LinMot E1250-EC-UC User manual

Documentation of the EtherCAT Interface of the following
Controller:
- E1250-EC-UC
EtherCAT Interface 3.11
User Manual

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© 2009 NTI AG
This work is protected by copyright.
Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including
photocopying,
recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole or in
part, without the prior written consent of NTI AG.
LinMot® is a registered trademark of NTI AG.
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 3.11 / Whp, December 2009

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NTI AG / LinMot User Manual EtherCAT Interface Page 3/37
1SYSTEM OVERVIEW.................................................................................................................. 5
1.1 REFERENCES ............................................................................................................................. 5
2SETUP IN THE PLC..................................................................................................................... 6
2.1 COPY DEVICE DESCRIPTION FILE ............................................................................................. 6
2.2 SCAN THE ETHERCAT SLAVE DEVICES .................................................................................... 6
3PROCESS DATA OBJECT (PDO) CONFIGURATION.......................................................... 8
3.1 DEFAULT INPUT PDO MAPPING ............................................................................................... 8
3.2 DEFAULT OUTPUT PDO MAPPING............................................................................................ 8
4ASYNCHRONOUS CONFIGURATION PROTOCOL............................................................ 9
4.1 ADS SERVICES OVERVIEW..................................................................................................... 10
4.2 ADS PARAMETER SERVICES................................................................................................... 11
4.2.1 Parameter UPID read RAM value .................................................................................. 11
4.2.2 Parameter UPID write RAM value.................................................................................. 12
4.2.3 Parameter UPID read ROM value.................................................................................. 12
4.2.4 Parameter UPID write ROM value................................................................................. 12
4.2.5 Parameter start read UPID list....................................................................................... 13
4.2.6 Parameter get next UPID list item .................................................................................. 13
4.2.7 Parameter start read modified UPID list........................................................................ 14
4.2.8 Parameter get next modified UPID list item ................................................................... 14
4.2.9 Parameter Default SW instance....................................................................................... 15
4.3 ADS CURVES SERVICES ......................................................................................................... 16
4.3.1 Curves delete all in RAM................................................................................................. 16
4.3.2 Curves delete single curve in RAM.................................................................................. 16
4.3.3 Curves read info and data size ........................................................................................ 17
4.3.4 Curves read info block data............................................................................................. 17
4.3.5 Curves read setpoint data................................................................................................ 17
4.3.6 Curves start modify curve in RAM................................................................................... 18
4.3.7 Curves modify curve info block data in RAM.................................................................. 18
4.3.8 Curves modify curve setpoint data in RAM..................................................................... 18
4.3.9 Curves start write curve to RAM..................................................................................... 19
4.3.10 Curves write curve info block data to RAM..................................................................... 19
4.3.11 Curves write curve setpoint data to RAM........................................................................ 20
4.3.12 Curves read presence list ................................................................................................ 20
4.3.13 Curves start write curves from RAM to FLASH.............................................................. 21
4.4 ADS COMMAND TABLE SERVICES ......................................................................................... 22
4.4.1 Command Table delete all entries in RAM...................................................................... 22
4.4.2 Command Table single curve in RAM............................................................................. 22
4.4.3 Command Table read data size ....................................................................................... 23
4.4.4 Command Table read data.............................................................................................. 23
4.4.5 Command Table start write entry in RAM...................................................................... 24
4.4.6 Command Table write entry data in RAM....................................................................... 24
4.4.7 Command table read presence list .................................................................................. 25
4.4.8 Command Table start write entries from RAM to FLASH............................................... 25
4.5 PROGRAM HANDLING.............................................................................................................. 26
4.5.1 Reset device ..................................................................................................................... 26
4.5.2 Stop SW instances............................................................................................................ 27
4.5.3 Start SW instances........................................................................................................... 27
5ETHERCAT PARAMETERS AND VARIABLES ..................................................................28
5.1 PARAMETERS .......................................................................................................................... 28
6CONNECTING TO THE ETHERCAT NETWORK .............................................................. 29

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6.1 PIN ASSIGNMENT OF THE CONNECTORS X17-X18 ................................................................. 29
7TWINCAT DEMO PROGRAM................................................................................................. 30
8CONTACT ADDRESSES........................................................................................................... 37

