Host Command Reference

Appendix G: eSCL (SCL over Ethernet) Reference

Introduction

eSCL is Applied Motion Products’ language for commanding and querying motion control products over

Ethernet. It is supported by several motion control devices, including the ST5-Q-E, ST10-Q-E and SV7-Q-E. In addition to sending commands to a drive from a host in real time, you can also use our Q Programmer software to embed sequences of commands, called Q Programs, in a drive. These programs can be set to execute automatically at power up, or can be triggered by commands sent from the host.

This guide is intended to help you connect and configure your drive and to help you start writing your own eSCL host application.

Getting Started

There are three steps required to create an eSCL application with your new Applied Motion Products motor driver. Each of these is explained in a separate section of this manual.

• Connect the drive to your PC. This includes getting the drive physically connected to your network (or directly to the PC), setting the drive’s IP address, and setting the appropriate networking properties on your PC.

• Configure the drive for your motor and application. For step motor drives, you’ll need to use a suitable version of our Configurator software. For servos, use Quick Tuner.

• Create your own application. This guide includes code examples in Visual Basic and C# to help you get started. You can download the example in their entirety, from our website, but we recommend reading the explanations in the guide first.

Connecting a Drive to Your PC

This process requires three steps

• Get the drive physically connected to your network (or directly to the

PC)

• Set the drive’s IP address

• Set the appropriate networking properties on your PC.

Addresses, Subnets, and Ports

Every device on an Ethernet network must have a unique IP address.

In order for two devices to communicate with each other, they must both be connected to the network and they must have IP addresses that are on the same subnet. A subnet is a logical division of a larger network. Members of one subnet are generally not able to communicate with the members of another. Subnets are defined by the choices of IP addresses and subnet masks.

If you want to know the IP address and subnet mask of your PC, select

Start…All Programs…Accessories…Command Prompt. Then type “ipconfig” and press Enter. You should see something like this:

Point of Interest

AMP recommends performing all

Ethernet configuration of the drive while connected directly to a PC via a CAT-5 Ethernet cable. This avoids many potential communication problems associated with frequent

IP address changes on a larger network.

Once fully configured, the drive may be used on a plant network without issue.

See the section titled “ARP Tables - the Ghost in the Machine” below for further information.

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If your PC’s subnet mask is set to 255.255.255.0, a common setting known as a Class C subnet mask, then your machine can only talk to another network device whose

IP address matches yours in the first three octets. (The numbers between the dots in an IP address are called octets.) For example, if your PC is on a Class C subnet and has an IP address of 192.168.0.20, it can talk to a device at

192.168.0.40, but not one at 192.168.1.40. If you change your subnet mask to 255.255.0.0 (Class B) you can talk to any device whose first two octets match yours. Be sure to ask your system administrator before doing this. You network may be segmented for a reason.

Your drive includes a 16 position rotary switch for setting its IP address. The factory default address for each switch setting is shown in the table to the right.

Settings 1 through E can be changed using the STAC

Configurator software (use Quick Tuner for servo drives).

Setting 0 is always “10.10.10.10”, the universal recovery address. If someone were to change the other settings and

IP Address*

0 10.10.10.10

1 192.168.1.10

2 192.168.1.20

3 192.168.1.30

4 192.168.0.40

5 192.168.0.50

6 192.168.0.60

7 192.168.0.70

8 192.168.0.80

9 192.168.0.90

A 192.168.0.100

B 192.168.0.110

C 192.168.0.120

D 192.168.0.130

E 192.168.0.140

F DHCP

21

34

5

E D C B A not write it down or tell anyone (I’m not naming names here, but you know who I’m talking about) then you will not be able to communicate with your drive. The only way to “recover” it is to use the universal recovery address.

76

Setting F is “DHCP”, which commands the drive to get an IP address from a DHCP server on the network.

The IP address automatically assigned by the DHCP server may be “dynamic” or “static” depending on how the administrator has configured DHCP. The DHCP setting is reserved for advanced users.

Your PC, or any other device that you use to communicate with the drive, will also have a unique address.

On the drive, switch settings 1 through E use the standard class B subnet mask (i.e. “255.255.0.0”). The mask for the universal recovery address is the standard class A (i.e. “255.0.0.0”).

