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1. 4 4 Initialization 4 11 4 4 1 Linear motors of the LinMot P series 4 11 4 4 2 Stepper motors 4 13 4 5 Signal interfaces 4 14 4 5 1 SYS1 interface 4 14 4 5 2 SYS2 connector 4 16 4 5 3 COM connector 4 17 4 6 Actuator interfaces 4 18 4 6 1 Connection of LinMot P linear motors 4 18 4 6 2 Connecting stepper motors 4 19 4 6 3 Connecting inductive loads 4 19 4 7 Connecting the power supply 4 20 4 7 1 E100 E200 E400 supply 4 20 4 7 2 E1000 E2000 E4000 supply 4 21 4 8 HW configuration of the electronic units 4 23 4 8 1 Signal board configuration 4 23 4 9 Mechanical installation 4 25 4 10 Constructive notes on the installation of the linear motors 4 26 5 Configuration Software 5 1 5 1 Installation requirements 5 1 5 2 Installation of the configuration software 5 2 5 3 Introduction 5 3 54 Login 5 3 5 5 Commander 5 4 5 6 Control Panel 5 4 5 7 Parameter Inspector 5 5 5 7 1 Editing the parameters 5 6 5 7 2 Saving and loading parameter sets 5 7 5 7 3 Copy and Paste 5 7 5 7 4 Verifying parameter settings 5 8 5 7 5 Printing parameter sets 5 8 5 7 6 Write protected parameters 5 9 5 7 1 Online mode 5 9 5 7 8 Offline mode 5 9 5 8 Curve Inspector 5 10 5 8 1 User interface of the Curve Inspector 5 10 5 8 2 Operational elements of the Curve Inspector 5 10 5 8 3 Curve Editor interface 5 13 5 8 4 Operational elements of the Curve Editors 5 14 5 8 5 Creating curv
2. Figure 5 18 The curve created We now close the curve with the OK button and write it to the electronic unit by moving it in the download window and then clicking Download 5 12 2 Configuring the electronic unit User Manual V1 01 The easiest way is to start from the standard or default configuration This can be imported in the Parameter Inspector by clicking on Import It is important to load a configuration that is compatible to the electronic unit being used under Defaults Now you can select the type of motor connected LinMot Pxx 23 or LinMot Pxx 37 under Drives Drive A Type and then select the Continuous mode under Drives Drive A Set Value Generation Run Mode With this the necessary settings are made At this point clicking on Start in the Control Panel initializes the motor and starts running the curve cyclically 5 25 Sulzer Electronics AG 5 12 3 Oscilloscope configuration for the recording of the position set value In this example the Oscilloscope will be used to display the actual value and the set value of the position For this we open the Oscilloscope by clicking on the Osci button in the Commander The variables for the two channels are found beneath the empty graph windows Actual Pos Drive A should be selected for channel A while Demand Pos Drive A should be selected for channel B We now switch to the entry panel for the trigger by
3. Point To Point Time Start Point mm Wizard Type Position mm 23 00 Position gm Ei 20 00 17 00 14 00 End Point mm max Speed m s 11 00 max Start Ace m s2 8 00 max Stop Acc m s2 5 00 2 00 2 00 1 00 1 00 0 00 3 85 7 70 11 55 1540 1925 23 09 Time ms Z cancel gt Close buttons Edit buttons Graph buttons Figure 5 10 Curve Editor for calculated curves The settings are edited in the left panel of the window while the curve is displayed graphically in the right panel 5 8 4 Operational elements of the Curve Editors Graph Graph buttons User Manual V1 01 The operational elements of the Curve Editor and their functions are explained in this chapter The elements that are always visible are described first The curve is displayed graphically in this window Changes are displayed immediately for manually edited curves Manual wizard or after a curve calculation for calculated curves The curve can be selected and moved with the mouse Fit View The axis of the graph are scaled automatically to fit the whole curve in the display Print The curve graph is printed with the currently selected setting and scaling 5 14 Sulzer Electronics AG Close buttons Curve definitions Edit buttons it User Manual V1 01 Configuration Software OK Thi
4. Spindle drives Cam disks cy Mechanical levers Belt drives Pneumatic cylinders Rack and pinion drives User Manual V1 01 3 3 Sulzer Electronics AG LinMot System Overview 3 4 Technical properties of LinMot P The linear drives LinMo P are characterized by the following properties e Connection to commercially available PLC and PC control systems e Position controlled and curve driven operation e Dynamic properties of the drive adjustable Vmax Amax e Extremely high dynamic specification e g continuous cyclical operation gt 15 Hz e Compact connection ready construction with integrated sensing and bearing e Suitable for operation in rough industrial environments 3 5 Application fields of LinMot P The linear drives LinMor P can be used both as stand alone systems or in connection with highly complex machines The following list of application examples is therefore not complete and gives only an insight in the variety of the possible applications e Textile machines Weaving machines knitting machines carpet machines winding machines e Packaging machines Food pastries coffee tee sweets Consumer goods office material toys Cosmetics soap tubes Pharmaceutical tablets pills e Printing machines Offset and tampon printing machines e Assembly systems e Winding machines e Handling machines Robotics e Laboratory automation e Folding machines e Labeling machines e Newspaper
5. 5 9 Oscilloscope Configuration Software The Oscilloscope is an important resource that helps the user in the commissioning of his drive system The Oscilloscope offers the possibility to record data on the LinMot electronic unit in real time and then transmit it to the PC to be displayed It offers the following functions e two independent channels e 256 data values for each channel e variable sample rate from 400us to 26 2s e various trigger modes Display command panel Start button Graph display File control panel Shot button Print control panel Er Oscilloscope E400 AT on COM1 Actual Pos mm and Pos mm 38 00 r r r r r r 38 00 31 00 a o Ny 31 08 3 00 i i i i i i i 3 00 0 00 15300 306 00 45900 61200 76500 918 00 1071 00 1224 00 Time ms Ch A Actual Pos mm Ch B Demand Pos mm Time 153 00 ms div Trig On Curve 1 of Drive A Trigger Mode Chan A Chan B A Trigger Pr II Variables Trigger Sample rate Display panel panel panel panel Figure 5 11 Working with the Oscilloscope User Manual V1 01 5 18 Sulzer Electronics AG 5 9 1 Setting the recording variables By setting the recording variables the user specifies which variables are to be sampled during the recording process The variables panel must be activated before setting the variables see also Figure 5 11 For each of the two channels the user can select the variable from a list In case of drive
6. Aaa E E hsa 2 00 Nbr Position mm 0 U H 1 00 EN NU HT jenen mern 1 00 0 00 0 00 1 00 1 00 2 00 2 00 3 00 3 00 4 00 4 00 0 00 166 67 333 33 500 00 666 67 833 33 1000 00 Time ms Figure 5 22 New curve in the Curve Editor Now we must define our curve first we shall select the type of curve generation Under Wizard Type we select Ramp instead of the actually selected Manual The display changes and now includes the two fields Start Point and End Point We now make sure that LinMot Pxx 23 is selected as Drive Type If you wish to realize this example with a Pxx 37 choose LinMot Pxx 37 as Drive Type In the following this alternative will only be shown between parenthesis We change the name to Linear Out At this point the actual movement sequence is defined We want to create a curve that executes a linear movement from 5 mm to 50 mm in one second For this purpose we enter 1000 ms in the Time field If the unit is set to Hz it can be switched to ms with the Frequency button After being entered the value will be displayed as 1008 ms as it is not possible for the electronic unit to meet the 1000 ms requirement exactly with just two points In our case this causes no big problem If this fact should cause a problem in a future application you should increase the number of points User Manual V1 01 5 30 Sulzer E
7. User Manual Rel 1 0 LinMot Tel 41 0 1 445 2282 Sulzer Electronics AG Fax 41 0 1 445 2281 Technoparkstrasse 1 Email office linmot com CH 8005 Ziirich Homepage www linmot com 1999 Sulzer Electronics AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of Sulzer Electronics AG LinMot is a registered trademark of Sulzer Electronics AG Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation Sulzer Electronics reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Please refer to the latest edition of our General business terms Version 1 01 Rev 3 October 8 1999 Table of Contents 1 Introduction 1 1 1 1 Used symbols 1 2 2 Safety notes 2 1 2 1 Installation 2 2 3 System Overview 3 1 3 1 Drive system LinMot 3 1 3 1 1 Actuator Linear drive LinMot P 3 2 3 1 2 Actuator stepper motor LinMot Step 3 2 3 1 3 Actuator electromagnet LinMot Magnet 3 2 3 2 LinMot P
8. e The slider of the LinMot P motors can reach temperature values that can cause burns if touched e The sliders of the LinMor P motors are fast moving machine parts The user is responsible for taking all the measures necessary to avoid any contact and the relative danger of injuries to living beings cover protection from contact etc e Accumulations of dirt in particular of ferrous chips magnetic attraction or dry running of the slider can considerably shorten the slider s lifetime e The sliders may only be stored or transported in the special plastic case with cardboard inlay or already inserted and blocked in the stator e The sliders must be protected from dirt particularly metal chips etc e Maximal storage temperature 70 C e Both slider and stator must be cleaned and subsequently re greased if they become dirty see chapter 7 4 27 Sulzer Electronics AG 5 Configuration Software The LinMoi Talk software is a MS Windows based software designed to support the user in commissioning and configuring the LinMof electronic unit The software features a powerful modular graphical interface that covers all the tasks involved with the operation of the LinMot electronic unit Great care has been taken during the development of the interface in order to make it easy to upgrade and comfortable to operate The five main modules of the software are described shortly in the following text A detailed description is foun
9. BEE 10 00 A h i i f i MS 3 00 0 00 15300 306 00 45900 61200 76500 918 00 1071 00 1224 00 Time ms Ch A Actual Pos mm Ch B Demand Pos mm Time 153 00 ms div Trig On Curve 1 of Drive A Trigger Mode Chan 4 Chan B A Trigger I uU Variables Trigger Sample rate panel panel panel Display panel Figure 3 7 Motion analysis with the integrated digital Oscilloscope User Manual V1 01 3 12 Sulzer Electronics AG LinMot System Overview 3 8 4 Error logbook Thanks to the system clock built in the LinMot E electronic units the errors that have occurred during operation can be logged on a time basis The information is stored in the non volatile memory and allows a later reconstruction of the events Error list Actual errors Actual warnings Gr Error inspector E400 AT on COM1 Actual Errors 00010 31 24 Drive A slider missing 00010 31 24 Error DCLY Signal too low Drive A slider missing 00010 31 10 Init Drive amp slider missing 00010 31 10 Error DCL Power too low 00000 04 47 Init Drive A init failed 00000 00 27 Run Drive curve error Error display Figure 3 8 Error messages are saved to the logbook for later analysis User Manual V1 01 3 13 Sulzer Electronics AG LinMot System Overview 3 9 Customer specific applications The goal in the basic philosophy of LinMof is to be able to cover the broadest range of applications simply by configurin
10. ERROR OUT POSITION ERROR OUT User Manual V1 01 Design and Installation Starts the Emergency Stop behavior that was specified Here it can specified whether the slider should be stopped with the maximal allowed acceleration taken to a predefined emergency stop position or the motor should be turned off Data Galvanically separated digital input Low level active Input voltage 0 24V DC max 10 26V DC For signal 0 lt 2VDC For signal 1 gt 3 5V DC Input current lt 20mA 24V Input delay 1 6ms The sliders of the linear motors are stopped with the maximal allowed acceleration Data Galvanically separated digital input High level active Input voltage 0 24V DC max 10 26V DC For signal 0 lt 2VDC For signal 1 gt 3 5V DC Input current lt 20mA 24V input delay 1 6ms The digital outputs are realized as open collector outputs and must be driven over an external pull up resistor Vcc max 24 V External Pull Up I max 20 mA Figure 4 13 Digital output layout During normal operation no warnings or error messages the digital outputs are pulled down to ground GND by the electronic unit When an error or a warning is generated or the signal cable is interrupted the output becomes high impedance and is pulled up over the external resistor This is set when a warning to be considered is pending A warning is to be considered as a precursor of an error Data Open collector output
11. High level active Max 24V 20mA This output is set when an error has occurred that should be taken care of Data Open collector output High level active Max 24V 20mA This output is set when the slider is outside the position range that was defined for it Data Open collector output High level active Max 24V 20mA 4 15 Sulzer Electronics AG MSG 5V GND Design and Installation Message output can be defined via the configuration software to suit your needs 5V supply digital Output with a maximal load capability of 50mA Caution the pins 4 8 9 10 of Sys1 are exclusively for debugging purposes and must not be connected 4 5 2 SYS2 connector RUN INIT TRIG ANALOG IN User Manual V1 01 The operating states RUN and INIT of the electronic unit are driven through the inputs of the SYS2 interface The set values are also given through this port TRIG ANALOGINA 6 TRIG ANALOG INC TRIG ANALOG IN B TRIG ANALOG IND La RUNG OS e TRONS Ca ne Ne J Slowo FREE EEE Table 4 2 Pin configuration of the SYS2 connector During normal operation the actuators are turned on and off by means of the RUN signal Data Galvanically separated input High level active Input voltage 0 24V DC max 10 26V DC For signal 0 lt 2V DC For signal 1 gt 3 5V DC Input current lt 20mA 24V Input delay 1 6ms The initialization of the motors is started Data Galvanically separated input High
12. It is important to select the file type under Save As in Excel and not by manually entering the file extension Sulzer Electronics AG Configuration Software We now load the file in the Curve Inspector ExelTest csv and take a look at the curve that should appear as follows be Edit Cave aixi wad ip 3 Postion mr Porbon mm Drive Tyner 55 00 53 00 Nare tT PU 4 ft ma WM rii 200 i Bt a L i H 1 200 om 150 ZUM IFW Ww 6500 75000 ssw 10000 Tins Ins X Canoes Figure 5 32 Exponential curve There are many other possibilities in Excel Some are listed here briefly Changing the number of points in a curve by inserting or deleting Calculating the time with formulas Renaming curves Changing motor type Inserting or deleting entire curves Defining and calculating complex curves with special macros ev interactive It is important that the structure of the file remains unchanged curve header values and the keyword SEND after the last curve User Manual V1 01 5 39 Sulzer Electronics AG LinMot p arameters 6 Parameters Refer to User Manual for SW Rel 1 3 User Manual V1 01 6 1 Sulzer Electronics AG LinMot Service 7 Service Refer to User Manual for SW Rel 1 3 User Manual V1 01 7 1 Sulzer Electronics AG
