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User Manual MC SW - LinMot e

1. Page 58 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 127 VAI Go To Cmd Tab Var2 Pos From Act Pos And Act Vel 0D7xh Name Byte Description Type Unit Offset Header 0 0D7xh VAI Go To Cmd Tab Var2 Pos From Act Ulnt16 Pos And Act Vel 1 Par 2 Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 Acceleration Ulnt32 1E 5 m s 3 Par 10 Deceleration Ulnt32 1E 5 m s Go to the target position defined with the command table Variable 2 UPID 1E73h starting from actual position and with actual velocity 4 3 128 VAI Stop at Angle OD8xh Name Byte Description Type Unit Offset Header 0 OD8xh VAI Stop at Angle Ulnt16 1 Par 2 Angle Ulnti6 360 72 16 2 Par 4 Deceleration UInt32 1E 5 m s This command can be used to stop the motor at a specified angle with the specified deceleration deceleration to velocity zero This command could only be used on ABZ sensor feedback on X13 and if 360 one revolution is a power of 2 number 4 3 129 VAI Start Trig Rise Config VAI Command 0DExh Name Byte Description Type Unit Offset Header ODExh VAI Start Trig Rise Config VAl Command Ulnt16 This command starts the VAI motion command defined with the parameters in Trig Rise Config of the Triggered VA Interpolator Run Mode settings 4 3 130 VAI Start Trig Rise Config VAI Command 0DFxh Byte Descriptio
2. This command sets the curve offset to the actual demand position and scales the curve the way that the target position is reached at the end the scaling range is 2000 2000 if this range is exceeded an error will be generated then starts the specified time curve with the default curve speed parameter 4 3 48 Time Curve To Pos With Adjustable Time 043xh Name Byte Description Type Unit Offset Header 0 043xh Time Curve To Pos With Adjustable Time Ulnti6 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Target Position SInt32 0 1 um 3 Par 8 Curve Time SInt32 10us This command sets the curve offset to the demand position and scales the curve the way that the target position is reached at the end the scaling range is 2000 2000 if this range is exceeded an error will be generated The curve time is taken from the motion command NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 39 117 r C LinMot Motion Control SW 4 3 49 Time Curve With Adjustable Offset Time Scale amp Amplitude Scale 044xh Name Byte Description Type Unit Offset Header 0 044xh Time Curve With Adjustable Offset Time Ulnt16 Scale amp Amplitude Scale 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Offset Slnt32 0 1 um 3 Par 8 Time Scale 0 200 Ulnti6 0 01 4 Par 10 Amplitude Scale 2000 2000 Slnt16 0 1
3. sese 80 VAJI Go To POS CAU icenian a aa oo ciao code pelota 80 VAJI Increment Dem Pos 3AIxh eeessseeeeeeeee eene 80 VAJI Increment Target Pos SAZNN uiis i etn iR o reote Lost 61 VAJI Go To Pos From Act Pos Starting With Dem Vel 0 and Dem Acc 0 81 VAJI Increment Act Pos Starting With Dem Vel 0 and Dem Acc 0 3A6xh 82 VAJI Go To Pos On Rising Trigger Event 3AAxh eese 82 VAJI Increment Target Pos On Rising Trigger Event 3ABxh 83 VAJI Go To Pos On Falling Trigger Event 3ACxh esses 83 VAJI Increment Target Pos On Falling Trigger Event 3ADxh 83 Predef VAJI Go To Pos 3B0xh ossosnnseesosseseossnsoosssseesssserssssssessssseessoseesssse 84 Predef VAJI Increment Dem Pos 3BIxh eese 54 Predef VAJI Increment Target Pos 3B2xh eese 54 Predef VAJI Go To Pos From Act Pos Starting With Dem Vel 0 and Dem Acc OA SBR bia aa eet tes chats Sade tette ce Iu 84 Page 8 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW LinMot 4 3 241 Predef VAJI Go To Pos On Rising Trigger Event 3BAxh suse 85 4 3 242 Predef VAJI Increment Target Pos On Rising Trigger Event 3BBxh 85 4 3 243 Predef VAJI Go To Pos On Falling Trigger Event 3BCXxh 85 4 3 244 Predef VAJI Increment Target Pos On Falling Trig
4. eese 39 4 3 46 Time Curve With Default Parameters From Act Pos 04 xh 39 4 3 47 Time Curve To Pos With Default Speed 042xh cccsccccccessseceseesseceeessseceeeesaes 39 4 3 48 Time Curve To Pos With Adjustable Time 043xh scs 39 4 3 49 Time Curve With Adjustable Offset Time Scale amp Amplitude Scale 044xh 40 4 3 50 Time Curve With Adjustable Offset Time amp Amplitude Scale 045xh 40 4 3 51 Time Curve With Adjustable Offset Time amp Amplitude Scale On Rising Trigger Event OF OM eset sonet iru e re bet b Ungu ete tU ete aloes Pese eer Seuss a cela 40 4 3 52 Time Curve With Adjustable Offset Time amp Amplitude Scale On Falling Trigger Event 0473n uses ede i oa caia ud eve ied Cacti a iei 40 4 3 53 Time Curve To Pos With Default Speed On Rising Trigger Event 04Axh 41 4 3 54 Time Curve To Pos With Default Speed On Falling Trigger Event 04 Cxh 41 4 3 55 Time Curve To Pos With Adjustable Time On Rising Trigger Event O4Exh 41 Page 4 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW LinMot 4 3 56 Time Curve To Pos With Adjustable Time On Falling Trigger Event 04F xh 41 4 3 57 Modify Curve Start Address in RAM 050xh sss 42 4 3 58 Modify Curve Info Block 16 Bit Value in RAM 05 xh sse 42 4 3 59 Modify Curve Info Block 32 Bit Value in RAM
5. 1y5xh Name Byte Description Type Unit Offset Header 0 1ybxh Encoder CAM y Define Curve To Pos Uinti6 y 1 2 1 Par 2 Curve ID Uint 6 1 100 2 Par 4 Curve Start Count Sint32 1 Incr 3 Par 8 Amplitude Scale Sint16 0 1 4 Par 10 CAM Length In Counts Sint32 1 Incr The values for the amplitude scale and cam length are updated immediately for this reason this command should only used outside the cam y old and new definition For changing the amplitude scale and or length during cam y is active use the command 1y8xh instead 4 3 161 Encoder Cam y Enable 1y6xh Byte Description Unit Offset Header 0 1y6xh Encoder Cam y Enable y 1 2 Uinti6 4 3 162 Encoder Cam y Disable 1y7xh Byte Description Unit Offset Header 1y7xh Encoder Cam y Disable y 1 2 4 3 163 Encoder Cam y Change Amplitude Scale and Length 1y8xh Name Byte Description Type Unit Offset Header 0 1y8xh Encoder Cam y Define Curve To Pos Uinti6 y 1 2 1 Par 2 Amplitude Scale Sint16 0 1 2 Par_ 4 CAM Length In Counts Sint32 1 Incr The new values for the amplitude scale and cam length are updated at next cam y start event 4 3 164 Start Command Table Command 200xh Name Byte Description Type Unit Offset Header 0 200xh Start Command Table Command Ulnt16 1 Par 2 Command Table ID Ulnti6 1 255 Page 68 117 User Manual Mo
6. 0010h Err Servo controller power bridge phase 1 too hot Controller Phi Too Hot Recommended actions check motor wiring 0011h Err Servo controller power bridge phase 1 too hot Controller Ph1 Too Hot Recommended actions check motor wiring 0012h Err Servo controller power bridge phase 2 too hot Controller Ph2 Too Hot Recommended actions check motor wiring 0013h Err Servo controller power bridge phase 2 too hot Controller Ph2 Too Hot Recommended actions check motor wiring 0014h Err DC link temp sensor has detected over temperature Controller Pwr Too Hot Recommended actions check wiring 0015h Err Regeneration resistor switch hot Controller RR Hot Calc Recommended actions check RR configuration Turn On level Resistance etc check RR sizing 0016h Err Temp sensor on X3 has detected over temperature Controller X3 Too Hot Recommended actions check motor wiring 0017h Err Temp sensor on controller s PCB board reports core Controller Core Too Hot being hot 0018h Err Servo controller power bridge phase 1 may be Power Bridge Ph1 defective Defective Recommended actions contact support 0019h Err Servo controller power bridge phase 1 may be Power Bridge Ph1 Defective defective Recommended actions contact support 001Ah Err Servo controller power bridge phase 2 may be Power Bridge Ph2 defective Defective Recommended actions contact support NTI
7. Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam length UPID1527h for triggered cam motions NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 45 117 e LinMot Motion Control SW 4 3 68 Setup Encoder Cam On Falling Trigger Event With Delay Counts Amplitude scale and Length O6Exh Name Byte Description Type Unit Offset Header 0 O6Exh Setup Encoder Cam On Fall Trigger Event Ulnt16 With Delay Counts Amplitude scale and Length 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Curve Start Delay Count SInt32 1 Incr 3 Par 8 Amplitude Scale Sint16 0 196 4 Par 10 Curve length in Counts SInt32 1 Incr Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam length UPID1527h for triggered cam motions 4 3 69 Start VAI Encoder Position Indexing 070xh Name Byte
8. Page 88 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 5 2 VAJ Interpolator The VAJ Interpolator generates a position curve from one position to another due to the parameter values of jerk maximal acceleration maximal deceleration and maximal speed A new target position can be set even if the old target position was not reached Position ay N Position in mm O WD Oo 0 0 02 0 04 0 06 0 08 Velocity in m s 0 06 Time in s Acceleration o uv Ss E c 2 i m o ol o lt x 0 04 Time in s Jerk in m s3 0 04 Time in s NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 89 117 5 2 1 Input Variables Motion Control SW Name Type Valid range Unit Target Position SInt32 8000 0000h 7FFF FFFFh 0 1um Maximal Speed Ulnt32 Oh 7FFF FFFFh 1E 6m s Maximal Acceleration Ulnt32 Oh 7FFF FFFFh 1E 5m s Maximal Deceleration Ulnt32 Oh 7FFF FFFFh 1E 5m s Jerk Ulnt32 Oh 7ZFFF FFFFh 1E 4m s 5 2 2 Output Variables Valid range Position SInt32 8000 0000h 7FFF FFFFh 0 1um Velocity SInt32 8000 0000h 7FFF FFFFh 1E 6m s Acceleration SInt32 8000 0000h 7FFF FFFFh 1E 5m s Jerk SInt32 8000 0000h 7FFF FFFFh 1E Am s Page 90 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e M
9. Position and velocity streaming mode Preferred streaming mode The time stamp is generated by the interface receive time stamp of TO the streaming period has to be in the time range 2 5ms Less sensitive to deviations of the streaming period 4 3 40 P Stream With Slave Generated Time Stamp and Configured Period Time 032xh Name Byte Description Type Unit Offset Header 0 032xh P Stream With Slave Generated Time Stamp Ulnt16 and Configured Period Time 1 Par 2 Position SInt32 0 1 um Position streaming mode The time stamp is generated by the interface receive time stamp of TO the streaming period has to be in the time range 2 5ms For good results the streaming period has to be as constant as possible For the derivation of the velocity and the acceleration the configured streaming period time 14E6h is taken to minimize communication time jittering 4 3 41 PV Stream With Slave Generated Time Stamp Stamp and Configured Period Time 033xh INE Taal Description Type Unit Byte Offset Header 0 033xh PV Stream With Slave Generated Time Ulnt 6 Stamp Stamp and Configured Period Time 1 Par 2 Position SInt32 0 1 um 2 Par 6 Velocity SInt32 1 um s This command can be used for cyclic streaming of position and velocity setpoints This is possible if master provides NC functionality The commands have to be sent strictly cyclic in order to prevent buffer under
10. With this command all the curve parameters are defined 4 3 50 Time Curve With Adjustable Offset Time amp Amplitude Scale 045xh Name Byte Description Type Unit Offset Header 0 045xh Time Curve With Adjustable Offset Time amp Ulnt16 Amplitude Scale 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Offset Slnt32 0 1 um 3 Par 8 Curve Time SInt32 10us 4 Par 12 Amplitude Scale 2000 2000 SInt16 0 1 With this command all the curve parameters are defined unlike command 44xh this command defines the absolute curve time 4 3 51 Time Curve With Adjustable Offset Time amp Amplitude Scale On Rising Trigger Event 046xh Name Byte Description Type Unit Offset Header 0 046xh Time Curve With Adjustable Offset Time amp Ulnt16 Amplitude Scale On Rise Trigger Event 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Offset Slnt32 0 1 um 3 Par 8 Curve Time SInt32 10us 4 Par 12 Amplitude Scale 2000 2000 SInt16 0 1 On a rising trigger event start command 045xh 4 3 52 Time Curve With Adjustable Offset Time amp Amplitude Scale On Falling Trigger Event 047xh Name Byte Description Type Unit Offset Header 0 047xh Time Curve With Adjustable Offset Time amp Ulnt16 Amplitude Scale On Falling Trigger Event 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Offset Slnt32 0 1 um 3 P
11. Offset Header 0 102xh Encoder CAM Go To Sync Pos Ulnti6 4 3 154 Encoder Cam Set Value 104xh Name Byte Description Type Unit Offset Header 0 104xh Encoder CAM Set Value Ulnt16 1 Par 2 Counter Value SInt32 1 Incr Page 66 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 4 3 155 Encoder Cam y Define Curve With Default Parameters 1y0xh At the moment two cams can be defined In the following y 1 stands for cam 1 and y 2 stands for cam 2 Motion Control SW Name Byte Description Type Unit Offset Header 0 1yOxh Encoder Cam y Define Curve With Default Ulnt16 Parameters y 1 2 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Start Count SInt32 1 Incr 4 3 156 Encoder Cam y Define Curve From Act Pos 1y1xh Name Byte Offset Description Type Unit Header 0 1y1xh Encoder Cam y Define Curve From Act Pos Ulnt16 y 1 2 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Curve Start Count SInt32 1 Incr If the encoder value is in the range of cam y the motor has to be at the start position of the cam y during the command setup to set the position start point of cam y correctly 4 3 157 Encoder Cam y Define Curve To Pos 1y2xh Name Byte Description Type Unit Offset Header 0 1y2xh Encoder Cam y Define Curve To Pos Ulnti6 y 1 2 1 Par 2 Curve ID U
12. Motion Control SW C1100 Servo Controller Series C1200 Servo Controller Series E1200 Servo Controller Series E1400 Servo Controller Series Wn SS AAA AAR Motion Control SW User Manual Q 2015 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 Document Version 6 4 Whp dc November 2015 Motion Control SW LinMot TABLE OF CONTENT l SYSTEM OVERVIEW siscciiissscdeeiecosteciecassdeacerstecdavscseavepacassecscccserasvesoises 1 1 REFERENCES 25 dots HD E RR NI E OUS 1 2 DEFINITIONS ITEMS SHORTCUTS cccsessccccececessessnseceeeseceeeeserseaeees 1 3 DATATYPE Soa ciotitetveststoc tere pe t iip e e e eee 2 MOTION CONTROL INTERFACES eee ee ee eee eee eene eese enuu 3 STATE MACHINE eroeresessseesteevseteweeiesvueo ces evo neue ew sva rus eu va pec aeo Roe
13. eese 52 VAI Predef Acc Increment Target Pos 0B2xh sese 52 VAI Predef Acc Go To Pos From Act Pos And Act Vel 0B3xh 53 VAI Predef Acc Go To Pos From Act Pos Starting With Dem Vel 0 OB4xh 53 VAI Predef Acc Go To Pos After Actual Command OBGxh 53 VAI Predef Acc Go To Pos On Rising Trigger Event OBAXN 53 VAI Predef Acc Increment Target Pos On Rising Trigger Event OBBxh 53 VAI Predef Acc Go To Pos On Falling Trigger Event 0BCxh 54 VAI Predef Acc Increment Target Pos On Falling Trigger Event OBDxh 54 VAI Dec Acc Go To Pos 0COXxh essen eee 54 VAI Dec Acc Increment Dem Pos OC Ixh eese 54 VAI Dec Acc Increment Target Pos 0C2xh eese 54 VAI Dec Acc Go To Pos From Act Pos And Act Vel 0C3xh 55 VAI Dec Acc Go To Pos From Act Pos Starting With Dem Vel 0 0C4xh 55 VAI Dec Acc Go To Pos With Max Curr 0C5xh esses 55 VAI Dec Acc Go To Pos From Act Pos And Vel With Max Curr OC6xh 56 VAI Dec Acc Go To Pos From Act Pos And Vel 0 With Max Curr 0C7xh 56 VAI Dec Acc Go To Pos After Actual Command OC8Xh 56 VAI Dec Acc Go To Pos On Rising Trigger Event 0CAxh 57 VAI Dec Acc Increment Target Pos On Rising Trigger Event OCBxh 57 VAI Dec Acc Go To Pos On
14. 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s This command sets a new target position and defines the maximal velocity acceleration and deceleration for going there The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the actual position The actual position is the effective motor position This command can be used to perform a retraction move after a press command If the position increment argument is zero this command defines the actual motor position as new setpoint 4 3 15 VAI Increment Act Pos Starting With Dem Vel z 0 016xh Name Byte Description Type Unit Offset Header 0 016xh VAI Increment Act Pos Starting With Dem Ulnt16 Vel 0 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s This command starts the new VAI setpoint generation from the actual position and the start velocity is forced to zero This command defines the maximal velocity acceleration and deceleration for going to the target position The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the actual position The actual position is the effective motor positi
15. 3 14State 14 Error Behaviour Quick Stop Most of the errors which can occur during an active motion cause a quick stop behavior to stop the motion After the quick stop is finished the motor is no longer position controlled 3 15State 15 Going To Position Setting the Go To Position bit in the control word the servo moves to the defined position recommendable for example after an error to move to a defined position again 3 16State 16 Jogging Setting the Jog Move bit in the control word the servo moves either a defined position increment or to the maximal position with a limited speed Releasing the bit will stop the motion 3 17State 17 Jogging Setting the Jog Move bit in the control word the servo moves either a defined position decrement or to the minimal position with a limited speed Releasing the bit will stop the motion 3 18State 18 Linearizing The linearizing state is used to correct position feedback parameters to improve the linearity of the position feedback 3 19State 19 Phase Searching The phase search is only defined for three phase EC motors with hall switches and ABZ sensors to find the commutation offset for to the sensor It cannot be guaranteed that this feature will work for all kinds of EC motors The found offset can be found in the variable section Calculated Commutation Offset UPID 1C1Bh and has to be set manually to the parameter Phase Angle UPID 11F2h 3 20State 20 Special Mo
16. Direct 2 Inhibited 3 Delayed 4 Inhibited amp Delayed 7 2 2 1 Direct Trigger Mode In the Direct Trigger Mode copies the trigger input directly copied to the trigger output which is used by the MC SW No parameter configuration is needed for this mode Trigger In Trigger Out NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 99 117 Motion Control SW 7 2 2 2 Inhibited Trigger Mode The Inhibit Trigger Mode can be used to debounce a jittering trigger input without delay This method doesn t increase the noise immunity Trigger In Trigger Out Parameter Name UPID Description Rise Inhibit Time 170Dh Inhibit time after rising edge of trigger in signal tir Fall Inhibit Time 170Eh Inhibit time after falling edge of trigger in signal tir 7 2 2 3 Delayed Trigger Mode The Delayed Trigger Mode can be used to delay an action following the rising or falling trigger event Trigger In Trigger Out Parameter Name UPID Description Rise Delay Time 170Fh Trigger Out delay time after rising edge of Trigger In signal tar Fall Delay Time 1710h Trigger Out delay time after falling edge of Trigger In signal tar Page 100 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 7 2 2 4 Inhibited amp Delayed Trigger Mode The Inhibited amp Delayed Trigger Mode first de
17. N O Reserved n Co O Reserved Normal Operation Warn Flag Of Interface SW layer A alo Interface Warn Flag Normal Operation Warn Flag Of Application SW layer c1 O Application Warn Flag Normally the warn word bits are used to react in conditions before the controller goes into the error state E g a typical reaction on the warning Motor Temperature Sensor would be a stop of the machine before the controller goes into the error state and the motor goes out of control to avoid crashes Page 20 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 4 Motion Command Interface 4 1 Motion Command Interface The motion command interface consists of one word that contains the command ID and up to 16 command parameter words Example VA Interpolator 16 bit Go To Absolute Position ile Command Header with ID Go To Absolute Position Immediate 2 1 Command Parameter Position 3 2 Command Parameter Maximal Speed 4 3 Command Parameter Acceleration 5 4 Command Parameter Deceleration 6 16 5 15 Command Parameter Not used 4 1 1 Command Header Master ID Sub ID Command Count 15 14 113 12 11 10 9 8 7 6 5 4 3 2 1 0 The header of the Motion command is split into three parts e Master ID e SubID e Command Count 4 1 1 1 Master ID The master ID specifies the command group 4 1 1 2 Su
