Modbus TCP/IP

User ManualModbus TCP/IP User Manual |2

Contents
Preface������������������������������������������������������������������������������������������������������������������������������������������ 3
Terms of use���������������������������������������������������������������������������������������������������������������������������������� 4
Connection diagram���������������������������������������������������������������������������������������������������������������������� 5
Connection diagram���������������������������������������������������������������������������������������������������������������������� 6
I/O specifications���������������������������������������������������������������������������������������������������������������������������� 7
Parallel������������������������������������������������������������������������������������������������������������������������������������������� 8
Getting started���������������������������������������������������������������������������������������������������������������������������� 10
Power supply��������������������������������������������������������������������������������������������������������������������������� 10
Configuration�������������������������������������������������������������������������������������������������������������������������� 10
Parameters to be verified by Actuator Connect:������������������������������������������������������������������� 10‘Run out’ command��������������������������������������������������������������������������������������������������������������������� 11
General run prerequisites��������������������������������������������������������������������������������������������������������� 11
Communication sequence to run the actuator outwards ��������������������������������������������������������� 11
Register overview������������������������������������������������������������������������������������������������������������������������� 12
Command details�������������������������������������������������������������������������������������������������������������������� 12
Feedback status details������������������������������������������������������������������������������������������������������������ 13
Parallel feedback status details������������������������������������������������������������������������������������������������� 15
Diagnostics data���������������������������������������������������������������������������������������������������������������������� 16
Error codes���������������������������������������������������������������������������������������������������������������������������������� 20
Parallel error codes����������������������������������������������������������������������������������������������������������������������� 21

Modbus TCP/IP User Manual |3

Preface
Dear User,
We are delighted that you have chosen a LINAK® product.
LINAK systems are high-tech products based on many years of experience in the manufacture anddevelopment of actuators, lifting columns, desk frames, electric control boxes, controls, batteries, accessories
and chargers.
This User Manual does not address the end user. It is intended as a source of information for the equipment
or system manufacturer only, and it will tell you how to install, use and maintain your LINAK electronics.
The manufacturer of the end product has the responsibility to provide a User Manual, where relevant safety
information from this manual is passed on to the end user.
We are convinced that your LINAK product/system will give you many years of problem-free operation.
Before our products leave the factory, they undergo both function and quality testing. Should you,nevertheless, experience problems with your product/system, you are always welcome to contact yoursupplier.
LINAK subsidiaries and some distributors situated all over the world have authorised service centres, which
are always ready to help you. Locate your local contact information on the back page.
LINAK provides a warranty on all products. (See warranty section).
This warranty, however, is subject to correct use in accordance with the specifications, maintenance being
done correctly, and any repairs being carried out at a service centre, which is authorised to repair LINAK
products.
Changes in installation and use of LINAK systems can affect their operation and durability. The products may
only be opened by authorised personnel.
This User Manual has been written based on the present technical knowledge. LINAK reserves the right tocarry out technical modifications and keeps the associated information updated.

LINAK A/SModbus TCP/IP User Manual |4Terms of use
LINAK® takes great care in providing accurate and up-to-date information on its products. However, the user
is responsible for determining the suitability of LINAK products for a specific application.
Due to continual development, LINAK products are subject to frequent modifications and changes. LINAK
reserves the rights to conduct modifications, updates, and changes without any prior notice. For the same
reason, LINAK cannot guarantee the correctness and actual status of imprinted information on its products.
LINAK uses its best efforts to fulfil orders. However, for the reasons mentioned above, LINAK cannot
guarantee availability of any particular product at any given time. LINAK reserves the right to discontinue thesale of any product displayed on its website or listed in its catalogues or in other written material createdand produced by LINAK, LINAK subsidiaries, or LINAK affiliates.
All sales are subject to the ‘Standard Terms of Sale and Delivery for LINAK A/S’ available on LINAK websites.
LINAK and the LINAK logotype are registered trademarks of LINAK A/S. All rights reserved.