13. initialization was not completed successfully 4 12 Sulzer Electronics AG Design and Installation 4 4 2 Stepper motors Rotate until trigger Initialization on actual position User Manual V1 01 Stepper motors have to be initialized every time they are turned on As they can only be operated without a pick up their actual position cannot be detected when the rotor is moved in a non powered mode e g the operating state Disable Stepper motors can be initialized in two different ways In order to initialize the motor by means of a trigger signal a digital position sensor is needed to detect the rotor when it is in the desired zero position The rotor rotates in the specified direction with a user definable speed over the position sensor As soon as the sensor detects the rotor the actual position is saved as the zero position If the trigger signal is already High when the initialization is started the rotor is first moved in the opposite direction until the signal goes low At this point it is moved in the specified direction to trigger the active edge In this case no reference run is executed The actual position of the rotor upon powerup of the electronic unit is saved as zero position This implies that the rotor must find itself in the desired zero position already before powering up the unit 4 13 Sulzer Electronics AG 4 5 Signal interfaces Design and Installation The signal interfaces of the electronic unit fa
14. is the number of hours MM the number of minutes and SS the number of seconds Error list These buttons control the access to the errors stored in the electronic unit Show The Show command reads the last 16 error entries from the LinMot electronic unit and displays them in the error display Note that not all the errors that lead to the Error state are saved and viceversa The errors that should be logged are specified in the parameter tree under the System Error Handling Logging mask Clear This command deletes the entire list from the LinMot electronic unit A confirmation is asked before executing this command User Manual V1 01 5 22 Sulzer Electronics AG Actual errors Actual warnings User Manual V1 01 Configuration Software Save All the errors listed in the error display can be saved to a file with the extension err This button is only available right after having clicked on the Show button Show Two sections are displayed after clicking on the Show button of Actual Errors The section ERROR THAT CAUSED TRANSITION TO ERROR STATE shows which error caused the transition to the Error state The section PENDING ERRORS lists all the errors active at the moment of reading If the Show button is clicked when the basis software is not in the Error state nothing appears in the display window Show Clicking on the Show button of Actual W
15. should generate a warning message or an error message turning off the actuator to be sent to the higher level control User Manual V1 01 4 9 Sulzer Electronics AG 4 3 2 Position range monitoring In cases where two actuators share a common motion range the higher level control must be sure the first actuator is outside the motion range of the second one before moving the latter to it Therefore some feedback is needed when all actuators are within a safe range In Position t Figure 4 9 Position range monitoring Configuration A position range can be specified for each actuator As soon as an actuator s actual possibilities position is outside this range a message is sent to the higher level control system User Manual V1 01 4 10 Sulzer Electronics AG 4 4 Initialization Design and Installation Upon powering on the electronic unit all actuators that operate without an absolute measuring system LinMot P stepper motors must be initialized The initialization is done in form of a reference run by which the zero position of the actuator is determined After powering on the electronic unit a warning message is sent over the WARN output to indicate that the motors have not yet been initialized The initialization procedure always starts from motor A As soon as this is done the initialization of motor B begins and so on After motor D has initialized the warning message is removed 4 4 1 Linear motors of the LinMo
16. 06 24 48 V DC AN ERS MotA MotA gt o Sys1 Sys 1 a 34 9 3 gt o Mot B MotB gt Sys2 Sys2 2n en Mot Mot C gt gt wo Mot D D PWR 9 om Figure 4 16 Installation of the E100 E200 E400 units Caution Before putting into operation the housing of the electronic unit must be grounded The grounds of the signal and power supplies must also be connected to earth at some point User Manual V1 01 4 20 Sulzer Electronics AG Vcc Signal supply GND Vcc Power supply Table 4 6 Supply pin configuration E100 E200 E400 Signals supply Input voltage 24 48V DC Max input current 160 mA at 24 V Power supply The linear motors reach their maximal force and full dynamics only when supplied with a 48V DC power supply see data sheets of the linear motors Input voltage 24 48V DC The required power strongly depends on the loading of the motors For an optimal design of the power supplies the power requirements of each application should be clarified individually Practical applications have shown that in most cases even when driving four linear motors LinMot P at the same time with one E400 electronic unit a power supply of 48V 300W is sufficient 4 7 2 E1000 E2000 E4000 supply In the electronic units of the E1000 E2000 E4000 series the signal circuitry and the power circuitry are supplied ov
17. 10 bit LinMot P The desired position set value of the slider is given by the higher level control system directly by means of an analog input signal In the electronic unit a stroke range can be freely defined that will correspond to the 0 10V range of the analog signal from the interface Maximal Position Minimal Position U 0 V Position Bl 10 V Position Figure 4 2 Analog position definition In applications where the movement has to be executed with a controlled acceleration the enormous acceleration capabilities of the linear drives of the LinMot series can be a disturbing factor For this reason the maximal allowed acceleration and speed for each motor can be specified individually This way the slider will accelerate within the limits of the application even on jumps of the reference position signal Figure 4 3 Limitation of the speed and acceleration Stepper motor The desired position set value of the rotor is given by the higher level control system directly by means of an analog input signal In the electronic unit a position range can be freely defined that will correspond to the 0 10V range of the analog signal from the interface the range can extend over more than one revolution User Manual V1 01 4 2 Sulzer Electronics AG To make sure that the stepper motor will not miss steps on very fast changes of the position set value a maximal acceleration and a maximal rotational speed can be specified t
18. All the curves are now in the download window We want the Jump Back curve to be the first in the list For this we select the curve and click twice on the Up button a We now have the following sequence 1 Jump Back 2 Linear Out and 3 Hold By clicking on the Save button El a Save file dialog box opens from which we can save the curves under the name Curves1 csv After doing this we can open the file with the Open button We now have the same curves in the left and right panels of the Curve Inspector window 5 13 5 Merging curves By saving a number of curves to a file the single curves remain separated Should it be required to join the curves to a single continuous movement this can be done by means of the Join command Before we do this we must move the Jump Back curve back to the last position in the list selecting Jump Back and clicking twice on down The window should appear like this Gr Curve Inspector E400 AT on COM1 Curve Window Download Window No Name Drive Type Samples Time ms 1 Linear Out LinMot 2 1008 231 Jump Back LinMot 32 699 943 2 Hold LinMot 8 Linear Out LinMot 2 1008 231 Jump Back LinMot 32 69 3 LinMot 8 499 995 Curve File loaded correctly File loaded correctly File saved Loading File Curve File loaded correctly File loaded correctly Figure 5 27 Curve Inspector before merging the curves Now to the merging
19. Live parameters are actualized immediately on the electronic unit after a change m whereas normal parameters are saved to the unit only after a new start For example the controller parameters are live parameters As soon as the controller settings are modified the connected motor will behave accordingly This way it is possible to change the controller parameters without having to stop and restart the software every time Live parameters are marked with a small L symbol on the left side of their name Selection parameters With selection parameters only one entry out of many can be selected This is done by double clicking or by hitting the Enter key Selection parameters are marked with a o small circle on the left side of their name The selected parameter appears with a filled circle On Off parameters The On Off parameters as the names tells can be turned either on or off by double 0 8 clicking In most cases a whole group of these parameters is included in a directory On Off parameters are marked with a small square on the left side of their name that is checked if the parameter is active User Manual V1 01 5 6 Sulzer Electronics AG Configuration Software 5 7 2 Saving and loading parameter sets Export Import The import and Export buttons allow loading and saving whole parameter sets When exporting it can be chosen whether all the parameters stored in the electronic unit or only the ones for a sing
20. Manual V1 01 Some parameters cannot be configured by the user This mostly concerns those parameters that affect the safety of the electronic unit or of the connected motors For example the monitoring of the supply voltage cannot be disabled All parameters that cannot be edited by the user are displayed shaded The user normally works in the Online mode This means that the LinMo electronic unit is connected directly to the PC via a serial interface Changes in the parameters are transmitted to the LinMof electronic unit over the interface The Online mode is accessed by logging in and activating the Parameter Inspector from the Commander The Offline mode allows the editing of a parameter configuration that was saved beforehand The electronic unit doesn t need to be connected to the serial interface for this operation Changes to the parameters are not transmitted directly to the electronic unit but the modified configuration can be saved The Offline mode can be accessed by selecting the Offline Edit command under the File menu Not all parameters are available in the Offline mode The parameter Time for example is not available as it would normally display the time of operation of an electronic unit and there is no connection to an electronic unit in this mode All the parameters that cannot be read in the Offline mode are marked with n a not available 5 9 Sulzer Electronics AG Configuration Sof
21. a new construction element 3 2 3 3 Substitution possibilities of LinMot P 3 3 3 4 Technical properties of LinMot P 3 4 3 5 Application fields of LinMot P 3 4 3 6 Driving and operating modes of LinMot 3 5 3 6 1 Driving concept 3 5 3 6 2 Operation modes 3 5 3 6 3 Connection to higher level control systems 3 8 3 7 Protection and error behavior 3 9 3 7 1 Internal protection functions 3 9 3 7 2 Monitoring functions 3 9 3 7 3 Emergency stop possibilities 3 9 3 7 4 Emergency stop through supply interruption 3 9 3 8 Operation and configuration 3 10 3 8 1 System configuration 3 10 3 8 2 Curve generation 3 11 3 8 3 Monitoring function digital Oscilloscope 3 12 3 8 4 Error logbook 3 13 3 9 Customer specific applications 3 14 4 Design and Installation 4 1 4 1 Operating modes 4 1 4 1 1 Analog position setting 4 2 4 1 2 Analog current setting 4 3 4 1 3 Two point run 4 3 4 1 4 Running reference curves 4 4 4 1 5 Set values through the serial interface 4 5 4 2 Operating states 4 6 4 2 1 Operating state Setup 4 7 422 Operating state Wait for Disable 4 7 423 Operating state Disable 4 7 424 Operating state Drive Init 4 7 4 2 5 Operating state Run 4 8 4 2 6 Operating state Stop 4 8 4 2 7 Operating state Error 4 8 4 3 Position monitoring 4 9 4 3 1 Following error monitoring 4 9 4 3 2 Position range monitoring 4 10 User Manual V1 01 Sulzer Electronics AG LinMot Table of Contents
22. actual position is taken as the zero position 4 11 Sulzer Electronics AG Initialization on actual position Testing for free stroke range User Manual V1 01 Design and Installation Position Sensor Sensor Signal High Sensor Signal Low Sensor Signal Low High Zero Position Figure 4 11 Initialization with a position sensor The trigger signal of the sensor is forwarded to the electronic unit by the higher level control system Here too it can be specified whether the system should consider the active edge of the trigger signal when the slider is moved inwards or outwards If the trigger signal is already High when the initialization is started the slider is first moved in the opposite direction until the signal goes low At this point the slider is moved in the specified direction to trigger the active edge In this third case no reference run is executed The actual position of the slider upon powerup of the electronic unit is saved as zero position This implies that the slider must already find itself in the desired zero position before powering up the unit After the initialization is done in one of the three modes it is possible to check if the slider can move freely along its entire stroke range During this process the slider is moved over the specified range with same specified speed Should the slider encounter an obstacle within its stroke range an error message is sent out to inform that the
23. and paper machines e Sorting machinery Parcel and letter sorting systems material sorting machines User Manual V1 01 3 4 Sulzer Electronics AG LinMot System Overview 3 6 Driving and operating modes of LinMot 3 6 1 Driving concept The basic idea of LinMot P consists in having the control tasks executed as peripheral as possible in order to free the higher level control systems from unnecessary and calculation intensive ballast The system configuration is therefore accordingly simple as the higher level control system just outputs the actual target value and monitors some feedback information The following sections will implicitly refer to LinMot P linear motors as actuators when no specific indication is provided In this case the target value consists in the position set value to which the drives should move while the feedback information typically represents a following error message In the case of stepper motors and electromagnets these statements can be interpreted by analogy PLC PC VME System Signal circuitry supply DC supply Power circuitry supply GYR nsor Processing gt Commutation ees ol Y lt Positioi Temperatur Position Position Velocity Current Power Filter gt Control P Control P Control P PWM gt Ampi gt ka Figure 3 3 LinMot s peripheral position control f
24. itself 4 6 1 Connection of LinMot P linear motors The sensor signals and the power signals of the linear motors of the LinMot P series are carried on a single cable By default the LinMor drives come factory fitted with a cable In cases where a longer cable is necessary the cable can be extended up to 50m see data book Only the special LinMot cable Art No 0150 1920 must be used for extension cables E100 E200 E400 9 pole D Sub connectors are available on the front of the electronic units of the E100 E200 E400 series for connecting the actuators 1 red Phasel 2 blue Phase2 BEE white AN 4 yellow SensorSin 5 black Temperature Sensor 6 pink 8 brown Ground 9 green SensorCos_ Table 4 4 E100 E200 E400 pin configuration for the LinMot P Only the special LinMot cable Art No 0150 1920 must be used for extension cables In applications where the motor cable has to be or moved during operation the special trailing chain cable Art No 0150 1927 must be used max 10m E1000 E2000 E4000 10 pole Mini Combicon connectors are available on the front of the electronic units of the E1000 E2000 E4000 series for connecting the actuators 6 brown Ground 8 green SensorCos_ 9 black Temperature sensor io Shield Table 4 5 E1000 E2000 E4000 pin configuration for the LinMot P User Manual V1 01 4 18 Sulzer Electronics AG Design and Insta