18. Par 2 Interface Control Word Ulnt16 This command allows writing the control word through the motion command interface The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer other ways to access the control word directly Mostly a direct access is more comfortable than the way over the motion command interface 4 3 3 Write Live Parameter 002xh Name Byte Description Type Unit Offset Header 0 002xh Write Live Parameter Ulnt16 1 Par 2 UPID Unique Parameter ID Ulnt16 2 Par 4 Parameter Value the Unit depends on Parameter Div Div This command allows writing any live parameters ram value through the motion command interface The parameter has to be specified by its UPID Unique Parameter ID In order to keep the interface as simple as possible any parameter can be accessed as 32bit integer value The controllers operating system will filler out the relevant number of bits for parameters with smaller data size e g only the lowest bit is considered for Boolean parameters The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer other ways to read and write parameter values directly Mostly a direct access is more comfortable than the way over the motion command interface 4 3 4 Write X4 Intf Outputs with Mask 003xh Name Byte Description Type Unit Offset Header 0 003xh Write X4 Intf Outputs with Mas
19. argument to the Actual Position value relative move The command execution starts one cycle after the command has been sent The setpoints Demand Position Demand Velocity Demand Acceleration and Demand Jerk are calculated by the internal Velocity Acceleration Jerk Interpolator VAJI This command initializes the VAJI with the Actual Position Demand Position Actual Position and sets the Demand Velocity and Demand Acceleration values to zero This command should be used if the Actual Position does not match with the current Demand Position value but it can be assumed that the motor stands still Actual Velocity and Actual Acceleration assumed to be zero e g because the motor stands on a hard stop This can happen after a Press command where the actual motor position is defined through external conditions and the motor could not and had not to follow the demand position By starting this command the former accepted difference between Actual Position and Demand Position can be eliminated With this command a retraction move for a certain distance command argument Position Increment can be performed If the Position Increment value is zero this command can be used to reset the Target Position and the Demand Position value exactly to the Actual Position 4 3 233 VAJI Go To Pos On Rising Trigger Event 3AAxh Name Byte Description Type Unit Offset Header 0 3AAxh VAJI Go To Pos On Rising Trigger Event Ulnt16
20. e Motion Control SW LinMot 4 3 10 VAI Increment Dem Pos 011xh Name Byte Description Type Unit Offset Header 0 011xh VAI Increment Dem Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s This command sets a new target position and defines the maximal velocity acceleration and deceleration for going there The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the demand position value The demand position is the actual position setpoint on which the motor is controlled The demand position value moves towards the target position value while a motion command is in execution 4 3 11 VAI Increment Target Pos 012xh Name Byte Description Type Unit Offset Header 0 012xh VAI Increment Target Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s This command sets a new target position and defines the maximal velocity acceleration and deceleration for going there The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the former target position The target
21. gt Current 0 gt H Bridges Quick Stop disabled Operation 3 Operation disabled Position controller active Motion Commands Enable Operation disabled Operation enable Position controller active Motion Commands enabled Abort Quick Stop position control rests active motion command is cleared Operation Freeze motion Quick Stop position control rests active Freeze Target position not cleared curves motions are aborted Operation Rising edge will reactivate motion command 6 Go To Position Go To Position Go to fixed parameterized Position Wait for release of signal 7 Error Acknowledge 8 Jog Move 9 Jog Move Jog Move 10 Special Mode Special Mode Special Mode 11 Stop Homing Homing At startup bit 11 Status word is cleared until procedure is finished Error Acknowledge Rising edge of signal acknowledges error Jog Move oj jo jio o o Home 12 Clearance Check 13 Go To Initial Position Go To initial Position Rising edge will start go to initial position 14 Reserved Reserved 1 5 Stop Phase Search Phase Search Phase Search Enable Phase Search Movements Stop Clearance Check Clearance Check Enable Clearance Check Movements O Oo io Page 18 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW LinMot 3 23 Status Word Following table shows the meaning of th
22. 052xh sss 42 4 3 60 Modify Curve Data Block 32 Bit Value in RAM O054xh esses 43 4 3 61 Modify Curve Data Block 64 Bit Value in RAM O055xh esses 43 4 3 60 Modify Curve Data Block 96 Bit Value in RAM O056xh cesses 44 4 3 68 Setup Encoder Cam On Rising Trigger Event With Delay Counts 069xh 44 4 3 64 Setup Encoder Cam On Rising Trigger Event With Delay Counts Target Pos nd Length OOA UI aqu aiccec ede du Qus cet amat ae dina OE ie i I DD APER du ata a 44 4 3 60 Setup Encoder Cam On Falling Trigger Event With Delay Counts 06Bxh 45 4 3 66 Setup Encoder Cam On Falling Trigger Event With Delay Counts Target Pos and Length 00 WN ceases ta inc crisis San Peri a wasted eremitae Feu Ro aet ty det sek dote idus 45 4 3 67 Setup Encoder Cam On Rising Trigger Event With Delay Counts Amplitude scale and Length 06Dxh o ecco qu ea uoc was o odd cc Bia a utu ad aeu a Ouest deae 45 4 3 68 Setup Encoder Cam On Falling Trigger Event With Delay Counts Amplitude SCUle and Length OREXI a s tetra Die nee ate iU d Hesiod d sad ines eI a Lud 46 4 3 69 Start VAI Encoder Position Indexing 070xh eee 46 4 3 70 Start Predef VAI Encoder Position Indexing 07 Ixh esses 46 4 3 71 Stop Position Indexing and VAI Go To Pos 07Exh sse 46 4 3 72 Stop Position Indexing and VAI Go To Pos 07FXxh cesses
23. 1 Par 2 Target Force Sinti6 0 1 N This command can be used to change the target force during the force control mode 4 3 221 VAI Go To Pos With Higher Force Ctrl Limit and Target Force 383xh Name Byte Description Type Unit Offset Header 0 383xh VAI Go To Pos With Higher Force Ctrl Limit Ulnt16 and Target Force 1 Par 2 Target Position Sint32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Force Limit Sint16 0 1N 5 Par_ 16 Target Force Sint16 0 1 N Moves to the defined target position if the measured force reaches the higher force limit the controller switches to the force control mode with target force target force To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh 4 3 222 VAI Go To Pos With Lower Force Ctrl Limit 384xh Name Byte Description Type Unit Offset Header 0 384xh VAI Go To Pos With Lower Force Ctrl Limit Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Force Limit Sint6 0 1 N Moves to the defined target position if the measured force reaches the lower defined value the controller switches to the force control mode with target force force limit To change back to position control mode u
24. 1 Installation_Guide_C1100 pdf www linmot com 1 Installation_Guide_C1250 pdf www linmot com 1 Installation Guide E1200 pdf www linmot com 2 Installation Guide E1400 pdf www linmot com 3 Usermanual LinMot Talk pdf www linmot com The documentation is distributed with the LinMot Talk configuration software or can be downloaded from the Internet from the download section of our homepage 1 2 Definitions Items Shortcuts Shortcut Meaning LM LinMot linear motor OS Operating system Software MC SW Motion Control Software Intf Interface Software Appl Application Software VAI VA Interpolator Max velocity limited acceleration position interpolator Pos Position Vel Velocity Acc Acceleration Dec Deceleration UPID Unique Parameter ID 16 bit 1 3 Data types Type Range Format Num of bytes Bool Boolean False True 1 8 Byte 0 255 1 Char ASCII 1 String Array of char last char 00h X SInt16 92768 32 767 2 Ulnt16 0 65 535 2 SInt32 2147 483 648 2147 483 647 4 UInt32 0 4 294 967295 4 Float 4 Page 10 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW LinMot 2 Motion Control Interfaces For controlling the behavior of the motion control SW two different Interfaces are available For controlling the main state machine a bit coded control word can be used For controlling
25. 1 Par_ 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Deceleration Ulnt32 1E 5 m s 5 Par 18 Jerk Ulnt32 1E 4 m s This command defines a new VAJI motion command see description of command VAJI Go To Pos 3A10xh The command will be started one cycle after each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new VAJI motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter lt UPID gt 1039 Page 82 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 4 3 234 VAJI Increment Target Pos On Rising Trigger Event 3ABxh Name Byte Description Type Unit Offset Header 0 3ABxh VAJI Increment Target Pos On Rising Ulnt16 Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Deceleration Ulnt32 1E 5 m s 5 Par 18 Jerk Ulnt32 1E 4 m s This command defines a new VAJI motion command relative move see description of co
26. 16 Bit Increment Act Pos 095xh Name Byte Description Type Unit Offset Header 0 095xh VAI 16 Bit Increment Act Pos Ulnt16 1 Par 2 Position Increment SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 79 VAI 16 Bit Increment Act Pos Starting With Dem Vel 0 096xh Name Byte Description Type Unit Offset Header 0 096xh VAI 16 Bit Increment Act Pos Ulnt16 1 Par 2 Position Increment SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 80 VAI 16 Bit Stop 097xh Name Byte Description Type Unit Offset Header 0 097xh VAI 16 Bit Stop Ulnt16 irate 2 Deceleration Ulnt16 Scaled Page 48 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 81 VAI 16 Bit Go To Pos After Actual Command 098xh Name Byte Description Type Unit Offset Header 0 098xh VAI 16 Bit Go To Pos After Actual Ulnt16 Command 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled This command waits until the actual motion setpoint generation has finished then starts the new defined VAI moti
27. 47 4 3 73 VAI 16 Bit Go To Pos O090xh o cccccccccccssssecccccececesnenseceeecececsesenssseceeeeeceesensnsaaees 47 4 3 74 X VAI 16 Bit Increment Dem Pos 091xh eese enne 47 4 3 75 VAI 16 Bit Increment Target Pos 092xh eese 47 4 3 76 VAI 16 Bit Go To Pos From Act Pos And Act Vel 093xh sess 46 4 3 77 VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 094xh 48 4 3 78 VAI 16 Bit Increment Act Pos 095xh essere 48 4 3 79 VAI 16 Bit Increment Act Pos Starting With Dem Vel 0 096xh 48 4 360 VALIO Bit Stop 09 ZI costo eie e beUi te a PE ERSTER 46 4 3 81 VAI 16 Bit Go To Pos After Actual Command 096xh cessus 49 4 3 82 VAI 16 Bit Go To Pos On Rising Trigger Event 09Axh eese 49 4 3 83 VAI 16 Bit Increment Target Pos On Rising Trigger Event 09Bxh 49 4 3 84 VAI 16 Bit Go To Pos On Falling Trigger Event 09Cxh se 49 4 3 85 VAI 16 Bit Increment Target Pos On Falling Trigger Event 09Dxh 50 4 3 86 VAI 16 Bit Change Motion Parameters On Positive Position Transition O9Exh 50 4 3 87 VAI 16 Bit Change Motion Parameters On Negative Position Transition 09Fxh 50 4 3 88 Predef VAI 16 Bit Go To Pos OAOxh occcccccccccsssscesssecesscecesececssecessseeeeseesesseeess 50 4 3 89 Predef VAI 16 Bit Increment Dem Pos 0A Ixh eese 51 4 3
28. 90 Predef VAI 16 Bit Increment Target Pos 0A2xh sess 51 4 3 91 Predef VAI 16 Bit Go To Pos From Act Pos And Act Vel 0A3xh 51 4 3 02 Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 OA4xh 51 4 5 93 Predef VAI 16 Bit Stop OAT eiaeeiee i eee tuet retta la eon pn Seu ade arde Des es 51 4 3 04 Predef VAI 16 Bit Go To Pos After Actual Command OA8Xh 51 4 3 95 Predef VAI 16 Bit Go To Pos On Rising Trigger Event 0AAxh 52 4 3 96 Predef VAI 16 Bit Increment Target Pos On Rising Trigger Event OABxh 52 4 3 97 Predef VAI 16 Bit Go To Pos On Falling Trigger Event 0ACxh 52 4 3 98 Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event OADxh 52 NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 5 117 r LinMot Motion Control SW 4 3 99 4 3 100 4 3 101 4 3 102 4 3 103 4 3 104 4 3 105 4 3 106 4 3 107 4 3 108 4 3 109 4 3 110 4 3 111 4 3 112 4 3 113 4 3 114 4 3 115 4 3 116 4 3 117 4 3 118 4 3 119 4 3 120 4 3 121 43 122 4 3 123 4 3 124 4 3 125 4 3 126 4 3 127 4 3 128 4 3 129 4 3 130 4 3 131 4 3 132 4 3 133 4 3 1354 4 3 135 4 3 1356 4 3157 4 3 138 4 3 139 4 3 140 4 3 141 4 3 142 4 3 143 4 3 144 4 3 145 4 3 146 VAI Predef Acc Go To Pos OBOXR oo teiius ctia eere aa tud a Raita 52 VAI Predef Acc Increment Dem Pos OBIXN
29. AES and X4 9 Limit SWUM ES iuo eo oe peel det d ea Ds ee vnu dux ate 101 7 2 4 X4 10 and X4 11 PTC 1 and PTC 2e aim E ie esu Mesi eed 101 7 2 5 X4 12 SVE Safety Voltage Enable idiseiiiiustar acetal wou aentee 102 7 3 MASTER ENCODER 4i reta rere etie etes abe alee eel en aiita 102 UE MEE Leute dico scutes a ave T ee eee ely Aa eee an 104 74A Logic SUD IN Voltage eee Sse cS dele eR RE i aie bal Ra 104 7 4 2 Motor Supply Voltage io dert a egies a aa ia 104 4543 Reseneration ReslstOF c esuduse ien tii s a Aa CREE Od UU A A au RUNE 105 7 44 Temperature MonitVthg i daesccs utu eu Dean Lbs Ad teria RARUS Coni denas Quad 106 dao POSCTRESTRUCTURE 2 Loi eoe uec Galea eo eG ns 107 8 MOTOR CONFIGURATION 45 i oetv esce edes ena cen rrd p deg eo oun PY acerbe pe yha RU RikpP eara RE de pk 108 8 1 GENERIC MOTOR TEMPERATURE CALCULATED eerte rennen 108 9 STATE MACHINE SETUP ui itte roten tek o pyra rvE YR FERE eR Fee EE Cea Da sesoses sesoses 109 10 ERROR CODE LIST test iion cecus se debes redu ek Phde PY ord bp re ioios eose toD sasien ritt 110 11 CONTACT ADDRESSES 3 cccissivisdcipasiesssyavidssosestedbeteicsduipsstecenncoubaanesnsesabycuesinapsbiessbees 117 NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 9 117 r C LinMot Motion Control SW 1 System Overview This user Manual describes the Motion Control SW functionality of the LinMot servo controllers 1 1 References Ref Title Source
30. AG LinMot Motion Control SW 11 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration Tech Support Tech Support Skype Fax Web 441 0 56 419 91 91 office linmot com 41 0 56 544 71 00 support linmot com skype support linmot 41 0 56 419 91 92 http www linmot com LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration Tech Support 877 546 3270 262 743 2555 877 804 0718 262 743 1284 800 463 8708 262 723 6688 us sales linmot com http www linmot usa com Please visit http www linmot com to find the distribution near you Smart solutions are www LinMot com NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 117 117
31. Counts With Delay Counts 9h X X Setup Encoder CAM On Rise Trigger Event With Delay Counts Ah X X Setup Encoder CANM On Rise Trigger Event With Delay Counts Target Pos and Length Bh X X Setup Encoder CAM On Fall Trigger Event With Delay Counts Ch X X Setup Encoder CAM On Fall Trigger Event With Delay Counts Target Pos and Length Dh X X Setup Encoder CAM On Rise Trigger Event With Delay Counts Amplitude scale and length Eh X X Setup Encoder CAM On Fall Trigger Event With Delay Counts Amplitude scale and length 07h Oh X X XIX Start VAI Encoder Position Indexing 1h X X X X Start Predef VAI Encoder Position Indexing 2h X X Start Encoder Position Indexing with VA Filters Eh X X X X Stop Position Indexing And VAI Go To Pos Fh XJ XJX X Stop Position Indexing And Predefined VAI Go To Pos NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 23 117 e LinMot Motion Control SW Master Sub Description ID CIO EIE PAW AA 12 2 0000 0000 09h Oh X XIX X VAI 16 Bit Go To Pos th X X X X VAI 16 Bit Increment Dem Pos 2h X X X X VAI 16 Bit Increment Target Pos 3h X X X X VAI 16 Bit Go To Pos From Act Pos And Act Vel 4h X X X X VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 5h XI X X X VAI 16Bit Increment Act Pos eh X X X X VAI Increment Act Pos Star
32. Description Type Unit Offset Header 0 070xh Start VAI Encoder Position Indexing Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s Changes to the VAI encoder position indexing mode the actual encoder count is to the target position To stop the indexing mode use one of the commands 008xh 07Exh or 07Fxh 4 3 70 Start Predef VAI Encoder Position Indexing 071xh Name Byte Description Type Unit Offset Header 0 071xh Start Predef VAI Encoder Position Indexing Ulnt16 1 Par 2 Target Position SInt32 0 1 um Changes to the VAI encoder position indexing mode the actual encoder count is to the target position The VAI parameters maximal velocity acceleration and deceleration are ones taken at calling time from the predefined VAI parameter set UPIDs 14BEh 14BF and 14COh To stop the indexing mode use one of the commands 008xh 07Exh or 07Fxh 4 3 71 Stop Position Indexing and VAI Go To Pos 07Exh Name Byte Description Type Unit Offset Header 0 07Exh Stop Position Indexing And VAI Go To Pos Ulnt16 bew 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s This command stops the position in
33. Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration UInt32 1E 5 m s 4 3 122 VAI Increment Captured Pos 0DOxh Byte Description Offset Header 0 ODOxh VAI Increment Captured Pos Ulnt16 1 Par 2 Captured Position Increment SInt32 0 1 um 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s Go to the target position Captured Pos Captured Increment Position NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 57 117 r LinMot Motion Control SW 4 3 123 VAI 16 Bit Dec Acc Go To Pos 0D1xh Name Byte Description Type Unit Offset Header 0 0D1xh VAI 16 Bit Dec Acc Go To Pos Ulnt16 beei 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Deceleration Ulnt16 Scaled This command sets a new Target Position and defines the maximal velocity acceleration and deceleration for going there The Target Position is calculated by adding the Position Increment argument and the value of the capture variable lt UPID gt 1E62 The command execution starts immediately when the command has been sent The setpoints Demand Position Demand Velocity and Demand Acceleration are calculated by the internal Velocity Acceleration Interpol
34. Falling Trigger Event 0CCxh QE VAI Dec Acc Increment Target Pos On Falling Trigger Event OCDxh 57 VAI Increment Captured Pos 0DOxh eese nennen nnns 57 VAI 16 Bit Dec Acc Go To Pos 0DIxh eese 56 VAI Go To Cmd Tab Varl Pos OD4xh ciccccccccccccccssscsscccececesessssseceeeseceeesnssssaees 58 VAI Go To Cmd Tab Var2 Pos 0D5xh essent 58 VAI Go To Cmd Tab Varl Pos From Act Pos And Act Vel OD6xh 56 VAI Go To Cmd Tab Var2 Pos From Act Pos And Act Vel 0D7xh 59 VAI Stop at Angle 0DGxh i eniti duni deeper nie ie cauda dus 59 VAI Start Trig Rise Config VAI Command O0DEXxR cesses 59 VAI Start Trig Rise Config VAI Command ODFXxh eese 59 Sin VA Go To Pos OEOXN uretrei a aae REEE TaK ARSi 59 Sin VA Increment Demand Pos OEIxh esee 60 Sin VA Go To Pos From Actual Pos OEAxh esses 60 Sin VA Increment Actual Pos OE6xh eese eee 60 Sin VA Go To Pos After Actual Command OEGxh sess 61 Sin V Go To Analog Pos EOxli o etit eet eco e hn dec rae aa dto bead 61 Sin VA Go To Pos On Rising Trigger Event OEAxh cesses 61 Sin VA Increment Demand Pos On Rising Trigger Event OEBxh 62 Sin VA Go To Pos On Falling Trigger Event OECXN cesses 62 Sin VA Increment Demand Pos On Falling
35. Go To Pos On Falling Trigger Ulnt16 Event ler 2 Target Position SInt32 0 1 um 4 3 98 Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event OADxh Name Header Byte Offset 0 Description OADxh Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event Type Ulnt16 Unit 1 Par 2 Target Position SInt16 Scaled 4 3 99 VAI Predef Acc Go To Pos 0BOxh Name Byte Description Type Unit Offset Header 0 OBOxh VAI Predef Acc Go To Pos Ulnt16 1 Par_ 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 4 3 100 VAI Predef Acc Increment Dem Pos 0B1xh Name Byte Offset Description Type Unit Header 0 OB1xh VAI Predef Acc Increment Dem Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 4 3 101 VAI Predef Acc Increment Target Pos OB2xh Name Byte Description Type Unit Offset Header 0 OB2xh VAI Predef Acc Increment Target Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s Page 52 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 102 VAI Predef Acc Go To Pos From Act Pos And Act Vel OB3xh Name Byte Description Type Unit Offset Header 0 OB3
36. Go To Pos On Rising Trigger Event Bh X X X X VAl Increment Target Pos On Rising Trigger Event Ch X X XIX VAI Go To Pos On Falling Trigger Event Dh X X X X VAI Increment Target Pos On Falling Trigger Event Eh X X X X VAI Change Motion Parameters On Positive Position Transition Fh X X X X VAI Change Motion Parameters On Negative Position Transition 02h Ooh X X XIX Predef VAI Go To Pos ih X X X X Predef VAI Increment Dem Pos 2h X X X X Predef VAI Increment Target Pos 3h X X X X Predef VAI Go To Pos From Act Pos And Act Vel 4h X X X X Predef VAI Go To Pos From Act Pos Starting With Dem Vel 0 7h X X X X Predef VAI Stop With Quick Stop Deceleration 8h X X X X Predef VAI Go To Pos After Actual Command Ah X X X X Predef VAI Go To Pos On Rising Trigger Event Bh X X X X Predef VAI Increment Target Pos On Rising Trigger Event Ch X X XX Predef VAI Go To Pos On Falling Trigger Event X X X X X X X X X X X X Page 22 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot Master Sub C C E E Description 1B ID o eve 12 2 0000 0000 03h Oh X X XX P Stream With Slave Generated Time Stamp ih X XX X PV Stream With Slave Generated Time Stamp 2h XIX X X P Stream With Slave Generated Time Stamp and Configured Period Time 3h X XX
