LinMot E1400-IP-QN User manual

Documentation of the LinUDP Interface of the following Drives:

- E1250-IP-UC

- E1400-IP-QN

LinUDP Interface

User Manual

LinMot User

Manual

© 2013 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 1.3a / ka, December 2013

NTI AG / LinMot

® www.LinMot.com

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Table of Content

1 Overview...........................................................................................................................4

2 Installation on Servo Drive..............................................................................................4

3 Connecting LinUDP.........................................................................................................4

3.1 Pin Assignment of the Connectors X17 - X18............................................................4

4 LinUDP Telegram.............................................................................................................5

4.1 DHCP Header.............................................................................................................5

4.2 IPv4 Header................................................................................................................5

4.3 LinUDP Header...........................................................................................................5

4.4 LinUDP Data...............................................................................................................5

4.4.1 Request from the Master.....................................................................................6

4.4.2 Response from the Drive.....................................................................................7

5 LinUDP Parameters..........................................................................................................7

6 LinUDP Modules...............................................................................................................8

6.1 Master to drive Modules.............................................................................................8

6.2 Drive to master Modules.............................................................................................9

7 Real Time Config Module..............................................................................................10

8 Contact Addresses........................................................................................................19



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1 Overview

The LinUDP protocol is an easy way for communication with a LinMot servo drive over Ethernet. There are no checks done to make sure if the messages have reached their destination and if they are correctly received. When communicating via LinUDP, the drive has no active function, it only responds to requests with the appropriate answers.

2 Installation on Servo Drive

For installing the LinUDP firmware on the servo drive, start the LinMot- Talk software and press the install firmware button . Choose the file

“Firmware_Buildxxxxxxxx.sct” and press “Open”. The wizard will guide you through the installation. When asking for the interface software choose “LinUDP”:

Press ok and follow the rest of the wizard.

3 Connecting LinUDP

3.1 Pin Assignment of the Connectors X17 - X18

The Ethernet/IP connector is a standard RJ45 female connector with a pin assignment as defined by EIA/TIA T568B:

X17 – X18

RJ-45

RealTime Ethernet Connector

Pin Wire color code Assignment 100BASE-TX

5

6

3

4

7

1

2

8 case

WHT/ORG

ORG

WHT/GRN

BLU

WHT/BLU

GRN

WHT/BRN

-

BRN

-

-

Rx+

Rx-

-

-

Tx+

-

Tx-

Use standard patch cables (twisted pair, S/UTP, AWG26) for wiring. This type of cable is usually referred to as a “Cat5e-

Cable”.



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4 LinUDP Telegram

In LinUDP there are two telegrams used, one for the request from the master and the other one for the response from the drive. These two telegrams have the following layout:

Name

DHCP Header

IPv4 Header

LinUDP Header

LinUDP Data

Size [Byte]

14

20

8 message dependent

4.1 DHCP Header

The DHCP Header looks like in the following table.

0. Byte 4. Byte

+0

+8

1. Byte 2. Byte 3. Byte

Destination MAC ID

Source MAC ID

5. Byte

Protocol Typ (0x0800)

6. Byte 7. Byte

4.2 IPv4 Header

The IPv4 header is described in the rfc0791 in chapter 3.1. Rfc0791 could be found on www.ietf.org/rfc/rfc0791.txt

. The sections options and padding are not used.

4.3 LinUDP Header

The LinUDP header consists of four parts. They are showing ind the following table.

Name

Source Port

Destination Port

Size [Byte]

2

2

Length of UDP Telegram 2

UDP Checksum 2

The LinUDP ports are fix assigned. For the Master it is port 41136 and for the drive it is port 49360. In Hex-Code they are A0B0 and C0D0.

4.4 LinUDP Data

In LinUDP data are the data which we want to transfer. The construction of this data



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part always is the same. The only difference are the source and destination, they are switched.

4.4.1 Request from the Master

The first 32 bits of the LinUDP data define the request and the following 32 bits define the format of the response. The following tables show how the request definition and the response definition look like.

Request definition

Bit

0

1

2

3 – 31

Name

Control Word

MC Interface

Realtime Configuration

Reserved for future expansions

Data size [Byte]

2

32

8

Bit

0

1

4

5

2

3

6

7

8

9 – 31

Response definition

Name

Status Word

State Var

Actual Position

Demand Position

Current

Warn Word

Error Code

Monitoring Channel


Reserved for future expansions

2

2

4

4

2

16

8

Data size [Byte]

2

2

Each of the definition bits shows if the corresponding parameter is part of the communication. The order of the requested data parts is the same as the definition bits. When a definition bit is not set, the data part would not be transferred. When all bits of the request definition are set, then the LinUDP data looks like it is shown in the following table. Each field represents one byte.



