LinMot C1150-SE-XC-0S User manual

Oktober 2018
Documentation of the EtherCAT SoE Interface of the
following Drives:
· C1150-SE-XC-0S/1S
· C1250-SE-XC-0S/1S
· C1450-SE-VS-0S/1S
· E1450-SE-QN-0S/1S
· E1250-SE-UC
Manual
EtherCAT SoE Profile Interface
Doc.: 0185-1103-E_6V4_MA_EtherCAT-CiA402

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© 2018 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

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1. System overview ............................................................................................ 4
1.1 References .................................................................................................................. 4
1.2 Connecting In and Out ............................................................................................... 4
2. Setup in the PLC ............................................................................................ 5
2.1 Copy Device Description File ................................................................................... 5
2.2 Scan the EtherCAT slave devices ............................................................................ 6
3. Process Data Object (PDO) Configuration .................................................... 11
3.1 Input PDO Modules ................................................................................................... 11
3.1.1 Default Inputs: AT 1 ........................................................................................... 11
3.1.2 Input: Following distance S-0-0189 ................................................................. 11
3.1.3 Input: DC bus voltage S-0-0380 ....................................................................... 11
3.1.4 Input: State Var P-1-2914 .................................................................................. 11
3.1.5 Input: X4 Inputs P-1-3205 .................................................................................. 11
3.2 Output PDO Modules ................................................................................................ 12
3.2.1 Default Outputs: MDT 1 ..................................................................................... 12
3.2.2 Output: Velocty command value S-0-0036 ..................................................... 12
3.3 Typical Startup Telegrams ...................................................................................... 12
3.4 Adding Parameters or Variables to the PDO data by UPID ................................. 12
4. Asynchronous Configuration Protocol SoE .................................................. 15
4.1 Communication SoE Profile Area ........................................................................... 15
4.2 Generic LinMot SoE Parameter Mapping ............................................................... 15
5. EtherCAT SoE Parameters ............................................................................ 16
5.1 Parameters ................................................................................................................ 16
5.1.1 EtherCAT/Dis-/Enable ....................................................................................... 16
5.1.2 EtherCAT/Station Alias/Alias Address Source ............................................... 16
5.1.3 EtherCAT/Station Alias/Alias Address Parameter ......................................... 16
5.1.4 EtherCAT/Station Alias/Alias Address Parameter Mask ............................... 17
5.1.5 EtherCAT/NC Configuration/Velocity Scale Numerator /Denominator ....... 17
5.1.6 EtherCAT/Connection Timeout/Timeout Behavior ........................................ 17
6. Connecting to the EtherCAT Network ........................................................... 18
6.1 Pin Assignment of the Connectors X17-X18 ......................................................... 18

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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. With the SoE (Sercos over EtherCAT) Protocol it is possible to use the
Sercos functionality over the EtherCAT bus, the drive behaves as a Sercos drive.
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 software the newest versions can
be downloaded from the LinMot homepage in the download section.
Ref
Title
Source
1
User Manual Motion Control SW
www.linmot.com
2
LinMot Drive Configuration over Fieldbus Interfaces SG5
www.linmot.com
1.2 Connecting In and Out
In the EtherCAT the cabling is directed due topology support, so In and
Out is different! The real time Ethernet RJ45 connector X17 is the input
and the real time RJ45 connector X18 is the output.

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2 Setup in the PLC
In the following steps the integration of a LinMot EtherCAT Sercos Servo Drive in the
PLC is described. In the example a Beckhoff master PLC is used. The easiest way is
the online configuration when the device is connected to the EtherCAT network.
2.1 Copy Device Description File
The LinMot Servo Drive is described with *.xml device description file distributed with
the LinMot-Talk software. This file is only used when offline configuration is desired.
Copy this file to PLC so it can access it.
Example Source path of EtherCAT Device description file:
C:\Programme\LinMot\LinMot-Talk 6.5 Build
20160205\Firmware\Interfaces\EtherCAT\XML\ NTIL_SoE_Servos_V1_3.xml
Example Destination path of EtherCAT Device description file:
TwinCAT 2:
C:\TwinCAT\Io\EtherCAT\ NTIL_SoE_Servos_V1_3.xml
TwinCAT 3:
C:\TwinCAT\3.1\Config\Io\EtherCAT\ NTIL_SoE_Servos_V1_3.xml
Omron:
C:\OMRON\Sysmac Studio\IODeviceProfiles\EsiFiles\UserEsiFiles
NTIL_SoE_Servos_V1_3.xml
If this is done the PLC should recognize the corresponding LinMot drives on the
EtherCAT fieldbus automatically.

