LinMot E1250-IP-UC User manual

Documentation of the LinUDP Interface of the following Drives:
- E1250-IP-UC
- E1 00-IP-QN
LinUDP Interface
User Manual

LinMot User Manual
© 2013 NTI AG
This work is protected by copyri ht.
Under the copyri ht laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, includin
photocopyin , recordin , microfilm, storin in an information retrieval system, not even for didactical use, or translatin , in whole or in
part, without the prior written consent of NTI AG.
LinMot® is a re istered trademark of NTI AG.
The information in this documentation reflects the sta e of development at the time of press and is therefore without obli ation.
NTI AG reserves itself the ri ht to make chan es at any time and without notice to reflect further technical advance or product
improvement.
Document version 1.3a / ka, December 2013
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Table of Content
1 Overview...........................................................................................................................
2 Installation on Servo Drive..............................................................................................
3 Connecting LinUDP.........................................................................................................
3.1 Pin Assi nment of the Connectors X17 - X18............................................................4
LinUDP Telegram.............................................................................................................5
4.1 DHCP Header.............................................................................................................5
4.2 IPv4 Header................................................................................................................5
4.3 LinUDP Header...........................................................................................................5
4.4 LinUDP Data...............................................................................................................5
4.4.1 Request from the Master.....................................................................................6
4.4.2 Response from the Drive.....................................................................................7
5 LinUDP Parameters..........................................................................................................7
6 LinUDP Modules...............................................................................................................8
6.1 Master to drive Modules.............................................................................................8
6.2 Drive to master Modules.............................................................................................9
7 Real Time Config Module..............................................................................................10
8 Contact Addresses........................................................................................................19
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1 Overview
The LinUDP protocol is an easy way for communication with a LinMot servo drive
over Ethernet. There are no checks done to make sure if the messa es have
reached their destination and if they are correctly received. When communicatin
via LinUDP, the drive has no active function, it only responds to requests with the
appropriate answers.
2 Installation on Servo Drive
For installin the LinUDP firmware on the servo drive, start the LinMot- Talk
software and press the install firmware button . Choose the file
“Firmware_Buildxxxxxxxx.sct” and press “Open”. The wizard will uide you throu h
the installation. When askin for the interface software choose “LinUDP”:
Press ok and follow the rest of the wizard.
3 Connecting LinUDP
3.1 Pin Assignment of the Connectors X17 - X18
The Ethernet/IP connector is a standard RJ45 female connector with a pin
assi nment as defined by EIA/TIA T568B:
X17 – X18 RealTime Ethernet 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
wirin . This type of cable is usually referred to as a “Cat5e-
Cable”.
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LinUDP Telegram
In LinUDP there are two tele rams used, one for the request from the master and
the other one for the response from the drive. These two tele rams have the
followin layout:
Name Size [Byte]
DHCP Header 14
IPv4 Header 20
LinUDP Header 8
LinUDP Data messa e dependent
.1 DHCP Header
The DHCP Header looks like in the followin table.
0. Byte 1. Byte 2. Byte 3. Byte 4. Byte 5. Byte 6. Byte 7. Byte
+0 Destination MAC ID
+8 Source MAC ID Protocol Typ (0x0800)
.2 IPv Header
The IPv4 header is described in the rfc0791 in chapter 3.1. Rfc0791 could be found
on www.ietf.or /rfc/rfc0791.txt. The sections options and paddin are not used.
.3 LinUDP Header
The LinUDP header consists of four parts. They are showin ind the followin table.
Name Size [Byte]
Source Port 2
Destination Port 2
Len th of UDP Tele ram 2
UDP Checksum 2
The LinUDP ports are fix assi ned. For the Master it is port 41136 and for the drive
it is port 49360. In Hex-Code they are A0B0 and C0D0.
. LinUDP Data
In LinUDP data are the data which we want to transfer. The construction of this data
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part always is the same. The only difference are the source and destination, they
are switched.
. .1 Request from the Master
The first 32 bits of the LinUDP data define the request and the followin 32 bits
define the format of the response. The followin tables show how the request
definition and the response definition look like.