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+0

+8

+16

+24

+32

+40

+48


Request Definition

Control Word

3. Byte 4. Byte

MC Interface

5. Byte


6. Byte

Response Definition

7. Byte

+32

+40

+48

+0

+8

+16

+24

4.4.2 Response from the Drive

The LinUDP data part of a response from a drive has the same construction like the data part of a request. The order of the response data part is the same as the response definition bits. The only exception is the last part of the response data part with the realtime configuration data, when realtime configuration is activated then the bit number 2 is set in de request definition and the bit number 8 is set in the response definition. When all bits in the response definition are set then the response data part looks like in the following table. If the response frame is shorter then 64 bytes, the drive fill the response with 0s until the length is 64 bytes.


Request Definition

3. Byte

Status Word

Demand Position

State Var

Error Code


Response Definition

7. Byte

Current

Actual Position

Warn Word

Monitoring Channel


5 LinUDP Parameters

The LinUDP servo drives have an additional parameter tree branch, which can be configured with the distributed LinMot-Talk software. With these parameters, the

LinUDP behaviour can be defined. The LinMot-Talk software can be downloaded from http://www.linmot.com under the section download, software & manuals.

The additional parameter tree branch is called “LinUDP Intf”. In this branch are the



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following Parameters.

•

Dis-/Enable, with this Parameter the interface could be turned off and on.

•

Ethernet Configuration is the part where the connection type could be chosen.

•

Monitoring Channels defined 4 UPID. The values of this UPID are in the response data part when the monitoring channel bit is set active.

Monitoring Channels

Channel 1 UPID Source UPID for Monitoring Channel 1

Channel 2 UPID

Channel 3 UPID

Channel 4 UPID

Source UPID for Monitoring Channel 2



Parameter UPID = 20A8

Parameter UPID = 20A9

Parameter UPID = 20AA

Parameter UPID = 20AB

•

Master Configuration is for the communication safety. With the radio buttons under single master there can chosen three possibilities.

•

No Filter means the drive does no control. This option is choose per default.

•

Single Master means the drive takes the IP Address from the sender of the first LinUDP telegram, which it receives and after that it only responses to telegrams with this address.

•

Single Master with fix IP: In the parameters called Master IP Address define a IP Address and the drive only responses to telegrams with this fix address.

•

Master IP Address the fix IP address is defined in this parameters.

6 LinUDP Modules

In LinUDP there are three modules implemented for the master to drive communication and eight modules for the drive to master communication.

6.1 Master to drive Modules

Control Word

With the control word the main state machine of the drive can be accessed. Please refer to “User Manual Motion Control Software” for the control word.

MC Cmd Interface

This maps the MC command interface of the drive. Please refer to the documentation of the MC software.

Real Time Configuration

The real time configuration module allows accessing to parameters, variables,



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curves, error log and command table. Also restart, start and stop of the drive can be initiated. Of course the parameter channel module works independently from the

MC command interface. For this reason, changing a parameter and sending a motion command can be done in parallel. The real time configuration has influence on both telegram directions. For details see chapter 6 Real Time Config.

6.2 Drive to master Modules

Status Word

The status word consists of 16 bits. Please refer to “User Manual Motion Control

Software” for watch about the meaning of each bit the status word.

State Var

The State Var consists of MainState and SubState. Please refer to the table “State

Var” on chapter 3 of the “User Manual Motion Control Software”. The State Var has all relevant flags and information for clean handshaking within one word and can therefore replace the modules “Get MC Header Echo” and “Get Error Code”.

Actual Position

Returns the actual position of the motor. (32 Bit integer value, resolution 0.1 μm)

Demand Position

Returns the demand position of the motor. (32 Bit integer value, resolution 0.1 μm)

Current

Returns the set current of the motor. (16 Bit integer value, resolution 1 mA)

Warn Word

Returns the warn word.

Please refer to “User

Manual

Motion Control Software”.

Error Code

Returns the error code. Please refer to “User Manual Motion Control Software” for the Error Codes of the MC software.

Monitoring Channel

Transmits cyclically the value of the variable, which is defined by the monitoring channel Parameter (see chapter 3)



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7 Real Time Config Module

The structure of the real time config is shown in the following table. DO stands for data output and DI for data input. The point of view for the definition of DO and DI is the Master.

Word number DO

1.

2.

Parameter Channel Control

Argument (meaning depends on Cmd

ID)

3.

4.