25. moves to the preset positions Two position set values can be saved for the stepper motor too To prevent the motor from missing steps the maximal acceleration and the maximal rotational speed at which the rotor will move can be specified When driving an inductive load two current set values can be defined that will be output depending on the input signal state 4 1 4 Running reference curves LinMot P Stepper motor Inductive load User Manual V1 01 In the operating mode Run reference curve the actuators are driven by the higher level control system by means of trigger signals In the electronic unit two reference curves are stored for each actuator one for the Low High state change and one for the High Low state change of the trigger signal When the trigger signal state changes at the input of the electronic unit the corresponding curve is run The electronic unit can store curves with up to 4000 reference positions Rise Fall Rise Curve Curve Curve Figure 4 6 Running reference curves When using the linear motors of the LinMot P series two reference curves can be saved for each motor These will be run after each corresponding state change of the trigger signal The slider then maintains the last position of the curve until the next trigger starts the other curve Two reference curves can be saved for stepper motors too These will be run after each corresponding state change of the trigger signal When d
26. takes only a few seconds before the values are loaded from the electronic unit When no more text appears in the graph window click on the Fit View button and you will see the following display Es Oscilloscope E400 AT on COMI Achill Poe rn Danad Poe mer gt Sar 20 lt _ I am 200 4 ae ner 42 00 TA i i i BIENEN 3200 Braun f 2 00 y A Fk 2200 E E A ree 20 385 HN sale rl ee rer sh ee an Prin N LEEG Mor a embr ELLE 12 00 a00 W200 40400 SECO KO 71000 81200 91400 101609 111800 122000 Tire ms ChA Acts Pos mm Ch Demand Pot rere Tame 10200 na c Trig On CumetotOme Delay 2000s Accu smia OO e Faron Mode Delayed Delay fe 00000 5 W Cham hand 4 Tiggo iogan Dicey Figure 5 19 Recording actual position and the set value of a cyclical curve User Manual V1 01 5 26 Sulzer Electronics AG Configuration Software With the Zoom buttons under Display you can change curve sections and graph scaling The Fit View button restores the display as shown in the previous section When Multi Shot is selected under Acquire a new recording is started as soon as the next trigger comes This happens until the Shot button is clicked Shot can be clicked manually when an error that should be analyzed occurs Two other modes are available under Mode in Acquire Normal and Pretriggered In the Normal mode
27. warning and or error messages There is further the possibility to monitor the voltage supply of the LinMot E electronic units for overvoltage and undervoltage If the higher level control system does not respond to the warning and error messages the actuators will be shut down for safety reasons 3 7 2 Monitoring functions The so called following error monitoring and the position range monitoring offer two powerful functions for the monitoring of the actual movement processes Trail Error In Position t t Following error monitoring Position range monitoring 3 7 3 Emergency stop possibilities From the point of view of the higher level control system there are two ways to handle the LinMo actuators in case of an emergency stop e With the so called FREEZE signal the drives can be stopped and maintained in their current position The movement is resumed when the FREEZE signal becomes inactive again e By means of the STOP signal the drives can be driven to a predefined emergency stop position or shut down 3 7 4 Emergency stop through supply interruption As the LinMo electronic units feature separate supplies for the signal circuitry and the power circuitry an emergency stop can also be forced by directly interrupting the power supply to the power circuits As long as the signal circuitry remains powered the initialization and actual position of the LinMot P actuators are not lost Therefore it is possible to r
28. 0 16 00 Time ma ChA Actus Pos mm Dh Bl Demand Pot Filtered ywn Tame 102 00 revel Taig On Bi Up Pretie AT Tng Mode Tig on b Va Tid Waring x Ede Up d one Char4 Doend jTi Eogan A Dini f Figure 5 20 Following error recording In this example the point where the slider was blocked is clearly visible The moment when the trigger is released is marked as zero The prehistory of the following error can be recorded easily by means of the pretrigger function If the trigger condition Edge is set to Down the trigger is only released when the following error disappears You can record any variable as for example Current That way you can gain information on the force of the motor These two examples were intended to give you an introduction in the operation of the Oscilloscope In order to become even more accustomed with this tool it is advisable to test different settings for example recording and defining other curves and motors or combinations with the other LinMot Talk modules Curve Inspector Curve Creator and Parameter Inspector The knowledge of the possibilities and operational modes of the Oscilloscope can save you a good deal of time during testing and commissioning 5 28 Sulzer Electronics AG 5 13 Tutorial C Generating reference curves In this example we want to create a reference curve by merging separate curve sections to build a single curve for a linear mo
29. 99 618 Jump Back LinMot 32 699 943 i Curve File loaded correctly File loaded correctly Figure 5 29 The Curve Inspector before the download We save the two curves that are in the download window For this purpose we click on the Save button and give the file the name Motionl csv We now program the two curves in the electronic unit This is done by clicking on the Download button and confirming the process with OK The curves are now being written to the electronic unit Finally we test the curves For this the electronic unit must be configured correctly We load the standard configuration by clicking on Import and selecting the one appropriate for the electronic unit we are using For an E400 this would be 400ATO1 cfg for an E1000 it would be 1000ATOI cfg and so on The configuration is now loaded and we can adjust the parameters according to our application We set the Drive Type of channel A to LinMot Pxx 23 LinMot Pxx 37 in Drives Drive A Type As the curve we created was written to the electronic unit as number 2 we must set Drives Drive A Set Value Generation Curve Number to 2 We are now ready to start We open the Control Panel Control button in the Commander click on Stop and then on Start The motor initializes and executes our Motion curve cyclically User Manual V1 01 5 36 Sulzer Electronics AG 5 14 Tutorial D User Manual V1 01 Configuration Sof
30. AG User Manual V1 01 Configuration Software We will edit the Exponential curve so that an exponential jump from 5 to 50 mm is executed For this we define the exponents in column C with the values O 0 3 0 6 4 5 In column B we enter the following formula Bn 1024 20 45 1 1 EXP Cn 5 for the definition of the values The factor 1024 20 is used for scaling from millimeters to Singlesteps In column A we enter the following function An ROUND Bn 0 in order to eliminate the decimal point With this the Exponential curve is complete For the Triangle curve we enter the values 50 2000 and 50 manually You should now see the following table 1 CURVE Exponential 2 TYPE LinMot TIME 1000 4 UNIT SingleStep 1 Step 0 01953125 mm 256 256 0 853 853 15482 0 3 1296 1295 53799 0 6 1623 1623 2635 0 9 16866 1866 04054 1 2 2046 2045 90811 1 5 2179 2179 15136 1 8 2276 2277 96039 2A 2351 2350 985984 2 4 2405 2405 1585 2 7 2445 2445 29059 3 2475 2475 02118 3 3 2497 2497 04614 3 6 2513 2513 36264 3 9 2525 2525 45019 4 2 2534 2534 40487 24 SCURVE Triangle LinMat 1500 SingleStep 1 Step 0 01953125 mm Figure 5 31 The curves defined in Excel In order not to loose the formulas in the table it is important to save the table as xls We save the document as ExelTest xls first and then as ExelTest csv which is the format readable by the curve inspector
31. LinMot E Following a digital high low signal from a PLC the motor moves between two given positions with presettable maximum acceleration and mode two position speed Operating mode Two Point Acceleration limiter and speed limiter set to the desired maximal values 3 6 Sulzer Electronics AG LinMot System Overview 4 Example Digital selection between two reference curves Following a trigger signal from a trigger out PLC the motor moves between two given position following predefined trajectories mode r two position Solution Operating mode Trigger Curve Acceleration limiter and speed limiter set to the desired maximal values 5 Example Periodical movement sequence The motor executes a previously defined curve cyclically with a iven frequency digital out continuous Solution LinMot P digital out Operating mode Continuous Curve Acceleration limiter and speed limiter set to the desired maximal values LinMot E 6 Example Synchronization on a speed value A linear movement should be executed from a particular point and with a previously defined digital out speed mode continuous Solution two position Operating mode Analog Two ae rura Position or Trigger Curve The reference position should be set in such a way that the speed limiter will be active in the synchroni
32. T input is inactive DRIVE INIT if the RUN input becomes inactive and INIT is active STOP if the STOP signal becomes active ERROR the transition occurs unconditionally when an error occurs 4 2 6 Operating state Stop A transition to this state takes place when the Stop signal becomes active which means the higher level control system requested an emergency stop In this state the actuators can be either turned off freezed in the actual position or driven to an emergency stop position according to their respective configuration Next operating state e DISABLE if the inputs RUN INIT and STOP are inactive e ERROR the transition occurs unconditionally when an error occurs 4 2 7 Operating state Error Upon an error a transition to this state takes place unconditionally and from any state the system might be in at that moment The motors are not powered and the state can only be left when the error has been fixed or removed The actual error is displayed by means of a blink code and all errors are stored in the electronic unit and can be read by means of the PC software Next operating state e DISABLE if the error has been removed and the RUN and INIT inputs are inactive User Manual V1 01 4 8 Sulzer Electronics AG 4 3 Position monitoring The different operating modes for driving the electronic unit from a higher level control system have been shown in chapter 4 1 In almost all application cases the higher level c
33. The CAN bus is not supported in normal operation and requires the implementation of a customer specific protocol For further questions regarding CAN bus coupling please contact Sulzer Electronics AG The jumper positions for SYS2 must not be changed otherwise the inputs for the set values will no longer be available En 8 rn AN IN 2 Pin2 H 83 58 AN_IN4 gt Pin7 53 i ss GND Pin5 wn 5 os Sa Tr L S4 J510 m I J511 O Com Sys2 Sys1 Figure 4 19 Configuration SYS2 By default the electronic unit is configured for operation with the analog inputs for the set values and the trigger signals The jumper positions for SYS2 must not be changed otherwise the inputs for the set values will no longer be available The Com interface for configuring the electronic unit via the PC software LinMot Talk is normally operated in the RS232 mode Upon request an RS485 interface is available For further information regarding the RS485 interface please contact Sulzer Electronics o J101 8 2 RS232_TX Pin2 H 88 zu RS232_R
34. The interfaces to the higher level control system can be configured on the signal board Only the following jumper positions result in usable configurations of the electronic unit SYS1 interface Instead of the digital open collector outputs relay closers or openers can be configured to act as outputs 7 DIG_OUT RELAIS gt Sys1 s 5 ML J510 DIG OUT OC 4 Pin12 H 83 CMM 510 RELAIS CLOSER Pin12 3338 1 MD J511 DIG OUT OC 3 Pinti LUN 3511 RELAIS OPENER gt Pini gt 5 88 Sgi u L S4 J510 m J511 O lo Com Sys2 Sys1 Figure 4 18 Configuration SYS1 Hint If the relay output is needed it is preferable to use the closer contact because when using the opener contact the digital output signal for the position monitoring is no longer available By default the electronic unit is configure for operation with the output signal for the position monitoring open collector output and the relay closer contact User Manual V1 01 4 23 Sulzer Electronics AG SYS2 interface COM interface User Manual V1 01 Design and Installation The SYS2 interface is configurable for the operation with CAN bus
35. X gt Pin3 53 i u E GND gt Pin5 ur 5 gs 8B g 5 335 8 55 J510 LTT1451 o Com Sys2 Sys1 Figure 4 20 Configuration COM By default the unit comes configured for operation with the RS232 interface 4 24 Sulzer Electronics AG 4 9 Mechanical installation The fixing of the electronic units is done by means of two MS screws The electronic unit can be screwed on to any backplane The special fixing holes allow for easy mounting and removing of the unit The electronic units LinMot E400 AT and LinMot E200 AT are fitted with a heatsink and should be mounted in vertical position to allow better cooling When mounting the units it is important to take into consideration the fact that the housing temperature can reach 60 heatsink up to 70 Sufficient room for heat dissipation should be provided The power dissipation of the units can vary considerably depending on the application and should be determined for each case An internal protection mechanism shuts the unit down when over temperature of the heatsink is detected User Manual V1 01 4 25 Sulzer Electronics AG Design and Installation 4 10 Constructive notes on the installation of the linear motors Transversal forces Parallelism error Horizontal mounting User Manual V1 01 The linear drives of the LinMot P family feature a slide be
36. apter 5 9 3 M Trigger Mode Chan A Chan B A Trigger AAcauire ADisplay Figure 5 15 Trigger mode Trig on bit The recording is started upon clicking on the Start button 5 9 3 Determining the sample rate Normal Pretriggered Delayed Multishot User Manual V1 01 The rate at which data values are sampled is specified in this field This setting is always valid for both channels It is further possible to select the sampling mode Acquire Sample rate 6000 us Multi Shot Mode Normal Chan A Chan B Acquire ADisplay Figure 5 16 Setting the sample rate In the Normal mode the selected channels are recorded without delay after the trigger signal This means the recording is started as soon as the trigger condition is satisfied It is often interesting for the user to be able to record events that happened just before the trigger signal was released A typical example would be the occurrence of a following error These events can be recorded in the pretrigger mode The setting of a pretrigger is given as a percentage A pretrigger of 8090 would cause 8090 of the recording time to be dedicated to events preceding the trigger condition and 2090 of it to be dedicated to events following the trigger In some situations it can be advantageous to start recording data after a certain delay following the trigger condition In the Delayed mode the user can set a va
37. aring between the moving slider and the fix stator The requirements on this slide bearing construction are exceptionally high due to the enormous dynamic properties and acceleration of the drives For these reasons the following points must be observed Due to the surface pressure a transversal forces have a stressing effect on the slide bearing and on the lifetime of the drive For this reason care should be taken in the construction in order to reduce such transversal forces to a minimum or to absorb them by means of an additional guide Frrans Zn Figure 4 21 Transversal loads The linear drives of the LinMot P series are intended exclusively for operation as drive elements and are not allowed to be used as guide or bearing elements In all constructions where the slider of the LinMot P drives is used to move another longitudinally sliding machine part over direct coupling an over determinate system arises Figure 4 22 Compensation of parallelism errors In order to compensate the inevitable offset and parallelism errors a compensation capable coupling represented here by a bent line must be used between the slider and the moving machine part If the linear motors are mounted horizontal the notch of the stator should be on the lower side see figures above If mounted like this the sliders mass is compensated by magnetical forces in the stator 4 26 Sulzer Electronics AG Mounting of the load Handl
