LinMot-Talk 1100 - Q-TECH
Contents
1. IS 11 2 9 Command TO Ceres RR T tc apes 13 210 ACCESS OCS wiser ae TUERI iit aks saat 14 MEC e aro 0 OG 0 lem ET 15 SA MEER eie Em T E 15 S 2 iFINMWALEIDOWIIOAG ouetsiuteno bte ded nau Metsiouien lebte mu Me coim bites 16 COC ME Nec rmm 16 dob MOONI eee IM MEILEN M MED IM M MEM ILE REC ama 17 3 3 Continuous Curve Modl esses nennen 25 326 DENNO CUVE RU 26 2 7 COnto elim RTT 30 9 9 OSCINOSCOD 6 rac teneo edu wok Gleevec eres oe 1 31 3 9 Continuous Two Point 4006 55555555 5 nnne 33 1 1 111110 1111111 1 1 UTER 34 4 1 211111 111110 1 0 1 1011111 9 1 34 AZ BOOUSW AD OO m 34 4 3 Interface does not FU asic ceeds cesta eb 222 2 02 200 acca 34 NTI AG User manual LinMot Talk 1100 21 06 2006 Page 3 35 LinMot Talk 1100 1 Introduction The LinMot Talk 1100 configuration software is a PC based tool which helps the user in a comfortable way installing firmware on the controller setting up the controller s configuration defining and programming motion profiles emulating the PLC watching variables and reading messages and errors 2 Overview The following screen shot gives an overview of the different functions integrated in the LinMot Talk2. Edit Properties The properties of a selected curve like name time or stroke can be modified Edit Curve Values The curve points can be manually edited Join Curves All selected curves are joined together A wizard will be started for defining the curve properties of the joined curve The download window 15 used to manage the curves which are stored on the controller or have to be downloaded Modifications in this window will show up the message Curves have changed Please download After pressing the download into controller button the window and the controller will be synchronized of Upload fram Controller of Download into Controller Upload Curves from Controller All curves stored on the controller will be uploaded and displayed Download Curves to Controller The controller s curve sector will be synchronized with the download window Auto Numerate Curves The curve ID which must be unique will be set automatically Page 10 35 User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 2 Parameters 2 8 Variables NTI AG The controller s parameters are displayed in a tree view 18 0 1 68 11 00 3 6 8 11 00606 Fie Seech Contre Service Option Took Maak Help 26 FOo X o Preyect e Ura on COME E Control Panel gt Eg Paeseselers JT 4 Force
3. Documentation of the LinMot Talk 1100 Configuration Software MII WII LinMot Talk 1100 User Manual LinMot Talk 1100 2006 NTI 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 NTI AG LinMot is a registered trademark of NTI AG Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG 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 Document version 3v6 Ro June 2006 Page 2 35 User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 MEME dices elem 4 PAE i RRRTRNRR 4 2 1 TE OO GO TDS RR 5 22 0010701022 Re eee o era aee pre ERU 8 6 2 3 WICSSAGES alleluia Rode esI iste atr 572 ee 7 1 111 On PT 8 EAN OMEMEG eem 9 20 OUVE NN 10 M EMEN I II E RTT 11 1 need ues
4. under Motion Control SW Motion Interface Run Mode Settings RunMode Selection in the parameter tree X LinMot Talk1100 V3 6 Build 20060609 File Search Controller Services Options Window Tools Manuals Help D3 S Bl unnamedoncom z gt ESk 2 ED Project El Unnamed on COM1 S Control Panel Es Parameters 05 Motion Control Sw E Controller Configuration E Motor Configuration E State Machine Setup E Motion Interface G E Run Mode Settings Run Mode Selection f Triggered VA Interpolator Settings E Triggered Curves Settings E Command T able Settings E Triggered Command T able Settings H E CAM Mode Settings E Triggered CAM Curves Settings E Pos Indexing Settings E Analog Mode Settings Ez VAI 2 Pos Cont Settings E 16 Bit Interface Scaling E Predef V Interpolator E Streaming Settings E Time Curve Settings H E Master Encoder CAM H E Winding Settings E Position Controller Ez Current Controller E Errors amp Warnings E Protected Technology Functions H E Cmd Tab 0 Interface E ct Variables Oscilloscopes Messages Errors Curves Command T able C Motion Command Interface Off 1 Triggered V Interpolator Off 0002h C Triggered Time Curves 0007h C Command Table Mode 0003h C Triggered Command T able C Position Indexing Off O004h C Analog
5. 0 00 mm H amp P Variables 15 Phase Search Q 15 Position Band 2 0 Force Factor Motor not homed E Oscilloscopes Control Word 003Fh Status Word 40F6h Motor Current 0 00 A I 1 e L Override Value Op Main State 00h ien Pi E i ni e L Enable Manual Override Op Sub State VOR Command Table Motion Command Interface Enable Manual Override Command Category Most Commonly Used Command Type No Operation DOOxh X 2 Count Nibble Toggle Bits oh Auto Increment Count Nibble 10 mm 1mm 1 mm 10 60 Name Offs Description Header 0 Scaled Value O00xh No Operation 0 Int Value Dec Int Value Hex 0000h Read Command Send Command Now we will fetch the control over the Switch On and the Home flag Control IO Switch On 1 Voltage Enable 2 fQuick Stop 3 Enable Operation 4 Abort X N Ed p n E Control ord gt Override Value Enable Manual O veride p Now turn off and turn on again the Switch On flag this 15 because of the auto start prevention At this time the motor will be powered User manual LinMot Talk 1100 21 06 2006 Page 30 35 NTI AG LinMot LinMot Talk 1100 LinMot 3 8 Oscilloscope NTI AG and position controlled
6. GND LinMot E1100 Xl Motor Supply use 48 72 VDC between PWR and PGND X2 Motor Phases if this connector is not present connect the motor on X3 only X3 Motor signals if motor has a DSUB 9 connector connect it directly otherwise use an adapter to DSUB 9 or wire the phase lines to X2 X4 For a commissioning with the PC it is necessary to wire only the Pinl GND Pin2 4 24VDC and if present Pin12 save voltage enable SVE 24VDC X5 RS232 The cable between the LinMot controller and PC must be DSUB 9 F F 1 1 X modem If the PC has no COM port available please use the USB to RS232 converter LinMot article number 0150 3110 NTI AG User manual LinMot Talk 1100 21 06 2006 Page 15 35 3 2 Firmware Download 3 3 Login Page 16 35 LinMot Talk 1100 As the cabling 15 done correctly now turn on the controller s power and start up the LinMot Talk 1100 software Before using the controller the first time the firmware has to be downloaded Therefore press install firmware button B to start the wizard Choose the file Firmware E1100 V3S5 Build200601 12 sct Then the wizard will start and guide through the installation and press Open When successfully finished the firmware download login with File Login info window will appear showing the login progress When logged in you will find the following window then select the appropriate port and press ok A login LinM