37. Maximal Deceleration Ulnt32 1E 5 m s 5 Par 18 Jerk Ulnt32 1E 4 m s This command sets a new Target Position and defines the maximal velocity maximal acceleration maximal deceleration and jerk for the movement The command execution starts one cycle after the command has been sent The setpoints Demand Position Demand Velocity Demand Acceleration and Demand Jerk are calculated by the internal Velocity Acceleration Jerk Interpolator VAJI This command initializes the VAJI with the current Demand Position Demand Velocity and Demand Acceleration value Therefore it is possible to start a new command while a former command is still being executed 4 3 229 VAJI Increment Dem Pos 3A1xh Name Byte Description Type Unit Offset Header 3A1xh VAuJI Increment Dem Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Deceleration Ulnt32 1E 5 m s 5 Par 18 Jerk Ulnt32 1E 4 m s This command sets a new Target Position and defines the maximal velocity maximal acceleration maximal deceleration and jerk for the movement The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Demand Position value relative move The command execution starts one cycle after the command has been sent The se
38. Motor Comm Lost Err PTC 1 Broken Err PTC 1 Short To 24V PTC 1 on X4 10 short to 24V Recommended actions Power down and check PTC 1 wiring and resistance SW Key Missing 0050h Setup Err Setup error hardware is not supported by the software HW Not Supported Recommended actions download correct firmware contact support 0051h Setup Err Software key and access code for special functionality is missing Recommended actions Order the SW key with your support together with the serial number of your HW 0058h Runtime Err ROM write error Runtime error MC SW was not able to change parameter value in ROM Recommended actions verify PLC is not configuring during this action contact support 0060h Cfg Err RR Voltage Set Too Low Configuration error regeneration resistor turn on off voltage parameter value is too low Recommended actions check parameters 101Eh and 101Fh 0061h Cfg Err RR Hysteresis lt 0 5V Configuration error regeneration resistor turn on off voltage parameter values too close to each other Recommended actions check parameters 101Eh and 101Fh 0062h Cfg Err Curve Not Defined Configuration error Software tried to start a curve that is not defined yet Action to take define the curve using the curves service check if curves were downloaded to controller check the curve IDs check the configuration check the PLC program No Motor Defined 00
39. Name Byte Description Type Unit Offset Header 0 3B4xh Predef VAJI Go To Pos From Act Pos With Ulnt16 Dem Vel 0 and Dem Acc 0 1 Par 2 Target Position SInt32 0 1 um This command works like the command VAJI Go To Pos From Act Pos Starting with Dem Vel 0 and Dem Acc 0 3A4xhy The VAJI parameters Maximal Velocity Maximal Acceleration Maximal Deceleration and Jerk are not given as command arguments here Page 84 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot but are predefined through parameters lt UPID gt 14BE lt UPID gt 14BF lt UPID gt 14C0 and lt UPID gt 14C1 4 3 241 Predef VAJI Go To Pos On Rising Trigger Event 3BAxh Name Byte Description Type Unit Offset Header 0 3BAxh Predef VAJI Go To Pos On Rising Trigger Ulnt16 Event lke 2 Target Position SInt32 0 1 um This command works like the command VAJI Go To Pos On Rising Trigger Event 3AAxh The VAJI parameters Maximal Velocity Maximal Acceleration Maximal Deceleration and Jerk are not given as command arguments here but are predefined through parameters lt UPID gt 14BE lt UPID gt 14BF lt UPID gt 14C0 and lt UPID gt 14C1 4 3 242 Predef VAJI Increment Target Pos On Rising Trigger Event SBBxh Name Byte Description Type Unit Offset Header 0 3BBxh Predef VAJI Increment Target Pos On Ulnt16 Rising Trigger Event 1 Par 2
40. Not yet defined 07 08 Operation Enabled Bits 0 3 Motion Command Count Bit 4 Event Handler Active Bit 5 Motion Active Bit 6 In Target Position Bit 7 Homed 09 Homing 0Fh Homing Finished 10 Clearance Check OFh Clearance Check Finished 11 Going To Initial Position 0Fh Going To Initial Position Finished 12 Aborting Not yet defined 13 Freezing Not yet defined 14 Quick Stop Error Behaviour Not yet defined 15 Going To Position OFh Going To Position Finished 16 Jogging 01h Moving positive OFh Jogging Finished 17 Jogging 01h Moving negative OFh Jogging Finished 18 Linearizing Not yet defined 19 Phase Search Not yet defined 20 Special Mode Not yet defined NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 13 117 r LinMot Motion Control SW 3 1 State 0 Not Ready To Switch On In this state the release of control word bit O switch on is awaited As soon as this bit is cleared a change to state 1 is performed This behavior avoids self starting if all necessary bits for a start are set correctly in the control word 3 2 State 1 Switch On Disabled The state machine rests in this state as long as the bits 1 or 2 of the control word are cleared 3 3 State 2 Ready To Switch On The state machine rests in this state as long as the bit 0 is cleared 3 4 State 3 Setup Error State The state machine rests in this s
41. Position Increment SInt32 0 1 um This command works like the command VAJI Increment Target Pos On Rising Trigger Event SABxh The VAJI parameters Maximal Velocity Maximal Acceleration Maximal Deceleration and Jerk are not given as command arguments here but are predefined through parameters lt UPID gt 14BE lt UPID gt 14BF lt UPID gt 14C0 and lt UPID gt 14C1 4 3 243 Predef VAJI Go To Pos On Falling Trigger Event 3BCxh Name Byte Description Type Unit Offset Header 0 3BOxh Predef VAJI Go To Pos On Falling Trigger Ulnt16 Event 1 Par_ 2 Target Position SInt32 0 1 um This command works like the command VAJI Go To Pos On Falling Trigger Event SACxh The VAJI parameters Maximal Velocity Maximal Acceleration Maximal Deceleration and Jerk are not given as command arguments here but are predefined through parameters lt UPID gt 14BE lt UPID gt 14BF lt UPID gt 14C0 and lt UPID gt 14C1 4 3 244 Predef VAJI Increment Target Pos On Falling Trigger Event 3BDxh AEW Byte Description Type Unit Offset Header 0 3BDxh Predef VAJI Increment Target Pos On Ulnt16 Falling Trigger Event 1 Par 2 Position Increment SInt32 0 1 um This command works like the command VAJI Increment Target Pos On Falling Trigger Event SADxh The VAJI parameters Maximal Velocity Maximal Acceleration Maximal NTI AG LinMot User Manual Motion C
42. SW X12 Ext Sensor 1 GoTo 50mm VAI Go To Pos Pos 50 mm Vel 0 5 m s Acc 2 m s 2 Dec 1m s 2 2 Wait Motion ue 2 MY 2 Wait Motion Done Wait until Motion Finished 3 GoTo 0 mm EE MC SW Status Word 3 GoTo 0 mm VAI Go To Pos Pos 0 mm Vel 1 m s Ace 10 m s 2 Dec 10 m s 2 None MC SW Warnings E MC SW Phase Search 5 Reset CT Varl Set Cmd Table Var 1 To Set Val 0 6 GoTo 50mm zz MC SW Motion Interface 6 GoTo 50mm VAI Go To Pos Pos 50 mm Vel 1 m s Ace 10 m s 2 Dec 10 m s 2 7 Wait In Pos 1 MC SW Winding 7 Wait In Pos Wait until In Target Position 8 GoTo 0 mm MC SW Capture amp Trigger 8 GoTo 0 mm VAI Go To Pos Pos 0 mm Vel 1 m s Acc 10 m s 2 Dec 10 m s 2 9 wait Motion MC SW Brake 3 Wait Motion Done Wait until Motion Finished 10 Inc CT Var MC SW VA interpolator 10 Inc CT Vart Add To Cmd Table Var 1 Add Val 1 11 IF Vart lt 5 MC SW Curve 11 IF Vari 5 IF Cmd Table Var 1 Less Than Val 5 True Cmd ID 6 False Cmd ID 12 None MC SW PVT Stream 12 End Seq No peration None MC SW Monitoring 13 MC SW Errors 14 Reduce Force Write Live Parameter UPID 1346h M Value 14 15 GoTo 50mm MC SW Encoder CAM 15 GoTo 50mm VAI Go To Pos Pos 50 mm Vek 05m s Acc 1 m s 2 Dec 1 m s 2 16 Wait Motion MC SW Motor Data Sheet 46 wait Motion Done Waituntil Motion Finished 17 Test For Part EME SW Command Table 17 Test For Part IF Actual Position Less Than Val 48 mm True Cmd ID 18 Fa
43. Sens Warn 1040h If the maximal board temperature rises above this level a Level warning is generated bit 6 in Warn Word is set Temp Sens Error 1041h If the maximal board temperature rises above this level the error is generated error codes 10h 17h The table below shows the mapped variables of the temperature monitoring Variable Name UPID Description Power Bridge 1BC6h Temperature of power driver Phase 1 E1100 only Temp Phi Power Bridge 1BC7h Temperature of power driver Phase 1 E1100 only Temp Ph1 Power Bridge 1BC8h Temperature of power driver Phase 2 E1100 only Temp Ph2 Power Bridge 1BC9h Temperature of power driver Phase 2 E1100 only Temp Ph2 Power Bridge 1BC9h Temperature of power driver Phase 2 E1100 only Temp Ph2 Power Bridge 1BCAh Temperature of power drivers DC link voltage Temp DCLV Temp RR Driver 1BCBh Temperature of Regeneration Resistor low side driver Connector Temp 1BCCh Temperature of motor connector X3 X3 Page 106 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW Temp Core 1BCDh Temperature near microcontroller core E1100 only Max Controller Temp 1BCEh Maximal temperature of above variables 7 5 PosCtriStructure 773 E Actual Position UPID 1880h um gt 2 Demand Position UPID 188Ah Position Se
44. Target Pos 092xh AEW Byte Description Type Unit Offset Header 0 092xh VAI 16 Bit Increment Target Pos Ulnt16 1 Par 2 Position Increment SInt16 Scaled 2 Par_ 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration UlInti6 Scaled 4 Par 8 Deceleration Ulnt16 Scaled NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 47 117 r LinMot Motion Control SW 4 3 76 VAI 16 Bit Go To Pos From Act Pos And Act Vel 093xh Name Byte Description Type Unit Offset Header 0 093xh VAI 16 Bit Go To Pos From Act Pos And Act Ulnt16 Vel 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled This command starts the new VAI setpoint generation from the actual position can be used after a press command 4 3 77 VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 094xh Description Header 0 094xh VAI 16 Bit Go To Pos From Act Pos Starting Ulnt16 With Dem Vel 0 leei 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration UInt16 Scaled 4 Par 8 Deceleration UInt16 Scaled This command starts a the new VAI Setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 78 VAI
45. The trigger input must be configured with parameter UPID 1039 4 3 150 Bestehorn VAJ Increment Demand Pos On Falling Trigger Event OFDxh Name Byte Description Type Unit Offset Header 0 OFDxh Bestehorn VAJ Increment Demand Pos On Ulnt16 Falling Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Jerk Ulnt32 1E 4 m s This command defines a new Bestehorn motion command relative move see description of command Bestehorn VAJ Increment Demand Pos 0F1xh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 1039 4 3 151 Encoder Cam Enable 100xh Name Byte Description Type Unit Offset Header 0 100xh Encoder CAM Enable UlInti6 4 3 152 Encoder Cam Disable 101xh Name Byte Description Offset Type Unit Header 0 101xh Encoder CAM Disable Ulnt16 4 3 153 Encoder Cam Go To Sync Pos 102xh Name Byte Description Type Unit
46. This command initializes the VAJI with the current Demand Position Demand Velocity and Demand Acceleration value Therefore it is possible to start a new command while the execution of a former command is still being executed This command should be used only after the execution of other VAI VAJI commands not directly after time curves encoder curves streaming commands etc Otherwise the VAJI Target Position value is not correctly initialized which may lead to unpredictable behavior 4 3 231 VAJI Go To Pos From Act Pos Starting With Dem Vel 0 and Dem Acc 0 3A4xh Name Byte Description Type Unit Offset Header 0 3A4xh VAJI Go To Pos From Act Pos Starting With Ulnt16 Dem Vel 0 and Dem Acc 0 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Deceleration UInt32 1E 5 m s 5 Par 18 Jerk Ulnt32 1E 4 m s This command sets a new Target Position and defines the maximal velocity maximal acceleration maximal deceleration and jerk for going there The command execution starts one cycle after the command has been sent The setpoints Demand Position Demand Velocity Demand Acceleration and Demand Jerk are calculated by the internal Velocity Acceleration Jerk Interpolator VAJI This command initializes the VAJI with the Actual Position Demand Position Actual Position and sets the D
47. This command starts a new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 93 Predef VAI 16 Bit Stop 0A7xh Name Byte Description Type Unit Offset Header 0 OA7xh Predef VAI Stop With Quick Stop Ulnt16 Deceleration 4 3 94 Predef VAI 16 Bit Go To Pos After Actual Command 0A8xh AEWG Byte Description Type Unit Offset Header 0 0A8xh Predef VAI 16 Bit Go To Pos After Actual Ulnt16 Command 1 Par 2 Target Position SInt16 Scaled This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 51 117 Motion Control SW 4 3 95 Predef VAI 16 Bit Go To Pos On Rising Trigger Event OAAxh Name Byte Description Type Unit Offset Header 0 OAAxh Predef VAI 16 Bit Go To Pos On Rising Ulnt16 Trigger Event 1 Par 2 Target Position Sint16 Scaled 4 3 96 Predef VAI 16 Bit Increment Target Pos On Rising Trigger Event OABxh Name Byte Description Type Unit Offset Header 0 OABxh Predef VAI 16 Bit Increment Target Pos On Ulnt16 Rising Trigger Event beei 2 Position Increment SInt16 Scaled 4 3 97 Predef VAI 16 Bit Go To Pos On Falling Trigger Event OACxh Name Byte Description Type Unit Offset Header 0 OACxh VAI 16 Bit
48. Trigger Event 214xh esses 70 Wait Until Demand Position Greater Than 220xh sss 70 Wait Until Demand Position Less Than 221xh seen 70 Wait Until Actual Position Greater Than 222xh sese 70 Wait Until Actual Position Less Than 223xh seen 71 Wait Until Difference Position Greater Than 224xh sss 71 Wait Until Difference Position Less Than 225xh sss 71 Wait Until Difference Position Unsigned Greater Than 226xh 71 Wait Until Difference Position Unsigned Less Than 227xh 71 Wait Until Demand Velocity Greater Than 228xh sess 71 Wait Until Demand Velocity Less Than 229xh sese 72 Wait Until Actual Velocity Greater Than 22Axh esses 72 Wait Until Actual Velocity Less Than 22Bxh s teet ascen 72 Wait Until Current Greater Than 22Exh essere 72 Wait Until Current Less Than 22Fxh eese eene 72 Set Cmd Table Var 1 To 240xh sees 72 Add To Cmd Table Var 1 24 Ixh esee nnne 73 Set Crd Table Var 2 To 242xh sse nennen nnne 73 Add To Cmd Table Var 2 243xh sees 73 Write Cmd Table Var 1 To UPID RAM value 248xh sess 73 Write Cmd Table Var 2 To UPID RAM value 249xh s ssscsesse 73 Write UP
49. Trigger Event OEDxh 62 Bestehorn VAJ Go To POS OF xh essent nnne 63 Bestehorn VAJ Increment Demand Pos OF Ixh essere 63 Bestehorn VAJ Go To Pos From Actual Pos OF4xh sess 63 Bestehorn VAJ Increment Actual Pos 0F6xh sees 64 Bestehorn VAJ Go To Pos After Actual Command 0FSxh 64 Bestehorn VAJ Go To Analog Pos 0F9xh essseseeeeeeeeneen e 64 Page 6 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW LinMot 4 3 147 4 3 148 4 3 149 4 3 150 4 3 151 4 3 152 4 3 153 4 3 154 4 3 155 4 3 156 4 3 157 4 3 158 4 3 159 4 3 160 4 3 161 4 3 162 4 3 163 4 3 164 4 3 165 4 3 166 4 3 167 4 3 168 4 3 169 4 3 170 4 3 171 4 3 172 4 3 173 4 3 174 4 3 175 4 3 176 4 3 177 4 3 178 4 3 179 4 3 180 4 3 181 4 3 182 4 3 183 4 3 184 4 3 185 4 3 186 4 3 187 4 3 188 4 3 189 4 353 190 4 3 191 4 3 192 4 3 193 4 3 194 4 3 195 4 3 196 Bestehorn VAJ Go To Pos On Rising Trigger Event OFAXN 65 Bestehorn VAJ Increment Demand Pos On Rising Trigger Event OF Bxh 65 Bestehorn VAJ Go To Pos On Falling Trigger Event OF Cxh 65 Bestehorn VAJ Increment Demand Pos On Falling Trigger Event OFDxh 66 Encoder Cam Enable 100xh esee 66 Encoder Cam Disable 101xh eese nennen nnne 66 Encod
50. X X VAJI Go To Pos 1h X X VAJI Increment Dem Pos 2h X X VAJI Increment Target Pos 4h X X VAJI Go To Pos From Act Pos Starting With Dem Vel 0 and Dem Acc 0 6h X X VAJI Increment Act Pos Starting with Dem Vel 0 and Dem Acc 0 Ah X X VAJI Go To Pos On Rising Trigger Event Bh X X VAJI Increment Target Pos On Rising Trigger Event Ch X X VAJI Go To Pos On Falling Trigger Event Dh X X VAJI Increment Target Pos On Falling Trigger Event 3Bh Oh X X Predef VAJI Go To Pos 1h X X Predef VAJI Increment Dem Pos 2h X X Predef VAJI Increment Target Pos 4h X X Predef VAJI Go To Pos From Act Pos Starting With Dem Vel 0 and Dem Acc 0 Ah X X Predef VAJI Go To Pos On Rising Trigger Event Bh X X Predef VAJI Increment Target Pos On Rising Trigger Event Ch X X Predef VAJI Go To Pos On Falling Trigger Event Dh X X Predef VAJI Increment Target Pos On Falling Trigger Event F only with Force Control Key Page 28 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 4 3 Detailed Motion Command Description 4 3 1 No Operation 000xh Name Byte Description Type Unit Offset Header 0 No Operation 000xh Ulnt16 This command does nothing It can be sent in any operational state 4 3 2 Write Interface Control Word 001xh Name Byte Description Type Unit Offset Header 0 001xh Write Interface Control Word Ulnt16 1
51. X1 Pwr Voltage Too High The motor power supply voltage has been too high The maximal motor supply voltage level is defined through parameter 101Bh Back EMF effects may boost the DC link voltage Recommended actions check your motor power supply check the wiring check the sizing of the power supply use a regeneration resistor for power dissipation add a capacitor too enforce your DC link 0005h Err X1 RR Not Connected A regeneration resistor is configured see parameter 101Dh but not connected Recommended actions connect the regeneration resistor to X1 0006h Err PTC 1 Sensor Too Hot The PTC 1 sensor on X4 10 is hot or not connected Recommended actions check the temperature check the wiring 0007h Err Min Pos Undershot The motor position has been below the minimal position see parameter 146Eh Recommended actions check the configuration check the PLC program 0008h Err Max Pos Overshot The motor position has been above the maximal position see parameter 146Fh Recommended actions check the configuration check the PLC program 0009h Err Ext Int Sensor Diff Err The position difference between sensor feedback on X3 and sensor feedback on X12 has been too big Recommended actions check sensor wiring check sensor configuration count direction etc check parameter 1266h 000Ah Fatal Err X12 Signals Missing The external sensor is not connected to X1
52. eg Ca 3 1 STATE 0 NOT READY TO SWITCH ON eee 3 2 STATE 1 SWITCH ON DISABLED eene ener nnne 3 3 STATE 2 READY TO SWITCH ON ccsscssccsccecsessssceeesecsceesensaeeeseeeess 3 4 STATE 3 SETUP ERROR STATE cccsessssscecccecesssssaeceeecsesesensaaeeeeeeeees 3 5 STATE 4 ERRORS TATE eI EHE ERE hes 3 6 STATEOZEW TEST 25 octies itte tieu E e es Ee nueces 3 7 STATE 6 READY TO OPERATE ccessessssecesececeessnseaecececseessensseeeeeeeens 3 8 STATE 8 OPERATION ENABLED scsscsscescceceesessececeseceeessessaeceseeeees 3 9 STATE O HOMING rtt eoe ee specta peso lee be tete 3 10 STATE 10 CLEARANCE CHECK cccceesessscecececeessssnsececeseesesessnsaaeees 3 11 STATE 11 GOING TO INITIAL POSITION cere 3 12 STATE 2 ABORTING 5 etie ee idt e ep OS diede 3 13 STATE 3 ERBEZING unas tere teta datas 3 14 STATE 14 ERROR BEHAVIOUR QUICK STOP sse 3 15 STATE 15 GOING TO POSITION seen ene 3 16 STATE 16 JOGGING 4 00 cceccceessssccccececeesesssecesececeesessnsececeseeseneeentaaeees BLP CSEATET7 JOGGING 4 os a Gad ete bii eet JLS SS TATE 18 LINEARIZING eec eT EL SEIS ER iS edes 3 19 STATE 19 PHASE SEARCHING cessere eene nennen nennen 3 20 STATE 20 SPECIAL MODE cccccccccsessssssececececeesessnsececeseeseseesntaaeees 3 21 BUILDING THE CONTROL WORD cccsessccecececeseessnseceeeceeeeeesensaneees 3 22 CONTROL
53. mode because the acceleration derivation is less sensitive to bus jitters than in the position only streaming mode The third mode Motion command 032xh is like the first mode but for the derivation of the velocity and the acceleration a configured period time UPID 14E6h is taken instead of the slave receive time stamp This minimizes the bad influence of the transmission jitter The position setpoint generation in these modes is delayed 1 5 times the streaming cycle time e g with 2ms streaming period time the delay is 3ms Fine interpolation each 0 3125ms Set point calculated by master A each 2 to 5ms E 1 P V Streaming with CANOpen is only possible with transmission type 1 synchronous transmission Page 94 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW LinMot 5 6 Cam Motions NOTE Cam motions are not available in the B1100 servo controllers For high speed synchronization different modes of cam motions are supported The motions are defined with cam curves which can be defined with the curve tool of the LinMot Talk software 5 6 1 Triggered Cam Motions For triggered cam motions setup the master encoder and then set cam mode UPID1527h to infinite length Then use the motion commands 069xh or 06Bxh to setup the cam curves which should be started at the trigger event or use the triggered cam curve run mode 5 6 2 Repeated Cam Motions with the Modulo CamMode For r
