LinMot E1100 Series User manual

Documentation of the LinRS Interface for the following
Drives:
-Series E1100
-Series B1100-GP
-Series 1100-GP
-Series E1200-GP
-Series E1400-GP
LinRS Interface
User Manual

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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 3.23, dc, whp / ctober 2017
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Table of ontent
1 SYSTEM OVERVIEW .......................................................................................................... 5
1.1 REFERENCES ....................................................................................................................... 5
1.2 DEFINITI NS, ITEMS, SH RTCUTS ............................................................................................. 5
2 ONNE TING THE RS BUS ............................................................................................... 6
2.1 PIN UT F THE C M C NNECT R (X5) (SERIES E1100 AND B1100) ...................................... 6
2.2 PIN UT F THE SYSTEM C NNECT R (X19) (SERIES C1100, E1200, AND E1400) .................... 6
2.3 PIN UT F THE CMD C NNECT R (X7, X8): ......................................................................... 6
3 POWER UP BEHAVIOUR ................................................................................................... 7
3.1 ACTIVATING AND DEACTIVATING THE LINRS PR T C L ................................................................ 7
3.2 ID AND BAUD RATE SELECTI N ............................................................................................... 8
3.3 RS T P L GIES .................................................................................................................. 9
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 ..................................................................................................... 13
6.1 C NFIGURATI N F THE DEFAULT RESP NSE ............................................................................ 13
6.2 REQUEST DEFAULT RESP NSE EXAMPLE ................................................................................. 14
6.3 DEFAULT MC RESP NSE REQUEST WITH STATUS W RD REQUEST EXAMPLE ................................. 15
7 WRITE ONTROL WORD ................................................................................................. 16
7.1 WRITE C NTR L W RD EXAMPLE 1 ....................................................................................... 16
7.2 WRITE C NTR L W RD EXAMPLE 2 ....................................................................................... 17
7.3 WRITE C NTR L W RD EXAMPLE 3 ....................................................................................... 18
8 WRITE MOTION OMMAND INTERFA E ....................................................................... 19
8.1 WRITE M TI N C MMAND INTERFACE EXAMPLE 1 ..................................................................... 19
8.2 WRITE M TI N C MMAND INTERFACE EXAMPLE 2 ..................................................................... 20
9 PARAMETER MESSAGE GROUP .................................................................................... 21
9.1 PARAMETER/VARIABLE READ RAM EXAMPLE ........................................................................... 22
9.2 PARAMETER WRITE RAM EXAMPLE ........................................................................................ 22
10 PARAMETER ONFIGURATION MESSAGE GROUP ................................................... 24
10.1 PARAMETER C NFIGURATI N READ R M VALUE EXAMPLE ........................................................ 26
10.2 PARAMETER C NFIGURATI N READ UT CHANGED PARAMETERS .................................................. 28
10.3 PARAMETER C NFIGURATI N READ UT UPID LIST ................................................................ 29
10.4 PARAMETER C NFIGURATI N DEFAULTING SW-INSTANCE PARAMETERS ....................................... 30
11 URVE ONFIGURATION MESSAGE GROUP (NOT ON B1100) ................................ 31
11.1 READ CURVE FR M SERV EXAMPLE ................................................................................... 34
11.2 WRITE CURVE T SERV EXAMPLE ..................................................................................... 36
12 OMMAND TABLE ONFIGURATION MESSAGE GROUP (NOT ON B1100) ............. 38
12.1 READ C MMAND TABLE ENTRY FR M SERV EXAMPLE ........................................................... 42
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12.2 WRITE C MMAND TABLE ENTRY T SERV EXAMPLE .............................................................. 43
13 PROGRAM HANDLING MESSAGE GROUP .................................................................. 44
13.1 RESET DRIVE WITH RESP NSE AFTER C MPLETI N ................................................................... 44
13.2 RESET DRIVE WITH IMMEDIATE RESP NSE .............................................................................. 45
