LinRS Interface

LinRS Interface
Documentation of the LinRS Interface for the following
Drives:
- E1100-GP (-HC, -XC)
- E1100-RS (-HC, -XC)
- E1130-DP (-HC, -XC)
- B1100-GP (-HC, -XC)
- Series C1100-GP
- Series E1200
- Series E1400
LinRS Interface
User Manual
LinMot 
LinRS Interface
© 2014 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 didactic 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.
Document version 3.16b / August 2014
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User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
Table of Content
1 SYSTEM OVERVIEW.......................................................................................................... 5
1.1 REFERENCES....................................................................................................................... 5
1.2 DEFINITIONS, ITEMS, SHORTCUTS............................................................................................. 5
2 CONNECTING THE RS BUS............................................................................................... 6
2.1 PIN OUT OF THE COM CONNECTOR (X5) (SERIES E1100 AND B1100)...................................... 6
2.2 PIN OUT OF THE SYSTEM CONNECTOR (X19) (SERIES E1200)................................................... 6
2.3 PIN OUT OF THE CMD CONNECTOR (X7, X8):......................................................................... 6
3 POWER UP BEHAVIOUR................................................................................................... 7
3.1 ACTIVATING AND DEACTIVATING THE LINRS PROTOCOL................................................................ 7
3.2 ID AND BAUD RATE SELECTION............................................................................................... 8
3.2.1 Baud Rate Selection............................................................................................... 8
3.2.2 ID Selection............................................................................................................ 8
3.3 RS TOPOLOGIES.................................................................................................................. 9
3.3.1 RS232 Topology.................................................................................................... 9
3.3.2 RS422 Topology.................................................................................................... 9
3.3.3 RS485 Topology.................................................................................................. 10
4 LINRS MESSAGE FORMAT............................................................................................. 11
4.1 ID .................................................................................................................................. 11
4.2 LENGTH............................................................................................................................ 11
4.3 DATA............................................................................................................................... 11
4.4 CHECKSUM........................................................................................................................ 11
5 MESSAGE DATA DEFINITIONS....................................................................................... 12
5.1 MESSAGE MAIN ID ............................................................................................................ 12
6 RESPONSE REQUEST..................................................................................................... 14
6.1 CONFIGURATION OF THE DEFAULT RESPONSE............................................................................ 14
6.2 REQUEST DEFAULT RESPONSE EXAMPLE................................................................................. 15
6.3 DEFAULT MC RESPONSE REQUEST WITH STATUS WORD REQUEST EXAMPLE................................. 16
7 WRITE CONTROL WORD................................................................................................. 17
7.1 WRITE CONTROL WORD EXAMPLE 1....................................................................................... 17
7.2 WRITE CONTROL WORD EXAMPLE 2....................................................................................... 18
7.3 WRITE CONTROL WORD EXAMPLE 3....................................................................................... 19
8 WRITE MOTION COMMAND INTERFACE ....................................................................... 20
8.1 WRITE MOTION COMMAND INTERFACE EXAMPLE 1..................................................................... 20
8.2 WRITE MOTION COMMAND INTERFACE EXAMPLE 2..................................................................... 21
9 PARAMETER GROUP...................................................................................................... 22
9.1 PARAMETER/VARIABLE READ RAM EXAMPLE........................................................................... 23
9.2 PARAMETER WRITE RAM EXAMPLE........................................................................................ 23
10 PARAMETER CONFIGURATION GROUP..................................................................... 25
.......................................................................................................................................... 26
10.1 PARAMETER CONFIGURATION READ ROM VALUE EXAMPLE........................................................ 27
10.2 PARAMETER CONFIGURATION READ OUT CHANGED PARAMETERS.................................................. 28
10.3 PARAMETER CONFIGURATION READ OUT UPID LIST................................................................ 29
10.4 PARAMETER CONFIGURATION DEFAULTING SW-INSTANCE PARAMETERS....................................... 30
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LinRS Interface
11 CURVE CONFIGURATION MESSAGE GROUP............................................................. 31
11.1 READ CURVE FROM SERVO EXAMPLE................................................................................... 34
11.2 WRITE CURVE TO SERVO EXAMPLE..................................................................................... 36
12 COMMAND TABLE MESSAGE GROUP........................................................................ 38
12.1 READ COMMAND TABLE ENTRY FROM SERVO EXAMPLE........................................................... 42
12.2 WRITE COMMAND TABLE ENTRY TO SERVO EXAMPLE..............................................................43
13 PROGRAM HANDLING MESSAGE GROUP.................................................................. 44
13.1 RESET DRIVE WITH RESPONSE AFTER COMPLETION...................................................................44
13.2 RESET DRIVE WITH IMMEDIATE RESPONSE.............................................................................. 45
13.3 STOP MC- AND APPLICATION SW....................................................................................... 45
13.4 START MC- AND APPLICATION SW WITH RESPONSE AFTER COMPLETION...................................... 46
13.5 START MC- AND APPLICATION SW WITH IMMEDIATE RESPONSE................................................. 47
14 READ ERROR INFO MESSAGE GROUP....................................................................... 48
14.1 GET ERROR SHORT TEXT OF ACTUAL ERROR............................................................................ 48
14.2 GET ERROR SHORT TEXT OF DEFINED ERROR CODE................................................................... 49
14.3 GET ERROR COUNTERS OF ERROR LOG AND TOTAL OCCURRED ERRORS.......................................... 50
14.4 GET ERROR LOG ENTRY...................................................................................................... 51
15 LINRS PARAMETERS .................................................................................................... 52
16 ERROR........................................................................................................................... 57
16.1 LINRS ERROR CODES...................................................................................................... 57
17 TROUBLESHOOTING..................................................................................................... 58
17.1 STOPPING LINRS ON B1100 DRIVES.................................................................................. 58
18 CONTACT ADDRESSES................................................................................................ 59
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User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
1 System Overview
The LinMot drives E1100-RS, E1100-GP, E1130-DP, the whole series E1200, the B1100-GP
and C1100-GP support the LinRS communication profile. LinRS is a LinMot specific RS
protocol to run the E1100 drive over RS232, RS422 or RS485 serial links. (On C1100-GP
only RS422/RS485 is supported).
When running the E1100 drive over an RS connection with LinRS, the
configuration and debugging can be done over the CAN bus link. LinMot-Talk
supports an USB to CAN (Part No. 0150-3134 ) converter for this purpose. It
is strongly recommended to use this USB to CAN converter, to avoid
programming debugging disappointment.
For the installation and use of the USB to CAN converter refer to document [3].
1.1 References
Ref
Title
Source
1
2
3
User Manual Motion Control SW
LinMot E1100 Drive Configuration over Fieldbus Interfaces
Installation Guide USB-CAN Converter
www.linmot.com
www.linmot.com
www.linmot.com
The documentation is distributed with the LinMot-Talk software.
1.2 Definitions, Items, Shortcuts
Shortcut
Meaning
LM
OS
MC
Intf
Appl
UPID
CT
Msg
Cmd
LinMot linear motor
Operating System (Software)
Motion Control (Software)
Interface (Software)
Application (Software)
Unique Parameter ID (16 bit)
Command Table
Message
Command
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LinMot 
LinRS Interface
2 Connecting the RS bus
2.1 Pin Out of the COM Connector (X5) (Series E1100 and B1100)
Over this connector the RS232 or the RS422/RS485 serial lines are available. This
connector is available with all E1100 drives.
DSBU 9 male:
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
RS-485 Tx+
RS-232 TX
RS-232 RX
RS-485 Rx+
GND (100Ω)
Pin 6
Pin 7
Pin 8
Pin 9
RS-485 RxRS-485 TxCAN L
CAN H
2.2 Pin Out of the System Connector (X19) (Series E1200)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Do not connect
Do not connect
RS232 RX
GND
GND
RS232 TX
Do not connect
Do not connect
2.3 Pin Out of the CMD Connector (X7, X8):
The CMD connector exists only on the E1100-RS(-HC/-XC), E1100-DP(-HC/-XC), series
E1200, B1100-GP(-HC/-XC) and C1100-GP drives, 2xRJ45 with 1:1 connected signals.
Standard twisted pairs: 1/2, 3/6, 4/5, 7/8. Use Ethernet cables according the EIA / TIA 568A
standard.
Pin 1 RS485 Rx+
Pin 2 RS485 RxPin 3 RS485 Tx+
Pin 4/5 Ground (1kΩ)
Pin 6 RS485 TxPin 7 CAN H
Pin 8 CAN L
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LinMot 
LinRS Interface
3 Power Up Behaviour
The power up behaviour can be defined over the S3 switches and the S1 and S2 hex
switches and the parameter configuration. So the drive can be configured over the LinRS
protocol. It is possible to setup completely the drive over LinRS when the LinRS software has
been installed.
On the B1100 there are no switches to define the baud rate, ID and interface
enable, for this reason all configuration has to be done by parameter with
LinMotTalk 4 software over CAN-Bus.
3.1 Activating and Deactivating the LinRS Protocol
Over the Interface Switch on the S3.4 switches the LinRS protocol can be activated (position
On) or deactivated (position Off). This switch is not available on B1100, C1100 and E1200
drives.
S3
On - Off
Interface
CAN Term
RS485 Term
RS485/232
4
3
2
1
If the Interface Switch S3.4 is off during the system is booting, the LinRS will be deactivated
for the rest of this power cycle. In this case the drive can normally be accessed with the
LinMot-Talk software over the RS or CAN link, for configuration and testing.
If the Interface Switch S3.4 is on during the system is booting, the LinRS protocol will be
activated. The RS line of the drive is no longer available for the LinMot-Talk software, in this
case configuring, debugging and testing can only be done over the CAN link. Now switching
off the interface to off reactivates the RS line for the LinMot-Talk software, then switching on
again, reinstall the LinRS protocol for the RS line, this enables some debugging capabilities
without running the LinMot-Talk software over the CAN bus. It is recommended to use the
USB to CAN converter, when working with the LinRS protocol for configuring and debugging.
