LinMot E1250-PL Series User manual

October 2019
This document applies to the following devices:
· E1250-PL-xx-xx-xxx (SG5)
· E1450-PL-xx-xx-xxx (SG5)
· C1250-PL-xx-xx-xxx (SG6)
(with POWERLINK Interface SW installed)
Manual
Ethernet POWERLINK Interface
Doc.: 0185-1088-E_1V12_MA_POWERLINK-SG5-SG6

© 2019 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.
NTI AG
LinMot
Bodenaeckerstrasse 2
CH-8957 Spreitenbach
Tel.: [phone]
Fax.: [phone]
Email: [e-mail]
Homepage: www.LinMot.com

Page 3 of 40NTI AG / LinMot
Table of Contents
1 SYSTEM OVERVIEW ...................................................................................................................... 4
2 CONNECTING TO THE POWERLINK NETWORK ............................................................................. 5
2.1 PIN ASSIGNMENT OF THE CONNECTORS X17-X18 .................................................................. 5
2.2 SETTING THE NODEID ............................................................................................................. 5
3 POWERLINK PARAMETERS AND VARIABLES ............................................................................... 5
3.1 PARAMETERS ......................................................................................................................... 5
3.1.1 Dis-/Enable ......................................................................................................................... 6
3.1.2 NodeID ................................................................................................................................ 6
3.1.3 NodeID\ NodeID Source Select .............................................................................................. 6
3.2 VARIABLES ............................................................................................................................. 6
4 MAPPING OF PRES AND PREQ ..................................................................................................... 8
4.1 PDO MAPPING ......................................................................................................................... 8
4.2 ADDITIONAL PARAMETERS ..................................................................................................... 9
4.3 MAPPING OF PARAMETERS VIA THEIR UPID .......................................................................... 9
4.3.1 Example how to read a parameter via its UPID ........................................................................ 9
5 CONFIGURATION VIA POWERLINK INTERFACE ........................................................................... 11
5.1 LINMOT CONFIGURATION MODULE VIA PDO ......................................................................... 11
5.2 LINMOT PARAMETER COMMANDS VIA SDO ........................................................................... 11
5.2.1 UPID Commands ............................................................................................................... 12
5.2.2 System Commands ............................................................................................................ 18
5.2.3 Curve Service Commands ................................................................................................... 22
5.2.4 Error Log Commands .......................................................................................................... 27
5.2.5 Command Table Commands ............................................................................................... 30
6 RT LEDS ...................................................................................................................................... 35
7 INTERFACE ERROR CODES ......................................................................................................... 36
8 CABLING ..................................................................................................................................... 36
8.1 TOPOLOGY RECOMMENDATIONS .......................................................................................... 36
8.2 CALCULATING THE MINIMAL POLL RESPONSE TIME (TPRES) OF AN ARBITRARY CN .......... 38
8.3 MINIMAL POWERLINK CYCLE TIME FOR A PURE LINE STRUCTURE ...................................... 38
9 TROUBLESHOOTING ................................................................................................................... 39
9.1 ANALYZING TRAFFIC IN POWERLINK NETWORKS ................................................................ 39
9.2 FREQUENT PROBLEMS AND SOLUTIONS .............................................................................. 39

Page 4 of 40 NTI AG / LinMot
1 SYSTEM OVERVIEW
The LinMot POWERLINK devices are Ethernet POWERLINK CNs (Controlled Nodes) with the following
parameters (according to EPSG-DS-301-V1.1.0):
Device Property
Value
Minimal POWERLINK cycle time
200 µs
Size of isochronous transmit buffer
(maximal size of isochronous frames)
64 Byte
Size of isochronous receive buffer
(maximal size of isochronous frames)
64 Byte
Overall buffer size available for isochronous data
128 Byte
PReq to PRes latency
(CN isochronous reaction time)
~ 1 µs
SoA to ASnd latency
(CN asynchronous reaction time)
~ 1 µs
Maximum asynchronous MTU
300 Byte
Ability to support multiplexed isochronous access
No
Asynchronous SDO transfer method
(UDP/IP and/or POWERLINK ASnd)
POWERLINK
ASnd
only
For further information on Ethernet POWERLINK please visit:
http://www.ethernet-powerlink.org

