4.2.9 Parameter Default SW instance
With this command all parameters of one SW instance can be set to the default value.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0048h (LinMot Service ID)
Input
IDXOFFS
UDINT
SW instance selection
0: OS SW layer
1: MC SW layer
2: Intferace SW layer
3: application SW layer
Input
LEN
UDINT
Always 0 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (0bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
26 / 60 NTI AG / LinMot
4.3 ADS Curves Services
4.3.1 Curves delete all in RAM
Delete all curves in RAM.
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
LEN
UDINT
Always 0 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (0bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
4.3.2 Curves delete single curve in RAM
Delete a single curve in RAM.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0051h (LinMot Service ID)
Input
IDXOFFS
UDINT
Curve ID to delete
Input
LEN
UDINT
Always 0 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (0bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
27 / 60NTI AG / LinMot
4.3.3 Curves read info and data size
Read the info block and curve setpoint data size of the specified curve.
FUNCTION_BLOCK ADSREAD
Direction
Name
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
LEN
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 (4 bytes per
setpoint)
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
4.3.4 Curves read info block data
Read the info block data of the specified curve. This command has to be repeated 18
times.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0053h (LinMot Service ID)
Input
IDXOFFS
UDINT
Curve ID
Input
LEN
UDINT
Always 4 bytes
Input
DESTADDR
DWORD
ADR(read_buffer (4bytes))
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
28 / 60 NTI AG / LinMot
4.3.5 Curves read setpoint data
Read the setpoint data of the specified curve. This command has to be repeated until all
data is read out.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0054h (LinMot Service ID)
Input
IDXOFFS
UDINT
Curve ID
Input
LEN
UDINT
Always 4 bytes
Input
DESTADDR
DWORD
ADR(read_buffer (4bytes))
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
4.3.6 Curves start modify curve in RAM
Read the info block and curve setpoint data size of the specified curve.
FUNCTION_BLOCK ADSWRITE
Direction
Name
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
LEN
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 (4 bytes per
setpoint)
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
29 / 60NTI AG / LinMot
4.3.7 Curves modify curve info block data in RAM
Write the info block data of the specified curve. This command has to be repeated 18
times.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0059h (LinMot Service ID)
Input
IDXOFFS
UDINT
Curve ID
Input
LEN
UDINT
Always 4 bytes
Input
DESTADDR
DWORD
ADR(write _buffer (4bytes))
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
4.3.8 Curves modify curve setpoint data in RAM
Write the setpoint data of the specified curve. This command has to be repeated until all
data is written.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
005Ah (LinMot Service ID)
Input
IDXOFFS
UDINT
Curve ID
Input
LEN
UDINT
Always 4 bytes
Input
DESTADDR
DWORD
ADR(write _buffer (4bytes))
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
30 / 60 NTI AG / LinMot
4.3.9 Curves start write curve to RAM
Initiates writing a curve to RAM. Then the “Curves write curve info block data to RAM”
service has to be called several times. Only non existing curve IDs can be written. If the
curve exists, it has to be deleted before (Command. “Curves delete single curve in
RAM”). Repeated curve writing can lead to a full curve memory. In this case the
complete curve memory has to be deleted with the command “Delete all curves”.
FUNCTION_BLOCK ADSWRITE
Direction
Name
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
LEN
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
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
4.3.10 Curves write curve info block data to RAM
Write the curve header data to RAM. This command has to be repeated until the whole
curve info block data is written. Then the “Curves write curve info block data to
RAM” service has to be called several times.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0056h (LinMot Service ID)
Input
IDXOFFS
UDINT
Curve ID to write
Input
LEN
UDINT
Always 4 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (4bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
31 / 60NTI AG / LinMot
4.3.11 Curves write curve setpoint data to RAM
Write the curve setpoint data to RAM. This has to be repeated until the whole setpoint
data block is written.