Request definition
Bit Name Data size [Byte]
0 Control Word 2
1 MC Interface 32
2 Realtime Confi uration 8
3 – 31 Reserved for future expansions
Response definition
Bit Name Data size [Byte]
0 Status Word 2
1 State Var 2
2 Actual Position 4
3 Demand Position 4
4 Current 2
5 Warn Word 2
6 Error Code 2
7 Monitorin Channel 16
8 Realtime Confi uration 8
9 – 31 Reserved for future expansions
Each of the definition bits shows if the correspondin parameter is part of the
communication. The order of the requested data parts is the same as the definition
bits. When a definition bit is not set, the data part would not be transferred. When
all bits of the request definition are set, then the LinUDP data looks like it is shown
in the followin table. Each field represents one byte.
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0. Byte 1. Byte 2. Byte 3. Byte 4. Byte 5. Byte 6. Byte 7. Byte
+0 Request Definition Response Definition
+8 Control Word
+16
+24 MC Interface
+32
+40 Realtime Confi uration
+48
. .2 Response from the Drive
The LinUDP data part of a response from a drive has the same construction like the
data part of a request. The order of the response data part is the same as the
response definition bits. The only exception is the last part of the response data part
with the realtime confi uration data, when realtime confi uration is activated then
the bit number 2 is set in de request definition and the bit number 8 is set in the
response definition. When all bits in the response definition are set then the
response data part looks like in the followin table. If the response frame is shorter
then 64 bytes, the drive fill the response with 0s until the len th is 64 bytes.
0. Byte 1. Byte 2. Byte 3. Byte 4. Byte 5. Byte 6. Byte 7. Byte
+0 Request Definition Response Definition
+8 Status Word State Var Actual Position
+16 Demand Position Current Warn Word
+24 Error Code Monitorin Channel
+32
+40 Realtime Confi uration
+48
5 LinUDP Parameters
The LinUDP servo drives have an additional parameter tree branch, which can be
confi ured with the distributed LinMot-Talk software. With these parameters, the
LinUDP behaviour can be defined. The LinMot-Talk software can be downloaded
from http://www.linmot.com under the section download, software & manuals.
The additional parameter tree branch is called “LinUDP Intf”. In this branch are the
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followin Parameters.
•Dis-/Enable, with this Parameter the interface could be turned off and on.
•Ethernet Configuration is the part where the connection type could be
chosen.
•Monitoring Channels defined 4 UPID. The values of this UPID are in the
response data part when the monitorin channel bit is set active.
Monitorin Channels
Channel 1 UPID Source UPID for Monitorin Channel 1 Parameter UPID = 20A8
Channel 2 UPID Source UPID for Monitorin Channel 2 Parameter UPID = 20A9
Channel 3 UPID Source UPID for Monitorin Channel 3 Parameter UPID = 20AA
Channel 4 UPID Source UPID for Monitorin Channel 4 Parameter UPID = 20AB
•Master Configuration is for the communication safety. With the radio
buttons under sin le master there can chosen three possibilities.
•No Filter means the drive does no control. This option is choose per
default.
•Single Master means the drive takes the IP Address from the sender
of the first LinUDP tele ram, which it receives and after that it only
responses to tele rams with this address.
•Single Master with fix IP: In the parameters called Master IP Address
define a IP Address and the drive only responses to tele rams with
this fix address.
•Master IP Address the fix IP address is defined in this parameters.
6 LinUDP Modules
In LinUDP there are three modules implemented for the master to drive
communication and ei ht modules for the drive to master communication.
6.1 Master to drive Modules
Control Word
With the control word the main state machine of the drive can be accessed. Please
refer to “User Manual Motion Control Software” for the control word.
MC Cmd Interface
This maps the MC command interface of the drive. Please refer to the
documentation of the MC software.
Real Time Configuration
The real time confi uration module allows accessin to parameters, variables,
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curves, error lo and command table. Also restart, start and stop of the drive can be
initiated. Of course the parameter channel module works independently from the
MC command interface. For this reason, chan in a parameter and sendin a
motion command can be done in parallel. The real time confi uration has influence
on both tele ram directions. For details see chapter 6 Real Time Confi .
6.2 Drive to master Modules
Status Word
The status word consists of 16 bits. Please refer to “User Manual Motion Control
Software” for watch about the meanin of each bit the status word.
State Var
The State Var consists of MainState and SubState. Please refer to the table “State
Var” on chapter 3 of the “User Manual Motion Control Software”. The State Var has
all relevant fla s and information for clean handshakin within one word and can
therefore replace the modules “Get MC Header Echo” and “Get Error Code”.
