Page 3 of 62NTI AG / LinMot
Table of Contents
1 System Overview .......................................................................................................................... 5
1.1 References ............................................................................................................................... 5
1.2 Definitions, Items, Shortcuts ...................................................................................................... 5
2 Connecting the RS bus .................................................................................................................. 6
2.1 Pin Out of the COM Connector (X5) (Series E1100 and B1100) ...................................................... 6
2.2 Pin Out of the System Connector (X19) (Series C1100, E1200, and E1400) .................................... 6
2.3 Pin Out of the CMD Connector (X7, X8): ...................................................................................... 6
3 Power Up Behaviour ..................................................................................................................... 7
3.1 Activating and Deactivating the LinRS Protocol ............................................................................ 7
3.2 ID and Baud Rate Selection ........................................................................................................ 8
3.2.1 Baud Rate Selection ............................................................................................................ 8
3.2.2 ID Selection ......................................................................................................................... 8
3.3 RS Topologies ........................................................................................................................... 9
3.3.1 3.3.1 RS232 Topology .......................................................................................................... 9
3.3.2 3.3.2 RS422 Topology .......................................................................................................... 9
3.3.3 3.3.3 RS485 Topology ........................................................................................................ 10
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 ............................................................................................................ 13
5.1 Message Main ID ..................................................................................................................... 13
6 Response Request ....................................................................................................................... 14
6.1 Configuration of the Default Response ....................................................................................... 14
6.2 Request Default Response Example .......................................................................................... 15
6.3 Default MC Response Request with Status Word Request Example ............................................. 16
7 Write Control Word ..................................................................................................................... 18
7.1 Write Control Word example 1 ................................................................................................... 18
7.2 Write Control Word example 2 ................................................................................................... 18
7.3 Write Control Word example 3 ................................................................................................... 19
8 Write Motion Command Interface ............................................................................................... 20
8.1 Write Motion Command Interface example 1 ............................................................................... 20
8.2 Write Motion Command Interface example 2 ............................................................................... 20
9 Parameter Message Group .......................................................................................................... 22
9.1 Parameter/Variable Read RAM example ..................................................................................... 23
9.2 Parameter Write RAM example ................................................................................................. 23
10 Parameter Configuration Message Group ................................................................................. 25
10.1 Parameter Configuration Read ROM value example ................................................................... 26
10.2 Parameter Configuration read out changed Parameters .............................................................. 29
10.3 Parameter Configuration Read out UPID List ............................................................................ 29
10.4 Parameter Configuration Defaulting SW-Instance Parameters .................................................... 31
11 Curve Configuration Message Group (not on B1100) .................................................................. 32
11.1 Read Curve From Servo Example ............................................................................................ 35
11.2 Write Curve To Servo Example ................................................................................................ 37
12 Command Table Configuration Message Group (not on B1100) ................................................. 39
12.1 Read Command Table Entry From Servo Example .................................................................... 44
