Drive_Configuration_over_Fieldbus_SG5
LinMot User Manual for System Generation 5 Drives
LinMot Drive Configuration over
Fieldbus Interfaces SG5
1.0
User Manual
This document applies to the following drives:
E12x0-xx-xx
E14x0-xx-xx
LinMot User Manual
LinMot User Manual
© 2012 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.
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.
Document version 1.1 / Whp/Ro, May 2012
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1 Introduction......................................................................................................................5
2 Firmware Parameters......................................................................................................6
2.1 Overview.....................................................................................................................6
2.2 Unique Parameter ID and Raw Data Value................................................................7
2.3 ROM and RAM Value.................................................................................................7
2.4 Default Value...............................................................................................................8
2.5 32 Bit Access for any Parameter Type.......................................................................9
3 Firmware Layer Concept...............................................................................................10
4 Parameter Configuration Compatibility Rules............................................................11
5 Curves.............................................................................................................................13
5.1 Curve Object.............................................................................................................14
5.2 Curve Info Block.......................................................................................................15
5.2.1 Data Offset........................................................................................................15
5.2.2 Object Type.......................................................................................................15
5.2.3 Number of Setpoints..........................................................................................15
5.2.4 Data Type Size..................................................................................................15
5.2.5 Name.................................................................................................................16
5.2.6 Curve ID............................................................................................................16
5.2.7 X-Length............................................................................................................16
5.2.8 X/Y-Dimension UUID.........................................................................................16
5.2.9 Name.................................................................................................................17
5.2.10 Curve ID..........................................................................................................17
5.2.11 X-Length..........................................................................................................17
5.2.12 X/Y-Dimension UUID.......................................................................................17
5.2.13 Wizard Information..........................................................................................17
5.3 Curve Data Block......................................................................................................17
5.4 Erasing all curves from the Drive's RAM..................................................................18
5.5 Uploading Curves from the Drive.............................................................................19
5.6 Downloading Curves into the Drive's RAM...............................................................20
6 Command Table.............................................................................................................21
6.1 Command Table Entry Format..................................................................................22
7 Real Time IO Configuration Module.............................................................................23
7.1 Configuration Module Control...................................................................................23
7.1.1 Command Count...............................................................................................23
7.1.2 Parameter Command ID...................................................................................23
7.2 Configuration Module Status....................................................................................26
7.2.1 Overview Configuration Module Return Status Values.....................................26
7.2.1.1 Overview Parameter access......................................................................27
7.2.1.2 Overview Curve access.............................................................................27
7.2.1.3 Start getting UPID List...............................................................................27
7.2.1.4 Get next UPID List item.............................................................................28
7.2.1.5 Start getting Modified UPID List (Command ID 22h).................................29
7.2.1.6 Get Next Modified UPID List Item (Command ID 23h)..............................29
7.2.1.7 Get Error Log Entry Counter (Command ID 70h)......................................29
7.2.1.8 Get Error Log Entry Error Code (Command ID 71h).................................29
7.2.1.9 Get Error Log Entry Time Low (Command ID 72h)...................................29
7.2.1.10 Get Error Log Entry Time High (Command ID 73h).................................30
7.2.1.11 Get Error Code Text Stringlet (Command ID 74h)...................................30
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Table of Content
7.2.1.12 Command Table: Save To Flash (Command ID 80h)..............................31
7.2.1.13 Command Table: Delete All Entries (RAM) (Command ID 81h)..............31
7.2.1.14 Command Table: Delete Entry (Command ID 82h).................................31
7.2.1.15 Command Table: Write Entry (Command ID 83h)...................................31
7.2.1.16 Command Table: Write Entry Data (Command ID 84h)..........................31
7.2.1.17 Command Table: Get Entry (Command ID 85h)......................................32
7.2.1.18 Command Table: Get Entry Data (Command ID 86h).............................32
7.2.1.19 Command Table: Get Entry List (0..7) (Command IDs 87h .. 8Eh).........33
8 PVL Data Format............................................................................................................34
9 Contact Addresses........................................................................................................37
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LinMot User Manual
LinMot User Manual
1 Introduction
Most of the LinMot drives are equipped with a fieldbus interface to the superior
control system (PLC, IPC). This interface is used for controlling the drive under
normal operation conditions (read/write of control and status word, sending motion
commands, etc.).
If the LinMot drive uses a fieldbus connection for the communication to the superior
control system (PLC, IPC), then the same fieldbus interface can be used for
configuration purposes as well. The following fieldbus interfaces are supported:
Profibus DP, CANOpen, DeviceNet, RS232 and RS485 (using LinRS protocol).
This document describes in general the access to the configuration parameters and
the curve data over fieldbus interfaces. Detailed information about how data access
is implemented in the respective interfaces can be found in the corresponding
interface user manuals.
NOTE: The series E1200 and E1400 differ in some functions from each other. If
nothing is indicated, the behavior is the same.