With the RS485/RS232 switch on S3 the bus driver can be selected.
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LinMot 
LinRS Interface
3.2 ID and Baud Rate Selection
With the default parameterization the baud rate can be selected over S1 and the ID is
selected over S2.
3.2.1 Baud Rate Selection
The baud rate can be defined over the S1 hex switch (default setting) or by parameter value.
S1 Baud Rate Code Table
S1 Value
Selected Baud Rate
0
Undefined Baud Rate
1
4800Bit/s
2
9600 Bit/s
3
19200 Bit/s
4
38400 Bit/s
5
57600 Bit/s
6
115200 Bit/s
7
Undefined Baud Rate
.
Undefined Baud Rate
3.2.2 ID Selection
Like the baud rate the protocol ID can be defined over the S2 hex switch (default setting), by
parameter value or by the S1&S2 hex switches.
S2 ID code table
S2 Value
Selected MACID
0
MACID = 00h
1
MACID = 01h
2
MACID = 02h
.
.
F
MACID = 0Fh
S1&S2 ID code table
S1 Value
S2 Value
0
0
0
1
0
2
.
.
1
0
.
.
F
F
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Selected MACID
MACID = 00h
MACID = 01h
MACID = 02h
.
MACID = 10h
MACID = FFh
User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
3.3 RS Topologies
3.3.1 RS232 Topology
Over a RS232 line only one slave can be connected to the master, controlling several slaves
needs several RS232 lines.
The RS232 serial lines are only on the COM connector X5 available.
Master
PLC/IPC
Slave
E1100
3
Tx
2
Rx
GND
5
Rx
Tx
GND
3.3.2 RS422 Topology
With the RS422 topology several Slaves can be accessed. The master transmit lines are
connected to all slave receive lines and all slave transmit lines are connected with the master
receive lines. With this topology debugging is quiet easy because the master and slave
communication is separated. The easiest way to loop through the communication lines at
slave side, are over the X7/X8 RJ45 connectors with the RS/DP drives. Activate RS485 Term
on S3.2 (S4.2 on B1100 series or S5.2 on E1200 series) on the last slave drive.
Master
PLC/IPC
Slave 1
E1100
Tx
Rx
Rx
Tx
GND
5
GND
Slave N
E1100
Rx
Tx
5
GND
With B1100 the switch S4.1 has to be set to RS485 select!
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LinMot 
LinRS Interface
3.3.3 RS485 Topology
With the RS485 topology also several Slaves can be accessed. The master transmit lines
are connected to all slave receives lines and all slave transmit lines are connected with
master receive lines. With this topology debugging is quiet easy because master
communication and slave communication is separated. The easiest way to loop through the
communication lines at slave side, are over the X7/X8 RJ45 connectors with the RS/DP
drives, but at the first slave the RS485 AB lines from the master have to be connected with
the Rx and the Tx signal lines. Activate RS485 Term on S3.2 (S4.2 on B1100 series or S5.2
on E1200 series) on the last slave drive.
Master
PLC/IPC
Slave 1
E1100
Tx
Rx
Rx
Tx
GND
5
GND
Slave N
E1100
Rx
Tx
5
GND
With B1100 the switch S4.1 has to be set to RS485 select!
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LinMot 
LinRS Interface
4 LinRS Message Format
The following tables define the principle structure of a LinRS Message.
Header
Start
ID
Header
Data
Len
Start Data 1
Data Msg
0
ID
Low
0..FFh 2..63 02h 0..FFh
Length Count
Checksum Calculation
01h
Data 2
Msg
ID
High
0..FFh
…
Data
n-1
Opt. Checksum
Check- CheckSum
Sum
Low
High
0..FFh
0..FFh
0..FFh
0..FFh
Byte Nr
Name
Description
Value
0
1
2
3
4
5
6
..
n+2
n+3
n+4
n+5/n+3
Start Header
ID
Length
Start Data 0
Data 1 Msg ID Low
Data 2 Msg ID High
Data 3
..
Data n-1
Checksum Low
Checksum High
End Telegram
Fix ID at telegram start
ID of LinMot Drive
Length of telegram data n
Fix ID at telegram start
Message Sub ID
Message Main ID
Message data 0
..
Message data n-1
Optional checksum Low Byte
Optional checksum High Byte
Fix ID at telegram end
01h
0..FFh
2..63
02h
0..FFh
0..FFh
0..FFh
0..FFh
0..FFh
0..FFh
0..FFh
04h
End
End
Telegram
04h
Data are transmitted lowest byte first highest byte last. Dummy Data could be added to get a
fix master transmission length.
4.1 ID
The ID is one byte that defines the address (ID) of the LinMot drive. This ID is defined by two
Hex Switches or by a parameter.
4.2 Length
The length defines the data length in bytes.
4.3 Data
In the data fields the command specific data are transmitted.
4.4 Checksum
The checksum field is optional. Two different methods are supported:
•
•
Byte wise addition modulo 2^16 (fast and easy)
CRC CCITT
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LinMot 
LinRS Interface
5 Message Data Definitions
5.1 Message Main ID
The Message object are identified in a first level by following main Message IDs
Message
Main ID
00h
01h
02h
03h
04h
05h
06h
07h
08h
B1100
Description
Yes
Yes
Yes
Yes
Yes
-
Response Request / Response itself
Write Control Word
Write Motion Command Interface
Parameter Message Group with default Response
Curve Configuration Message Group
Parameter Configuration Message Group
Program Handling Message Group
Read Error Info Message Group
Command Table Configuration Message Group
In the easiest way of using the LinRS protocol, only the Messages with the Main IDs (0), 1
and 2 are needed to control the behavior of the drive.
The other Main messages IDs are only needed if configuration or setup functionality over the
LinRS protocol is needed and supported. In these cases a much deeper integration of the
LinMot drive into the superior PLC/IPC is supported and needed.
As an alternative to this, LinMot offers a configuration service, which means you can store
your configuration with LinMot and order the drive with installed firmware and configuration
(parameter and curves). In many cases this will be the more cost effective solution.
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LinRS Interface
LinMot 
For debugging reasons and to get familiar with the LinRS protocol the LinMot-Talk has an
integrated LinRS test tool (Tools\LinRS test Tool). Together with the USB to CAN converter
the steps could be followed directly as shown below.
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LinMot 
LinRS Interface
6 Response Request
The response to the response request is added to the configured response data, or set to the
configured reserved space.
Message
Main ID
Message
Sub ID
Description
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
01h
02h
03h
04h
30h
40h
50h
60h
7yh
8yh
Default MC Response Answer (Slave)
Default MC Response Request (Master)
Default MC Response Request with Status Word Request (Master)
Default MC Response Request with Warn Word Request (Master)
Default MC Response Request with State Var Request (Master)
Slave Response to Master Parameter Request
Slave Response to Master Curve Request
Reserved Slave Memory Group Response
Slave Response to Master Program Handling Request
Slave Response to Master Read Error Requests
Slave Response to Master Command Table Request
Every time the drive has accepted a message, it will respond with a message itself. Normally
the response contains the configured data.
6.1 Configuration of the Default Response
The content of the default response can be configured, so the information for the normal
operation can be adapted to the application needs. The order of the information is the same
as they appear in the LinMot-Talk configuration tool. The Default Response is normally
responded within the time >0.5ms..<1.5ms. The bold named entries are configured in default
configuration (factory setting) of the LinRS firmware installation.
Name
Format Description
Communication State
Status Word
State Var
Error Code
Warn Word
Echo MC Intf Header
Monitoring Channel 1
Monitoring Channel 2
MC Response
1 bytes
2 bytes
2 bytes
2 bytes
2 bytes
2 bytes
4 bytes
4 bytes
4 bytes
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Status of communication (Checksum error,..) (Default Cfg)
Status Word bit coded (Default Cfg)
High byte state number, low byte state depending (Default Cfg)
Error Code
Warn Word bit coded
Echo of the motion command interface header
Monitoring Channel 1 Data (Default Cfg)
Monitoring Channel 2 Data
Place holder for a response request
User Manual LinRS Interface / 27/08/2014
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LinMot 
LinRS Interface
6.2 Request Default Response Example
The following example documents a default response request, the drive will answer with the
configured default response. This request could be used to monitor state changes or direct
variable changes.
Request: default response
Byte
Offset
0
1
2
3
4
5
6
Value
Description
01h
11h
03h
02h
01h
00h
04h
Fix ID Telegram start
Response node ID
Telegram length
Fix ID start data
Message Sub ID (default response request)
Message Main ID (Response)
Fix ID telegram end
Response: Default Response
Byte
Value
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
01h
11h
0Ch
02h
00h
00h
00h
37h
4Ch
C2h
08h
9Dh
FCh
FFh
FFh
04h
Description
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Default Response
Main ID: Response Message
Communication State ok
Status Word Low Byte
Status Word High Byte
State Var Low Byte
State Var High Byte (MainState)
Actual Position Low Word Low Byte
Actual Position Low Word High Byte
Actual Position High Word Low Byte
Actual Position High Word High Byte
Fix ID telegram end
Example:
Tx: 01 11 03 02 01 00 04
Rx: 01 11 0C 02 00 00 00 37 4C C2 08 9D FC FF FF 04
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LinMot 
LinRS Interface
6.3 Default MC Response Request with Status Word Request
Example
The following example documents a Default MC Response Request with Status Word
Request, the drive will answer with the configured default response and adds the Status
Word in a 4Byte Container at the end of the data section.