Page 5 of 40NTI AG / LinMot
2 CONNECTING TO THE POWERLINK NETWORK
2.1 PIN ASSIGNMENT OF THE CONNECTORS X17-X18
The POWERLINK connector is a standard RJ45 female connector with a pin assignment as defined by EIA/TIA
T568B:
X17 – X18
ETHERCAT Connector
Pin
Wire color code
Assignment 100BASE-
TX
1
2
3
4
5
6
7
8
case
WHT/ORG
ORG
WHT/GRN
BLU
WHT/BLU
GRN
WHT/BRN
BRN
-
Rx+
Rx-
Tx+
-
-
Tx-
-
-
-
RJ-45
Use standard patch cables (twisted pair, S/UTP, AWG26) for wiring. This type of
cable is usually referred to as a “Cat5e-Cable”.
2.2 SETTING THE NODEID
The NodeID is set via the two Hex-Switches S1 and S2, where S1 sets the high digit and S2 the low digit. The
NodeID can have a value between 1 (01h) and 239 (EFh).
S1, S2
NodeID Selectors
E12x0
C12x0 / E14x0
S1 (5..8)
S2 (1..4)
Bus ID High (0 … F). Bit 5 is the
LSB, bit 8 the MSB.
Bus ID Low (0 … F). Bit 1 is the
LSB, bit 4 the MSB.
Setting the ID high & low to
0xFF resets the drive to
manufacturer settings!
3 POWERLINK PARAMETERS AND VARIABLES
3.1 PARAMETERS
be configured with the distributed LinMot-Talk software.

Page 6 of 40 NTI AG / LinMot
With these parameters, the POWERLINK behaviour can be configured.
The LinMot-Talk software can be downloaded from http://www.linmot.com under the section download, software
& manuals.
3.1.1 Dis-/Enable
With the Dis-/Enable parameter the LinMot device can be run without the POWERLINK Interface going online.
So in a first step the system can be configured and run without any bus connection.
POWERLINK\ Dis-/Enable
Disable
Device runs without POWERLINK.
Enable
Device runs with POWERLINK.
Important: If the POWERLINK Interface is disabled, the integrated POWERLINK-Hub is not
powered! No messages will be sent to other devices connected to the POWERLINK-Network via
the LinMot device.
3.1.2 NodeID
In this section the NodeID of the POWERLINK CN can be configured.
POWERLINK\ NodeID
NodeID
Source Select
Shows which source is selected to provide the NodeID.
NodeID
Parameter Value
Value of the NodeID if ‘By Parameter’ is selected.
The default value of this parameter is 63 (3Fh).
3.1.3 NodeID\ NodeID Source Select
In this section the source of the NodeID of the POWERLINK CN can be configured.
POWERLINK\ NodeID\ NodeID Source Select
By Hex Switches
S1 and S2
The NodeID is determined by the Switches S1 (ID High) and S2 (ID Low).
By Parameter
The NodeID is determined by the Parameter ‘NodeID Parameter Value’ in the LinTalk1100
Software.
3.2 VARIABLES
be configured with the distributed LinMot-Talk software.
Name
Type
Definition
Node-ID
UInt16
Current Node-ID
NMT State
UInt16 Enumerator
Current NMT State
NMT_CS_NOT_ACTIVE
NMT_CS_NOT_ACTIVE is a non-permanent state which allows a starting node to recognize the
current network state.
NMT_CS_PRE_OPERATIONAL_1
In NMT_CS_PRE_OPERATIONAL_1 the node is identified by the master via IdentRequest. The
transition from NMT_CS_PRE_OPERATIONAL_1 to the following state is triggered by a SoC

Page 7 of 40NTI AG / LinMot
frame being received.
NMT_CS_PRE_OPERATIONAL_2
In the state NMT_CS_PRE_OPERATIONAL_2, the drive waits for the configuration to be
completed. Precondition for the transition from NMT_CS_PRE_OPERATIONAL_2 to
NMT_CS_READY_TO_OPERATE is the reception of an NMTEnableReadyToOperate command.
NMT_CS_READY_TO_OPERATE
With the state NMT_CS_READY_TO_OPERATE, the drive shall signal its readiness to operation
to the master.
NMT_CS_OPERATIONAL
NMT_CS_OPERATIONAL is the normal operating state of the drive.
NMT_CS_STOPPED
In the NMT_CS_STOPPED state, the node shall be largely passive. NMT_CS_STOPPED shall
be used for controlled shutdown of a selected CN while the system is still running.