54. ms Acceleration e v Ss E c 2 i 2 o o ol lt Jerk in m s3 Time in ms Page 92 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 5 4 1 Input Variables Name Type Valid range Unit Target Position SInt32 8000 0000h 7FFF FFFFh 0 1um Maximal Speed Ulnt32 Oh 7FFF FFFFh 1E 6m s Maximal Acceleration Deceleration Ulnt32 Oh 7FFF FFFFh 1E 5m s Maximal Jerk Ulnt32 Oh 7FFF FFFFh 1E Am s 5 4 2 Output Variables Name Type Valid range Unit Position SInt32 8000 0000h 7FFF FFFFh 0 1um Velocity SInt32 8000 0000h 7FFF FFFFh 1E 6m s Acceleration SInt32 8000 0000h 7FFF FFFFh 1E 5m s NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 93 117 r LinMot Motion Control SW 5 5 P V Stream For masters with NC Numerical Control capabilities the software supports cyclic streaming modes of the position and velocity or position only The streaming has to be strictly cyclic in the period range 2ms to 5ms This feature is supported with all fieldbus variants like Profibus DP CAN Open POWERLINK EtherCAT Different modes are supported In the first mode Motion command 030xh the master only streams the position In the second mode Motion command 031xh the master streams position and velocity whenever possible use the PV streaming
55. of the motor 3 10State 10 Clearance Check Setting the Clearance Check bit in the Control Word two positions are moved to to check if the whole motion range is free Normally this action is added to the homing sequence to ensure that the homing was done correctly 3 11Stale 11 Going To Initial Position Setting the Go To Initial Position bit in the control word the servo moves to the initial position normally used to move away from the mechanical stop after homing to protect the NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 15 117 r LinMot Motion Control SW motor from overheating at the mechanical stop After an error it is also recommended to move to a defined position again 3 12State 12 Aborting Clearing the Abort bit in the control word initiates a quick stop After the motion has stopped the servo rests position controlled Setting the bit again the servo controller rests in position until a new motion command is executed 3 13State 13 Freezing Clearing the Freeze bit in the control word initiates a quick stop After the motion is stopped the servo rests position controlled Setting the bit again the servo controller will finish the frozen motion e g if it was a VAI command Curve motion can be frozen but not restarted by releasing this bit setting the bit again the motor moves at the target position of the last VAI command if never used a VAI command it will go to the initial position
56. 0 024xh 35 45 90 Predef VAT Stop 0ZVXB ues lesectecectestneeeterd eet itu rage aval ties dnce oM ae ia TAE 35 4 3 31 Predef VAI Go To Pos After Actual Command 026xh sess 36 4 3 32 Predef VAI Go To Pos On Rising Trigger Event 02Axh eesssssse 36 4 3 33 Predef VAI Increment Target Pos On Rising Trigger Event 02Bxh 36 4 3 34 Predef VAI Go To Pos On Falling Trigger Event 02Cxh 36 4 3 35 Predef VAI Go To Pos On Falling Trigger Event 02Dxh 36 4 3 36 Predef VAI Infinite Motion Positive Direction 02Exh sees 36 4 3 37 Predef VAI Infinite Motion Negative Direction 02Fxh sess 36 4 3 88 P Stream With Slave Generated Time Stamp 030xh cessus 37 4 3 59 PV Stream With Slave Generated Time Stamp 03 I xh esses 37 4 3 40 P Stream With Slave Generated Time Stamp and Configured Period Time 032xh 37 4 3 4 PV Stream With Slave Generated Time Stamp Stamp and Configured Period Time OB SKIN sissies eese teet eet toes a be eru R tos ttr oou er tede 37 4 3 42 PVA Stream With Slave Generated Time Stamp 034xh esses 36 4 3 43 PVA Stream With Slave Generated Time Stamp and Configured Period Time 035xh 38 43 44 Stop Streaming OS PAN a sistat tes Pets Meal 39 4 3 45 Time Curve With Default Parameters 040xh
57. 0 4ms 10ms The setpoint time stamp is generated by the slave s interface when the command is received receive time stamp The first two streaming commands are used to determine the nominal period length The setpoints are Than delayed 1 5 times the period length Between the setpoints the slave performs a fine interpolation For good results the streaming period has to be as constant as possible 4 3 43 PVA Stream With Slave Generated Time Stamp and Configured Period Time 035xh Name Byte Description Type Unit Offset Header 0 035xh PVA Stream With Slave Generated Time Ulnt16 Stamp and Configured Period Time 1 Par 2 Position SInt32 0 1 um 2 Par_ 6 Velocity SInt32 1 um s 3 Par 10 Acceleration SInt32 1E 5m s This command can be used for cyclic streaming of position velocity and acceleration setpoints This is possible if master provides NC functionality The commands have to be sent strictly cyclic in order to prevent buffer underflow buffer overflow errors The period length must be in the time range of 0 4ms 10ms The setpoint time stamp is generated by the slave s interface when the command is received receive time stamp The first two streaming commands are used to determine the nominal period length The setpoints are Than delayed 1 5 times the period length Between the setpoints the slave performs a fine interpolation Since acceleration setpoint derivation is less sensitive to bus j
58. 1 Modify Curve Data Block 64 Bit Value in RAM 055xh Name Byte Description Type Unit Offset Header 0 055xh Modify Curve Data Block 64 Bit Value in Ulnti6 RAM 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Offset in Byte Uint 6 O 3 Par 6 Curve point value Sint32 4 Par 10 Curve point value Sint32 This command allows to modify in RAM two 32 bit value within the curve data block of a curve with existing curve start address and curve info header block with the given ID The offset argument defines on which position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 43 117 Motion Control SW 4 3 62 Modify Curve Data Block 96 Bit Value in RAM 056xh Name Byte Description Type Unit Offset Header 0 056xh Modify Curve Data Block 96 Bit Value in Uint16 RAM 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Offset in Byte Uint 6 O 3 Par 6 Curve point value Sint3
59. 12 VAI Go To Pos From Act Pos And Act Vel 013xh eese 31 4 3 13 VAI Go To Pos From Act Pos Starting With Dem Vel 0 014xh 32 4 3 14 VAT Increment Act Pos OL5XI ccccccccccsecsecsccceceeeenensececeseceeseessssueceeesecsesenensaaees 32 4 3 15 VAI Increment Act Pos Starting With Dem Vel 0 Ol6xh 32 dio VAT Stop OT UD is ests a A E T a aei nd aa O a tede aiat 33 4 3 17 VAI Go To Pos After Actual Command 018xh esses 33 4 3 18 VAI Go To Analog Pos OLIN 4 ie eite re seb een nies 33 4 3 19 VAI Go To Pos On Rising Trigger Event OLAXN eese 33 4 3 20 VAI Increment Target Pos On Rising Trigger Event 01Bxh 38 4 3 21 VAI Go To Pos On Falling Trigger Event 01Cxh cesses 34 4 3 22 VAI Increment Target Pos On Falling Trigger Event 01Dxh 34 4 3 23 VAI Change Motion Parameters On Positive Position Transition 01Exh 34 4 3 24 VAI Change Motion Parameters On Negative Position Transition 01Fxh 34 4 53 22 Predef VAI Go To Pos 020xXI A4 due ea E bete D ao dece bu Que deest aede 35 4 3 26 Predef VAI Increment Dem Pos 02 xh eese 35 43 27 Predef VAI Increment Target Pos 022xh ceti endete tes dn se 35 4 3 28 Predef VAI Go To Pos From Act Pos and Act Vel 023xh suse 35 4 3 29 Predef VAI Go To Pos From Act Pos Starting With Dem Vel
60. 2 4 Par 10 Curve point value Sint32 4 Par 14 Curve point value Sint32 This command allows to modify in RAM three 32 bit value within the curve data block of a curve with existing curve start address and curve info header block with the given ID The offset argument defines on which position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 63 Setup Encoder Cam On Rising Trigger Event With Delay Counts 069xh Description Unit Header 069xh Setup Encoder Cam On Rising Trigger Event With Delay Counts Ulnt16 1 Par Curve ID Ulnt16 1 100 2 Par Curve Start Delay Count UInt32 1 Incr Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam Length UPID1527h
61. 2 or the wiring is not ok Recommended actions check the wiring Page 110 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW OOOBh Err Pos Lag Always Too Big The motor was not able to follow the demand position The maximal allowed position difference is defined through parameter 1473h Recommended actions check the motor load check the motor stroke range for possible collisions check the position controller setup check the setpoint generation unreachable speed acceleration values check the motor sizing 000Ch Err Pos Lag Standing Too Big Not on B1100 The motor was not able to reach the target position or was not able to stay at the target position The maximal allowed position difference is defined through parameter 1475h Recommended actions check the motor load check the motor stroke range for possible collisions check the position controller setup check the motor sizing 000Dh Fatal Err X1 Pwr Over Current Over current on X1 detected Recommended actions check motor wiring check motor configuration for PO1 48 type motors set parameter 11F4h to value 0001h OOOEh Err Supply Dig Out Missing Controller board defective Recommended actions contact support for repair OOOFh Err PTC 2 Sensor Too Hot The PTC 2 sensor on X4 11 is hot or not connected Recommended actions check the temperature check the wiring
62. 4Dxh Name Byte Description Type Unit Offset Header 0 24Dxh Write UPID RAM value To Cmd Table Var2 Ulnt16 1 Par 2 UPID Unique Parameter ID Ulnt16 4 3 196 IF Cmd Table Var 1 Less Than 250xh Name Byte Description Type Unit Offset Header 0 250xh IF Cmd Table Var 1 Less Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 73 117 Motion Control SW 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 197 IF Cmd Table Var 1 Greater Than 251xh AEW Byte Description Type Unit Offset Header 0 251xh IF Cmd Table Var 1 Greater Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 198 IF Cmd Table Var 1 Less Than 252xh Byte Description Unit Offset 0 252xh IF Cmd Table Var 1 Less Than 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 199 IF Cmd Table Var 1 Greater Than 253xh AEWG Byte Description Type Unit Offset Header 0 253xh IF Cmd Table Var 1 Greater Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Tabl
63. 4xh Name Byte Description Type Unit Offset Header 0 OE4xh Sin VA Go To Pos From Actual Pos Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal accelearation and maximal velocity The command execution starts immediately when the command has been sent This command should be used if the Actual Position does not match with the current Demand Position value but it can be assumed that the motor stands still Actual Velocity assumed to be zero e g because the motor stands on a hard stop This can happen after a Press command where the actual motor position is defined through external conditions and the motor can not and had not to follow the demand position By starting this command the former accepted difference between Actual Position and Demand Position can be eliminated 4 3 134 Sin VA Increment Actual Pos 0E6xh Name Byte Description Type Unit Offset Header 0 OE6xh Sin VA Increment Actual Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity The new Target Position value will be
64. 63h Cfg Err Configuration error Invalid max current setting in control Pos Ctrl Max Curr High parameters Recommended actions check parameters 13A6h and 13BAh check PLC program 0064h Cfg Err Fatal Configuration error No motor has been configured yet Recommended actions use the motor wizard to configure the motor 0065h Cfg Err Fatal Configuration error Digital input X4 6 is configured for Page 114 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW No Trigger Mode Defined trigger input function but the trigger mode is not defined yet Recommended actions configure parameter 170Ch 0067h Cfg Err Fatal Wrong Stator Type Configuration error The configured motor type does not match with the connected motor Recommended actions configure correct motor type by using the motor wizard connect an appropriate motor 0068h Cfg Err Fatal No Motor Communication Configuration error The controller was not able to establish the communication to the microcontroller on the motor Older PO1 motors don t support motor communication Recommended actions check motor wiring check motor check the motor configuration disable communication by using parameter 11FBh if you have an old P01 motor 0069h Cfg Err Wrong Slider Configuration error A wrong slider has been configured or slider home position has an invalid value Recommen
65. AG LinMot User Manual Motion Control SW 03 11 2015 Page 111 117 Motion Control SW 001Bh Err Power Bridge Ph2 Defective Servo controller power bridge phase 2 may be defective Recommended actions contact support 001Ch Err Supply DigOut X6 Fuse Blown Supply fuse for digital outputs on X6 blown Recommended actions check X6 wiring contact support for repair 001Dh Err Supply X3 3 5V Fuse Blown Supply X3 3 5V fuse blown Motor or and or wiring defective Recommended actions contact support for controller repair check motor and wiring replace motor and motor cables 001Eh Err Supply X3 8 AGND Fuse Blown Supply X3 8 analog ground fuse blown Recommended actions contact support for controller repair check motor and wiring replace motor and motor cables 0020h Err Motor Hot Sensor Temp sensor reports hot motor Recommended actions wait until motor has cooled down until corresponding warning disappears check load check the motor configuration check the setpoint generation unreachable speed acceleration values check the motor sizing 0021h Fatal Err X3 Hall Sig Missing Motor hall signals not connected to X3 or motor defective Recommended actions Power down the controller and all power supplies then reconnect motor check motor and wiring check parameter 1221h 0022h Fatal Err Motor Slider Missing Motor hall sensors cannot see mag
66. AM value of UPID 154Bh and the specified cam start delay is written to the RAM value of UPID 154Dh Use the infinite cam length UPID1527h for triggered cam motions 4 3 66 Setup Encoder Cam On Falling Trigger Event With Delay Counts Target Pos and Length 06Cxh Name Byte Description Type Unit Offset Header 0 06Cxh Setup Encoder Cam On Falling Trigger Ulnt16 Event With Delay Counts Target Pos and Length 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Start Delay Count SInt32 1 Incr 3 Par 8 Target Position SInt32 0 1 um 4 Par 12 Curve length SInt32 1 Incr Setup in the event handler to start a cam curve on the falling trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Bh and the specified cam start delay is written to the RAM value of UPID 154Dh Use the infinite cam length UPID1527h for triggered cam motions 4 3 67 Setup Encoder Cam On Rising Trigger Event With Delay Counts Amplitude scale and Length 06Dxh Name Byte Description Type Unit Offset Header 0 06Dxh Setup Encoder Cam On Rise Trigger Event Ulnt16 With Delay Counts Amplitude scale and Length 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Start Delay Count SInt32 1 Incr 3 Par_ 8 Amplitude Scale Sinti6 0 1 4 Par 10 Curve length in Counts SInt32 1 Incr
67. Analog Val On X4 4 Less Than 260xh sees 75 IF Masked X4 Input Value Equal Than 262xh eee 76 IF Masked X6 Input Value Equal Than 263xh eee 76 IF Masked Status Word Equal Than 264xh scene 76 IF Masked Warn Word Equal Than 265xh eene 76 IF CAM Counts Less Than 266xh cesses eene nnne 76 Encoder Winding Stop Adaptation Of Left Right Position and Disturbance 77 Encoder Winding Restart Adaptation Of Left Right Position and Disturbance 77 Encoder Curve Winding Start With Default Parameters 3 0xh 77 Encoder Curve Winding Start With Default Parameters At Revolutions 311xh 77 VAI Go To Pos With Higher Force Ctrl Limit 380xh esses 77 VAI Go To Pos From Act Pos And Reset Force Control 3S81xh 78 Force Ctrl Change Target Force 382xh 1 astedscdengisadintedesnidsanusaies 78 VAI Go To Pos With Higher Force Ctrl Limit and Target Force 383xh 76 VAI Go To Pos With Lower Force Ctrl Limit 384xh esses 78 VAI Go To Pos With Lower Force Ctrl Limit and Target Force 385xh 79 VAI Go To Pos From Act Pos And Reset Force Control Set I 356xh 79 VAI Increment Act Pos And Reset Force Control Set I 387xh 79 Current Command Mode 390xh esses eene enean 80 Change to Position Controlled Mode 39Fxh
68. Bestehorn VAJ Go To Pos On Rising Ulnt16 Trigger Event 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Jerk Ulnt32 1E 4 m s This command defines a new Bestehorn motion command see description of command Bestehorn VAJ Go To Pos OFOxh The command will be started on each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 1039 4 3 148 Bestehorn VAJ Increment Demand Pos On Rising Trigger Event 0FBxh Name Byte Description Type Unit Offset Header 0 OFBxh Bestehorn VAJ Increment Demand Pos On Ulnt16 Rising Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Jerk Ulnt32 1E 4 m s This command defines a new Bestehorn motion command relative move see description of command Bestehorn VAJ Increment Demand Pos 0F1xh The command will be started on each rising e
69. ID 1213h R Mounting Environment UPID 1214h The sum of all R defines the static power losses consider also Tw and Te With the capacitance the thermal time constant can be influenced The bigger the thermal capacitance the slower the temperature will rise Page 108 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW LinMot 9 State Machine Setup In the state machine setup sections the parameters to influence the behavior of the single states can be defined NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 109 117 Motion Control SW 10 Error Code List 0000h No Error No error is pending 0001h Err X4 Logic Supply Too Low The logic supply voltage has been too low The minimal logic supply voltage level is defined through parameter 100Eh Recommended actions check your 24V logic power supply 0002h Err X4 Logic Supply Too High The logic supply voltage has been too high The maximal logic supply voltage level is defined through parameter 1010h Recommended actions check your 24V logic power supply 0003h Err X1 Pwr Voltage Too Low The motor power supply voltage has been too low The minimal motor supply voltage level is defined through parameter 101Ah Recommended actions check your motor power supply check the wiring check the sizing of the power supply add a capacitor too enforce your DC link 0004h Err
70. ID RAM Value To Cmd Table Var 1 24Cxh s ssscssesss 73 Write UPID RAM Value To Cmd Table Var 2 24Dxh sess 73 IF Cmd Table Var 1 Less Than 250xh essent 73 NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 7 117 r LinMot Motion Control SW 4 3 197 4 3 198 4 3 199 4 3 200 4 3 201 4 3 202 4 3 203 4 3 204 4 3 205 4 3 206 4 3 207 4 3 208 4 3 209 4 3 210 4 3 211 43 212 4 3 213 4 3 214 304xh 4 3 215 305xh 4 3 216 43 217 4 3 218 4 3 219 4 3 220 4 3 221 4 3 222 4 3 223 4 3 224 4 3 225 4 3 226 43 207 4 3 228 4 3 229 4 3 230 4 3 231 3A4xh 4 3 232 AS23535 4 3 234 43235 4 3 236 43 237 4 3 238 4 3 239 4 3 240 IF Cmd Table Var 1 Greater Than 251Ixh esee 74 IF Cmd Table Var 1 Less Than 252xh essent 74 IF Cmd Table Var 1 Greater Than 253xh seen 74 IF Demand Position Less Than 258xh esses 74 IF Demand Position Greater Than 259xh seen 74 IP Actual Position Less Than 29 Xli Jai ee etia dttsetete bte era d de Do e dada 74 IF Actual Position Greater Than 25Bxh esee 75 IF Difference Position Less Than 25Cxh sese 75 IF Difference Position Greater Than 25Dxh essen 75 IF Current Less Than 25Exh ud aucto Peele Maa eee eode cea ate e die eode 75 IF Current Greater Than 25Fxh eese ener 75 IF
71. If the resistance is below 2kOhm the input is high If it rises above 15kOhm the output is regarded as low Typically the transition low to high is between 5kOhm and 7kOhm If the input rises the corresponding bit in the warn word will be set after the PTC Warn Time After the PTC error time the corresponding error is set The error only can be acknowledged if the corresponding PTC warn bit has vanished NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 101 117 e LinMot Motion Control SW 7 2 5 X4 12 SVE Safety Voltage Enable X4 12 is a special input input only If it goes low for more than 0 5ms the PWM generation of the power stage is disabled by hardware Additionally this bit is mapped directly to the Control Word bit 1 To disable this feature the input must be wired to 24V logic supply 7 3 Master Encoder The master encoder can be used for applications where high speed synchronization is needed such as winding application indexing positioning mode etc The parameter Encoder Source defines whether the master encoder is connected to the X10 RJ45 or the X12 DSUB 9 connector X10 is looped through to the master encoder connector X11 RJ45 This simplifies the loop through cabling of the encoder signals Parameter Name UPID Description Encoder Source 172Ah Defines the source of the Master Encoder e 0 None e 1 Encoder Input X10 e 2 Ext Sensor Input X12 The encoder type parameter defi