Request: Default MC Response Request with Status Word Request
Byte
Value
Description
Offset
0
1
2
3
4
5
6
01h
11h
03h
02h
02h
00h
04h
Fix ID Telegram start
Response node ID
Telegram length
Fix ID start data
Message Sub ID (default response request)
Message Main ID (Response)
Fix ID telegram end
Response: Default MC Response Request with Status Word Request
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
01h
11h
10h
02h
00h
00h
00h
37h
4Ch
C2h
08h
9Dh
FCh
FFh
FFh
B4h
00h
00h
00h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Default Response with Status Word
Main ID: Response Message
Communication State ok
Status Word Low Byte
Status Word High Byte
State Var Low Byte
State Var High Byte (MainState)
Actual Position Low Word Low Byte
Actual Position Low Word High Byte
Actual Position High Word Low Byte
Actual Position High Word High Byte
Low Byte Status Word
High Byte Status Word
No Meaning
No Meaning
Fix ID telegram end
Examples:
Tx: 01 11 03 02 02 00 04
; Request Default Response with Status Word
Rx: 01 11 10 02 00 00 00 B4 00 00 02 D5 6A 10 00 B4 00 00 00 04
Tx: 01 11 03 02 03 00 04
; Request Default Response with Warn Word
Rx: 01 11 10 02 00 00 00 B4 00 00 02 D5 6A 10 00 80 00 00 00 04
Tx: 01 11 03 02 04 00 04
; Request Default Response with State Var
Rx: 01 11 10 02 00 00 00 B4 00 00 02 D5 6A 10 00 00 02 00 00 04
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LinMot 
LinRS Interface
7 Write Control Word
With the access to the control Word the main state machine could be controlled.
Message
Main ID
Message
Sub ID
Description
01h
00h
Write Control Word
With the following examples the first steps in runtime programming should be explained. To
this message request the LinMot drive will always answer with the default motion response.
7.1 Write Control Word example 1
With this control word command the lock state is cleared
Request: Write Control Word (Clear Control Word)
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
01h
11h
05h
02h
00h
01h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID
Message Main ID (Write Control Word)
Control Word Low Byte
Control Word High Byte
Fix ID telegram end
This request is answered with the Default Response.
Example:
Tx: 01 11 05 02 00 01 00 00 04
Rx: 01 11 0C 02 00 00 00 B4 40 00 02 AB 00 00 00 04
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LinMot 
LinRS Interface
7.2 Write Control Word example 2
With this control word command causes a transition to enable state and starts homing.
Request: Write Control Word (Set all Bits for Operation and Home Flag)
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
01h
11h
05h
02h
00h
01h
3Fh
08h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID
Message Main ID (Write Control Word)
Control Word Low Byte
Control Word High Byte
Fix ID telegram end
Example:
Tx: 01 11 05 02 00 01 3F 08 04
Rx: 01 11 0C 02 00 00 00 B6 40 00 02 A8 00 00 00 04
To detect when the homing sequence has finished, poll the drive until the low byte in the
StateVar is 0Fh and the main state = 09h (homing) high byte of the state var.
Example:
Tx: 01 11 05 02 00 01 3F 08 04
Rx: 01 11 0C 02 00 00 00 B7 22 01 09 65 0E FB FF 04
Tx: 01 11 05 02 00 01 3F 08 04
Rx: 01 11 0C 02 00 00 00 B7 22 01 09 8B A3 F7 FF 04
Tx: 01 11 05 02 00 01 3F 08 04
Rx: 01 11 0C 02 00 00 00 B7 62 0C 09 4D 24 FF FF 04
Tx: 01 11 05 02 00 01 3F 08 04
Rx: 01 11 0C 02 00 00 00 37 4C 0F 09 DA FB FF FF 04 -> Homing finished
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LinMot 
LinRS Interface
7.3 Write Control Word example 3
With this control word command the normal operation is enabled.
Request: Write Control Word (Set all Bits for Operation and Reset Home Flag)
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
01h
11h
05h
02h
00h
01h
3Fh
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID
Message Main ID (Write Control Word)
Control Word Low Byte
Control Word High Byte
Fix ID telegram end
Example:
Tx: 01 11 05 02 00 01 3F 00 04
Rx: 01 11 0C 02 00 00 00 37 4C 00 09 3C FC FF FF 04
Poll again to make sure main state 08h is reached.
Tx: 01 11 05 02 00 01 3F 00 04
Rx: 01 11 0C 02 00 00 00 37 4C C0 08 DA FB FF FF 04
reached with homed flag set
NTI AG / LinMot
-> ‘Operation Enabled’ state
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LinMot 
LinRS Interface
8 Write Motion Command Interface
With the access to the Motion Command Interface of the MC-SW [1], the run time motion
could be controlled. There are a lot of different motion commands, which are described in [1]
for the different needs of the applications.
Message
Main ID
Message
Sub ID
Description
02h
00h
Write Motion Control Interface
8.1 Write Motion Command Interface example 1
With this motion command a VA-interpolator motion with default parameters for (max.
velocity and acceleration and deceleration) to the target position 10mm is defined.
Byte
Offset
Value
Description
0
1
2
3
4
5
6
7
8
9
10
11
12
01h
11h
09h
02h
00h
02h
01h
02h
A0h
86h
01h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID
Message Main ID (Motion Command Interface)
Motion Cmd Intf Header Low Byte (count =1) Sub ID =0
Motion Cmd Intf Header High Byte Master ID =2
Target Position lowest byte
Target Position middle low byte
Target Position middle high byte
Target Position highest byte
Fix ID telegram end
Example:
Tx: 01 11 09 02 00 02 01 02 A0 86 01 00 04
Rx: 01 11 0C 02 00 00 00 37 68 A1 08 8B FC FF FF 04
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LinRS Interface
8.2 Write Motion Command Interface example 2
Go back with the same motion command to 0mm.
Byte
Offset
Value
Description
0
1
2
3
4
5
6
7
8
9
10
11
12
01h
11h
09h
02h
00h
02h
02h
02h
00h
00h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID
Message Main ID (Motion Command Interface)
Motion Cmd Intf Header Low Byte (count =1) Sub ID =0
Motion Cmd Intf Header High Byte Master ID =2
Target Position lowest byte
Target Position middle low byte
Target Position middle high byte
Target Position highest byte
Fix ID telegram end
Tx: 01 11 09 02 00 02 02 02 00 00 00 00 04
Rx: 01 11 0C 02 00 00 00 37 28 A2 08 5E 81 01 00 04
With the next example the VAI motion command with defined Position, Max Velocity,
Acceleration and Deceleration is used. The message length is increased to 15h, to debug the
send data push the read button in the Control Panel.
Tx: 01 11 15 02 00 02 03 01 F0 49 02 00 40 42 0F 00 40 42 0F 00 40 42 0F 00 04
Rx: 01 11 0C 02 00 00 00 37 0D D3 08 F3 49 02 00 04
Tx: 01 11 15 02 00 02 04 01 B0 3C FF FF 40 42 0F 00 40 42 0F 00 40 42 0F 00 04
Rx: 01 11 0C 02 00 00 00 37 49 94 08 61 3D FF FF 04
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LinRS Interface
9 Parameter Group
With the parameter group, parameter can be changed or read. Within the MC SW two
different kinds of parameters are supported:
•
•
Live Parameters (during MC runtime, Message Sub ID’s 00h and 01h)
Configuration Parameters
While live parameters can be changed during the MC SW is running the configuration
parameters affects the behavior of its SW instance only after a restart of it. A Reset
command or Power cycle restarts all SW instances.
The parameters are accessed with a 16 Bit Unique Parameter ID (UPID). All parameters
values are mapped in a 4 byte value memory area. With bit parameters the lowest bit of
parameter value memory field is relevant, a byte parameter in the lowest byte and word
parameter into the two lower bytes.
Message
Main ID
Message
Sub ID
B1100
Description
03h
03h
03h
03h
03h
03h
03h
03h
00h
01h
02h
03h
04h
05h
06h
07h
Yes
Yes
Yes
Yes
-
Read RAM value with MC Default Response
Write RAM value with MC Default Response
Read ROM value with MC Default Response
Write ROM value with MC Default Response
Write RAM and ROM value with MC Default Response
Get minimal value of parameter with MC Default Response
Get maximal value of parameter with MC Default Response
Get default value of parameter with MC Default Response
03h
03h
03h
03h
11h
12h
13h
14h
-
Set OS (Operating System) ROM parameter values to default
Set MC (Motion Control) ROM parameter values to default
Set Interface ROM parameter values to default
Set Application ROM parameter values to default
Page 22/59
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LinRS Interface
9.1 Parameter/Variable Read RAM example
With this command example the RAM value of the UPID 13A2h (P Gain Position Controller,
for B1100 drives it is UPID 6198h) is read. With the default MC response the requested value
is added in the last 4 bytes of it.
Byte
Offset
Value
Description
0
1
2
3
4
5
6
7
8
01h
11h
05h
02h
00h
03h
A2h
13h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Read Ram Value)
Message Main ID (Parameter)
UPID Low Byte (P Gain Position Controller)
UPID High Byte (P Gain Position Controller)
Fix ID telegram end
Tx: 01 11 05 02 00 03 A2 13 04
Rx: 01 11 10 02 00 00 00 37 4C C2 08 AA 06 00 00 0A 00 00 00 04
9.2 Parameter Write RAM example
With this command example the RAM value of the UPID 13A2h (P Gain Position Controller,
for B1100 drives it is UPID 6198h) is changed to 11.