38. arnings causes the actual warnings to be read and displayed The actual errors and warnings can only be displayed when the software on the LinMot electronic unit is started 5 23 Sulzer Electronics AG 5 11 Tutorial A Requirements Cabling Configuration Software First Steps This chapter shows an example of how to put the entire system into operation The example shows how to configure a LinMot P drive to execute a given curve endlessly after having done a reference run PC with LinMo Talk software installed as described in chapter XXX RS232 cable for the connection of the PC with the LinMo electronic unit LinMot electronic unit E100 E400 E1000 E4000 Power supply for the LinMof electronic unit Supply cable The proper connection of a LinMof electronic unit to a power supply is described in chapter 4 It is essential that the electronic unit is grounded correctly before putting it into operation If the electronic unit is grounded correctly a linear motor can be connected to the Mot A port on the electronic unit Then the electronic unit can be connected to the PC with a standard RS232 cable 5 11 1 Commissioning example Steps User Manual V1 01 In this example a LinMot P drive is connected to the Mot A port of an electronic unit It will be configured to follow reference curve endlessly 1 1 1 Interconnect the whole system as described in chapter 4 Start the LinMot Tal
39. cking on this button Right All the curves selected in the curve window are moved to the memory window and appended to the list in the same order Left All the curves selected in the memory window are moved to the curve window and appended to the list in the same order Delete The selected curves are deleted Each modified curve can be saved separately by the user Ctrl C Copies the selected curves in a buffer Ctrl V Pastes the curves in the buffer to the selected curve Shift Insert Same function as Ctrl V 5 12 Sulzer Electronics AG 5 8 3 Curve Editor interface Configuration Software Reference curves can be created in different ways with the help of the Wizards The input possibilities and the interface are adapted accordingly The Curve Editor is used to edit the curves Depending on the type of curve it can have one of the following interfaces Curve definitions Curve points Graph Wizard Type iti Position mm g 69 00 cote TT FR Name Slide Right i 60 00 Time 1008 231 ms Nbr Position mm A WE 51 00 42 00 33 00 24 00 15 00 6 00 i 6 00 3 00 i H H i i 3 00 0 00 168 04 336 08 50412 67215 840 19 1008 23 Time ms Edit buttons Close buttons Graph buttons Figure 5 9 Manual creation of curves User Manual V1 01 5 13 Sulzer Electronics AG Configuration Software Curve definitions Curve parameters Graph Gr Edit Curve
40. clicking on Trigger in the lower part of the Oscilloscope window As the motor executes the curve cyclically and a mark is always set at the beginning of a curve the Trig on Curve offers an easy way to synchronize the start of the recording with the start of the curve We select Trig on Curve The entry fields for Drive and Curve appear For Drive we should select Drive A and for Curve we should select 1 Whit it we have defined that the recording will start as soon as motor A starts executing curve 1 We now switch to the Acquire panel by clicking on Acquire in the lower part of the Oscilloscope window Here we can select the sample rate and the sample mode We set a sample rate of 4000 us so that we can record approximately a whole period the curve is executed in 1000 ms and the Oscilloscope records 256 values We set the mode to Delayed and enter a delay of 2007000 us Multishot is not set This way we start the recording 200 ms after the curve has started in order to obtain a better resolution in the display of the rising edge the most interesting part of the curve We don t need to modify any settings under Display unless you wish to change the plot color the offset or the axis scaling We are now ready for a recording We start the motor Start in the Control Panel and click on the Start button in the Oscilloscope when the motor is executing the curve It
41. d in the following chapters Control Panel With the Control Panel the user can start and stop the software on the electronic unit The electronic unit can also be reseted from here and new software can be downloaded Parameter Inspector With the Parameter Inspector the parameters of the LinMof electronic unit can be changed easily Complete parameter sets can be saved loaded and printed Curve Inspector The Curve Inspector is used to generate and manage reference curves for the LinMor Electronic Existing curves can be loaded saved merged and printed New curves can be created in a simple way Oscilloscope The Oscilloscope helps the user commissioning the LinMot system It allows real time recording subseguent on screen viewing and printing of internal variables like for example position set value and actual value Error Inspector With the Error Inspector the user has the possibility to display the error log as well as the actual pending warnings and errors of the LinMot electronic unit 5 1 Installation requirements The requirements for the installation of the LinMot Talk software are summarized in the following table Resource computer A personal computer with personal computer with 80386 processor 80486 or Pentium processor Harddisk 4MB Harddisk 8MB VGA graphic card and SVGA graphic card and 15 monitor 17 monitor operating system Win
42. dow will appear after a few seconds The Commander gives access to all the functions of the LinMot Talk software All LinMof electronic units are delivered with no password set The password protects your electronic unit from illegitimate changes to the configuration If you set a password you should make a notice of it A forgotten password can cause a good deal of annoyance at the wrong moment 5 3 Sulzer Electronics AG 5 5 Commander The Commander is the central control panel of the LinMo Talk software The single modules for the configuration and commissioning of the LinMo electronic unit can be called from within it Gr Commander E400 AT on COM1 x Figure 5 3 Commander window 5 6 Control Panel With the control panel the user can start or stop the software on the LinMot electronic unit In case of a fatal system error there is also the possibility to reset the unit When updating the basis software the new software can be downloaded to the electronic unit with the Load command amp r Control Panel E400 AT on COM1 BER Figure 5 4 Control Panel window Start Starts the operating software of the LinMof electronic unit if it is not already running Stop Stops the operating software of the LinMot electronic unit All motors are turned off Reset Executes a hardware reset on the LinMot electronic unit This is only necessary if a fatal system error has occurred A fatal err
43. dows 3 1 Windows 3 11 Windows 95 Windows NT 3 51 Windows NT 4 0 pointing device Windows compatible mouse serial RS232 interface disc drives 312 disc drive Table 5 1 Installation requirements User Manual V1 01 5 1 Sulzer Electronics AG 5 2 Installation of the configuration software This chapter describes the installation of the LinMot Talk configuration software Proceeding 1 Start the Windows operating system and insert the diskette labeled LinMot Talk Disk 1 1 in the corresponding drive 1 Run Setup exe from the inserted disk 1 Follow the instructions of the installation program 1 After completing the installation a new program group appears with the name LinMot Talk The README TXT file contains late breaking notes on the respective version 1 Open the file LINTALK INI with a text editor 1 Remove the semicolons before the serial interface that you plan to use for LinMot Talk You can also have both interfaces activated The following example shows a configuration file in which the COM interface is activated File LINTALK INT Devices Device0l COM1 Device02 COM2 Device03 COM3 Device04 COM4 Device05 COM5 Device06 COM6 Device07 COM7 Device08 COM8 Gr inMot Talk V1 0 mi x File Special Window Help Ep Commander E400 AT on COM1 Fit xl Ss Control Panel E400 AT on COM IES Run Mode G Max Velocity 2
44. e or plant The conformity of the construction with the existing prescriptions and laws lies under the sole responsibility of the user The commissioning of the components is only permitted in machines or plants that comply with the CE machinery guidelines and or with the relevant safety prescriptions of the respective country User Manual V1 01 2 2 Sulzer Electronics AG System Overview 3 System Overview 3 1 Drive system LinMot User Manual V1 01 LinMot is a modular built servo drive system that can be operated as stand alone or in connection with commercial PLCs PCs or other higher level control systems LinMot incorporates the basic idea of the peripheral drive elements the reference values are given directly by the higher level control system in form of position set values while the actual motion profiles and position control are calculated and executed peripheral in the LinMo electronic unit MS Windows based configuration and commissioning programs release the engineers and draftsmen from electrotechnical detail questions and allow for quick and function oriented work Among the actuators connectable to the LinMo electronic units the electromagnetic direct linear drives LinMo P take a special position as they offer completely new possibilities in the machine construction and mechatronic system concept The notions Lin Mot Step and LinMot Magnet refer to complementary drive families consisting of the comb
45. ed for the correct operation of the unit have been loaded Next operating state e WAIT FOR DISABLE the transition occurs automatically after SETUP 4 2 2 Operating state Wait for Disable The operating state WAIT FOR DISABLE in which all actuators are off prevents the system from starting uncontrolled upon startup A change to the state DISABLE occurs only when the RUN and INIT signals are low OV This security feature can be disabled in the Auto Start Mode where the system starts automatically Next operating state e DISABLE if the INIT and RUN inputs are not active e DISABLE the transition is automatic in the Auto Start Mode e ERROR the transition occurs unconditionally when an error occurs 4 2 3 Operating state Disable The actuators remain unpowered in this state The system to switch to the states RUN or DRIVE INIT Next operating state e DRIVE INIT if the INIT input becomes active e RUN if the RUN input becomes active and all the drives are already installed e DRIVE INIT the transition occurs automatically in the Auto Start Mode e ERROR the transition occurs unconditionally when an error occurs 4 2 4 Operating state Drive Init This operating state serves the zero position initialization of those actuators that don t come with an absolute measuring system The actuators to be initialized are powered and controlled The different initialization possibilities will be described in detail in chap
46. ement User Manual V1 01 Most commercially available servo drive systems only dispose of rotating motors where the speed and in some cases the angular position are controlled However many applications don t only need rotational movements but linear movements too The conventional solution is to realize mechanical constructions based on levers cam disks spindles belts etc In which the rotational movement of the servo motor is translated in a linear movement This way the servo drive serves basically as a controlled energy source In this sense the LinMof P linear drives are more than just controlled energy sources LinMot P executes dynamic controlled and position controlled linear movements directly with no need for additional mechanical gearing elements LinMot P fulfills the mechatronic basic idea according to which the movement functions are executed directly with minimal mechanical elements and right in the 3 2 Sulzer Electronics AG LinMot System Overview place where they are needed The motion control i e the actual machine functionality as well as the motion parameters are defined exclusively in the software and can be adjusted at any time with no need for intervention in the mechanic 3 3 Substitution possibilities of LinMot P Depending on the application LinMo P can substitute the following conventional solutions and extend them with additional functionality due to its complete electronic control
47. enter the values in the Curve Editor This step will be described only briefly We set the wizard to Manual the Drive Type to LinMot and enter Hold in the curve name field We enter a time of 500 ms and twice 50 mm in the value fields In order to increase the accuracy of the actual time we raise the number of points to 8 For this purpose we click on the Add button 3 enter the number 6 when asked and click on the OK button The inserted points will automatically take the value 50 mm The curve Hold is now finished and we see the following on the screen olx Gr Edit Curve Wed Type User Manual V1 01 Position mm Position mm 54 00 54 00 Drive Type LinMot x Name 53 00 53 00 52 00 52 00 m 5 mi Nbr_____ Postion mm 51 00 50 00 43 00 48 00 47 00 46 00 0 00 83 33 166 67 250 00 Time ms 333 33 416 67 51 00 50 00 43 00 48 00 47 00 46 00 500 00 Figure 5 25 Hold curve We close the Curve Editor with OK We now have two curves in the Curve Inspector 5 32 Sulzer Electronics AG 5 13 3 Jump Back curve The last curve we define is the jump from 50 mm to 5 mm which should be limited in speed and acceleration We open a new curve with Create Curve and set the Wizard Type to Point to Point Drive Type to LinMot and name
48. er two separate connectors that are found on the front of the unit As the supply voltage ranges for the two circuits are different the only case in which they can be supplied from a single power supply is when they are operated at 48V Motor 7 Logic Powersupply an if Powersupply 48 72V DC 24 48V DC ts o e e Figure 4 17 Installation of the E1000 E2000 E4000 electronic unit In order to guarantee safe operation the electronic units must be connected according to the figure User Manual V1 01 4 21 Sulzer Electronics AG Caution Before putting into operation the housing of the electronic unit must be grounded The grounds of the signal and power supplies must also be connected to earth at some point Signal supply Vcc Power Supply Logic GND Table 4 7 Signal supply pin connection for the E1000 E2000 E4000 Data Input voltage 24 48V DC Input current 400 mA at 24 V Power supply The linear motors reach their maximal force and full dynamics only when supplied with a 72V DC power supply see data sheets of the linear motors Vcc Power supply Table 4 8 Power supply pin configuration E1000 E2000 E4000 Data Input voltage 48 72V DC The required power strongly depends on the loading of the motors For an optimal design of the power sup
49. es with the wizards 5 16 5 8 6 Defining reference curves in Excel 5 17 5 9 Oscilloscope 5 18 5 9 1 Setting the recording variables 5 19 5 9 2 Setting the trigger mode 5 19 5 9 3 Determining the sample rate 5 20 5 9 4 Adjusting the display 5 21 5 9 5 Starting and stopping the Oscilloscope 5 21 5 9 6 Printing recorded curves 5 21 User Manual V1 01 ii Sulzer Electronics AG Table of Contents 5 10 Error Inspector 5 22 5 10 1 Operational elements of the Error Inspectors 5 22 5 11 Tutorial A First Steps 5 24 5 11 1 Commissioning example 5 24 5 12 Tutorial B Operating the Oscilloscope 5 25 5 12 1 Creating a curve 5 25 5 12 2 Configuring the electronic unit 5 25 5 12 3 Oscilloscope configuration for the recording of the position set value5 26 5 12 4 Oscilloscope configuration for the following error monitoring ____ 5 27 5 12 5 Final remark 5 28 5 13 Tutorial C Generating reference curves 5 29 5 13 1 Linear Out curve 5 30 5 13 2 Hold curve 5 32 5 13 3 Jump Back curve 5 33 5 13 4 Saving curves 5 34 5 13 5 Merging curves 5 34 5 13 6 Writing curves to the electronic unit 5 36 5 14 Tutorial D Defining curves with Excel 5 37 6 Parameters 6 1 7 Service 7 1 User Manual V1 01 iii Sulzer Electronics AG Introduction 1 Introduction Safety notes System description Design and installation Configuration software Parameters Service User Manual V1 01 This manual is organ