Modbus TCP/IP User Manual |5

Connection diagram
Applicable for: LA36, LA37, LA76 and LA77

BROWN
BLUE

24/48 V DC
GND

RED
1

Manual run
Extends the actuator

BLACK
2

Manual run
Retracts the actuator

4
3
5

1
2
3
4

Split power supply

4Service interface
OR Parallel communication
Service interface GND
OR Signal GND

1

2

4

3

1

2

2

1

2

5
3

1
5

3

4

4

3
M12

ETH_TX+
ETH_RX+
ETH_TXETH_RX-

2

2

1
1

2

4

3

4

3
M12

The physical layer conforms to the IEEE 802.3-2018 standard with communication speeds of 10 Mbps
and 100 Mbps, respectively. Cable length is reduced to = 100 m without repeater, as determined byIEEE 802.3-2018.
Split power supply consists of a common GND, a control supply and a motor supply. This approach isused to maintain power on the intelligent part of the actuator. In case the main supply is
disconnected, split power supply allows e.g. that the position is maintained. The main supply may bedisconnected for reasons related to safety, maintenance or installation.

Actuator ConnectTM is available for EtherNet/IP™ actuators and can be used for:
Diagnostics, manual run and configuration
The newest version is available online at LINAK.COM/TECHLINE
Connect via a USB adapter cable (must be purchased separately)

2

5

3

3

Modbus TCP/IP User Manual |6

Connection diagram
Applicable for: LC3 IC

BROWN
BLUE

24/48 V DC
GND

RED

Manual run
Extends the actuator

BLACK

Manual run
Retracts the actuator

ORANGE
VIOLET
WHITE

1
3
2
6

Split power supply
Service interface
OR Parallel communication
Service interface GND
OR Signal GND

Molex mini-fit
12-pinETH_TX+
ETH_RX+
ETH_TXETH_RX-

1

8
RJ45

The physical layer conforms to the IEEE 802.3-2018 standard with communication speeds of 10 Mbps
and 100 Mbps, respectively. Cable length is reduced to = 100 m without repeater, as determined byIEEE 802.3-2018.
The wiring conforms to the T-568A standard.
Split power supply consists of a common GND, a control supply and a motor supply. This approach isused to maintain power on the intelligent part of the actuator. In case the main supply is
disconnected, split power supply allows e.g. that the position is maintained. The main supply may bedisconnected for reasons related to safety, maintenance or installation.
Actuator ConnectTM is available for EtherNet/IP™ actuators and can be used for:
Diagnostics, manual run and configuration
The newest version is available online at LINAK.COM/TECHLINE
Connect via a USB adapter cable (must be purchased separately)Modbus TCP/IP User Manual |7

I/O specifications
Input/Output
Description

Brown

Blue

Specification
The communication protocol conforms
to the the IEEE 802.3-2018 Ethernet
standard with communication speeds of
10 Mbps and 100 Mbps.
Connect Brown to positiveNote:

24/48 V DC

Do not change the power supply polarity
on the Brown and Blue wires!

Connect Blue to negative
GND

PIN out
Pin 1

Pin 2

Comments

Manual run
Extends the actuator
Manual run
Retracts the actuator

Only for powering the motor driver
module.
Power supply GND is electricallyconnected to the housing through acapacitor and resistor in parallel.
Data cable M12 - 5-pin maleThe signal becomes active at:
VIN > 67% of V DC
The signal becomes inactive at:
VIN < 33% of V DC
Input current: 10 mA
Split power supply:

Pin 4

Split power supply

Pin 3

Service interface
OR Parallel communication

Pin 5Service interface GND
OR Parallel communication GND

PIN in
Pin 1
Pin 2
Pin 3
Pin 4
PIN in
Pin 1
Pin 3
Pin 2
Pin 6

ETH_TX+
ETH_RX+
ETH_TXETH_RX-

24 V DC with ≈28 mA current
consumption.
48 V DC with ≈16 mA current
consumption.
The split power supply uses the common
GND from the power supply (Blue).
Split power supply is only for powering
the communication of the integrated
controller.
The Parallel drive function will support up
to 8 actuators running simultaneously.
It is possible to run Parallel with a main
power supply or separate power supplies.
LIN bus communication.
Data cable M12 - 4-pin female
1
4