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Users of LinMot drives (series E1200) can easily setup their drive by using the
LinMot-Talk 4 software. Beside other functionality (firmware download, monitoring,
PLC emulation, etc.), the LinMot-Talk 4 software is used for altering the firmware
configuration parameters, for creating and up- and downloading of curve profiles.
LinMot User Manual
2 Firmware Parameters
The LinMot drive firmware has to be configured through its parameters in order to
meet the needs of the application where the servo system has to be integrated.
Typical examples of firmware parameters that must be set during the
commissioning process are motor definition parameters, position control
parameters, etc.
The easiest way to alter parameters is to use the LinMot-Talk 4 software tool. The
software displays the parameters in a comfortable tree structure. Most of the
parameters are displayed as a scaled value with the corresponding physical unit.
Figure 1: Firmware parameters listed in a tree structure
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2.1 Overview
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2.2 Unique Parameter ID and Raw Data Value
Both, UPID and raw data value of any parameter can be displayed in the LinMotTalk 4 parameter tree structure (press Show/Hide Details button).
Show/Hide
Details button
raw data value
Unique
Parameter ID
number
Figure 2: Detailed view for parameters
2.3 ROM and RAM Value
The value of any parameter is stored in the non-volatile memory area of the LinMot
drive (ROM value). During the boot-up process the drive’s operating system creates
a copy of the non-volatile memory block to its RAM memory space. Thus, after the
drive has powered up, each parameter has two memory locations and values: one
in the ROM, the other in the RAM.
The firmware uses at run time exclusively the RAM values of the parameters in its
control tasks (fast data access). The drive’s operating system and the fieldbus
interfaces provide independent access to ROM and RAM values.
When parameters are altered using the LinMot-Talk 4 software, the ROM and/or the
RAM value are affected:
- When ‘live’ parameters are changed, then the LinMot-Talk4 software writes to
ROM and RAM memory.
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The value of any parameter is stored as an integer value (raw data) in the memory
space of the drive. The parameter is identified through its Unique Parameter ID
(UPID), which is a 16 Bit integer number.
LinMot User Manual
- ‘Non-Live’ parameters are written only to ROM (and are copied to RAM at next
firmware start).
Over the fieldbus interface the RAM value of ‘non-live’ parameters cannot be
changed. Changing the ROM value is possible even when the firmware is running
(except for read-only parameters).
Changing the RAM value of a parameter immediately influences the system
behavior when the firmware is running (e.g. control parameters of the position
control loop).
The RAM value of live
parameters (marked with a
superscript ‘L’) can be
altered at run time.
Figure 3: Live Parameters marked with a superscript 'L'
Changes to ROM values don’t affect the system behavior until the next firmware
startup (e.g. after a software reset initiated by the superior control system or
stop/start from the LinMot-Talk 4 software).
2.4 Default Value
Beside the actual RAM and ROM value each parameter has its default value. The
default value is displayed in the detailed parameter view of the LinMot-Talk 4
software.
During firmware installation the ROM values are set to the default values of the
corresponding parameters.
E1200 and E1400 drives provide resetting the parameters to their default values
over fieldbus interfaces. Resetting to default value is possible for single parameters
(via UPID) or for all parameters of any firmware layer at once (see below).
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The LinMot-Talk 4 software reads and displays the ROM values. It reads the
parameter values only once (during the login process). The PC software allows
altering ‘non-live’ parameters only if the firmware is stopped.
LinMot User Manual
2.5 32 Bit Access for any Parameter Type
Since string parameters can be longer than 4 characters (= 4 Bytes), a single 32bit
integer value is not sufficient to define a general string. Therefore strings are
handled in a special way:
•
In the LinMot-Talk 4 software to each string parameter one single UPID is
shown.
•
Internally the string is split into parts (so called ‘stringlets’) of 4 characters (=
4 bytes = 32 bits).
•
Each stringlet has its own UPID.
•
For E1200 and E1400 drives: The UPID of the first stringlet is the string
UPID plus 1, the UPID of the second stringlet is the string UPID plus 2 and
so on.
The following example shows the principle of converting strings to raw data values.
Example:
Writing the string ‘X-Axis Left’ to the parameter ‘User Comment’:
Figure 4: String parameter example for E1200 (see UPID 03F2h)
The following table shows how the stringlet UPIDs and the corresponding 32bit
integer values are determined:
Stringlet
"X Ax"
“is L”
“eft”
Parameter UPID
03F3h
03F4h
03F5h
Ordinal 1st Char:
Ord(‘X’)=58h
Ord(‘i’)=69h
Ord(‘e’)=65h
Ordinal 2nd Char:
Ord(‘ ‘)=20h
Ord(‘s‘)=73h
Ord(‘f‘)=66h
Ordinal 3rd Char:
Ord(‘A’)=41h
Ord(‘ ’)=20h
Ord(‘t’)=74h
Ordinal 4th Char:
Ord(‘x’)=78h
Ord(‘L’)=4Ch
00h
Parameter Value:
78412058h
4C207369h
00746665h
Table 1: String access over stringlets
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The whole configuration consists of parameters of different types (bit, byte, 16bit
integer, 32bit integer and string parameters). In order to keep the interface as
simple as possible any parameter can be accessed as a 32bit integer value. The
drive’s operating system will filter out the relevant number of bits for each
parameter.
