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Ethernet/IP Interface

1. 1 2 Motor Supply Voltage Low 0 Motor Status Switched On et Variables 3 Enable Operation 1 Forced by Parameter E A D io AEAEE AETS 0 3 Motor Supply Voltage High 0 User Defined Ai ZABOT Ton Forced by Parameter 4 Safety Volt Enable 1 amp Position Lag Always 0 OS SW Operating Hours 7 Time B AFreeZ cece Tow Forced by Parameter 5 Quick Stop eee 1 5 Position Lag Standing 0 OS SW Message Error E 6 Go To Position 0 Interface 6 Switch On Locked 0 6 Controller Hot 0 OS SW Trap L i oe Bessel Al A EE E EEES gt i aa bb PAETE S aori Jog Move nterface Event Handler Active ensor 1 Hot f ne ei oS A E 9 Jog Move POETSERS 0 Interface 9 Special Motion Active lasiin 0 9 PTC Sensor 2 Hok 06 4 0 Op State Homing E 10 Special Mode 0 Interface 10 In Target Position 1 10 RR Hot Calculated 0 OS SW Status ee Se 1 S Interface 11 Home eecccccccccccccseeeeeeeee To 11 Reserved 0 OS SW Debug 12 Clearance Check 0 Interface 12 Fatal Ett00 sssssssssseeeeeeee 0 12 Reserved 0 10 Contig 1 13 Go To Inital Position0 Interface 13 Motion Active 0 13 Reserved 0 Actual Position 0 02 mm MC SW Overview 14 Linearizing 0 No Source Specified 14 Range Indicator 1 1 14 Interface Warn Flag
2. EtherNet IP Ethernet IP Interface User Manual This document applies to the following drives 250 IP xx C1250 IP xx E1450 IP xx with Ethernet IP Interface SW installed Ethernet IP Interface Manual E 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 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 4 3 2 Whp ka August 2014 E NTI AG LinMot T nttot com Page 2 32 Ethernet IP Interface Manual i Be VOV W e E E EE EE EE E E E A EE O EEE S 4 LE REIGGNICO ossein RER 4 2 Connecting to the Ethernet IP Ne twork cccccscccccseeeceeeeeceeeeseeeeseeeeeseeesseeeeseeeesaeeeeas 5 2 1 Pin Assignment of the Connectors X17 X18 ccccccccceececseeeeceeceseeeeeseeeeseeeesseeeesanes 5 2 2 Default IP Address SettingS ccccccccccccssececeeeeeseeeeceeeseeeeeseeceseeeeseeeessneesseeeseaees 5
3. 0 Demand Position 0 00 mm MC SW E1200 Debug 15 Phase Search 0 No Source Specified 15 Range Indicator 2 0 15 Application Warn Flag 0 Force Factor 100 00 MC SW Motor Control Word 083Fh Status Word 4C37h Warn Word 0000h Motor Current 0 04 MC SW X13 Ext Sensor t Override Value Op Main State 09h Logged Error Code 0000h Logic Supply Volt 25 46 V I MC SW Current Controller MC SW Control word MC SW Status Word MC SW Warnings IO Panel Motion MC SW Phase Search M Enable Manu l Dvermde Enable Manual Override E MC SW Linearizing r Override Value m Actual Value t Enable Manual Override Op Sub State OFh Motor Supply Volt 79 69 V MC SW Motion Interface H J X4 12 Input 5 MC SW Winding 4 11 Input K Command Category Most Commonly Used Re MC SW Capture Trigger amp Mapped Inputs 4 10 Input rJ MC SW VA interpolator C T X49 Input Command Type No Operation 000xh 19 MC SW Curve C C x48 Input Count Nibble Toggle Bits 0h v Auto Increment Count Nibble MC SW PVT Stream O O 47 Input K MC SW Monitoring C E 4 6 Input K MC SW Errors oie 2 ame escription caled Value nt Yalue Dec Int Value Hex _ 4 5 Input N Offs Descripti Scaled Val Int Value Dec Int Value Hex MC SW Encoder CAM z Ern eap KJ Header O 000xh No Operation 0 0 0000h 3 Inpul E MC SW Motor Data Sheet MC SW Command Table MC SW Force Control MC
4. Anel Data d Controller Z E Anel Data 5 Controller 250 m Anel D atalb Controller 1 a Anel Datal Controller Te o Anel DatalS Controller oO m As Controller ml MN E m Ane 0 Data Controller P eee E Ane 0 DOatall Controller 1 Ei _Asie 0 Datal Controller le 513 E Anel Datal Controller 0 E Ane 0 Dataa Controller Z Bj Anel Datat Controller 0 E Ane 0 DataS Controller Oo J Ane Datal b Controller 0 E Ane Datal Controller 0 Ej Ane D atals Controller a E Ane 0 Datas Controller 0 _Asis 0 Data t 0 Controller 0 o LX _Axis O Dataf11 Controller 0 A Errors A Search Results Watch F Press the Read Command button and you see the sent command g LinMot Talk1100 V3 File Search Controller Manuals Help Services Options Window Tools 25Sa ga Unnamed IP 192168 2 v 3 gt gt W E ES Epa g DE Control lt Status lt lt Monitoring Unnamed IP 192 168 2 4 DEVELOPER l i N Control Panel m 0 Switch On id Interface sigh a POSAS 1 ee hs reat E on Connection Siik Online Parameters i Safety Volt Enable 1 Digital Input 4 12 Switch On ctive ae Motor Short Time Overload Firmware Status Running E3 2 Quick Stop 1 Forced by Parameter 2 Enable Operation 1 2 Motor Supply Voltage Low 0 Motor Status Switched On et Variables 3 Enable Op
5. Ane 0 DataS Controller Ase 0 O atals Controller Ase 0 Datal1 0 Controller Ans O Data 11 Controller Co o oOo o o AAAA E E E m z ia i m E E m E E z E E E E E E i E m m Search Resutts Watch g LinMot Talk1100 V3 7 Build 20 File Search Controller Services Options Window Tools Manuals Help Dia Unnamed IP 1921682 PF HB x YeSBaaAf E Project Control lt lt Status lt lt Monitoring 2 U d IP 192 168 2 4 DEVELOPER Efi Unname D Switch On eco 1 Interface 0 Operation Enabled 1 0 Motor Hot Sensot 0 Connection Status Online S Control Panel i tl P 1 Safety Volt Enable 1 Digital Input 4 12 1 Switch On Active 1 1 Motor Short Time Overload O Firmware Status Running n arameters 2 Quick Stop ee Forced by Parameter 2 Enable Operation 1 2 Motor Supply Voltage Low 0 Motor Status Switched On et Variables 3 Enable Operation 1 0 Forced by Parameter 3 ols re 0 3 Motor Supply Voltage High 0 User Defined as en T aan Forced by Parameter 4 Safety Volt Enable 1 4 Position Lag Always 0 OS SW Operating Hours Time i 5 AFreeze ceed Forced by Parameter 5 fQuick Stop 1 5 Position Lag Standina 0 OS SW Message Error 6 Go To Position 0 Interface 6 Switch On Loc
6. E Module Defined Tags M Axial Status Running Module Fault T invo com Page 15 32 i NTI AG LinMot EthormeviP interiaco Manual J LinMot fg LinMot Talk1100 V3 11 Build 20100104 a File Search Controller Services Options Window Tools Manuals Help D5 ah gE Unnamed IP 192 168 2 P fe amp ot HA c W Project cf Ge E Efi Unnamed IP 192 168 2 4 DEVELOPER ma Mame Value RawD ata UFIC N da Connection Stat Established 0003h 9056 T OAMECHORN state STaDIENe 2 Originator IP Address 192 168 1 252 9057 H E 0 gt T Connection Type Point to Point 0002h 9104 H E Motion Control Sw 0 gt T Assembly Instance 20h 20h 9076 EE Ethemet IF Intt 0 gt T API 10 ms 00002710h 5072 Be Varables O0 gt T Timeout 160 me 000271 00h 3075 p Uer Delme 0 gt T Size 30 0DE 9073 OS SW Operating Hours Time o olla ee i oS h ce i M gt onNECHON ype WIAs 2 an hee ete T gt O Assembly Instance 10h 10h 9092 S T gt OAPI 10 ms 00002710h 5088 oe US SW Monitoring T gt 0 Size 20 0014h 9089 O5 SW HW Configuration T gt 0 Sequence Number 562915 OOOSS6E 3h 9090 OS SW Status O gt T Cycle Time 100239 5 us 0001 882Fh 5112 Pn OS Sw Debug Minimal O T Cycle Time 9770 8 us 0001 OFCh 9113 iO Config Maximal D gt T Cycle Time 10325 7 us 00019359h 9114 MC Sw Overview ven MC SW E1200 Debug gt ME Sw Motor f MC SW 13 Ext Sensor 2 ME Sw Curent Controller MC S