72. Int32 0 1 um 4 3 35 Predef VAI Go To Pos On Falling Trigger Event 02Dxh AEW Byte Description Type Unit Offset Header 0 02Cxh Predef VAI Go To Pos On Falling Trigger Ulnt16 Event 1 Par 2 Target Position SInt32 0 1 um 4 3 36 Predef VAI Infinite Motion Positive Direction 02Exh Name Byte Description Type Unit Header Offset O2bxh Predef VAI Infinite Motion Positive Direction Ulnt16 4 3 37 NETE Predef VAI Infinite Motion Negative Direction 02Fxh Byte Offset Description Type Unit Header O 02Fxh Predef VAI Infinite Motion Negative Direction Ulnt6 Page 36 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 38 P Stream With Slave Generated Time Stamp 030xh Name Byte Description Type Unit Offset Header 0 030xh P Stream With Slave Generated Time Stamp Ulnti6 1 Par 2 Position Sint32 0 1 um Position streaming mode The time stamp is generated by the interface receive time stamp of TO the streaming period has to be in the time range 2 5ms For good results the streaming period has to be as constant as possible 4 3 39 PV Stream With Slave Generated Time Stamp 031 xh AEWIG Byte Description Type Unit Offset Header 0 031xh PV Stream With Slave Generated Time Ulnt16 Stamp 1 Par 2 Position SInt32 0 1 um 2 Par_ 6 Velocity SInt32 1 um s
73. Less Than 2h X XI X X IF Masked X4 Input Value Equal Than 3h X X IF Masked X6 input Value Equal Than XIXIXIX XIXIXIX XIX NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 27 117 r C LinMot Motion Control SW Master Sub E E Description 1B 111 2 4 0 0 0 0 30h Oh X X Encoder Winging Start With Default Parameters th X X Encoder Winding Start With Default Parameters At Revolutions 4h X X Encoder Winding Stop Adaptation Of Left Right Position and Disturbance 5h X X Encoder Winding Restart Adaptation Of Left Right Position and Disturbance 31h Oh X X Encoder Curve Winding Start With Default Parameters th X X Encoder Curve Winding Start With Default Parameters At Revolutions 38h Oh F F FF VAI Go To Pos With Force Ctrl Limit 1h F F F F VAI Go To Pos From Act Pos And Reset Force Control 2h FJ F F F Force Ctrl Change Target Force 3h F F F F VAI Go To Pos With Force Ctrl Limit and Target Force 4h F F F F VAI Go To Pos With Lower Force Ctrl Limit oh__ F F F F VAI Go To Pos With Lower Force Ctrl Limit and Target Force eh F F F F VAI Go To Pos From Act Pos And Reset Force Control Set 7h F F F VAI Increment Act Pos And Reset Force Control Set 39h Oh X X X Current Command Mode Fh X X X Change to Position Controlled mode 3Ah Oh
74. Ph1 Short circuit between motor phase 2 and phase 1 detected Recommended actions check motor wiring check motor O03Ah Err Phase U Broken Motor phase U broken Recommended actions check motor wiring check motor 003Bh Err Phase V Broken Motor phase V broken Recommended actions check motor wiring check motor 003Ch Err Phase W Broken Motor phase W broken Recommended actions check motor wiring check motor NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 113 117 Motion Control SW 0040h Err X4 3 Brake Driver Error X4 3 brake driver reports error Recommended actions check for short circuit on X4 3 0041h Err Dig Out X4 4 X4 11 Status X4 3 X4 11 output driver reports error Recommended actions check for short circuit on outputs X4 4 X4 11 or output configurations 0042h X6 output driver reports error Recommended actions check for short circuit on outputs X6 0044h Ground fuse for digital outputs on X4 blown Recommended actions check X4 wiring contact support for repair 0045h Motor communication lost Recommended actions Power down and check motor wiring and motor replace cable and or motor 0046h PTC 1 on X4 10 broken or not connected Recommended actions Power down and check PTC 1 wiring and resistance 0047h Err Dig Out X6 Status Err X4 Dig Out GND Fuse Blown Fatal Err
75. This command can be used after the command OC5xh to set the current to the normal value At the beginning of the motion the position controller integrator is cleared This command sets the maximal current of the actual position controller set UPID 13A6h or 13BAh to the value defined with the 4 parameter 4 3 116 VAI Dec Acc Go To Pos From Act Pos And Vel 0 With Max Curr 0C7xh Name Byte Description Type Unit Offset Header 0 0C7xh VAI Dec Acc Go To Pos From Act Pos And Ulnt16 Vel 0 With Max Curr 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Demand Curr Limit Uint16 1mA This command can be used after the command OC5xh to set the current to the normal value At the beginning of the motion the position controller integrator is cleared This command sets the maximal current of the actual position controller set UPID 13A6h or 13BAh to the value defined with the 4 parameter 4 3 117 VAI DeczAcc Go To Pos After Actual Command 0C8xh Name Byte Description Type Unit Offset Header 0 0C8xh VAI Dec Acc Go To Pos After Actual Ulnt16 Command lee se Target Position SInt32 0 1 um 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s This command waits until the actual motion setpoint generation has finished th
76. Trigger Event 04Fxh Name Byte Description Type Unit Offset Header 0 04Fxh Time Curve To Pos With Adjustable Time Ulnt16 On Falling Trigger Event 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Target Position SInt32 0 1 um 3 Par 8 Curve Time SInt32 10us On a falling trigger event start command 043xh NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 41 117 Motion Control SW 4 3 57 Modify Curve Start Address in RAM 050xh Name Byte Description Type Unit Offset Header 0 050xh Modify Curve Start Address in RAM Ulnti6 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Start Address Offset Uint 6 This command allows locating the curve start address points to the start of the curve info header A value of OFFFh means no curve has been defined can be used to clear a curve When using this command the whole memory management of the curve data has to be done by the superior system A curve can only be defined with a valid start address If a start address is defined the curve curve info header and curve data points has to be completely defined otherwise this will lead to an unpredictable behavior 4 3 58 Modify Curve Info Block 16 Bit Value in RAM 051xh Name Byte Description Type Unit Offset Header 0 051xh Modify Curve Info Block 16 Bit Value in Ulnt 6 RAM 1 Par 2 Curve ID Ulnti6 1 100 2 Par_ 4 Offset in Byt
77. Uint16 1 255 NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 75 117 Motion Control SW 4 3 209 IF Masked X4 Input Value Equal Than 262xh Name Byte Description Type Unit Offset Header 0 262xh IF Masked X4 Input Value Equal Than Ulnti6 1 Par 2 X4 Bit Mask Uint16 2 Par 4 Condition Value Uinti6 3 Par 6 Command Table ID IF TRUE Uint16 1 255 4 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 210 IF Masked X6 Input Value Equal Than 263xh Name Byte Description Type Unit Offset Header 0 263xh IF Masked X6 Input Value Equal Than Ulnti6 1 Par 2 X6 Bit Mask Uint16 2 Par 4 Condition Value Uinti6 3 Par 6 Command Table ID IF TRUE Uint16 1 255 4 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 211 IF Masked Status Word Equal Than 264xh Name Byte Description Type Unit Offset Header 0 264xh IF Masked Status Word Equal Than Ulnti6 1 Par 2 Status Word Bit Mask Uint16 2 Par 4 Condition Value Uinti6 3 Par 6 Command Table ID IF TRUE Uint16 1 255 4 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 212 IF Masked Warn Word Equal Than 265xh Description 265xh IF Masked Warn Word Equal Than Ulnt16 1 Par 2 Warn Word Bit Mask Uint16 2 Par 4 Condition Value Uinti6 3 Par 6 Command Table ID IF TRUE Uint16 1 255 4 Par 8 Command Tab
78. V Direction Input X4 11 Yes PTC 2 Input X4 12 No SVE Safety Voltage Enable Input 7 2 1 X4 3 Brake The output X4 3 can drive up to 1A so it can be used to control directly a valve of a pneumatic brake module For this reason this output can be configured as brake output The cases in which the brake has to be applied or released are configured over the brake mode parameters The brake output is controlled from the state machine Parameter Name UPID Description Status Word 1717h The brake is released X4 3 24V when bit 0 of the status Operation word Operation Enabled is set Otherwise the brake is Enabled applied Ctrl Word Abort 1718h The brake is applied X4 3 OV when entering the Aborting State 12 and released X4 3 24V when going to Operation Enabled State 8 again Quick Stop 1716h Special brake behavior with Quick Stop Brake Mode Status Word Operation Enabled has also to be set NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 97 117 r LinMot Motion Control SW The following figure shows the behavior when only the brake mode Status Word Operation Enabled is selected If only this switch with UPID 1717h is activated no apply or release delay time is regarded Operation Enabled Brake Out X4 3 7 2 1 1 X4 3 Brake Operation Abort Behavior When set the brake mode to Ctrl Word Abort the brake is applied in state Aborting 12 and t
79. WORD eoi fe dusts e ricette i Gs del n EO EE deles 3 23 STATUS WORD iiti ret rte ed ep eene e ete A 3 24 WARN WORD csssccccccccscssssnscsncssccscessssssnccseesscsesensssccueesscscesssnsenneeess 4 MOTION COMMAND INTERFACE sseeeesseceesseceessccccsssscceessoceesseceese 4 1 MOTION COMMAND INTERFACE ccsseesesseceseceesseessnseceeeseeseeesenseaeees 4 1 1 Command Header c ccccccccccccccccccccccc cece cece cccccececesesesesesesessssssesesseaes 4 2 OVERVIEW MOTION COMMANDS sesscssccscceesessssseeeeccecessessaeceseceens 4 3 DETAILED MOTION COMMAND DESCRIPTION eene 4 3 1 No Operation 000xh scsi caine en ae een eas 4 3 2 Write Interface Control Word 001xh sess 4 3 39 Write Live Parameter 002xh cesses 4 3 4 Write X4 Intf Outputs with Mask 003xh cesses 4 3 5 Select Position Controller Set 0O5xh eese 4 3 6 Clear Event Evaluation 008xh essere 4 3 7 Master Homing 009xh asado tusstomdcute sid adatta Made AIDE ducti dde 4 3 8 Jeescr DPI ausu carne Area chi atic aie elitd ao aA ih atu dob uiae 4 3 9 VAI Go To Pos OLOXN ete e eee te oed eng 4 3 10 VAI Increment Dem Pos 011xh esssceeeeeeenenee NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 3 117 r LinMot Motion Control SW 4 3 11 VAI Increment Target Pos 012xh i dttastencistutie ei titer laa ied tei aevi ba 31 4 3
80. XI PV Stream With Slave Generated Time Stamp and Configured Period Time 4h X XXX PVA Stream With Slave Generated Time Stamp 5h XIX X X PV Stream With Slave Generated Time Stamp and Configured Period Time Fh X X X X Stop Streaming 04h Oh X X XX Time Curve With Default Parameters ih X X X X Time Curve With Default Parameters From Act Pos 2h X XI XX Time Curve To Pos With Default Speed 3h X X X X Time Curve To Pos With Adjustable Time 4h__ X X X X Time Curve With Adjustable Offset Time Scale amp Amplitude Scale 5h X X X X Time Curve With Adjustable Offset Time amp Amplitude Scale eh XIXIX X Time Curve With Adjustable Offset Time amp Amplitude Scale On Rising Trigger Event 7h XIX X X Time Curve With Adjustable Offset Time amp Amplitude Scale On Falling Trigger Event Ah X X X X Time Curve To Pos With Default Speed On Rising Trigger Event Ch X XXIX Time Curve To Pos With Default Speed On Falling Trigger Event Eh X X X X Time Curve To Pos With Adjustable Time On Rising Trigger Event Fh X X X X Time Curve To Pos With Adjustable Time On Falling Trigger Event 05h Oh X X Modify Curve Start Address in RAM th X X Modify Curve Info Block 16 Bit Value in RAM 2h X X Modify Curve Info block 32 Bit Value in RAM 4h X X Modify Curve Data Block 32 Bit in RAM 5h X X Modify Curve Data Block 64 Bit in RAM 6h X X Modify Curve Data Block 96 Bit in RAM 06h 4h X X Setup Encoder CAM from Actual
81. ar 8 Curve Time SInt32 10us 4 Par 12 Amplitude Scale 2000 2000 SInt16 0 1 Page 40 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW On a falling trigger event start command 045xh 4 3 53 Time Curve To Pos With Default Speed On Rising Trigger Event 04Axh Name Byte Description Type Unit Offset Header 0 04Axh Time Curve To Pos With Default Speed On Ulnt16 Rising Trigger Event 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Target Position SInt32 0 1 um On a rising trigger event start command 042xh 4 3 54 Time Curve To Pos With Default Speed On Falling Trigger Event 04Cxh Description NEUI Byte Type Unit Offset Header 0 Ulnt16 04Cxh Time Curve To Pos With Default Speed On Falling Trigger Event 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Target Position SInt32 0 1 um On a falling trigger event start command 042xh 4 3 55 Time Curve To Pos With Adjustable Time On Rising Trigger Event 04Exh Name Byte Description Type Unit Offset Header 0 04Exh Time Curve Go To Absolute Position With Ulnt16 Adjustable Time On Rising Trigger Event 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Target Position SInt32 0 1 um 3 Par 8 Curve Time SInt32 10us On a rising trigger event start command 043xh 4 3 56 Time Curve To Pos With Adjustable Time On Falling
82. ar_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration UInt32 1E 5 m s 4 3 20 VAI Increment Target Pos On Rising Trigger Event 01Bxh Name Byte Description Type Unit Offset Header 0 01Bxh VAI Increment Target Pos On Rising Trigger Ulnt16 Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration UInt32 1E 5 m s NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 33 117 r e LinMot Motion Control SW 4 3 21 VAI Go To Pos On Falling Trigger Event 01Cxh Name Byte Description Type Unit Offset Header 0 01Cxh VAI Go To Pos On Falling Trigger Event Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s 4 3 22 VAI Increment Target Pos On Falling Trigger Event 01Dxh Name Byte Description Type Unit Offset Header 0 01Dxh VAI Increment Target Pos On Falling Ulnt16 Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration UInt32 1E 5 m s 4 3 23 VAI Change Motion Parameters On Positive Position Tra
83. ator VAI This command initializes the VAI with the current Demand Position and Demand Velocity value Therefore it is possible to start a new command while execution of a former command is not fully completed 4 3 124 VAI Go To Cmd Tab Var1 Pos 0DAxh Name Byte Description Type Unit Offset Header 0 0D4xh VAI Go To Cmd Tab Var1 Pos Ulnt16 1 Par 2 Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 Acceleration Ulnt32 1E 5 m s 3 Par 10 Deceleration Ulnt32 1E 5 m s Go to the target position defined with the command table variable 1 UPID 1E72h 4 3 125 VAI Go To Cmd Tab Var2 Pos 0D5xh Name Byte Description Type Unit Offset Header 0 0D5xh VAI Go To Cmd Tab Var2 Pos Ulnt16 1 Par 2 Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 Acceleration Ulnt32 1E 5 m s 3 Par 10 Deceleration Ulnt32 1E 5 m s Go to the target position defined with the command table variable 2 UPID 1E73h 4 3 126 VAI Go To Cmd Tab Var1 Pos From Act Pos And Act Vel OD6xh Name Byte Description Type Unit Offset Header 0 OD6xh VAI Go To Cmd Tab Vari Pos From Act Ulnt16 Pos And Act Vel 1 Par 2 Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 Acceleration Ulnt32 1E 5 m s 3 Par 10 Deceleration Ulnt32 1E 5 m s Go to the target position defined with the command table variable 1 UPID 1E72h starting from actual position and with actual velocity
84. aximal Velocity Ulnt32 1E 6 m s 4 3 106 VAI Predef Acc Increment Target Pos On Rising Trigger Event OBBxh EUIS Type Unit Byte Description Offset Header 0 OBBxh VAI Predef Acc Increment Target Pos On Ulnt16 Rising Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity UInt32 1E 6 m s NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 53 117 r C LinMot Motion Control SW 4 3 107 VAI Predef Acc Go To Pos On Falling Trigger Event OBCxh Name Byte Description Type Unit Offset Header 0 OBCxh VAI Predef Acc Go To Pos On Falling Ulnt16 Trigger Event 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 4 3 108 VAI Predef Acc Increment Target Pos On Falling Trigger Event OBDxh Name Byte Description Type Unit Offset Header 0 OBDxh VAI Predef Acc Increment Target Pos On Ulnt16 Falling Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 4 3 109 VAI Dec Acc Go To Pos 0COxh Name Byte Description Type Unit Offset Header 0 O0COxh VAI Dec Acc Go To Pos Ulnt16 1 Par_ 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s 4 3 110 VAI DeczAcc Increment Dem Pos 0C1xh Name By
85. b ID The sub ID is used to identify different commands from the same command group 4 1 1 3 Command Count A new command will only be executed if the value of the command count has changed In the easiest way bit 0 can be toggled NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 21 117 r C LinMot Motion Control SW 4 2 Overview Motion Commands Master Sub C C Description ID ID Predef VAI Increment Target Pos On Falling Trigger Event Predef VAI Infinite Motion Positive Direction Predef VAI Infinite Motion Negative Direction EIRE UAE M S Bal 12 24 0 0 0 0 0 000 00h Oh X X X X No Operation th X X X X Wrtite Interface Control Word 2h X X X X Wiruie Live Parameter 3h X XX X Write X4 X14 Intf Outputs with Mask 5bh X X X X Select Position Controller Set ah X X XIX Clear Event Evaluation 9h X X X X Master Homing Fh X X X X Reset 01h Oh X X X X VAI Go To Pos th X X X X VAI Increment Dem Pos 2h X X X X VAI Increment Target Pos 3h X X X X VAI Go To Pos From Act Pos And Act Vel 4h X X X X VAI Go To Pos From Act Pos Starting With Dem Vel 0 5h X X X X VAI Increment Act Pos eh X X X X VAI Increment Act Pos Starting with Dem Vel 0 7h X X X X VAI Stop 8h X XIX X VAI Go To Pos After Actual Command 9h X X X X VAI Go To Analog Pos Ah XX X X VAI
86. bounces the trigger input signal with the inhibit time The inhibited trigger signal is then delayed with the rise fall delay time and then copied to the trigger out signal Trigger In Inhibited Trigger Trigger Out Parameter Name UPID Description Rise Inhibit Time 170Dh Inhibit time after rising edge of Trigger In signal tir Fall Inhibit Time 170Eh Inhibit time after falling edge of Trigger In signal ti Rise Delay Time 170Fh Trigger Out Delay time after rising edge of Trigger In signal tar Fall Delay Time 1710h Trigger Out Delay time after falling edge of Trigger In signal tar 7 2 3 X4 8 and X4 9 Limit Switches If on IO pin X4 8 and or on X4 9 a limit switch is defined the error behavior in case of an active limit switch can be configured The error is only generated on a powered motor which is homed so it is possible to exit the error state with a new homing request For that reason also the homed bit in the status word is cleared if moving into a limit switch Parameter Name UPID Description Error Behavior 121Bh Error behavior of the configured limit switches e 0 No Error maybe only used for homing e 1 Power Off e 2 Quick Stop 7 2 4 X4 10 and X4 11 PTC 1 and PTC2 On IO pins X4 10 and X4 11 PTC sensors can be connected to supervise an over temperature of a motor and or the transformer supply The other side of the PTC has to be connected to 24V
87. culating how much heat energy is generated in the resistor at the current DC link voltage Warning Temp 1024h If Calc Temp RR Winding UPID1CODh of the calculated temperature model rises above this value bit 10 of the Warn Word is set Error Temp 1025h If Calc Temp RR Winding UPID1CODh of the calculated temperature model rises above this value the controller goes to error state with the error 15h NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 105 117 Motion Control SW In the Temp Model Parameters section the regeneration resistor s temperature model is defined Parameter Name UPID Description C Resistor 1026h Heat capacity of the resistor winding itself R Winding 1027h Thermal resistance value between resistor winding and its Housing housing C Housing 1028h Heat capacity of the resistor housing R Housing 1029h Thermal resistance value between resistor housing and Environment environment Environment 102Ah Environmental temperature of the regeneration resistor Temperature The figure below shows the implemented temperature model for the regeneration resistor Tr RHousing Environment 7 4 4 Temperature Monitoring The E1100 servo controller hardware contains eight absolute temperature sensors for thermal protection On the B1100 controller is one sensor placed Parameter Name UPID Description Level Temp
88. d Bigger values generate a smother master encoder speed but generate a bigger delay time of the speed which may be a problem if the master encoder speed varies quickly Parameter Name UPID Description Speed Filter 1293h Time over which the Master Encoder speed is generated Time NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 103 117 e LinMot Motion Control SW 7 4 Monitoring All servo controller series support enhanced monitoring features of the supply voltages and the board temperatures 7 4 1 Logic Supply Voltage The logic supply voltage must be in the range from 20V to 28V when using the default parameter settings If the supply voltage goes out of this range an error will be generated If the supply voltage goes below approx 18V the servo controller shuts down Parameter Name UPID Description Logic Supply 100Eh If the logic supply voltage sinks below this limit the error O1h Voltage Too Low will be generated Parameter Name Description Logic Supply 1010h If the logic supply voltage rises above this limit the error 02h Voltage Too High will be generated 7 4 2 Motor Supply Voltage The motor supply voltage can be monitored with different warn and error levels Parameter Name UPID Description Motor Supply 1018h If the motor supply voltage sinks below this limit the warn bit Voltage Low Motor Supply Voltage Low bit 2 is set Motor Sup