One of the great features of Ethernet is the ability for many applications to share the network at the same time. Ports are used to direct traffic to the right application once it gets to the right IP address. The UDP eSCL port in our drives is 7775. To send and receive commands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application. You will also need to choose an open (unused) port number for your application. Our drive doesn’t care what that is; when the first command is sent to the drive, the drive will make note of the IP address and port number from which it originated and direct any responses there. The drive will also refuse any traffic from other IP addresses that is headed for the eSCL port. The first application to talk to a drive “owns” the drive. This lock is only reset when the drive powers down.

If you need help choosing a port number for your application, you can find a list of commonly used port numbers at http://www.iana.org/assignments/port-numbers.

One final note: Ethernet communication can use one or both of two “transport protocols”: UDP and TCP. eSCL commands can be sent and received using either protocol. UDP is simpler and more efficient than TCP, but

TCP is more reliable on large or very busy networks where UDP packets might occasionally be dropped.

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Option 1: Connect a Drive to Your Local Area Network

NIC PC

LAN

SWITCH or

ROUTER

DRIVE

If you have a spare port on a switch or router and if you are able to set your drive to an IP address that is compatible with your network, and not used by anything else, this is a simple way to get connected. This technique also allows you to connect multiple drives to your PC. If you are on a corporate network, please check with your system administrator before connecting anything new to the network. He or she should be able assign you a suitable address and help you get going.

If you are not sure which addresses are already used on your network, you can find out using “Angry IP scanner”, which can be downloaded free from http://www.angryip.org/w/Download. But be careful: an address might appear to be unused because a computer or other device is currently turned off. And many networks use dynamic addressing where a DHCP server assigns addresses “on demand”. The address you choose for your drive might get assigned to something else by the DHCP server at another time.

Once you’ve chosen an appropriate IP address for your drive, set the rotary switch according the address table above. If none of the default addresses are acceptable for your network, you can enter a new table of IP addresses using

Configurator

. If your network uses addresses starting with 192.168.0, the most common subnet, you will want to choose an address from switch settings 4 through E. Another common subnet is 192.168.1. If your network uses addresses in this range, the compatible default selections are 1, 2 and 3.

If your PC address is not in one of the above private subnets, you will have to change your subnet mask to

255.255.0.0 in order to talk to your drive. To change your subnet mask:

1. On Windows XP, right click on “My Network Places” and select properties. On Windows 7, click Computer.

Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings”

2. You should see an icon for your network interface card (NIC). Right click and select properties.

3. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button.

On Windows 7 and Vista, look for “(TCP/IPv4)”

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4. If the option “Obtain an IP address automatically” is selected, your PC is getting an IP address and a subnet mask from the DHCP server. Please cancel this dialog and proceed to the next section of this manual: “Using DHCP”.

5. If the option “Use the following IP address” is selected, life is good. Change the subnet mask to

“255.255.0.0” and click OK.

Using DCHP

If you want to use your drive on a network that where all or most of the devices use dynamic IP addresses supplied by a DHCP server, set the rotary switch to “F”. When the drive is connected to the network and powered on, it will obtain an IP address and a subnet mask from the server that is compatible with your PC. The only catch is that you won’t know what address the server assigns to your drive. Ethernet Configurator can find your drive using the Drive Discovery feature, as long as your network isn’t too large. With the drive connected to the network and powered on, select Drive Discovery from the Drive menu.

You will see a dialog such as this:

Normally, Drive Discovery will only detect one network interface card

(NIC), and will select it automatically. If you are using a laptop and have both wireless and wired network connections, second NIC may appear. Please select the NIC that you use to connect to the network to which you’ve connected your drive. Then click OK. Drive Discovery will notify you as soon as it has detected a drive.

If you think this is the correct drive, click Yes. If you’re not sure, click Not Sure and Drive Discovery will look for additional drives on you network. Once you’ve told Drive Discovery which drive is yours, it will automatically enter that drive’s IP address in the IP address text box so that you are ready to communicate. a

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Option 2: Connect a Drive Directly to Your PC

1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the other into the drive.

2. Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”.

3. To set the IP address of your PC: a. b.

On Windows XP, right click on “My Network Places” and select properties.

On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings”

4. You should see an icon for your network interface card (NIC). Right click and select properties. a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the

Properties button. b. On Windows 7 and Vista, look for “(TCP/IPv4)”

5. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card.

6. Next, enter the subnet mask as “255.255.255.0”.

7. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this subnet.

8. Because you are connected directly to the drive, anytime the drive is not powered on your PC may annoy you with a small message bubble in the corner of your screen saying “The network cable is unplugged.”