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NTI AG / LinMot User Manual EtherCAT Interface Page 5/37
1 System overview
EtherCAT is the open real-time Ethernet network originally developed by Beckhoff. The
LinMot act as Slave in this Network and is implemented with the standard ASIC ET1100 from
Beckhoff.
For further information on the EtherCAT fieldbus please visit:
http://www.ethercat.org/
1.1 References
All User Manuals are distributed with the LinMot-Talk-1100 SW the newest version could be
downloaded from the LinMot Homepage in the Download section.
Ref Title Source
1 User Manual Motion Control SW www.linmot.com
2 LinMot E1100 Servo Controller Configuration over Fieldbus
Interfaces www.linmot.com

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2 Setup in the PLC
In the following the steps the integration of a LinMot EtherCAT servo controller in the PLC is
described. In the example a Beckhoff master PLC is used.
2.1 Copy Device Description File
The LinMot servo controller is described with *.xml device description file distributed with the
LinMot-Talk1100 SW.
Copy this file to PLC so it can access it.
Example Source path of EtherCAT Device description file:
C:\Programme\LinMot\LinTalk1100 3.11 Build 20091204\Firmware\Interfaces\EtherCAT\XML\LinMot_ECAT_Servos_V1_1.xml
Example Destination path of EtherCAT Device description file:
C:\TwinCAT\Io\EtherCAT\LinMot_ECAT_Servos_V1_1.xml
If this is done the PLC should recognize all LinMot Servo controller on the EtherCAT fieldbus
automatically.
2.2 Scan the EtherCAT slave devices
Connect the EtherCAT LinMot Servo controller to the EtherCAT-Master and power on the
Signal Supply. Then Scan for the connected devices in the System manager:
Scan for EtherCAT slave devices

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After this scan all recognized devices are imported to the project:
In this example the scan found an EK1100 and the LinMot Servo controller E1250-EC-UC
and are imported to the project.

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3 Process Data Object (PDO) Configuration
The cyclic Process data is configured in the Master, and transmitted to the slave during
startup. The default Mapping is documented in the Tables below input and output correspond
to the PLC point of view. For a detailed description of the exchanged data and its meaning
refer to [1].
3.1 Default Input PDO Mapping
Index Size
[Byte] Byte Offset Name Data Type
0x1B00 18 - Variables RECORD
0x1B62:00 2 0 StateVar Uint16
0x1D51:00 2 2 StatusWord Uint16
0x1D8E:00 2 4 WarnWord Uint16
0x1B8A:00 4 6 DemandPosition Int32
0x1B8D:00 4 10 ActualPosition Int32
0x1B93:00 4 14 DemandCurrent Int32
Default input PDO mapping of 18 Bytes the index is the UPID value of the variable
3.2 Default Output PDO Mapping
Index Size
[Byte] Byte Offset Name Data Type
0x1700 24 - Variables RECORD
0x1D52:00 2 0 ControlWord Uint16
0x1DB0:00 2 2 MotionCommandHeader Uint16
0x1E40:00 2 4 MotionCommand Par 1 Word32
0x1E41:00 4 8 MotionCommand Par 2 Word32
0x1E42:00 4 12 MotionCommand Par 3 Word32
0x1E43:00 4 16 MotionCommand Par 4 Word32
0x1E44:00 4 20 MotionCommand Par 5 Word32
Default output PDO mapping of 24 Bytes the index is the UPID value of the variable
The default PDO output data contains the control word and the generic Motion Command
Interface over which all types of motion commands could be accessed.
For a detailed description of the PDO data refer to [1] or have a look at the TwinCAT Demo
program, which is included with the LinMot-Talk SW.

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4 Asynchronous Configuration Protocol
For configuration needs (Parameter, Curves, Command Table and Programm Handling) the
Beckhoff ADS-Protocol is used. Within EtherCAT this Protocol is integrated as AoE (ADS
over EtherCAT). For this reason the AoeNetId has to be used for ADS over EtherCAT.
AoeNetId with Beckhoff