7. left box Enable Manual Override must be selected The state of each flag can be set with the right box Override Value If other flags have to be altered the override mask must be configured in the parameter tree under Parameters Motion Control SW State Machine Setup Control Word Ctrl Word Parameter Force Mask Status Word The status word shows the actual state of the controller s MC software status word It is update automatically Page 6 35 User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 General Monitoring This window displays actual motor and controller information Motion Command Interface The MC software s motion command interface can be directly accessed over this window When enabled Enable Manual Override switch must be set MC commands can be selected parameterized and sent to the controller Because the motion command interface is independent of the interface running on the controller the same the commands can be exactly tested before programming them in the PLC 2 3 Messages Panel NTI AG This panel reads out and shows all messages which are logged on the controller As a feature of comfort in this panel will be shown the errors too in chronological order LinMot Talk1100 3 6 Build 20060609 File Search Controller Services Options Window Tools Manuals Help Project H E Farameters H E Variables 23
8. 1 R 7 E os Slate Mactere Sub Slate 192 18 Ulrig 1 TU State Operation Enabled 08h Ure Enumerator sE Motion Corteal Sw State Var naf 1BE2h 16 1 3 Cmd Tab ID Intesiace Demand Poston 48 8399 um 0007 73CFh 1BBAh Sini32 0 0001 men mm R Verable Demand Velocity 40 061947 en s FFFFOECE 1600 Sim32 IE 6 m s Om E Demand Acceleration 0 8749 mis FFFEAA h 188 Sint32 1E 5 m s Om s E OS SW Operating Hour Counter Achasl Ponton 45 3896 mmn 00070478 1880h 5 00W mm 8 E 05 SW Meseage E nex Adua Velocaly 40 095968 m s FFFES AUh lBBEh Sini32 m s ns IE ns sw sin Spring Deflection 43 0034 mm 00060FD2h 167 Sim32 0 0001 mm 0 poe mun Difference 0 1065 mm FFFFFBD7h 189 0 6332 1 mm F liz OS Hath Vake Velocity 40 010844 m s FRFFOSAGH 18 1 Sini32 ns Oms R E 0 Sw Status Demand Cunent Pos Chi 4111 1 1692 00014 R E 5 SW Keys Demand Cunent 0084 FFACh 1B93 h Sinig nom A nA R Demand Posbon 16 84 328 0148 1B394h 5315 1 E MC SW Mola Actus Ponton 16 Ba 309 0135h 1695h Sinti6 1 0 R IO State Word COD cont 1CB4h stk 1 R E MC Sw X12 Ext Sensor ik MC SW C IO State BR 0 44 3 FALSE oh 1 Bool R IE wc au vs nra IO State 1 04 4 FALSE
9. Derived Settings Value Comment Motor Phase Resistance 11 5 Ohm Cable Resistance 0 16 Ohm Total Resistance 11 66 Ohm gt Help E Next gt Finish Cancel The next hardware setup step is to define a external position sensor system if present There can be chosen between none incremental AB Z and analog sine cosine Vpp 215 ioi x Step 4 9 External Position Sensor System External Position Sensor Type Analog Sine Cosine 1Vpp Count Direction Positive Resolution r 1 4 Period Length 50 um r With an additional external position measuring system the positioning accuracy and the linearity can be improved The optional position sensor has to be connected to X12 on the controller Derived Settings Value 4 Help lt Back Next gt Finish Cancel NTI AG User manual LinMot Talk 1100 21 06 2006 Page 19 35 LinMot Talk 1100 With step 5 the feed forward parameters are set up Depending on the moving mass additional load mass friction and orientation Under the derived settings the influence can be watched Po Motor Wir 888888 Step 5 9 Feed Forward Parameters Mechanical Layout Moving Part of Motor Slider Y Orientation Angle 90 90 c Moving Mass Slider Additional Load Mass 500 9 Friction Forces Dry Friction Nimis MagSpring or other constant force o N Negative Viscous Friction 7 a
10. Files adf Cancel Places Open as read only PS01 235x80 adf 21 501 23 80 5 Ed P501 23x160 adf Ed P501 37x120 adf Ed P501 37x240F adf Ed P501 48x240 adf Ed P501 48x240F adf Select the actuator type you have wired to the controller then press Open The following steps will show forms including drawings and descriptive texts The first step 1s to define the stator and slider NTI AG User manual LinMot Talk 1100 21 06 2006 Page 17 35 LinMot Talk 1100 Motor wizard ee Pe Step 1 9 Actuator Selection Actuator Data File Stator Slider Slider Mounting Direction PS01 37x240 adf Change Actuator P501 37x240 PL01 20x500 420 m The slider can be identified by its length Newer sliders have the type engraved on the surface Regular m The sliders are not symmetric The value of ZP Zero Position depends on the mounting direction relative to the stator Therefore the available stroke range changes with the mounting direction Force gs 100964 i 1 5 Stroke Derived Settings Value MOTOR P01 37x240 160x360 Maximal Stroke S 360 mm Shortened Stroke 55 160 mm Electromagnetic Zero Position ZP 120 mm Force Constant 40 8 N A Edge Force Fb 58 STATOR PS01 37x240 Article Number 0150 1203 Stator Length 347 mm Stator Mass 1385 g SLIDER PLO1 20x500 420 Article Number 0150 1328 Slider Length 500 mm Sl
11. Machine MC SW State Machine MC SW State Machine ME SW State Machine MC SW State Machine MC SM State Machine MC SW State Machine ME Sw Error Handler ME SM State Machine MC Sw State Machine MC SW State Machine MC SW State Machine MC SW State Machine Messages Actual Controller Time 00 290 23 41 Page 7 35 LinMot Talk 1100 2 4 Errors Panel This panel reads out all errors which are logged on the controller and displays them in chronological order LinMot Talk1100 V3 6 Build 20060609 1 x File Search Controller Services Options Window Tools Manuals Help Di3ieH amp Unnamed on COM1 gt Wo x I EgG ArDE Project WI eco Evert Time EnorCode EworMessage sos 5 000290 12 45 565 0023h Err Motor Short Time Overload MC SW Error Handler ee 000290 11 55 562 0003h Err X1 Pwr Voltage Too Low SW Error Handler Variables 000290 11 09 884 008 Err Pos Lag Always Too Big SW Error Handler Oscilloscopes 000290 02 52 505 0080 Timer Watchdog Error 5 Messages 000289 49 23 880 O064h Cfg Err No Motor Defined MC SW Error Handler 000289 45 24 319 O064h Cfg Err No Motor Defined MC SW Error Handler Curves 000259 09 31 287 O064h Cfg Err No Motor Defined MC SW Error Handler Command T able 000258 27 04 202 Err Supply DigQut X6 Fuse Blown MC SW Error Handler 000256 28 25 072 001Ch Err Supply DigQut B Fuse Blown MC SW Error Handl
12. at the actual position Set the Home flag and the motor will initialize against the inner hard stop When the motor stands still clear the Home flag and the motor will run the curve continuously Detailed information about the MC software s state diagram can be found in the MC software manual The oscilloscope is a very useful tool for tuning the motor The LinMot Talk 1100 software has defined a default oscilloscope which samples the actual position demand position position difference and demand current When clicking on the Show Oscilloscope button the focus will be set to the default oscilloscope We could start the oscilloscope now with the start button d but it is recommended to set the recording time about 2 seconds one curve cycle 15 1 5 s We will switch to the oscilloscope settings with N x General Trigger Advanced Acquisition Mode Single Shot Recording T ime 2071 212 ms w Channel 1 Group Variable MC SW Overview st Pos wv Channel 2 Group Variable MC SW Overview bem Pos w Channel 3 Group Variable MC SW Overview pitt Pos wv Channel 4 Group Variable MC SW Overview Dem Current Ok Cancel Then press Ok and start the oscilloscope with d The recorded data on will be read out from the controller and displayed which will look somehow like the following Possibly it 1s necessary to press button fit view User manual LinMot Talk 1100