FUNCTION_BLOCK ADSWRITE
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
LEN
UDINT
Always 4 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (4bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
4.3.12 Curves read presence list
Read out the presence list which curves are defined.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
005Eh (LinMot Service ID)
Input
IDXOFFS
UDINT
IDOff :
0: curves 1..32
32: curves 33..64
64: curves 65..96
96: curves 96..100
Input
LEN
UDINT
Always 4 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (4bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
32 / 60 NTI AG / LinMot
4.3.13 Curves start write curves from RAM to FLASH
Save the whole curve section from RAM to FLASH memory.
FUNCTION_BLOCK ADSWRITE
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
-
Input
LEN
UDINT
Always 0 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (0bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
4.4 ADS Command Table Services
4.4.1 Command Table delete all entries from RAM
Delete all command table entries in RAM.
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
LEN
UDINT
Always 0 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (0bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
33 / 60NTI AG / LinMot
4.4.2 Command Table delete single entry from RAM
Delete a single command table entry in RAM.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0061h (LinMot Service ID)
Input
IDXOFFS
UDINT
Command Table ID to delete
Input
LEN
UDINT
Always 0 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (0bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
4.4.3 Command Table read data size
Start command to read a Command Table entry. The entry size will be returned.
FUNCTION_BLOCK ADSREAD
Direction
Name
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
LEN
UDINT
Always 4 bytes
Input
DESTADDR
DWORD
ADR(read_buffer (4bytes))
0..3 : Command Table size in bytes 0x0040
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
34 / 60 NTI AG / LinMot
4.4.4 Command Table read data
Read the Command Table data. This command has to be repeated until all 64 bytes are
read.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0063h (LinMot Service ID)
Input
IDXOFFS
UDINT
Command Table ID
Input
LEN
UDINT
Always 4 bytes
Input
DESTADDR
DWORD
ADR(read_buffer (4bytes))
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
4.4.5 Command Table start write entry in RAM
Start command to write a Command Table entry in the RAM.
FUNCTION_BLOCK ADSWRITE
Direction
Name
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
LEN
UDINT
Always 4 bytes
Input
DESTADDR
DWORD
ADR(write_buffer (4bytes))
0..3 : Command Table size in bytes 0x0040
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
35 / 60NTI AG / LinMot
4.4.6 Command Table write entry data in RAM
Write the Command Table data. This command has to be repeated until all 64 bytes are
written.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0066h (LinMot Service ID)
Input
IDXOFFS
UDINT
Command Table ID
Input
LEN
UDINT
Always 4 bytes
Input
DESTADDR
DWORD
ADR(write_buffer (4bytes))
Input
READ
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error id
4.4.7 Command Table read presence list
Gets the presence list of all Command Table entries.
FUNCTION_BLOCK ADSREAD
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
006Eh (LinMot Service ID)
Input
IDXOFFS
UDINT
(Bit=0 means Entry exists)
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
224: entries 224..255
Input
LEN
UDINT
Always 4 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (4bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
36 / 60 NTI AG / LinMot
4.4.8 Command Table start write entries from RAM to FLASH
Copy the whole Command Table section from RAM to FLASH memory.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
006Fh (LinMot Service ID)
Input
IDXOFFS
UDINT
Curve ID to write
Input
LEN
UDINT
Always 0 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (0bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
4.5 ADS Program handling
4.5.1 Reset device
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
LEN
UDINT
Always 0 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (0bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value >12s
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
Typical restart time are <13 seconds, take this fact in account, when setting the ADS
timeout value.
37 / 60NTI AG / LinMot
4.5.2 Stop SW instances
Stop the selected SW instances e.g. for saving the curves into the FLASH memory.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
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: Interface SW layer
Bit 2: application SW layer
Input
LEN
UDINT
Always 0 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (0bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
4.5.3 Start SW instances
Start the selected SW instances e.g. after flashing the curves.