Actual Position
Returns the actual position of the motor. (32 Bit inte er value, resolution 0.1 μm)
Demand Position
Returns the demand position of the motor. (32 Bit inte er value, resolution 0.1 μm)
Current
Returns the set current of the motor. (16 Bit inte er value, resolution 1 mA)
Warn Word
Returns the warn word. Please refer to “User Manual Motion Control Software”.
Error Code
Returns the error code. Please refer to “User Manual Motion Control Software” for
the Error Codes of the MC software.
Monitoring Channel
Transmits cyclically the value of the variable, which is defined by the monitorin
channel Parameter (see chapter 3)
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7 Real Time Config Module
The structure of the real time confi is shown in the followin table. DO stands for
data output and DI for data input. The point of view for the definition of DO and DI is
the Master.
Word number DO DI
1. Parameter Channel Control Parameter Channel Status
2. Ar ument (meanin depends on Cmd
ID)
Ar ument (meanin depends on Cmd
ID)
3. Ar ument (meanin depends on Cmd
ID)
Ar ument (meanin depends on Cmd
ID)
4. Ar ument (meanin depends on Cmd
ID)
Ar ument (meanin depends on Cmd
ID)
Real Time Config Control
Parameter Command ID to be executed Reserved Command Count
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
The Parameter Channel Control is split in two parts:
• Parameter Command ID to be executed (bits 8-15), see table Command ID
• Command Count (bits 0-3)
Real Time Config Status
Parameter Status Reserved Command Count
Response
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
The Parameter Channel Status is split in two parts:
• Parameter Status (bits 8-15), see table Parameter Status
• Command Count Response (bits 0-3)
Command Count
A new command is only evaluated, if the value of the command count chan es. In
the easiest way bit 0 could be to led.
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Parameter Command ID
This selects the command.
Possible Commands are:
Command ID Description
00h No Operation
Parameter Access
10h Read ROM Value of Parameter by UPID
11h Read RAM Value of Parameter by UPID
12h Write ROM Value of Parameter by UPID
13h Write RAM Value of Parameter by UPID
14h Write RAM and ROM Value of Parameter by UPID
15h Get minimal Value of Parameter by UPID
16h Get maximal Value of Parameter by UPID
17h Get default Value of Parameter by UPID
Parameter (UPID) List
20h Start Gettin UPID List
21h Get next UPID List item
22h Start Gettin Modified UPID List
23h Get next Modified UPID List item
Stop / Start / Default
30h Restart Drive
31h Set parameter ROM values to default (OS SW)
32h Set parameter ROM values to default (MC SW)
33h Set parameter ROM values to default (Interface SW)
34h Set parameter ROM values to default (Application SW)
35h Stop MC and Application Software (for Flash access)
36h Start MC and Application Software
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Curve Service
40h Save all Curves from RAM to Flash
41h Delete all Curves (RAM)
50h Start Addin Curve (RAM)
51h Add Curve Info Block (RAM)
52h Add Curve Data (RAM)
53h Start Modifyin Curve (RAM)
54h Modify Curve Info Block (RAM)
55h Modify Curve Data (RAM)
60h Start Gettin Curve (RAM)
61h Get Curve Info Block (RAM)
62h Get Curve Data (RAM)
Error Log
70h Get Error Lo Entry Counter
71h Get Error Lo Entry Error Code
72h Get Error Lo Entry Time low
73h Get Error Lo Entry Time hi h
74h Get Error Code Text Strin let
Command Table
80h Command Table: Save to Flash
81h Command Table: Delete All Entries (RAM)
82h Command Table: Delete Entry
83h Command Table: Write Entry
84h Command Table: Write Entry Data
85h Command Table: Get Entry
86h Command Table: Get Entry Data
87h Get Presence List of Entries 0..31 from RAM
88h Get Presence List of Entries 32..63 from RAM
89h Get Presence List of Entries 64..95 from RAM
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8Ah Get Presence List of Entries 96..127 from RAM
8Bh Get Presence List of Entries 128..159 from RAM
8Ch Get Presence List of Entries 160..191 from RAM
8Dh Get Presence List of Entries 192..223 from RAM
8Eh Get Presence List of Entries 224..255 from RAM
Parameter Status Description
00h OK, done
02h Command Runnin / Busy
04h Block not finished (Curve Service)
05h Busy
C0h UPID Error
C1h Parameter Type Error
C2h Ran e Error
C3h Address Usa e Error
C5h Error: Command 21h “Get next UPID List item” was executed without prior
execution of “Start Gettin UPID List”
C6h End of UPID List reached (no next UPID List item found)
D0h Odd Address