4

RJ45 (Only for LC3 IC)
ETH_TX+
ETH_RX+
ETH_TXETH_RX-

2

2

5

1
5

3

3

3

1

2

2

1

3

4

4

Modbus TCP/IP User Manual |8

Parallel
The industrial LINAK® actuators can be ordered with parallel functionality. If this feature is enabled, it ispossible to run up to 8 actuators in a parallel system with just one actuator occupying an Ethernet port
connection. The system works as a critical parallel, meaning that all actuators must be present in the systemand have the exact same configuration (both mechanical and software functionality).
Below is a checklist to ensure that the system operates as intended:
ActionDescription

Set up parallel in Actuator Connect™

Each actuator must be configured to operate in parallel (2-8 actuators).
This can be set up using the Actuator Connect tool.
Please note: In some cases this is pre-configured from factory.

Wire up the system

The actuators feature internal communication for parallel
synchronisation and error codes.

Check cable lengths

Keep the total length of the communication line below 40 meters to
avoid communication dropouts.
In a parallel system with 8 actuators this would result in signal cable
lengths of <5 metres.

Check power supply

The system can be designed with either one main power supply or it
can be supplied by individual supplies corresponding to the number ofactuators in the system.
Please respect actuator specifications regarding voltage level and current
consumption!
Make sure that the power supplies have a common GND and the samepotential.

Option 1 - A simple parallel setup
Power supply
12/24/48 V

#8

#3

#2

#1

Bus communication

Parallel communication

In a simple parallel setup there is only one actuator connected to the BUS communication. This actuatorreceives run commands and shares data with the BUS controller. The remaining actuators in the system
are only connected to internal parallel communication. This way, the internal communication ensures thatthe system operates in parallel and stops in case of an obstacle, or when other errors occur on one of theactuators.
The actuators share simple error messages with the master, which can be distributed via the BUS
communication.

Modbus TCP/IP User Manual |Parallel
Option 2 - Bus communication on all actuators
Power supply
12/24/48 V

#8

#3

#2

#1

Bus communication

Parallel communication

If there is a need for e.g. monitoring the real-time data of each actuator, it is possible to connect all
actuators as nodes to the BUS communication. This will provide comprehensive usage data, which can beused to enhance performance in the application. Similar to option 1, this requires that all actuators areconnected to internal parallel communication.

9

Modbus TCP/IP User Manual | 10

Getting started
This section further describes how to communicate with LINAK® Modbus TCP/IP actuators and contains
examples of typical user scenarios and application solutions. All examples include references to registers
which are further described in detail below.

Power supply
Modbus TCP/IP actuators are available with the following supply voltage range: 24 and 48 V DC. The
accepted supply voltage range is specified for the version as shown below:
Supply voltage

24 V

48 V

Note

VIN

VTYPE

VMAX

Motor running

18 V

24 V

32 V

Motor not running
Modbus TCP/IP
communication possible

10 V

24 V

39 V

Motor running

36 V

48 V

58 V

Motor not running
Modbus TCP/IP
communication possible

10 V

48 V

60 V

For more information about wiring/connector, please see the connection diagram.

Configuration
Before being integrated into a Modbus system, a few of the actuator parameters must be checked andeventually changed. This preparation is done via the use of the configuration tool Actuator Connect™ andguarantees that the actuator is able to execute basic functionality.
Further fine-tuning may be required to fulfil system or application requirements. Via this tool it is also
possible to access historical usage data and real-time monitoring.
A separate configuration cable (item no. 0367996) is required to use Actuator Connect on a PC. This cablemust be connected to the 6-pin and 9-pin connector on the actuator side. On the opposite side, power must
be applied to the flying leads, and the USB connector must be inserted into your PC.