13. status word of the MC Software The controller can be commanded from the PC thus no PLC is necessary to be used for the first commissioning Control Word Status Word General Monitoring 0 Operation Enabled Connection Status Online 1 Switch On Active Firmware Status Running Motor Status Switched Off 5 Duick Stop ind b Switch On Locked Warming amp Event Handler Active DU ED on Go c3 Op State Mot Ready to Switch On i Motor Hot Homed 13 Motion Active Actual Position 0 00 mm 14 Linearizatian 14 Position Band 1 Demand Position 0 00 15 Phase Search 15 Position Band Force Factor Motor homed Control ward 003Fh Status word 406 Motor Current 0 004 L Override Value Op Main State Dh ve RA e 1 pee gt Enable Manual Override Op Sub State A 31 Motion Command Interface Enable Manual Override 10 mm 1 mm 1 mm 10 0 Command Category Mast Commonly Used Command Type No Operation 0 10 Count Nibble Toggle Bits 0h Auto Increment Count Nibble Mame Offs Description Scaled value Int Value Dec Int Yalue Hex Header 0 Ma Operation 00 0 Head Command Send Command Motion Command Window Control Word The MC software s control word can be directly written from the PC For taking over the PC control the
14. the parameter settings the curve ID 1 As we want to download the curves to the controller we select all the curves in the edit window an move them to the download window X LinMot Talk1100 3 6 Build 20060609 ioj x Fie Search Controler Services Options Window Tools Manuals Help D oe 3 Unnamed on COMI J PE Gx 2 mu ey Edit Window nnamed on ub Control Panel ae d 8 Parameters ID Type Setpoint Wizard Length No of Setpoints E 05 A SineDut 2 Position vs Time Sine 100088 801 SHE Motion Control Sw Sineln 3 Position vs Time Sine 500 ms 501 1 Controller Configuration SineOutin 1 Position vs Time None 1500ms 1801 E Motor Configuration E State Machine Setup E Motion Interface E Position Controller E Current Controller Download Window E Errors amp Warnings Curves have changed Please download E Protected Technology Functions Ez Cmd Tab 0 Interface H amp P Variables Oscilloscopes Messages e Errors Curves Command T able SineDut 2 Position vs Time Sine 1000 ms 501 Sineln 3 Position vs Time Sine 800 ms 501 e 5 1 Position vs Time 1500 ms 1501 When double click the SineOutIn Curve the joined curve is shown L
15. this place in the parameter tree The motor can now be started the same way as described under 3 7 Control Status 4 Trouble shooting 4 1 Setall Parmeters to Default 4 2 Bootstrap OS All parameters on the controller can be set to their default values without the use of the LinMot Talk1100 This can be done according these steps 1 Power off the controller 2 Set the two ID switches to FF 3 Power on the controller the ERROR and WARN LEDs will flick alternately 4 Set the two ID switches to 00 5 Wait until the WARN and EN LEDs will flash together 6 Power off and on again In case of B2 errors which mean a communication timeout no rebooting and resetting the parameters will not help there is the option of bootstrapping the operating system This can be done according these steps 1 Close the LinMot Talk1100 software 2 Power On the controller 3 Press with a spiky object into the small hole besides the one marked with Reset The controller s LEDs will all be off except for the green one 4 Start the LinMot Talk1100 software 5 Press the Install Firmware button 6 Select the file under Firmware OS BootStrapOS BootOS3 sct and follow the instructions After this procedure the firmware can be installed as described unter 3 2 Firmware Download 4 3 Interface does not run Page 34 35 If the interface software DeviceNet CANopen Profibus LinRS does not communicate there may be several reasons S
16. 000 ms 501 G E Motion Control Sw E Controller Configuration E Motor Configuration E State Machine Setup E Motion Interface E Position Controller IEEE E Current Controller Download Window Ez Errors amp Warnings amp Upload from Controller g Download into Controller 0 5 Setpoint Wizard E Cmd Tab IO Interface et Variables E Oscilloscopes Messages Errors Curves Command T able Ge A E EH H H We will now define curve going back So we start the curve wizard again and define under curve settings the following User manual LinMot Talk 1100 21 06 2006 Page 27 35 Page 28 35 LinMot Talk 1100 Curve Settings E x Curve ID 1 100 3 Curve Mame Sineln Setpoint Calculation Wizard Sine Curve Length FOO rns Start Point so End Paint ja mm Back Henst gt Cancel Set curve ID to 3 Curve Name to SineIn Curve Length to 500ms Start Point to 50mm and End Point to Omm Click twice Next and then Finish Now we have defined the two curve segments and will join them together Select the two curves X LinMot Talk1100 3 6 Build 20060609 nl x File Search Controller Services Options Window Tools Manuals Help m 5k c cw gt m O SS EGASI 2 amp m nw Edit Windo
17. 1100 software Controller Shortcuts to Control Status Configuration Selection Tools and Setup Tools Window X LinMot Talk1100 v3 6 Build 20060609 d o x Fie Search Conter Services Options Window aS Manuals Help gt ce Ge S Ox E d Ac E Project Control gt gt J Status gt gt J Monitoring E fs Unnamed on COMT 0 Switch On 1 0 Operation Enabled Connection Status Online 1 Voltage Enable 1 1 Switch On Active 77 1 Firmware Status Running INTF stopped z Parameters 2 0 8 Stop 1 2 Enable peration Z 1 Motor Status Switched Off amp 05 l 3 Enable peration 1 3 0 HHE Motion Control Sw a ee 1 4 Voltage Enable Z 1 H E Controller Configuration 5 18628 1 5 Quick Stog 1 H E Motor Configuration 6 Go To Position 0 6 Switch OnTocked 1 State Machine Setup f Error Acknowledge 0 belit a Motion Interface L 8 Jog Move 0 1 VENE abe oa Op State Not Ready to Switch On Position C I 9 Jog Move 0 3 Special Motion Active 0 1 Position Controller 10 R
18. 21 06 2006 Page 31 35 LinMot Talk 1100 X LinMot Talk1100 3 6 Build 20060609 loj x Fie Search Controler Services Options Window Tools Manuals Help D gt 9 gt NOx B GS ACIE C E Project gt By sp m 6 SN EN cer cae cra cos B Ea Unnamed on COM1 SY Control Panel p p nage amp tg Parameters i 4 ct Variables E Oscilloscopes 525 525 03 e Messages 45 45 0 225 Errors Curves Command T able 375 375 0 15 30 30 i 0 075 225 225 D 15 15 0 075 75 75 015 1 0 225 75 75 03 15 15 0 375 100 200 200 400 500 600 700 800 900 1000 ms Channel 1 MC SW Overview Actual Position Channel 2 MC SW Overview Demand Position Channel 3 MC SW Overview Difference Position Channel 4 MC SW Overview Demand Current Oscilloscope Tuning the system would be started at this point One possibility 15 by restarting the Motor Wizard and changing the load or control parameter another one is to change the parameters directly in the parameter tree Page 32 35 User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 3 9 Continuous Two Point Mode The easiest way run the motor continuously is to set the VAI 2 Pos Continuous mode In this mode the motor moves between the two positions Trig Fall and Trig Rise The time the motor waits at the two positions is defined under VAI 2 Pos Cont Sett
