Programmer Owner manual

247
IQ
®
Programmer Reference Manual
Appendix G: eSCL (SCL over Ethernet) Reference
Introduction
eSCL is Bimba’s language for commanding and querying motion control products over Ethernet. It is supported by several motion
control devices, including the STP-10-Q and SRV-DC7. In addition to sending commands to a drive from a host in real time, you
can also use our IQ
®
Programmer software to embed sequences of commands, called Q Programs, in a drive. These programs
can be set to execute automatically at power up, or can be triggered by commands sent from the host.
This guide is intended to help you connect and congure your drive and to help you start writing your own eSCL host application.
Getting Started
There are three steps required to create an eSCL application with your new Bimba motor driver. Each of these is explained in a
separate section of this manual.
• Connect the drive to your PC. This includes getting the drive physically connected to your network (or directly to the PC),
setting the drive’s IP address, and setting the appropriate networking properties on your PC.
• Congure the drive for your motor and application. For step motor drives, you’ll need to use a suitable version of our IQ
®
Stepper software. For servos, use IQ
®
Servo.
• Create your own application. This guide includes code examples in Visual Basic and C# to help you get started. You
can download the example in their entirety, from our website, but we recommend reading the explanations in the guide
rst.
Connecting a Drive to Your PC
This process requires three steps
• Get the drive physically connected to your network (or directly to the PC)
• Set the drive’s IP address
• Set the appropriate networking properties on your PC.
Addresses, Subnets, and Ports
Every device on an Ethernet network must have a unique IP address. In order for two
devices to communicate with each other, they must both be connected to the network and
they must have IP addresses that are on the same subnet. A subnet is a logical division
of a larger network. Members of one subnet are generally not able to communicate with
the members of another. Subnets are dened by the choices of IP addresses and subnet
masks.
If you want to know the IP address and subnet mask of your PC, select Start…All
Programs…Accessories…Command Prompt. Then type “ipcong” and press Enter. You
should see something like this:
If your PC’s subnet mask is set to 255.255.255.0, a common setting known as a Class C subnet mask, then your machine can
only talk to another network device whose IP address matches yours in the rst three octets. (The numbers between the dots in
an IP address are called octets.) For example, if your PC is on a Class C subnet and has an IP address of 192.168.0.20, it can
talk to a device at 192.168.0.40, but not one at 192.168.1.40. If you change your subnet mask to 255.255.0.0 (Class B) you can
Point of Interest
Bimba recommends performing
all Ethernet configuration of the
drive while connected directly
to a PC via a CAT-5 Ethernet
cable. This avoids many potential
communication problems
associated with frequent IP
address changes on a larger
network.
Once fully configured, the drive
may be used on a plant network
without issue.
See the section titled “ARP Tables
- the Ghost in the Machine” below
for further information.