ID)


ID)

DI

Parameter Channel Status


ID)


ID)


ID)

Real Time Config Control

Parameter Command ID to be executed Reserved Command Count

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1

The Parameter Channel Control is split in two parts:

•

Parameter Command ID to be executed (bits 8-15), see table Command ID

•

Command Count (bits 0-3)

Real Time Config Status

0

Parameter Status Reserved Command Count

Response

15 14 13 12 11 10 9 8 7 6 5 4

The Parameter Channel Status is split in two parts:

•

Parameter Status (bits 8-15), see table Parameter Status

•

Command Count Response (bits 0-3)

Command Count

3 2 1 0

A new command is only evaluated, if the value of the command count changes. In the easiest way bit 0 could be toggled.



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Parameter Command ID

This selects the command.

Possible Commands are:

Command ID

00h

Description

No Operation

Parameter Access

10h

11h

12h

13h

14h

15h

16h

17h

34h

35h

36h

Parameter (UPID) List

20h

21h

22h

23h

Stop / Start / Default

30h

31h

32h

33h

Read ROM Value of Parameter by UPID

Read RAM Value of Parameter by UPID

Write ROM Value of Parameter by UPID

Write RAM Value of Parameter by UPID

Write RAM and ROM Value of Parameter by UPID

Get minimal Value of Parameter by UPID

Get maximal Value of Parameter by UPID

Get default Value of Parameter by UPID

Start Getting UPID List

Get next UPID List item

Start Getting Modified UPID List

Get next Modified UPID List item

Restart Drive

Set parameter ROM values to default (OS SW)

Set parameter ROM values to default (MC SW)

Set parameter ROM values to default (Interface SW)

Set parameter ROM values to default (Application SW)

Stop MC and Application Software (for Flash access)

Start MC and Application Software



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85h

86h

87h

88h

89h

81h

82h

83h

84h

Curve Service

40h

41h

50h

51h

52h

53h

54h

55h

60h

61h

62h

Error Log

70h

71h

72h

73h

74h

Command Table

80h

Save all Curves from RAM to Flash

Delete all Curves (RAM)

Start Adding Curve (RAM)

Add Curve Info Block (RAM)

Add Curve Data (RAM)

Start Modifying Curve (RAM)

Modify Curve Info Block (RAM)

Modify Curve Data (RAM)

Start Getting Curve (RAM)

Get Curve Info Block (RAM)

Get Curve Data (RAM)

Get Error Log Entry Counter

Get Error Log Entry Error Code

Get Error Log Entry Time low

Get Error Log Entry Time high

Get Error Code Text Stringlet


®

Command Table: Save to Flash

Command Table: Delete All Entries (RAM)

Command Table: Delete Entry

Command Table: Write Entry

Command Table: Write Entry Data

Command Table: Get Entry

Command Table: Get Entry Data

Get Presence List of Entries 0..31 from RAM



www.LinMot.com

Page 12/19

8Ah

8Bh

8Ch

8Dh

8Eh

LinMot User

Manual






C0h

C1h

C2h

C3h

C5h

C6h

D0h

D1h

D4h

Parameter Status

00h

02h

04h

05h

Description

OK, done

Command Running / Busy

Block not finished (Curve Service)

Busy

UPID Error

Parameter Type Error

Range Error

Address Usage Error

Error: Command 21h “Get next UPID List item” was executed without prior execution of “Start Getting UPID List”

End of UPID List reached (no next UPID List item found)

Odd Address

Size Error (Curve Service)

Curve already defined / Curve not present (Curve Service)



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1.

2.

Word

Overview Parameter access

DO

3.

4.


Parameter UPID

Parameter Value Low

Parameter Value High

DI


Parameter UPID

Parameter Value Low

Parameter Value High

3.

4.

1.

2.

Word

Overview Curve access:

DO


Curve Number

Data Value Low / Info Block size

Data Value High / Data Block size

2.

3.

4.

Word

1.

Start getting UPID List:

DO


-

-

Start UPID (search from this UPID)

1.

2.

3.

4.

Word

Get next UPID List item:

DO

-

-

-


DI


Curve Number

Data Value Low / Info Block size

Data Value High / Info Block size

-

-

-

DI


DI

-


UPID found

Address Usage



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Address Usage:

15 14 13 12 11 10 9 8 7 6 5 4 3 2

1.

2.

3.

4.

Word

Start getting Modified UPID List (Command ID 22h):

DO DI

-

-


Start UPID (search from this UPID)

-

-

-


Word

3.

4.

1.

2.

Get next Modified UPID List item (Command ID 23h):

DO

-

-

-


DI


UPID found

Data Value Low

Data Value High

3.

4.

Word

1.

2.

Get Error Log Entry Counter (Command ID 70h):

-

-

DO

-


DI

-


Number of Logged Errors

Number of Occurred Errors

1 0



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1.

2.

3.

4.

Word

Get Error Log Entry Error Code (Command ID 71h):

DO DI

-

-


Entry Number (0..20)

-


Entry Number

Logged Error Code

3.

4.

Word

1.

2.