7. Look in subfolders In folder bt Lin Mot Talk 6 1 Build 20140509 Finnware Interfaces Ethemet P EDS Browse i i there is an icon file ico with the same name as the file s you are registering then this image will be associated with the device To perform an installation test on the file s click Next lt n soreche When the EDS Files are downloaded in the PLC configuration software the LinMot can be configured in the I O configuration section in the Ethernet section as a new module In the section Module Type Vendor Filters there is the Vendor NTI Limited where the drive can be selected He N pr Select Module Type Module Discovery Favorites Enter Search Text for NOONE TYDE Module Type Category Filters Module Type Vendor Filters CIP Motion Drive Mettler Toledo Communication NTI Limited Communications Adapter E Parker Hannifin Corporation Controller Prosoft Technology Digital Reliance Hectic LinMot com BP cave 13 32 Ethernet IP Interface Manual i LinMot After creating a new module under Module Definition Change four communication types can be chosen As 0x28 0x18 Realtime IO with configuration module As 0x20 0x10 Realtime IO without configuration module As 0x08 0x18 Realtime IO with configuration module but without the control word and without the Motion Command As _0x27_0x18 Realtime IO with configuration module and with Mo
8. 15 Phase Search 0_ No Source Specified 15 Range Indicator 2 0 15 Application Warn Flag 0 Force Factor 100 00 MC SW Motor Control Word 003Fh Status Word OE37h Warn Word 0000h Motor Current 0 074 I s i MC SW X13 Ext Sensor i t Override Value Op Main State 08h Logged Error Code 0000h Logic Supply Volt 25 46 V MC SW Current Controller L Enable Manual Ov nid Op Sub State Cth Motor Supply Volt 79 70 MC SW Control Word MC SW Status Word MC SW Warnings MC SW Phase Search MC SW Linearizing MC SW Motion Interface MC SW Winding MC SW Capture Trigger amp Mapped Inputs MC SW VA interpolator MC SW Curve MC SW PYT Stream MC SW Monitoring MC SW Errors MC SW Encoder CAM MC SW Motor Data Sheet MC SW Command Table MC SW Force Control MC Remanent Variables ControlPanel Tokens Operating Hour Counter Ethernet IP B Fthemet IP 0 3T T gt N rnnfin NTI AG LinMot 99000000o1m TR N A OO O O IO Panel Enable Manual Override Override Value m Actual Value x4 12 Input k 4 11 Input x4 10 Input 4 9 Input 4 8 Input x47 Input x46 Input 34 5 Input 4 4 Input 4 3 Input Enable Manual Override E Command Category m a Ee Motion Most Commonly Used kl Command Type Predef YAI Go To Pos 020xh 2 Count Nibble Toggle Bits in zl Auto Increment Count Nibble Name Offs Description Sc
9. 192168 2 v 3 gt P OB lt S SES Egpag j Project Control lt lt Status lt lt Monitoring ig Unnamed IP 192 168 2 4 DEVELOPER Y Control Panel M O Switch On Ws ca Interface D Operation Enabled PESEN 1 0 Motor Hot Sensor bsiemanvined 0 Connection Status Online H Parameters 1 Safety Volt Enable 1 Digital Input 4 12 1 Switch On Active 1 Motor Short Time Overload Firmware Status Running a 2 Quick Stop To Forced by Parameter 2 Enable Operation 2 Motor Supply Voltage Low 0 Motor Status Switched On et Variables 3 Enable Operation 1 Forced by Parameter Ee ANE 3 Motor Supply Yoltage High 0 User Defined 4 PABO I es Forced by Parameter 4 Safety Volt Enable 1 4 Position Lag Always 0 OS SW Operating Hours Time rd 9 1 7 Eis Forced by Parameter 5 Quick Stop 5 Position Lag Standing 0 OS SW Message Eror 6 Go To Position 0 Interface 6 Switch On Locked 6 Controller Hot 0 E 7 Error cknowledge 0 Interface FE d U e AAA Motor Not Homed 0 IE OS Sw Top 8 Event Handler Acti 0 8 PTC Sensor 1 Hot 0 055W Monitoring m ie aa meen rere 9 Special Motion Active 0 9 PTC Sensor2Hot p OP State Operation Enabled OS Sw HW Configuration a 10 Special Mode 0 Interface 10 In Target Position 1 10 RR Hot Calc
10. Calculated atus E 11 Home i Interface 11 Homedics 11 Reserved OS SW Debug E 12 Clearance Check 0 Interface N Fatal ENO siisii 12 Reserved cee 10 Config 13 Go To Inital Position Interface 13 Motion Active 13 Feston Actual Position 0 12 mm MC SW Overview E 14 Lineatizing 0 No Source Specified 14 Range Indicator 1 14 Interface War Flag 0 Demand Position 0 00 mm MC SW E1200 Debug 7 15 Phase Search No Source Specified 15 Range Indicator 2 15 Application Warm Flag 0 Force Factor 100 00 MC SW Motor Control Word 003Fh Status Word 4E37h Warn Word 0000h Motor Current 0 33 1 4 L Override Value Op Main State 08h Logged Error Code 0000h Logic Supply Volt 25 46 V MC SW X13 Ext Sensor MC SW Current Controller L Enable Manual vende Op Sub State COh Motor Supply Yolt 79 70 MC SW Control Word MC SW Status Word MC SW Warnings I0 Panel Motion MC SW Phase Search po aes eta a Ka Enable Manual Override 7 MC Sw Linearizing r Overnde Value m ctual Value MC SW Motion Interface p j x4 12 Input MC SW Winding C E x411 Input KJ Command Category Most Commonly Used MC SW Capture Trigger amp Mapped Inputs p x410 Input MC SW VA interpolator C T 4 9 Input Command Type Predef VAI Go To Pos 020xh 19 MC SW Curve t P kes PS Count Nibble Toggle Bits 0h Auto Increment Count Nibble s MC SW PYT Stream f Tnpu J MC S
11. Controller 20025 Anel Data Controller Aniel Data 3 Controller Anel Data 4 Controller Ael DataS Controller Anel O atalb Controller Anel Datal Controller Asis D atals Controller m ARU Controller Ane 0 Data Controller Ans 0D atali Controller Ae OD atal Controller As OD atal Controller Ane O D atala Controller Ae 0 Data 4 Controller _ Asie OD ata 5 Controller _ Asis 0 0 ata 6 Controller Aez 0 D atal Controller Asie 0D atal Controller As 0D atali Controller Ae 0 O atal 0 Controller Ae 0D atali Controller E E E Ee E m E E p i m a i E c E E E m m E c E E E Search Resultas h g LinMot Talk1100 File Search Controller Services Options Window Tools Manuals Help 25eg Unnamed IP 192168 2 7 3 2 gt P ME k ESE g Project Control lt lt Status lt lt Monitoring U d IP 192 168 2 4 DEVELOPER Bs S Ee Paral l l N 0 Switch On T canal Interface 0 Operation Enabled 1 0 Motor Hot Sensor 0 Connection Status Online tal P 1 Safety Volt Enable 1 Digital Input 4 12 1 Switch On Active 1 Motor Short Time Overload 0 Firmware Status Running aromes 2 Quick Stop Toad Forced by Parameter 2 Enable Operation 2 Motor Supply Voltage Low 0 Motor Status Switched On Si Variables 3 Enable Operation 1 Forced by Paramet
12. Data Controller 8 EX Axist 0 Dataf2 Controller O Controller EX Asis1 0 Datal4 Controller O EX Axis1 O DatafS Controller Controller Oo y D EX Axis1 0 Dataf7 Controler O Controller O EX Asis 0 Data 9 Controller 0 EX Axis1 O Datafi0 Controller O EX Asisl O Dataf11 Controller o LX Asist 0 Dataf12 Controler Lx 4353 Controller LX Axic1 Dataf4 Controler O x Axiet 0 Data t5 Controler 0 Ame Data Controller Controller Ooo y D H oo y D H m C C C is Tcl is Tcl is Tcl Controller Controller __ Controller ate is Tcl Hx Axis1 I Data 12 Controller gg BE B B p p p pa p pa E B a ca aE nal a m a ay ia ae ey www LinMot com Tl Page 30 32 Ethernet IP Interface Manual 5 3 O gt T and T gt O Mapping without Controlword and without Motion Command With this Realtime IO configuration it is possible to configure the Drive over the Fieldbus This is described in the document 2 Drive Configuration over Fieldbus But the Controlword and the MotionCommand would not mapped in this configuration 5 3 1 Default O T Mapping Assembly Instance 8 In this real time IO Mapping the Config Module is exchanged The size of this mapping is 8 bytes or 4 words The AB generic Ethernet module adds another 6 bytes Status and counts so the real exchanged size is 14 bytes Assembly Class Instance 8 Offset Cfg Module Control W