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Option 3: Use Two Network Interface Cards (NICs)

LAN NIC1 PC NIC2 DRIVE

This technique allows you to keep your PC connected to your LAN, but keeps the drive off the LAN, preventing possible IP conflicts or excessive traffic.

1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it directly to the drive using a CAT5 cable. You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make the necessary physical layer changes.

2. If you use a laptop and only connect to your LAN using wireless networking, you can use the built-in RJ45 Ethernet connection as your second NIC.

3. Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”.

4. To set the IP address of the second NIC: a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings”

5. You should see an icon for your newly instated NIC. Right click again and select properties. a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the

Properties button. b. On Windows 7 and Vista, look for “(TCP/IPv4)”

6. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card.

7. Next, enter the subnet mask as “255.255.255.0”. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this subnet.

8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will annoy you with a small message bubble in the corner of your screen saying “The network cable is unplugged.”

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ARP Tables - The Ghost in the Machine

ARP, which stands for “Address Resolution Protocol”, is a low-level router function that enables traffic to be correctly routed on the Ethernet network. It is handled automatically by the router and is normally transparent to the user.

All network devices need to have two things: a MAC ID and an IP address.

• The MAC ID is a unique identifier that is assigned to the chip on the network interface device. You can think of it as a network serial number.

• The IP address is just that - an address. Like a street address on your house. IP addresses can be changed - MAC ID’s cannot.

The following diagram shows a basic network. Note that each device has both a MAC ID and IP address.

The router maintains an ARP table, which is really just a list that matches MAC ID’s to IP addresses. An entry is created for every device on the network.

ARP TABLE

MAC ID: 08:A4:C3:10:0E:00 <--> IP: 192.168.1.100

MAC ID: A2:FB:3D:21:7A:01 <--> IP: 192.168.1.101

MAC ID: 03:C8:11:2B:DE:02 <--> IP: 192.168.1.102

MAC ID: 08:A4:C3:10:0E:00

IP: 192.168.1.100

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MAC ID: A2:FB:3D:21:7A:01

IP: 192.168.1.101

MAC ID: 03:C8:11:2B:DE:02

IP: 192.168.1.102

It should be noted that computers maintain a local ARP table as well, tracking other devices they’ve interacted with. This is an important point because the ARP table on a PC will typically refresh more frequently than those on a network router or switch.

So why do we care? Your application will probably require changing the IP address of a drive. The ARP table must then be refreshed to show the same MAC ID with a different IP address. This is usually not an issue if the drive is directly connected to the PC used to configure it, because the local ARP table will likely refresh quickly enough to catch the new IP address and re-establish a connection.

The problem comes when the drive is connected through a router during configuration. In this scenario it is entirely possible for IP address changes to happen more frequently than the ARP table can refresh itself. Most routers do not allow users to refresh the ARP table directly, as this poses a significant network security risk. The router must actually be rebooted to force a reset of the ARP table and allow a connection with the new IP address.

Obviously this is not an ideal solution.

For this reason we recommend that all configuration be performed while directly connected to a PC. Do not use a router for drive configuration. Once an IP address is assigned the drive may be placed on the plant network without worry.

NOTE: If you find that you are changing IP addresses often and the connection becomes unreliable, it may be necessary to force a refresh of your PC’s local ARP table. This can be accomplished by opening a command window and using the command arp -d

. You must have administrator privileges on your PC to do this.

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Configuring Your Drive

Three Windows programs are available from Applied Motion Products for use with our Ethernet drives.

These programs are included on the CD that accompanies each drive and the most recent version is always available at www.applied-motion.com.

ST Configurator

is used to configure your stepper drive and motor. It can also be used to change the selection of drive IP addresses. ST Configurator includes extensive built-in help screens and manuals.

Quick Tuner

is used to configure and tune servo drives. The Quick Tuner Manual is automatically installed in the Applied Motion Products program menu when you install Quick Tuner.

Q Programmer

will be needed if you want to embed programs in the non-volatile memory of your drive, either to run automatically at power up or to be triggered by commands sent from a host.

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Creating Your Own Application

To create your own application, you will need to choose a programming language, learn how SCL commands and responses are encapsulated in UDP packets, and learn to use your programming language’s interface to the network.