Parameters to be verified by Actuator Connect:
Parameters

Description

DHCP

DHCP is a client/server protocol that automatically provides an IP
address.
If enabled: below parameters are not configurable

IP Address
192.168.1.10 (default)

Set the device IP address to a unique address in the network.
192.168.1.10 (Default)

Subnet mask

Set the subnet mask.
255.255.255.0 (default)

Gateway

Set the gateway.
192.168.1.1 (default)

The full Application Data Unit (ADU) used by the Modbus TCP/IP protocol is encapsulated within the data
segment of a conventional TCP packet. This packet is then transmitted over the network to the designatedsystem port number 502, a port which is exclusively allocated for Modbus application communications.
Users are strongly advised against configuring their assets directly to the public internet. By taking
this precautionary measure, the risk of unauthorized and malicious cyber activities from external
threats is significantly reduced.

Modbus TCP/IP User Manual | 11

‘Run out’ command
Before the actuator can engage movement, some general prerequisites must be fulfilled. Timing (e.g. when
the actuator is still moving), environmental conditions and errors may indicate that the actuator is in a state
where further operation is not possible.

General run prerequisites
Step

Register*

Action“Communication heartbeat counter” must be incremented
periodically with the value ranging from 0-255.

1

HR 8193 (0x2001)

Must be updated in periods no longer than 500 ms.
If not updated within 500 ms, the actuator will stop and the“Error Code” register will read a value of 5.

2

HR 8194 (0x2002)“Position” must be set to = 64259 for ‘Stop’.
To prevent unintended movement, it is required to send a‘Stop’ command before running the actuator.

3

HR 8452 (0x2104)“Error Code” must be = 0.

4

HR 8451 (0x2103)“Status Flags” bit 2 (Overcurrent) must be = 0.

5

HR 8451 (0x2103)“Status Flags” bit 5 (Heartbeat needed) must be = 0.

6

HR 8451 (0x2103)“Status Flags” bit 6 (Actuator is running outside normal
conditions) must be = 0.

* HR = Holding register

Communication sequence to run the actuator outwards
Step

Register

Action1-

Check that general run prerequisites are fulfilled.

HR 8195 (0x2003)“Current” must be set to a value.
0-250 = Current limit 0.25 A/bit
251 = Default current limit set via Actuator Connect™
252-255 = Reserved

HR 8196 (0x2004)“Speed” must be set to a value.
0-200 = Speed 0.5% /bit
201-250 = 100% speed
251 = Default speed set via Actuator Connect252-255 = Reserved

HR 8197 (0x2005)“Soft Start” must be set to a value.
0-250 = Start ramp time 0.05 s/bit
251 = Default speed set via Actuator Connect252-255 = Reserved

5

HR 8198 (0x2006)“Soft Stop” must be set to a value.
0-250 = Stop ramp time 0.05 s/bit
251 = Default speed set via Actuator Connect252-255 = Reserved

6

HR 8194 (0x2002)“Position” must be set to = 64257 for Run out.

7**

HR 8451 (0x2103)“Status Flags” bit 3 will change to 1 to indicate that theactuator is running out.

2

3

4

** Optional

Modbus TCP/IP User Manual | 12

Register overview
Command details
Index
[hex]

[dec]

Data
type

0x2001

8193

UINT8

0x20020x20030x20040x20050x2006

8194

8195

8196

8197

8198

UINT16

UINT8

UINT8

UINT8

UINT8

AccessName

Details

Description

RW

Communication
HeartbeatCounter

0-255

Without regular updates,
actuator will stop

0–64255

Run to position

0.1 mm/bit

64256

Clear error register (see0x1001)

Command64257

Run out

Command64258

Run inCommand

64259

Stop

Command64260

Recovery run out

Command64261

Recovery run inCommand64262–
65535

Invalid value, actuator will
not runReserved

0–250

Maximum current limit

0.25 A/bit

251

Use default current value

Command252–255

Invalid value, actuator will
not runReserved

0–200

Speed to use

0.5 %/bit

201–250

Use 100% speed

251

Use default speed value

Command252–255

Invalid value, actuator will
not runReserved

0–250

Start ramping time

0.05 s/bit

251

Use default soft start value

Command252–255

Invalid value, actuator will
not runReserved

0–250

Stop ramping time

0.05 s/bit

251

Use default soft stop value

Command252–255

Invalid value, actuator will
not runReserved

RW

RW

RW

RW

RW

Position

Current

Speed

Soft Start

Soft Stop

UnitModbus TCP/IP User Manual | 13

Feedback status details
Index
[hex]