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2.2 Scan the EtherCAT slave devices
Connect the EtherCAT LinMot SoE Servo Drive 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.
With the question Add drives to NC-configuration select yes.

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These steps add the servo drive and its NC-axis to the project.
If the master also supports also the mapping Velocity command value it is strongly
recommended to add this to MDT1 data.

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Add the Velocity command value by selecting it from the dictionary
Click Yes to relink the new process data.

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MDT1 telegram with added Velocity command value.
Now the NC encoder has to be set to the correct value push the calulate button for this.
After this action the value should stand at this value (2^32).

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Then the velocity output scale factor has to be set to 0.1 for correct operation.
Though the position controlling is done in the drive the controller output has to be set to
0. If this is forgotten, the behaviour could be noisy. To set these NC parameters they
have to be downloaded.
Now the servo drive can be used with system manager NC functionality when started.

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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. The inputs and outputs
correspond to the PLC point of view. For a detailed description of the exchanged data
and its meaning refer to [1].
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 software.
3.1 Input PDO Modules
3.1.1 Default Inputs: AT 1
Index
Size
[Byte]
Byte
Offset
Name
Data Type
S-0-0016
6
-
Variables
RECORD
S-0-0135
2
0
Sdrive status word
Uint16
S-0-0051
4
2
Position feedback value 1
Int32
Default input PDO mapping of 6 Bytes.
3.1.2 Input: Following distance S-0-0189
Index
Size
[Byte]
Byte
Offset
Name
Data Type
S-0-0189
4
0
Following distance
Int32
3.1.3 Input: DC bus voltage S-0-0380
Index
Size
[Byte]
Byte
Offset
Name
Data Type
S-0-0380
4
0
DC bus Voltage
Int32
3.1.4 Input: State Var P-1-2914
Index
Size
[Byte]
Byte
Offset
Name
Data Type
P-1-2914
2
0
State Var
Uint16
3.1.5 Input: X4 Inputs P-1-3205
Index
Size
[Byte]
Byte
Offset
Name
Data Type
P-1-3205
2
0
X4 inputs
Uint16

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3.2 Output PDO Modules
3.2.1 Default Outputs: MDT 1
Index
Size
[Byte]
Byte
Offset
Name
Data Type
S-0-0024
6
-
Variables
RECORD
S-0-0134
2
0
Master control word
Uint16
S-0-0047
4
2
Position command value
Int32
Default output PDO mapping of 6 Bytes.
The default mapping could be extended with the following value.
If the master also supports also the mapping Velocity command value it is strongly
recommended to add this to MDT1 data.
Index
Size
[Byte]
Byte
Offset
Name
Data Type
S-0-0024
10
-
Variables
RECORD
S-0-0134
2
0
Master control word
Uint16
S-0-0047
4
2
Position command value
Int32
S-0-0036
4
6
Velocity command value
Int32
Extended efault input PDO mapping of 10 Bytes.
3.2.2 Output: Velocty command value S-0-0036
Index
Size
[Byte]
Byte
Offset
Name
Data Type
S-0-0036
4
0
Velocity command value
Int32
If the master supports also the Velocity command value, it is strongly recommended to
at this part to the MDT 1 telegram. With this a much better dynamic could be reached.
3.3 Typical Startup Telegrams
This figure shows the startup telegram list of LinMot EtherCAT servo drive
3.4 Adding Parameters or Variables to the PDO data by UPID
Sometimes it is needed to have acces to other process data object at runtime, for this
additional data object could be added to the existing data objects by UPID.

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Right Click to Insert new data in the Process Data Tab
Fill Out the PDO Entry Editor name the Object as Index use the UPID number
and chose the corresponding data type (the size 2 bytes or 4 bytes has to be the
same as the defined eith the UPID) then click OK.
Modified Startup list with Demand Current (UPID 0x1B93) added to the AT list
(S-0-0016)

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Now the new data cpould be linkt to a PLC data object.