89. d table in the B1100 servo controllers is limited to 31 entries and is flash only for this reason it is not possible to write or modify the table over a serial interface The command table functionality can be used for programming sequences directly in the controller The following examples illustrate the possibilities of the command table The shown command table can be loaded from the defaults CT Example Imc X LinMot Talk1100 V3 6 Beta 20060427 File Search Controller Services Options Window Tools Manuals Help D3 SH 2 8 weni7nen iP EG x t gBGArSIE U ED Project fe zu amp Rl My Box ID 17 on CAN m Al upload Dowload Y Control Panel E g Parameters Entry ID o Auto execute new command on next cycle a os d Entry Name Test For Part H E Motion Control Sw 3 E LinRS Motion Command Category Conditions g Variables Motion Command Type g amp User Defined Condition Value i OS SW Operating Hour Cou Table Command ID IF TRUE gt GoTo Omm E OS Sw Message Error E 05 SW Hw Configuration Table Command ID IF FALSE 21 gt GoTo 0 mm 0S Hash Value EE 05 SW Status Apply OS SW Keys MC SW Overview EE MC SW Motor Name Type Pat Pa Pu3 Par SeguencedEnty MC
90. de The Special Mode is available only on the B1100 servo controllers In this state the current command mode over the analog input is available For using this mode see the 4 Page 16 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW LinMot 3 21 Building the Control Word The Control Word can be accessed bit by bit from different sources with different priorities The highest priorities have the bits that are forced by parameters The second highest priority has the control panel of the LinMot Talk software if logged in with the SW The next lower priorities have the bits that are defined on the X4 IOs as control word input bits The lowest priority have bits which are set over the interface normally a serial fieldbus connection so in the Ctrl Word Interface Copy mask all bits can be selected without causing any problems but bits which should not be accessed through the interface can be masked out NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 17 117 r LinMot Motion Control SW 3 22 Control Word With the Control Word 16Bit the main state machine of the servo controller can be accessed Following table shows the meaning of each bit 0 A Stop gt Current 0 power switches Switch On disabled State change from switch on disabled to ready to switch on 1 OFF2 Power switches disabled without Voltage Enable microcontroller action Operation 2 OFF3 Quick Stop
91. ded actions reconfigure the motor by using the motor wizard 0080h User Err Lin Not Homed User error The PLC program tried to start an action that requires the motor to be already homed but the motor was not homed Recommended actions check the PLC program do a homing of the motor first 0081h User Err Unknown Motion Cmd User error The PLC program sent an unknown motion command ID Recommended actions check PLC program check firmware version 0082h User Err PVT Buffer Overflow User error The PLC program has sent the stream position commands too fast the buffer had an overflow Streaming has to be strictly cyclic Recommended actions check PLC program check the fieldbus by using bus monitor tools 0083h User Err PVT Buffer Underflow User error The PLC program has sent the stream position commands too slowly the buffer had an underflow Streaming has to be strictly cyclic Recommended actions check PLC program check the fieldbus by using bus monitor tools 0084h User Err PVT Master Too Fast User error The PLC program has begun to send PVT streaming command The commands were too close to each other The servo controller expects new streaming commands every 2ms to 5ms Recommended actions check PLC program check the fieldbus by using bus monitor tools 0085h User Err PVT Master Too Slow User error The PLC program has begun to send PVT streaming comma
92. determined by the firmware It is calculated by adding the Position Increment argument to the Actual Position value relative move The command execution starts immediately when the command has been sent Page 60 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 7 Motion Control SW LinMot 4 3 135 Sin VA Go To Pos After Actual Command 0E8xh Name Byte Description Type Unit Offset Header 0 OE8xh Sin VA Go To Pos After Actual Command Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity The command execution is delayed until the former command has been completed The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new VAI motion command as soon as bit 13 of the Status Word Motion Active is 0 After the event the Event Handler deactivates itself 4 3 136 Sin VA Go To Analog Pos 0E9xh Byte Description Unit Offset 0 OE9xh Sin VA Go To Analog Pos 1 Par 2 Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 Maximal Acceleration Deceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity This command sets a new Target Position Ca
93. dexing mode and moves to the defined target position with a VAI command Page 46 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW Lin Mot 4 3 72 Stop Position Indexing and VAI Go To Pos 07Fxh Name Byte Description Type Unit Offset Header 0 07Vxh Stop Position Indexing And VAI Go To Pos Ulnti6 1 Par 2 Target Position SInt32 0 1 um This command clears the position indexing mode and moves to the defined target position with a Predefined VAI command 4 3 73 VAI 16 Bit Go To Pos 090xh AEWG Byte Description Type Unit Offset Header 0 090xh VAI 16 Bit Go To Pos Ulnt16 tokei 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled This command is similar to the 010xh command but the parameters are only 16 bit and scaled The scaling is according to the parameter settings under Motion Control SW Motion Interface 16 Bit Interface Scaling 4 3 74 VAI 16 Bit Increment Dem Pos 091xh AEWIG Byte Description Type Unit Offset Header 0 091xh VAI 16 Bit Go To Relative Position Ulnt16 1 Par 2 Position Increment SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 75 VAI 16 Bit Increment
94. dge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter lt UPID gt 1039 4 3 149 Bestehorn VAJ Go To Pos On Falling Trigger Event OFCxh AEWG Byte Description Type Unit Offset Header 0 OFCxh Bestehorn VAJ Go To Pos On Falling Ulnt16 Trigger Event 1 Par 2 Target Position SInt32 0 1 um 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Jerk Ulnt32 1E 4 m s NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 65 117 e LinMot Motion Control SW This command defines a new Bestehorn motion command see description of command Bestehorn VAJ Go To Pos OFOxh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh
95. e ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 200 IF Demand Position Less Than 258xh Byte Description Unit Offset Header 0 258xh IF Demand Position Less Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 201 IF Demand Position Greater Than 259xh Name Byte Description Type Unit Offset Header 0 259xh IF Demand Position Greater Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 202 IF Actual Position Less Than 25Axh Name Byte Description Type Unit Offset Header 0 25Axh IF Actual Position Less Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 Page 74 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 203 IF Actual Position Greater Than 25Bxh Name Byte Description Type Unit Offset Header 0 25Bxh IF Actual Position Greater Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Pa
96. e Sint32 Page 72 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 189 Add To Cmd Table Var 1 241xh AEW Byte Description Type Unit Offset Header 0 241xh Add To Cmd Table Var 1 UlInti6 1 Par 2 Add value Sint32 4 3 190 Set Cmd Table Var 2 To 242xh Name Byte Description Type Unit Offset Header 0 242xh Set Cmd Table Var 2 To Ulnti6 1 Par 2 Set value Sint32 4 3 191 Add To Cmd Table Var 2 243xh Name Byte Description Type Unit Offset Header 0 243xh Add To Cmd Table Var 2 Ulnt16 1 Par 2 Add value Sint32 4 3 192 Write Cmd Table Var 1 To UPID RAM value 248xh Name Byte Description Type Unit Offset Header 0 248xh Write Cmd Table Var 1 To UPID RAM value Ulnt16 1 Par 2 UPID Unique Parameter ID Ulnt16 4 3 193 Write Cmd Table Var 2 To UPID RAM value 249xh Name Byte Description Type Unit Offset 0 249xh Write Cmd Table Var 2 To UPID RAM value 1 Par 2 UPID Unique Parameter ID Ulnt16 4 3 194 Write UPID RAM Value To Cmd Table Var 1 24Cxh Name Byte Description Type Unit Offset Header 0 24Cxh Write UPID RAM value To Cmd Table Var1 Ulnt16 1 Par 2 UPID Unique Parameter ID Ulnt16 4 3 195 Write UPID RAM Value To Cmd Table Var 2 2
97. e Uinti6 0 3 Par 6 Value Sintl6 This command allows to modify a 16 bit value or half of a 32 bit value in RAM within the curve info block of an existing curve profile with the given ID The offset argument defines on which position within the curve info block the modification takes place byte offset In order to modify for instance the value of x Length you first have to set the low word of the new curve length with Offset 32 and then the high word with offset 34 The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 59 Modify Curve Info Block 32 Bit Value in RAM 052xh Name Byte Description Type Unit Offset Header 0 052xh Modify Curve Info Block 32 Bit Value in Ulnt 6 RAM 1 Par 2 Curve ID Ulnti6 1 100 2 Par_ 4 Offset in Byte Uintl6 0 3 Par 6 Value Sint32 This command allows to modify a 32 bit value in RAM within the curve data block of an already existing curve profile with the given ID The offset argument defines on which position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoin
98. e single bits 0 Operation Enabled 1 Switch On Active 2 Enable Operation 3 Error State Nr 8 Operation Enabled State Nr 8 or higher copied to Controller EN LED Switch On Disabled Control Word Bit 0 Switch On Enabled Operation Disabled Control Word Bit 3 Operation No Error Error Acknowledge with Control word Bit 7 Reset Error Power Bridge Off Control Word Bit 1 Operation Active Control Word Bit 2 Operation Not Locked Switch On Locked Release with 0 of Control word bit 0 Switch On Warning not active No bit is set in the Warn Word Warning active One or more bits in the Warn Word are set O 4 Voltage Enable 5 Quick Stop 6 Switch On Locked 7 Warning 8 Event Handler Active 9 Special Motion Active Event Handler Inactive Event Handler cleared or disabled Event Handler Active Event Handler setup Normal Operation Special Command runs Special motion commands Homing runs Not In Pos Motion active or actual position out of window In Pos Actual position after motion in window eo O In Target Position Motor not homed Incremental sensor not homed referenced Motor homed Position sensor system valid o Homed us N O Fatal Error 13 Motion Active Fatal Error A fatal error can not be acknowledged No Motion Setpoint generati
99. efined in the command 4 3 88 Predef VAI 16 Bit Go To Pos 0A0xh Name Byte Description Type Unit Offset Header 0 OAOxh Predef VAI 16 Bit Go To Pos Ulnti6 1 Par 2 Target Position SInti6 Scaled Page 50 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW Lin Mot 4 3 89 Predef VAI 16 Bit Increment Dem Pos 0A1 xh Name Byte Description Type Unit Offset Header 0 OA1xh Predef VAI 16 Bit Increment Dem Pos Ulnt16 1 Par 2 Position Increment SInt16 Scaled 4 3 90 Predef VAI 16 Bit Increment Target Pos 0A2xh Name Byte Description Type Unit Offset Header 0 OA2xh Predef VAI 16 Bit Increment Target Pos Ulnt16 1 Par 2 Position Increment SInt16 Scaled 4 3 91 Predef VAI 16 Bit Go To Pos From Act Pos And Act Vel OA3xh Name Byte Description Type Unit Offset Header 0 OA3xh VAI 16 Bit Go To Pos From Act Pos And Ulnt16 Act Vel 1 Par 2 Target Position SInt16 Scaled This command starts a new VAI setpoint generation from the actual position can be used after a press command 4 3 92 Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 0A4xh Name Byte Description Type Unit Offset Header 0 OA4xh Predef VAI 16 Bit Go To Pos From Act Pos Ulnt16 Starting With Dem Vel 0 1 Par 2 Target Position Sint16 Scaled
100. emand Velocity and Demand Acceleration values to zero This command should be used if the Actual Position does not match with the current Demand Position value but it can be assumed that the motor stands still Actual Velocity and Actual Acceleration assumed to be zero e g because the motor stands on a hard stop This can happen after a Press command where the actual motor position is defined through external conditions and the motor could not and had not to follow the demand position By starting this command the former accepted difference between Actual Position and Demand Position can be eliminated NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 81 117 r LinMot Motion Control SW 4 3 232 VAJI Increment Act Pos Starting With Dem Vel 0 and Dem Acc 0 3A6xh Name Byte Description Type Unit Offset Header 0 3A6xh VAI Increment Act Pos Starting With Dem Ulnt16 Vel 0 and Dem Acc 0 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Deceleration Ulnt32 1E 5 m s 5 Par 18 Jerk Ulnt32 1E 4 m s This command sets a new Target Position and defines the maximal velocity maximal acceleration maximal deceleration and jerk for the movement The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment
101. en starts the new defined VAI motion Page 56 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 118 VAI Dec Acc Go To Pos On Rising Trigger Event OCAxh Name Byte Description Type Unit Offset Header 0 OCAxh VAI Dec Acc Go To Pos On Rising Trigger Ulnt16 Event 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s 4 3 119 VAI DeczAcc Increment Target Pos On Rising Trigger Event OCBxh Name Byte Description Type Unit Offset Header OCBxh VAI Dec Acc Increment Target Pos On Ulnt16 Rising Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s 4 3 120 VAI Dec Acc Go To Pos On Falling Trigger Event OCCxh Name Byte Description Type Unit Offset Header 0 OCOCxh VAI Dec Acc Go To Pos On Falling Trigger Ulnt16 Event 1 Par 2 Target Position SInt32 0 1 um 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s 4 3 121 VAI DeczAcc Increment Target Pos On Falling Trigger Event OCDxh Name Byte Description Type Unit Offset Header 0 OCDxh VAI Dec Acc Increment Target Pos On Ulnt16 Falling Trigger
102. epeated cam motions setup the master encoder and then set cam mode UPID1527h to modulo cam length The cam length can be defined independently from the master encoder length So with a 8000 counts ABZ master encoder also 16 000 counts or 4 000 counts cam length is possible With the following sequence a startup or resynchronization to a standing master encoder is possible Move to start position of cam 1 motion e g VAI GoTo Pos 010xh Define cam 1 motion e g Encoder CAM 1 Define Curve To Pos 112xh Move to start position of cam 2 motion e g VAI GoTo Pos 010xh Define cam 2 motion e g Encoder CAM 2 Define Curve To Pos 112xh Goto synchronized cam position with 102xh After synchronized cam position is reached enable cam motion with 100xh Start turning the encoder With the following sequence a re synchronization to a moving master encoder is possible Disable cam start enable UPID 1528h and wait until cam enabled vanishes or clear also cam enabled 1BA9h Move to start position of cam 1 motion e g VAI GoTo Pos 010xh Define cam 1 motion e g Encoder CAM 1 Define Curve To Pos 112xh Define cam 2 motion e g Encoder CAM 2 Define Curve To Pos 112xh After the synchronized cam position is reached enable the cam motion with 100xh Enable cam start enable UPID 1528h NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 95 117 Motion Control SW 6 Command Table NOTE The comman
103. er Cam Go To Sync Pos LOZ III uo iae si oves rdg acide o ved toos 66 Encoder Cam Set Value LO4XN cesses ener 66 Encoder Cam y Define Curve With Default Parameters 1yOxh 67 Encoder Cam y Define Curve From Act Pos lylIxh esee 67 Encoder Cam y Define Curve To Pos 1y2xh esee 67 Encoder Cam y Define Curve From Pos To Pos In Counts 1y3xh 67 Encoder Cam y Define Curve To Pos In Counts 1y4xh esses 67 Encoder Cam y Define Curve With Amplitude Scale In Counts 1y5xh 68 Encoder Cam y Enable 1y6xh ui ee eee oe oae een leet edes cil dal 68 Encoder Cam y Disable 1y 7X0 is iei ad ease 68 Encoder Cam y Change Amplitude Scale and Length Ly8Xh 68 Start Command Table Command 200Xxh sese 68 Start Command Table Command On Rising Trigger Event 201xh 69 Start Command Table Command On Falling Trigger Event 202xh 69 Modify Command Table 16 bit Parameter in RAM 206xh 69 Modify Command Table 32 bit Parameter in RAM 209xh 69 Wait Iime 210xli 3 eae tepaethianos tei eT AH a oR 69 Wait Until Motion Finished 21 1X0 essen 70 Wait Until In Target Position 212xh oeseanteie coniecta tete asdoraccauseianceaes 70 Wait Until Rising Trigger Event 2 I3xh i ies cosas tecadetes cobs dso 70 Wait Until Falling
104. ess Than eh X X X X Wait Until Difference Position Unsigned Greater Than 7h X X X X Wait Until Difference Position Unsigned Less Than 8h X X X X Wait Until Demand Velocity Greater Than 9h X X XIX Wait Until Demand Velocity Less Than Ah X X X X Wait Until Actual Velocity Greater Than Bh X X X X Wait Until Actual Velocity Less Than Eh XIX XX Wait Until Current Greater Than Fh X X X X Wait Until Current Less Than 24h Ooh XIX X X SetOCmd Table Var 1 To 1h X X X X Add To Cmd Table Var 1 2h X X X X Set Cmd Table Var 2 To 3h X X X X Add To Cmd Table Var 2 8h XIX X X Write Cmd Table Var 1 To UPID RAM value 9h XI XIXI X Write Cmd Table Var 2 To UPID RAM value Ch X X X X Write UPID RAM value To Cmd Table Var 1 Dh X X X X Wrie UPID RAM value To Cmd Table Var 2 Eh XIX X X Write UPID RAM value To UPID ROM value 25h Oh XIX XX IF Cmd Table Var 1 Less Than 1h X X X X IF Cmd Table Var 1 Greater Than 2h XIX X X IF Cmd Table Var 2 Less Than 3h XIX X X IF Cmd Table Var 2 Greater Than 6h XIX X XIF Cmd Table Var 1 Less Than UPID Value 7h XIX XX IF Cmd Table Var 2 Less Than UPID Value 8h XIX X X IF Demand Position Less Than 9h XIX X X IF Demand Greater Than Ah X X X X IF Actual Position Less Than Bh X X X X IF Actual Greater Than Ch X XIX X IF Difference Position Less Than Dh XIX XX IF Difference Greater Than Eh XIX XX IF Current Less Than Fh XIX X X IF Current Greater Than 26h Ooh X XIX X IF Analog Val On X4 4
105. flow buffer overflow errors The period length must be in the time range of 0 4ms 10ms The setpoint time stamp is generated by the slave s interface when the command is received receive time stamp The first two streaming commands are used to determine the nominal period length The setpoints are Than delayed 1 5 times the NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 37 117 e LinMot Motion Control SW period length Between the setpoints the slave performs a fine interpolation Since acceleration setpoint derivation is less sensitive to bus jitters it is recommended to use this command PV streaming instead of the simple P streaming command whenever possible For the derivation of the velocity and the acceleration the configured streaming period time 14E6h is taken to minimize communication time jittering 4 3 42 PVA Stream With Slave Generated Time Stamp 034xh Name Byte Description Type Unit Offset Header 0 034xh PVA Stream With Slave Generated Time Ulnt16 Stamp 1 Par 2 Position SInt32 0 1 um 2 Par 6 Velocity SInt32 1 um s 3 Par 10 Acceleration SInt32 1E 5m s This command can be used for cyclic position velocity and acceleration setpoint streaming This is possible if master provides NC functionality The commands have to be sent strictly cyclic in order to prevent buffer underflow buffer overflow errors The period length should be in the time range of
106. for triggered cam motions 4 3 64 Setup Encoder Cam On Rising Trigger Event With Delay Counts Target Pos and Length 06Axh AEWG Byte Description Type Unit Offset Header 0 O6Axh Setup Encoder Cam On Rise Trigger Event Ulnt16 With Delay Counts Target Pos and Length 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Start Delay Count SInt32 1 Incr 3 Par 8 Target Position Slnt32 0 1 um 4 Par 12 Curve length SInt32 1 Incr Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam length UPID1527h for triggered cam motions Page 44 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 65 Setup Encoder Cam On Falling Trigger Event With Delay Counts 06Bxh Name Byte Description Type Unit Offset Header 0 O6Bxh Setup Encoder Cam On Falling Trigger Ulnt16 Event With Delay Counts 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Start Delay Count Ulnt32 1 Incr Setup in the event handler to start a cam curve on the falling trigger event with the specified curve ID and the specified delay counts The specified curve ID is written to the R