13. IP network f RSLogix 5000 start_00 in start_100ms_LM88_LM89_030 ACD 1769 L32E Program Tags MainProgram A Fie Edit View Search Logic Communications Tools Window Help or x alsm S e asal te e alel 7 2 Run AE E Run Mode a Path AB_ETHIP 2 192 168 1 99 Backplane O l Ees gt eaan Battery OK No Edis a mw 00K a epee Se eo oo 2 D Kia S A F4 Fi Fi K Timer i E Controller start _00 Scope Eg MainProgram v Show Show All Ee Tasks I 2 i b e e 7 TIE Motion Groups Value otte Mask Style Description D 0 3 Add On Instructions Data Types E Trends 3 6 0 Configuration ap Backplane CompactLogix System fa 1769 L32E start_00 1769 L32E Ethernet Port LocalENB Ethernet 1769 L32E Ethernet Port LocalENB 1734 AENT A p_iot ETHERNET MODULE _Axis CompactBus Local Monitor Tags A Edit Tags 4 gt Watch List fe Name amp Scope Value Force Mask E Description T ER x Axis Controller _Axis Data Controller not aoc _Axis Data 0 Controller Module Defined Tags J X_Axis I _Axis Data 1 Controller _Axis Data 2 Controller _Axis Data 3 Controller _Axis Data 4 Controller _Axis Data 5 Controller _Axis Data 6 Controller _Axis Data Controller _Axis Data 8 Controller _Axis 0 Controller a fey m EI H mi E Ei Ei zi m _Axis 0 Data Controller zi E z E Bi
14. MC SW Motor Control Word 003Fh Status Word 4E37h Warn Word 0000h Motor Current 0 33 A r MC SW X13 Ext Sensor Logic Supply Volt 25 46 r Oveni Main St MC SW Current Controller Ss sili Override a a a Logged Enor Loda 0000h Motor Supply Volt 79 70 MC SW Control Word MC SW Status Word MC SW Wamings 10 Panel Motion MC SW Phase Search a Enable Manual Override Enable Manual Override MC SW Linearizing i iz Override Yalue m Actual Value MC SW Motion Interface MM X4 12 Input a MC SW Winding 4 11 Input Command Category Most Commonly Used 7 MC SW Capture Trigger amp Mapped Inputs x410 Input MC SW VA interpolator p 84 9 Input Command Type va Go Ta For MOn El MC SW Curve 48 Input K Count Nibble Toggle Bits 0h Auto Increment Count Nibble MC SW PVT Stream O C 4 7 Input MC SW Monitoring _ 4 6 Input 0 MC SW Errors C 4 5 Input lt Name Offs Description Scaled Value Int Value Dec Int Value Hex MC SW Encoder CAM LIL 4 4 Input KJ Header 0 0lOsh VAI Go To Pos 256 256 0100h MC SW Motor Data Sheet J 43 Input K 1 Par 2 Target Position 50 mm 500000 00074120h I csv come oe ES Par cceleration m s ME SW Fores Conte 4 Pa 14 Deceleration 2 m s 2 200000 00030D40h MC Remanent Variables ControlPanel Tokens Operating Hour Counter Read Command Ethernet IP Ethernet IP 0 gt T T gt 0 config io Feed mw Then we put the same values i
15. MotorControl_AOI F E B PFiec4o_aor Motion a 8A PFlex_755_AOI Monitor Equipment Phases An g P_Alarm Custom Tools BGPP Aout Ei ControlFLASH 3 P_DIn te GA P Intik Ga Online Books H E P_Mode a P_Motor H 8 P_Perm jE P Reset _ a G P_ValveSO al Sequencer_AOl a 4 Sim_AnalogSensor G BA Sim_Analog_In H E Sim_Analog_Out io ra RA Qim CantralVshre i Then you can click next until the Options window is shown In this window Register an EDS file s has to be selected Options What task do you want to complete i Register an EDS tileis This option will add a device s to our database C Unregistera device This option will remove a device that has been registered by an EDS file from our database C Create an EDS file This option creates a new EDS file that allows our software to recognize your device Upload EDS tilefe from thedewite Thie opbon uploads and peaitters the EDS fels storadin the deyioe Ethernet IP Interface Manual LinMot In the Registration window Register a directory of EDS files has to be selected The path of the directory is LinMot TalkX X BuildX Firmware Interfaces EthernetIP EDS After this selection you can click next and finish the EDS Hardware Installation Electronic Data Sheet file s will be added to your system for use in Rockwell Automation applications C Register a single file Register a directory of EDS files
16. functionality is described in the document 2 Drive Configuration over Fieldbus NTI AG LinMot www LinMot com Page 27 32 LinMot Ethernet IP Interface Manual 5 2 1 Default O T Mapping Assembly Instance 40 In this real time IO Mapping the 16 bit control word the 16 bit motion command header and the motion command parameters are exchanged The size of this mapping is 32 bytes or 16 words The AB generic Ethernet module adds another 6 bytes Status and counts so the real exchanged size is 38 bytes Assembly Class Instance 40 Offset UInt16 Bit coded Ulnt16 12Bit Command 4Bit count nibble UInt32 Command specific UInt32 Command specific Uint32 Command specific UInt32 Command specific Uint32 Command specific Uint16 Uint16 Uint32 SInt32 5 2 2 Default T O Mapping Assembly Instance 24 In this real time IO mapping the StateVar for the main state machine and several other helpful data is exchanged The size of this mapping is 26 bytes or 13 words For the AB generic Ethernet module another 2 bytes Status and counts are added so the real exchanged size is 28 bytes Assembly Class Instance 24 Offset MC SW StateVar UlInt16 coded state depending MC SW StatusWord Ulnt16 Bit coded MC SW WarnWord UlInt16 Bit coded Int32 Position 100nm Int32 Position 100nm Int32 Current 1mA Uint16 Uint16 Uint32 Sint32 In the PLC this is configured as followed NTI A
17. lt Monitoring U d IP 192 168 2 4 DEVELOPER Es S Cortal Banal l A 0 Switch On ere Interface 0 Operation Enabled EA 0 Motor Hot Sensor NRATAS A TA 0 Connection Status Online P t 1 Safety Volt Enable 1 Digital Input x4 12 1 Switch On Active 1 Motor Short Time Overload Firmware Status Running a Parameters 2 Quick Stop Toan Forced by Parameter 2 Enable Operation 2 Motor Supply Voltage Low 0 Motor Status Switched On et Variables 3 Enable Operation 1 Forced by Parameter J EPROP s ciceccccssecsescostscesesseestces 3 Motor Supply Voltage High 0 User Defined a JADON iosas T Forced by Parameter 4 Safety Volt Enable 4 Position Lag lways 0 OS SW Operating Hours Time i 5 AFre Z eee 1 rn Forced by Parameter 5 Quick Stop 5 Position Lag Standing 0 OS SW Message Error 6 Go To Position 0 Interface B Switch On Locked 6 Controller Hot 7 Error Acknowledge 0 Interface 7 Warning 7 Motor Not Homed E 09 SW Trep 8 Event Handler Acti O 8 PTC Sensor 1 Hot OS Sw Monitoring 8 Jog Move 0 0000000 0 Interface vent Handler Active ensor 1 Flot J Op State Operation Enabled E 9 Jog Move in a Interface 9 Special Motion Active 9 PTC Sensor 2 Hot fs lt ai Configuration E 10 Special Mode 0 Interface 10 In Target Position 10 RR Hot
18. 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 Awww linmot com to find the distributor closest to you Smart solutions are www LinMot com vo com Page 32 32 l NTI AG LinMot
19. 5 Application Warn Flag 0 Force Factor 100 00 MC SW Motor Control Word 003Fh Status Word 4E37h Warn Word 0000h Motor Current 0 45 I ipa a 3 H 5 war t Override Value Op Main State 08h Logged Error Code 0000h Pe avi Ni p i AE e t Enable Manual Override Op Sub State C2h oS oe te i MC SW Control Word MC SW Status Word MC SW Wamings I0 Panel Motion MC SW Phase Search p777 Enable Manual Override Enable Manual Override MC SW Linearizing 1 of Override Value m Actual Value MC SW Motion Interface PP 4 12 Input Command Category Most Commonly Used v MC SW Winding 4 11 Input MC SW Capture Trigger amp Mapped Inputs x4 10 Input Command Type val Go To Pos 01 0xh E U Count Nibble Toggle Bits 2h SA Auto Increment Count Nibble hd m CE MC SW VA interpolator p x4 9 Input MC SW Curve x4 8 Input MC SW PVT Stream C 47 Input MC SW Monitoring C X46 Input MC SW Errors 4 5 Input Name Offs Description Scaled Value Int Value Dec Int Value Hex MC SW Encoder CAM z apakan Header 0 010s VAI Go To Pos 258 258 0102h MC SW Motor Data Sheet X4 3 Input KJ 1 Par 2 Target Position O mm 0 OO000000h MC SW Command Table 2 Par 6 Maximal Velocity 1 m s 1000000 O00F 4240h 3 Par 10 Acceleration 1 m s 2 100000 00018640h HEE 4 Pa 14 Deceleration 2 m s 2 200000 00030D40h MC Remanent Variables ControlPanel Tokens Ope