FUNCTION_BLOCK ADSWRITE
Direction
Name
Type
Description
Input
NETID
T_AmsNetId
AoE NetID
Input
PORT
T_AmsPort
ADS Port
Input
IDXGRP
UDINT
0072h (LinMot Service ID)
Input
IDXOFFS
UDINT
SW instance selection
Bit 0: MC-SW layer
Bit 1: Interface SW layer
Bit 2: application SW layer
Input
LEN
UDINT
Always 0 bytes
Input
SRCADDR
DWORD
ADR(write_buffer (0bytes))
Input
WRITE
BOOL
Rising edge starts reading
Input
TMOUT
TIME
Timeout value
Output
BUSY
BOOL
Indicates reading active/finished
Output
ERR
BOOL
Indicates reading error
Output
ERRID
UDINT
Error ID
38 / 60 NTI AG / LinMot
5 Asynchronous Configuration Protocol CoE
For configuration purpose (Parameter Handling) the standard Sercos over EtherCAT
SoE-Protocol is used.
5.1 Communication Profile Area(1000h-1FFFh)
LinMot EtherCAT Object Dictionary
39 / 60NTI AG / LinMot
5.2 Manufacturer specific Profile Area(2000h-5FFFh)
Parameters can be modified via their UPIDs (Unique Parameter ID) via CoE. To use a
UPID command, an SDO read (FB_EcCoeSdoReadEx) or write
(FB_EcCoeSdoWriteEx) has to be performed on the index “2000h + UPID”. The subindex specifies the command which is performed.
Sdo
Service
Index
SubIndex
Description
Read
2000h+UPID
01h
Parameter UPID read RAM value
Write
2000h+UPID
01h
Parameter UPID write RAM value
Read
2000h+UPID
02h
Parameter UPID read ROM value
Write
2000h+UPID
02h
Parameter UPID write ROM value
Read
2000h+UPID
03h
Parameter UPID read minimal value
Read
2000h+UPID
04h
Parameter UPID read maximal value
Read
2000h+UPID
05h
Parameter UPID read default value
Write
2000h+UPID
06h
Parameter UPID write RAM and ROM value
Write
2000h
07h
Parameter Default OS SW instance
Write
2000h
08h
Parameter Default MC SW instance
Write
2000h
09h
Parameter Default Intf SW instance
Write
2000h
0Ah
Parameter Default Appl SW instance
Write
2000h
0Bh
Reset device
Write
2000h
24h
Parameter Start Read UPID List
Read
2000h
25h
Parameter Read next UPID List entry
Write
2000h
26h
Parameter Start Read modified UPID List
Read
2000h
27h
Parameter Read next modified UPID List entry
Write
2000h
35h
Stop MC and Appl SW instances
Write
2000h
36h
Start MC and Appl SW instances
Write
2000h
40h
Curves copy curves from RAM to FLASH
Write
2000h
41h
Curves delete all in RAM
Write
2000h+ID
50h
Curves start write curve in RAM
Write
2000h+ID
54h
Curves write curve info block data in RAM
Write
2000h+ID
53h
Curves write curve set point data in RAM
Read
2000h+ID
60h
Curves read info and data size
Read
2000h+ID
61h
Curves read info block data
Read
2000h+ID
62h
Curves read setpoint data
Read
2000h
70h
Read error counters
Read
2000h+ID
71h
Read error code of logged entry
Read
2000h+ID
72h
Read error time low of logged entry
Read
2000h+ID
73h
Read error time high of logged entry
Read
2000h+ID
74h
Read error text stringlet 0 of error code
Read
2000h+ID
75h
Read error text stringlet 1 of error code
Read
2000h+ID
76h
Read error text stringlet 2 of error code
Read
2000h+ID
77h
Read error text stringlet 3 of error code
Read
2000h+ID
78h
Read error text stringlet 4 of error code
Read
2000h+ID
79h
Read error text stringlet 5 of error code
Read
2000h+ID
7Ah
Read error text stringlet 6 of error code
Read
2000h+ID
7Bh
Read error text stringlet 7 of error code
40 / 60 NTI AG / LinMot
Sdo
Service
Index
SubIndex
Description
Write
2000h
80h
Command Table copy entries from RAM to FLASH
Write
2000h
81h
Command Table delete all entries in RAM
Write
2000h+ID
82h
Command Table delete single entry in RAM
Write
2000h+ID
83h
Command Table start write entry in RAM
Write
2000h+ID
84h
Command Table write entry data in RAM
Read
2000h+ID
85h
Command Table read entry data size
Read
2000h+ID
86h
Command Table read entry data
Read
2000h
87h
Command Table read presence list entries 0..31
Read
2000h
88h
Command Table read presence list entries 32..63
Read
2000h
89h
Command Table read presence list entries 64..95
Read
2000h
8Ah
Command Table read presence list entries 96..127
Read
2000h
8Bh
Command Table read presence list entries 128..159
Read
2000h
8Ch
Command Table read presence list entries 160..191
Read
2000h
8Dh
Command Table read presence list entries 192..223
Read
2000h
8Eh
Command Table read presence list entries 224..255
5.2.1 Parameter UPID read RAM value
Read the RAM value of the parameter specified by its UPID, and stores the result in the
4 bytes of the read_buffer.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
01h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + UPID