19. 5 5 FF Freeborn zi E Meter Comba Sy EF Spring Comperaation a Controller ondagai ian e Dama 2 5 Motor Configuration RE Acceleration 1 tum Adm H EI Shade M ache elu Spang 29 Position 1 59 ON mm SHE Mete letuciaca f Gun 1 1 i 91 Aven zr Cim Ban 3A m s 1h 1 Anm 0 1 ra 1 1 a u D 1 A mm rr OAs iz Cul Par Set Selection 1 BA Misia Curent 2222222222225 EI Central Pj rw 281 1 i Acteanced Setting EI Lassen Lordiolei 4 5 Errors bw a E Protected Technolozy Functions a EI 1 T oh LI Enid um Vanabler Hoiva Daacband width LOCUS imm Oem ES ret pd 555525 Eno E Consrared Table Parameters which are marked as live can be altered while the controller s firmware is running other parameters can only be changed when the software is stopped The controller s variables which can be watched are arranged in different functional groups The MC SW Overview group contains the most used variables Lin ot Talk1 100 3 6 Build 20060609 File Sewch Controler Services Options Window Tools Manuals Help DF SFOS Bl RPMS 3 amp M 29 o5 t Xa fel fen RW Unnamed on COM diim 58 p m G V n T Contiul Panel E nus State Machine Main State Nh 18 Uire
20. G LinMot LinMot Talk 1100 2 1 Tool button bar The tool button bar i 5 S E m Unnamed on COM N o lt YESGEGA GIE is always present and consists of the following buttons from left Show Hide Tree Shows or hides the project tree window Import Configuration Import a controller s configuration Export Configuration Export a controller s configuration Different parts such as parameters variables oscilloscope or curves can be selected to be exported Print Print items like curves parameter configurations etc Install Firmware Start the controller s firmware installation Start Start the controller s firmware Stop Stop the controller s firmware used for downloading software configuration Reset Reset controller s firmware Start Motor Wizard Start the motor configuration setup wizard Show Control Panel Switch to the control panel Show Variables Switch to the variables Show Oscilloscope Switch to the oscilloscope Show Messages Switch to the message viewer Show Errors Switch to error viewer Show Curves Switch to the curve tool Show Command Table Switch to the command table editor Show Object Inspector displays a window in which shows help information to each selected object NTI AG User manual LinMot Talk 1100 21 06 2006 Page 5 35 LinMot LinMot Talk 1100 2 2 Control Panel The Control Panel helps the user to access directly to the control and
21. Off 0004 Triggered Analog Off 0008 CAM Mode Off 0006h Triggered CAM Curve Off 0008h VAI 2 Pos Continuous Off 0009 amp Continuous Curve 0005h C PC Motion Command Interface 0010h 1 E E E Et 1450h 1450h 1450h 1450h 1450h 1450h 1450h 1450h 1450h 1450h 1450h 1450h 1450h Ulntt6 Ulnt16 Ulnt15 Ulnt15 Ulnt16 Ulnt15 Ulnt15 Ulnt15 Ulnt15 Ulnt15 Ulnt15 811018 Ulnt15 gt Parameters Path Motion Control Sw iMotion InterFaceRun Mode Settings Run Mode Selection Continuous Curve The second parameter to be set 15 to define which curve has to be run Set the parameter Curve ID to 1 under Motion Control SW Motion Interface Time Curve Settings LinMot Talk1100 3 6 Build 20060609 Bl x File Search Controller Services Options Window Tools Manuals Help 3 5 S d b Unmamed on cow J PEOSC 2 amp p Project By inei ERR eel DSS Parameters ECurve ID 1 0001h Ulnt16 05 Curve Offset 00000000 l4C8h SInt32 Motion Control SW Curve Amplitude Scale O3E8h 14C4h 5 6 Controller Configuration CurveTime Scale 2710h 14088 5 5 Motor Configuration State Mac
22. Oh 1COFh Bool MC Sw C 00 State Dit 2 04 5 FALSE 1 90 Bool iz MC SW Status Word I Sate Bit 3 X4 E FALSE fi 1091 Bool R E MC Sw Warnings 00 State BR 4 44 7 FALSE Uh 1088 Bool E MC SW Phase Search IO State Di 5 4 0 FALSE 1C33h Bool R ilz MC SW Motion Intedace ID State B 6 X4 51 FALSE Oh tC94h 8866 E Sw Windrg IO State BR 7LXA 10 FALSE Uh 1 Bool R IE wr swe T 00 State Di O4 11 FALSE 1 Bool E Apure 5 agger ID State B 14 531 TRUE 1h ICh 86 F liz MC SW Brake IO State B 15 7534 TRUE 1h 1C9Dh Boo R E MC Sw VA interpolator WA 0000 0000h 1 09 UlretG 1 0 R E MC Sw Curve WE Inputs 0000h ICA 1 1 MC Sw PVT Steam WE puts 0000h 1CA Uiig MC Sw Meritating XAA Analog Volage U 0US 65626 V UUUZh TCA4h 0004982913 V Ov R MC SW Encode LAM MC Sw Motor Data Sheet iz MC SW Command Table E MC SW Force Control E Cmd Tab 10 intesinon 88 O clo cope E E iz MC SW Eros E f User manual LinMot Talk 1100 21 06 2006 Page 11 35 Page 12 35 LinMot Talk 1100 The variable service 15 controlled with the following buttons 5 8 Show Hide Details Additional information for each parameter such as unique parameter ID UPID scaling min max value can be displayed on dema
23. Speed 00018640h 145Bh Sint32 1E 6 m s J E Motion Control Sw Acceleration 00018640h 145Ch SInt32 1E 5 m s 2 Controller Configuration Deceleration 00018640h 145Dh SInt32 1E 5 m s 2 E E Motor Configuration E State Machine Setup E Motion Interface J E Run Mode Settings Run Mode Selection G E Triggered VA Interpolator Settings E Trig Fall Config E Trig Rise Config E Triggered Curves Settings E Command T able Settings E Triggered Command T able Setting E CAM Mode Settings E Triggered CAM Curves Settings Pos Indexing Settings E Analog Mode Settings E VAI 2 Pos Cont Settings E 16 Bit Interface Scaling E Predef VA Interpolator E PV Streaming Settings E Time Curve Settings Master Encoder CAM E Winding Settings E Position Controller E Current Controller E Errors amp Warnings E Protected Technology Functions Cmd Tab 0 Interface e Variables Oscilloscopes Default Messages Errors FA Crimes be b Parameters Path ti Motion Control SW Motion Interface Run Mode SettinasiTriaaered VA Interpolator SettinasiTria Fall Confia Pasition m NTI AG User manual LinMot Talk 1100 21 06 2006 Page 33 35 LinMot Talk 1100 This is all we have to configure The speed acceleration and deceleration can also be defined at
24. ame 5890 ut Setpoint Calculation Wizard Sine Curve Length f O00 rs Start Point ja End Point po mm Back Next gt Cancel In this mask we will set the curve ID to 2 we will have the merged curve with ID 1 at the end and as name we set e g SineOut The end point is placed at 50mm With Next the wizard will show some curve data User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 NTI AG Calculated Curve Data x Based on the Curve Settings Data the wizard has calculated additional curve information Stroke K0 mm Peak Velocity 0 07854 m s Feak Acceleration 024674 mis a Cancel The next and last mask proposes a number curve setpoints It is advisable to accept this proposal Sumber of Setpoints The proposed number of setpoints i 501 Number of setpoints 201 Cancel With Finish the first curve is defined The curve will be displayed as follows X LinMot Talk1100 3 6 Build 20060609 E loj xj File Search Controller Services Options Window Tools Manuals Help e S B z gt m Slk e E Project EdtWindo 000 m Unnamed on COM1 5 S Control Panel pe E Eg Parameters Nam ID Type Setpoint Wizard Length No of Setpoints E 95 SineOut 2 Position vs Time Sine 1