Page 8 of 40 NTI AG / LinMot
4 MAPPING OF PRES AND PREQ
The LinMot drive is a POWERLINK CN (Controlled Node). To configure it with a POWERLINK master, the
corresponding XDD file is used. The XDD File can be found in the installation directory.
(typically C:\Program Files\LinMot\LinTalk x.x\Firmware\Interfaces\POWERLINK\XDD)
4.1 PDO MAPPING
Index
Sub-
Index
Name
Object
Type
Access
Type
PDO
Mapping
4F00h
-
MCSW_Variables
RECORD
const
-
01h
MCSW_StateVar
UInt16
ro
optional
02h
MCSW_StatusWord
UInt16
ro
optional
03h
MCSW_WarnWord
UInt16
ro
optional
04h
MCSW_ActualPosition32Bit
Int32
ro
optional
05h
MCSW_DemandPosition32Bit
Int32
ro
optional
06h
MCSW_DemandCurrent
Int32
ro
optional
07h
MCSW_ControlWord
UInt16
wo
optional
08h
MCSW_MotionCommandHeader
UInt16
wo
optional
09h
MCSW_MotionCommandByte_00_03
UInt32
wo
optional
0Ah
MCSW_MotionCommandByte_04_07
UInt32
wo
optional
0Bh
MCSW_MotionCommandByte_08_11
UInt32
wo
optional
0Ch
MCSW_MotionCommandByte_12_15
UInt32
wo
optional
0Dh
MCSW_MotionCommandByte_16_19
UInt32
wo
optional
0Eh
MCSW_MotionCommandByte_20_23
UInt32
wo
optional
0Fh
MCSW_MotionCommandByte_24_27
UInt32
wo
optional
10h
MCSW_MotionCommandByte_00_01
UInt16
wo
optional
11h
MCSW_MotionCommandByte_02_03
UInt16
wo
optional
12h
MCSW_MotionCommandByte_04_05
UInt16
wo
optional
13h
MCSW_MotionCommandByte_06_07
UInt16
wo
optional
14h
MCSW_MotionCommandByte_08_09
UInt16
wo
optional
15h
MCSW_MotionCommandByte_10_11
UInt16
wo
optional
16h
MCSW_MotionCommandByte_12_13
UInt16
wo
optional
17h
MCSW_MotionCommandByte_14_15
UInt16
wo
optional
18h
MCSW_MotionCommandByte_16_17
UInt16
wo
optional
19h
MCSW_MotionCommandByte_18_19
UInt16
wo
optional
4F02h
-
UPID_Variables
RECORD
const
-
01h
Parameter_by_UPID_01
UInt32
rw
optional
02h
Parameter_by_UPID_02
UInt32
rw
optional
03h
Parameter_by_UPID_03
UInt32
rw
optional
04h
Parameter_by_UPID_04
UInt32
rw
optional
4F03h
-
Configuration_Module1
RECORD
const
-

Page 9 of 40NTI AG / LinMot
Index
Sub-
Index
Name
Object
Type
Access
Type
PDO
Mapping
01h
TX_Cfg_Module_Control
UInt16
wo
optional
02h
TX_Cfg_Module_Index_Out
UInt16
wo
optional
03h
TX_Cfg_Module_Value_Out
UInt32
wo
optional
04h
RX_Cfg_Module_Status
UInt16
ro
optional
05h
RX_Cfg_Module_Index_In
UInt16
ro
optional
06h
RX_Cfg_Module_Value_In
UInt32
ro
optional
Parameters 4F00hSub10h-19h are mappable for easy interface compatibility with legacy drives. Use the 32 Bit
Versions if possible. The MCSW_MotionCommandByte_xx_xx UInt32 parameters shall not be configured
together with their UInt16 counterparts.
1See chapter „5.1 LinMot Configuration Module via PDO" for details
4.2 ADDITIONAL PARAMETERS
These Parameters can be set to configure additional services.
They are written once during the initialisation phase by the PLC to the drive.
Index
Sub-Index
Name
Object Type
Access Type
PDO Mapping
4F01h
01h
UPID_01
UInt16
wo
no
4F01h
02h
UPID_02
UInt16
wo
no
4F01h
03h
UPID_03
UInt16
wo
no
4F01h
04h
UPID_04
UInt16
wo
no
4.3 MAPPING OF PARAMETERS VIA THEIR UPID
A total of four parameters are mappable to the poll response or the poll request for the drive by their
UPIDs.
Any parameter of the drive which has its own UPID is mappable this way in order to achieve a high
degree of flexibility for the user.
4.3.1 Example how to read a parameter via its UPID
In this example, the UPID 1BBCh (Logic Supply Voltage) is configured so that its value is sent with the poll
response of the drive.
11

