LinMot Series E1100 - Default Chapter; Table of Contents

LinRS Interface
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Table of Content
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
3.3 RS TOPOLOGIES .................................................................................................................. 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 CONFIGURATION OF THE DEFAULT RESPONSE ............................................................................ 13
6.2 REQUEST DEFAULT RESPONSE EXAMPLE ................................................................................. 14
6.3 DEFAULT MC RESPONSE REQUEST WITH STATUS WORD REQUEST EXAMPLE ................................. 15
7 WRITE CONTROL WORD ................................................................................................. 16
7.1 WRITE CONTROL WORD EXAMPLE 1 ....................................................................................... 16
7.2 WRITE CONTROL WORD EXAMPLE 2 ....................................................................................... 17
7.3 WRITE CONTROL WORD EXAMPLE 3 ....................................................................................... 18
8 WRITE MOTION COMMAND INTERFACE ....................................................................... 19
8.1 WRITE MOTION COMMAND INTERFACE EXAMPLE 1 ..................................................................... 19
8.2 WRITE MOTION COMMAND 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 CONFIGURATION MESSAGE GROUP ................................................... 24
10.1 PARAMETER CONFIGURATION READ ROM VALUE EXAMPLE ........................................................ 26
10.2 PARAMETER CONFIGURATION READ OUT CHANGED PARAMETERS .................................................. 28
10.3 PARAMETER CONFIGURATION READ OUT UPID LIST ................................................................ 29
10.4 PARAMETER CONFIGURATION DEFAULTING SW-INSTANCE PARAMETERS ....................................... 30
11 CURVE CONFIGURATION MESSAGE GROUP (NOT ON B1100) ................................ 31
11.1 READ CURVE FROM SERVO EXAMPLE ................................................................................... 34
11.2 WRITE CURVE TO SERVO EXAMPLE ..................................................................................... 36
12 COMMAND TABLE CONFIGURATION MESSAGE GROUP (NOT ON B1100) ............. 38
12.1 READ COMMAND TABLE ENTRY FROM SERVO EXAMPLE ........................................................... 42
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