20. En Ei z Ei Ej E X_Axis 0 X_Axis Description Status Running Module Fault 1 ew hel ololeK is _Axis 0 Data 0 Controller _Axis 0 Dataf 1 Controller _Asis 0 Data 2 Controller _Axis 0 Data 3 Controller _Axis 0 Data 4 Controller _Axis 0 Data 5 Controller _Axis 0 Data 6 Controller _Asis O Data Controller _Axis 0 Data 8 Controller _Axis 0 Data 9 Controller _Axis 0 Data 10 Controller _Axis 0 Data 11 Controller o o oOo oo co OC 0 0 oO 0 80 Search Results NTIAG LinMot ee com f Page 17 32 Ethernet IP Interface Manual 3 3 1 Control Word The Control Word is mapped to the output data word O If setting this value to 1 the Switch On bit bit 0 of the control word is set Watch List Current Routine Quick Watch Name a Scope Value e Force Mask e Description EA Ane Controller Mani Ass Data Controller T Anal Datall Controller Anal Data Controller Anel Datal2 Controller Asel D atala Controller Asel Datalt Controller Anal D atals Controller Anal D atale Controller Anal Datal Controller Anel DatalS Controller Ane Controller _4Asie 0 Data Controller Ane 0 D atal0 Controller Anel D atan Controller Ane 0 D atal Controller _Anis 0 Datal 3 Controller Ase 0 DO atalt Controller Ase DatafS Controller Ane D atalb Controller Ane Data Controller
21. G LinMot www LinMot com Page 28 32 Ethernet IP Interface Manual LinMot 5 2 3 PLC Setup of Mapping with Configuration Module E Module Properties EMIP_1 ETHERNET MOD l 5 General Connection Module Info Type ETHERNET MODULE Generic Ethernet Module Vendor Allen Bradley Parent ENIP_1 Hame s Aist Connection Parameters Assembly l Description 7 Instance Size Input 24 13 16 bit ba Output fao fie 16 bit E F JE ta INT z l wr Configuration f fo 8 bit Address Host Hame f IF Address 192 168 C Host Name od Statue Input Statue Output Status Offline Cancel Apply Help Configuration of LinMot axis with additional Configuration Module 4 word input and 4 word Output direction 1 AG LinMot www LinMot com i Page 29 32 Ethernet IP Interface Manual E LinMot 5 2 4 Example of reading Parameter RAM value with Configuration Module Reading RAM value 0x1101 4353 X_Axis1 0 Data 12 P Gain Position Control Parameter Set A UPID5026 X_Axis1 O Data 13 the result in this example is 15 X_Axis1 Data 11 and X_Axis1 I Data 12 The data in the response is valid as soon the count nibble value in the response state X_Axis1 l Data 9 changes to the same value as in the control Word X_Axis1 0 Data 12 Watch Pel Quick watch a __ Name zale Description Ex Aist EX AstOData Controller tee eh EK Asis D
22. J 10 O30 21s PEO eeeteer ee eee eee eee eee eee eee ee ee ee ee eee ee ee eee 6 SL R ERX Fs 6c eee nee eee ee se er ere ere ere ere 6 3 2 LinMot Configuration in the PLC cc ccccccccccseceeeeeeeceeeseeeeeseseseeeeeseeeeseaeesseeeesaaees 7 3 3 Getting started with the Watch WINdOW ccccccecccseeeeceeeeeseeeeseeeesaeeeeseesessaeeesaes 17 3 3 1 Control Word ne 18 3 3 2 Motion Command Interface cccceccceeccseeecesceceeeeeeteueeseeteueeseueeseetaneeseees 21 A LMOTP P ara Cle a T O 25 4 1 EEE E E EEA A E EEE IEEE EN IA ETTA T 25 5 Realtime IO Data Mapping ccccseccceeccececeeecceeeceuceceeeceucessueesseessuseseeeeueesuesseessees 27 5 1 Default O gt T and T gt O Mapping n nnnonnnnnnnnnnnnnnnnernnnnnnnnrnnnnnenrnnnrrsnrrnnrrnnrenerrnenee 27 5 1 1 Default O T Mapping Assembly Instance 32 ccccceecceeeeeeeeeeeseeeeeeeeeeees 27 5 1 2 Default T O Mapping Assembly Instance 16 ccccccccecceecceeeeeeseeeaeeeees 27 5 2 O gt T and T gt O Mapping With Configuration Module cccccccccseeeeeeeeeeeeeeeeees 27 5 2 1 Default O T Mapping Assembly Instance 40 n nnnannannnnnnnennnnnnnnnnnnennnnnnna 28 5 2 2 Default T O Mapping Assembly Instance 24 cceccccccecceecceeeeeeseeeeeeeees 28 5 2 3 PLC Setup of Mapping with Configuration Module cccecceeeeeeeeteeeeeeees 29 5 2 4 Example of reading Parameter RAM value with Config
23. Remanent Variables ControlPanel Tokens Operating Hour Counter Read Command Ethernet IP Hose R Ethernet JIP A T TAN cantina NTI AG LinMot j Page 19 32 Ethernet IP Interface Manual Then the Control Word can be set to 1 again the drive will change to Main State 8 Operation Enabled Sub State 0xCO Homed and In Target Position the corresponding input word 0 has the value 2240 watch List Name als cope Value H orce Mask Description aE Amis Controller fe J AK Data Controller 7 i s E s Anl Datafl Controller 2240 B Anel Data Controller 19511 E Anal Data e Controller Oo E Anal Datafa Controller oO Anal Datat Controller 0 E s _ Asis Data 5 Controller 156 Anal Datalb Controller 1 E Anal Datal Controller 44 D Anel DatalS Controller 0 E A0 Controller eee teers _Asiz O Data Controller re N E Ane OD atal Controller E Ane Data Controller oO Ane D atal Controller oO _ Asie OD atala Controller 0 E _Asic O Data 4 Controller D mj Ans D atal Controller 0 m _Axic OD ata 6 Controller 0 E Ane DO atal Controller 0 E Ane 0 D atals Controller 0 E Ane OD atas Controller o O HX _Asis 01 Data 1 0 Controller o o ALS Asie0 Dataf1 Controller o Ej E Errors Search Results h Watch al g LinMot Talk1100 V3 11 Bui File Search Controller Services Options Window Tools Manuals Help D5 a Unnamed IP
24. W Monitoring E X46 Input K MC Sw Errors C X45 Input KJ Name Offs Description Scaled Value Int Value Dec Int Value Hex MC SW Encoder CAM LL x44 Input kJ Header 0 020xh Predef VAI Go To P 512 512 0200h MC SW Motor Data Sheet CIE 43 Input 1 Par 2 Target Position Omm 0 00000000h MC SW Command Table MC SW Force Control MC Remanent Variables ControlPanel Tokens Operating Hour Counter Ethernet IP Ethernet IP 0 gt T T gt 0 config Esaa B Ethernet AIP Maobii a J Sees NTI AG LinMot LinMot com Page 22 32 Ethernet IP Interface Manual In the next example we are going to use the most common motion command VAI Go To Pos 010xh In this example we define the motion command in the control panel first LinMot Talk1100 File Search Controller Services Options Window Tools Manuals Help D253 eA 4 Unnamed IP 192 168 7 gt P E E k Yet aoa Do Control lt lt Status lt lt Monitoring Unnamed IP 192 168 2 4 DEVELOPER f Control Panel M 0 Switch On TW cesses Interface H et P anag laiana i heed he see a ee Connection ies Online Parameters i 1 Safety Volt Enable 7 Digital Input 4 12 Switch On Active Motor Short Time Overload Firmware Status Running a an 2 Quick Stop I eee Forced by Parameter 2 Enable Operation 1 2 Motor Supply Voltage Low 0 Motor Status Switched On et Vari
25. ables 3 Enable Operation 1 Forced by Parameter F EMOL ccccssscsssesscosssssssesesseeseoss 0 3 Motor Supply Voltage High 0 User Defined 4 AABOIE sssrin T ia Forced by Parameter 4 Safety Volt Enable 1 4 Position Lag Always 0 OS SW Operating Hours Time B AFreeZ cece Tow Forced by Parameter 5 Quick Stop eee 1 5 Position Lag Standing 0 OS SW Message Error 6 Go To Position 0 it Interface B Switch On Locked 0 6 Controller Hot 0 OS SW Trap 7 Error Acknowledge 0 Interface f Warming 0 0 sesssssseeeeee 0 f Motor Not Homed 0 E 05 Sw Menta E ee ee S Ever ere Aceon ETE Serer Hot Op State Operation Enabled i hy Ai ener E 10 Special Mode 0 Interface 10 In Target Position 10 RR Hot Calculated 0 tatus PTT HOMO eee 0 Interface WP Homed iiris 11 Reserved OS SW Debug M 12 Clearance Check 0 Interface 12 Fatal Ettore 12 Reserved 10 Contig 13 Go To lnital PositionO Interface 13 Motion Active 13 Reserved Actual Position 0 12 mm MC SW Overview 14 Linearizing D in No Source Specified 14 Range Indicator 1 14 Interface Warn Flag 0 Demand Position 0 00 mm MC SW E1200 Debug 15 Phase Search 0 No Source Specified 15 Range Indicator 2 15 Application Warn Flag 0 Force Factor 100 00