UDP Packet Format

eSCL is based on Applied Motion’s Serial Command Language (SCL), an ASCII-based language with roots in RS-

232 and RS-485 communication. eSCL drives support the full SCL and Q command sets, and utilize the speed and reliability of Ethernet. Commands and responses are encapsulated in the payload of User Datagram Protocol

(UDP) packets, and are transmitted using standard Ethernet hardware and standard TCL/IP stacks.

Sending Commands to a Drive

An eSCL UDP packet consists of three parts, the header (binary 07), the SCL string (a sequence of ASCII encoded characters) and the SCL terminator (ASCII carriage return, 13)

header SCL string <cr>

Example: Sending “RV”

•

•

•

•

SCL Header = 07 (two bytes)

R = ASCII 82

V = ASCII 86

<cr> (ASCII carriage return) = 13

header

0 7

“RV”

82 86

<cr>

13

Receiving Responses from a Drive

A typical response to “RV” would be “RV=103<cr>” which would be formatted as

header

0 7

“RV=103”

82 86 61 49 48 51

<cr>

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Example Programs

Both example programs are available for download at www.applied-motion.com/example_code. You should still read this section so that you understand the key elements of the code and what tradeoffs you may encounter.

Visual Basic 6

Even though VB6 is an older language, its refreshing simplicity makes it a compelling choice for quickly developing an Ethernet application.

To communicate over Ethernet from VB6, you’ll need the Winsock control (MSWINSCK.OCX), which is included in the Professional and Enterprise editions of the language. To configure an instance of Winsock, you must specify the protocol as UDP, choose a local port number, and set the remote IP address and port number to match the drive. In the code example below, 7775 is the port of the drive. driveIPaddress is the IP address of the drive (“10.10.10.10” or “192.168.0.130” for example). 7777 is the port of the PC.

Winsock1.RemotePort = 7775

Winsock1.RemoteHost = driveIPaddress

Winsock1.Protocol = sckUDPProtocol

Winsock1.Bind 7777

// if port 7777 is in use by another application, you will get an error.

// that error should be trapped using the On Error statement

// and an alternate port should be chosen.

Sending “RV” command:

Dim myPacket(0 to 4) as Byte ‘ declare a byte array just large enough myPacket(0) = 0 myPacket(1) = 7 myPacket(2) = “R” myPacket(3) = “V” myPacket(4) = vbCR

Winsock1.SendData myPacket

‘ first byte of SCL opcode

‘ second byte of SCL opcode

‘ R

‘ V

‘ carriage return

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To receive a response, you will need to place some code in the

Winsock_DataArrival

event. This event is automatically declared as soon as you add a Winsock control to your form. The DataArrival event will automatically trigger each time a packet is received. The code below extracts the SCL response from the UDP payload and displays it in a message box.

Private Sub Winsock1_DataArrival(ByVal bytesTotal As Long )

Dim udpData() As Byte , n As Integer

Dim hexbyte As String, packetID As Long , SCLrx As String

Winsock1.GetData udpData

‘ remotehost gets clobbered when packet rec’d,

‘ next line fixes it

Winsock1.RemoteHost = Winsock1.RemoteHostIP

‘ first 16 bits of packet are the ID (opcode)

If UBound(udpData) >= 1 Then

packetID = 256 * udpData(0) + udpData(1)

If packetID = 7 then ‘ SCL response

SCLrx = “”

For n = 2 To UBound(udpData)

SCLrx = SCLrx & Chr(udpData(n))

Next n

MsgBox SCLrx

End If

End If

End Sub

C#.NET

The .NET languages are Microsoft’s modern, object oriented Windows application building tools and include robust Ethernet support. We present this example in C#.

Make sure your project includes this line, providing access to an Ethernet socket: using System.Net.Sockets;

In your form header you must declare a UdpClient object and create an instance, which can be done in the same line. The local port number is included in the “new UdpClient” call. This is the port number that will be reserved on the PC for your application.

static UdpClient udpClient = new UdpClient (7777);

To open the connection, invoke the Connect method, specifying the drive’s IP address and port number: udpClient .Connect(“192.168.0.130”, 7775);

To send “RV” to the drive:

//create a string loaded with the SCL command

Byte [] SCLstring = Encoding .ASCII.GetBytes(“RV”);

// create a byte array that will be used for the actual

// transmission

Byte [] sendBytes = new Byte [SCLstring.Length + 3];

// insert opcode (07 is used for all SCL commands) sendBytes[0] = 0; sendBytes[1] = 7;

// copy string to the byte array

System.