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4.1 ADS Services Overview
For the LinMot servo controllers in the ADS index group, the service is coded. In the index
offset normally the UPID for parameters or curve ID for curves is coded.
ADS
Service Index Group Index Offset Description
Read 0040h UPID Parameter UPID read RAM value
Write 0041h UPID Parameter UPID write RAM value
Read 0042h UPID Parameter UPID read ROM value
Write 0043h UPID Parameter UPID write ROM value
Read 0044h UPID Parameter Start read UPID list
Read 0045h - Parameter Get next UPID list item
Read 0046h UPID Parameter Start read modified UPID list
Read 0047h - Parameter Get next modified UPID list item
Write 0048h Inst Parameter Default SW instance
Write 0050h - Curves delete all in RAM
Write 0051h ID Curves delete single curve in RAM
Read 0052h ID Curves read info and data size
Read 0053h ID Curves read info block data
Read 0054h ID Curves read setpoint data
Write 0055h ID Curves start write curve in RAM
Write 0056h ID Curves write curve info block data in RAM
Write 0057h ID Curves write curve set point data in RAM
Write 0058h ID Curves start modify curve in RAM
Write 0059h ID Curves modify curve info block data in RAM
Write 005Ah ID Curves modify curve set point data in RAM
Read 005Eh ID Off Curves read presence list
Write 005Fh - Curves start write curves from RAM to FLASH
Write 0060h - Command Table delete all entries in RAM
Write 0061h ID Command Table delete single entry in RAM
Read 0062h ID Command Table read data size
Read 0063h ID Command Table read data
Write 0065h ID Command Table start write entry in RAM
Write 0066h ID Command Table write entry data in RAM
Read 006Eh ID Off Command Table read presence list
Write 006Fh - Command Table start write entries from RAM to FLASH
Write 0070h - Reset device
Write 0071h Inst Stop SW instances
Write 0072h Inst Start SW instances
For a general description and an Overview of the concepts used in fieldbus configuration,
please refer to the document “LinMot 1100 Servo Controller Configuration over Fieldbus
Interfaces”.

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4.2 ADS Parameter Services
The LinMot Servo controller supports a unique parameter access for all parameter data types
(bit, byte, uint16, ..). The parameter data could always be mapped into a 4 bytes data field.
The parameter itself is specified by its UPID (unique parameter ID).
4.2.1 Parameter UPID read RAM value
Read the RAM value of the parameter specified by its UPID.
FUNCTION_BLOCK ADSREAD
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0040h (LinMot Service ID)
Input IDXOFFS UDINT UPID
Input LEN UDINT always 4 bytes
Input DESTADDR DWORD ADR(read_buffer (4bytes))
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error id
Example:
VARIABLES:
FbAdsRead: ADSREAD; (* instance of ADSREAD function block *)
NetID: T_AmsNetId; (* AoE net ID of slave device *)
Port: T_AmsPort; (* ADS port of slave device *
TimeOut: TIME; (* time out value for AoE communication *)
RdVal: DWORD; (* 4byte buffer for read response *)
bErr: BOOL; (* flag for error return *)
ErrId: DUINT; (* error ID *)
CODE:
(* starting parameter UPID read RAM value
(* should be called only once per reading
========================================*)
FbAdsRead(READ:= FALSE); (* reset READ input to assure rising edge for start reading *)
FbAdsRead(
NETID := NetID, (* AoE NetId of slave device to read *)
PORT := Port, (* ADS port of slave device to read *)
IDXGRP := 0x0040, (* Parameter UPID read RAM value service ID *)
IDXOFFS := 0x13A2, (* UPID value of parameter P Gain of position controller *)
LEN := 4, (* read length 4 bytes for all LinMot parameter types *)
DESTADDR:= ADR(RdVal), (* pointer to read result data buffer *)
READ := TRUE, (* generate rising edge on input for start reading *)
TMOUT := TimeOut, (* timeout value for read command *)
BUSY := RdBusy, (* busy output for detecting end of reading *)
ERR := bErr (* error output for assure correct reading *)
ERRID := ErrId); (* error id for debugging problem *)
(* polling for read response
(* should be called cyclic
============================*)
FbAdsRead(
BUSY := RdBusy, (* busy output for detecting end of reading *)
ERR := bErr (* error output for assure correct reading *)
ERRID := ErrId); (* error id for debugging problem *)
IF(RdBusy = FALSE)
IF(bErr = FALSE)
PosCtrlPGain = DWORD_TO_UINT(RdVal)
ELSE
(* eval error condition *)
END_IF
END_IF