26. aled Value Int Value Dec Int Value Hex Header 0 O20xh Predef VAl Go To P 513 513 0201h 1 Par 2 Target Position 13 1072 mm 131072 00020000h Page 21 32 Ethernet IP Interface Manual We will use the same command to move back to Omm Change the target position high word to 0 Then change the count nibble in the motion command header to 0 Watch List ene B Scope Value Force Mask e Description 4 Axis Controller N looo Quick Watch PY x Asiel Data Controller leet eee Aniel D atali Controller 2240 Anel Data 1 Controller 20023 Anel D atal Controller oO Asie D atala Controller D Ael Data 4 Controller 0 Anel O atal Controller Aniel Data 6 Controller Anel D atal Controller Asl D atals Controller m As Controller Ane 0 Data Controller AsO O atal Controller Ae 0 Data Controller e0 D atale Controller As 0D atali Controller As D Datalt Controller AsO ata 5 Controller Awe 0 Data 6 Controller _Asie OD atal Controller _ Asie 0 O atal Controller As 0 0 atali Controller Ane 0 D atali Controller _Awe 0 Datal11 Controller Coo oo GAJAJ A 4 eg PF a Search Results h LinMot Talk1100 V3 11 Build File Search Controller Services Options Window Tools Manuals Help H5 eu Unnamed IP 192168 2 7 PF E E kx Yet aoa E Project Control lt lt lt
27. ation in the PLC There are two possibilities to configure a LinMot in the PLC one with the EDS File and the other is to configure it as a Generic Ethernet Module The LinMot can be configured in the I O configuration section in the Ethernet section as a v LinMot com Page 7 32 Ethernet IP Interface Manual new module fa RSLogix 5000 start_00 in start_100ms_LM88_LM89_030 ACD 1769 L32E File Edit view Search Logic Communications Tools Window Help aisle a sael off aa ie ell lel pare co Bm jE Pan AB_ETHIP2 192 168 1 99ABackplane O TY Eo Select a Language b i Controller start _00 Controller Tags EI Controller Fault Handler 3 Power Up Handler G E Tasks E B CycFast eg CycFastMain MainTask C3 MainProgram Unscheduled Programs H 6 Motion Groups Ungrouped Axes 9 Add On Instructions G Data Types ER User Defined ar Strings ER Add On Defined i Predefined ER Module Defined C3 Trends 5 6 1 0 Configuration E g Backplane CompactLogix System a 1769 L32E start _00 1769 L32E Ethernet Port LocalENB abeg HEIS 89 CompactBus Local ee ee A ee oe Me oe eee os a ee ee ee ee ee ee LinMot Ethernet IP Interface Manual Then you have to select in the Communications Module the ETHERNET MODULE 7 RSLogix 5000 start_00 in start_100ms_LM88_LM89_030 ACD 1769 L32E File Edit view Sear
28. ch Logic Communications Tools Window Help TOE CECE llal fi viel lel Forces gt a F No Edits 4 Alale sr 44 4 D gt D 11 gt Favorites Controller start _00 Ei Select Module Controller Tags E Controller Fault Handler Power Up Handler Module Description Vendor Tasks Communications CycFast 1734 AENT A 1734 Ethernet Adapter Twisted Pair Media Allen Bradley OR CycFastMain 1738 AENT A 1738 Ethernet Adapter Twisted Pair Media Allen Bradley amp MainTask 1756 EN2F A 1756 10 100 Mbps Ethernet Bridge Fiber Media Allen Bradley 43 MainProgram 1756 EN2T 4 1756 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley unscheduled Programs 1756 ENBT amp 1756 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley amp Motion Groups 1756 ENET A 1756 Ethernet Communication Interface Allen Bradley Ungrouped Axes 1756 ENET B 1756 Ethernet Communication Interface Allen Bradley Add On Instructions 1756 EWEB A 1756 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley amp Data Types 1757 FFLD A 1757 Foundation Fieldbus Linking Device Allen Bradley User Defined 1768 ENBT A 1768 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley ER Strings 1768 EWEB A 1768 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley G Add On Defined 1769 L23E QB1 Et 10 100 Mbps Ethernet Port on CompactLogixS323E QB1 Allen Bradley E Predefined 1769 L23E QBFC1 10 100 Mbps Ethernet P
29. er F Eih eonia 3 Motor Supply Voltage High 0 User Defined A PAD iis oisiesissssasisn W aata Forced by Parameter 4 Safety Volt Enable 4 Position Lag lways 0 OS SW Operating Hours Time i 5 AFI Z cece ar Forced by Parameter 5 Quick Stop 5 Position Lag Standing 0 OS SW Message Error 6 Go To Position ee Interface 6 Switch On Locked 6 Controller Hot 0 OS SW Trap A 7 Eror cknowledge 0 Interface 4 W IMGs es 7 Motor Not Homed 0 Pe 8 Jog Move 0 Interface 8 Event Handler Active 8 PTC Sensor 1 Hot 0 Doy Monitoring a 9 Jog Move 0 Interface 9 Special Motion Active 9 PTC Sensor 2 Hot 0 Op State Operation Enabled she liad Configuration M 10 Special Made 0 Interface 10 In Target Position 10 RR Hot Calculated 0 tatus i 11 Home 0 Interface 11 Homedics 11 Reserved 0 05 SW Debug 12 Clearance Check 0 Interface 12 Fatal Et0f cesecccssssen 12 Reserved cece 0 10 Contig H 13 Go To Inital PositionO Interface 13 Motion Active 13 Reserved 0 Actual Position 0 16 mm MC SW Overview 14 Linearizing 0 No Source Specified 14 Range Indicator 1 14 Interface Warn Flag 0 Demand Position 0 00 mm MC Sw E1200 Debug 15 Phase Search 0 No Source Specified 15 Range Indicator 2 1
30. eration o Forced by Parameter CC 0 3 Motor Supply Yoltage High 0 User Defined PN aTa i A Taa Forced by Parameter 4 Safety Volt Enable 1 4 Position Lag Always 0 OS SW Operating Hours Time Lado 1 en sa Forced by Parameter 5 fQuick Stop 1 5 Position Lag Standing 0 OS SW Message Error in 6 Go To Position 0 Interface 6 Switch On Locked 0 6 Controller Hot 0 OS SW Trap i 7 Eror Acknowledge 0 Interface FOWAMIND oeiee 0 7 Motor Not Homed 0 ae 8 Jog Move 0 000000 ene Interface 8 Event Handler Active 0 8 PTC Sensor 1 Hot 0 a she eigen 9 Jog Move in 0 Interface 9 Special Motion Active 1 9 PTC Sensor 2 Hot 0 Op State Operation Enabled ontiguration 10 Special Mode 0 Interface 10 In Target Position 1 10 RR Hot Calculated 0 os sws L tatus E 11 Home 0_ Interface 11 Homedics 1 11 Reserved 0 OS SW Debug 12 Clearance Check Interface 12 Fatal Ent O 12 Reserved eee 0 10 Config m 13 Go To Inital PositionO Interface 13 Motion Active 0 13 Flesetved oi ccccccsincctecses 0 Actual Position 13 08 mm MC SW Overview E 14 Linearizing 0 0 0 it No Source Specified 14 Range Indicator j 0 14 Interface Warn Flag 0 Demand Position 13 11 mm MC SW E1200 Debug
31. eration 000xh 2 MC SW Curve z P pir Pg Count Nibble Toggle Bits 0h Auto Increment Count Nibble MC SW PYT Stream TNpu F MC SW Monitoring C _ 46 Input MC SW Errors _ x45 Input K Name Offs Description Scaled Value Int Value Dec Int Value Hex MC SW Encoder CAM z m po i bap Header O O00xh No Operation 0 0 0000h 3 Inpu J MC SW Motor Data Sheet MC SW Command Table MC SW Force Control MC Remanent Variables ControlPanel Tokens Operating Hour Counter Read Command Ethernet IP Ethernet IP 0 gt T T gt 0 config NTI AG LinMot LinMot com Page 20 32 Ethernet IP Interface Manual 3 3 2 Motion Command Interface The rest of the output data O data 1 O data 11 is mapped to the Motion Command Interface The first word O data 1 is the motion command header the rest O data 1 O data 11 is the command specific motion parameter set In the next example we will set up a Predef VAI Go To Pos 020xh Motion Command First we set the target position low word O data 2 to O then the target position high word O data 3 to 2 and the motion command header O data 1 to 513 0x0201 Watch List o Name ajs cope Value Force Mask lt Description Saran JE Ass Controller a i Anal Data Controller 7 ae gt eee Fi Anel Data 0 Controller 2241 fa Anel Data Controller 3639 ea _ Asie Data e Controller a E Anel Data 3 Controller D E