13.3 ST P MC- AND APPLICATI N SW ....................................................................................... 45
13.4 START MC- AND APPLICATI N SW WITH RESP NSE AFTER C MPLETI N ...................................... 46
13.5 START MC- AND APPLICATI N SW WITH IMMEDIATE RESP NSE ................................................. 47
14 READ ERROR INFO MESSAGE GROUP ....................................................................... 48
14.1 GET ERR R SH RT TEXT F ACTUAL ERR R ............................................................................ 48
14.2 GET ERR R SH RT TEXT F DEFINED ERR R C DE ................................................................... 49
14.3 GET ERR R C UNTERS F ERR R L G AND T TAL CCURRED ERR RS .......................................... 50
14.4 GET ERR R L G ENTRY ...................................................................................................... 51
15 LINRS PARAMETERS .................................................................................................... 52
16 ERROR ............................................................................................................................ 56
16.1 LINRS ERR R C DES ...................................................................................................... 56
17 TROUBLESHOOTING ..................................................................................................... 57
17.1 ST PPING LINRS N B1100 DRIVES .................................................................................. 57
18 A ESSORIES ............................................................................................................... 58
18.1 RDERING INF RMATI N ..................................................................................................... 58
19 ONTA T ADDRESSES ................................................................................................ 59
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1 System Overview
The LinMot drives of the E1100 series, B1100-GP, E1200-GP, C1100-GP, and E1400-GP
support the LinRS communication profile. LinRS is a LinMot specific RS protocol to run the
drives over RS232, RS422, or RS485 serial links (C1100-GP only supports RS422/RS485).
It is strongly recommended, to use an isolated RS device on master side (e.g.
Art. No. 0150-3120)!
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. 0150-3532) 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 User Manual Motion Control SW www.linmot.com
2 LinMot Drive Configuration over Fieldbus Interfaces www.linmot.com
3 Installation Guide USB-CAN Converter www.linmot.com
The documentation is distributed with the LinMot-Talk software.
1.2 Definitions, Items, Shortcuts
Shortcut Meaning
LM LinMot linear motor
S perating System (Software)
MC Motion Control (Software)
Intf Interface (Software)
Appl Application (Software)
UPID Unique Parameter ID (16 bit)
CT Command Table
Msg Message
Cmd Command
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2 onnecting the RS bus
2.1 Pin Out of the COM Connector (X5) (E11 , B11 -GP)
ver this connector the RS232 or the RS422/RS485 serial lines are available.
Pin 1 RS-485 Tx+ Pin 6 RS-485 Rx-
Pin 2 RS-232 TX Pin 7 RS-485 Tx-
Pin 3 RS-232 RX Pin 8 CAN L
Pin 4 RS-485 Rx+ Pin 9 CAN H
Pin 5 GND (100)
2.2 Pin Out of the System Connector (X19) (E12 -GP, E14 -GP)
2.3 Pin Out of the CMD Connector (X7, X8):
The CMD connector exists on the series E1100 (except E1100-GP), B1100-GP, E1200-GP,
C1100-GP, and E1400-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.
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Pin 1 RS485 Rx+
Pin 2 RS485 Rx-
Pin 3 RS485 Tx+
Pin 4/5 Ground (1k)
Pin 6 RS485 Tx-
Pin 7 CAN H
Pin 8 CAN L
Pin 1 Do not connect
Pin 2 Do not connect
Pin 3 RS232 RX
Pin 4 GND
Pin 5 GND
Pin 6 RS232 TX
Pin 7 Do not connect
Pin 8 Do not connect

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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 set up completely the drive over LinRS when the LinRS software
has been installed.
n 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
LinMot-Talk software over CAN-Bus.
3.1 Activating and Deactivating the LinRS Protocol
ver the Interface Switch S3 the LinRS protocol can be activated (S3.4 position n) or
deactivated (S3.4 position ff). This switch is only available on the E1100 drive.
If the Interface Switch S3.4 is off while 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 while 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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3.2 ID and Baud Rate Selection
With the default parametrization 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 ode Table
S1 Value Selected Baud Rate
0h Undefined Baud Rate
1h 4800Bit/s
2h 9600 Bit/s
3h 19200 Bit/s
4h 38400 Bit/s
5h 57600 Bit/s
6h 115200 Bit/s
7h Undefined Baud Rate
8h-Fh 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 MA ID
0h MACID = 00h
1h MACID = 01h
2h MACID = 02h
... ...