LinMot User Manual
3 Firmware Layer Concept
Layer Name
Layer Functionality
1
Operating System
- Resource Management
- Communication with LinMot-Talk 4
- Start/Stop of the other SW layers
- Parameter / Variable Service
- Oscilloscope Service
- Message / Error Service
2
Motion Control Software
- Current Control Loop
- Position Control Loop
- Set Value Generation
- Monitoring
3
Interface Software
- Communication to superior control system (e.g. via
Profibus, CANOpen, DeviceNet, LinRS, etc.)
4
Application
- Customized firmware extensions
Table 2: The four firmware layers
Each firmware part has its own parameters located in a separate branch of the
parameter tree.
Figure 5: Parameter tree with branches for the different firmware layers
On SG5 drives, each firmware layer has its own range of UPIDs for its parameters
and variables.
Layer
Name
UPID Range
1
Operating System
0000h…0EFFh
2
Motion Control SW
1000h…1EFFh
3
Interface Software
2000h…2EFFh
4
Application
3000h…3EFFh
Table 3: UPID value ranges for SG5 drives.
The parameter definitions are stored in the drive. On SG5 drives the UPID,
RAM/ROM locations, default values, parameter type, min/max values and access
rights are stored. The corresponding definition files have been downloaded together
with the firmware when the firmware was installed on the drive. Information about
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The firmware on the drive consists of up to four layers:
LinMot User Manual
Figure 6: Parameter tree information
The parameter subtree (e.g. Profibus parameter tree V3.0 etc.) is defined through
its Tree ID, Main Version and Subversion value. This information can be captured
by reading out the values of the parameters with UPID according to the following
table. These parameters are used to perform compatibility tests before parameter
configurations are downloaded to drives (see below).
Layer
Tree ID UPID
Main Version UPID
Sub Version UPID
1 OS
0539h
0532h
0533h
2 MC SW
0561h
055Ah
055Bh
3 Interface SW
0589h
0582h
0583h
4 Application
05B1h
05AAh
05ABh
Table 4: UPID value of tree identification of the different SW layers
4 Parameter Configuration Compatibility Rules
The current parameter configuration can be stored into a PVL file. This text file
contains the parameter UPID and value in an easy to interpret list. This parameter
list can easily be stored in a superior machine controller (PLC, IPC) and
downloaded to any drive of the same type if necessary.
Besides the parameters raw data the PVL file contains additional information about
the system on which the PVL file was created.
Before complete parameter configurations are downloaded from the superior
machine control system to the LinMot drive, it is recommended to perform some
compatibility checks. With these checks it can be ensured, that the configuration
stored in the superior control system (source file) is fully compatible with the
firmware installed drive (target system).
The following rules must be considered for each firmware layer:
Check Value
Rule
Tree ID
Tree ID of the source file and target system must be the same (e.g. it is not
possible to download a DeviceNet setup onto a drive with Profibus interface
firmware installed).
Tree Main Version
The source file parameter tree must have the same Main Version as the tree
installed on the target system.
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the currently installed parameter tree files can be found in the operating system
parameter tree branch.
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Tree Sub Version
The Sub Version of the source must be the same or smaller than the
corresponding value of the target system (backward compatibility within main
version).
LinMot User Manual
Table 5: Compatibility Rules for SG5 drives
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5 Curves
LinMot User Manual
The E1200 drives can store up to 100 curves, which can be generated and
downloaded by the LinMot-Talk 4 Software. The curves are identified by their ID
(1..100).
y dimension
(typically position)
x dimension
(typically time)
Figure 7: Curves within LinMot-Talk 4
The curves, which can be accessed by the motion control firmware through
corresponding motion commands, are located in the RAM memory space of the
drive. They can be permanently stored into a flash memory block as well. At boot
time the operating system copies the curve data from the flash memory to the RAM
memory block.
The curve profiles, which are generated and downloaded using the LinMot-Talk 4
software, are always stored to RAM and flash memory (permanently saved).
It is also possible to download curves to the drive over the fieldbus. Then it is
necessary to have the curve objects stored in the superior machine drive. There are
three ways to bring the profiles there:
1. The curves are created and downloaded to a drive with LinMot-Talk 4. Then
the curve objects can be uploaded from the drive over the fieldbus interface
(using the curve service).
2. The curves are created and then exported to a raw data file (PVL file) using
the LinMot-Talk 4 software. Then the PVL file can be loaded to the main
drive.
3. The curve object is fully generated by the main machine controller without
using the LinMot-Talk 4 curve tool.
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5.1 Curve Object
Each curve object consists of a curve info block (header) and a curve data block
(setpoints). The curve service provides commands for reading/writing these blocks.