107. fset Uint16 0 3Eh 3 Par 6 Parameter Value Sint32 This command modifies a single 32 bit parameter of the specified command table entry with the specified offset to specified value Within the command table entry the link ID has offset 2 the motion command header has offset 4 and the first motion command parameter has offset 6 4 3 169 Wait Time 210xh Name Byte Description Type Unit Offset Header 0 210xh Wait Time Ulnt16 1 Par 2 Time Ulnt32 100us Can be used in a linked command table sequence NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 69 117 r LinMot Motion Control SW 4 3 170 Wait Until Motion Finished 211xh Name Byte Description Type Unit Offset Header 0 211xh Wait Until Motion Finished Ulnt16 Can be used in a linked command table sequence 4 3 171 Wait Until In Target Position 212xh Name Byte Description Offset Header 0 212xh Wait Until Motion Finished Ulnt16 Can be used in a linked command table sequence 4 3 172 Wait Until Rising Trigger Event 213xh Name Byte Description Offset Header 213xh Wait Until Rising Trigger Ulnt16 Can be used in a linked command table sequence 4 3 173 Wait Until Falling Trigger Event 214xh Name Byte Description Offset 214xh Wait Until Falling Trigger Ulnt16 Can be used in a linked command table sequence 4 3 174 Wai
108. ger Event 3BDxh 85 5 SET POINT GENERA TION sessessessoesocssessoesoceseesoesoossosssesoossosssesoossosssesooesosssessossosese 87 5 1 VASINTERPOLATOR rra r a E T E E O 87 EN RET 117270 1 AEE NEEE T TERMIN TA 68 Am JDuipit Variables onnies herien iane taedet aii 88 52 V AT INTERPOLATOR oie oed E ee ee ee ele 89 Xd Input Variables accents ietestie auae tenda bett iesdiascue eis t o Mau edelu aaas 90 Dee OUTIL dia ioir Pa dtr EN RR NEN 90 5 3 SINE VA MOTION niisiis nb eile Rint Noein 91 IJA dnput VarigBlesiunsnsdsnee tese e a idet eM A bE Qe eoe aaa Ce d 91 3 3 2 OND Variables us a Fu Mot tot oU dete eue ute e d 91 54 BESTEHORN MAJ MOTION korisiti otii ee io eh irn En iei pe A Dd iaa ate bred 92 3AA d pubVartaBlestaussdtesexsiendide onitti o doleo Tas eee tain ia edits 93 5 4 2 Output Variables orner ner reote RE vtae ae Bike 93 5 5 PV STREAMi oie eee MSN Ads 94 3 0 CAM MOTIONS coat e ot pete at Red ditas su de deua co ta ace ee TD es 95 DOL Triggered Gam MOFORS estis tp Nee LER bets a FR ea a Ze DER ed 95 5 6 2 Repeated Cam Motions with the Modulo CamMode sees 95 COMMAND TABLE siccin cm 96 CONTROLLER CONFIGURATION eessescossoessesooesosssesoossosssesooesosssessoesosssessossosese 97 7 1 POWER BRIDGE cernat a E R a acts E stand a T 97 Pe XAVO DEFINITIONS ioes ere e E tet tameo papi t EE A SS 97 JA RED CE T cS 97 Aud KAO TPG OF eate ettet exi lorte addet E latet ibd edu 99 7 2 3
109. ger input must be configured with parameter UPID 1039 4 3 236 VAJI Increment Target Pos On Falling Trigger Event 3ADxh Name Byte Description Type Unit Offset Header 0 3ADxh VAJI Increment Target Pos On Falling Ulnt16 Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Deceleration Ulnt32 1E 5 m s 5 Par 18 Jerk Ulnt32 1E 4 m s This command defines a new VAJI motion command relative move see description of command VAJI Increment Target Pos 3A2xh The command will be started one cycle NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 83 117 r CG LinMot Motion Control SW after each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new VAJI motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter lt UPID gt 1039 4 3 237 Predef VAJI Go To Pos 3BOxh Name Byte Description Type Unit Offset Header 0 3BOxh Predef VAJI Go To Pos Ulnti6 1 Par_ 2 Target Position Sint32 0 1 um This command works like the comma
110. gger Event Eh X X X X VAI Dec Acc Infinite Motion Positive Direction Fh X XIX X VAI Dec Acc Infinite Motion Negative Direction ODh Oh X X XIX VAI Go Relative To Captured Pos ih X X X X VAI Dec Acc 16 Bit Go To Pos 4h X X XX VAI Go To Cmd Table Var 1 Pos 5h X X XIX VAI Go To Cmd Table Var 2 Pos eh X X XIX VAI Go To Cmd Table Var 1 Pos From Act Pos And Act Vel 7h X X XIX VAI Go To Cmd Table Var 2 Pos From Act Pos And Act Vel 8h XI X X VAI Stop at Angle Eh X X X X VAI Start Trig Rise Config VAI Command Fh X X X X VAI Start Trig Rise Config VAI Command OEh Oh X X XI X Sin VA Go To Pos ih X XX X Sin VA Increment Demand Pos 4h X X X X Sin VA Go To Pos From Actual Pos eh X X XX Sin VA Increment Actual Pos 8h XI XI X Sin VA Go To Pos After Actual Command 9h X X X Sin VA Go To Analog Pos Ah X X X X Sin VA Go To Pos On Rising Trigger Event Bh X X X X Sin VA Increment Demand Pos On Rising Trigger Event Ch X X XX Sin VA Go To Pos On Falling Trigger Event Dh X XIXI X Sin VA Increment Demand Pos On Falling Trigger Event OFh Oh X X XIX Bestehorn VAJ Go To Pos ih X XIXI X Bestehorn VAJ Increment Demand Pos 2h X Bestehorn VAJ 16 Bit Go To Pos 4h X X X X Bestehorn VAJ Go To Pos From Actual Pos eh X X X X Bestehorn VAJ Increment Actual Pos 8h X X Bestehorn VAJ Go To Pos After Actual Command 9h X XIXI X Bestehorn VAJ Go To Analog Pos Ah X Xj X X Bestehorn VAJ Go To Pos On Rising Tr
111. he Actual Position does not match with the current Demand Position value but it can be assumed that the motor stands still Actual Velocity assumed to be zero e g because the motor stands on a hard stop This can happen after a Press command where the actual motor position is defined through external conditions and the motor cannot and had not to follow the demand position By starting this command the former accepted difference between Actual Position and Demand Position can be eliminated NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 63 117 r C LinMot Motion Control SW 4 3 144 Bestehorn VAJ Increment Actual Pos OF6xh Name Byte Description Type Unit Offset Header 0 OF6xh Bestehorn VAJ Increment Actual Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Actual Position value relative move The command execution starts immediately when the command has been sent 4 3 145 Bestehorn VAJ Go To Pos After Actual Command OF8xh Name Byte Description Type Unit Offset Heade
112. he maximal current of the motor is set to OA If using this behavior ensure that the maximal current UPID 13A6h and 13BAh is not set over a serial bus during the state Aborting 12 Operation Enabled l Apply Delay Time ou Abort o Brake Out X4 3 Stopping Release Delay Time Maximal Current Apply Delay 171Bh Delay time after brake output goes to OV until the maximal Time current of the motor is set to OA UPID 13A6h and 13BAh Release Delay 171Ch Delay time of the Status Word bit Operation Enabled after Time the motion has stopped Page 98 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 7 2 1 2 X4 3 Brake Operation Quick Stop Behavior If also the Quick Stop brake behavior is selected the brake is applied X4 3 OV as soon as the motion has stopped then the reset of the Operation Enabled bit is delayed by the apply delay time which then also powers off the motor Apply Delay Time Quick Stop Operation Enabled Brake Out X4 3 Stopping Parameter Name UPID Description Apply Delay 171Bh Delay time of the Status Word bit Operation Enabled after Time the motion has stopped 7 2 2 X4 6 Trigger For the trigger input which is evaluated in the motion control task different evaluation modes are supported Parameter Name UPID Description Trigger Modes 170Ch Trigger mode selection e 0 None 1
113. igger Event Bh X X X X Bestehorn VAJ Increment Demand Pos On Rising Trigger Event Ch X X X X Bestehorn VAJ Go To Pos On Falling Trigger Event Dh X X X X Bestehorn VAJ Increment Demand Pos On Falling Trigger Event NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 25 117 Motion Control SW Master 18 Sub Description EVE 111 2 4 0 0 Ome 10h Oh X X Encoder CAM Enable th X X Encoder CAM Disable 2h X X Encoder CAM Go To Sync Pos 4h X X Encoder CAM Set Value 11h Oh X X Encoder CAM 1 Define Curve With Default Parameters 1h X X Encoder CAM 1 Define Curve From Act Pos 2h X X Encoder CAM 1 Define Curve To Pos 3h X X Encoder CAM 1 Define Curve From Pos To Pos In Counts 4h X X Encoder CAM 1 Define Curve To Pos In Counts 5h X X Encoder CAM 1 Define Curve with Amplitude Scale In Counts 6h X X Encoder CAM 1 Enable 7h X X Encoder CAM 1 Disable 8h X X Encoder CAM 1 Change Amplitude Scale and Length 12h Oh X X Encoder CAM 2 Define Curve With Default Parameters 1h X X Encoder CAM 2 Define Curve From Act Pos 2h X X Encoder CAM 2 Define Curve To Pos 3h X X Encoder CAM 2 Define Curve From Pos To Pos In Counts 4h X X Encoder CAM 2 Define Curve To Pos In Counts 5h X X Encoder CAM 2 Define Curve with Amplitude Scale In Counts 6h X X Enc
114. ion Counts To Start SInt32 1 Rev 4 3 218 VAI Go To Pos With Higher Force Ctrl Limit 380xh Name Byte Description Type Unit Offset Header 0 380xh VAI Go To Pos With Higher Force Ctrl Limit Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Force Limit Sint16 0 1N Moves to the defined target position if the measured force reaches the higher defined value the controller switches to the force control mode with target force force limit To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 77 117 e LinMot Motion Control SW 4 3 219 VAI Go To Pos From Act Pos And Reset Force Control 381xh Name Byte Description Type Unit Offset Header 0 381xh VAI Go To Pos From Act Pos And Reset Ulnt16 Force Control 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s Reinstalls the position control mode and moves to the defined target position 4 3 220 Force Ctrl Change Target Force 382xh Name Byte Description Type Unit Offset Header 0 382xh Force Ctrl Change Target Force Ulnt16
115. is command defines a new Sin VA motion command relative move see description of command Sin VA Increment Demand Pos OE1xh The command will be started on each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter lt UPID gt 1039 4 3 139 Sin VA Go To Pos On Falling Trigger Event OECxh AEW Byte Description Type Unit Offset Header 0 OECxh Sin VA Go To Pos On Falling Trigger Event Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s This command defines a new Sin VA motion command see description of command Sin VA Go To Pos OEOxh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input
116. ition and the start velocity is forced to zero can be used after a press command 4 3 30 Predef VAI Stop 027xh Name Byte Description Type Unit Offset Header 0 017xh Predef VAI Stop With Quick Stop Ulnt16 Deceleration NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 35 117 Motion Control SW 4 3 31 Predef VAI Go To Pos After Actual Command 028xh AEWG Byte Description Type Unit Offset Header 0 028xh Predef VAI Go To Pos After Actual Ulnt16 Command 1 Par 2 Target Position SInt32 0 1 um This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 32 NETE Predef VAI Go To Pos On Rising Trigger Event 02Axh Byte Description Type Unit Offset Header 0 Ulnt16 02Axh Predef VAI Go To Pos On Rising Trigger Event 1 Par 2 Target Position SInt32 0 1 um 4 3 33 Predef VAI Increment Target Pos On Rising Trigger Event 02Bxh AEW Byte Description Type Unit Offset Header 0 02Bxh Predef VAI Increment Target Pos On Rising Ulnt16 Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 4 3 34 Predef VAI Go To Pos On Falling Trigger Event 02Cxh AEWG Byte Description Type Unit Offset Header 0 02Cxh Predef VAI Go To Pos On Falling Trigger Ulnt16 Event 1 Par 2 Target Position S
117. itters it is recommended to use this command PVA streaming instead of the simple P streaming command whenever possible For the derivation of the velocity and the acceleration the configured streaming period time 14E6h is taken to minimize communication time jittering Page 38 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 44 NETE Byte Offset Header 0 Stop Streaming 03Fxh Description 03Fxh Stop Streaming Type Unit Ulnti6 This command is used to leave the streaming mode 4 3 45 Time Curve With Default Parameters 040xh Name Byte Description Type Unit Offset Header 0 040xh Time Curve With Default Parameters Ulnt16 1 Par 2 Curve ID Ulnt16 1 100 4 3 46 Time Curve With Default Parameters From Act Pos 041xh INE Taal Byte Description Type Unit Offset Header 0 41xh Time Curve With Default Parameters From Ulnt16 Act Pos 1 Par 2 Curve ID Ulnt16 1 100 This command sets the curve offset to the actual position set point then starts the specified time curve with the default parameters curve time scaling and curve amplitude scaling 4 3 47 Time Curve To Pos With Default Speed 042xh Name Byte Description Type Unit Offset Header 0 042xh Time Curve To Pos With Default Speed Ulnti6 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Target Position SInt32 0 1 um
118. k Ulnt16 doa TS Bit Mask Bit 0 X4 3 Bit 1 X4 4 Ulnt16 2 Par 4 Bit Value Bit 0 X4 3 Bit 1 X4 4 Ulnt16 This command allows writing the configured X4 interface outputs with a write mask through the motion command interface To write an output the corresponding bit in the mask must be set Bit 0 is mapped to output X4 3 bit 1 to output X4 4 etc NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 29 117 Motion Control SW 4 3 5 Select Position Controller Set 005xh Name Byte Description Type Unit Offset Header 0 005xh Select Position Controller Set Ulnt16 1 Par 2 Controller Set Selection 0 Set A 1 Set B Ulnt16 This command selects the actve position controller set A B UPID 0x1393 For set A the ID is 0 and for Set B the ID auf 1 4 3 6 Clear Event Evaluation 008xh Name Header Byte Offset 0 Description 008xh Clear Event Evaluation Type Unit Ulnt16 This command resets the event handler The event handler becomes active if a motion command has been sent that does not immediately start but waits with its execution until other conditions are fulfilled e g command VAI Go To Pos On Rising Trigger Event The bit 8 of the status word shows if the event handler is active Once the event handler becomes active it remains active until it is deactivated with this clear command As long the even
119. l SW LinMot 7 Controller Configuration The parameter configuration is normally done with LinMot Talk software 3 The UPIDs over which the parameter can be accessed are the same for E1100 E1200 and E1400 controllers but are different for the B1100 controllers In this documentation the E1100 E1200 E1400 UPIDs are used If a UPID for a B1100 servo controller is needed a conversion list can be generated with the LinMot Talk software 7 1 Power Bridge The E1100 B1100 servo controllers are divided into three different power classes The normal controllers have a maximal current of 8A the high current name extension HC variant has a maximal current of 15A and the extreme current name extension XC has a maximal current of 25A The E1200 series is only available as ultra current controllers name extension UC with a current maximum of 32A 7 2 X4 VO Definitions The functionality of most IOs can be programmed as a control word input bit or status word output bit or they can be used as interface IO and read out or written over a serial bus interface Apart from this general functionality a few IOs have a special functionality Descriptor General Special Functions Purpose IO X4 3 Yes Brake Output X4 4 Yes Analog In X4 5 Yes Capture Input X4 6 Yes Trigger Input X4 7 Yes Home Switch Input X4 8 Yes Limit IN Input X4 9 Yes Limit OUT Input 24V Step Input X4 10 Yes PTC 1 Input 24
120. lculated from the analog input on X4 4 or X20 4 3 137 Sin VA Go To Pos On Rising Trigger Event OEAxh Name Byte Description Type Unit Offset Header 0 OEAxh Sin VA Go To Pos On Rising Trigger Event Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s This command defines a new Cos motion command see description of command Sin VA Go To Pos OEOxh The command will be started on each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter lt UPID gt 1039 NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 61 117 r C LinMot Motion Control SW 4 3 138 Sin VA Increment Demand Pos On Rising Trigger Event OEBxh Name Byte Description Type Unit Offset Header 0 OEBxh Sin VA Increment Demand Pos On Rising Ulnt16 Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s Th
121. le ID IF FALSE Uint16 1 255 4 3 213 IF CAM Counts Less Than 266xh Name Byte Offset Description Type Unit Header 0 256xh IF CAM Counts Less Than Ulnt16 1 Par 2 Condition Value Sint32 Counts 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 Page 76 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 214 Encoder Winding Stop Adaptation Of Left Right Position and Disturbance 304xh Name Byte Description Type Unit Offset Header 304xh Encoder Winding Stop Adaptation Of Ulnt16 Left Right Position And Disturbance 4 3 215 Encoder Winding Restart Adaptation Of Left Right Position and Disturbance 305xh Byte Description Offset Header 0 305xh Encoder Winding Restart Adaptation Of Ulnt16 Left Right Position And Disturbance 4 3 216 Encoder Curve Winding Start With Default Parameters 310xh AEW Byte Description Type Unit Offset Header 0 310xh Encoder Curve Winding Start With Default Ulnt16 Parameters 1 Par 2 Curve ID Ulnti6 1 100 4 3 217 Encoder Curve Winding Start With Default Parameters At Revolutions 311xh Name Byte Description Type Unit Offset Header 0 311xh Encoder Curve Winding Start With Default Ulnt16 Parameters At Revolutions 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Revolut
122. ling Ulnt16 Trigger Event 1 Par 2 Position Increment SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 86 VAI 16 Bit Change Motion Parameters On Positive Position Transition O9Exh Name Byte Description Type Unit Offset Header 0 O9Exh VAI 16 Bit Change Motion Parameters On Ulnt16 Positive Position Transition 1 Par 2 Transition Event Position SInt16 Scaled 2 Par 4 Max Velocity After Event Ulnt16 Scaled 3 Par 6 Acceleration After Event Ulnt16 Scaled 4 Par 8 Deceleration After Event Ulnt16 Scaled As soon as the demand position crosses the event change position in positive direction the parameters for velocity acceleration and deceleration will be changed to the values defined in the command 4 3 87 VAI 16 Bit Change Motion Parameters On Negative Position Transition 09Fxh Name Byte Description Type Unit Offset Header 0 O9Exh VAI Change Motion Parameters on Ulnt16 Negative Position Transition 1 Par 2 Transition Event Position SInt16 Scaled 2 Par 4 Max Velocity After Event Ulnt16 Scaled 3 Par 6 Acceleration After Event Ulnti6 Scaled 4 Par 8 Deceleration After Event UInt16 Scaled As soon as the demand position crosses the event change position in negative direction the parameters for velocity acceleration and deceleration will be changed to the values d
123. lnti6 1 100 2 Par 4 Curve Start Count SInt32 1 Incr 3 Par 8 Target Position Slnt32 0 1 um If the encoder value is in the range of cam y the motor has to be at the start position of the cam y during command setup to set the position start point correctly of cam y 4 3 158 Encoder Cam y Define Curve From Pos To Pos In Counts 1y3xh Name Byte Description Type Unit Offset Header 0 Qly3xh Encoder Cam y Define Curve To Pos Ulnti6 y 1 2 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Start Count SInt32 1 Incr 3 Par 8 Start Position Slnt32 0 1 um 4 Par 12 Target Position Sint32 0 1 um 5 Par 16 CAM Length In Counts SInt32 1 Incr 4 3 159 Encoder Cam y Define Curve To Pos In Counts 1y4xh Name Byte Offset Description 1y4xh Encoder Cam y Define Curve To Pos Type Ulnt16 Unit NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 67 117 e LinMot Motion Control SW 1 Par 2 Curve ID Ulnti6 1 100 2 Par 4 Curve Start Count SInt32 1 Incr 3 Par 8 Target Position SInt32 0 1 um 4 Par 12 CAM Length In Counts SInt32 1 Incr If the encoder value is in the range of cam y the motor has to be at the start position of the cam y during command setup to set the position start point correctly of cam y 4 3 160 Encoder Cam y Define Curve With Amplitude Scale In Counts
124. lse Cmd ID 21 None se 18 GoToOmm VAI Go To Pos Pos Omm Vel 1 m s Ace 10m s 2 Dec 10m s 2 19 Set Normal F 19 Set Normal Force Write Live Parameter UPID 1346h M Value 44 20 CT Yarl 0 J Oscilloscopes Messages 20 CT Vari 0 Set Cmd Table Var 1 To Set Val 0 None t Enos 21 GoTo 0 mm VAI Go To Pos Pos 0 mm Vel 1 m s Acc 10 m s 2 Dec 10 m s 2 22 Set Normal F E Curves 22 Set Normal Force Write Live Parameter UPID 1346h M Value 4A 23 CT Varl 1 Cerrar ates 23 CT Varl 1 Set Cmd Table Var 1 To Set Vat 1 None 24 25 The first sequence ID1 ID2 and ID3 shows a simple sequence GoTo 50mm wait until motion is completed and then go back to 0mm The second sequence ID5 12 repeats 5 times the Sequence GoTo 50mm GoTo 0mm ID 5 Set Command Table To Var 12 0 ID 6 GoTo 50mm ID 7 Wait Until In Target Position ID 8 GoTo 0mm ID 9 Wait until Motion Done ID 10 Increment Command Table Var 1 ID 11 If Command Table To Var 1 5 Then GoTo ID 6 Else GoTo ID 12 ID 12 No Operation End of Sequence po OI go mno pa face The third sequence ID14 23 changes the maximal current of the position controller set A UPID 13A6 goes to 50mm wait until motion completed tests if part is present Act Pos 48 goes back to Omm sets Normal Force Current and sets CT Var 1 0 if part was present else set CT Var1 1 Page 96 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Contro