Fh MACID = 0Fh
S1&S2 ID code table
S1 Value S2 Value Selected MA ID
0h 0h MACID = 00h
0h 1h MACID = 01h
0h 2h MACID = 02h
... ... ...
1h 0h MACID = 10h
... ... ...
Fh Fh MACID = FFh
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3.3 RS Topologies
3.3.1 RS232 Topology
ver 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 C M connector X5 available.
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 and E1400 series) on the last slave drive.
With B1100 the switch S4.1 has to be set to RS485 select!
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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 and E1400 series) on the last slave drive.
With B1100 the switch S4.1 has to be set to RS485 select!
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4 LinRS Message Format
The following tables define the principle structure of a LinRS Message.
Header Data pt. Checksum End
Start
Header
ID Len Start
Data
0
Data 1
Msg
ID
Low
Data 2
Msg
ID
High
… Data
n-1
Check-
Sum
Low
Check-
Sum
High
End
Tele-
gram
01h 0..FFh 2..63 02h 0..FFh 0..FFh 0..FFh 0..FFh 0..FFh 0..FFh 04h
Length Count
Checksum Calculation
Byte Nr Name Description Value
0 Start Header Fix ID at telegram start 01h
1 ID ID of LinMot Drive 0..FFh
2 Length Length of telegram data n 2..63
3 Start Data 0 Fix ID at telegram start 02h
4 Data 1 Msg ID Low Message Sub ID 0..FFh
5 Data 2 Msg ID High Message Main ID 0..FFh
6 Data 3 Message data 0 0..FFh
.. .. .. 0..FFh
n+2 Data n-1 Message data n-1 0..FFh
n+3 Checksum Low ptional checksum Low Byte 0..FFh
n+4 Checksum High ptional checksum High Byte 0..FFh
n+5/n+3 End Telegram Fix ID at telegram end 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. Three different methods are supported (UPID 2080h):
Byte wise addition and modulo 2^16 (fast and easy)
CRC-16-CCITT: Polynomial 1021h (input/result/start value bitwise reflected)
CRC-16-CCITT: Polynomial 1021h
Additionally the checksum start value can be defined (UPID 20AAh).
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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
B1100 Description
00h Yes Response Request / Response itself
01h Yes Write ontrol Word
02h Yes Write Motion ommand Interface
03h Yes Parameter Message Group with default Response
04h - Curve Configuration Message Group
05h - Parameter Configuration Message Group
06h Yes Program Handling Message Group
07h - Read Error Info Message Group
08h - 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.
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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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 Default MC Response Answer (Slave)
00h 01h Default MC Response Request (Master)
00h 02h Default MC Response Request with Status Word Request (Master)
00h 03h Default MC Response Request with Warn Word Request (Master)
00h 04h Default MC Response Request with State Var Request (Master)
00h 40h Slave Response to Master Curve Request
00h 5yh Slave Response to Master Parameter Request
00h 60h Slave Response to Master Program Handling Request
00h 7yh Slave Response to Master Read Error Requests
00h 8yh 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
ommunication State 1 bytes Status of communication (Checksum error,..) (Default Cfg)
Status Word 2 bytes Status Word bit coded (Default Cfg)
State Var 2 bytes High byte state number, low byte state depending (Default Cfg)
Error Code 2 bytes Error Code
Warn Word 2 bytes Warn Word bit coded
Echo MC Intf Header 2 bytes Echo of the motion command interface header
Monitoring hannel 1 4 bytes Monitoring Channel 1 Data (Default Cfg)
Monitoring Channel 2 4 bytes Monitoring Channel 2 Data
MC Response 4 bytes Place holder for a response request
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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
ffset
Value Description
0 01h Fix ID Telegram start
1 11h Response node ID
2 03h Telegram length
3 02h Fix ID start data
4 01h Message Sub ID (default response request)
5 00h Message Main ID (Response)
6 04h Fix ID telegram end
Response: Default Response
Byte
ffset
Value Description
0 01h Fix ID telegram start
1 11h MACID
2 0Ch Data length
3 02h Fix ID start data
4 00h Sub ID: Default Response
5 00h Main ID: Response Message
6 00h Communication State ok
7 37h Status Word Low Byte
8 4Ch Status Word High Byte