Get Error Log Entry Time Low (Command ID 72h):

-

-

DO



DI


Entry Number

Entry Time Low Word

Entry Time Mid Low Word

3.

4.

1.

2.

Word

Get Error Log Entry Time High (Command ID 73h):

DO DI

-




Entry Number

Entry Time Mid High Word

Entry Time High Word

The Error Log Entry Time consists of 32 Bit hours (Time High) and 32 Bits ms (Time

Low).

3.

4.

1.

2.

Word

Get Error Code Text Stringlet (Command ID 74h):

DO DI


Error Code

-

Stringlet Number (0..7)


Error code

Stringlet Byte 0 and 1

Stringlet Byte 2 and 3



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3.

4.

1.

2.

Word

Command Table: Save to Flash (Command ID 75h):

DO DI

1.

2.

3.

4.

-

-


-

-


Word

-

For this command, the MC software must be stopped (with command “35h: Stop MC and

Application Software”). The LinUDP Interface will stay active while the MC software is stopped.

Command Table: Delete All Entries (RAM) (Command ID 81h):

DO DI

-

-

-


-

-

-


2.

3.

4.

Word

1.

Command Table: Delete Entry (Command ID 82h):

DO


-

-

Entry Number

DI


-

-

Entry Number

1.

2.

3.

4.

Word

Command Table: Write Entry (Command ID 83h):

DO DI

-


Entry Number

Block Size (even number of bytes)

-


Entry Number

Block Size



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1.

2.

3.

4.

Word

Command Table: Write Entry Data (Command ID 84h):

DO DI


Entry Number

Data

Data


Entry Number

Data

Data

3.

4.

1.

2.

Word

Command Table: Get Entry (Command ID 85h):

DO DI

-

-


Entry Number


Entry Number

-

Block Size

3.

4.

Word

1.

2.

Command Table: Get Entry Data (Command ID 86h):

-

-

DO


Entry Number

DI


Entry Number

Data

Data

1.

2.

3.

Word

Command Table: Get Entry List (0..7) (Command IDs 87h .. 8Eh):

DO DI

4.

-

-

-

Parameter Channel Control Parameter Channel Status

Offset in bytes

Bit field (Bit set = undefined / Bit cleared = used)

Bit field (Bit set = undefined / Bit cleared = used)



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8 Contact Addresses

SWITZERLAND NTI AG

Haerdlistr. 15

CH-8957 Spreitenbach

Sales and Administration:

Tech. Support:

Tech. Support (Skype) :

Fax:

Web:

USA LinMot, Inc.

204 E Morrissey Dr.

Elkhorn, WI 53121

Sales and Administration:

Tech. Support:

Fax:

E-Mail:

Web:

+41-(0)56-419 91 91 [email protected]

+41-(0)56-544 71 00 [email protected]

skype:support.linmot

+41-(0)56-419 91 92 http://www.linmot.com/

877-546-3270

262-743-2555

877-804-0718

262-743-1284

800-463-8708

262-723-6688 [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 E1400-IP-QN User manual

Documentation of the LinUDP Interface of the following Drives:

- E1250-IP-UC

- E1400-IP-QN

LinUDP Interface

User Manual

Table of Content

1 Overview

2 Installation on Servo Drive

3 Connecting LinUDP

3.1 Pin Assignment of the Connectors X17 - X18

4 LinUDP Telegram

4.1 DHCP Header

4.2 IPv4 Header

4.3 LinUDP Header

4.4 LinUDP Data

4.4.1 Request from the Master

4.4.2 Response from the Drive

5 LinUDP Parameters

6 LinUDP Modules

6.1 Master to drive Modules

6.2 Drive to master Modules

7 Real Time Config Module

8 Contact Addresses

Related manuals

Table of contents

LinMot E1400-IP-QN User manual

Documentation of the LinUDP Interface of the following Drives:

- E1250-IP-UC

- E1400-IP-QN

LinUDP Interface

User Manual

Table of Content

1 Overview

2 Installation on Servo Drive

3 Connecting LinUDP

3.1 Pin Assignment of the Connectors X17 - X18

4 LinUDP Telegram

4.1 DHCP Header

4.2 IPv4 Header

4.3 LinUDP Header

4.4 LinUDP Data

4.4.1 Request from the Master

4.4.2 Response from the Drive

5 LinUDP Parameters

6 LinUDP Modules

6.1 Master to drive Modules

6.2 Drive to master Modules

7 Real Time Config Module

8 Contact Addresses

Related manuals

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E1130-DP-XC

LinMot

E1130-DP-XC

NTI AG

LinMot E1250-PN-UC

LinMot

B1100 Series

LinMot

C1250-CM-XC-0S

LinMot

C1150-SE-XC-1S

Table of contents