32. ere Po o _Asis Data Controller eae nant a Anss Data O Controller 2319 Ansel Data Controller 19511 o _Aniz Datal Controller 0 eal Ansel Datals Controller 0 E Assel Datat Controller 0 Anss Data 5 Controller 159 o Anssl D atal Controller 1 E Ansel Daal Controller 44 Anss Datali Controller 0 As Controller TAE ere E Ass 0 Data Controller aN MaA o Aie 0 D atall Controller Ba E Ass 0 Data Controller 0 _Anic D atal Controller 0 E Ass 0 D atala Controller 0 AsO Datal4 Controller 0 o AsO D atals Controller 0 Ars 0 D atalb Controller 0 _Axic D atal Controller 0 _AxicO D atals Controller 0 Ars 0 D atals Controller 0 o EX AsieD Datani0 Controller 0 o E_Avis 01 Datal1 1 Contraller 0 ki Search Resutts h Watch 4 g LinMot Talk1100 V3 11 Bt File Search Controller Services Options Window Tools Manuals Help Die Unnamed IP 1921682 7 3 3 P O B ESEA E Project Control lt lt Status lt lt Monitoring fe cz PEVELOPER T 0 Switch On i a Interface 0 Operation Enabled ERRER 1 0 Motor Hot Sensor AEEA 0 Connection Status Online i 1 Safety Volt Enable 1 Digital Input 4 12 1 Switch On Active 1 1 Motor Short Time Overload O Firmware Status Running is Parameters 2 Quick Stop a Forced by Parameter 2 Enable Operation
33. ers only IP address is defined with parameters and the last byte is defined with the value of the switches S1 and S2 The default IP address seiting is 192 168 001 xxx xxx stands for the value of the switches S1 and 2 Static with switches S1 and S2 DHCP IMPORTANT The switch value S1 0 and S2 0 factory default setting defines acquiring the IP address via DHCP NTI AG LinMot www LinMot com Page 25 32 Ethernet IP Interface Manual Ethernet IP Intf Ethernet Configuration IP Configuration In this section the parameters for the IP address netmask default gateway and multicast IP address are located Ethernet P Intf Ethernet Configuration IP Configuration IP address 1st Byte IP address 2nd Mid high byte of IP address Byte IP address 3rd Mid low byte of IP address Byte IP address 4th Lowest byte of IP address Byte Netmask 1st Byte Highest byte of Netmask Netmask 2nd A hi Byte Mid high byte of Netmask Highest byte of IP address New cele Mid low byte of Netmask Byte nen aeI Lowest byte of Netmask Byte Default Gatway _ st Byte Highest byte of Default Gatway Default Gatway ie 2nd Byte Mid high byte of Default Gatway Default Gatway 3rd Byte Mid low byte of Default Gatway Default Gatway 4th Byte Lowest byte of Default Gatway NTI AG LinMot www LinMot com Page 26 32 Ethernet IP Interface Manual 5 Realtime IO Data Mapping If you want to control the LinMo
34. ibutes Linking All Routines Reading ChangeLog Complete 0 error s 2 warning s Errors A Search Results A Watch 4 Page 9 32 EthemeviP interface Manual A LinMot Under the Module Properties you can define the module specific data e Name e Comm Format in the example a 16 bit Format is chosen e IP Address e Input Assembly instance and size e Output Assembly Instance and size Be careful when defining these parameters because only a correct setting will run in the Ethernet IP network Only the name can be defined freely E Module Properties LocalENB ETHERNET MODULE 1 1 General Connection Module Info Type ETHERNET MODULE Generic Ethernet Module Vendor Allen Bradley Parent Locale NB Connection Parameters Name K _ Axis Assembly Descriptions Instance SIZE Input J 16 bit Output l2 16 bit 16 32 Comm Format Configuration i 0 8 bit Address Host Name ome sl flea PAddess 152 165 1 59 C Host Mame Status Offline Cancel Apply Help NTIAG LinMot ee com i Page 10 32 Ethernet IP Interface Manual E LinMot In the Connection tab of the Module Properties the desired cycle time is specified in the range between 1ms and 3200ms W Module Properties ENIP2 ETHERMET MODULE 1 1 X General Connection Module Info Requested Packet Interval AFI i 0 0 m 1 0 3200 0 mz Inhib
35. iew Communications Station DDEMOPC Security Window Help W Autobrowse E Browsing node 192 168 11 77 found Workstation WINDING 01 o Linx Gateways Ethernet s 17 70 KFD 1 DeviceNet 19 168 1 77 19 168 1 89 ge 4B_DF1 1 DF1 1734 AENT Ether EL250 IP UIC_NTI mee OE ETHIP 2 Ethernet 192 168 1 77 1734 AENT EtherNet IP Adapter 1734 SENT Ethernet IP Adapter a 192 168 1 99 Unrecognized Device 1250 IP UC_NTI 192 168 1 99 1769 L32E Ethernet Port 1769 L32E Ethernet Port 192 1668 1 99 AB UIC 1 DH 485 1769 L32E Ether For Help press F1 04 06 10 02 05 PM LinMot device with the IP address 192 168 1 89 in the RSLinx tool NTIAG LinMot ee com f Page 6 32 Ethernet IP Interface Manual RSLinx Classic Lite RSWho 1 File View Communications Station BDEMOPC Security Window Help amp g E EJ RSWho 1 WM Autobrowse Retesh E E Workstation WINDING 01 Pa Linx Gateways Ethernet Device Name E12504F UC_NTI t am 1770 KFD 1 DeviceNet Verda 589 197 168 1 89 gs AB_DF1 1 DFI ve EL250 IP UIC_NTI E AB_ETHIP 2 Ethernet Product Type 0 n fe 192 168 11 77 1734 AENT Ethe Product Code M7 P 192 168 1 89 Unrecognized De E sion 11 io Hee 192 165 1 99 1769 L32E Ether Revision E E El AB_UIC 1 DH 485 Seral Number 15940004 Faults p g AB_ETHIP 24192 168 1 89 For Help press F1 MUM 04 06 10 02 06PM 7 LinMot device properties 3 2 LinMot Configur
36. it Module Major Fault On Controller If Connection Fails While in Aun Mode Use Unicast Connection over Etheret lP Module Fault Status Running Cancel Arpt Help Then the configuration program can be downloaded and you can change to the online view E Module Properties ENIPZ ETHERNET MODULE 1 1 x Connection Module Into Requested Packet Interval AFI li 0 0 me 1 0 3200 0 me l Inhibit Module Major Fault On Controller If Connection Fails While in Aun Mode Wo Use Unicast Connection ower EtherNet IP Module Fault Status Running Cancel Apply Help lt is recommended to use Unicast Connection type because there are no known problems with this type ee com l Page 11 32 NTI AG LinMot Ethernet IP Interface Manual LinMot To configure the LinMot with the EDS File the EDS File must be downloaded into the configuration software for the PLC In the RSLogix 5000 there is the EDS Hardware Installation Tool which is used for the installation It can be found in the Menu under Tools File Edit View Search Logic Communications Tools Window Help Bal g 2B o ays Options Hr QQ 9 Security gt sla De EROR Documentation Languages El No Forces b I OK No Edits et sia Import E f uy lt L Export gt Bok erns E e E Compare com E Controller Organizer amp EDS Hardware Installation Tool T a g
37. iw Control Word ME Sw Status Word ME Sw Warnings MC SW Phase Search MC SW Linearizing MC SW Motion Interface sen ME SW Winding MC SW Capture Trigger amp Mapped Inputs gt ME SW W interpolator Z ME Sw Curve A MC SW PYT Stream z MCS Monitoring a MC S Errors 2 ME SW Encoder CAM Z ME Sw Motor Data Sheet 2 MC 5w Command Table 2 ME Sw Force Control z MC Remanent Variables Control Panel Tokens Sa Operating Hour Counter ven Ethernet P gt Ethermet IF 0 gt T T 0 config H E Oscilloscopes In the LinMot Talk configuration software the Ethernet IP connection state can be watched under variables Ethernet IP O gt T T gt O config If everything is set up correctly the connection state should change to Established when powered on after a certain time In this state both counters O T and T O should count up depending on the configured period time ww LinMot com Page 16 32 __NTIAG LinMot EthemnetiP interface Manual A LinMot 3 3 Getting started with the Watch Window In this section the basics of the LinMot device handling are explained Instead of programming the LinMot data can be directly influenced with the watch window So for the next steps map the modules input data and output data in the quick watch window as below In the following examples it is assumed that a motor has been configured the power supply is on and the drive is correctly embedded in the Ethernet