9 C2h State Var Low Byte
10 08h State Var High Byte (MainState)
11 9Dh Actual Position Low Word Low Byte
12 FCh Actual Position Low Word High Byte
13 FFh Actual Position High Word Low Byte
14 FFh Actual Position High Word High Byte
15 04h 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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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 M Response Request with Status Word Request
Byte
ffset
Value Description
0 01h Fix ID Telegram start
1 11h Response node ID
2 03h Telegram length
3 02h Fix ID start data
4 02h Message Sub ID (default response request)
5 00h Message Main ID (Response)
6 04h Fix ID telegram end
Response: Default M Response Request with Status Word Request
Byte
ffset
Value Description
0 01h Fix ID telegram start
1 11h MACID
2 10h Data length
3 02h Fix ID start data
4 00h Sub ID: Default Response with Status Word
5 00h Main ID: Response Message
6 00h Communication State ok
7 37h Status Word Low Byte
8 4Ch Status Word High Byte
9 C2h State Var Low Byte
10 08h State Var High Byte (MainState)
11 9Dh Actual Position Low Word Low Byte
12 FCh Actual Position Low Word High Byte
13 FFh Actual Position High Word Low Byte
14 FFh Actual Position High Word High Byte
15 B4h Low Byte Status Word
16 00h High Byte Status Word
17 00h No Meaning
18 00h No Meaning
19 04h 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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7 Write ontrol 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 ontrol Word ( lear ontrol Word)
Byte
ffset
Value Description
0 01h Fix ID Telegram start
1 11h Destination node ID
2 05h Telegram length
3 02h Fix ID start data
4 00h Message Sub ID
5 01h Message Main ID (Write Control Word)
6 00h Control Word Low Byte
7 00h Control Word High Byte
8 04h 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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7.2 Write Control Word example 2
With this control word command causes a transition to enable state and starts homing.
Request: Write ontrol Word (Set all Bits for Operation and Home Flag)
Byte
ffset
Value Description
0 01h Fix ID Telegram start
1 11h Destination node ID
2 05h Telegram length
3 02h Fix ID start data
4 00h Message Sub ID
5 01h Message Main ID (Write Control Word)
6 3Fh Control Word Low Byte
7 08h Control Word High Byte
8 04h 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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7.3 Write Control Word example 3
With this control word command the normal operation is enabled.
Request: Write ontrol Word (Set all Bits for Operation and Reset Home Flag)
Byte
ffset
Value Description
0 01h Fix ID Telegram start
1 11h Destination node ID
2 05h Telegram length
3 02h Fix ID start data
4 00h Message Sub ID
5 01h Message Main ID (Write Control Word)
6 3Fh Control Word Low Byte
7 00h Control Word High Byte
8 04h 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 0 08 DA FB FF FF 04
‘ peration Enabled’ state reached with homed flag set
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8 Write Motion ommand 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
ffset
Value Description
0 01h Fix ID Telegram start
1 11h Destination node ID
2 09h Telegram length
3 02h Fix ID start data
4 00h Message Sub ID
5 02h Message Main ID (Motion Command Interface)
6 01h Motion Cmd Intf Header Low Byte (count =1) Sub ID =0
7 02h Motion Cmd Intf Header High Byte Master ID =2
8 A0h Target Position lowest byte
9 86h Target Position middle low byte
10 01h Target Position middle high byte
11 00h Target Position highest byte
12 04h 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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8.2 Write Motion Command Interface example 2
Go back with the same motion command to 0mm.
Byte
ffset
Value Description
001h Fix ID Telegram start
111h Destination node ID
209h Telegram length
302h Fix ID start data
400h Message Sub ID
502h Message Main ID (Motion Command Interface)
602h Motion Cmd Intf Header Low Byte (count =1) Sub ID =0
702h Motion Cmd Intf Header High Byte Master ID =2
800h Target Position lowest byte
900h Target Position middle low byte
10 00h Target Position middle high byte
11 00h Target Position highest byte
12 04h 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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