Page 10 of 40 NTI AG / LinMot
Settings for UPID mapping in the B&R Automation Studio

Page 11 of 40NTI AG / LinMot
5 CONFIGURATION VIA POWERLINK INTERFACE
To configure the drive via the POWERLINK interface one has the following possibilities:
·
Using the Configuration Module which is embedded in the PDO data.
·
Using specific SDO-Commands
Both methods can be used independently from one another. One has to be aware that those methods are
different from each other, although their functionality is largely the same.
5.1 LINMOT CONFIGURATION MODULE VIA PDO
This type of configuration access is supported on all type of ethernet fieldbus interfaces of the LinMot drive
family.
For a detailed description on how to use this module please consult the manual “LinMot drive Configuration
over Fieldbus Interfaces SG5”.
5.2 LINMOT PARAMETER COMMANDS VIA SDO
All LinMot-specific Services like the Curve-Service, the Command-Table-Service etc. are accessible over the
POWERLINK Interface via SDO-Commands.
Index
Sub-Index
Description
Access
Type
2000h -
5FFFh
LinMot Parameter Commands
-
UPID Commands
01h
RAM Value of UPID
rw
02h
ROM Value of UPID
rw
03h
Min Value of UPID
ro
04h
Max Value of UPID
ro
05h
Default Value of UPID
ro
06h
RAM / ROM Write of UPID
wo
20h
Start getting UPID List
wo
21h
Get Next UPID List item
ro
22h
Start Getting Modified UPID List
wo
23h
Get Next Modified UPID List item
ro
System Commands
07h
Set ROM to default (OS)
wo
08h
Set ROM to default (MC)
wo
09h
Set ROM to default (Interface)
wo
0Ah
Set ROM to default (Application)
wo
0Bh
Reset drive
wo
35h
Stop MC and APPL Software
wo
36h
Start MC and APPL Software
wo
Curve Service Commands
40h
Curve Service: Save to Flash
wo

Page 12 of 40 NTI AG / LinMot
Index
Sub-Index
Description
Access
Type
41h
Curve Service: Delete all Curves (RAM)
wo
42h
Curve Service: Poll Flash
ro
50h
Curve Service: Add Curve
wo
53h
Curve Service: Add Curve Data (32 Bit)
wo
54h
Curve Service: Add Curve Info Block (32 Bit)
wo
60h
Curve Service: Get Curve
ro
61h
Curve Service: Get Curve Info Block
ro
62h
Curve Service: Get Curve Data
ro
Error Log Commands
70h
Get Error Log Entry Counter
ro
71h
Get Error Log Entry Error Code
ro
72h
Get Error Log Entry Time low
ro
73h
Get Error Log Entry Time high
ro
74h + (Stringlet Nr. 0..7)
Get Error Code Text Stringlet
ro
Command Table Commands
80h
CT: Save to Flash
wo
80h
CT: Poll Flash
ro
81h
CT: Delete all Entries (RAM)
wo
82h
CT: Delete Entry (Entry Nr.)
wo
83h
CT: Write Entry (Entry Nr.)
wo
84h
CT: Write Entry Data
wo
85h
CT: Get Entry (Entry Nr.)
ro
86h
CT: Get Entry Data
ro
87h
CT: Get Entry List (Entry 0..31)
ro
88h
CT: Get Entry List (Entry 32..63)
ro
89h
CT: Get Entry List (Entry 64..95)
ro
8Ah
CT: Get Entry List (Entry 96..127)
ro
8Bh
CT: Get Entry List (Entry 128..159)
ro
8Ch
CT: Get Entry List (Entry 160..191)
ro
8Dh
CT: Get Entry List (Entry 192..223)
ro
8Eh
CT: Get Entry List (Entry 224..255)
ro
For a general description and a Overview of the concepts used in fieldbus configuration, please refer to the
document “LinMot Drive Configuration over Fieldbus Interfaces SG5”.
5.2.1 UPID Commands
Parameters can be modified via their UPIDs (Unique Parameter ID). To use a UPID command, an SDO read or
write has to be performed on the index “2000h + UPID”.
The sub-index specifies the command which is performed.