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
01h
11h
09h
02h
01h
03h
A2h
13h
0Bh
00h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Write Ram Value)
Message Main ID (Parameter)
UPID Low Byte (P Gain Position Controller)
UPID High Byte (P Gain Position Controller)
Parameter value low word low byte
Parameter value low word high byte
Parameter value high word low byte
Parameter value high word high byte
Fix ID telegram end
Tx: 01 11 09 02 01 03 A2 13 0B 00 00 00 04
Rx: 01 11 0C 02 00 00 00 37 4C C0 08 BF FB FF FF 04
Reading the parameter again shows the changed value:
Tx: 01 11 05 02 00 03 A2 13 04
Rx: 01 11 10 02 00 00 00 37 4C C0 08 BF FB FF FF 0B 00 00 00 04
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Reading the ROM value of the same parameter shows that it is still unchanged 0Ah.
Tx: 01 11 05 02 02 03 A2 13 04
Rx: 01 11 10 02 00 00 00 37 4C C0 08 BF FB FF FF 0A 00 00 00 04
Write 12 (0Ch) to the ROM value of the same parameter.
Tx: 01 11 09 02 03 03 A2 13 0C 00 00 00 04
Rx: 01 11 0C 02 00 00 00 37 4C C2 08 AB 09 00 00 04
Reading the ROM value of the same parameter shows that it is still unchanged 0Ch. This
change will affect the position controller behavior only after a restart of the MC-SW, for this
reason it is recommended to change the ROM values only in the stopped MC-SW mode.
Tx: 01 11 05 02 02 03 A2 13 04
Rx: 01 11 10 02 00 00 00 37 4C C2 08 AB 09 00 00 0C 00 00 00 04
The following sequence shows the behavior of the write RAM nad ROM command (Message
Sub ID 04h) to the same parameter with UPID 13A2h P-Gain Position controller Set A (UPID
6198h for B1100).
Write 09h to Ram and ROM
Tx: 01 11 09 02 04 03 A2 13 09 00 00 00 04
Rx: 01 11 0C 02 00 00 00 37 4C C2 08 95 09 00 00 04
Reading changed RAM value
Tx: 01 11 05 02 00 03 A2 13 04
Rx: 01 11 10 02 00 00 00 37 4C C2 08 EB 09 00 00 09 00 00 00 04
Reading changed ROM value
Tx: 01 11 05 02 02 03 A2 13 04
Rx: 01 11 10 02 00 00 00 37 4C C2 08 95 09 00 00 09 00 00 00 04
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LinMot 
LinRS Interface
10 Parameter Configuration Group
The parameter Configuration Group Messages could be used to read out a configuration,
and/or write a configuration. For configuring it is needed to stop the MC-SW of the drive first
(Program Handling Message Group), and after configuring the drive (re)start the MC-SW
again.
Message
Main ID
Message
Sub ID
Description
05h
05h
05h
05h
05h
05h
05h
05h
05h
05h
05h
05h
05h
05h
05h
00h
01h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
Read ROM value
Write ROM value
Get parameter address usage
Get parameter type
Get minimal value of parameter
Get maximal value of parameter
Get default value of parameter
Start Get Modified UPID List
Get Next Modified UPID
Start Get UPID List
Get Next UPID
Set OS (Operating System) ROM parameter values to default
Set MC (Motion Control) ROM parameter values to default
Set Interface ROM parameter values to default
Set Application ROM parameter values to default
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11
10
9
8
7
6
5
4
RAM Read
12
RAM Write
13
ROM Read
14
ROM Write
15
Life Parameter
calculationNot used for Hash
Meaning of the bits in the response to the telegram “Get parameter address usage”
Address Usage:
3
2
1
0
Meaning of the code in the response to the telegram “Get parameter type”
Supported Parameter Types:
Type Code Bit Length Description
00h
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
Page 26/59
1
8
8
16
16
32
32
32
#Char x 8
#Char x 8
1
16
8
16
32
32
BOOL
UINT8
SINT8
UINT16
SINT16
UINT32
SINT32
LIN_FLOAT ( not used as parameter)
STRING
CAP_DIR
RADIO_DIR_BIT
RADIO_DIR16
ENUM_DIR8
ENUM_DIR16
STRINGLET (Part of String 4 Characters)
CAP_DIRLET (Part of String 4 Characters)
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10.1 Parameter Configuration Read ROM value example
With command the RAM value of the UPID 13A2h (P Gain Position Controller, UPID 6198h
for B1100) is read. With the default MC response the requested value is added in the last 4
bytes of it.
Request: Read ROM value of UPID
Byte
Value
Offset
0
1
2
3
4
5
6
7
8
01h
11h
05h
02h
00h
05h
A2h
13h
04h
Description
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Cfg Read ROM Value)
Message Main ID (Parameter Configuration)
UPID Low Byte (P Gain Position Controller)
UPID High Byte (P Gain Position Controller)
Fix ID telegram end
Configuration Response: Read ROM value of UPID
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
01h
11h
0Ah
02h
50h
00h
00h
A2h
13h
09h
00h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Cfg Read ROM Value Response)
Message Main ID (Response)
Communication state
UPID Low Byte (P Gain Position Controller)
UPID High Byte (P Gain Position Controller)
Parameter value low word low byte
Parameter value low word high byte
Parameter value high word low byte
Parameter value high word high byte
Fix ID telegram end
Examples:
Stopping MC SW:
Tx: 01 11 03 02 03 06 04
Rx: 01 11 0C 02 00 00 00 00 00 00 00 87 00 00 00 04
; MC default response
Reading the P Gain Position Controller Set A (UPID: 13A2h) ROM value:
Tx: 01 11 05 02 00 05 A2 13 04
Rx: 01 11 0A 02 50 00 00 A2 13 09 00 00 00 04
Writing 16=00000010h the P Gain Position Controller Set A (UPID: 13A2h) ROM value:
Tx: 01 11 09 02 01 05 A2 13 10 00 00 00 04
Rx: 01 11 0A 02 51 00 00 A2 13 10 00 00 00 04
Reading again the P Gain Position Controller Set A (UPID: 13A2h) ROM value:
Tx: 01 11 05 02 00 05 A2 13 04
Rx: 01 11 0A 02 50 00 00 A2 13 10 00 00 00 04
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Reading the Parameter address acces of P Gain Position Controller Set A (UPID: 13A2h):
Tx: 01 11 05 02 03 05 A2 13 04
Rx: 01 11 0A 02 53 00 00 A2 13 0F 01 00 00 04
; RAM/ROM Read/Write and life
Reading the Parameter Type of P Gain Position Controller Set A (UPID: 13A2h):
Tx: 01 11 05 02 04 05 A2 13 04
Rx: 01 11 0A 02 54 00 00 A2 13 03 00 00 00 04
; Par Type UINT16
Reading Min Value the P Gain Position Controller Set A (UPID: 13A2h):
Tx: 01 11 05 02 05 05 A2 13 04
Rx: 01 11 0A 02 55 00 00 A2 13 00 00 00 00 04
Reading Max Value the P Gain Position Controller Set A (UPID: 13A2h):
Tx: 01 11 05 02 06 05 A2 13 04
Rx: 01 11 0A 02 56 00 00 A2 13 FF FF 00 00 04
Reading Default Value the P Gain Position Controller Set A (UPID: 13A2h):
Tx: 01 11 05 02 07 05 A2 13 04
Rx: 01 11 0A 02 57 00 00 A2 13 0F 00 00 00 04
10.2 Parameter Configuration read out changed Parameters
This feature is only available on E1100 drive types: With the commands ‘Start Get Modified
UPID List’ and ‘Get Next Modified UPID’ for each SW layer the changed parameters of the
actual configuration could be read out the drive. With this functionality the whole parameter
configuration of the drive could be read out and stored in the PC/PLC.
Each firmware layer has its own range of UPIDs for its parameters.
Layer
UPID Range
Layer name
1
2
3
4
0000h…0EFFh
1000h…1EFFh
2000h…2EFFh
3000h…3EFFh
Operating System
Motion Control SW
Interface Software
Application
In the following example the changed parameters of the Intf SW (LinRS), in the example the
4 listed UPID’s are changed:
UPID:
UPID:
UPID:
UPID:
200Eh, Baud Rate Source Select,
2012h, Baud Rate Parameter Def,
206Ch, MACID Source Select,
2076h, MACID Parameter Value,
Value: 00000002h, By Parameter
Value: 00000008h, 38400 Baud
Value: 00000003h, By Parameter
Value: 00000011h, MACID
Tx: 01 11 05 02 08 05 00 20 04
Rx: 01 11 0A 02 58 00 00 00 20 00 00 00 00 04
Tx: 01 11 05 02 09 05 00 20 04
Rx: 01 11 0A 02 59 00 00 0E 20 02 00 00 00 04
Tx: 01 11 05 02 09 05 00 20 04
Rx: 01 11 0A 02 59 00 00 12 20 08 00 00 00 04
Tx: 01 11 05 02 09 05 00 20 04
Rx: 01 11 0A 02 59 00 00 6C 20 03 00 00 00 04
Tx: 01 11 05 02 09 05 00 20 04
Rx: 01 11 0A 02 59 00 00 76 20 11 00 00 00 04
Tx: 01 11 05 02 09 05 00 20 04
Page 28/59
; init read out changed Intf Par (LinRS)
; get next changed Intf parameter
; UPID: 200Eh, Value; 00000002h
; get next changed Intf parameter
; UPID: 2012h, Value; 00000008h
; get next changed Intf parameter
; UPID: 206Ch, Value; 00000003h
; get next changed Intf parameter
; UPID: 2076h, Value; 00000011h
; get next changed Intf parameter
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Rx: 01 11 0A 02 59 00 C6 C7 20 01 00 00 00 04
; UPID: 20C7h, Value; 00000001h The
Communication state C6h indicates, that this was the last parameter
To read out the changed parameters of MC-SW layer start as follows
Tx: 01 11 05 02 08 05 00 10 04
; init read out changed MC-SW Par
Rx: 01 11 0A 02 58 00 00 00 10 00 00 00 00 04
Tx: 01 11 05 02 09 05 00 00 04
; get next changed parameter
Rx: 01 11 0A 02 59 00 00 37 10 07 00 00 00 04
; UPID: 1037h, Value; 00000007h
10.3 Parameter Configuration Read out UPID List
This feature is only available on E1100 drive types: With the commands ‘Start Get UPID List’
and ‘Get Next UPID’ for each SW layer all parameters of the actual configuration can be read
out from the drive. With this functionality the drive's parameter list can be read out and stored
in the PC/PLC. In a second step with the request read ROM value all the values of the list
can be read out.
