LinUDP Interface - Delta Elektronik
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1. E l LinMot UH 0 Byte 1 Byte 3 Byte 4 Byte 5 Byte 7 Byte Request Definition Response Definition Control Word 16 Realtime Configuration LinMot User Manual 4 4 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 configuration data When all bits in the response definition are set then the response data part looks like in the following table m 0 Byte 1 Byte 2 Byte 3 Byte 5 Byte 6 Byte Request Definition Response Definition Status Word State Var Actual Position Error Code Monitoring Channel Realtime Configuration 5 LinUDP Parameters The LinUDP servo drives have an additional parameter tree branch which can be configured 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 amp manuals The additional parameter tree branch is called LinUDP Intf In this branch are the following 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 NTI AG2. 3 Real Time Config Status Parameter Status Reserved Command Count Response EEES EME E ES O The Parameter Channel Status is split in two parts e Parameter Status bits 8 15 see table Parameter Status e Command Count Response bits 0 3 Command Count A new command is only evaluated if the value of the command count changes In the easiest way bit O could be toggled NTI AG LinMot www LinMot com Page 10 19 1 3 c 1 i E l LinMot Parameter Command ID This selects the command Possible Commands are Command ID Description Parameter Access 5 c y da E o e ar Start Getting UPID List Start Getting Modified UPID List Stop Start Default Set parameter ROM values to default OS SW Set parameter ROM values to default Interface SW Stop MC and Application Software for Flash access NTI AG LinMot www LinMot com Page 11 19 ETITITEEENNR OO LinMor i 0 po Loud s LinMot Get Presence List of Entries 128 159 from RAM Get Presence List of Entries 192 223 from RAM Parameter Status Description Command Running Busy LinMot User Manual UPID Error Error Command 21h Get next UPID List item was executed without prior execution of Start Getting UPID List Size Error Curve Service NTI AG LinMot www LinMot com Page 13 19 ETTUTUEERE LinMo
3. peN N D l Demand Position Returns the demand position of the motor 32 Bit integer value resolution 0 1 um Current Returns the set current of the motor 32 Bit integer 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 monitoring channel Parameter see chapter 3 AG LinMot i ES S Page 9 19 LinMot 7 Real Time Config Module The structure of the real time config is shown in the following 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 DO Word number Parameter Channel Control Parameter Channel Status Argument meaning depends on Cmd Argument meaning depends on Cmd ID ID Argument meaning depends on Cmd ID Argument meaning depends on Cmd ID Argument meaning depends on Cmd ID Argument meaning depends on Cmd ID Real Time Config Control Parameter Command ID to be executed Reserved Command Count The Parameter Channel Control is split in two parts e Parameter Command ID to be executed bits 8 15 see table Command ID e Command Count bits 0
4. the Master ocio siete 6 5 4 4 2 Response from Ei AE A 7 2 a A dacs Du CencE Desc ez TEMA aae 7 6 LinUDP Modules ener nnne sns tratan strata sn stas ren 8 6 1 Master to drive MOQU ES ccccoooncnnnccononcnnccoononnncnnononnncnnononnnconononnnnnnnnnnnncanonnnancnonones 8 E 6 2 Drive to master MOGUIES ccccccccccsccsscscesccsecaecsecsecsecsecacesceccaccaceaecaecateueesueeeneeens 9 7 Heal Time Config Module imita 10 8 Contact Addressas cce eeece eec iia 19 LinMot com EB Page 3 19 ETITTITEEEN LinMot 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 messages have reached their destination and if they are correctly received When communicating via LinUDP the drive has no active function it only responds to requests with the appropriate answers 2 Installation on Servo Drive For installing 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 guide you through the installation When asking for the interface software choose LinUDP n ya E Choose Interface cof J 5 c c h o D E a Interface LinUDP _a Press ok and follow the rest of the wizard 3 Connecting LinUDP 3 1 Pin Assignment of the Co
5. Command ID 84h B O IB Parameter Channel Control Parameter Channel Status Entry Number Entry Number Command Table Get Entry Command ID 85h DO B E e Command Table Get Entry Data Command ID 86h DO DI Ee LLL Command Table Get Entry List 0 7 Command IDs 87h 8Eh DO DI E Omm 0 mE Bit field Bit set undefined Bit cleared used Bit field Bit set undefined Bit cleared used NTIAG LinMot www LinMot com i Page 18 19 5 c c i N gt E a ETITITTEEEN LinMot 8 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach T Sales and Administration 41 0 56 419 91 91 E office linmot com amp Tech Support 41 0 56 544 71 00 E support linmot com 5 Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 a Web http www linmot com USA LinMot Inc 5750 Townline Road Elkhorn WI 53121 Sales and Administration 877 546 3270 262 743 2555 Tech Support 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www linmot usa com Please visit http www linmot com to find the distributor closest to you Smart solutions are Page 19 19
6. Documentation of the LinUDP Interface of the following Drives E E1250 IP UC E1400 IP QN ij LinUDP Interface User Manual ETITTTEEN LinMot i 3 c peN N D l 2012 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 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 1 1 ka August 2012 ME Page 2 19 f innos usormanuar LinMot Table of Content O A 2 AAPP 4 2 Installation on Servo DAVE Sii a Runs 4 3 COME SUR O Aia illa 4 3 1 Pin Assignment of the Connectors X17 X1B oooooccccccccccocooonoccnnnoncnnncnnanananannnnnnnnnnnnns 4 4A LIMUDP Tole AM ds 5 41 DHCP Hed UU UU MM 5 SN eat Gln 21210 m OP EE 5 T 4 3 LinUDP OAC pattscststsd abtedssocsdetsastidadidndtashsdobibedtousisabidiGtde i anidedessataaesomnosnesaaehdaas dy 5 E 44 189 d Bi NOR A 5 4 4 1 Request from