0x21010x2102

[dec]

8449

8450

Data
type

UINT16

UINT8

AccessR

R

Name

Position

Current

Details

Description

Unit

0–64255

Position of the actuator
piston0.1 mm/bit

64256–
65023

Reserved

65024

Position lost

65025–
65535

Reserved

0

Not running

1–250

Measured motor current

251–253

Reserved

254

Fault in current
measurement circuit

255

Reserved
8-bit independent status bitindicators

0x2103

8451

UINT8

R

Status Flags

b0

Endstop reached inb1

Endstop reached out

b2Overcurrent

b3

Running out

b4

Running in

b5Heartbeat neededb6

Actuator is running outside
nominal conditionsb7

Reserved

0.25 A/bit

Modbus TCP/IP User Manual | 14

Feedback status details
Index
[hex]

[dec]

Data
type

AccessName

Details

Description

Unit

8-bit error code indicating
the currently
active error of highest
priority

0x21040x21050x2106

8452

8453

8454

UINT8

UINT16

UINT8

R

R

R

Error Code

Speed

Input State0No error detected

1‘Run’ command overruled2

Position sensor

3

Overvoltage

4

Undervoltage

5

Communication sync

6

Endstop switch

7

Temperature

8Internal motor controller

9Internal power supply

10

Internal current
measurement

11

Parallel arbitration

12

Position not changing

13

Position initialisation notpossible

14

Alone in parallel system

15

Incorrect number in parallelsystem254

Other internal error(Not specified)

255

Other external error(Not specified)

0–4015

Speed of actuator piston

401665535

Reservedb0–b1

Input 1 level

25% /bitb2–b3

Input 2 level

25% /bitb4–b5

Input 3 level

25% /bitb6-b7

Always set

Reserved

0.1 mm/s /bit

Modbus TCP/IP User Manual | 15

Parallel feedback status details
Index

Index

[hex]

[dec]

0x21070x21090x210A

8455

8456

8457

Data
type

UINT32

UINT8

UINT8

Access

R

R

R

Name

Error
Source

Error
Group

Status
Flags

Details0

Description

Unit

No error is active on any
actuator in parallel system,or error source ID is irrelevant(“Parallel start-up” error isreported by an actuator stillconnected to the system)

32-bit IP
address

1-4294967295

IP address of actuator withhighest priority error

0

No error detected

1

Current overload

2

Hardware3

Temperature

4

Overvoltage

5

Undervoltage

6

Analogue input out of range(N/A for bus interfaces)

7

Position not changing

8

Run signal overruled

9

Position initialisation notpossible

10

Parallel start up

11

Parallel running

12

BLDC motor

13

Endstop switch

14

Parallel communication

15

Parallel setup stopped

24

Other error

25

Position lostb0

Parallel Endstop reached out

b1

Parallel Endstop reached inb2

Parallel running outside nominal
conditionsb3–b7

Reserved

8-bit error
codeindicating
the currently
active errorof highest
priorityon anyactuator in
the parallelsystem8-bit
independent
statusbit-indicators

Modbus TCP/IP User Manual | 16

Diagnostics data
Index
[hex]

[dec]