For further details how the curve service is implemented in the various fieldbus
interfaces please consult the corresponding interface manuals.
Byte Off
Type
Name
0..1
UInt16
Data offset
2..3
UInt16
Object type
4..5
UInt16
Number of setpoints
6..7
UInt16
Data Type size
8..29
String
Name
30..31
UInt16
Curve ID
32..35
UInt32
x-Length
36..37
UInt16
XDimUUID
38..39
UInt16
YDimUUID
40..41
UInt16
Wizard Type
42..45
UInt32
Wizard Par 1
46..49
UInt32
Wizard Par 2
50..53
UInt32
Wizard Par 3
54..57
UInt32
Wizard Par 4
58..61
UInt32
Wizard Par 5
62..65
UInt32
Wizard Par 6
66..69
UInt32
Wizard Par 7
Curve Data Block
0..xxx
Curve Setpoints
Table 6: Curve Object: Info Block and Data Block
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Curve Info Block
LinMot User Manual
5.2 Curve Info Block
The Data Offset contains the info block size information. The software expects the
info block to consist of 70 bytes. So the first word of the info block must have the
value 70 (= 46h).
5.2.2 Object Type
The Object Type word consists of four nibbles (1 nibble = 4 bits):
•
lowest nibble: Object Version (must be 3)
•
lower middle nibble: Type of Object (Curve = 0h)
•
higher middle nibble: X dimension Code
•
highest nibble: Y dimension Code
Curve Info Block: Object Type
Byte
Name
Bit 7
Bit 6
0
Type & Version
Type of Object: 0h
(=Curve)
Version: 3h (=SW-Version
3.x)
1
X&Y
dimension codes
Y dimension code:
0: Position
1: Velocity
2: Current
3: Encoder Pos
(Increments)
4: Encoder Speed
5: MicroSteps
X dimension code:
0: Time
1: Encoder Pos
(Increments)
2: Position
Table 7 Curve Info Block: Object Type
According to the definitions above the Object Type has the following value:
•
Position vs. Time curve: 0003h
•
Cam profiles (Pos vs. Enc. Pos.): 0103h
Other object types are not supported yet.
5.2.3 Number of Setpoints
The number of setpoints of the profile is given as 16bit value. The minimal number
of setpoints is 2.
5.2.4 Data Type Size
This value defines the size of one setpoint. Position values are defined in 32bit
format (32bit = 4 bytes).
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5.2.1 Data Offset
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5.2.5 Name
If the profile is machine generated (PLC-Program, etc.), the name space will be
typically filled with 00h.
5.2.6 Curve ID
The Curve ID must be unique. Allowed values are : 1..100 (0001h..0064h).
5.2.7 X-Length
The X-Length defines the base length of the curve profile.
•
Position vs. Time Curve : Time [10us]
•
Cam profiles (Pos vs. Enc. Pos.) : Encoder Pos [Increments]
5.2.8 X/Y-Dimension UUID
The following Unique Unit IDs (UUIDs) are supported:
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In order to make identification easier, a descriptive name can be defined (e.g. ‘Fast
Move Out’ or ‘Retraction’). 22 bytes are reserved for the name string. The string is
terminated with 00h.
LinMot User Manual
5.2.9 Name
5.2.10
Curve ID
The Curve ID must be unique. Allowed values are : 1..100 (0001h..0064h).
5.2.11
X-Length
The X-Length defines the base length of the curve profile.
- Position vs. Time Curve : Time [10us]
- Cam profiles (Pos vs. Enc. Pos.) : Encoder Pos [Increments]
5.2.12
X/Y-Dimension UUID
The following Unique Unit IDs (UUIDs) are supported:
Unit Definition
UUID
0005h
001Ah
001Bh
Unit Scaling
0.1 um (=1*10-7m)
0.01 ms (=1*10-5s)
1 Increment
Description
Standard Linear Position Unit
Standard Curve Time Unit
Standard Encoder Position Unit
Table 8: Unit Definitions
According to the table above the following values are correct:
Position vs. Time Curves : XDimUUID = 001Ah
YDimUUID = 0005h
Cam Profiles :
XDimUUID = 001Bh
YDimUUID = 0005h
5.2.13
Wizard Information
The wizard information (wizard type & wizard parameters) is used only by the
LinMot-Talk 4 software. All those bytes should be set to 0x00 for curves which are
not generated with the LinMot-Talk 4 curve tool.
5.3 Curve Data Block
The curve data block contains the setpoints (Y-dimension). The size of the block is:
No Of Setpoints * Data Type Size
The setpoints are equally spaced over the x-length. The x-dimension equidistance
is: x-Length / (No Of Setpoints – 1).
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In order to make identification easier, a descriptive name can be defined (e.g. ‘Fast Move
Out’ or ‘Retraction’). 22 bytes are reserved for the name string. The string is terminated
with 00h.
If the profile is machine generated (PLC-Program, etc.), the name space will be typically
filled with 00h.