Request: Get Next UPID
Byte
Offset
0
1
2
3
4
5
6
7
8
Value
Description
01h
11h
05h
02h
0Bh
05h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Get Next UPID)
Message Main ID (Parameter Configuration)
Not used, don’t have to be transmitted
Not used, don’t have to be transmitted
Fix ID telegram end
Configuration Response: Get Next UPID
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
NTI AG / LinMot
01h
11h
0Ah
02h
5Bh
00h
00h
A2h
13h
09h
00h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Cfg Read ROM Value)
Message Main ID (Response)
Communication state
Found UPID Low Byte
Found UPID High Byte
Address Usage low byte of found UPID
Address Usage high byte of found UPID
Parameter Type low byte of found UPID
Parameter Type high byte of found UPID
Fix ID telegram end
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LinRS Interface
The following example shows the principle of reading the UPID List of a SW instance, if
generating a configuration out of this list all UPIDs with the ‘ROM write’ address usage bit set
have to be read out with the get ROM value command.
Tx: 01 11 05 02 0A 05 00 20 04
Rx: 01 11 0A 02 5A 00 00 00 20 00 00 00 00 04
Tx: 01 11 05 02 0B 05 00 20 04
Rx: 01 11 0A 02 5B 00 00 08 20 0D 00 0A 00 04
…
Tx: 01 11 05 02 0B 05 00 20 04
Rx: 01 11 0A 02 5B 00 00 36 21 01 10 03 00 04
Tx: 01 11 05 02 0B 05 00 20 04
Rx: 01 11 0A 02 5B 00 00 37 21 01 10 03 00 04
Tx: 01 11 05 02 0B 05 00 20 04
Rx: 01 11 0A 02 5B 00 C6 37 21 01 10 03 00 04
; start Get UPID List Intf SW layer
; UPID 2008h, AU: 000Dh Type: 000Ah
; UPID 2136h, AU: 1001h Type: 0003h
; UPID 2137h, AU: 1001h Type: 0003h
; UPID 2137h, AU: 1001h Type: 0003h
10.4 Parameter Configuration Defaulting SW-Instance Parameters
This feature is only for E1100 drives: Before writing the parameters of a SW instance it is
advised to set all parameters of the corresponding SW instance to default values. This can
be done with a single parameter configuration message. The response is given after the
defaulting of the SW instance is completed could be more than 1s.
Examples:
Defaulting the parameters of the OS-SW:
Tx: 01 11 05 02 0C 05 00 00 04
Rx: 01 11 0A 02 5C 00 00 00 00 01 00 00 00 04
Defaulting the parameters of the MC-SW:
Tx: 01 11 05 02 0D 05 00 00 04
Rx: 01 11 0A 02 5D 00 00 00 00 02 00 00 00 04
Defaulting the parameters of the Interface SW:
Tx: 01 11 05 02 0E 05 00 00 04
Rx: 01 11 0A 02 5E 00 00 00 00 03 00 00 00 04
Defaulting the parameters of the Application SW:
Tx: 01 11 05 02 0F 05 00 00 04
Rx: 01 11 0A 02 5F 00 00 00 00 04 00 00 00 04
Page 30/59
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11 Curve Configuration Message Group
Only for E1100 drives: With the Curve Message Group, curves can be read out or written
from/to the drive. To store a new curves in the ROM the MC SW layer has to be stopped.
Message
Message Description
Main ID
Sub ID
04h
04h
04h
04h
04h
04h
04h
04h
04h
00h
01h
02h
04h
05h
06h
08h
09h
0Ah
Save Curves from RAM to FLASH (MC SW has to be stopped)
Delete all Curves in RAM
Delete Curve in RAM
Add Curve to RAM (Define Info Block Size and Data Block Size)
Write Curve Info Block
Write Curve Data Block
Read Curve Info Block Size and Data Block Size
Read Curve Info Block
Read Curve Data Block
Request: Save Curves from RAM to FLASH
Byte
Value
Description
Offset
0
1
2
3
4
5
6
01h
11h
03h
02h
00h
04h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Save curves from RAM to FLASH)
Message Main ID (Curve Message)
Fix ID telegram end
Configuration Response: Save Curves from RAM to FLASH
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
01h
11h
0Ah
02h
40h
00h
00h
00h
00h
09h
00h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Curve Cfg Response)
Message Main ID (Response)
Communication state
No meaning (low byte curve ID)
No meaning (high byte curve ID)
No meaning (response data low word low byte)
No meaning (response data low word high byte)
No meaning (response data high word low byte)
No meaning (response data high word high byte)
Fix ID telegram end
Example:
Tx: 01 11 03 02 00 04 04
Rx: 01 11 0A 02 40 00 00 00 00 00 00 00 00 04
; timeout 10s
Request: Delete all Curves in RAM
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With this command all curves defined are deleted in RAM.
Byte
Value
Description
Offset
0
1
2
3
4
5
6
01h
11h
03h
02h
01h
04h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Delete all Curves in RAM)
Message Main ID (Curve Message)
Fix ID telegram end
Configuration Response: Delete all Curves in RAM
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
01h
11h
0Ah
02h
40h
00h
00h
00h
00h
09h
00h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Curve Cfg Response)
Message Main ID (Response)
Communication state
No meaning (low byte curve ID)
No meaning (high byte curve ID)
No meaning (response data low word low byte)
No meaning (response data low word high byte)
No meaning (response data high word low byte)
No meaning (response data high word high byte)
Fix ID telegram end
Example:
Tx: 01 11 03 02 01 04 04
Rx: 01 11 0A 02 40 00 00 00 00 00 00 00 00 04
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LinRS Interface
Request: Delete Curve in RAM
With this command the curve with ID 1 defined is deleted in RAM.
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
01h
11h
03h
02h
02h
04h
01h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Delete Curve in RAM)
Message Main ID (Curve Message)
Curve ID low byte
Curve ID high byte
Fix ID telegram end
Configuration Response: Delete Curve in RAM
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
01h
11h
0Ah
02h
40h
00h
00h
01h
00h
09h
00h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Curve Cfg Response)
Message Main ID (Response)
Communication state
low byte curve ID
high byte curve ID
No meaning (response data low word low byte)
No meaning (response data low word high byte)
No meaning (response data high word low byte)
No meaning (response data high word high byte)
Fix ID telegram end
Example:
Tx: 01 11 05 02 02 04 01 00 04
Rx: 01 11 0A 02 40 00 00 01 00 00 00 00 00 04
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11.1 Read Curve From Servo Example
Only for E1100 drives: For a detailed description about the saving structure of a curve refer
to [2]. In the following example the curve with ID = 1 is read from the drive
Reading Curve 1 Info Block and Data Block size:
Tx: 01 11 05 02 08 04 01 00 04
Rx: 01 11 0A 02 40 00 00 01 00 46 00 54 00 04
; info block: 46bytes, data block: 54bytes
Reading Curve 1 Info Block Data:
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 46 00 03 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 15 00 04 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 53 69 6E 52 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 69 73 65 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 01 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 A0 86 01 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 1A 00 05 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 01 03 A0 86 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 01 00 00 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 40 42 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 0F 00 00 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 05 02 09 04 01 00 04
Rx: 01 11 0A 02 40 00 00 01 00 00 00 00 00 04
Page 34/59
User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
Reading Curve data 21 Position values:
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 0C 18 00 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 98 5F 00 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 E1 D4 00 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 04 75 01 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 0F 3C 02 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 1B 25 03 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 6D 2A 04 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 94 45 05 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 97 6F 06 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 20 A1 07 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 A9 D2 08 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 AC FC 09 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 D3 17 0B 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 25 1D 0C 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 31 06 0D 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 3C CD 0D 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 5F 6D 0E 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 A8 E2 0E 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 34 2A 0F 00 04
Tx: 01 11 05 02 0A 04 01 00 04
Rx: 01 11 0A 02 40 00 00 01 00 40 42 0F 00 04
NTI AG / LinMot
; position value 1
; position value 2
; position value 3
; position value 4
; position value 5
; position value 6
; position value 7
; position value 8
; position value 9
; position value 10
; position value 11
; position value 12
; position value 13
; position value 14
; position value 15
; position value 16
; position value 17
; position value 18
; position value 19
; position value 20
; position value 21
User Manual LinRS Interface / 27/08/2014
Page 35/59
LinMot 
LinRS Interface
11.2 Write Curve To Servo Example
Write curve 1 info block size and data block size:
Tx: 01 11 09 02 04 04 01 00 46 00 54 00 04
Rx: 01 11 0A 02 40 00 00 01 00 00 00 00 00 04
Write curve 1 info block data:
Tx: 01 11 09 02 05 04 01 00 46 00 03 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 15 00 04 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 53 69 6E 52 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 69 73 65 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 00 00 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 00 00 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 00 00 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 00 00 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 A0 86 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 1A 00 05 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 01 03 A0 86 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 01 00 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 00 00 40 42 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 0F 00 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 00 00 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 00 00 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 00 00 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 05 04 01 00 00 00 00 00 04
Rx: 01 11 0A 02 40 00 00 01 00 00 00 00 00 04
Page 36/59
User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
Write curve 1 data:
Tx: 01 11 09 02 06 04 01 00 00 00 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 0C 18 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 98 5F 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 E1 D4 00 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 04 75 01 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 0F 3C 02 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 1B 25 03 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 6D 2A 04 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 94 45 05 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 97 6F 06 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 20 A1 07 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 A9 D2 08 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 AC FC 09 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 D3 17 0B 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 25 1D 0C 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 31 06 0D 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 3C CD 0D 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 5F 6D 0E 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 A8 E2 0E 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 34 2A 0F 00 04
Rx: 01 11 0A 02 40 00 04 01 00 00 00 00 00 04
Tx: 01 11 09 02 06 04 01 00 40 42 0F 00 04
Rx: 01 11 0A 02 40 00 00 01 00 00 00 00 00 04
NTI AG / LinMot
User Manual LinRS Interface / 27/08/2014
Page 37/59
LinMot 
LinRS Interface
12 Command Table Message Group
Only for E1100 drives: With the Command Table Message Group, Command table Entries
can be read out or written from/to the drive. To store a new command table in the ROM the
MC SW layer has to be stopped.