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4 Asynchronous Configuration Protocol SoE
For configuration purpose (Parameter Handling) the standard Sercos over EtherCAT
SoE-Protocol is used.
4.1 Communication SoE Profile Area
LinMot SoE Object Dictionary
4.2 Generic LinMot SoE Parameter Mapping
Apart from the above described parameters with the LinMot servo drives, there exists a
generic parameter mapping of the LinMot parameters by UPID to the SoE parameter

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index by adding the UPID to 0x8000h. Reading and writing the value accesses the RAM
value of the UPID. Writing to the default value accesses the ROM value of the UPID.
5 EtherCAT SoE Parameters
5.1 Parameters
The EtherCAT SoE Interface has an additional parameter tree branch
distributed LinMot-Talk software.
With these parameters, the EtherCAT interface can be enabled or disabled.
The LinMot-Talk software can be downloaded from http://www.linmot.com under the
section Download, Software, LinMot Talk.
5.1.1 EtherCAT/Dis-/Enable
With the Dis-/Enable parameter the LinMot Servo Drive can be run without the Ethernet
EtherCAT Interface going online. So in a first step the system can be configured and
run without any bus connection.
ETHERCAT/Dis-/Enable
Disable
Servo Drive runs without ETHERCAT.
Enable
Servo Drive runs with ETHERCAT connection.
If the ETHERCAT Interface is disabled, the integrated ETHERCAT-ASIC
rests in reset state! No messages will be sent to other devices connected
to the ETHERCAT-Network via the servo drive.
5.1.2 EtherCAT/Station Alias/Alias Address Source
With this parameter the station alias address source is defined.
If a station alias address is defined in the ET1100 Eeprom (could be
programmed from the master over the Network), this alias address is
taken.
ETHERCAT/Station Alias/Alias Address Source
None
No station alias address is generated
ID Switches
The ID switches defines the station alias address
ID Switches +
Parameter
The station alias address is build out of the ID-Switch value added
with the parameter value (typ. Offset)
RT MAC
The lowest 2 bytes of the device MAC address are used as station
alias address
Parameter
The Station alias address parameter value defines the Alias Address
Masked RT MAC
and Parameter
The station alias address is defined by the masked parameter ored
with the RT MAC masked with the inverse mask
5.1.3 EtherCAT/Station Alias/Alias Address Parameter
Parameter value of the station alias address.

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5.1.4 EtherCAT/Station Alias/Alias Address Parameter Mask
Mask value for the parameter value of the station alias address.
5.1.5 EtherCAT/NC Configuration/Velocity Scale Numerator /Denominator
This two parameters are taken to Scale the PDO Value of “Target velocity” (Index
0x60FF) to the Drive Resolution which is [1um/s]. The Scaling factor is Velocity Scale
Numerator divided by Velocity Scale Denominator.
For the Beckoff this factor could be set to 1 (as the default value is 1/1), if adapted as
described chapter 2.2 in the master.
Velocity Scale Denominator = 10.
5.1.6 EtherCAT/Connection Timeout/Timeout Behavior
With this parameter the drive behavior on a Connection timeout could be set. This
parameter is also represented in the profile parameter with index 0x6007.
ETHERCAT/Conection Timeout/Timeout Behavior
Ignore
Nothing happens if an IO timeout occurs.
Error with Disable Voltage
Drive goes to Error State and the Voltage is disabled
immediately when the IO timeout occurs.
Error with Quick Stop
Drive goes to Error State before the Voltage is disabled a
Quick Stop is performed, when the IO timeout occurs.
Error with Go To Pos
Drive goes to Error State before the Voltage is disabled a
Go To Position is performed, when the IO timeout occurs.

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6 Connecting to the EtherCAT Network
6.1 Pin Assignment of the Connectors X17-X18
The ETHERCAT 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
WHT/ORG
Rx+
2
ORG
Rx-
3
WHT/GRN
Tx+
4
BLU
-
5
WHT/BLU
-
6
GRN
Tx-
7
WHT/BRN
-
8
BRN
-
case
-
-
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”.

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