50. esume operation without needing to re initialize the drives User Manual V1 01 3 9 Sulzer Electronics AG LinMot System Overview 3 8 Operation and configuration 3 8 1 System configuration The configuration and commissioning of the LinMot systems is done by means of the MS Windows based software LinMot Talk All the parameters can be displayed clearly selected and edited with LinMot Talk by simple clicking with the mouse As all the parameters are stored in the electronic unit they can be recalled analyzed and changed at any time Creating duplicates of parameters and parameter files to be archived is equally easy Password protection protects the data from illegitimate access Levels Type b L Minimal Position Initialization a Set Yalue Configuration IN Maximal Position Set Value Generation i Curve Number Control Parameters Control Switches Error Handling Minimal Position Path Drives DrivAA Set Value Generation Net Value ConfigurationtNMinimal Positiok Path Actual Value of the Update parameter parameter button Figure 3 5 Parameter Inspector window User Manual V1 01 3 10 Sulzer Electronics AG LinMot System Overview 3 8 2 Curve generation Predefined reference curves can be executed on trigger signals in different operating modes The shapes of these curves can be generated automatically by means of the Curve Creator or can be edited manually point by point as Excel tables Cu
51. g the basic system without special customer specific adjustments In some cases big series special system environments however customer specific adjustments can make sense In these cases the necessary interventions have to be carried out by the manufacturer In most cases the customer specific changes will be realized in the software of the electronic unit Customized Application Software In most cases this will relate to the following two reguirements e Additional control functions e Networking with customer specific bus systems CAN Bus RS 232 LinMot LinMot Standard Customized Software Software Customized Application Software Basic Basic Application Application Software Software Firmware Firmware Figure 3 9 Structure of the LinMot software The manufacturer can realize special customizations in a special software segment Customized Application Software User Manual V1 01 3 14 Sulzer Electronics AG 4 Design and Installation This chapter discusses the different possibilities for driving the LinMor products from a higher level control system as well as the operating states of the control electronic unit in detail Further the interfaces and the installation are described in order to get familiar with the possibilities of the LinMor products and be able to optimally embed them in the application This chapter shows the basic functions of
52. hat will not be exceeded in case of jumps in the reference position signal 4 1 2 Analog current setting The direct current setting over the analog interface can only be selected for an inductive load Inductive load In the Analog current setting mode the desired output current to the inductive load is given by the higher level control system directly through an analog input signal Figure 4 4 Analog current setting In the electronic unit a current range can be freely defined that will correspond to the 0 10V range of the analog signal from the interface 4 1 3 Two point run The operating mode Two point trigger is the simplest way to drive the actuators from the higher level control system by means of digital trigger signals TRIG IN t S Rise Position Fall Position Figure 4 5 Two point run The set values for the High level and the Low level of the input signal are stored separately in the electronic unit On a change of the digital trigger signal on the electronic unit s input the corresponding set value is output User Manual V1 01 4 3 Sulzer Electronics AG LinMot P Stepper motor Inductive load Design and Installation When using the linear motors of the LinMot P series two position set values can be saved to which the slider will move upon state changes of the input signal Further a maximal acceleration and a maximal speed can be specified in order to control the way the slider
53. he mouse to select the curve Push the arrow right button to move the curve to the Download window Push Download to write the curve to the electronic unit On the Control Panel push first Stop and then Start The linear drive initializes and then executes the curve endlessly 5 24 Sulzer Electronics AG 5 12 Tutorial B Configuration Software Operating the Oscilloscope In this section two real application examples are demonstrated and discussed In order to have a well specified starting point it is necessary to create a reference curve load it on the electronic unit and configure the unit accordingly 5 12 1 Creating a curve We want to create a simple curve that will be executed by the motor during the recordings with the Oscilloscope It is assumed that the user is already familiar with the Curve Inspector and the Curve Editor We open the Curve Inspector and create a new curve Here we set Drive Type to LinMot Under Wizard Type we select Manual and we enter 1000 ms for Time Then we enter six values the first 3 set to 5 mm the others set to 50 mm Ge Edit Curve BEE Wizard Type Position mm Position mm 58 00 Es Dive Tp T T or Sus 51 00 51 00 Time 1000 534 ms 44 00 44 00 Nbr Position mm pis 5 p 37 00 37 00 30 00 30 00 23 00 23 00 16 00 16 00 9 00 9 00 2 00 2 00 0 00 166 67 333 33 500 00 666 67 833 33 1000 00 Time ms
54. he parameters The LinMot software supports different parameter types that the Parameter Inspector displays in different ways There are four main groups Directories Directories contain collections of objects just like in the Windows interface These are gt either parameters or other directories A directory can be recognized from the little arrow on the side of its name It can be opened by clicking once on its name with the mouse Not all directories are displayed at all times If for example No Drive is selected as the Drive Type for drive A it makes little sense to be able to edit the controller parameters for that drive For this reason those parameters will not be displayed Value parameters These parameters contain numerical values or character chains When such a parameter is selected its value appears in the lower status bar of the window At this point a new value can be entered in the entry field After clicking on the Enter button the value is tested to make sure it lies within the boundaries that were set If the parameter is correct it is transmitted to the electronic unit and at the same time converted in the internal units This can lead to small discrepancies between the value that was entered and the value that is actually displayed once it has been transmitted The values entered are rounded to the values that are stored in the electronic unit according to the resolution of the unit Live parameters
55. icking on the Start button the button text changes to Abort The Abort button can be used to abort the current recording 5 9 6 Printing recorded curves The actual graph can be printed to any printer by clicking on the Print button User Manual V1 01 5 21 Sulzer Electronics AG 5 10 Error Inspector With the Error Inspector the user of the LinMot electronic unit can obtain information about warnings and errors occurred during operation The Error Inspector offers the possibility to inspect the actual errors and pending warnings as well as the last 16 errors and warnings that were logged in the LinMot electronic unit The following figure shows the Error Inspector window Error list Actual errors Actual warnings Gr Error inspector E400 AT on COM1 Actual Warnings 00010 31 24 Drive A slider missing 00010 31 24 Error DCLY Signal too low Drive A slider missing 00010 31 10 Init Drive A slider missing 00010 31 10 Error DCL Power too low 00000 04 47 Init Drive A init failed 00000 00 27 Run Drive A curve error Error display Figure 5 17 Interface of the Error Inspector 5 10 1 Operational elements of the Error Inspectors The following sections describe the groups indicated in the Figure above Error display The error messages contain information about system time state of the basis software drive type and type of error The time is given in the HHHH MM SS format where HHHH
56. ination of commercially available stepper motors and magnets as actuators and LinMof electronic units Both stepper motors and electromagnets can be used in mixed system configurations with the LinMot linear drives Figure 3 1 Mixed system configuration consisting of two linear motors LinMot P a LinMot E electronic unit as well as a stepper motor and an electromagnet 3 1 Sulzer Electronics AG System Overview 3 1 1 Actuator Linear drive LinMot P LinMot Ps are electromagnetic direct linear drives with integrated position sensing and bearing LinMot P linear motors are intrinsically free of mechanical play gearing or belt wear The enormous dynamic properties and compact construction of LinMot P make a variety of applications and novel constructions possible Figure 3 2 Electromagnetic direct linear motor LinMot P 3 1 2 Actuator stepper motor LinMot Step LinMot Step allows the open loop operation of commercially available two phase stepper motors with LinMof E electronic units 3 1 3 Actuator electromagnet LinMot Magnet LinMot Magnet allows the intelligent control of electromagnets as used in short stroke positioning elements or valves Compared to the conventional voltage controlled operation of electromagnets the pull in and release times of such elements can be greatly reduced with the use of LinMot Magnet by driving them over excited during the transient 3 2 LinMot P a new construction el
57. ing the sliders User Manual V1 01 Design and Installation The load mass must be mounted in such a way that only the end piece of the slider is held with the appropriate wrench Caution magnetical attraction By no means should the sensitive slider tube or the slider end piece be clamped or used as a tightening tool E Slider Load Mass Figure 4 23 Load mass mounting The sliders of the LinMot P motors must be handled with great care Even minor damage to the slider surface can cause a drastical reduction its lifetime The slider is a high precision machine element consisting of a thin steel tube and Neodym magnets As it is designed for loads in the longitudinal direction even just hitting an iron plate due to the magnetical attraction can cause permanent damage to it Caution the following points have to be observed when handling the slider e Under no circumstances may a damaged slider be used further as this can lead to permanent and non reparable damage to the stator e The slider of the LinMot P motors contains Neodym magnets that can cause damage to magnetical data medium or sensitive electronic devices by merely coming close to them e When manipulating the sliders hitting them against iron parts tools etc must be absolutely avoided as this can lead to permanent damage of the slider surface damage bending Further hitting against other ferrous objects represents a danger of injury Bruised fingers etc
58. ints of the curve in the Manual wizard Points can be added inserted and removed with the Add Insert and Remove buttons The number format and the value are checked after entering Start Point The starting point of the curve is defined here The unit depends on the selected Drive Type and is adjusted automatically Start Point is visible for the Ramp Sine and Point To Point wizards End Point The ending point of the curve is defined here The unit depends on the selected Drive Type End Point is visible for the Ramp Sine and Point To Point wizards max Speed The maximum speed that is allowed in the curve can be set with max Speed The unit depends on the selected Drive Type max Speed is only visible for the Point To Point wizard Max Start Acc The maximal acceleration allowed when the curve is started is defined by Max Start Acc The unit depends on the selected Drive Type Max Start Acc is only visible for the Point To Point wizard Max Stop Acc The maximal acceleration allowed when the curve ends is defined by Max Stop Acc The unit depends on the selected Drive Type Max Stop Acc is only visible for the Point To Point wizard 5 8 5 Creating curves with the wizards Manual Ramp Sine Point To Point User Manual V1 01 The wizards are used to enter reference curves in different ways This gives the user the possibility to defi
59. ized as follows Please take a moment to read and get accustomed with the safety instructions This information is intended for your personal safety and should help in protecting the electronic units and linear motors from possible damage Gives an overview of the properties and features of the single LinMot components and their operation Here you will find a description of the functionality the different operation modes and the technical data of the electronic unit Further the interfaces and the installation are described in this chapter This information helps you optimally embed the LinMor products in your application In this chapter you will get accustomed with the functionality and possibilities of the PC software for the configuration of the ZinMot electronic unit Further you will find examples that will make the first commissioning of the system easy This chapter gives an in depth description of all the parameters to which you have access during the configuration of the LinMot electronic unit Explains the error messages that are displayed by the LEDs and helps you in the troubleshooting 1 1 Sulzer Electronics AG LinMot Introduction 1 1 Used symbols Important notes or tips in this manual are marked with the following symbols Tips notes Useful information that should make operating the devices easier is given here Strong magnetic fields Warning about magnetic materials that could cause damage to mag
60. k program on the PC Select Login from the File menu The login dialog box appears By default no password is set in the electronic unit and the communication can be started by clicking on the OK button After successful login the Commander is displayed The Commander gives access to all the modules of the LinMo Talk program In this example we will use the Parameter Inspector and the Curve Inspector modules By pushing the Param button the Parameter Inspector is started All available parameters are dispalyed hierarchically The user can easily edit the parameters To show more hierarchical levels enlarge the window The following description assumes the standard parameter configuration This configuration can be recovered by clicking on the Import button and then selecting the Lintalk Defaults E400AT CFG file This is the default configuration that comes with the LinMot electronic unit when delivered Change the parameter Drives Drive A Type from No drive to LinMot Pxx 23 or LinMot Pxx 37 Change the parameter Drives Drive A Set Value Generation Run Mode to Continuous Curve On the Commander panel push Curve to start the Curve Inspector Pushing Load Curves allows to load an existing curve file For an easy and convenient commissioning an example is given the file CURVES CSV in the directory LinTalk Examples After loading the file use t