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
Input
cbBufLen
UDINT
Always 4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.2 Parameter UPID write RAM value
Write the content of the write_buffer to the RAM value of the parameter specified by its
UPID. The write_buffer can have an unique size of 4 bytes.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
01h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + UPID
Input
pSrcBuf
DWORD
ADR(write_buffer (4bytes))
Input
cbBufLen
UDINT
Always 4 bytes
41 / 60NTI AG / LinMot
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.3 Parameter UPID read ROM value
Read the ROM value of the parameter specified by its UPID, and stores the result in the
4 bytes of the read_buffer.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
02h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + UPID
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
Input
cbBufLen
UDINT
Always 4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.4 Parameter UPID write ROM value
Write the content of the write_buffer to the ROM value of the parameter specified by its
UPID. The write_buffer can have an unique size of 4 bytes.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
02h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + UPID
Input
pSrcBuf
DWORD
ADR(write_buffer (4bytes))
Input
cbBufLen
UDINT
Always 4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.5 Parameter UPID read minimal value
Read the minimal value of the parameter specified by its UPID, and stores the result in
the 4 bytes of the read_buffer.
42 / 60 NTI AG / LinMot
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
03h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + UPID
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
Input
cbBufLen
UDINT
Always 4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.6 Parameter UPID read maximal value
Read the maximal value of the parameter specified by its UPID, and stores the result in
the 4 bytes of the read_buffer.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
04h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + UPID
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
Input
cbBufLen
UDINT
Always 4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.7 Parameter UPID read default value
Read the default value of the parameter specified by its UPID, and stores the result in
the 4 bytes of the read_buffer.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
05h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + UPID
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
Input
cbBufLen
UDINT
Always 4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
43 / 60NTI AG / LinMot
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.8 Parameter UPID write RAM & ROM value
Write the content of the write_buffer to the RAM and ROM value of the parameter
specified by its UPID. The write_buffer can have an unique size of 4 bytes.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
06h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + UPID
Input
pSrcBuf
DWORD
ADR(write_buffer (4bytes))
Input
cbBufLen
UDINT
Always 4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.9 Parameter default OS SW instance
All parameters of the OS SW instance are set to their default value.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
07h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.10 Parameter default MC SW instance
All parameters of the MC SW instance are set to their default value.
44 / 60 NTI AG / LinMot
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
08h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.11 Parameter default Intf SW instance
All parameters of the interface SW instance are set to their default value.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
09h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.12 Parameter default Appl SW instance
All parameters of the application SW instance are set to their default value.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
0Ah (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
45 / 60NTI AG / LinMot
5.2.13 Reset device
This service resets the device.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
0Bh (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.14 Start read UPID List
Specify the SW layer by its start UPID of which the UPID list will be read out. The list
contains all parameters and variables of the SW layer.