Page 13 of 40NTI AG / LinMot
Index
Sub-Index
Description
Access Type
Data Type
2000h +
UPID
01h
RAM Value
rw
Bool - Unsigned32
Read / Write the RAM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be read
or written.
Read RAM Value by UPID
SDO Read from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
01h
Payload Data
-
-
-
-
Byte
01
02
03
04
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
01h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Read Value of the UPID
Write RAM Value by UPID
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
01h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Value of the UPID to write
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
01h
Payload Data
-
-
-
-
Byte
01
02
03
04
Index
Sub-Index
Description
Access Type
Data Type
2000h +
UPID
02h
ROM Value
rw
Bool - Unsigned32
Read / Write the ROM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be
read or written. If a value in the ROM is changed, it is not immediately reflected in the RAM. Values are read
from the ROM to the RAM on startup of the drive. Use the “RAM/ROM Write” command (sub-index 06h) to
changes both values at the same time.
Read RAM Value by UPID
SDO Read from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
02h
Payload Data
-
-
-
-

Page 14 of 40 NTI AG / LinMot
Index
Sub-Index
Description
Access Type
Data Type
+
UPID
Byte
01
02
03
04
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
02h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Read Value of the UPID
Write RAM Value by UPID
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
02h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Value of the UPID to write
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
02h
Payload Data
-
-
-
-
Byte
01
02
03
04
Index
Sub-Index
Description
Access Type
Data Type
2000h +
UPID
04h
Max Value
ro
Bool - Unsigned32
The maximal possible value of the UPID is returned.
Read Rax Value by UPID
SDO Read from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
04h
Payload Data
-
-
-
-
Byte
01
02
03
04
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
04h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Max Value of the UPID

Page 15 of 40NTI AG / LinMot
Index
Sub-Index
Description
Access Type
Data Type
2000h +
UPID
05h
Default Value
ro
Bool - Unsigned32
The default value of the UPID is returned.
Read Default Value by UPID
SDO Read from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
05h
Payload Data
-
-
-
-
Byte
01
02
03
04
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
05h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Default Value of the UPID
Index
Sub-Index
Description
Access Type
Data Type
2000h +
UPID
06h
RAM/ROM Write
wo
Bool - Unsigned32
Write the RAM and ROM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be
written.
Write RAM/ROM Value by UPID
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
06h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Value of the UPID to write
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
06h
Payload Data
-
-
-
-
Byte
01
02
03
04
Index
Sub-Index
Description
Access Type
Data Type
2000h
20h
Start Getting UPID List
wo
Unsigned16
With this command, the starting UPID can be set from which the command “Get Next UPID List item” begins
returning info when called. This command has to be sent at least once before information on UPIDs can be
retrieved via the “Get Next UPID List item” command.