61. le motor should be saved to the PC Figure 5 6 Export dialog box When importing a dialog box for the selection of a parameters file is displayed In case of a motor parameter set it is further possible to choose which motor the parameters should be downloaded to File names for motor parameter sets end with the extension dri while those for parameter sets for the electronic unit end with the extension cfg The corresponding file extension must be selected when importing parameter sets When exporting a set the selection is done automatically 5 7 3 Copy and Paste User Manual V1 01 In order to simplify the configuration of several motors the software supports the Copy Ctrl C and Paste Ctrl V commands The copy command copies the parameter actually selected If this is a directory then the entire directory is copied When pasting the destination parameter must be compatible with the copied parameter If for example the directory Drive A was to be copied and pasted to the directory Drive B the copy button or Ctrl C would have to be clicked after selecting the directory Drive A At this point Drive B can be selected and the key combination Ctrl V would paste the copied parameter set from motor A to motor B 5 7 Sulzer Electronics AG 5 7 4 Verifying parameter settings The visibility of some parameters can depend on the settings of other parameters For example the initializati
62. lectronics AG Configuration Software We enter 5 mm for the Start Position and 50 mm for the End Position The curve is now completely defined and we can click the Calculate button a The following dialog box appears Asking for curve length Ed The proposed lenght for the curve is 2 Figure 5 23 Dialog box for the number of points The number of points can be increased at this stage in case the accuracy of the Time entry is insufficient for the application We make do with two points and click on the OK button The defined curve should look like this Gr Edit Curve olx Wizard Type Ramp Ell Position mm Position mm 58 00 58 00 Drive Type LinMot M i H H Nae soo st Time 1008231 ms 44 00 44 00 Start Point mm E_ End Point mm 37 00 37 00 30 00 30 00 23 00 23 00 16 00 16 00 3 00 9 00 2 00 i 200 0 00 166 67 333 33 50000 666 67 833 33 1000 00 Time ms ial Figure 5 24 Linear Out curve With the OK button we close the Curve Editor and see the curve Linear Out in the curve window of the Curve Inspector User Manual V1 01 5 31 Sulzer Electronics AG 5 13 2 Configuration Software Hold curve As next step we want to define the middle section of the curve in which the motor holds the position at 50 mm during half a second We open a new curve by clicking on the Create Curve button We then
63. level active Input voltage 0 24V DC max 10 26V DC For signal 0 lt 2VDC For signal 1 gt 3 5V DC Input current lt 20mA 24V Input delay 1 6ms The inputs TRIG ANALOG IN A TRIG ANALOG IN B TRIG ANALOG IN C and TRIG ANALOG IN A are used in the states INIT and RUN In the state RUN these inputs serve either the direct position value setting with analog signals or the triggering of reference curves that are stored in the electronic unit When initializing with a position sensor an active edge on this input defines the zero position Data Analog 0 10V 100kQ 10Bit resolution Digital max 24V Rin 100kQ 4 16 Sulzer Electronics AG 4 5 3 COM connector This port serves the connection to the serial interface of a PC for the configuration with the LinMot Talk software NO SG NG 3 RS 232RX_ Je NO OU Table 4 3 Pin configuration of the COM connector A 9 pole interface cable with 1 1 connections is needed for the connection of the electronic unit to a PC User Manual V1 01 4 17 Sulzer Electronics AG 4 6 Actuator interfaces The interfaces for the connection of the actuators are found on the front of the electronic unit and are named Mot A Mot B Mot C and Mot D Caution The pin configuration for the actuators of the two electronic unit series E100 E200 E400 and E1000 E2000 E4000 are not identical The incorrect connection of an actuator can lead to damage of the electronic unit and of the actuator
64. llation The lower bit of the motor connector has the pin number 1 with the unit upright The pins are numbered from bottom to top Only the special LinMot cable Art No 0150 1920 must be used for extension cables In applications where the motor cable has to be or moved during operation the special trailing chain cable Art No 0150 1927 must be used max 10m 4 6 2 Connecting stepper motors As stepper motors can only be driven not controlled only the two phases need to be connected to the electronic unit E100 E200 E400 When driven by an electronic unit of the E100 E200 E400 family stepper motors must be connected as shown in the following figure E100 Stepper motor E200 pa E400 rif f Y Y Y v Phase 2 Mot A Mot B Mot C Mot D Figure 4 14 E100 E200 E400 Connection layout for stepper motors Only shielded cable with a core cross section area of 0 20mm should be used E1000 E2000 E4000 When driven by an electronic unit of the E1000 E2000 E4000 family stepper motors must be connected as shown in the following figure E1000 Stepper motor E2000 E4000 i ti Phase 1 Phase 2 Mot A Mot B Mot C Mot D Figure 4 15 E1000 E2000 E4000 Connection layout for stepper motors Only shielded cable with a core cross section area of 0 50mm should be used 4 6 3 Connecting inductive l
65. lue for the delay time It is sometimes possible that during the commissioning of a system an error occurs during one of maybe ten movements In this case it would be difficult to detect and record the error with the Oscilloscope in order to be able to analyze the signals and understand the cause of the error The Multishot function gives the user the possibility to record this kind of errors As in the other modes a trigger condition must be set here too The difference is that the data are not transmitted to the PC automatically after the recording is done The user initiates the transmission manually by means of the Shot button This enables the user to wait for the error to happen and then display the recorded data on the PC by clicking on the Shot button The multishot function is only available when neither the trigger mode Manual nor the recording mode Pretrigger are selected 5 20 Sulzer Electronics AG 5 9 4 Adjusting the display The way the recording data are displayed on the screen can be adjusted from the display panel The adjustable parameters are e curve color e curve offset relative to the center of the graph display e magnification of the curve The curves can be moved and zoomed in or out using the mouse or the buttons in the display panel Fit View After the recorded the data have been loaded from the electronic unit up to the PC the data are displayed in the display window If
66. m s Set Value Configuration a L Max Acceleration 40 054 m s 2 lt Filter Mode Filter Parameter Max Acceleration 40 054 m s 2 Path Drives Drive A Set Value Generation Filter Parameter Max Acceleration Update Figure 5 1 The LinMot Talk software User Manual V1 01 5 2 Sulzer Electronics AG 5 3 Introduction 5 4 Login Passwords User Manual V1 01 Configuration Software This and the following chapters describe the LinMo Talk software and all its modules in detail For a quick commissioning of a single motor refer to the step by step guide in Tutorial A After starting LinMof Talk a blank window with a menu bar appears on the screen As a first step the entitled user must log in the electronic unit This is done with the Login command under the File menu After selecting the command a dialog box appears as shown in figure Figure 5 2 Device 01 COM1 gt ID Password Figure 5 2 Login window The interface to which the LinMot electronic unit is connected can be selected here Note that only the interfaces that were activated in the Lintalk ini file will be displayed The ID field should contain the name User The correct password must be entered at this point see also the relative notes at the end of this section after which it is possible to log in by clicking on the OK button If the password was entered correctly the Commander win
67. milies E100 E200 E400 and E1000 E2000 E4000 are identical and are described together in this chapter Pin Sys1 1 STOP 2 STOP 3 FREEZE 5 6 Lin Mot E400 Fault Ready OjO Stat A Stat B oO Mot A gt 5V RELAIS IN 7 FREEZE 11 POSITION ERRROR OUT 12 RELAIS CLOSER sys 1 13 ERROR OUT oe 14 WARNING OUT 15 GND MOLD Pin Sys 2 TRIG ANALOG IN 1 TRIG ANALOG IN 2 RUN INIT GND TRIG ANALOG IN 3 TRIG ANALOG IN 4 RUN INIT Sys 2 gt Mot C gt Com gt gt OMDNODARWN Mot D gt PWR a en gt v 5 Com RS 232 TX RS 232 RX GND awh Figure 4 12 Signal interfaces The interfaces are accessible from the front of the unit through three D Sub connectors SYS1 SYS2 and COM 4 5 1 SYS1 interface The operating states FREEZE and STOP of the electronic unit are driven through the inputs of the SYS1 interface The outputs WARNING OUT ERROR OUT and POSITION ERROR OUT carry internal warnings and error messages to the higher level control system Further a message output MSG for internal state output is available 1 stop 9 Donotconnect ERROR OUT FREEZE Do notconnect Table 4 1 Pin configuration of the SYS1 connector 6 Donotconnect_ 14 WARNINGOUT Hu User Manual V1 01 4 14 Sulzer Electronics AG LinMot STOP FREEZE Digital outputs WARNING OUT
68. ne the possible motion profiles and current profiles with little effort With this wizard every value in the curve to be created can be entered manually The user can set the number of points in the curve and the time corresponding to one run of the curve All changes are displayed automatically in the graph window during editing This generates a curve for a linear movement from the Start Point to the End Point to be executed in the time specified This generates a sine formed curve from the Start Point to the End Point to be executed in the time specified This generates a curve for a jump from the Start Point to the End Point for which the maximum start and stop accelerations are limited by max Start Acc and max Stop Acc The maximum speed is given by max Speed The time needed to execute the movement defined in the curve can only be read as it is calculated by the wizard according to the limits set 5 16 Sulzer Electronics AG 5 8 6 Defining reference curves in Excel Users with high requirements in the creation of reference curves can create and or edit curves with the spreadsheet calculation program Excel When editing curves in Excel it is important that the format of the curve files is maintained For this reason this way is only recommended for experienced users Tutorial D shows an example of how curves can be edited with Excel User Manual V1 01 5 17 Sulzer Electronics AG
69. netic data mediums like diskettes credit cards etc Caution Non observance of these warnings can represent a danger for health or life and lead to damage or destruction of the devices and other objects User Manual V1 01 1 2 Sulzer Electronics AG LinMot Safety notes 2 Safety notes The LinMot linear drives are resources meant to be built into an electrical systems or machines During operation these resources have moving parts and hot surfaces from which a danger of health or material damage could arise The commissioning putting the device into operation as specified in the application of the linear motors is prohibited as long as the machine does not comply with the relevant safety prescriptions Those responsible for the safety of the plant or machine must guarantee that only gualified personal accustomed to working with electrical drive eguipment is allowed to work on the devices in order to prevent and avoid injuries to persons and damage to the eguipment Oualified personal are those who as a result of their training experience and instruction as well as their Knowledge of the relevant norms regulations accident prevention prescriptions and service conditions have been entitled by the responsible for the safety of the plant to execute the necessary work and thereby recognize and prevent possible danger The operation manual as well as any further manuals in the documentation of the product are to be followed conseguen
70. oads Inductive loads can be connected to phase 1 of the electronic unit The connection layout corresponds to the one for phase of a stepper motor as shown in the previous section User Manual V1 01 4 19 Sulzer Electronics AG 4 7 Connecting the power supply The supplies for the signal circuitry and for the power circuitry are carried out separately For machines where the actuators have to be turned off in case of an emergency stop the linear motors can be shut down simply by interrupting the supply to the power circuitry The position data is maintained as long as the signal circuitry is powered The supply of both supply voltages should be realized as low ohmic and as low inductive as possible to guarantee a stable and disturbance free power supply Caution Exceeding the maximal allowed supply voltage for both the signal and the power circuitry inevitably damages the electronic unit Only tested power supplies featuring potential separation must be used 4 7 1 E100 E200 E400 supply In the electronic units of the E100 E200 E400 series both signal and power circuitry are supplied over the 3 pole POWER SUBCON connector on the front As the devices can be supplied with the same voltage for the power and the signal circuitry a single supply can be used In order to guarantee safe operation the electronic units must be connected according to the following figure LinMot E400 LlnMot E400 Powersupply Sais sau OS dua saig
71. on mode Trig Turn Left would only be visible if a stepper motor had been chosen as the Drive Type When the user changes motor type it cannot be guaranteed that the correct initialization mode will be automatically selected Check Configuration In order to quickly discover errors in the parameter configuration a program function that checks the parameter configuration automatically is integrated This function is called by clicking on the Check Configuration button An incorrect or missing parameter setting is marked and displayed so that it can be corrected by the user Subsequent clicking on the check Configuration button causes the display of the next incorrect parameter or a message informing that the parameter configuration is consistent 5 7 5 Printing parameter sets The print process is initiated by clicking the Print button If desired only a single parameter set can be printed by selecting it Print HEI Printer Name HP LaserJet 4L 4ML PostScript Status Ready Type HP LaserJet 4L 4ML PostScript Where LPT1 Comment Print range Copies All Number of copies 1 Pages trom w lei ok Collate C Selection print only selected parameter set print all parameters Figure 5 7 Printing parameters User Manual V1 01 5 8 Sulzer Electronics AG Configuration Software 5 7 6 Write protected parameters 5 7 7 Online mode 5 7 8 Offline mode User
72. ontrol system will need additional information and feedback about the actual positions of the driven actuators For example the higher level control system might need to be informed about whether the desired movement sequence was executed or if all actuators are already outside the motion range of another moving machine part so that the latter can safely move without damaging the other actuators Two digital signals are available for this feedback to the higher level control system They allow the monitoring of the following error and of a position range These messages are forwarded as a collective message or concatenation from all the actuators connected to an electronic unit 4 3 1 Following error monitoring For the following error monitoring the difference between the position set value and the actual position is monitored If this difference becomes bigger than the maximal allowed position difference that was set it is to assume that a disturbance of some kind has occurred e g slider jammed load mass too big etc which has to be communicated to the higher level control In this case a warning message or an error message should be sent to the higher level control system Trail Error t Figure 4 8 Following error monitoring Configuration A positive and a negative maximal allowed position difference can be set for each possibilities actuator Here it can be freely specified whether the event of trespassing these limits