FUNCTION_BLOCK FB_EcCoESdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AoE NetID
Input
nSlaveAddr
T_AmsPort
ADS Port
Input
nSubIndex
UDINT
0024h (LinMot Service ID)
Input
nIndex
UDINT
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (4bytes))
Start UPID:
0000h: OS SW layer
1000h: MC SW layer
2000h: Intf SW layer
3000h: Appl SW layer
Input
cbBufLen
UDINT
Always 4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bCompleteAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.15 Read next UPID List entry
Read the response state, UPID, address usage and ROM value of the parameter and
the RAM value of the variables. The reading of the list doesn't stop at the end of a SW
instance, only at the end of all instances.
FUNCTION_BLOCK FB_EcCoESdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AMS NetID
46 / 60 NTI AG / LinMot
FUNCTION_BLOCK FB_EcCoESdoReadEx
Direction
Name
Type
Description
Input
nSlaveAddr
T_AmsPort
ADS Port
Input
nSubIndex
UDINT
0025h (LinMot Service ID)
Input
nIndex
UDINT
2000h
Input
pDstBuf
Struct
ADR(read_buffer (10bytes))
Input
cbBufLen
UDINT
Always 10 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bCompleteAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
Response Data Structure
Offset
Name
Type
Description
0
Res State
UINT
0x0000: No error
0x00C5: Reading not initialized
0x00C6: No UPID found (finished)
2
UPID
UINT
UPID of Parameter Or Variable
4
Value
UDINT
Value of Parameter
8
Address usage
UINT
5.2.16 Start read modified UPID List
Specify the SW layer by its start UPID of which the UPID list will be read out. The list
contains all parameters and variables of the SW layer.
FUNCTION_BLOCK FB_EcCoESdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AoE NetID
Input
nSlaveAddr
T_AmsPort
ADS Port
Input
nSubIndex
UDINT
0026h (LinMot Service ID)
Input
nIndex
UDINT
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (4bytes))
Start UPID:
0000h: OS SW layer
1000h: MC SW layer
2000h: Intf SW layer
3000h: Appl SW layer
Input
cbBufLen
UDINT
Always 4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bCompleteAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.17 Read next modified UPID List entry
Read the response state, UPID, address usage and ROM value of the next modified
parameter. The reading of the list doesn't stop at the end of a SW instance, only at the
end of all instances.
47 / 60NTI AG / LinMot
FUNCTION_BLOCK FB_EcCoESdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AMS NetID
Input
nSlaveAddr
T_AmsPort
ADS Port
Input
nSubIndex
UDINT
0027h (LinMot Service ID)
Input
nIndex
UDINT
2000h
Input
pDstBuf
Struct
ADR(read_buffer (10bytes))
Input
cbBufLen
UDINT
Always 10 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bCompleteAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
Response Data Structure
Offset
Name
Type
Description
0
Res State
UINT
0x0000: No error
0x00C5: Reading not initialized
0x00C6: No UPID found (finished)
2
UPID
UINT
UPID of Parameter Or Variable
4
Value
UDINT
Value of Parameter
8
Address usage
UINT
5.2.18 Stop MC and Application SW instances
This service stops the execution of the MC and application SW layers. This command
should be used before configuring (writing to ROM values) of these instances.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
35h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.19 Start MC and Application SW instances
This service starts the execution of the MC and application SW layers. This command
should be used after configuring (writing to ROM values) of these instances are
finished.
48 / 60 NTI AG / LinMot
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
36h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.20 Curves copy curves from RAM to FLASH
This service copies the actual in the RAM defined curves to the FLASH memory, so
they are available after power up. Use this command only with stopped MC SW!