7. LinMot www LinMot com Page 7 19 ETITTITEEEN 9 LinMot Monitoring Channels defined 4 UPID The values of this UPID are in the response data part when the monitoring channel bit is set active Monitoring Channels Channel 1 UPID Source UPID for Monitoring Channel 1 Parameter UPID 20A8 Parameter UPID 20A9 Parameter UPID 20AA Parameter UPID 20AB Channel 2 UPID Source UPID for Monitoring Channel 2 Channel 3 UPID Source UPID for Monitoring Channel 3 Channel 4 UPID Source UPID for Monitoring Channel 4 Master Configuration is for the communication safety With the radio buttons under single master there can chosen three possibilities c 3 c i N D l 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 telegram which it receives and after that it only responses to telegrams 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 telegrams 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 eight modules for the drive to master communication 6 1 Master to drive Modules Control Word With the cont
8. e AOBO and CODO 4 4 LinUDP Data In LinUDP data are the data which we want to transfer The construction of this data NTIAG LinMot E Page 5 19 1 3 c 1 i E l LinMot part always is the same The only difference are the source and destination they are switched 4 4 1 Request from the Master The first 32 bits of the LinUDP data define the request and the following 32 bits define the format of the response The following tables show how the request definition and the response definition look like Request definition Data size Byte Control Word 2 MC Interface 32 Realtime Configuration 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 Monitoring Channel 16 8 31 Reserved for future expansions Each of the definition bits shows if the corresponding 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 following table Each field represents one byte NTI AG LinMot www LinMot com Page 6 19 1 3 c 1 i
9. el Control Parameter Channel Status Entry Number 0 20 Entry Number Get Error Log Entry Time Low Command ID 72h DO B E eo OOO O e Get Error Log Entry Time High Command ID 73h DO B Eo imeve i Entry Time High Word The Error Log Entry Time consists of 32 Bit hours Time High and 32 Bits ms Time Low Get Error Code Text Stringlet Command ID 74h DO B OOOO Oe Y WWI F NTIAG LinMot vw LinMot com I Page 16 19 5 c c i N gt E a ETTUTUEEENS LinMot Command Table Save to Flash Command ID 75h B O IB Parameter Channel Control Parameter Channel Status 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 B O IB Parameter Channel Control Parameter Channel Status B O IB Parameter Channel Control Parameter Channel Status Entry Number Entry Number Command Table Write Entry Command ID 83h 1 Parameter Channel Control Parameter Channel Status 2 Entry Number Entry Number 3 Block Size even number of bytes Block Size 4 NTIAG LinMot www LinMot com Page 17 19 5 c c i N gt E a ETTIUTUEEENS LinMot Command Table Write Entry Data
10. nnectors X17 X18 The Ethernet IP connector is a standard RJ45 female connector with a pin assignment as defined by EIA TIA T568B X17 X18 RealTime Ethernet Connector WHT ORG ORG WHT GRN BLU WHT BLU GRN WHT BRN BRN Use standard patch cables twisted pair S UTP AWG26 for wiring This type of cable is usually referred to as a Cat5e Cable NTIAG LinMot www LinMot com E Page 4 19 ETITTITTENEEN LinMot 4 LinUDP Telegram In LINUDP there are two telegrams used one for the request from the master and the other one for the response from the drive These two telegrams have the following layout Size Byte DHCP Header 14 IPv4 Header 20 LinUDP Header 8 LinUDP Data message dependent 4 1 DHCP Header The DHCP Header looks like in the following table am 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte Destination MAC ID 8 Source MAC ID Protocol Typ 0x0800 4 2 IPv4 Header The IPv4 header is described in the rfc0791 in chapter 3 1 Rfc0791 could be found on www ietf org rfc rfc0791 txt The sections options and padding are not used 4 3 LinUDP Header The LinUDP header consists of four parts They are showing ind the following table Size Byte Source Port Destination Port Length of UDP Telegram UDP Checksum The LinUDP ports are fix assigned For the Master it is port 41136 and for the drive it is port 49360 In Hex Code they ar
11. rol 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 configuration module allows accessing to parameters variables curves error log 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 changing a parameter and sending a motion command can be done in parallel The real time configuration has influence on both telegram directions For details see chapter 6 Real Time Config TAG LinMot v LinMot com B Page 8 19 METETE 9 LinMot 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 meaning 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 flags and information for clean handshaking 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 integer value resolution 0 1 um c 3 c
12. t Overview Parameter access DI Parameter Channel Control Parameter Channel Status Parameter UPID Parameter UPID Parameter Value Low Parameter Value Low Parameter Value High Parameter Value High Overview Curve access B O IB Parameter Channel Control Parameter Channel Status Data Value Low Info Block size Data Value Low Info Block size Data Value High Data Block size Data Value High Info Block size Start getting UPID List DO IB Parameter Channel Control Parameter Channel Status Start UPID search from this UPID lg Get next UPID List item DO B C I RN E emm A AN Y WWI NTIAG LinMot vw LinMot com I Page 14 19 5 c c i N gt E a LinMot Address Usage ROM Write ROM Read RAM Write RAM Read Life Parameter calculation Not used for Hash Parameter Channel Control Start UPID search from this UPID Parameter Channel Status UPID found Data Value Low Data Value High il Parameter Channel Control Parameter Channel Status 2 3 Number of Logged Errors 4 Number of Occurred Errors NTI AG LinMot www LinMot com Page 15 19 1 3 c 1 i E l ETIUTUEEEN LinMot Get Error Log Entry Error Code Command ID 71h B O IB Parameter Chann
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