73. or is signalized on the front panel of the LinMo electronic unit by the blinking of the Fault LED and should never occur during normal operation Load Loads a new basis software in the LinMot electronic unit User Manual V1 01 5 4 Sulzer Electronics AG 5 7 Parameter Inspector The parameters of the LinMo electronic unit can be displayed and edited with the Parameter Inspector hierarchical display of the LinMot electronic unit s parameters Online and Offline modes Import and export of parameter configurations Copy and Paste of parameters and parameter sets Printing of parameter sets Figure 5 5 shows an operating window of the Parameter Inspector The window can be enlarged to make more levels visible The user has also the possibility to navigate the parameter tree with the cursor keys Import Export Check Print ma Parameler Irispector E400 AT on CS1 Typ P Run Mode L Minimal Position Initialization a Set Yalue Configuration N Maximal Position 108 001 mm Set Value Generation a Filter Mode Curve Number 1 lt Position Monitoring p Filter Parameter Control Parameters Control Switches Error Handling Levels Minimal Position Path Drives DrivAA Set Value Generation Net Value Configuration Minimal Position Path Actual Parameter Update parameters value button Figure 5 5 Parameter Inspector window User Manual V1 01 5 5 Sulzer Electronics AG 5 7 1 Editing t
74. otors run STOP Stop behavior ERROR Error state The following figure shows the states and the possible state transitions LED s Faut o o Ready LED off LED blinking Stat A r ai OJO StatB 2 LED on Figure 4 7 Operating states Control signals A state change can either be caused by means of the digital control signals to the electronic unit or in certain cases by the electronic unit itself e g in case an error occurs The following are the control signals of the electronic unit INIT Initialization of the drives RUN The actuators are powered FREEZE The actuators maintain the actual position STOP Change to the operating state Stop User Manual V1 01 4 6 Sulzer Electronics AG Status display The actual operating mode can be read at all times from the four status LEDs on the front of the electronic unit READY The system has started correctly FAULT An error has occurred STATA Coding for the actual operating state STAT B Coding for the actual operating state The display of the various operating states is shown in the figure on the previous page In the state ERROR a blink code of the STAT LEDs tells what the actual error is The blink codes are explained in chapter Service 4 2 1 Operating state Setup As soon as the electronic unit is powered on it goes to the state SETUP while the system is initialized and all parameters are loaded A check is also done to make sure that all the software modules need
75. plies the power requirements of each application should be clarified individually Practical applications have shown that in most cases even when driving four linear motors LinMot P at the same time with one E4000 electronic unit a power supply of 72V 600W is sufficient User Manual V1 01 4 22 Sulzer Electronics AG 4 8 HW configuration of the electronic units The electronic units consist of a signal board and a power board that you can configure to suit your own requirements To configure the boards you must remove the heat sink and open the case This is done by removing all the screws The two boards are kept in place by spacers and connected by means of post connectors When opening the unit and handling the electronic boards the usual care should be taken in observing the necessary measures to prevent electrostatic discharge that would otherwise damage the boards ESD mats ground connection Further care must be taken in order not to damage or stress either mechanical or electrical components as this could lead to malfunction or damage Caution The electronic unit must be completely assembled and closed in its case before it can be put back into operation 4 8 1 Signal board configuration The two electronic unit series E100 E200 E400 and E1000 E2000 E4000 differ only in the execution of the power board The signal boards are absolutely identical and for this reason the explanations in this section are valid for both
76. rees the higher level control system from calculation intensive tasks 3 6 2 Operation modes Different modes of operation are available to the user These allow optimal embedding of the actuators in the control concept of the machine and the respective application The LinMot AT software currently supports the following modes of operation e direct digital reference value setting e setting two target values depending on a high low signal e executing two predefined curves based on a trigger signal e continuous operation e g periodical execution of a curve In all these modes a filter can be connected in order to limit the derived signals like for example the speed or acceleration The following table shows typical application examples for the different modes of operation User Manual V1 01 3 5 Sulzer Electronics AG User Manual V1 01 System Overview 1 Example Online specification of an exact reference curve An higher level control system PC PLC outputs a reference curve online analog out 7 er H analog out for the motor to follow exactly oT a Solution LinMot E Operating mode analog without limiting filter settings 2 Example Online specification of any reference curve An higher level control system analog out outputs position set values online TAL for the motor to follow smoothly j 5 analog out LinMot P Operating mode analog with Vimax Amax filter activated
77. riving an inductive load two reference curves can be defined for the current that will be output depending on the trigger signal state 4 4 Sulzer Electronics AG 4 1 5 Set values through the serial interface The following serial hardware interfaces are available RS232 For standard RS232 serial protocol and commands please refer to the SW Rel 1 3 manual RS485 For standard RS485 serial protocol and commands please refer to the SW Rel 1 3 manual CAN BUS Can Bus interface Normal CAN version with 11 Bit identifier and Extended CAN version with 29 Bit identifier with transfer rates up to 1 Mbaud For special applications Sulzer Electronics AG offers the possibility to implement a specific CAN protocol for the transmission of the set values in the electronic unit Sulzer Electronics AG will be happy to give any further information that may be needed regarding the implementation of specific protocols User Manual V1 01 4 5 Sulzer Electronics AG 4 2 Operating states The operating modes described in the previous chapter have shown how the actuators can be driven when the electronic unit is on i e when it is in the state RUN This chapter gives a description of all the operating states Overview The following are the possible operating states of the electronic unit SETUP The system is being started WAIT FOR DISABLE Prevents uncontrolled starting DISABLE The system is ready to run DRIVE INIT Initialization of the drives RUN The m
78. rve definitions Curve parameters Graph Gr Edit Curve Wizard Type Paint To Point Dive Tape s Position mm 23 00 20 00 Name Time Start Point mm 17 00 End Point mm 14 00 max Speed m s 11 00 max Start Acc m s2 8 00 max Stop Acc m s2 5 00 2 00 1 00 1 00 0 00 3 85 7 70 11 55 1540 1925 23 09 Time ms lt 7 o ae gt Edit buttons Close buttons Graph buttons Figure 3 6 Reference curves can be generated semi automatically User Manual V1 01 3 11 Sulzer Electronics AG System Overview 3 8 3 Monitoring function digital Oscilloscope Quick commissioning and optimization of a LinMot system is supported by the built in monitoring function With it the reference curves can be compared with the movements actually executed with no need for additional sensors etc The differences between the two curves can give indirect hints on counteracting forces and friction forces which can be useful when adjusting the controller parameters The operation and look of the monitoring function correspond to those of modern digital oscilloscopes Display command panel Start button Graph display File control panel Shot button Print control panel Er Oscilloscope E400 AT on COM1 Actual Pos mm and Pos mm 38 00 39 00 31 08 gt View gt 24 00 File 17 00
79. s closes the Curve Editor and the curve is taken with the actual settings If the OK button is not available the curve must first be calculated by clicking on the Calculate button Cancel This closes the curve editor discarding any changes made A confirmation is reguested in case the curve was modified Wizard Type With the Wizard Type the user can select in which way he wants to create the reference curve The possibilities are Manual Ramp Sine and Point to Point Chapter 5 8 5 describes the wizards in detail Drive Type This specifies for which type of drive the curve is to be generated The following choices are available LinMot Pxx xx Stepper and Magnet Name The name of the curve is free as long as it doesn t exceed 22 characters in length Time The time unit display in the neighboring editable field can be selected with the Time button between period ms and freguency Hz The speed at which the curve will be executed is set in this field In the point to Point wizard the user cannot specify the time as it is calculated If the drive type selected in the creation of the curve does not correspond with the actual drive type the electronic unit will generate an run time error Curve Error when the curve is called Add The number of points that should be added at the end of the curve can be entered in the dialog box that is displayed by clicking on this b
80. sed to distinguish missing or equal curves User Manual V1 01 5 10 Sulzer Electronics AG LinMot Memory window Status window Edit buttons Memory buttons User Manual V1 01 Configuration Software This window displays the curves in the same order as they are selected and written to the electronic unit The information displayed is the same as in the curve window The current actions and error messages are displayed in this window Upload A click on this button causes an upload of the curves that are stored in the connected electronic unit to the PC Deppending on the number of curves and values stored in the electronic unit the upload takes up to several seconds Open Curve files can be loaded by clicking on the Open button The file format described in Tutorial D is Excel csv During the load of the curves a log file is generated log This can be useful for tracing down format errors New A new curve is generated and the Curve Editor is started automatically Edit A click on the Edit button opens the Curve Editor which allows editing the selected curve This button is only available when a single curve is selected in the curve window Join All selected curves in the curve window are lined up and merged to a new single curve The velocity setting of the single curve sections is not modified A warning is generated in case the end point of one curve does not correspond with the starting point of
81. t P series Initialization to a stop Initialization on a trigger User Manual V1 01 The linear motors of the LinMot P series must be initialized after the powerup of the electronic unit After the initialization the actual position of the slider is stored in the electronic unit until the signal power supply to the unit is interrupted The actual position is still maintained when the linear motor is not powered and the slider is moved from its position Three types of initialization are available for the linear motors of the LinMor P series When initializing the slider is moved with a user definable speed until it encounters a stop As soon as the slider stops its position is taken as the zero position Zero Position Figure 4 10 Initialization to a stop move out In this mode it can be specified whether the slider should be moved outwards or inwards the figure shows the move out option Hint by using a stop that is fixed to the machine and not to the stator of the linear motor re adjusting the stator position will not be necessary when replacing the motor because the reference stop for the zero position remains the same In order to initialize the motor by means of a trigger signal a digital position sensor is needed to detect the slider when it is in the desired zero position The slider moves with a user definable speed over the position sensor As soon as the sensor detects the slider the
82. ter 4 4 Before all the motors have initialized a warning is active that prevents the system from jumping to the RUN state The system must go through this state at least once User Manual V1 01 4 7 Sulzer Electronics AG Freie FREEZE is a substate of the DRIVE INIT state that can be reached by means of the Freeze control signal In the substate FREEZE all actuators remain powered and controlled in their respective actual positions After resetting the Freeze control signal the system returns to the state DRIVE INIT unchanged Next operating state e DISABLE if the INIT input becomes inactive and the RUN input is inactive e RUN if the RUN input is active and the INIT input becomes inactive in case the drives are already installed e RUN this transition occurs automatically in the Auto Start Mode as soon as the initialization is completed e STOP if the STOP signal becomes active e ERROR the transition occurs unconditionally when an error occurs 4 2 5 Operating state Run In the state RUN the actual working state the actuators are powered and controlled Freeze FREEZE is a substate of the RUN state that can be reached by means of the Freeze control signal In the substate FREEZE all actuators remain powered and controlled in their respective actual positions After resetting the Freeze control signal the system returns to the state DRIVE INIT unchanged Next operating state DISABLE if the RUN input becomes inactive and the INI
83. the LinMot system explaining the AT functionality as an introduction For extended functionality of MT and DP electronic units please read the manual for SW Rel 1 3 4 1 Operating modes A wide range of operating modes are available for driving setting the reference values the actuators connected to the electronic unit The desired set values can be given directly through an analog interface or else they can be stored in the electronic unit in form of curves and tables that can be run on a digital trigger signal from the higher level control system Analog Position Mode LinMot LinMot Actuator Electronic S Unit ts t Digigtal Trigger Mode LinMot LinMot Actuator Electronic S Unit o ts to t Figure 4 1 Operating modes of the LinMot electronic unit A detailed description of the operating modes that can be configured for each connected motor individually is given in the following chapters The operating modes differ according to the different actuators linear motor LinMot P stepper motor and inductive load magnet valve and are therefore treated separately User Manual V1 01 4 1 Sulzer Electronics AG 4 1 1 Analog position setting In the operating mode Analog position setting the desired position set value for the actuator is given by the higher level control system directly by means of an analog input signal in the 0 10V range The resolution of the internal A D converter is
84. the curve to Jump Back We cannot edit the time The curve should bring the slider back therefore we set the Start Point to 50 mm and the End Point to 5 mm We then define the maximum allowed speed of 0 1 m s The maximum start and stop accelerations can be set separately We set max Start Acc to 0 6 m s and max Stop Acc to 0 3 m s After clicking on the Calculate button the Curve Inspector suggests 32 points for the curve which we accept by clicking OK The time required for the execution of the curve is calculated automatically and amounts to 700 ms The Jump Back curve look then like this Gr Edit Curve x Wizard Type Point To Point Position mm Position mm 58 00 58 00 Drive Type LinMot Name 51 00 51 00 Time 44 00 44 00 Start Point mm End Point mm 37 00 37 00 es isl 30 00 30 00 max Start Acc m s2 max Stop Acc m s2 23 00 23 00 16 00 16 00 9 00 9 00 2 00 i 2 00 0 00 116 67 233 33 350 00 466 67 583 33 700 00 Time ms Figure 5 26 Curve Jump Back We close the Curve Editor with the OK button The curve window of the Curve Inspector now lists the three curves we have defined User Manual V1 01 5 33 Sulzer Electronics AG 5 13 4 Saving curves In order not to loose the curves created we want to save all three to a file For this purpose we select them all with the mouse and click on the Right button gt