Data
type

0x4001

16385

UINT8

RW

Current Limit
Out

0.25 A/bit

0x4002

16386

UINT8

RW

Current Limit In

0.25 A/bit

0x4003

16387

UINT16RW

Soft Start TimeOut

1 ms/bit

0x4004

16388

UINT16RW

Soft Start TimeIn

1 ms/bit

0x4005

16389

UINT16RW

Soft Stop TimeOut

1 ms/bit

0x400616390

UINT16RW

Soft Stop Time In

1 ms/bit

0x4007

16391

UINT8

RW

Maximum Speed

AccessName

Details

Description

Unit

0–200

0.5 %/bit

201–255100%

0x400816392

UINT16

RW

Virtual Endstop
Reached Out
Position

0.1 mm/bit

0x400916393

UINT16

RW

Virtual Endstop
Reached In
Position

0.1 mm/bit

0x400A

16394

UINT32RUIN

8 number format

0x400C

16396

UINT32R

SW Variant

0x400E

16398

UINT32R

SW Version
Major

SWxxxxxxxVx-x

0x401016400

UINT32R

SW Version
Minor

SWxxxxxxxVx-x

0x4012

16402

UINT32

R

Config.
Production Order
Number0x4014

16404

UINT32R

Production Dateyyyymmdd

0x4016

16406

UINT8

R

Maximum
Current Seen

0.25 A/bit

0x4017

16407

UINT8

R

Maximum FET
TemperatureSeen

1 °C/bit - 40

R

Maximum
Ambient
TemperatureSeen

1 °C/bit - 40

1 °C/bit - 40

0x4018

16408

UINT8

Software number(e.g. 1050000)

SWxxxxxxxVx-x

0x4019

16409

UINT8

R

Minimum
Ambient
TemperatureSeen

0x401A

16410

UINT32R

Current Usage

1 As/bit

0x401C

16412

UINT32

R

Runtime1 s/bitModbus TCP/IP User Manual | 17

Diagnostics data
Index
[hex]

[dec]

Data
type

0x401E

16414

UINT8

0x401F

16415

UINT8

AccessName

R

Number of Stops
Due toOvervoltage

R

Number of Stops
Due toFETOvertemperature

0x4020

16416

UINT8

R

Number of Stops
Due toAmbient
Overtemperature

0x4021

16417

UINT8

R

Numer of Stops
Due to Low
Voltage

0x4022

16418

UINT8

R

Number of Stops
Due to Hall
Errors0x4023

16419

UINT8

R

Number of Stops
Due to Endstop
Reached Switch
Errors0x4024

16420

UINT8

R

LINAK Current
Overload Out
Stops

0x4025

16421

UINT8

R

LINAK Current
Overload in
Stops

RW

Resettable
Custom Current
Overload Out
Stops

0x4026

16422

UINT8

0x4027

16423

UINT8

RW

Resettable
Custom Current
Overload in
Stops

0x402816424

UINT16

R

Communication
Errors0x402916425

UINT32

R

Number of
Endstop ReachedOut0x402B

16427

UINT32

R

Number of
Endstop ReachedIn0x402D16429

UINT32

R

Number of Starts
Out0x402F

16431

UINT32

R

Number of Starts
In

Details

Description

UnitModbus TCP/IP User Manual | 18

Diagnostics data
Index
[hex]

[dec]

Data
type

0x4031

16433

UINT32

R

Total Piston
Distance

0x403316435

UINT16R

Last Stop Reason
ID 0

Stop reason ID
Number ofconsecutive stop
reasons of the same
type

AccessName

Details

Description

5 m/bit

0x4034

16436

UINT8

R

Last Stop CountID 0

0x403516437

UINT32R

Last Stop
Powered TimeID 0

Powered time
when the last stop
occurred

0x403716439

UINT16R

Last Stop Reason
ID 1

Stop reason ID
Number ofconsecutive stop
reasons of the same
type

0x4038

16440

UINT8

R

Last Stop CountID 1

0x403916441

UINT32R

Last Stop
Powered TimeID 1

Powered time
when the last stop
occurred

0x403B

16443

UINT16R

Last Stop Reason
ID 2

Stop reason ID
Number ofconsecutive stop
reasons of the same
type

0x403C

16444

UINT8

R

Last Stop CountID 2

0x403D16445

UINT32R

Last Stop
Powered TimeID 2Powered time
when the last stop
occurred

0x403F

16447

UINT16R

Last Stop Reason
ID 3

Stop reason ID
Number ofconsecutive stop
reasons of the same
type

0x4040

16448

UINT8

R

Last Stop CountID 3

0x4041

16449

UINT32R

Last Stop
Powered TimeID 3

Powered time
when the last stop
occurred

0x4043

16451

UINT16R

Last Stop Reason
ID 4

Stop reason ID
Number ofconsecutive stop
reasons of the same
type
Powered time
when the last stop
occurred