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4.2.2 Parameter UPID write RAM value
Write the RAM value of the parameter specified by its UPID.
FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0041h (LinMot Service ID)
Input IDXOFFS UDINT UPID
Input LEN UDINT always 4 bytes
Input SRCADDR DWORD ADR(write_buffer (4bytes))
Input WRITE BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error id
4.2.3 Parameter UPID read ROM value
Read the ROM value of the parameter specified by its UPID.
FUNCTION_BLOCK ADSREAD
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0042h (LinMot Service ID)
Input IDXOFFS UDINT UPID
Input LEN UDINT Always 4 bytes
Input DESTADDR DWORD ADR(read_buffer (4bytes))
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error id
4.2.4 Parameter UPID write ROM value
Write the RAM value of the parameter specified by its UPID.
FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0043h (LinMot Service ID)
Input IDXOFFS UDINT UPID
Input LEN UDINT Always 4 bytes
Input SRCADDR DWORD ADR(write_buffer (4bytes))
Input WRITE BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error id

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4.2.5 Parameter start read UPID list
Specify the SW layer by its start UPID of which the UPID list will be read out. The list
contains all parameters and variables of the SW layer.
FUNCTION_BLOCK ADSREAD
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0044h (LinMot Service ID)
Input IDXOFFS UDINT Start UPID:
0000h: OS SW layer
1000h: MC SW layer
2000h: Intf SW layer
3000h: Appl SW layer
Input LEN UDINT Always 8 bytes
Input DESTADDR DWORD ADR(read_buffer (8bytes))
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID:
00h: ok
4.2.6 Parameter get next UPID list item
Read the UPID, Address usage and ROM value of the parameter and the RAM value of the
variables.
FUNCTION_BLOCK ADSREAD
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0045h (LinMot Service ID)
Input IDXOFFS - Not evaluated
Input LEN UDINT Always 8 bytes
Input DESTADDR DWORD ADR(read_buffer (8bytes))
Bytes 0..1 UPID
Bytes 2..3 Address usage
Bytes 4..7 ROM Value
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID:
00h: ok
C6h: No new UPID found

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4.2.7 Parameter start read modified UPID list
Specify the SW layer by its start UPID of which the UPID list will be read out. The list
contains only the parameter that differs in the ROM value of its default value.
FUNCTION_BLOCK ADSREAD
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0046h (LinMot Service ID)
Input IDXOFFS UDINT Start UPID:
0000h: OS SW layer
1000h: MC SW layer
2000h: Intf SW layer
3000h: Appl SW layer
Input LEN UDINT 0
Input DESTADDR DWORD ADR(read_buffer (8bytes))
Bytes 0..1 UPID
Bytes 2..3 Address usage
Bytes 4..7 ROM Value
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID:
00h: ok
4.2.8 Parameter get next modified UPID list item
Read the UPID, Address usage and ROM value of the parameter of the defined SW layer
specified by its start UPID.
FUNCTION_BLOCK ADSREAD
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0047h (LinMot Service ID)
Input IDXOFFS - Not evaluated
Input LEN UDINT Always 8 bytes
Input DESTADDR DWORD ADR(read_buffer (8bytes))
Bytes 0..1 UPID
Bytes 2..3 Address usage
Bytes 4..7 ROM Value
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID:
00h: ok
C6h: No new UPID found

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4.2.9 Parameter Default SW instance
With this command all parameters of one or more SW instances could be set to the default
value.
FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0048h (LinMot Service ID)
Input IDXOFFS UDINT SW instance selection
Bit 0: OS SW layer
Bit 1: MC SW layer
Bit 2: Intferace SW layer
Bit 3: application SW layer
Input LEN UDINT Always 0 bytes
Input SRCADDR DWORD ADR(write_buffer (0bytes))
Input WRITE BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID

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4.3 ADS Curves Services
4.3.1 Curves delete all in RAM
Delete all curves in RAM.
FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0050h (LinMot Service ID)
Input IDXOFFS UDINT Not evaluated
Input LEN UDINT Always 0 bytes
Input SRCADDR DWORD ADR(write_buffer (0bytes))
Input WRITE BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID
4.3.2 Curves delete single curve in RAM
Delete single curves in RAM.
FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0051h (LinMot Service ID)
Input IDXOFFS UDINT Curve ID to delete
Input LEN UDINT Always 0 bytes
Input SRCADDR DWORD ADR(write_buffer (0bytes))
Input WRITE BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID

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4.3.3 Curves read info and data size
Read the info block and curve setpoint data size of the specified curve.
FUNCTION_BLOCK ADSREAD
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0052h (LinMot Service ID)
Input IDXOFFS UDINT Curve ID
Input LEN UDINT Always 4 bytes
Input DESTADDR DWORD ADR(read_buffer (4bytes))
0..1 : Info block size in bytes
0x0046
2..3 : setpoint data size in bytes
(4 bytes per setpoint)
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error id
4.3.4 Curves read info block data
Read the info block data of the specified curve, this command has to be repeated 18 times.
FUNCTION_BLOCK ADSREAD
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0053h (LinMot Service ID)
Input IDXOFFS UDINT Curve ID
Input LEN UDINT Always 4 bytes
Input DESTADDR DWORD ADR(read_buffer (4bytes))
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error id
4.3.5 Curves read setpoint data
Read the setpoint data of the specified curve, this command has to be repeated until all data
is read out. FUNCTION_BLOCK ADSREAD
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0054h (LinMot Service ID)
Input IDXOFFS UDINT Curve ID
Input LEN UDINT Always 4 bytes
Input DESTADDR DWORD ADR(read_buffer (4bytes))
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error id

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4.3.6 Curves start modify curve in RAM
Read the info block and curve setpoint data size of the specified curve.
FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0058h (LinMot Service ID)
Input IDXOFFS UDINT Curve ID
Input LEN UDINT Always 4 bytes
Input DESTADDR DWORD ADR(write _buffer (4bytes))
0..1 : Info block size in bytes
0x0046
2..3 : setpoint data size in bytes
(4 bytes per setpoint)
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error id
4.3.7 Curves modify curve info block data in RAM
Write the info block data of the specified curve, this command has to be repeated 18 times.
FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0059h (LinMot Service ID)
Input IDXOFFS UDINT Curve ID
Input LEN UDINT Always 4 bytes
Input DESTADDR DWORD ADR(write _buffer (4bytes))
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error id
4.3.8 Curves modify curve setpoint data in RAM
Write the setpoint data of the specified curve, this command has to be repeated until all data
is written. FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 005Ah (LinMot Service ID)
Input IDXOFFS UDINT Curve ID
Input LEN UDINT Always 4 bytes
Input DESTADDR DWORD ADR(write _buffer (4bytes))
Input READ BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error id

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4.3.9 Curves start write curve to RAM
Initiate to write a curve to RAM. Then the “Curves write curve info block data to RAM” service
has to be called several times. Only non existing curve ID’s could be written, if curve exists
delete curve before (Command. “Curves delete single curve in RAM”). Repeating writing
curves could lead to full curve memeory, in this case the curve memory has to be deleted
completely with the “Delete all curves” command.
FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0055h (LinMot Service ID)
Input IDXOFFS UDINT Curve ID to write
Input LEN UDINT Always 4 bytes
Input SRCADDR DWORD ADR(write_buffer (0bytes))
Bytes 0..1 curve info block size
Bytes 2..3 curve data block size
Input WRITE BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID
4.3.10 Curves write curve info block data to RAM
Write the curve header data to RAM. This command has to be repeated until the whole curve
info block data is written. Then the “Curves write curve info block data to RAM” service
has to be called several times.
FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0056h (LinMot Service ID)
Input IDXOFFS UDINT Curve ID to write
Input LEN UDINT Always 4 bytes
Input SRCADDR DWORD ADR(write_buffer (4bytes))
Input WRITE BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID

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4.3.11 Curves write curve setpoint data to RAM
Write the curve setpoint data to RAM. This has to be repeated until the whole setpoint data is
written
FUNCTION_BLOCK ADSWRITE
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 0057h (LinMot Service ID)
Input IDXOFFS UDINT Curve ID to write
Input LEN UDINT Always 4 bytes
Input SRCADDR DWORD ADR(write_buffer (4bytes))
Input WRITE BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID
4.3.12 Curves read presence list
Write the RAM value of the parameter specified by its UPID.
FUNCTION_BLOCK ADSREAD
Direction Name Type Description
Input NETID T_AmsNetId AoE NetID
Input PORT T_AmsPort ADS Port
Input IDXGRP UDINT 005Eh (LinMot Service ID)
Input IDXOFFS UDINT IDOff :
0: curves 1..32
32: curves 33..64
64: curves 65..96
96: curves 96..100
Input LEN UDINT Always 4 bytes
Input SRCADDR DWORD ADR(write_buffer (4bytes))
Input WRITE BOOL Rising edge starts reading
Input TMOUT TIME Timeout value
Output BUSY BOOL Indicates reading active/finished
Output ERR BOOL Indicates reading error
Output ERRID UDINT Error ID