25. c Unnamed on COM Control Panel re E scilloscopes O x dg Unnamed on COMI P NCC ISI SE AE E Event Time Message Source 000290 18 51 582 O00290 18 48 562 OO0290 18 46 555 O00290 18 46 475 OO0290 1 2 45 565 OO0290 1 2 45 565 OO00290 12 10 125 O00290 12 10 125 000290 12 03 277 OO0290 12 03 27 OO00290 1 2 08 420 OO00290 1 2 08 420 Dora 12 06 796 80 12 06 735 O002490 117 55 564 O00290 117 55 562 000290 11 55 562 O00290 11 26 818 O00290 11 26 81 O00290 11 26 021 Dora 11 28 021 Transition Ta Ready To Switch On State ME SW Started Rebooted ME SM Stopped Transition To Error State Err Motor Short Time Overload Transition To Operation Enabled State Transition To Ready To Operate State Transition Ta Ready To Switch On State Transition To Switch On Disabled State Transition To Operation Enabled State Transition Ta Ready To Operate State Transition Ta Ready To Switch On State Transition To Switch On Disabled State Transition To Error State Err 1 Pwr Voltage Too Low Transition To Quick Stop State Transition To Operation Enabled State Transition To Ready To Operate State Transition To Ready To Switch On State Transition To Switch On Disabled State User manual LinMot Talk 1100 21 06 2006 MC SM State Machine MC Si State Machine 5 ME SM State Machine MC Sw State Machine ME Sw Error Handler MC SW State Machine MC SW State Machine MC SW State
26. ce Closed Loop Control 58 325193 Keyz 0000h No Key Kev3 No Kev Kev4 000 Mo Kev Set Key Access Code Mame Value HEX Access Code HEX Key 5592 563591 1 Mote The keys will nat be activated on Ehe controller until a reboot has been processed Press Ehe activate button to reboot Activate Close A maximum of four keys can be set on the controller Under Active Keys all valid installed keys are listed key value and access code A new key can be set by selecting the key name and defining the value and access code With the write button the key and access code are written to the controller As soon as the controller has rebooted click the Activate button the new key will be active if the access code fits Please note Access codes are controller specific They cannot be copied from one controller to another User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 LinMot 3 Quick Setup Guide This chapter helps step by step to set up a system using a E1100 controller and the LinMot Talk 1100 configuration software 3 1 Cabling The following picture shows the connectors on the controller used for a first commissioning with PC only Motor Power Supply X1 Motor Phases X2 if present otherwise on X3 Motor Signals X3 Signal Supply X4 Pinl GND Pin2 24VDC Pin12 SVE if present RS232 to PC X5 Pin2 RS232TX Pin3 RS232RX Pin5
27. e Factor Motor not homed d 5OBEh Motor Current 0 00A Logic Supply Volt 23 74 V tate 04 64h Motor Supply Volt 48 43 V Command Interface mm 1 10mm variable shows in which state the controller is see MostCommony Used state machine diagram In the bottom part of the Most Commonly Used panel the last motion command that was send from 2 Suto Increment Count Nibble Close Name Offs Description Soad Yale Header 0 00 No Operation 0 000 Read Command Send Command The Object Inspector window can be dragged away or closed User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 3 4 Motor Wizard As no motor 15 defined the next step 15 to start the motor setup wizard Press the button x and the following window will appear Look in E Motors 3 E3 Fe FS LinMot Linear Motors Other Motors My Recent Documents Desktop My Documents Sr My Computer File name Files of type Actuator Data Files adf Cancel Places Open as read only As we want to configure a LinMot Motor we choose LinMot Linear Motors and press Open Look in LinMot Linear Motors t e E3 My Recent Documents 6 Desktop My Documents PI My Computer m PS01 37 240 adf 3 TE Files of type Actuator Data
28. ence System Home Position HP 10 mm 43m 347 mm Orn HP Hove to the Initial Position at the End of the Homing Procedure Initial Position IP o D f 347 mm C IP You can define your application specific reference system by assigning any position value to Ehe Home Position All Further position values are based on this system At the end of the homing procedure the motor moves to the Initial Position Then it is ready to execute the motion commands IF the motor has to be homed on a mechanical stop then the Initial Position value should differ From Ehe Home Position Derived Settings Value Comment Minimal Position stroke range limiti 70 mm Maximal Position stroke range limit 2 0 mm Distance C 20 mr Distance D 133 mm Help Wext Finish Cancel At the end press finish If the firmware on the controller is still running an appropriate message will be shown The motor wizard can be run several times e g to setup an external sensor to change the load setup or to change the motor type We rerunning it at the end will be shown a list of parameters which will be changed User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 3 5 Continuous Curve Mode NTI AG To get running the motor for the first time the easiest way is to define a curve which will be run continuously The controller is set to continuous curve mode by selecting Continuous Curve
29. er 000255 45 46 154 Err Supply DigOut x6 Fuse Blown MC SW Error Handler 000255 45 30 110 001Ch Err Supply DigQut x6 Fuse Blown MC SW Error Handler 000237 58 48 577 4 Cfg Err No Motor Defined MC SW Error Handler 000237 53 44 906 Err Supply 5 Fuse Blown MC SW Error Handler 000237 22 18 629 OO0Bh Err Pos Lag Always Too Big MC SW Error Handler 000237 07 38 366 001Ch Err Supply DigDut X6 Fuse Blown MC SW Error Handler 000236 28 06 502 4 Cfg Err No Motor Defined MC SW Error Handler 000236 28 06 501 4 Cfg Err No Motor Defined MC Sw Error Handler 000118 16 07 180 O064h Cfg Err No Motor Defined MC SW Error Handler 00011 7 12 31 544 4 Cfg Err No Motor Defined MC SW Error Handler 000116 44 19 972 O064h Cfg Err No Motor Defined MC SW Error Handler 000116 40 55 933 001Ch Err Supply DigQut XB Fuse Blown MC SW Error Handler Errors Actual Controller Time 000290 24 22 Page 8 35 User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 LinMot 2 5 Oscilloscope The controller s built in oscilloscope which can record up to 4 channels in real time is controlled with the oscilloscope tool A default oscilloscope will be always present which is configured for the most common case X LinMot Talk1100 3 6 Build 20060609 ioj x File Search Controller Services Options Window Tools Manuals He