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
40h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.21 Curves delete all curves in RAM
This service deletes all curves in the RAM.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
41h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
49 / 60NTI AG / LinMot
5.2.22 Curves start write curve in RAM
This service initiate the writing of a new curve in the RAM.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
50h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pSrcBuf
DWORD
ADR(write_buffer)
Input
cbBufLen
UDINT
4 bytes:
- UINT: Info Data Size
- UINT: Set Point Data Size
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.23 Curves write curve info block data in RAM
This service writes the curve info data block in the RAM, it has to be repeated until the
whole info data block is written.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
53h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pSrcBuf
DWORD
ADR(write_buffer)
Input
cbBufLen
UDINT
4 bytes data of curve info block
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.24 Curves write curve set point data in RAM
This service writes the curve setpoint data block in the RAM, it has to be repeated until
all setpoints are written.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
53h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pSrcBuf
DWORD
ADR(write_buffer)
50 / 60 NTI AG / LinMot
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
cbBufLen
UDINT
4 bytes of setpoint data
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.25 Curves read info and setpoint data block size in RAM
Read the status and size of the data blocks of the curve defined by its ID the data is
stored in the read_buffer.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
60h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pDstBuf
DWORD
ADR(read_buffer (6bytes))
- UINT: Status
- UINT: Info block size
- UINT: Set point data block size
Input
cbBufLen
UDINT
6 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.26 Curves read info block data in RAM
Read the info data block of the curve defined by its ID the 4 byte result is stored
together with the read status in the 6 bytes of the read_buffer. This command has to be
repeated until the whole info data block is read (status = 0).
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
61h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pDstBuf
DWORD
ADR(read_buffer (6bytes))
- UINT: Status
- DWORD: data
Input
cbBufLen
UDINT
6 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
51 / 60NTI AG / LinMot
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Output
nErrId
UDINT
Error ID
5.2.27 Curves read set point data in RAM
Read the set point data block of the curve defined by its ID the 4 byte result is stored
together with the read status in the 6 bytes of the read_buffer. This command has to be
repeated until the whole set point data block is read (status = 0).
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
62h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pDstBuf
DWORD
ADR(read_buffer (6bytes))
- UINT: Status
- DWORD: data
Input
cbBufLen
UDINT
6 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.28 Read error counters
Read the number of logged errors and total occurred errors and stores them in the read
buffer.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
70h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
- UINT: Number of logged errors
- UINT: Number of total errors
Input
cbBufLen
UDINT
4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
52 / 60 NTI AG / LinMot
5.2.29 Read logged error item Code and instance
Read the error code of the specified (ID) logged error item.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
71h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
- UINT: Error code
- UINT: Error instance
Input
cbBufLen
UDINT
4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.30 Read logged error item time low
Read the error time milisecond part of the specified (ID) logged error item.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
72h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
- DINT: Error time [ms]
Input
cbBufLen
UDINT
4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.31 Read logged error item time high
Read the error time hours part of the specified (ID) logged error item.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
73h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
- DINT: Error time [h]
53 / 60NTI AG / LinMot
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
cbBufLen
UDINT
4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.32 Read error short text
Read the short text of an error defined by its error code, for each stringlet (4
characters) a service number 74h.. 7Bh is defined.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
74h (LinMot Sdo Service ID) + stringlet Count
0..7)
Input
nIndex
WORD
2000h + ID
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
- 4 characters of error short text
Input
cbBufLen
UDINT
4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.33 Command Table copy entries from RAM to FLASH
This service copies the actual in the RAM defined Command Table entries to the FLASH
memory so they are available after power up. Use this command only with stopped MC
SW!
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
80h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
54 / 60 NTI AG / LinMot
5.2.34 Command Table delete all entries in RAM
This service deletes all Command table entries in the RAM.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
81h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.35 Command Table delete entry in RAM
This service delete a single Command Table entry defined by its ID in the RAM.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
82h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pSrcBuf
DWORD
ADR(write_buffer (0 bytes))
Input
cbBufLen
UDINT
0 bytes (4 bytes also accepted)
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
55 / 60NTI AG / LinMot
5.2.36 Command Table start write entry in RAM
This service initiate the writing of a new Command Table entry in the RAM.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
83h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pSrcBuf
DWORD
ADR(write_buffer)
Input
cbBufLen
UDINT
4 bytes:
- UDINT: Entry Data Size
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.37 Command Table write entry data in RAM
This service writes the Command Table data block in the RAM.