85. the data does not fit in properly the Fit view function may be used for an automatic adjustment The all data will be displayed 5 9 5 Starting and stopping the Oscilloscope Start After clicking on the Start button all the values are checked and sent to the LinMof electronic unit At this point the software on the LinMot electronic unit waits until the trigger condition is satisfied and then starts the recording As soon as the values have been recorded the LinMof electronic unit notifies the PC that the data are ready and available The PC then reads the data from the electronic unit and displays it There are however three exceptions to this behavior Multishot When the Multishot function is selected the Start button must be clicked first in order to start the Oscilloscope on the LinMot electronic unit When the desired event occurs the last event recorded can be transmitted to the PC by clicking on the Shot button If the Shot button is clicked before the recording is finished the recording is finished first Pretrigger If the recording mode is set to Pretrigger and the trigger mode is Manual the Oscilloscope is started on the LinMof electronic unit by clicking on the Start button The trigger is then released by clicking on the Shot button As soon as the recording is finished the data are transmitted to the PC and displayed Abort After the recording has been started by cl
86. the next curve In ceases where not all the curves are specified for the same drive type a warning is also generated When merging curves some points must be interpolated This could lead to minor changes in the curves This effect can be minimised by selecting a higher number of points for the curves Save All the curves in the Save Window are written to a file in the same order as displayed The file can be stored either in the csv or in the h86 file format It is recommended to always save the curves in the csv format as only this format stores all the information relative to the curve in the file Curves saved in this format can also be edited in Excel The h86 format is used to save the curve in such a way that it can be written to the electronic unit with the Load command from the Control Panel Download All the curves in the memory window are written to the electronic unit in the same order as displayed First the electronic unit is checked for memory availability for the selected curves After this the unit is stopped and the data is written to it When writing new curve data to the electronic unit the old curves are overwritten 5 11 Sulzer Electronics AG Scroll buttons awe Bl Keyboard commands User Manual V1 01 Configuration Software Up All the selected curves are shifted up by one position by clicking on this button Down All the selected curves are shifted down by one position by cli
87. the start delay is O s while in the Pretriggered mode values are been recorded already before the actual trigger It is important to note that in the Pretriggered mode enough time must have elapsed between the moment the Start button was clicked and the actual trigger signal Only in this case all the values are valid If this time is too short the buffer could still contain data from a previous recording The minimal time that should elapse can be calculated from the sample rate the pretrigger value and the information that 100 corresponds to 256 samples 5 12 4 Oscilloscope configuration for the following error monitoring User Manual V1 01 In the first example we have seen how a recording can be triggered by a regular signal such as the curve beginning In this example we want to take a look at how to display exceptional events such as warnings and errors In order to reduce the changes to a minimum we will use the same motor with the same configuration We want to record the movements of the motor in a case of following error On channel A we leave the setting Actual Pos to Drive A while on channel B we select Demand Pos Filtered on Drive A Demand Pos is the position set value that is read directly from the reference curve As the set values are limited by the maximum allowed speed and acceleration settings Demand Pos Filtered represents the values that are actually used by the mo
88. tly when executing the respective operations Only tested and potential separated power supplies are allowed to be used for the voltage supply of the LinMot electronic units and other accessories The electrical installation is to be done according to the relevant prescriptions Any further prescription contained in the documentation is to be observed The linear drives must be protected from loads in excess of the specifications Particularly during transportation great care must be taken in order to prevent excessive load or even bending of any part Electronic devices are basically not fail safe The user is responsible for driving the linear drive in a safe state in case of a failure Inside the sliders of the linear motors are strong permanent magnets These can cause damage or corruption to magnetical data mediums such as diskettes credit cards etc These safety notes imply no claims regarding completeness For guestions and problems please contact Sulzer Electronics AG User Manual V1 01 2 1 Sulzer Electronics AG LinMot Safety notes 2 1 Installation The drive systems described in this operation manual are components and not serviceable or connection ready devices or machines in terms of the device safety laws the EMC laws or the CE machinery guidelines The components are intended to be embedded in other machines The ultimate mode of action is only defined once these components have been embedded in the user s machin
89. tor We assume the following e The LinMot electronic unit Ex00 AT or Ex000 AT is ON e A linear motor LinMot Pxx 23 or Pxx 37 is connected to the Mot A port e The LinMo electronic unit is connected to the PC LinMof Talk is running on the PC and the user has logged in Goal We create a curve that looks like the following Position mm Position mm 58 00 58 00 50 00 50 00 42 00 42 00 34 00 34 00 26 00 26 00 18 00 18 00 10 00 10 00 2 00 2 00 0 00 368 04 736 08 110412 147215 1840 19 2208 23 Time ms Figure 5 21 Goal of the example The curve is built from three curve sections that we will first define separately Afterwards we will join the three curves together and create our complete work In the end we will let the curve be executed by the motor No panic this example proceeds in small steps and includes many figures that will help you visualize every step User Manual V1 01 5 29 Sulzer Electronics AG 5 13 1 Linear Out curve The first step consists in defining the linear movement outwards For this purpose we open the Curve Inspector by clicking on Curve in the Commander With the Create Curve button we create a new curve that is displayed in the Curve Editor The window should appear as follows Gr Edit Curve ToIx Wizard Type Position mm Position mm 4 00 r u r u r 4 00 Drive Type Name UU ai ania am Time 1008 231 ms 2 00 4
90. tor controller The speed and acceleration limiters can be enabled disabled and configured in the parameter tree As a next step we choose the trigger source We set the Trigger Mode to Trig on bit and select Follow Warning Drive A as Var We select Up for the active edge This way the recording will start when a following error occurs on motor A We switch to the entry fields under Acquire and leave the sample rate at 4000 us but we set the mode to Pretriggered and Pretrigger at 20 20 of the recorded values will represent a recording of the signals before the trigger We now want to test how the Oscilloscope behaves with these settings For this purpose we start the motor by clicking Start in the Control Panel When the motor executes the curve we start the recording with the Oscilloscope The message Waiting for trigger appears If we hold the slider or force it to some position the recording will start Again it takes some time before the values are read Click Fit View and the graphs obtained could appear as follows 5 27 Sulzer Electronics AG 5 12 5 Final remark User Manual V1 01 Configuration Software ES Dschloacope E400 AT on COMI Demand Poe Filared men Sl an ga a gpa i 2M mn A ed nn 420 2200 E E Hr EY 32 00 1200 Ri ar RER NL y O 204 00 100 00 aug 10200 204 00 2600 40200 51000 61200 7140
91. tware 5 8 Curve Inspector With the Curve Inspector the user disposes of a simple way to generate and modify reference curves for the different drive types Curves can be loaded from files or from the electronic unit edited and combined and finally saved to a file or to the electronic unit This chapter is divided in two parts the actual Curve Inspector and the Curve Editor 5 8 1 User interface of the Curve Inspector The interface of the Curve Inspector appears after clicking on the Curve button in the Commander window Figure 5 8 shows a typical Curve Inspector window Curve window Scroll buttons Memory window Gr Curve Inspector E400 AT on COM1 Curve Window Download Window No Name Dilje Type Samples Time ms No Name Divf Type Samples Time ms 32 52 i 1__ Pick Up Lin viot 1 Slide Right 32 1000 165 2 Pick Down N Slide Left i 32 1000 165 Curve File loaded correctly File loaded correctly Edit buttons Status window Memory buttons Figure 5 8 User interface of the Curve Inspector The single operational elements are described in the following chapter 5 8 2 Operational elements of the Curve Inspector Curve window All curves that are loaded or newly generated are listed in this window New entries are appended at the end of the list The name motor type Drive Type number of points Samples and time Time in which the curve is run are displayed The number is only valid in this window and is u
92. tware Defining curves with Excel In this chapter we take a look at how to define and edit curves with Excel It is assumed that you are already accustomed to using the Curve Inspector and the Curve Editor With this example in which we want to define an exponential curve and a triangle curve we will explain the necessary steps With the Curve Inspector res Curve Editor we will first generate a template for the curve file so you don t have to build the file itself For this purpose we create two new curves one named Exponential with 16 points and 1000 ms as time and the second one named Triangle with 3 points and 1500 ms Both curves are created with the Manual wizard and the motor selected should be LinMotPxx 23 or LinMotPxx 37 depending on what you are using These two curves are then saved together in a file named ExelTest csv At this point we start Excel and open the file ExelTest csv The following table appears LinMot 1000 SUNIT SingleStep _1 0 01953125 au 0 m 0 0 0 0 0 O 0 0 0 0 0 0 0 D 0 LinMot 1500 SingleStep 1 Step 0 01953125 mm Figure 5 30 Starting point in EXCEL We see both curves with their definitions and points all set to zero in column A We can now insert formulas or references In doing so we must notice that the values must be in column A and must be defined as SingleStep Decimal points are not allowed Sulzer Electronics
93. utton The inserted values are set automatically to the value of the last edited point This button is only visible for the Manual wizard Insert The number of points that should be inserted at the selected point in the curve can be entered in the dialog box that is displayed by clicking on this button The inserted values are set automatically to the value of the last point This button is only visible for the Manual wizard Remove All the selected points are removed from the curve This button is only visible for the Manual wizard As a result of rounding changing the number of points can slightly affect the speed at which the curve is executed This effect is more evident in the case of very slow curves or curves with few points The values displayed during editing are not the actual entered values but the ones actually usable by the electronic unit 5 15 Sulzer Electronics AG Curve Point List Curve parameters Configuration Software Calculate The curve is calculated according to the selected wizard and the settings made A dialog box with a suggested number of points is displayed The user can accept the value or set a specific number of points for the curve This button is visible for the Ramp Sine and Point to Point wizards Undo The last entry is undone A maximum of 50 undo steps can be executed Redo This restores the last action that was undone This table displays the single po
94. variables the user must also specify the corresponding drive r Channel amp ir Channel B Var Actual Pos z Yar Demand Pos Drive Drive A i Drive Drive A Chan A Chan B Figure 5 12 The variables panel 5 9 2 Setting the trigger mode The trigger mode defines when the recording should be started The following trigger modes are available Trig on Level The recording is started when the selected variable exceeds res falls below the threshold specified In Figure 5 13 the trigger is set to start the recording when the actual position of drive A exceeds the given position Trigaer Mode Trig on level War Actual Pos Edge Up Drive Drive A Level 20 jmm i Chan A Chan B Trigger Figure 5 13 Trigger mode Trig on level Trig on Curve The recording is started when the selected curve is started In Figure 5 14 the trigger is set to start the recording when curve 2 is started on drive A Trigger Mode Dive Dives 2 a TEE Chan 4 Chan B 4 Trigger el Figure 5 14 Trigger mode Trig on curve User Manual V1 01 5 19 Sulzer Electronics AG Trig on Bit Trig Manual Configuration Software The recording is started upon a state change of the selected bit In Figure 5 15 the trigger is set to start the recording when a following error occurs on drive C This setting is used mostly in combination with the Pretrigger mode see also ch
95. we select all the curves in the curve window and then click on the Join button Ed We accept the proposed number of points 98 with OK The Curve Editor appears again We name the curve Motion and see the following window User Manual V1 01 5 34 Sulzer Electronics AG Ge Edit Curve BEE Wired Type Postion mn Position mn 5200 5200 Dire Type EEJ 4 6 BD a TR WYAU ee SEED Nane e maen imi 1 900 20 i i i i i i i 200 0m 2750 SO 8200 110000 137500 100 130500 220000 Time nt Figure 5 28 Motion curve We close the Curve Editor with OK User Manual V1 01 5 35 Sulzer Electronics AG 5 13 6 Writing curves to the electronic unit As a last step we want to write the defined curves to the electronic unit so that we can see the actual movement be executed by the motor We select the Motion curve in the curve window and move it to the download window by clicking on the Right button There are now four curves in the download window We delete the curves Linear Out and Hold by selecting them and pressing the Delete key on the keyboard The Curve Inspector window now appears as follows Gr Curve Inspector E400 AT on COM1 Curve Window Download Window No Name Dive Type _ Samples Time ms No Name Drive Type Samples Time ms Linear Out LinMot 2 1008 231 1 Jump Back LinMot 32 699 943 Hold LinMot 8 499 995 Motion LinMot 38 21
96. zation range User Manual V1 01 3 7 Sulzer Electronics AG LinMot System Overview 7 Example Movement with constant speed A constant linear movement should be triggered by means of a simple digital signal PC PLC mode two position Solution LinMot P digital out operating mode Two Position with filter Set the end positions a LinMo E to the boundaries of the stroke range and the Vmax parameter to the desired maximum speed Hint The movement can be stopped at any time with the FREEZE signal 3 6 3 Connection to higher level control systems The electronic units LinMo E can be controlled by higher level control systems directly by means of analog or digital input output signal lines The necessary parameterisation is done with the LinMot Talk software via an RS 232 connection Networking via CAN bus or RS 232 is also possible on specific customer reguest PLC System VME System PC Extension Card Analog Digital IO s Analog Digital IO s Analog Digital IO s DN mem YY DE 4 um dyl Figure 3 4 Connecting LinMot to an higher level control system User Manual V1 01 3 8 Sulzer Electronics AG LinMot System Overview 3 7 Protection and error behavior 3 7 1 Internal protection functions The integrated sensors and complex monitoring programs allow the detection and handling of thermal overloading of the LinMot E and P components by means of

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