38. ked 0 6 Controller Hot 0 OS SW Trap 7 Error cknowledge 0 Interface TWAN erena 1 7 Motor Not Homed 1 Pa 1 8 Jog Move 00000000 0 Interface 8 Event Handler Active 0 8 PTC Sensor 1 Hot 0 f E d FEE j a 9 Jog Move v 0 Interface 9 Special Motion Active 0 9 PTC Sensor 2 Hot 0 Upstate Dparation Enabled onfiguration E 10 Special Mode 0 it Interface 10 In Target Position 0 10 RR Hot Calculated 0 Motor Not Homed OS SW Status iz 11 HOME 0 i Interface 11 Homedics 0 11 Reserved 0 As OS SW Debug 12 Clearance Check 0 Interface 12 Fatal Error 0 12 Reserved 0 10 Config K 13 Go To Inital Position0 Interface 13 Motion Active 0 13 Reserved eee 0 Actual Position 0 00 mm MC SW Overview E 14 Linearizing 0 0 0 No Source Specified 14 Range Indicator 1 1 14 Interface Warn Flag 0 Demand Position 0 01 mm MC SW E1200 Debug E 15 Phase Search D six No Source Specified 15 Range Indicator 2 0 15 Application Warn Flag 0 Force Factor Motor not homed MC SW Motor Control Word 003Fh Status Word 40B7h Warn Word 0080h Motor Current 0 00A 4 MC SW X13 Ext Sensor i 1 Override Value Op Main State 08h Logged Error Code 0000h Logic Supply Volt 25 46 V MC SW Current Controller L Enable Hanusi eat O
39. n the watch window First the motion parameters then the motion header Weatch List E Men fy Scope Value El Force Mask E Description Anis Controller d a de Huic atch Po x Aniel Data Controller Menal ice _Aste Data 0 Controller 2241 Ans Datall Controller 29129 _Asis Data 2 Controller 0 Ans Datala Controller 242886 Anal Data 4 Controller 7 Asis Data 5 Controller 24875 Ans DatalE Controller 7 _Asie Datal Controller 167 Ans D atals Controller 0 m Ana Controller ee s Ars Data Controller T Are Datall Controller 1l AsO Datan Controller lw 257 Ans D atal Controller 24285 AsO D atali Controller 7 s Ane Data 4 Controller 16960 Anel Data 5 Controller 15 Ans D atale Controller 31072 Ane D atal Controller 1l Ans D atala Controller s Ans D atals Controller Are Data 10 Controller s Ars Data 11 Controller SAE ESA fe a Search Resutts k Watch _ NTIAG LinMot Page 23 32 Ethernet IP Interface Manual For moving back to Omm with the same motion command and the same parameters just set the target position to 0 O Data 2 and O Data 3 then change the count nibble in the motion command header to 2 for example Watch List J Wen B Scope Value e Force Mask e Description Aiz Controller a We peed Quick Watch Po _Anie Data Controller eer Hepa _ Asie Data 0 Controller 2242 Anel Data 1
40. ord Cfg Module Index Cfg Module Value Uint32 Sint32 5 3 2 Default T O Mapping Assembly Instance 24 This Mapping is the same like it is described in Chapter 5 2 2 5 4 O gt T and T gt O Mapping with Configuration Module and Motion Command but without Controlword This Realtime IO configuration is like the configuration described in Chapter 5 3 but the Motion Command is mapped also 5 4 1 Default O T Mapping Assembly Instance 27 The size of this mapping is 27 bytes The AB generic Ethernet module adds another 6 bytes so the real exchanged size is 33 bytes Assembly Class Instance 8 Byte Description Size Type Offset MC SW_MotionCommandHeader Uint16 12Bit Command 4Bit count nibble MC SW_MotionCommandPar Bytes 00 03 Uint32 Command specific MC SW_MotionCommandPar Bytes 04 07 Uint82 Command specific 5 4 2 Default T O Mapping Assembly Instance 24 This Mapping is the same like it is described in Chapter 5 2 2 NTI AG LinMot www LinMot com Page 31 32 EthemetiP intertaoo Manus i LinMot 6 Contact Addresses SWITZERLAND NTI AG LinMot Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration 41 0 56 419 91 91 office linmot com Tech Support 41 0 56 544 71 00 support linmot com Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot Inc 5750 Townline Road Elkhorn WI 53121 Sales and Administration 877 546 3270
41. ort on CompactLogixS323E QBF Allen Bradley Module Defined 1769 L32E Etherne 10 100 Mbps Ethernet Port on CompactLogixS332E Allen Bradley Trends 1769 L35E Etherne 10 100 Mbps Ethernet Port on CompactLogixS335E Allen Bradley 10 Configuration 1788 EN2DN 4 1788 Ethernet to DeviceNet Linking Device Allen Bradley Backplane CompactLogix System 1788 ENBT A 1788 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley ff 1769 L32E start_oo 1788 EWEB A 1788 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley 1769 L32E Ethernet Port LocalENB 1794 AENT A 1794 10 100 Mbps Ethernet Adapter Twisted Pair Media Allen Bradley Ethernet 1794 AENTIB 1794 10 100 Mbps Ethernet Adapter Twisted Pair Media Allen Bradley 1769 L32E Ethernet Port LocalENB DrivelogixS730 Eth 10 100 Mbps Ethernet Port on DriveLogixS730 Allen Bradley a 1734 AENT A p_iot ETHERNET BRIDGE Generic EtherNet IP CIP Bridge Allen Bradley 9 PointIO 5 Slot Chassis ETHERNET MODULE Generic Ethernet Module Allen Bradley i ETHERNET MODULE E1250IPUC EtherNet IP SoftLogix5800 EtherNet IP Allen Bradley CompactBus Local PH PSSCENA A Ethernet Adapter Twisted Pair Media Parker Hannifin Corp Digital J Drives Fl HMI v abeg HEIS Find Add Favorite By Category Favorites omo e ga HO oe Downloading all Tasks Downloading Task CycFast Downloading Task MainTask Downloading Controller attr
42. p Sub State 00h Motor Supply Yolt 79 69 MC SW Control Word l MC SW Status Word MC SW Wamings I0 Panel Motion C MC SW Phase Search es Enable Manual Override Enable Manual Override MC SW Linearizing 77 Override Value Actual Value MC SW Motion Interface P pE X4 12 Input z MC SW Winding 4 11 Input Kj Command Category Most Commonly Used MC SW Capture Trigger amp Mapped Inputs 4 10 Input MC SW YA interpolator z z x4 9 Input Command Type No Operation 000xh MC SW Curve _ 48 Input Count Nibble Toggle Bits 0h v Auto Increment Count Nibble MC SW PYT Stream z x4 7 Input kj MC SW Monitoring x46 Input K MC SW Errors L 45 Input Name Offs Description Scaled Value Int Value Dec Int Value Hex MC SW Encoder CAM pe a bd Header 0 O00xh No Operation 0 0 0000h 3 Inpu F MC SW Motor Data Sheet MC SW Command Table MC SW Force Control MC Remanent Variables ControlPanel Tokens Operating Hour Counter Read Command Ethernet IP Ethernet IP 0 gt T T gt 0 config NTI AG LinMot Page 18 32 Ethernet IP Interface Manual Setting the control word to 2049 0x0801 sets also the Home bit Bit 11 in the Control Word Wait until the input word O State Var has the value 2319 0x090F Main State 9 Homing Sub State OxOF Homing finished watch List o Name amp Scope Value e Force Mask Descript TUT _Anis Controller RRR t