Message
Main ID
Messag
e Sub ID
Description
08h
08h
08h
08h
08h
08h
08h
08h
00h
01h
02h
03h
04h
05h
06h
07h
Save Command Table from RAM to FLASH (MC SW has to be stopped)
Delete all Command Table Entries in RAM
Delete Command table entry
Setup Write Command Table entry in RAM
Write Command Table entry data in RAM
Setup Read Command Table Entry
Read Command Table entry data
Get Command Table defined entry list
Request: Save Command Table from RAM to FLASH
Byte
Value
Description
Offset
0
1
2
3
4
5
6
01h
11h
03h
02h
00h
08h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Save CT from RAM to FLASH)
Message Main ID (CT Message)
Fix ID telegram end
Configuration Response: Save Command Table from RAM to FLASH
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
01h
11h
0Ah
02h
80h
00h
00h
00h
00h
00h
00h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (CT Flashing completed Response)
Message Main ID (Response)
Communication state
No meaning (low CT entry ID)
No meaning (high CT entry ID)
No meaning (response data low word low byte)
No meaning (response data low word high byte)
No meaning (response data high word low byte)
No meaning (response data high word high byte)
Fix ID telegram end
Example:
Tx: 01 11 03 02 00 08 04
Rx: 01 11 0A 02 80 00 00 00 00 00 00 00 00 04
; timeout 10s
Request: Delete all Command Table Entries in RAM
Page 38/59
User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
Byte
Offset
Value
Description
0
1
2
3
4
5
6
01h
11h
03h
02h
01h
08h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Delete all CT Entries in RAM)
Message Main ID (CT Message)
Fix ID telegram end
Configuration Response: Delete all Command Table Entries in RAM
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
01h
11h
0Ah
02h
81h
00h
00h
00h
00h
00h
00h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Delete all CT Entries in RAM)
Message Main ID (Response)
Communication state
No meaning (low byte CT entry ID)
No meaning (high byte CT entry ID)
No meaning (response data low word low byte)
No meaning (response data low word high byte)
No meaning (response data high word low byte)
No meaning (response data high word high byte)
Fix ID telegram end
Example:
Tx: 01 11 03 02 01 08 04
Rx: 01 11 0A 02 81 00 00 00 00 00 00 00 00 04
NTI AG / LinMot
User Manual LinRS Interface / 27/08/2014
Page 39/59
LinMot 
LinRS Interface
Request: Delete Command Table Entry in RAM
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
01h
11h
03h
02h
02h
08h
02h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Delete CT Entry in RAM)
Message Main ID (CT Message)
Low byte CT entry ID
High byte CT entry ID
Fix ID telegram end
Configuration Response: Delete Command Table Entry in RAM
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
01h
11h
0Ah
02h
82h
00h
00h
02h
00h
00h
00h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (CT Flashing completed Response)
Message Main ID (Response)
Communication state
Low byte CT entry ID
High byte CT entry ID
No meaning (response data low word low byte)
No meaning (response data low word high byte)
No meaning (response data high word low byte)
No meaning (response data high word high byte)
Fix ID telegram end
Example:
Tx: 01 11 05 02 02 08 02 00 04
Rx: 01 11 0A 02 82 00 00 02 00 00 00 00 00 04
Page 40/59
User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
Request: Get Command Table Defined Entry List
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
01h
11h
05h
02h
07h
08h
00h
00h
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (Delete CT Entry in RAM)
Message Main ID (CT Message)
Low byte CT entry ID 0..7
High byte CT entry ID
Fix ID telegram end
Configuration Response: Get Command Table Defined Entry List
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
01h
11h
0Ah
02h
82h
00h
00h
00h
00h
89h
10
00h
11
00h
12
00h
13
04h
Fix ID Telegram start
Destination node ID
Telegram length
Fix ID start data
Message Sub ID (CT Flashing completed Response)
Message Main ID (Response)
Communication state
Low byte CT entry List ID
High byte CT entry ID
Entry List 0..7 bit = 0 entry exists, bit = 1 entry not
defined
Entry List 8..15 bit = 0 entry exists, bit = 1 entry not
defined
Entry List 16..23 bit = 0 entry exists, bit = 1 entry not
defined
Entry List 24..31 bit = 0 entry exists, bit = 1 entry not
defined
Fix ID telegram end
Example:
Tx: 01 11 09 02 07 08 00 00 00 00 00 00 04
Rx: 01 11 0A 02 87 00 00 00 00 89 FF FF FF 04
Tx: 01 11 09 02 07 08 01 00 00 00 00 00 04
Rx: 01 11 0A 02 87 00 00 01 00 FF FF FF FF 04
Tx: 01 11 09 02 07 08 02 00 00 00 00 00 04
Rx: 01 11 0A 02 87 00 00 02 00 FF FF FF FF 04
Tx: 01 11 09 02 07 08 03 00 00 00 00 00 04
Rx: 01 11 0A 02 87 00 00 03 00 FF FF FF FF 04
Tx: 01 11 09 02 07 08 04 00 00 00 00 00 04
Rx: 01 11 0A 02 87 00 00 04 00 FF FF FF FF 04
Tx: 01 11 09 02 07 08 05 00 00 00 00 00 04
Rx: 01 11 0A 02 87 00 00 05 00 FF FF FF FF 04
Tx: 01 11 09 02 07 08 06 00 00 00 00 00 04
Rx: 01 11 0A 02 87 00 00 06 00 FF FF FF FF 04
Tx: 01 11 09 02 07 08 07 00 00 00 00 00 04
Rx: 01 11 0A 02 87 00 00 07 00 FF FF FF FF 04
NTI AG / LinMot
; CT entry list 0..31; 1,2,4,5,6 defined
; CT entry list 32..63; no entry defined
; CT entry list 64..95; no entry defined
; CT entry list 96..127; no entry defined
; CT entry list 128..159; no entry defined
; CT entry list 160..191; no entry defined
; CT entry list 192..223; no entry defined
; CT entry list 224..255; no entry defined
User Manual LinRS Interface / 27/08/2014
Page 41/59
LinMot 
LinRS Interface
12.1 Read Command Table Entry From Servo Example
Tx: 01 11 05 02 05 08 02 00 04
Rx: 01 11 0A 02 85 00 00 02 00 40 00 00 00 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 01 A7 FF FF 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 00 01 40 42 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 0F 00 20 A1 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 07 00 40 0D 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 03 00 40 0D 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 03 00 00 00 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 00 00 00 00 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 00 00 00 00 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 00 00 00 00 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 00 00 55 6E 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 6E 61 6D 65 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 64 00 00 00 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 00 00 00 00 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 00 00 FF FF 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 04 02 00 FF FF FF FF 04
Tx: 01 11 05 02 06 08 02 00 04
Rx: 01 11 0A 02 86 00 00 02 00 FF FF FF FF 04
Page 42/59
User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
12.2 Write Command Table Entry To Servo Example
Only for E1100 drives: Setup Write Command Table entry 2 data size 40hbytes:
Tx: 01 11 09 02 03 08 02 00 40 00 00 00 04
Rx: 01 11 0A 02 83 00 00 02 00 00 00 00 00 04
Write Command Table entry 2 data :
Tx: 01 11 09 02 04 08 02 00 01 A7 FF FF 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 00 01 40 42 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 0F 00 20 A1 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 07 00 40 0D 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 03 00 40 0D 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 03 00 00 00 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 00 00 00 00 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 00 00 00 00 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 00 00 00 00 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 00 00 55 6E 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 6E 61 6D 65 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 64 00 00 00 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 00 00 00 00 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 00 00 FF FF 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 FF FF FF FF 04
Rx: 01 11 0A 02 84 00 04 02 00 00 00 00 00 04
Tx: 01 11 09 02 04 08 02 00 FF FF FF FF 04
Rx: 01 11 0A 02 84 00 00 02 00 00 00 00 00 04
NTI AG / LinMot
User Manual LinRS Interface / 27/08/2014
Page 43/59
LinMot 
LinRS Interface
13 Program Handling Message Group
With the program handling message group, the whole drive or/and SW instances of it can be
accessed.
Message
Main ID
Message
Sub ID
B1100
Description
06h
01h
Yes
06h
06h
06h
02h
03h
04h
Yes
-
06h
05h
-
Reset Drive Completely (restart of all SW instances) with
response after reset completion
Reset Drive with immediate response
Stop MC- and Application SW
Start MC- and Application SW with response after start
completion
Start MC- and Application SW with immediate response
13.1 Reset Drive with Response after completion
Request: Reset Drive
Byte
Offset
0
1
2
3
4
5
6
Response: Reset Drive
Byte
Offset
0
1
2
3
4
5
6
7
Value
Description
01h
11h
03h
02h
01h
06h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Reset Drive with Response after completion
Main ID: Program Handling Message Group
Fix ID telegram end
Value
Description
01h
11h
04h
02h
60h
00h
00h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Program Handling Response
Main ID: Response Message
Communication State ok
Fix ID telegram end
Example:
Tx: 01 11 03 02 01 06 04
Rx: 01 11 04 02 60 00 00 04
The response is given after the reset is completed (ca. 3s)
Page 44/59
User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
13.2 Reset Drive with immediate Response
Request: Reset Drive with immediate Response
Byte
Value
Description
Offset
0
1
2
3
4
5
6
01h
11h
03h
02h
01h
06h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Reset Drive with immediate Response
Main ID: Program Handling Message Group
Fix ID telegram end
Response: Reset Drive with immediate Response
The drive answers with the configured default response.