FUNCTION_BLOCK: FB_EcCoeSdoWriteEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
84h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pSrcBuf
DWORD
ADR(write_buffer)
Input
cbBufLen
UDINT
4 bytes of entry data
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.38 Command Table entry data size in RAM
Read the the entry size of the Command Table entry specified by its ID, and stores the
result in the 6 bytes of the read_buffer.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
85h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pDstBuf
DWORD
ADR(read_buffer (6bytes))
- UINT: Status
- UDINT: entry size
56 / 60 NTI AG / LinMot
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
cbBufLen
UDINT
6 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.39 Command Table read entry data in RAM
Read the Command Table entry data specified by its ID, and stores the result in the 6
bytes of the read_buffer.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
86h (LinMot Sdo Service ID)
Input
nIndex
WORD
2000h + ID
Input
pDstBuf
DWORD
ADR(read_buffer (6bytes))
- UINT: Status
- DWORD: data
Input
cbBufLen
UDINT
6 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
5.2.40 Command Table read presence list
Read the Command Table entry list definied by its subindex-ID, and stores the result in
the 4 bytes of the read_buffer. A zero of the corresponding bit means command table
entry is present, a one means the corresponding entry doesn't exists.
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
sNetId
T_AmsNetId
AmsNetId of master
Input
nSlaveAddr
UINT
Address of slave
Input
nSubIndex
Byte
87h + ID (LinMot Sdo Service ID)
ID = 0: entries 0..31
ID = 1: entries 32..63
ID = 2: entries 64..95
ID = 3: entries 96..127
ID = 4: entries 128..159
ID = 5: entries 160..191
ID = 6: entries 192..223
ID = 7: entries 224..225
Input
nIndex
WORD
2000h
Input
pDstBuf
DWORD
ADR(read_buffer (4bytes))
- DWORD: presence list, 0 means entry exists
57 / 60NTI AG / LinMot
FUNCTION_BLOCK: FB_EcCoeSdoReadEx
Direction
Name
Type
Description
Input
cbBufLen
UDINT
4 bytes
Input
bExecute
BOOL
Rising edge starts writing
Input
tTimeout
TIME
Timeout value
Input
bComplAccess
BOOL
FALSE
Output
bBusy
BOOL
Indicates reading active/finished
Output
bError
BOOL
Indicates reading error
Output
nErrId
UDINT
Error ID
6 EtherCAT Parameters
6.1 Parameters
The EtherCAT Interface has an additional parameter tree branch
distributed LinMot-Talk software.
With these parameters, the EtherCAT interface can be enabled or disabled.
The LinMot-Talk software can be downloaded from http://www.linmot.com under the
section download, software & manuals.
6.1.1 EtherCAT/Dis-/Enable
With the Dis-/Enable parameter the LinMot Servo Drive 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.
ETHERCAT/Dis-/Enable
Disable
Servo Drive runs without ETHERCAT.
Enable
Servo Drive runs with ETHERCAT connection.
IMPORTANT:
If the ETHERCAT Interface is disabled, the integrated
ETHERCAT-ASIC rests in reset state! No messages will be
sent to other devices connected to the ETHERCAT-Network
via the servo drive.
6.1.2 EtherCAT/Station Alias/Alias Address Source
With this parameter the station alias address source is defined.
If a station alias address is defined in the ET1100 Eeprom (could be
programmed from the master over the Network), this alias address
is taken.