0x4044

16452

UINT8

R

Last Stop CountID 4

0x404516453

UINT32R

Last Stop
Powered Time
ID 4

Unit

1 sec/bit

1 sec/bit

1 sec/bit

1 sec/bit

1 sec/bit

Modbus TCP/IP User Manual | 19

Diagnostics data
Index
[hex]

[dec]

Data
type

0x404716455

UINT32

R

Total CorrectedDistance

1 mm/bit

0x4049

16457

UINT8

R

FET Temperature

1 °C/bit - 40

0x404A

16458

UINT8

R

Ambient
Temperature

1 °C/bit - 40

0x404B

16459

UINT16R

Stroke Length

0.1 mm/bit

0x404D16461

UINT16

R

Zero Point Offset

0.1 mm/bit

0x404F

16463

UINT32

R

Actuator PO
Number

0x4051

16465

UINT8

AccessName

LINAK Special
Function
RW

Details

012-255

0x4052

16466

UINT32R

IP Address 1 in
Parallel System

0x4054

16468

UINT32R

IP Address 2 inParallel System

0x405616470

UINT32R

IP Address 3 inParallel System

0x405816472

UINT32R

IP Address 4 in
Parallel System

0x405A

16474

UINT32R

IP Address 5 inParallel System

0x405C

16476

UINT32R

IP Address 6 inParallel System

0x405E

16478

UINT32R

IP Address 7 inParallel System

0x406016480

UINT32R

IP Address 8 in
Parallel System

Description

Unit

Reserved
Restart actuator
ReservedModbus TCP/IP User Manual | 20

Error codes
Error
0

Description
No error detected
No LINAK defined error detected‘Run’ command overruled1

As a safety precaution to prevent unintentional movement at power-up, the actuator will
not run until a ‘Stop’ command or ‘Clear error’ command has been sent.
Position sensor

2

Position sensors are outside of expected operating range. VCC motor OK. 10 pulses werereported on one Hall sensor and no Hall pulses on the other. Send ‘Clear error’ command
to clear error. If the error persists, contact LINAK or replace the product.
Overvoltage

3

Input supply voltage is above operating voltage level. Consult the documentation for correct
voltage levels. The error will automatically be cleared when voltage is within operating
limits.
Undervoltage

4

Input supply voltage is below operating voltage level. Consult the documentation for correct
voltage levels. The error will automatically be cleared when voltage is within operating
limits.
Communication sync

5

Heartbeat from the master is not within the expected heartbeat interval. Consult the
documentation for minimum requirements for heartbeat interval.
Endstop switch (N/A for bus interfaces)

6

Endstop switches are behaving unexpectedly. Both endstop switches have been activatedsimultaneously for more than 100 ms. Perform the initialization process by running theactuator fully extended and retracted.
Temperature

7

Internal actuator temperature is above operating limit. Consult the documentation forcorrect temperature levels. The error will automatically be cleared when the temperature is
within operating limits.
Motor controller

8Internal motor controller hardware error. Send ‘Clear error’ command to clear error. If theerror persists, contact LINAK or replace the product.
Internal power supply

9

The internal power supply is behaving unexpectedly. Send ‘Clear error’ command to clear
error. If the error persists, contact LINAK or replace the product.
Internal current measurement

1011Internal current reference is outside the expected limits. Send ‘Clear error’ command to clear
error. If the error persists, contact LINAK or replace the product.
Parallel arbitration
Start-up parallel configuration procedure in progress.