LinMot User Manual
5.4 Erasing all curves from the Drive's RAM
All curves in the RAM of the drive can be deleted by the following command:
Curve Service: Delete all Curves (RAM)
LinMot User Manual
•
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5.5 Uploading Curves from the Drive
•
Curve Service: Get Curve
•
Curve Service: Get Curve Info Block
•
Curve Service: Get Curve Data
The curve service commands are described in the corresponding interface
manuals.
Reading a curve is according the following scheme:
Begin Read Curve x
G e t C u rv e :
-> x (c u rv e N u m b e r)
< - I (In fo B lo c k s iz e )
< - D ( D a t a B lo c k s iz e )
NO
OK?
YES
G e t C u r v e In fo B lo c k :
-> x (c u rv e N u m b e r)
< - ( In fo B lo c k D a ta [ x . .y ])
NO
OK?
YES
NO
All Info Block Data read?
YES
G e t C u rv e D a ta B lo c k :
-> x (c u rv e N u m b e r)
< - (D a ta B lo c k D a ta [x ..y ])
NO
OK?
YES
All Data Block Data read?
YES
Finished Read Curve x
Figure 8: Flowchart Read Curve
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To read a curve from the drive using the fieldbus interface, the following commands
have to be used:
LinMot User Manual
5.6 Downloading Curves into the Drive's RAM
•
Curve Service: Add Curve
•
Curve Service: Add Curve Info Block
•
Curve Service: Add Curve Data
LinMot User Manual
To write a curve into the RAM of the drive, the following commands have to be
used:
The writing of a curve is always according to the following scheme:
Begin Add Curve x
Add Curve:
-> x (curve Number)
-> I (Info Block size)
-> D (Data Block size)
NO
OK?
YES
Add Curve Info Block:
-> x (curve Number)
-> (Info Block Data [x..y])
NO
OK?
YES
NO
All Info Block Data written?
YES
Add Curve Data Block:
-> x (curve Number)
-> (Data Block Data [x..y])
NO
OK?
YES
All Data Block Data written?
YES
Finished Add Curve x
Figure 9: Flowchart Add Curve
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6 Command Table
LinMot User Manual
For programming simple sequences with decisions the LinMot drive supports the
command table (CT) programming utility. Up to 255 CT entries can be programmed.
The entries can be arranged in sequences and some branch possibilities are
supported.
Figure 10: Command Table within LinMot-Talk 4
The CT entries can be accessed by the motion control firmware through
corresponding motion commands or through digital IOs. The firmware uses the
table data that is located in the RAM memory space of the drive. The CT can be
stored permanently into the flash memory as well. At boot time the operating
system copies the entire CT from the flash memory to the RAM.
If the CT entries are generated and downloaded using the LinMot-Talk 4 software,
they are always stored into RAM and flash memory (permanently saved).
It is also possible to download or modify CT entries in the drive over a fieldbus.
Then it is necessary to have the CT entry data stored in the superior machine
controller. There are three ways to bring the entry data to the LinMot drive:
1. The CT entries are created and downloaded to a drive by using LinMot-Talk
4. Afterwards the CT entry data can be uploaded from the drive over the
fieldbus interface (using the CT service).
2. The CT entries are created and then exported to a raw data file (PVL file)
using the LinMot-Talk 4 software. This generated file can be loaded to the
main controller.
3. The CT entry data is fully generated by the main machine controller without
using the LinMot-Talk 4 command table editor.
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6.1 Command Table Entry Format
LinMot User Manual
Each CT entry consists of one bit in a presence list (bit = 0 entry exists) and a
command table entry data block of 64 bytes size. The CT service provides
commands for reading/writing those blocks. For further details how the CT services
can be used for reading and writing CT entries over a fieldbus interface, please
consult the corresponding interface manual.
Command Table Entry Presence List
Byte Off
00h..03h
04h..07h
08h..0Bh
0Ch..0Fh
10h..13h
14h..17h
18h..1Bh
1Ch..1Fh
Description
Bit field for entries 1..31 (Bit = 0 entry exists)
Bit field for entries 32..63
Bit field for entries 64..95
Bit field for entries 96..127
Bit field for entries 128..159
Bit field for entries 160..191
Bit field for entries 192..223
Bit field for entries 224..255
Table 9: Command Table Entry Saving Format
Command Table Entry Data Block
Byte Off
00h..01h
02h..03h
04h..05h
06h..25h
Description
Command entry Version ID fix A701h
Linked Command Entry ID (ID=FFFFh not linked)
Motion Command Header
Motion Command Parameters
26h..35h
36h..3Fh
Entry Name (0 terminated string with up to 16 characters)
Reserved for further use
Table 10: Command Table Entry Data Block Format
For reading a CT entry, the start reading entry with ID command returns the data
block size in bytes (40h). After this command a read command can be repeated
until the whole data block is read out.
