Table of ontent
1 SYSTEM OVERVIEW .......................................................................................................... 5
1.1 REFERENCES ....................................................................................................................... 5
1.2 DEFINITI NS, ITEMS, SH RTCUTS ............................................................................................. 5
2 ONNE TING THE RS BUS ............................................................................................... 6
2.1 PIN UT F THE C M C NNECT R (X5) (SERIES E1100 AND B1100) ...................................... 6
2.2 PIN UT F THE SYSTEM C NNECT R (X19) (SERIES C1100, E1200, AND E1400) .................... 6
2.3 PIN UT F THE CMD C NNECT R (X7, X8): ......................................................................... 6
3 POWER UP BEHAVIOUR ................................................................................................... 7
3.1 ACTIVATING AND DEACTIVATING THE LINRS PR T C L ................................................................ 7
3.2 ID AND BAUD RATE SELECTI N ............................................................................................... 8
3.3 RS T P L GIES .................................................................................................................. 9
4 LINRS MESSAGE FORMAT ............................................................................................. 11
4.1 ID .................................................................................................................................. 11
4.2 LENGTH ............................................................................................................................ 11
4.3 DATA ............................................................................................................................... 11
4.4 CHECKSUM ........................................................................................................................ 11
5 MESSAGE DATA DEFINITIONS ....................................................................................... 12
5.1 MESSAGE MAIN ID ............................................................................................................ 12
6 RESPONSE REQUEST ..................................................................................................... 13
6.1 C NFIGURATI N F THE DEFAULT RESP NSE ............................................................................ 13
6.2 REQUEST DEFAULT RESP NSE EXAMPLE ................................................................................. 14
6.3 DEFAULT MC RESP NSE REQUEST WITH STATUS W RD REQUEST EXAMPLE ................................. 15
7 WRITE ONTROL WORD ................................................................................................. 16
7.1 WRITE C NTR L W RD EXAMPLE 1 ....................................................................................... 16
7.2 WRITE C NTR L W RD EXAMPLE 2 ....................................................................................... 17
7.3 WRITE C NTR L W RD EXAMPLE 3 ....................................................................................... 18
8 WRITE MOTION OMMAND INTERFA E ....................................................................... 19
8.1 WRITE M TI N C MMAND INTERFACE EXAMPLE 1 ..................................................................... 19
8.2 WRITE M TI N C MMAND INTERFACE EXAMPLE 2 ..................................................................... 20
9 PARAMETER MESSAGE GROUP .................................................................................... 21
9.1 PARAMETER/VARIABLE READ RAM EXAMPLE ........................................................................... 22
9.2 PARAMETER WRITE RAM EXAMPLE ........................................................................................ 22
10 PARAMETER ONFIGURATION MESSAGE GROUP ................................................... 24
10.1 PARAMETER C NFIGURATI N READ R M VALUE EXAMPLE ........................................................ 26
10.2 PARAMETER C NFIGURATI N READ UT CHANGED PARAMETERS .................................................. 28
10.3 PARAMETER C NFIGURATI N READ UT UPID LIST ................................................................ 29
10.4 PARAMETER C NFIGURATI N DEFAULTING SW-INSTANCE PARAMETERS ....................................... 30
11 URVE ONFIGURATION MESSAGE GROUP (NOT ON B1100) ................................ 31
11.1 READ CURVE FR M SERV EXAMPLE ................................................................................... 34
11.2 WRITE CURVE T SERV EXAMPLE ..................................................................................... 36
12 OMMAND TABLE ONFIGURATION MESSAGE GROUP (NOT ON B1100) ............. 38
12.1 READ C MMAND TABLE ENTRY FR M SERV EXAMPLE ........................................................... 42
NTI AG / LinMot User Manual LinRS Interface / 03/10/2017 Page 3/59