Modbus TCP/IP User Manual | 21

Error codes
Error

Description
Position not changing

12

13
14
15

Internal position sensor is behaving unexpectedly and motor might stall. Please check yourapplication for blockage or other irregularities. If the error persists, contact LINAK or replace
the product.
Position initialisation not possible
Internal initialisation parameters missing. Contact LINAK.
Alone in parallel system
Incorrect number of actuators in parallel system.
Incorrect number in parallel system
Incorrect number of actuators in parallel system or wrongly configured
Other internal error (Not specified)254

Unspecified internal hardware/software error. Send ‘Clear error’ command to clear error. If
the error persists, contact LINAK or replace the product.
Other external error (Not specified)

255

Unspecified external hardware/software error. Please inspect your application for possible
issues. Send ‘Clear error’ command to clear error.

Parallel error codes
Error
0

Description
No error detected
No LINAK defined error detected
Current overload

1

Current draw is above allowed operating limit. Reduce load, send a ‘Clear error’ command,and run the actuator in the opposite direction.
Hardware2

Internal hardware error. Send ‘Clear error’ command to clear error. If the error persists,
contact LINAK or replace the product.
Temperature

3

Internal actuator temperature is above operating limit. Consult the documentation forcorrect temperature levels. The error will automatically be cleared when the temperature is
within operating limits.
Overvoltage

4

Input supply voltage is above operating voltage level. Consult the documentation for correct
voltage levels. The error will automatically be cleared when voltage is within operating
limits.
Undervoltage

5

Input supply voltage is below operating voltage level. Consult the documentation for correct
voltage levels. The error will automatically be cleared when voltage is within operating
limits.

Modbus TCP/IP User Manual | 22

Parallel error codes
Error

Description
Analogue input out of range (N/A for bus interfaces)

6

Analogue input signal is outside operating limits. Servo or Proportional. Consult the
documentation for correct input signal.
Position not changing

7

Internal position sensor is behaving unexpectedly and motor might stall. Please check yourapplication for blockage or other irregularities. If the error persists, contact LINAK or replace
the product.
Run signal overruled
Communication has been overruled by a higher priority input. Communication is split into
the following priorities:

8

1. Bus communication (CAN bus, Ethernet, etc.)
2. LINAK service tool (Actuator Connect™)
3. Manual run using Red and Black wires
Send a ‘Clear error’ command to continue.

9

Position initialisation not possible
Internal initialisation parameters missing. Contact LINAK.
Parallel start-up

10

11

Error in parallel setup. The number of connected actuators does not match yourconfiguration. Check the configuration by using the LINAK tool Actuator Connect.
Parallel running
The actuators are performing the internal setup and are not ready for operation.
BLDC motor

12Internal hardware error. Send ‘Clear error’ command to clear error. If the error persists,
contact LINAK or replace the product.
Endstop switch (N/A for bus interfaces)

13

Endstop switches are behaving unexpectedly. Both endstop switches have been activatedsimultaneously for more than 100ms. Perform the initialization process by running theactuator fully extended and retracted.
Parallel communication

14

Error in internal parallel communication. More than 5 communication errors in 500 ms.
Please check the wire connections and re-power the complete setup.

Modbus TCP/IP User Manual | 23

Parallel error codes
Error

Description
Parallel setup stopped

15

One or more actuators cannot comply with commands and stop. Master commands ‘Stop’
to other actuators in the network. Send ‘Clear error’ command to clear error. If the error
persists, check your application and wire connections and re-power your complete setup.
Other error

24

Actuator receives an undefined error code. This can be due to outdated firmware. Send
‘Clear error’ command to clear error. If the error persists, contact LINAK or replace theproduct.
Position lost

25

Follow the relevant initialisation procedures by running the actuators from fully retracted to
fully extended. If the error persists, contact LINAK or replace the product.

Contacts
FACTORIES
Denmark - Headquarters
LINAK A/S
Phone:+45 73 15 15 15
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info@NetivTech.com
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Industrial Specialised Applications CC
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Copyright© LINAK • 2024-09 • LIT-73-02-019 A

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LINAK Slovakia s.r.o.
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Web:www.linak.sk+[57] (1) 334-7666+[57] (1) 282-1684
servicioalcliente@memltda.com.cowww.mem.net.co