30. er with an external position sensor the Noise Filter should be disabled Derived Settings P Gain 1 D Gain 3 Al mjs I Gain Al mm s Intergrator Limit 8 Maximal Current 8 Noise Filter Dead Band 0 02 mm It is recommendable to start with the default soft settings because the parameters can be changed any time later on by restarting the motor wizard or by setting 1n the parameter tree directly The Noise Filter option is to reduce the noise from the position feedback sensor at standstill Press finish all wizard settings will now be written to the controller NTI AG User manual LinMot Talk 1100 21 06 2006 Page 21 35 Page 22 35 LinMot Talk 1100 The next step is to define the homing procedure Motor wizard eee es Step 7 9 Homing Home Position Search Move Speed jo o1 mis Mode Mechanical Stop Negative Search The motor moves in negative direction until a mechanical stop is reached This position is assumed to be the Home Position Before motion commands can be executed the motor must be homed Depending on the selected mode the motor searches a mechanical stop and or an electrical switch Derived Settings Value 4 Help lt Back Next gt Finish Cancel The most frequently used homing mode is Mechanical Stop Negative Search In this case the slider will move with the notch towards the stator s front end where no cable is Other mode
31. eserved 0 10 In Target Position 0 Motor Not Homed E Current Controller 11 0 8 11 10 64 0 As i z Errors amp Warnings 12 Clearance Check 0 12 20815 0 E Protected Technology Functions 13 Go To Inital Position 13 Motion Active 0 Actual Position 0 00 mm 31 Cmd Tab IO Interface 14 Linearizing 0 14 Position Band 1 1 Dema Position 0 00 ct Variables a 15 Phase Search 0 15 Position Band 2 Force factor Motor not homed E Oscilloscopes Control Word 003Fh Status Word 40F6h Motor Qurrent 0 00 A L Override Value Op Main State 00h S AN bos L Enable Manual Override Op Sub State 00h EPOR GIC mee Curves Command T able Motion Command Interface Enable Manual Override C 10 mm 4 1 mm Command Category Most Commonly Used ATO mam Command Type No Operation DOOxh Count Nibble Toggle Bits 0h Auto Increment Count Nibble Name Offs Description Scaled Value Int Value Dec Header 0 003 No Operation Read Command Send Command Motion Command Monitoring Window Window Project tree window Page 4 35 User manual LinMot Talk 1100 21 06 2006 NTI A
32. ge 9 35 LinMot LinMot Talk 1100 2 6 Curves With the curve tool motor motion profiles can be easily created joined uploaded downloaded and saved X LinMot Talk1100 3 6 Build 20060609 Ef x File Search Controller Services Options Window Tools Manuals Help 7 15 S z gt NO vr E AE SB on COM Eat wind E nnamed on 7 E Control Panel ar 3 z 5 Parameters H E 05 5 SineOut 2 Position vs Time Sine 1000ms 501 EHE Motion Control Sw 5 Sineln 3 Position vs Time Sine 500 ms 501 H E Controller Configuration SineDutin 1 Position vs Time None 150085 1501 E Motor Configuration E State Machine Setup E Motion Interface H E Position Controller f Current Controller Download Window H E Errors amp Warnings Curves have changed Please download H E Protected Technology Functions H E Cmd Tab 0 Interface E ct Variables Oscilloscopes Messages Errors fA Curves Command T able E F 2 Position vs Time 5 Sineln 3 Position vs Time Sine 500 ms 501 G SineQutin 1 Position vs Time 1500 ms 1501 The curve tool is divided into the edit and the download window The edit window is used to generate merge and modify curves with the following buttons t Ee New Curve Starts the curve wizard which guides through the curve generation
33. hine Setup J E Motion Interface E Run Mode Settings E 16 Bit Interface Scaling E Predef VA Interpolator E PY Streaming Settings E Time Curve Settings EE Master Encoder CAM E winding Settings Position Controller EE Current Controller E Errors amp Wamings E Protected Technology Functions Cmd Tab 0 Interface H Variables Oscilloscopes Messages Errors E Curves Command Table Parameters Path Motion Control Interface Time Curve SettinasiCurve ID Before running the curve it is advisable to define the curve we want to run User manual LinMot Talk 1100 21 06 2006 Page 25 35 LinMot Talk 1100 3 6 Defining Curves Page 26 35 Curves can be easily defined with the curve wizard For this example we will define two sine curve forms over a stroke of 50mm out and in with different speeds which will be joined together Now step by step Open the curve tool by clicking the Show Curves button Ej in the tool button bar Then press the New Curve button i to start the curve wizard Curve Type Selection X Select Curve Type Linear Position Back Next gt Cancel As we want to define a curve in position vs time mode we can keep the default selection and press the next button x Curve ID 1 1001 2 E Curve M
34. ider Mass 1064 9 Next gt Finish Cancel The derived settings show information about the complete motor type article numbers and the most important technical data The next step is to choose the flange for the defining the cooling capability X Motor wizard Step 2 9 Motor Cooling Mounting and Cooling Flange Standard Flange 5 9 PFOx 37x200 Type The bulk of power loss is deduced over the flange The flange selection affects the Firmware temperature model calculation which is used For monitoring purposes Derived Settings Value 4 Help lt Back Next gt Finish Cancel Page 18 35 User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 Longer extension cables will have an effect to the motor s phase resistance In step 3 can be defined 2 cable segments X Motor Wizard E 5 inl x Step 3 9 Extension Cable Setup First Extension Cable Segment Type KOS m Length 2 m Second Extension Cable Segment Type No Extension Cable Y The ohmic resistance of extension cables can be quite high in relation to the motor s phase resistance the firmware knows the total ohmic resistance it can optimize the current control loop to the load If there are extension cables used in the application then that these segment s should be defined here The cable piece that comes directly out of the motor is negligible
35. inear Position mm Linear Position mm 54 00 54 00 47 00 47 00 40 00 40 00 33 00 33 00 25 00 26 00 13 00 13 00 12 00 12 00 5 00 5 00 I 2 00 750 00 33750 1125 00 131250 1500 00 Time ms 2 00 0 00 18750 37500 56250 Now the curves must be downloaded to the controller Therefore press the Show Curves button uil and then the Download Curves into V Controller button Then a warning comes up which has to be confirmed and the progress window will display the actions taken to download the curves NTI AG User manual LinMot Talk 1100 21 06 2006 Page 29 35 3 7 Control Status LinMot Talk 1100 As we have defined now all parameters and curves we will let the motor running For this time we will take over the interface control from the PC So we are interface independent Switch to the control panel with the button then press the start button starting the controller s firmware and wait until the control status panel 15 updated and looks the following X LinMot Talk1100 3 6 Build 20060609 DI xl File Search Controller Services Options Window Tools Manuals Help 95 S z OG xv EGAL E Project Control gt gt Status gt gt J Monitoring Hs Unnamed on COM1 0 6 4 0 1 0 Operation Enabled 0 Connecti