Example:
Tx: 01 11 03 02 02 06 04
Rx: 01 11 0C 02 00 00 00 F6 40 00 00 8A 00 00 00 04
The default response is given immediate, to detect reboot completion poll drive until it
answers.
13.3 Stop MC- and Application SW
Request: Stop MC- and Application SW
Byte
Value
Description
Offset
0
1
2
3
4
5
6
01h
11h
03h
02h
03h
06h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Stop MC- and Application SW
Main ID: Program Handling Message Group
Fix ID telegram end
Response: Reset Drive with immediate Response
The drive answers with the configured default response.
Example:
Tx: 01 11 03 02 03 06 04
Rx: 01 11 0C 02 00 00 00 00 00 00 00 D9 00 00 00 04
NTI AG / LinMot
User Manual LinRS Interface / 27/08/2014
Page 45/59
LinMot 
LinRS Interface
13.4 Start MC- and Application SW with Response after completion
Request: Start MC- and Application SW with Response after completion
Byte
Value
Description
Offset
0
1
2
3
4
5
6
01h
11h
03h
02h
01h
06h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Reset Drive with Response after completion
Main ID: Program Handling Message Group
Fix ID telegram end
Response: Start MC- and Application SW with Response after completion
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
01h
11h
04h
02h
60h
00h
00h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Program Handling Response
Main ID: Response Message
Communication State ok
Fix ID telegram end
Example:
Tx: 01 11 03 02 04 06 04
Rx: 01 11 04 02 60 00 00 04
The response is given after the start is completed (ca. 3s)
Page 46/59
User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
13.5 Start MC- and Application SW with immediate Response
Request: Start MC- and Application SW with immediate Response
Byte
Value
Description
Offset
0
1
2
3
4
5
6
01h
11h
03h
02h
01h
06h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Reset Drive with immediate Response
Main ID: Program Handling Message Group
Fix ID telegram end
Response: Start MC- and Application SW with immediate Response
The drive answers with the configured default response.
Example:
Tx: 01 11 03 02 05 06 04
Rx: 01 11 0C 02 00 00 00 F6 40 00 00 8A 00 00 00 04
The default response is given immediate, to detect restart completion poll the drive until it
answers.
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LinMot 
LinRS Interface
14 Read Error Info Message Group
With the Read Error Info message group, error strings and the stored error log of the drive
can be read out.
Message
Main ID
Message
Sub ID
Description
07h
07h
07h
07h
00h
01h
02h
03h
Get error short text of actual error
Get error short text of defined error code
Get error counters of error log and total occurred error
Get error log entry ( error code, short text and time)
14.1 Get error short text of actual error
Only for E1100 drives: With the get error short text of actual error request the slave answers
with string with 32 characters, which contains the short text of the actual error code (unused
characters are filled with 00h).
Request: Get error short text of actual error
Byte
Value
Description
Offset
0
1
2
3
4
5
6
01h
11h
03h
02h
00h
07h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Get error short text of actual error
Main ID: Read Error Info Message Group
Fix ID telegram end
Response: Get error short text of actual error
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
.
39
01h
11h
24h
02h
70h
00h
00h
4Eh
..
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Response Get error short text of actual error
Main ID: Response Message
Communication State ok
First character ‘N’
Characters 2..32
Fix ID telegram end
Example:
Tx: 01 11 03 02 00 07 04
Rx: 01 11 24 02 70 00 00 4E 6F 20 45 72 72 6F 72 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 04
The slave responds with the string ‚No Error’.
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LinMot 
LinRS Interface
14.2 Get error short text of defined error code
Only for E1100 and E1200 drives: With the get error short text of defined error code request
the slave answers with string with 32 characters, which contains the short text of the actual
error code (unused characters are filled with 00h).
Request: Get error short text of defined error code
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
01h
11h
05h
02h
01h
07h
01h
00h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Get error short text of defined error code
Main ID: Read Error Info Message Group
Error code low byte
Error code High byte (have to be 00h)
Fix ID telegram end
Response: Get error short text of defined error code
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
.
41
01h
11h
26h
02h
71h
00h
00h
01h
00h
4Eh
..
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Response Get error short text of actual error
Main ID: Response Message
Communication State ok
Error code low byte
Error code high byte
First character ‘N’
Characters 2..32
Fix ID telegram end
Example:
Read Error text of Error Code 01h:
Tx: 01 11 05 02 01 07 01 00 04
Rx: 01 11 26 02 71 00 00 01 00 45 72 72 3A 20 58 34 20 4C 6F 67 69 63 20 53 75 70 70 6C
79 20 54 6F 6F 20 4C 6F 77 00 00 00 00 04
The slave responds with the string ‚Err: X4 Logic Supply Too Low’.
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LinMot 
LinRS Interface
14.3 Get error counters of error log and total occurred errors
With the command “Get error counters of error log and total occurred errors” the slave
answers with the number of logged errors and the number of occurred error (which is a free
running counter).
Request: Get error counters of error log and total occurred errors
Byte
Value
Description
Offset
0
1
2
3
4
5
6
01h
11h
03h
02h
02h
07h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Get error counters
Main ID: Read Error Info Message Group
Fix ID telegram end
Response: Get error counters of error log and total occurred errors
Byte
Value
Description
Offset
0
1
2
3
4
5
6
7
8
9
10
11
01h
11h
08h
02h
72h
00h
00h
15h
00h
4Eh
00h
04h
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Response Get error short text of actual error
Main ID: Response Message
Communication State ok
Low byte Number of error log entries
High byte Number of error log entries
Low byte Number of occurred errors
High byte Number of occurred errors
Fix ID telegram end
Example:
Tx: 01 11 03 02 02 07 04
Rx: 01 11 08 02 72 00 00 15 00 90 00 04
The slave responds 21 (15h) Logged errors (=buffer size) and 144 (90h) occurred errors.
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LinMot 
LinRS Interface
14.4 Get error log entry
With the Get error log entry the slave answers with the error code and the error time.
Request: Get error log entry
Byte
Value
Offset
0
1
2
3
4
5
6
7
8
01h
11h
05h
02h
03h
07h
00h
00h
04h
Response: Get error log entry
Byte
Value
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
01h
11h
0Eh
02h
73h
00h
00h
0Ch
00h
3Eh
11h
0Eh
00h
6Fh
02h
00h
00h
04h
Description
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Get error log entry
Main ID: Read Error Info Message Group
Low byte error log entry number (0 = newest)
High byte error log entry number
Fix ID telegram end
Description
Fix ID telegram start
MACID
Data length
Fix ID start data
Sub ID: Response Get error log entry
Main ID: Response Message
Communication State ok
Low byte error code
High byte error code
Low byte low word milli second counter (run time)
High byte low word milli second counter (run time)
Low byte high word milli second counter (run time)
High byte high word milli second counter (run time)
Low byte low word hour counter (run time)
High byte low word hour counter (run time)
Low byte high word hour counter (run time)
High byte high word hour counter (run time)
Fix ID telegram end
Example:
Tx: 01 11 05 02 03 07 00 00 04
Rx: 01 11 0E 02 73 00 00 0C 00 3E 11 0E 00 6F 02 00 00 04
The slave responds:
Error code: 000Ch, ‚Err. Pos Lag Standing Too Big’
Milli second counter: 000E113Eh= 921218ms=15min 21s 918ms
Hour counter: 0000026Fh= 623h
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LinMot 
LinRS Interface
15 LinRS Parameters
The E1100 drives with loaded LinRS protocol SW have an additional parameter tree branch,
which can be configured with the distributed LinMot-Talk software. With these parameters,
the LinRS behaviour can be configured. The software LinMot-Talk can be downloaded from
http://www.linmot.com under the section download, software & manuals.
Dis-/Enable
With the Dis-/Enable parameter the LinMot drive can be run without
the LinRS going online.
LinRS\ Dis-/Enable
Disable
The drive runs without LinRS.
Enable
The drive runs with a LinRS connection, the RS
configuration is not port is no longer active!
(default)
IMPORTANT: E1100 drives: To activate the LinRS Interface, the DipSwitch S3.4 “Interface” at the bottom of the drive has to be set to “ON”
with power up.
RS Config
RS Select
RS Source Select
In this section the RS UART behaviour can be configured.
In this section the RS line type of RS can be configured.
Over the RS select parameter the bus topology is defined (E1100
only).
LinRS\ RS Config\ RS Select\ RS Source Select
By S3.1
Look at S3.1 for RS232 RS 485 selection (default)
Parameter
Take value from parameter RS Parameter Def.
RS Parameter Def
Over the RS select parameter the bus topology is defined.
LinRS\ RS Config\ RS Select\ RS Parameter Def
RS 485
RS 485 two wire bus topology (default)
RS 422
RS 422 four wire bus topology
RS 232
RS 232 two wire point to point bus topology
Baud Rate
In this section the parameters for the baud rate selection are located.
Baud Rate Source Select
Defines if the baud rate is defined over Hex Switch S1 or parameter
(E1100 only).
LinRS\ RS Config\ Baud Rate\ Baud Rate Source Select
By Hex Switch
Look at S1 for Baud Rate Selection (default)
S1
By Parameter
Take value from parameter Baud Rate Parameter
Definition.