43. rating Hour Counter Ethernet IP Ethernet IP 0 gt T T gt 0 config i BA Fih aae at AMM ahm aa NTI AG LinMot LinMot com Page 24 32 Ethernet IP Interface Manual 4 Ethernet IP Parameters 4 1 Parameters The Ethernet IP interface has an additional parameter tree branch Parameters gt Ethernet IP Intf which can be configured with the distributed LinMot Talk software With these parameters the Ethernet IP communication parameters can be configured The LinMot Talk software can be downloaded from hitp www linmot com under the section download software amp manuals Ethernet IP Intf Dis Enable With the Dis Enable parameter the LinMot drive can be run without the Ethernet Ethernet IP interface going online So in a first step the system can be configured and run without any bus connection Ethernet IP Dis Enable The drive runs without Ethernet IP The drive runs with Ethernet IP connection IMPORTANT If the Ethernet IP interface is disabled the integrated Ethernet IP switch is not powered No messages will be sent to other devices connected to the Ethernet Network via the LinMot drive Ethernet IP Intf Ethernet Configuration IP Configuration Mode This parameter defines how the IP address is assigned Ethernet IP Intf Ethernet Configuraton IP configuration Mode DHCP IP address is acquired via DHCP mechanism Static by IP Configuration IP address is defined with paramet
44. rnet IP Network 2 1 Pin Assignment of the Connectors 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 2 2 Default IP Address Settings The default IP address is 192 168 001 xxx where the last byte xxx is defined via the two hex switches S1 and S2 S1 sets the high and S2 the low digit IP Selectors Bus ID High Oh Fh Bus ID Low Oh Fh IMPORTANT The switch value S1 S2 0 factory default setting is a special configuration which acquires the IP address via DHCP NTI AG LinMot www LinMot com Page 5 32 Ethernet IP Interface Manual E 3 Setup in the PLC A IMPORTANT Use only AB PLC firmware 18 0 or higher The following steps describe the integration of a LinMot Ethehernet IP drive in the PLC In the example an Allen Bradley master PLC is used RSLinx tool can only be used to see if the device is on the network and under which IP address it can be accessed The whole configuration is done in the PLC which is described in chapter 3 2 3 1 RSLinx Classic In the RSLinx the LinMot device should occur under the defined IP address as Unrecognized Device s RSLinx Classic Lite RSWho 1 File V
45. t device just over the Control Word and the Motion Command Interface it is sufficient to use the mapping described in chapter 5 The different mappings over different instances are selected in the assembly class 5 1 Default O gt T and T gt O Mapping 5 1 1 Default O T Mapping Assembly Instance 32 In this real time IO mapping the 16 bit control word the 16 bit motion command header and the motion command parameters are exchanged The size of this mapping is 24 bytes or 12 words The AB generic Ethernet module adds another 6 bytes status and counts so the real exchanged size is 30 bytes Assembly Class Instance 32 Offset 5 1 2 Default T O Mapping Assembly Instance 16 In this real time IO Mapping the StateVar for the main state machine and several other helpful data is exchanged The size of this mapping is 18 bytes or 9 words For the AB generic Ethernet module another 2 bytes Status and counts are added so the real exchanged size is 20 bytes Assembly Class Instance 16 Offset MC SW StateVar Ulnt16 coded state depending MC SW StatusWord Ulnt16 Bit coded For the configuration in PLC of this data refer to chapter 3 2 of this manual 5 2 O gt T and T gt O Mapping With Configuration Module With this real time IO configuration an additional configuration module is mapped into the IO data communication The functionality of this module is the same for all different fieldbus interfaces For this reason the
46. tion Command but without the control word This type can be used in parallel with the EasySteps application for example General Connection Module Info Intemet Protocol Port Configuration Type LMDrive E1250 1P UC Vendor NTI Limited Parent Local Name Ethemet Address Description Private Network 192 168 1 IP Address Host Name Module Definition Revision 1 1 Electronic Keying Compatible Module Connections As 0x28 0x18 Chanae Status Creating Cancel Help a Module Definitio sits n Revision 1 v Hlectronic Keyina Compatible Module Connections AAC1250_05_IP I1 AAC1250_0S_IP 01 As 0x28 0x18 As 0x20_0x10 As 0x08_0x18 The other module properties are configured same the generic Ethernet Module For an other new Module the EDS File download is not needed once more NTI AG LinMot w LinMot com l Page 14 32 Ethernet IP Interface Manual i lf all is set up correctly the LinMot module status should be running Run JE E Aun mode H ila Eies P Controller OE N Batten OK No Edits a a 4 M Controller stark _00 Tasks Motion Groups Add On Instructions Data Types Trends 10 Configuration if Backplane CompactLogix System g 1769 L32E start _00 J a 1769 L32E Ethernet Port LocalENB Ethernet 1769 L32E Ethernet Port LocalENB E 1734 AENT A p_iol fl ETHERNET MODULE _Axis CompactBus Local
47. ulated 0 OS SW Status PT Home eeeeeeceeseeee 0 Interface V1 HOMO eeeeeeeeeseeeeeeeee 1 11 Reserved OS SW Debug f 12 Clearance Check 0 Interface 12 Fatal Ettot ceccccecseeeee 0 12 Reserved 10 Contig 1 13 Go To Inital PositionO Interface 13 Motion Active 0 13 Reserved Actual Position 0 02 mm MC SW Overview 14 Linearizing 0 No Source Specified 14 Range Indicator EEES 1 14 Interface Warn Flag 0 Demand Position 0 00 mm MC SW E1200 Debug i 15 Phase Search 0 No Source Specified 15 Range Indicator 2 000000 0 15 Application Warn Flag 0 Force Factor 100 00 MC SW Motor Control Word 003Fh Status Word 4C37h Warn Word 0000h Motor Current 0 044 I i t Overnide Value p Main State ogged Error Code E MC SW X13 Ext Sensor Le Ovenide Val Op Main S 08h L dEror Code 0000h Logic Supply Volt 25 46 MC SW Current Controller Ls Enable Manual Ovenide Op Sub State Coh Motor Supply Volt 79 69 MC SW Control Word MC SW Status Word MC SW Warnings I0 Panel Motion proce Enable Manual Override MC SW Phase Search i Enable Manual Override E MC SW Linearizing o Override Value m Actual Value MC SW Motion Interface mm j x4 12 Input 75 MC SW Winding D x411 Input K Command Category Most Commonly Used v MC SW Capture Trigger amp Mapped Inputs x410 Input MC SW VA interpolator X4 9 Input amp Command Type No Op
48. uration Module 30 5 3 O gt T and T gt O Mapping without Controlword and without Motion Command 31 5 3 1 Default O T Mapping Assembly Instance 8 ccccccecceeseeeeeeeeeeeeeeeeeeeees 31 5 3 2 Default T O Mapping Assembly Instance 24 cccccccccccecceeeseeeeeeeeeeeeeeeees 31 5 4 O gt T and T gt O Mapping with Configuration Module and Motion Command but without ControlWoOrd acissneietenaiciececeaaieascinedaseieatunmdansatenn doahuigniaparuonsasesaiataauaawenceentiensseeraunianusaierseaacios 31 5 4 1 Default O T Mapping Assembly Instance 27 cccccceecceeeeeeeeeeeeeeeeeeeeeeees 31 5 4 2 Default T O Mapping Assembly Instance 24 n nnnnannannnnnnnnnnnnnnnnnnnnnnnnnnnne 31 C 0 1c CLAdd CSES e E E E EA E EEN ee E eee ee 32 ee com Page 3 32 a __NTIAG LinMot Ethernet IP Interface Manual _ 1 System overview The LinMot Ethernet IP drives have the following functionalities Device Property Value Remark Ethernet IP is a real time Ethernet protocol based on the standard Ethernet protocols TCP IP and UDP IP For further information on Ethernet IP please visit http www odva org 1 1 References All user manuals are distributed with the LinMot Talk configuration software The newest version can also be downloaded from the LinMot homepage in the download section Ref Source age 4 32 Ethernet IP Interface Manual 2 Connecting to the Ethe

Ethernet/IP Interface

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