For writing a CT entry, start with a command which defines the ID and the data
block size, after this repeat writing the data with a command until the whole data is
written. If this is done correctly the bit in the presence list will be cleared.
For modifying a single motion command parameter during runtime, a motion
command exists, with ID, write offset and data as parameters.
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The Configuration Module module allows access to parameters, variables, curves,
error log and command table. Also restart, start and stop of the drive is possible. Of
course the Configuration Module module works independently from the MC
Interface. For this reason changing a parameter and sending a motion command
can be done in parallel.
Word
DO
DI
1.
2.
Configuration Module Control
Argument (meaning depends
on Cmd ID)
Argument (meaning depends
on Cmd ID)
Argument (meaning depends
on Cmd ID)
Configuration Module Status
Argument (meaning depends on Cmd ID)
3.
4.
Argument (meaning depends on Cmd ID)
Argument (meaning depends on Cmd ID)
7.1 Configuration Module Control
Parameter Command ID to be executed
Reserved
15
7
14
13
12
11
10
9
8
6
Command Count
5
4
3
2
1
0
The Configuration Module Control is split in two parts:
•
Parameter Command ID to be executed (bits 8-15), see table Command ID
•
Command Count (bits 0-3)
7.1.1 Command Count
A new command is only evaluated, if the value of the command count changes. In
the easiest way bit 0 could be toggled.
7.1.2 Parameter Command ID
This selects the command.
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LinMot User Manual
7 Real Time IO Configuration Module
LinMot User Manual
Configuration Module Command ID List:
Command ID
Description
00h
No Operation
10h
Read ROM Value of Parameter by UPID
11h
Read RAM Value of Parameter by UPID
12h
Write ROM Value of Parameter by UPID
13h
Write RAM Value of Parameter by UPID
14h
Write RAM and ROM Value of Parameter by UPID
15h
Get minimal Value of Parameter by UPID
16h
Get maximal Value of Parameter by UPID
17h
Get default Value of Parameter by UPID
LinMot User Manual
Parameter Access
Parameter (UPID) List
20h
Start Getting UPID List
21h
Get next UPID List item
22h
Start Getting Modified UPID List
23h
Get next Modified UPID List item
Stop / Start / Default
30h
Restart drive (Recommended with Command Count = 0 !)
31h
Set parameter ROM values to default (OS SW)
32h
Set parameter ROM values to default (MC SW )
33h
Set parameter ROM values to default (Interface SW)
34h
Set parameter ROM values to default (Application SW)
35h
Stop MC and Application Software (for Flash access)
36h
Start MC and Application Software
Curve Service
40h
Save all Curves from RAM to Flash
41h
Delete all Curves (RAM)
50h
Start Adding Curve (RAM)
51h
Add Curve Info Block (RAM)
52h
Add Curve Data (RAM)
53h
Start Modifying Curve (RAM)
54h
Modify Curve Info Block (RAM)
55h
Modify Curve Data (RAM)
60h
Start Getting Curve (RAM)
61h
Get Curve Info Block (RAM)
62h
Get Curve Data (RAM)
Error Log
70h
Get Error Log Entry Counter
71h
Get Error Log Entry Error Code
72h
Get Error Log Entry Time low
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LinMot User Manual
73h
Get Error Log Entry Time high
74h
Get Error Code Text Stringlet
80h
Command Table: Save to Flash
81h
Command Table: Delete All Entries (RAM)
82h
Command Table: Delete Entry
83h
Command Table: Write Entry
84h
Command Table: Write Entry Data
85h
Command Table: Get Entry
86h
Command Table: Get Entry Data
87h
Get Presence List of Entries 0..31 from RAM
88h
Get Presence List of Entries 32..63 from RAM
89h
Get Presence List of Entries 64..95 from RAM
8Ah
Get Presence List of Entries 96..127 from RAM
8Bh
Get Presence List of Entries 128..159 from RAM
8Ch
Get Presence List of Entries 160..191 from RAM
8Dh
Get Presence List of Entries 192..223 from RAM
8Eh
Get Presence List of Entries 224..255 from RAM
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LinMot User Manual
Command Table
Page 25/37
LinMot User Manual
7.2 Configuration Module Status
15
14
13
12
Reserved
11
10
9
8
7
6
Command Count
Response
5
4
3
2
1
0
The Configuration Module Status is split in two parts:
•
Parameter Status (bits 8-15), see table Parameter Status
•
Command Count Response (bits 0-3) Echo of Command Count of Control
Word for Handshaking
7.2.1 Overview Configuration Module Return Status Values
Status Return Value
Description
00h
OK, done
02h
Command Running / Busy
04h
Block not finished (Curve Service)
05h
Busy
C0h
UPID Error
C1h
Parameter Type Error
C2h
Range Error
C3h
Address Usage Error
C5h
Error: Command 21h “Get next UPID List item” was executed without prior
execution of “Start Getting UPID List”
C6h
End of UPID List reached (no next UPID List item found)
D0h
Odd Address
D1h
Size Error (Curve Service)
D4h
Curve already defined / Curve not present (Curve Service)
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LinMot User Manual
Parameter Status
LinMot User Manual
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Parameter UPID
Parameter UPID
3.