Array .Copy(SCLstring, 0, sendBytes, 2, SCLstring.Length);

// insert terminator sendBytes[sendBytes.Length - 1] = 13; // CR

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// send it to the drive udpClient.Send(sendBytes, sendBytes.Length);

Getting responses back from the drive in C# is a more complicated than VB6. You have two choices: poll for a response or create a callback function that will provide a true receive event.

Polling is easier to code but less efficient because you must either sit in a loop waiting for an expected response or run a timer to periodically check for data coming in. Since the choice depends on your programming style and the requirements of your application, we preset both techniques.

Polling for an incoming packet

The same UdpClient object that you use to send packets can be used to retrieve incoming responses from the drive. The Available property will be greater than zero if a packet has been received. To retrieve a packet, assign the Receive property to a Byte array. You must create an IPEndPoint object in order to use the Receive property.

private void UDPpoll()

{

{

// you can call this from a timer event or a loop if (udpClient.Available > 0) // is there a packet ready?

IPEndPoint RemoteIpEndPoint = new IPEndPoint ( IPAddress .Any, 0);

try

{

// Get the received packet. Receive method blocks

// until a message returns on this socket from a remote host,

// so always check .Available to see if a packet is ready.

Byte [] receiveBytes = udpClient.Receive( ref RemoteIpEndPoint);

// strip opcode

Byte [] SCLstring = new byte [receiveBytes.Length - 2]; for ( int i = 0; i < SCLstring.Length; i++)

SCLstring[i] = receiveBytes[i + 2]; string returnData = Encoding .ASCII.GetString(SCLstring);

}

AddToHistory(returnData); catch ( Exception ex)

{

// put your error handler here

Console .WriteLine(ex.ToString());

}

}

}

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Creating a receive event using a call back function

First, create a function to handle incoming packets. This function must contain two local objects: a

UdpClient and an IPEndPoint. The call back function will be passed an IAsyncResult object that contains a reference to the UDP connection. The local IPEndPoint object is passed to the UDPClient’s EndReceive property to retrieve the packet.

public void ReceiveCallback( IAsyncResult ar)

{ int opcode;

UdpClient u = ( UdpClient )(( UdpState )(ar.AsyncState)).u;

IPEndPoint e = ( IPEndPoint )(( UdpState )(ar.AsyncState)).e;

Byte [] receiveBytes = u.EndReceive(ar, ref e);

// get opcode opcode = 256 * receiveBytes[0] + receiveBytes[1]; if (opcode == 7) // SCL response

{ string receiveString = Encoding .ASCII.GetString(receiveBytes);

Byte [] SCLstring = new Byte [receiveBytes.Length - 2];

// remove opcode

System.

Array .Copy(receiveBytes, 2, SCLstring, 0, SCLstring.

Length);

} receiveString = Encoding .ASCII.GetString(SCLstring);

AddToHistory(receiveString); else if (opcode == 99) // ping response

{

MessageBox .Show( “Ping!” , “eSCL Utility” , MessageBoxButtons .OK,

MessageBoxIcon .Information);

}

}

The call back function will not be called unless it is “registered” with the UdpClient object using the

BeginReceive method, as shown below. StartRecvCallback can be called from the Form Load event. It must also be re-registered each time it is called (this is to prevent recursion), which is most easily accomplished by making a call to StartRecvCallback each time you send a packet.

private void StartRecvCallback()

{

UdpState s = new UdpState (); s.e = new IPEndPoint ( IPAddress .Any, 0); s.u = udpClient; udpClient.BeginReceive( new AsyncCallback (ReceiveCallback), s);

}

This example requires that you declare a class called UdpState as described below.

class UdpState

{

public u;

public e;

}

As if this event driven technique wasn’t quirky enough, it also creates a threading error unless the following statement in included in the form load event

// this must be so for callbacks which operate in a different thread

CheckForIllegalCrossThreadCalls = false ;

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Further Reading

The following materials can be downloaded from www. Applied-motion.com.

• The eSCL Utility will help you get familiar with the SCL language.

• ST Configuration Ethernet is needed to configure the ST5-QE and ST10-QE step motor drives. This application also includes extensive help screens.

• QuickTuner is used to configure and tune SV7 servo drives. . Quick Tuner also includes extensive help screens.

• Visual Basic and C# example projects can be downloaded from the software page.

To learn more about networking using Ethernet, we recommend reading Sams

Teach Yourself TCP/IP in 24

Hours

, available from amazon.com and other fine booksellers.

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