D1h Size Error (Curve Service)
D4h Curve already defined / Curve not present (Curve Service)
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Overview Parameter access
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Parameter UPID Parameter UPID
3. Parameter Value Low Parameter Value Low
4. Parameter Value Hi h Parameter Value Hi h
Overview Curve access:
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Curve Number Curve Number
3. Data Value Low / Info Block size Data Value Low / Info Block size
4. Data Value Hi h / Data Block size Data Value Hi h / Info Block size
Start getting UPID List:
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Start UPID (search from this UPID) -
3. - -
4. - -
Get next UPID List item:
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - UPID found
3. - Address Usa e
4. - -
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Address Usa e:
calculation Not used for Hash
Life Parameter
ROM Write
ROM Read
RAM Write
RAM Read
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Start getting Modified UPID List (Command ID 22h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Start UPID (search from this UPID) -
3. - -
4. - -
Get next Modified UPID List item (Command ID 23h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - UPID found
3. - Data Value Low
4. - Data Value Hi h
Get Error Log Entry Counter (Command ID 70h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - -
3. - Number of Lo ed Errors
4. - Number of Occurred Errors
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Get Error Log Entry Error Code (Command ID 71h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number (0..20) Entry Number
3. - Lo ed Error Code
4. - -
Get Error Log Entry Time Low (Command ID 72h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number (0..20) Entry Number
3. - Entry Time Low Word
4. - Entry Time Mid Low Word
Get Error Log Entry Time High (Command ID 73h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number (0..20) Entry Number
3. - Entry Time Mid Hi h Word
4. - Entry Time Hi h Word
The Error Lo Entry Time consists of 32 Bit hours (Time Hi h) and 32 Bits ms (Time
Low).
Get Error Code Text Stringlet (Command ID 7 h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Error Code Error code
3. Strin let Number (0..7) Strin let Byte 0 and 1
4. - Strin let Byte 2 and 3
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Command Table: Save to Flash (Command ID 75h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - -
3. - -
4. - -
For this command, the MC software must be stopped (with command “35h: Stop MC and
Application Software”). The LinUDP Interface will stay active while the MC software is
stopped.
Command Table: Delete All Entries (RAM) (Command ID 81h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - -
3. - -
4. - -
Command Table: Delete Entry (Command ID 82h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number Entry Number
3. - -
4. - -
Command Table: Write Entry (Command ID 83h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number Entry Number
3. Block Size (even number of bytes) Block Size
4. - -
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Command Table: Write Entry Data (Command ID 8 h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number Entry Number
3. Data Data
4. Data Data
Command Table: Get Entry (Command ID 85h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number Entry Number
3. - Block Size
4. - -
Command Table: Get Entry Data (Command ID 86h):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. Entry Number Entry Number
3. - Data
4. - Data
Command Table: Get Entry List (0..7) (Command IDs 87h .. 8Eh):
Word DO DI
1. Parameter Channel Control Parameter Channel Status
2. - Offset in bytes
3. - Bit field (Bit set = undefined / Bit
cleared = used)
4. - Bit field (Bit set = undefined / Bit
cleared = used)
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8 Contact Addresses
SWITZERLAND NTI AG
Haerdlistr. 15
CH-8957 Spreitenbach
Sales and Administration: [phone]
[e-mail]
Tech. Support: [phone]
[email protected]
Tech. Support (Skype) : skype:support.linmot
Fax: [phone]
Web: http://www.linmot.com/
USA LinMot, Inc.
204 E Morrissey Dr.
Elkhorn, WI 53121
Sales and Administration: 877-546-3270
262-743-2555
Tech. Support: 877-804-0718
262-743-1284
Fax: [phone]
262-723-6688
E-Mail: [email protected]
Web: http://www.linmot-usa.com/
Please visit http://www.linmot.com/ to find the distributor closest to you.
Smart solutions are…
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