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LinMot 
LinRS Interface
Baud Rate Parameter Definition
The baud rate definition if defined with parameter.
LinRS\ RS Config\ Baud Rate\ Baud Rate Parameter Def
4800 Bit/s
RS baud rate = 4800 Bit/s
9600 Bit/s
RS baud rate = 9600 Bit/s
19200 Bit/s
RS baud rate = 19200 Bit/s
38400 Bit/s
RS baud rate = 38400 Bit/s
57600 Bit/s
RS baud rate = 57600 Bit/s (default)
115200 Bit/s
RS baud rate = 115200 Bit/s
Stop Bit
Defines the stop bit length.
LinRS\ RS Config\ Stop Bit
1
One stop bit
2
Two bit time stop bit
Parity
Protocol Config
Defines the parity bit behaviour.
LinRS\ RS Config\ Parity
None
No parity bit
Even
Even parity bit
Odd
Odd parity bit
In this section the protocol can be configured.
MACID
In this section the MAC ID (drive number) can be configured.
ID Source Select
The MACID parameter defines the source of the MACID (Node
Address).
E1100:
LinRS\ Protocol Config\ MACID\ MACID Source Select
B1100:
OS\ Communication\ MACID\ MACID Source Select
By Hex Switch S2
E1100/E1200 only:The MACID is determined by
the hex switch S2 (default)
By Hex Switches
E1100/E1200 only: The MACID is determined
S1 and S2
by the two hex switches S1 and S2
By Parameter
The MACID is determined by parameter setting
By Dig In 1
B1100 only: The MACID is defined by DigIn1
(X13.14) at power up. 0V = ID 0, 24V = ID 1
By Dig In 2..1
B1100 only: The MACID is defined by DigIn2 ..
1 (X13.2 and X13.14) at power up. DigIn2 is the
most, DigIn1 the least significant bit. ( 00b = ID
0, 11b = ID 3)
By Dig In 3..1
B1100 only: The MACID is defined by DigIn3 ..
1 (X13.15, X13.2 and X13.14) at power up.
DigIn3 is the most, DigIn1 the least significant
bit. ( 000b = ID 0, 111b = ID 7)
By Dig In 4..1
B1100 only: The MACID is defined by DigIn4 ..
1 (X13.3, X13.15, X13.2 and X13.14) at power
up. DigIn4 is the most, DigIn1 the least
significant bit. ( 0000b = ID 0, 1111b = ID 15)
By Dig In 5..1
B1100 only: The MACID is defined by DigIn5 ..
1 (X13.16, X13.3, X13.15, X13.2 and X13.14) at
power up. DigIn5 is the most, DigIn1 the least
significant bit. ( 00000b = ID 0, 11111b = ID 31)
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LinMot 
LinRS Interface
By Dig In 6..1
By Dig In 1 +
Offset
By Dig In 2..1 +
Offset
By Dig In 3..1 +
Offset
By Dig In 4..1 +
Offset
By Dig In 5..1 +
Offset
By Dig In 6..1 +
Offset
Parameter Value
B1100 only: The MACID is defined by DigIn6 ..
1 (X13.4, X13.16, X13.3, X13.15, X13.2 and
X13.14) at power up. DigIn6 is the most, DigIn1
the least significant bit. ( 000000b = ID 0,
111111b = ID 63)
B1100 only: The MACID is defined by DigIn1
(X14.14) at power up plus the value of 6081h
(MACID Parameter Value) as offset. 0V = ID 0,
24V = ID 1 (plus offset).
B1100 only: The MACID is defined by DigIn2 ..
1 (X14.2 and X14.14) at power up plus the
value of 6081h (MACID Parameter Value) as
offset. DigIn2 is the most, DigIn1 the least
significant bit. ( 00b = ID 0, 11b = ID 3 (plus
offset))
B1100 only: The MACID is defined by DigIn3 ..
1 (X14.15, X14.2 and X14.14) at power up plus
the value of 6081h (MACID Parameter Value)
as offset. DigIn3 is the most, DigIn1 the least
significant bit. ( 000b = ID 0, 111b = ID 7 (plus
offset))
B1100 only: The MACID is defined by DigIn4 ..
1 (X14.3, X14.15, X14.2 and X14.14) at power
up plus the value of 6081h (MACID Parameter
Value) as offset. DigIn4 is the most, DigIn1 the
least significant bit. ( 0000b = ID 0, 1111b = ID
15 (plus offset))
B1100 only: The MACID is defined by DigIn5 ..
1 (X14.16, X14.3, X14.15, X14.2 and X14.14) at
power up plus the value of 6081h (MACID
Parameter Value) as offset. DigIn5 is the most,
DigIn1 the least significant bit. ( 00000b = ID 0,
11111b = ID 31 (plus offset))
B1100 only: The MACID is defined by DigIn6 ..
1 (X14.4, X14.16, X14.3, X14.15, X14.2 and
X14.14) at power up plus the value of 6081h
(MACID Parameter Value) as offset. DigIn6 is
the most, DigIn1 the least significant bit.
( 000000b = ID 0, 111111b = ID 63 (plus offset))
The MACID, when “Parameter” is selected
MACID Parameter Value
The ID parameter defines the source of the MACID.
LinRS\ Protocol Config\ MACID\ MACID Parameter Value
MACID
The ID, when “Parameter” is selected as ID
Parameter
Source (11h default)
Value
Checksum
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The checksum parameter defines the checksum generation.
LinRS\ Protocol Config\ Checksum
None
No checksum is expected or generated (default)
Add
A simple byte wise addition modulo 2^16 (fast and
easy)
CRC CCITT
CRC checksum with CCITT polynomial 16 bit
User Manual LinRS Interface / 27/08/2014
NTI AG / LinMot
LinMot 
LinRS Interface
Checksum Start Value
This parameter defines the start value of thechecksum
generation.
LinRS\ Protocol Config\ Checksum Start Value
0000h
Checksum start value 0 (default)
FFFFh
Checksum start value 0xFFFF
1D0Fh (CCITT
Standart CCITT start value
standard)
Receive Time Out
Specifies the byte to byte time out during receiving, if the time out
occurs the receive state machine is reset. This behaviour enables a
correct receive of the following telegram even if the actual telegram is
corrupted.
LinRS\ Protocol Config\ Receive Time Out
Enable
• Enable
• Disable
Time Out
Byte to byte time out value
MC Response Configuration
The response configuration determines the data that is
responded from the LinMot drive to the PLC. The orders of the data
correspond to selection order in the response.
LinRS\ Protocol Config\ MC Response Configuration
Communication State
LinRS Status byte of communication
(Default Selection On)
Status Word
Status Word (Default Selection On)
State Var
State Variable (Default Selection Off)
Error Code
Error Code (Default Selection Off)
Warn Word
Warn Word (Default Selection Off)
MC Cmd Intf Header
MC command interface echo (Default
Echo
Selection Off)
Monitoring Channel 1
Monitoring Channel 1 Selection (Default On)
Channel 1 UPID
Monitoring Channel 1 UPID
Monitoring Channel 2
Monitoring Channel 2 Selection (Default Off)
Channel 2 UPID
Monitoring Channel 2 UPID
MC Response
4 byte Place holder for MC Response
(Default Off)
Error
In this section the Error behaviour can be
defined.
Error Detection Mask
With the error detection mask a single error can be
disabled. Also a LinRS error causes the MC-SW go to the error state.
LinRS\ Error\ Error Detection Mask
Checksum Error
(Default Selection On)
End Of Telegram Missing (Default Selection On)
Wrong Msg Main ID
(Default Selection On)
Wrong Msg Sub ID
(Default Selection On)
UPID Not Existing
(Default Selection On)
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LinRS Interface
Respond On Msg With Error
Typically the LinMot drive doesn’t answer to wrong
telegrams, with this mask the response for certain errors can be
enabled. With turned on Communication state in the MC default
response the error will be responded to the master.
LinRS\ Error\ Respond On Msg With Error
Checksum Error
(Default Selection On)
End Of Telegram Missing (Default Selection On)
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LinMot 
LinRS Interface
16 Error
Within the LinRS Intf SW several errors are supported, most of them can be disabled,
because they are not fatal. For the motion control specific errors refer to document [1].
16.1 LinRS Error Codes
In the table below the LinRS specific error codes are listed.
Value
C1h
C2h
C3h
C4h
C5h
C8h
C9h
Description
Checksum error
Message format error End of Telegram (04h) missing
Undefined Message Main ID
Undefined Message Sub ID
Wrong Baud Rate Defined With S1
Parameter Unknown UPID
Parameter Wrong Type
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LinMot 
LinRS Interface
17 Troubleshooting
17.1 Stopping LinRS on B1100 Drives
If you have installed the LinRS firmware on a B1100 drive the RS-port is occupied by the
LinRS, so no configuration or login can be done over RS. It is recommended to use the USB
to CAN converter. If you don’t have one, you can follow the sequence below to have access
over the RS port in the meantime.
1. Power down the B1100 servo
2. Launch the LinMot-Talk software (don’t login, it’s not possible)
3. Under: File / Install firmware select the stop script and open it
4. select the correct COM port
5. Power on the B1100 drive (24V Logic Supply)
6. The servo is now stopped (Firmware successfully stopped!) during booting, before
starting the LinRS. Now the RS COM port is free for login and configuration or
diagnostics.
This procedure can also be used to stop other drives over the RS232 link.
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LinMot 
LinRS Interface
18 Contact Addresses
----------------------------------------------------------------------------------------------------------------------------SWITZERLAND
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/
----------------------------------------------------------------------------------------------------------------------------USA
LinMot, Inc.
204 E Morrissey Dr.
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 distribution near you.
Smart solutions are…
NTI AG / LinMot
User Manual LinRS Interface / 27/08/2014
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