36. ings The minimal settings for this mode are shown next First the mode has to be set X LinMot Talk1 100 3 6 Build 20060609 E Oj x File Search Controller Services Options Window Tools Manuals Help 3 cm ag a Unnamed on COMI 7 gt E x E Project 5 YAI 2 Pos Continuous 8 Va di Rew Data uPD Tue E Parameters C Motion Command Interface Off 1 1450 UInti6 z 05 Triggered A Interpolator Off 0002h 1450h 15 E Motion Control Sw Cc Triggered Time Curves Off 0 1450 UInti6 z Controller Configuration Command Table Mode 0003h 1450h 16 z Motor Configuration C Triggered Command T able 145089 UInt16 C Position Indexing Off DOOAh 1450h Ulnt15 E State Machine Setup Ez Motion Interface C Analog 0004h 1450h Ulnt16 Sca EE a s E Run Mode Settings C Triggered Analog 0008 1450h Ulnt16 a aes C CAM Mode Off 0006h 1450h 18 HE Triggered VA Interpolator Setting O Triggered CAM Curve Off 0008 1450h Ulntl6 E Triggered Curves Settings nope ts lt f Command Table Settings amp A 2 Pos Continuous 0009h 1450h Ulnt16 9 C Continuous Curve 5 1450h Ul
37. lements Entry ID indicates the CT entry which is being edited Entry Name is a descriptive string of max 16 characters Motion Command Category the available commands are fitted into groups for keeping a better overview Motion Command Type specifies the command to be executed in this entry Auto execute new command on next cycle when selected on the next cycle the entry specified under ID of Sequenced Entry will be executed This gives the possibility of defining cycles simple logical sequences ID of Sequenced Entry defines the CT entry executed on the next cycle when Auto execute new command on next cycle 15 activated Apply writes the edited values into the entry Upload from Controller reads and displays the entire command table from the controller Download to Controller writes the on the PC edited table to the controller An application example of the CT can be found in the motion control software user manual Usermanual MotionCtrlSW E1100 pdf NTI AG User manual LinMot Talk 1100 21 06 2006 Page 13 35 2 10 Access Codes Page 14 35 LinMot Talk 1100 On the controller special features or customer specific applications can be protected by a software key This means a key must be activated by an access code which is controller specific pinned to the serial number Under Controller Set Access Code the following window will open Set Access Code X Active Keys For
38. lp 5 S S eco z gt m Ok TESBEOGASEO E Project gt FQ sp m 6 EN ca coy Unnamed on COM1 X amp Control Panel pi pe Parameters fc ct Variables Oscilloscopes 525 525 03 Messages E 45 45 0 225 rors Curves Command T able 37 5 375 045 30 30 p A 0 075 22 5 22 5 0 15 15 0 075 75 0 15 0 225 TS 5 0 3 15 15 0 375 100 200 200 400 500 600 700 800 800 1000 ms Channel 1 MC S Overview Actual Position Channel 2 MC SW Overview Demand Position Channel 3 MC SW Overview Difference Position Channel 4 MC SW Overview Demand Current Oscilloscope Ready The oscilloscope is controlled with the buttons EENE CH1 CHe LH3 CHH The functions are from left Start Abort Start or abort an oscilloscope shot Fit view Displays the recorded channels such as they fit best in the scope window Save Display stores the settings for zoom scaling and offset Recall Display restores the settings for zoom scaling and offset which are previously stored with Save Display Export Data Export data and setups of the last recorded oscilloscope shot Import Data Import and display an oscilloscope shot from file Oscilloscope Settings Switch to setup mask for channels triggers times and modes Show Hide Show and hide the oscilloscope channels NTI AG User manual LinMot Talk 1100 21 06 2006 Pa
39. nd Read Variable Reads the selected variable from the controller once Write Variable Writes the selected variable to the controller Read All Variables Reads from the controller all variables of the section once Read All Variables Cyclically Reads from the controller all variables of the section cyclically The following buttons are only used in special cases Edit Properties The parameter properties can be displayed and changed New Variable In a new generated variable section a new variable can be defined This is a drop down menu which supports different variable types New Bit Variable In a new generated variable section a variable of the type bit can be defined New String Variable In a new generated variable section a variable of the type string can be defined New Float32 Variable In a new generated variable section a variable of the type float32 can be defined New With UPID In a new generated variable section 8 variable can be added by using the UPID from the appropriate parameter User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 LinMot 2 9 Command Table The controller supports the command table CT functionality which means a set of up to 255 motion commands can be stored in this table An example of 1s shown in the following picture X LinMot Talk1100 V3 6 Build 20060609 loj x Fie Search Controller Services Options Window T
40. nt15 E Triggered Command Table Settin f PC Motion Command Interface 1450 Ulntt6 E CAM Mode Settings E Triggered CAM Curves Settings E Pos Indexing Settings E Analog Mode Settings E VAI 2 Pos Cont Settings 16 Bit Interface Scaling E Predef V Interpolator E P Streaming Settings E Time Curve Settings E Master Encoder CAM winding Settings 31 z Position Controller E Current Controller E Errors amp Warnings Protected Technology Functions E Cmd Tab IO Interface el Variables Oscilloscopes Default Messages Errors Curves Command T able JL Parameters Path Motion Control Sw Motion InterFaceYRun Mode SettingsiRun Mode Selection YAI 2 Pos Continuous And then the positions have to be set under Trig Fall Config WPosition and Trig Rise Config WPosition LinMot Talk1100 3 6 Build 20060609 E lol x Fie Search Controller Services Options Window Tools Manuals Help clc z gt NOx ED Project a s 10 mm Unnamed on COM1 Nam Cid tue RawDaa 80 Type Scale Control Panel Parameters I 10 mm 00018640h 1454h 0 0001 mm 05 Max
41. on Status Online 1 Voltage Enable 1 1 Switch On 1 Firmware Status Running INTF stopped 58 Parameters 2 Quick Stop 1 2 Enable Operation 1 Motor Status Switched Off amp E 05 3 Enable Operation 1 SUEITO 0 G E Motion Control Sw 4 0 4 Voltage 5 3 6 1 E Controller Configuration 5 626 1 5 Quick 5158 1 4 EI Motor Configuration L Ab elas On Locked E State Machine Setup f SIN pipiens Motion Interface L 8 Jog Move 0 8 Event Handler Active ME 0 Op State Not Ready to Switch On 2 3 Jog Move 0 9 Special Motion Active 0 E Position Controller 10 Reserved 0 10 In Target Position 0 Motor Not Homed E Current Controller 1 11 Home 0 11 86 64 0 As z Errors amp Warnings E 12 Clearance Check 0 12 2181 0 E Protected Technology Functions 13 Go To Inital PositionO 13 Motion 0 Actual Position 0 00 mm mz Cmd Tab IO Interface 14 Linearizing 0 14 Position Band 1 1 Demand Position