Page 16 of 40 NTI AG / LinMot
Index
Sub-Index
Description
Access Type
Data Type
Write RAM/ROM Value by UPID
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
20h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Any Data
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
20h
Payload Data
-
-
-
-
Byte
01
02
03
04
Index
Sub-Index
Description
Access Type
Data Type
2000h
21h
Get Next UPID List item
ro
Unsigned32
With this command, the starting UPID can be set from which the command “Get Next UPID List item” begins
returning info when called. This command has to be sent at least once before information on UPIDs can be
retrieved via the “Get Next UPID List item” command.
Get Next UPID List item
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
21h
Payload Data
-
-
-
-
Byte
01
02
03
04
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
21h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
yy yy: Address Usage
xx xx: UPID which was found
Address Usage is interpreted as follows:

Page 17 of 40NTI AG / LinMot
Index
Sub-Index
Description
Access Type
Data Type
Index
Sub-Index
Description
Access Type
Data Type
2000h
22h
Start Getting Modified UPID
List
wo
Unsigned16
This command is used in the same way as the “Start Getting UPID List” command (2000h sub 20h). Only
UPIDs with values that differ from their default values are returned.
Index
Sub-Index
Description
Access Type
Data Type
2000h
23h
Get Next Modified UPID List
item
ro
Unsigned32
This command is used the in same way as the “Get Next UPID List item” command (2000h sub 21h). Only
UPIDs with values that differ from their default values are returned.

Page 18 of 40 NTI AG / LinMot
5.2.2 System Commands
Commands like resetting values of parameters, resetting the device etc. can be found here.
Index
Sub-Index
Description
Access Type
Data Type
2000h
07h
Default Value
wo
Unsigned8 - Unsigned32
Set all parameters of the OS to default values. This command needs about 0.5s to finish. Any data can be
written for the command to be executed.
Set ROM to default (OS)
SDO Read from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
07h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
07h
Payload Data
-
-
-
-
Byte
01
02
03
04
Index
Sub-Index
Description
Access Type
Data Type
2000h
08h
Set ROM to default (MC SW)
wo
Unsigned8 - Unsigned32
Set all parameters of the MC SW to default values. This command needs about 2s to finish. Any data can be
written for the command to be executed.
Set ROM to default (MC SW)
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
+
UPID
08h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Any Data
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
08h
Payload Data
-
-
-
-
Byte
01
02
03
04
Index
Sub-Index
Description
Access Type
Data Type
2000h
09h
Set ROM to default (Interface)
wo
Unsigned8 - Unsigned32
Set all parameters of the interface to default values. This command needs about 0.5s to finish. Any data can
be written for the command to be executed.
Set ROM to default (Interface)

Page 19 of 40NTI AG / LinMot
Index
Sub-Index
Description
Access Type
Data Type
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
09h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Any Data
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
09h
Payload Data
-
-
-
-
Byte
01
02
03
04
Index
Sub-Index
Description
Access Type
Data Type
2000h
09h
Set ROM to default (Interface)
wo
Unsigned8 - Unsigned32
Set all parameters of the interface to default values. This command needs about 0.5s to finish. Any data can
be written for the command to be executed.
Set ROM to default (Interface)
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
09h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Any Data
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
09h
Payload Data
-
-
-
-
Byte
01
02
03
04
Index
Sub-Index
Description
Access Type
Data Type
2000h
0Ah
Set ROM to default
(Application)
wo
Unsigned8 - Unsigned32
Set all parameters of the Application to default values. This command needs about 0.5s to finish. Any data
can be written for the command to be executed.
Set ROM to default (Application)
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
0Ah
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Any Data

Page 20 of 40 NTI AG / LinMot
Index
Sub-Index
Description
Access Type
Data Type
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
0Ah
Payload Data
-
-
-
-
Byte
01
02
03
04
Index
Sub-Index
Description
Access Type
Data Type
2000h
0Bh
Reset Drive
wo
Unsigned8 - Unsigned32
Initiates a software reset of the drive. Any data can be written for the command to be executed.
Reset Drive
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
0Bh
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Any Data
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
0Bh
Payload Data
-
-
-
-
Byte
01
02
03
04
Index
Sub-Index
Description
Access Type
Data Type
2000h
35h
Stop MC and APPL SW
wo
Unsigned8 - Unsigned32
MC SW and Application SW are stopped. Any data can be written for the command to be executed.
Stop MC and APPL Software
SDO Write from PLC to LinMot Drive:
Index
Sub-Index
T
LSB
MSB
2000h
35h
Payload Data
xxh
xxh
xxh
xxh
Byte
01
02
03
04
xx xx xx xx: Any Data
Return value:
Index
Sub-Index
T
LSB
MSB
2000h
35h
Payload Data
-
-
-
-
Byte
01
02
03
04