Parameter Value Low
Parameter Value Low
4.
Parameter Value High
Parameter Value High
7.2.1.2 Overview Curve access
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Curve Number
Curve Number
3.
Data Value Low / Info Block size
Data Value Low / Info Block size
4.
Data Value High / Data Block size
Data Value High / Data Block size
7.2.1.3 Start getting UPID List
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Start UPID (search from this UPID)
-
3.
-
-
4.
-
-
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LinMot User Manual
7.2.1.1 Overview Parameter access
LinMot User Manual
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
-
UPID found
3.
-
Address Usage
4.
-
-
14
13
12
NTI AG / LinMot®
11
10
9
8
7
6
www.LinMot.com
5
4
3
2
RAM Read
RAM Write
ROM Read
Life Parameter
Not used for Hash calculation
15
ROM Write
Address Usage
1
Page 28/37
0
LinMot User Manual
7.2.1.4 Get next UPID List item
LinMot User Manual
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Start UPID (search from this UPID)
-
3.
-
-
4.
-
-
7.2.1.6 Get Next Modified UPID List Item (Command ID 23h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
-
UPID found
3.
-
Data Value Low
4.
-
Data Value High
7.2.1.7 Get Error Log Entry Counter (Command ID 70h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
-
-
3.
-
Number of Logged Errors
4.
-
Number of Occurred Errors
7.2.1.8 Get Error Log Entry Error Code (Command ID 71h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Entry Number (0..24)
Entry Number
3.
-
Logged Error Code
4.
-
-
7.2.1.9 Get Error Log Entry Time Low (Command ID 72h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Entry Number (0..24)
Entry Number
3.
-
Entry Time Low Word
4.
-
Entry Time Mid Low Word
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LinMot User Manual
7.2.1.5 Start getting Modified UPID List (Command ID 22h)
LinMot User Manual
Get Error Log Entry Time High (Command ID 73h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Entry Number (0..24)
Entry Number
3.
-
Entry Time Mid High Word
4.
-
Entry Time High Word
The Error Log Entry Time consists of 32Bit hours (Time High) and 32Bit ms (Time
Low).
7.2.1.11
Get Error Code Text Stringlet (Command ID 74h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Error Code
Error code
3.
Stringlet Number (0..7)
Stringlet Byte 0 and 1
4.
-
Stringlet Byte 2 and 3
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LinMot User Manual
7.2.1.10
LinMot User Manual
Word
Command Table: Save To Flash (Command ID 80h)
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
-
-
3.
-
-
4.
-
-
For this command, the MC software must be stopped (with command “35h: Stop
MC and Application Software”). The Fieldbus Interface will stay active while the MC
software is stopped.
7.2.1.13
Command Table: Delete All Entries (RAM) (Command ID
81h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
-
-
3.
-
-
4.
-
-
7.2.1.14
Command Table: Delete Entry (Command ID 82h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Entry Number
Entry Number
3.
-
-
4.
-
-
7.2.1.15
Command Table: Write Entry (Command ID 83h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Entry Number
Entry Number
3.
Block Size (even number of bytes)
Block Size
4.
-
-
7.2.1.16
Command Table: Write Entry Data (Command ID 84h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Entry Number
Entry Number
3.
Data
Data
4.
Data
Data
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LinMot User Manual
7.2.1.12
LinMot User Manual
Command Table: Get Entry (Command ID 85h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Entry Number
Entry Number
3.
-
Block Size
4.
-
-
7.2.1.18
Command Table: Get Entry Data (Command ID 86h)
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
Entry Number
Entry Number
3.
-
Data
4.
-
Data
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LinMot User Manual
7.2.1.17
LinMot User Manual
Word
DO
DI
1.
Configuration Module Control
Configuration Module Status
2.
-
Offset in bytes
3.
-
Bit field (Bit set= undefined / Bit cleared = used)
4.
-
Bit field (Bit set= undefined / Bit cleared = used)
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LinMot User Manual
7.2.1.19
Command Table: Get Entry List (0..7) (Command IDs
87h .. 8Eh)
LinMot User Manual
The parameter settings, curve profiles and command table of a LinMot drive can be
exported together with other data (parameters, oscilloscope settings) as a
configuration file (ending *.lmc) with the LinMot-Talk 4 software. The configuration
file can then be imported to other drives again under usage of the LinMot- Talk 4
software.
Some users of the LinMot drives want to store the parameter setup and/or curves in
their main machine controller (PLC, IPC) as a simple value list. So they don’t need
any PC tools for configuration of drives when they produce series of the same
machine type or when they have to replace a drive in the plant.
Beside the possibility of exporting configurations in LMC file format the LinMot- Talk
4 software allows to save the setup into a simple text file. Data is stored in an easy
interpretable comma separated value format. The file has the extension *.pvl
(Parameter Value List). A simple parser can convert the text file data into the
customer specific data format.