42. ools Manuals Help D gt 58 lt z PON Slk YIGG EG ASIE Project t don COMI Entry ID v Auto execute new command on next cycle SY Control Panel Entry Name ID of Sequenced Entry 2 Goto Pos E erii Motion Command Category Conditions is Dscilosccpes Motion Command Type Wait until In Target Position Messages Errors Curves Command T able Apply 5 Upload from Controller go Download to Controller Command T able modified Please download to controller 5 Type Pet Paz Pa Pa SequencedEnty 1 Curve Time Curve With Default Parameters Curve 1 None 2 Goto Pos VAI Go To Pos Pos 10 mm Vel 1 m s Ace 10 m s 2 Dec 10 m s 2 None 3 Step 20mm VAI Increment Dem Pos Inc 20 mm Vel 1 m s Acc 10 m s 2 Dec 10 m s 2 None 4 Goto Pos B VAI Go To Pos Pos 50 mm Vel 1 m s Ace 10 m s 2 Dec 10 m s 2 5 Wait 1sec 5 Wait 1sec Wait Time Time 1000 ms B Gato Pos C B Goto Pos C VAI Go To Pos Pos 5 mm Vel 1 m s Ace 10 m s 2 Dec 10 m s 2 7 Wait for finish 7 Wait forfinish Wait until In Target Position 8 3 Command Table 7 255 A big variety of commands can be set in this tables such as motion commands conditions sequence directives parameter access This makes the CT to very powerful functional unit The CT entries can be accessed executed via digital inputs on X6 or via interface software The CT tool has the following editing e
43. or iG 80 External Constant Force Force Direction Derived Settings Value Comment Total Moving Mass 1564 g Gravitation force in motor direction OWN External Constant Force Sum of Constant Effective Forces ON ON Current For constant force compensation Current For compensation of dry Friction Factor for compensation of viscous Friction Acceleration Feed Forward factor FF Constant Force FF Friction 0 049 FF Damping 0 Asimis FF Acceleration 0 038 A m s 2 4 Help lt Back Next gt Finish Cancel Page 20 35 User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 LinMot With the next and last step the position controller s parameters will be Set up igi ii x Step 6 9 PID Position Controller PID Position Controller Setting P Gain Ajmm Set To Default Soft P 1 D 3 I 0 D Gain Almis Set To Default Stiff P 3 D 8 1 0 I Gain Aj mm s Noise Filter Dead Band 0 02 mm Enable Noise Filter Beside the feed Forward parameters see previous step the PID controller setup influences the control behavior For the most applications it is possible to achieve good results with one of the given default settings no additional loop tuning necessary The Noise Filter eliminates noise From the position Feedback sensor when the motor stands still On Applications which require high positioning accuracy typically togeth
44. ot Talk1 100 3 6 Build 20060609 ial x File Search Controller Options Window Tools Manuals Help D gt oe gt 2 2 E Project Control 1 Status 224 Monitoring U d on COM1 S 1000012808 D Switch On 1 0 Operation Enabled Q Connection Status Online 88 P 1 Voltage Enable 1 1 Switch On Active 1 Firmware Status Running INTF stopped aramexers 2 Quick Stop 1 2 Enable Operation 1 Motor Status Switched Off cC Variables Oscilloscopes Messages Errors fl Curves Command T able Name Object Type Description PA 7 Error cknowledge 0 7 Warning 8 Jog Move 0 amp Event Handler Active 8 Jog Move 0 S Special Motion Active 10 Reserved 0 10 In Target Position TIS Hottie d 0 11 Homed 12 Clearance Check 0 2 ube 2688 1 What is the Object Inspector V Open Object Inspector after Login B Switch On Locked 4 Voltage Enable 5 Quick Stop 2 0 Cfg Err 1 F ee Op State Error No Motor Defined 1 Ga Ta Initsl Pasitien 13 Motion amp ctive 0 Actual Position 0 00 mm ee 1 Demand Position 0 00 mm 12 0 Forc
45. pecific Interface Software not installed Switch S3 Interface on controller s bottom side must be set to On In case of LinRS this switch must be set to off when configuring over RS232 and set to on when running the LinRS interface Paramter with UPID 2008h set to disable Baud Rate and Node ID selection not correctly set Parameters and or ID switches on controller s front User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 Smart solutions are www LinMot com NTI AG LinMot Tel 41 0 56 419 91 91 Haerdlistrasse 15 Fax 41 0 56 419 91 92 CH 8957 Spreitenbach office LinMot com Switzerland www LinMot com LinMot Inc Phone 1 877 546 3270 N2444 Broad Street 1 262 728 22699 Delavan Fax 1 800 463 8708 WI 53115 office US LinMot com USA www LinMot com LinMot products are available from more than 80 Distributors worldwide For the distribution nearest you visit http www LinMot com NTI AG User manual LinMot Talk 1100 21 06 2006 Page 35 35
46. s support homing on home switches limit switches indexer inputs or some combinations of those User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 LinMot Step 8 is to define the slider home position This is for the motor and controller the most important value It defines at the home position where the slider is positioned relative to the stator This defines how far the motor in each direction is able to move Motor Wizard E 1 1 x step 8 9 Homing Il Distance from Stator End to Slider End at the Home Position B ad mm B 500 mm Distance 4 io Distance B 145 mm The controller needs to know Ehe physical position of the slider relative to the stator Please determine either distance 4 or distance B when the motor stands at the Home Position mechanical stop or switch Hence you can move the motor manually En Ehe Home Position Then vou can measure or B stator end to slider end and enter the corresponding value The other value is calculated by the software IF the slider end is inside the stator tube then you have to give your entry a negative sign Comment Slider Home Position Corresponds to distance 4 NTI AG User manual LinMot Talk 1100 21 06 2006 Page 23 35 Page 24 35 LinMot Talk 1100 With the last wizard step the user s coordinate system can be defined Motor Wizard E E 48 m x step 9 9 Homing Ill Definition of the Application Refer
47. w nnamed on 7 SY Control Panel t mI E Eg Parameters Name ID Type Setpoint Wizard Lengh No ofSetpoints 9 El 093 B 2 Position vs Time Sine 1000 ms 501 E EI Motion Control SW Ly 3 Position vs Time Sine 500 ms 501 H E Controller Configuration E Motor Configuration E State Machine Setup E Motion Interface E Position Controller EE Current Controller Download Window 91 fig Upload from Controller Download into Controller H E Errors amp Warnings H E Protected Technology Functions Name Tup A z mm H E Cmd Tab IO Interface ID Type Setpoint Wizard Lengh No of Setpoints FH e Variables Oscilloscopes Messages t Errors Curves Command T able then press the Join Curves button i The curve settings mask for the joined curve appears Curve Settings X Curve ID 1 100 fi zi Curve Mame 5860 Setpoint Calculation Wizard None Curve Length 5010 5 lt Back Next gt Cancel User manual LinMot Talk 1100 21 06 2006 NTI AG LinMot LinMot Talk 1100 LinMot We will set the curve name to SineOutIn and make sure the curve ID 1s 1 The curve length is proposes as the sum of the curve segment times Press Next and Finish The curve for the continuous curve mode is now defined and has according to
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