ETHERCAT/Station Alias/Alias Address Source
None
No station alias address is generated
ID Switches
The ID switches defines the station alias address
RT MAC
The lowest 2 bytes of the device MAC address are used as station
alias address
Parameter
The Station alias address parameter value defines the Alias Address
Masked RT MAC
and Parameter
The station alias address is defined by the masked parameter ored
with the RT MAC masked with the inverse mask
58 / 60 NTI AG / LinMot
6.1.3 EtherCAT/Station Alias/Alias Address Parameter
Parameter value of the station alias address.
6.1.4 EtherCAT/Station Alias/Alias Address Parameter Mask
Mask value for the parameter value of the station alias address.
6.1.5 EtherCAT/NC Configuration/Position Scale
This parameter is used to Scale the “NC Outputs” (Index 0x1701) PDO Value of
“Setpoint Position” (Index 0x1E80) to the Drive Resolution which is [0.1um]. The LREAL
Sepoint Position value is multiplied with this factor.
6.1.6 EtherCAT/NC Configuration/Velocity Scale
This parameter is used to Scale the “NC Outputs” (Index 0x1701) PDO Value of
“Setpoint Velocity” (Index 0x1E81) to the Drive Resolution which is [1um/s]. The LREAL
Sepoint Velocity value is multiplied with this factor.
6.1.7 EtherCAT/NC Configuration/Acceleration Scale
This parameter is used to Scale the “NC Outputs” (Index 0x1701) PDO Value of
“Setpoint Acceleration” (Index 0x1E82) to the Drive Resolution which is [10um/s2]. The
LREAL Sepoint Acceleration value is multiplied with this factor.
6.1.8 EtherCAT/NC Configuration/Velocity Scale Numerator /Denominator
This two parameters are taken to Scale the PDO Value of “Target velocity” (Index
0x60FF) to the Drive Resolution which is [1um/s]. The Scaling factor is Velocity Scale
Numerator divided by Velocity Scale Denominator.
Velocity Scale Denominator = 10.
Velocity Scale Denominator = 10.
6.1.9 EtherCAT/Connection Timeout/Timeout Behavior
With this parameter the drive behavior on an Connection timeout could be set. This
parameter is also represented in the profile parameter with index 0x6007.
ETHERCAT/Conection Timeout/Timeout Behavior
Ignore
Nothing happens if an IO timeout occurs.
Error with Disable Voltage
Drive goes to Error State and the Voltage is disabled
immediately when the IO timeout occurs.
Error with Quick Stop
Drive goes to Error State before the Voltage is disabled a
Quick Stop is performed, when the IO timeout occurs.
Error with Go To Pos
Drive goes to Error State before the Voltage is disabled a
Go To Position is performed, when the IO timeout occurs.
59 / 60NTI AG / LinMot
7 Connecting to the EtherCAT Network
7.1 Pin Assignment of the Connectors X17-X18
The ETHERCAT connector is a standard RJ45 female connector with a pin assignment
as defined by EIA/TIA T568B:
X17 – X18
ETHERCAT Connector
Pin
Wire color code
Assignment 100BASE-TX
1
WHT/ORG
Rx+2ORG
Rx-3WHT/GRN
Tx+4BLU-5
WHT/BLU
-6GRN
Tx-7WHT/BRN
-8BRN-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”.
60 / 60 NTI AG / LinMot
Fax:
Contact & Support
SWITZERLAND NTI AG
Bodenaeckerstrasse 2
USA LinMot USA Inc.
262-743-2555
Please visit
Smart solutions are...
CH-8957 Spreitenbach
Sales and Administration:
Tech. Support:
Tech. Support (Skype):
Web:
+41 56 419 91 91
office@linmot.com
http://www.linmot.com/support
support.linmot
+41 56 544 71 00
support@linmot.com
http://www.linmot.com
+41 56 419 91 92
N1922 State Road 120, Unit 1
Lake Geneva, WI 53147
USA
Phone:
E-Mail:
Web:
usasales@linmot.com
http://www.linmot-usa.com/
http://www.linmot.com/contact to find the distribution close to you.
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