Figure 11: Export Raw Data
The LinMot-Talk 4 software offers selective export of configuration data:
If ‘All Parameters’ is selected, all parameters are listed in the export file (hundreds
of parameters, most of them are not used or set to their default value)
If ‘Changed Parameters’ is selected, the resulting file will be much smaller. Only
parameters, which have been changed during the setup process (and therefore are
relevant for the application), are listed in the file.
Only curves that are selected will be stored to the file.
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LinMot User Manual
8 PVL Data Format
LinMot User Manual
PVL File Header
Start of Parameter Data
@StartObject,Parameter
Object (parameters of
@TreeFileName,OSTREE1100OS__V3S0_b1
one firmware layer)
@TreeLayer,1
@TreeID,1
@MainVersion,3
Parameter Compatibility
@SubVersion,0
check information
@Revision,b1
@StartData
@Col1:UPID,@Col2:Value,@Col3:Caption,@Col4:ScaledValue Unit
03E9,6F43794D,OS\Drive Name_1,MyCo
03EA,6F72746E,OS\Drive Name_2,ntro
Data List
03EB,72656C6C,OS\Drive Name_3,ller
Column Definition
03EC,00000000,OS\Drive Name_4,
03ED,00000000,OS\Drive Name_5,
03EE,00000000,OS\Drive Name_6,
03EF,00000000,OS\Drive Name_7,
03F0,00000000,OS\Drive Name_8,
Data List, most
03F3,78412058,OS\User Comment_1,X Ax
important is the UPID
03F4,4C207369,OS\User Comment_2,is L
and the Value Column
03F5,00746665,OS\User Comment_3,eft
03F6,00000000,OS\User Comment_4,
03F7,00000000,OS\User Comment_5,
03F8,00000000,OS\User Comment_6,
03F9,00000000,OS\User Comment_7,
03FA,00000000,OS\User Comment_8,
End of Parameter
@EndData
Data Object
@EndObject
@StartObject,Parameter
@TreeFileName,MCTREE1100DSW4_HC_V3S0_b1
@TreeLayer,2
@TreeID,4612
@MainVersion,3
@SubVersion,0
@Revision,b1
@StartData
@Col1:UPID,@Col2:Value,@Col3:Caption,@Col4:ScaledValue Unit
1194,00000002,Motion Control SW\Motor Configuration\Motor Type,P01
……
……
@EndData
@EndObject
Figure 12: Example of a PVL data file with Parameter Data Objects
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LinMot User Manual
@FileType,PVL
@FormatVersion,1
LinMot User Manual
@StartObject,Curve
Start of Curve Object
@CurveName,Example_Curve
@CurveID,23
Start of Curve Info Block
@InfoBlockByteSize,70
@DataBlockByteSize,40
Info Block Column Definition
@StartInfo
Data Offset (70 = 0046h), Object Type (0003h)
@Col1:Value
00030046h
No Of Setpoints (e.g. 10 = 000Ah), Data Type Size (4h)
0004000Ah
6D617845h
5F656C70h
22 Bytes for Curve Name
76727543h
00000065h
Curve ID (e.g. ID = 23 = 0017h)
00000000h
00170000h
x-Length (e.g. 200ms = 20000 = 00004E20h)
00004E20h
0005001Ah
XDimUUID (e.g. 001Ah ), YDimUUID (e.g. 0005h)
4E200301h
00000000h
42400000h
Wizard Info
0000000Fh
00000000h
00000000h
00000000h
End of Curve Info Block
00000000h
@EndInfo
Start of Curve Data Block
@StartData
@Col1:Value
Data Block Column Definition
00000000h
000075CAh
0001C8F2h
0003D090h
Curve Setpoints
00064DF8h
0008F448h
000B71B0h
000D794Eh
000ECC76h
End of Curve Data Block
000F4240h
@EndData
@EndObject
End of Curve Object
Figure 13: Example of a PVL data file with a Curve Object
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LinMot User Manual
@FileType,PVL
@FormatVersion,1
LinMot User Manual
SWITZERLAND
USA
NTI AG
Haerdlistr. 15
CH-8957 Spreitenbach
Sales and Administration:
+41-(0)56-419 91 91
[email protected]
Tech. Support:
+41-(0)56-544 71 00
[email protected]
Tech. Support (Skype) :
skype:support.linmot
Fax:
Web:
+41-(0)56-419 91 92
http://www.linmot.com/
LinMot, Inc.
5750 Townline Road
Elkhorn, WI 53121
Sales and Administration:
877-546-3270
262-743-2555
Tech. Support:
877-804-0718
262-743-1284
Fax:
800-463-8708
262-723-6688
E-Mail:
Web:
[email protected]
http://www.linmot-usa.com/
Please visit http://www.linmot.com/ to find the distributor closest to you.
Smart solutions are…
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LinMot User Manual
9 Contact Addresses
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