125. mal operation in which the motion commands are executed It is strongly recommended to use the State Var for the motion command synchronization with any fieldbus system State Var Motion Command Count Main State 8 M e ti e n A C ti V e In the high byte stands the number of the main state 8 In the low byte stands in the lowest 4 bits the actual interpreted Motion Command Count bit 4 indicates if the event handler is active in bit 5 stands the status word bit Motion Active in bit 6 the status word bit In Target Position and in bit 7 the status word bit Homed Because the Motion Command Count echo and this status word bits are located in the same byte no data consistency problem is possible with any fieldbus A new motion command can be setup when the Motion Command Count has changed to the last sent and the Motion Active bit is 0 or the In Target Position bit is 1 if an exact positioning is required 3 9 State 9 Homing The homing state is used to define the position of the system according a mechanical reference a home switch or an index For LinMot motors the slider home position at this home position is taken to compensate edge effects In the home sequence a position check of two positions and the motion to an initial position can be added Hint If a mechanical stop homing mode is chosen the initial position should be a little apart from this mechanical stop to avoid overheating
126. mmand VAJI Increment Target Pos 3A2xh The command will be started one cycle after each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new VAJI motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter lt UPID gt 1039 4 3 235 VAJI Go To Pos On Falling Trigger Event 3ACxh Name Byte Description Type Unit Offset Header 0 3ACxh VAJI Go To Pos On Falling Trigger Event Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Deceleration Ulnt32 1E 5 m s 5 Par 18 Jerk Ulnt32 1E 4 m s This command defines a new VAJI motion command see description of command VAJI Go To Pos 3A0xh The command will be started one cycle after each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new VAJI motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trig
127. must be configured with parameter lt UPID gt 1039 4 3 140 Sin VA Increment Demand Pos On Falling Trigger Event OEDxh AEWIG Byte Description Type Unit Offset Header 0 OEDxh Sin VA Increment Demand Pos On Falling Ulnt16 Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s This command defines a new Sin VA motion command relative move see description of command Sin VA Increment Demand Pos 0E1xh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the falling trigger Page 62 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter lt UPID gt 1039 4 3 141 Bestehorn VAJ Go To Pos 0FOxh Name Byte Description Type Unit Offset Header 0 OFOxh Bestehorn VAJ Go To Pos Ulnt16 1 Par_ 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Ma
128. n Unit Offset Header 0 ODF xh VAI Start Trig Fall Config VAI Command Ulnt16 This command starts the VAI motion command defined with the parameters in Trig Fall Config of the Triggered VA Interpolator Run Mode settings 4 3 131 Sin VA Go To Pos 0EOxh AEW Byte Description Type Unit Offset Header 0 OEOxh Sin VA Go To Pos Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 59 117 e LinMot Motion Control SW 4 3 132 Sin VA Increment Demand Pos 0E1xh AEW Byte Description Type Unit Offset Header 0 OE1xh Sin VA Increment Demand Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal accelearation and maximal velocity The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Demand Position value relative move The command execution starts immediately when the command has been sent 4 3 133 Sin VA Go To Pos From Actual Pos OE
129. nd The cycle time between the streaming commands has been too long The servo controller expects new streaming commands every 2ms to 5ms Recommended actions check PLC program check the fieldbus by using bus monitor tools NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 115 117 Motion Control SW User Err Motion Cmd In User error The PLC program has sent a motion command while the controller was not in an appropriate operational state Most of the motion commands are Cmd Tab Entry Not Def puel Wrong St accepted only in operational state 8 Operation Enabled Recommended actions check the PLC program User error The motor moved into the Limit Switch In 0087h User Err while it was still in the stroke range Limit Switch In High Recommended actions check the PLC program or check homing User error The motor moved into the Limit Switch Out 0088h User Err l while it was still in the stroke range Limit Switch Out High Recommended actions check the PLC program or check homing User error The automatic calculated amplitude scale is 0089h User Err out of range 2000percent to 2000percent Curve Amp Scale Error Recommended actions check the PLC program or use other curve Deer En Called command Table entry is not defined 008Ah Recommended actions check the PLC program or define Command Table Entry Page 116 117 User Manual Motion Control SW 03 11 2015 NTI
130. nd VAJI Go To Pos 3A0xh The VAJI parameters Maximal Velocity Maximal Acceleration Maximal Deceleration and Jerk are not given as command arguments here but are predefined through parameters lt UPID gt 14BE lt UPID gt 14BF lt UPID gt 14C0 and lt UPID gt 14C1 4 3 238 Predef VAJI Increment Dem Pos 3B1xh Name Byte Description Type Unit Offset Header 0 3B1xh Predef VAJI Increment Dem Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um This command works like the command VAJI Increment Dem Pos 3A1xh The VAJI parameters Maximal Velocity Maximal Acceleration Maximal Deceleration and Jerk are not given as command arguments here but are predefined through parameters lt UPID gt 14BE lt UPID gt 14BF lt UPID gt 14C0 and lt UPID gt 14C1 4 3 239 Predef VAJI Increment Target Pos 3B2xh Name Byte Description Type Unit Offset Header 0 3B2xh Predef VAJI Increment Target Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um This command works like the command VAJI Increment Target Pos 8A2xh The VAJI parameters Maximal Velocity Maximal Acceleration Maximal Deceleration and Jerk are not given as command arguments here but are predefined through parameters lt UPID gt 14BE lt UPID gt 14BF lt UPID gt 14C0 and lt UPID gt 14C1 4 3 240 Predef VAJI Go To Pos From Act Pos Starting With Dem Vel 0 and Dem Acc 0 3B4xh
131. nes the signal type of the master encoder At any rate the signals have to be differential RS422 When using a SD Z master encoder the step signal has to be connected to A A Dir signal to B B and the Zero to Z Z Parameter Name UPID Description Encoder Type 128Eh Defines the Master Encoder Type e 0 None e 1 ABZ e 2 AB e 4 Step Dir SD e 5 Step Dir Zero SDZ The decoding parameter defines how many edges of the signals are evaluated For AB Z encoder types 1x 2x 4x decoding is valid for SD Z encoder types only 1x and 2x decoding is valid If 4x decoding is selected a 2x decoding is forced without error generation Parameter Name UPID Description Decoding 128Fh Defines the Master Encoder decoding e 0 1x e 1 2x e 2 4x With the direction parameter the count direction of the encoder evaluation can be defined Parameter Name UPID Description Direction 1290h Defines the Master Encoder direction e 0 Positive e 1 Negative Page 102 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot The Counts Revolution parameter defines the number of counts per revolution for ABZ or SDZ master encoders Parameter Name UPID Description Counts 1291h Only used for ABZ or SDZ encoders to define the counts Revolution per revolution The Speed Filter Time parameter defines the time over which the master encoder speed is calculate
132. netic field of the slider The motor position was outside the allowed range defined through the motors ZP and Max Stroke data see data sheet Recommended actions check stroke range check slider orientation 0023h Short time motor overload detected Recommended actions check if motor is blocked check motor sizing 0024h Regeneration resistor hot calculated Recommended actions check RR configuration Turn On level Resistance etc check RR sizing 0025h Sensor Alarm On X12 Occurred Recommended actions Check sensor mounting band contamination or motion speed 0028h Short circuit between phase 1 and ground detected Recommended actions check motor wiring check motor 0029h Short circuit between phase 1 and ground detected Recommended actions check motor wiring check motor 002Ah Err Motor Short Time Overload Err RR Hot Calculated Err Sensor Alarm Err Ph1 Short Circuit To GND Err Ph1 Short Circuit To GND Err Ph2 Short Circuit To GND Short circuit between phase 2 and ground detected Recommended actions check motor wiring check motor Page 112 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 002Bh Err Ph2 Short Circuit To GND Short circuit between phase 2 and ground detected Recommended actions check motor wiring check motor 002Ch Err Ph1 Short Circuit To Ph2 Sho
133. nsition 01Exh Name Byte Description Type Unit Offset Header 0 01Exh VAI Change Motion Parameters On Positive Ulnt16 Position Transition 1 Par 2 Transition Event Position SInt32 0 1 um 2 Par 6 Max Velocity After Event Ulnt32 1E 6 m s 3 Par 10 Acceleration After Event Ulnt32 1E 5 m s 4 Par 14 Deceleration After Event Ulnt32 1E 5 m s This motion command moves an event change position an event maximal speed an event acceleration and an event deceleration to the event instance and starts the event evaluation As soon as the demand position crosses the event change position in the positive direction the VAI is changed with event values the target position rests unchanged 4 3 24 VAI Change Motion Parameters On Negative Position Transition 01Fxh Description Header 0 01Fxh VAI Change Motion Parameters On Ulnt16 Negative Position Transition 1 Par 2 Transition Event Position SInt32 0 1 um 2 Par 6 Max Velocity After Event Ulnt32 1E 6 m s 3 Par 10 Acceleration After Event Ulnt32 1E 5 m s 4 Par 14 Deceleration After Event UInt32 1E 5 m s This motion command moves an event change position an event maximal speed an event acceleration and an event deceleration to the event instance and starts the event evaluation As soon as the demand position crosses the event change position in the negative direction the VAI is changed with event values the target p
134. ntrol SW 3 State Machine The main behavior of the axles is controlled with the control word it is shown in the following state diagram Not Ready to Switch On 0 Bit 020 Switch On Disabled 1 Control Word XXXX xxxx Xxxx x110 Setup Error 3 Ready to Switch On 2 Bit 021 HW Tests 5 Ready to Operate 6 Bit 3 1 Operation Bit 020 Enabled 8 Switch Off Homing 9 Aborting 12 Going To Position 15 Freezing 13 Linearizing 18 Clearance ea dO ee Jogging 16 Phase Searching 19 Going To Initial Position 11 Jogging 17 Special Mode 20 Power On Disable QuickStop Voltage Page 12 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot The state machine can be followed in the PLCs with fieldbus using the the StateVar This response word can be configured for any supported fieldbus Motion Control SW State Var Main State Sub State The State Var is divided into two sections the Main State section high byte contains directly the number of the state machine the content of the Sub State low byte is state depending State Var Main State Sub State 00 Not Ready To Switch On 0 01 Switch On Disabled 0 02 Ready To Switch On 0 03 Setup Error Error Code which will be logged 04 Error Logged Error Code 05 HW Tests 0 Not yet defined 06 Ready To Operate 0
135. oder CAM 2 Enable 7h X X Encoder CAM 2 Disable 8h X X Encoder CAM 2 Change Amplitude Scale and Length 20h Oh X XX XJ Start Command Table Command th X X X X Start Command Table Command On Rising Trigger Event 2h X X X X Start Command Table Command On Falling Trigger Event 8h X X Modify Command Table 16 bit Parameter in RAM 9h X X Modify Command Table 32 bit Parameter in RAM 21h Oh X XIXI X Wait Time th XXIX X Wait Until Motion Finished zh X X X X Wait Until In Target Position 3h X X X X Wait Until Rising Trigger Edge 4h IXIX X X Wait Until Falling Trigger Edge 8h XI XIXI X Wait Time Defined With Cmd Table Var 1 9h XI XIXI X Wait Time Defined With Cmd Table Var 2 Page 26 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot Master Sub Description ID ID IF Masked Status Word Equal Than IF Masked Warn Word Equal Than IF CAM Counts Less Than GI GL ELE BEBE 121214 0 00 0 0 00 0 22h Oh X XXX Wait Until Demand Position Greater Than ih X XX X Wait Until Demand Position Less Than 2h XIX X X Wait Until Actual Position Greater Than 3h XIX X X Wait Until Actual Position Less Than 4h XIX X X Wait Until Difference Position Greater Than 5h XIX X X Wait Until Difference Position L
136. on 4 3 82 VAI 16 Bit Go To Pos On Rising Trigger Event 09Axh Name Byte Description Type Unit Offset Header 0 9Axh VAI 16 Bit Go To Pos On Rising Trigger Ulnt16 Event 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 83 VAI 16 Bit Increment Target Pos On Rising Trigger Event 09Bxh Byte Offset 0 Description 9Bxh VAI 16 Bit Increment Target Pos On Rising Trigger Event Unit 1 Par 2 Position Increment SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration UInt16 Scaled 4 Par 8 Deceleration UInt16 Scaled 4 3 84 VAI 16 Bit Go To Pos On Falling Trigger Event 09Cxh Name Byte Description Type Unit Offset Header 0 09Cxh VAI 16 Bit Go To Pos On Falling Trigger Ulnt16 Event 1 Par_ 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration UInt16 Scaled 4 Par 8 Deceleration UInt16 Scaled NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 49 117 e LinMot Motion Control SW 4 3 85 VAI 16 Bit Increment Target Pos On Falling Trigger Event 09Dxh Name Byte Description Type Unit Offset Header 0 09Dxh VAI 16 Bit Increment Target Pos On Fal
137. on This command can be used to perform a retraction move after a press command If the position increment argument is zero then this command defines the actual motor position as new setpoint Page 32 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 16 VAI Stop 017xh Name Byte Description Type Unit Offset Header 0 017xh VAI Stop Ulnt16 1 Par 2 Deceleration UInt32 1E 5 m s 4 3 17 VAI Go To Pos After Actual Command 018xh Name Byte Description Type Unit Offset Header 0 018xh VAI Go To Pos After Actual Command Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 18 VAI Go To Analog Pos 019xh Name Byte Description Type Unit Offset Header 0 019xh VAI Go To Analog Pos Ulnt16 leer se Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 Acceleration Ulnt32 1E 5 m s 3 Par 10 Deceleration Ulnt32 1E 5 m s 4 3 19 VAI Go To Pos On Rising Trigger Event 01 Axh Name Byte Description Type Unit Offset Header 0 01Axh VAI Go To Pos On Rising Trigger Event Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 P
138. on inactive Motion active Setpoint generation VAI curve active 14 Not In Range 1 Defined UPID is not in Range 1 15 Not In Range 2 Defined UPID is not in Range 2 Range Indicator 2 In Range2 Defined UPID is in Range 2 oj o NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 19 117 r LinMot Motion Control SW 3 24 Warn Word Following table shows the meaning of the single bits of the Warn Word 0 Normal Operation Motor Hot Sensor Motor Temperature Sensor On Normal Operation Motor Short Time Overload I 2t Calculated Motor Temperature Reached Warn Limit 2 Motor Supply Voltage Low 3 Motor Supply Voltage High 4 Position Lag Always 5 Reserved 6 Controller Hot 7 Motor Not Homed 8 PTC Sensor 1 Hot 9 Reserved PTC 2 oO Normal Operation Motor Supply Voltage Reached Low Warn Limit Normal Operation Motor Supply Voltage Reached High Warn Limit O Normal Operation Position Error during Moving Reached Warn Limit Normal Operation Temperature on Servo Controller High Normal Operation Warning Motor Not Homed Yet Normal Operation PTC Temperature Sensor 1 On 0 1 O Normal Operation PTC Temperature Sensor 2 On Normal Operation Regenerative Resistor Temperature Hot Calculated cus eo O RR Hot Calculated Reserved o
139. ontrol SW 03 11 2015 Page 85 117 r LinMot Motion Control SW Deceleration and Jerk are not given as command arguments here but are predefined through parameters lt UPID gt 14BE lt UPID gt 14BF lt UPID gt 14C0 and lt UPID gt 14C1 Page 86 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 5 Set point Generation 5 1 VA Interpolator The VA Interpolator generates a position curve from one position to another due to the parameter values of acceleration deceleration and maximal speed A new target position can be set even if the old target position was not reached Position any N Position in m Time in s Velocity v E 2 o 2 o 2 0 04 Time in s Acceleration Acceleration in m s2 0 04 Time in s NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 87 117 e LinMot Motion Control SW 5 1 1 Input Variables Name Type Valid range Unit Target Position SInt32 Oh 7FFF FFFFh 0 1um Maximal Speed Ulnt32 Oh 7FFF FFFFh 1E 6m s Acceleration Ulnt32 Oh 7FFF FFFFh 1E 5m s Deceleration Ulnt32 Oh 7ZFFF FFFFh 1E 5m s 5 1 2 Output Variables Name Type Valid range Unit Position SInt32 8000 0000h 7FFF FFFFh 0 1um Velocity SInt32 8000 0000h 7FFF FFFFh 1E 6m s Acceleration SInt32 8000 0000h 7FFF FFFFh 1E 5m s
140. os Starting With Dem Vel 0 8h X X VAI Predef Acc Go To Pos After Actual Command Ah X X VAI Predef Acc Go To Pos On Rising Trigger Event Bh X X VAI Predef Acc Increment Target Pos On Rising Trigger Event Ch X X VAI Predef Acc Go To Pos On Falling Trigger Event Dh X X VAI Predef Acc Increment Target Pos On Falling Trigger Event Page 24 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot Master Sub Description ID ID G OC EE PAW AA 12 2 0000 0000 OCh Ooh X X XIX VAI Dec Acc Go To Pos ih XIX X X VAI Dec Acc Increment Dem Pos 2h X X X X VAI Dec Acc Increment Target Pos 3h X Xj XX VAI Dec Acc Go To Pos From Act Pos And Act Vel 4h X X X X VAI Dec Acc Go To Pos From Act Pos Starting With Dem Vel 0 5h X X X X VAI Dec Acc Go To Pos With Max Curr eh X X XIX VAI Dec Acc Go To Pos From Act Pos And Act Vel With Max Curr 7h XIX X X VAI Dec Acc Go To Pos From Act Pos Dem Vel 0 and With Max Curr 8h X X XIX VAI Dec Acc Go To Pos After Actual Command Ah X X X X VAI Dec Acc Go To Pos On Rising Trigger Event Bh X X X X VAI Dec Acc Increment Target Pos On Rising Trigger Event Ch X X XIX VAI Dec Acc Go To Pos On Falling Trigger Event Dh X X X X VAI Dec Acc Increment Target Pos On Falling Tri
141. osition rests unchanged Page 34 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW Lin Mot 4 3 25 Predef VAI Go To Pos 020xh Name Byte Description Type Unit Offset Header 0 020xh Predef VAI Go To Pos Ulnti6 1 Par 2 Target Position SInt32 0 1 um 4 3 26 Predef VAI Increment Dem Pos 021xh Name Byte Description Type Unit Offset Header 0 021xh Predef VAI Increment Dem Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 4 3 27 Predef VAI Increment Target Pos 022xh Name Byte Description Type Unit Offset Header 0 022xh Predef VAI Increment Target Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 4 3 28 Predef VAI Go To Pos From Act Pos and Act Vel 023xh Name Byte Description Type Unit Offset Header 0 023xh Predef VAI Go To Pos From Act Pos And Ulnt16 Act Vel 1 Par 2 Target Position SInt32 0 1 um This command starts the new VAI setpoint generation from the actual position can be used after a press command 4 3 29 Predef VAI Go To Pos From Act Pos Starting With Dem Vel z 0 024xh Name Byte Description Type Unit Offset Header 0 024xh Predef VAI Go To Pos From Act Pos With Ulnt16 Dem Vel 0 1 Par 2 Target Position SInt32 0 1 um This command starts the new VAI Setpoint generation from the actual pos
142. otion Control SW LinMot 5 3 Sine VA Motion The Sine generates a position curve from one position to another due to the parameter values of target position maximal speed and acceleration A new target position can only be started when the previous motion was finished Position 60 30 z 0 5 30 60 0 0 1 0 2 0 3 0 4 0 5 Time in s Velocity wu gt E gt o 9 o gt Acceleration in m s2 Time in s 5 3 1 Input Variables Name Type Valid range Unit Target Position SInt32 Oh 7FFF FFFFh 0 1um Maximal Speed Ulnt32 Oh 7FFF FFFFh 1E 6m s Maximal Acceleration Deceleration Ulnt32 Oh 7FFF FFFFh 1E 5m s 5 3 2 Output Variables Valid range Position SInt32 8000 0000h 7FFF FFFFh 0 1um Velocity SInt32 8000 0000h 7FFF FFFFh 1E 6m s Acceleration SInt32 8000 0000h 7FFF FFFFh 1E 5m s NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 91 117 r C LinMot Motion Control SW 5 4 Bestehorn VAJ Motion The Besthorn generates a position curve from one position to another due to the parameter values of target position maximal speed acceleration and jerk A new target position can only be started when the previous motion was finished Position 120 E 90 60 S vN 2 0 0 0 05 0 1 0 15 0 2 Time in ms Velocity Velocity in m s 0 1 Time in
143. pe Unit Offset Header 0 229xh Wait Until Demand Velocity Less Than Ulnti6 1 Par 2 Dem Vel Trig Level SInt32 1E 6 m s Can be used in a linked command table sequence 4 3 184 Wait Until Actual Velocity Greater Than 22Axh Name Byte Description Type Unit Offset Header 0 22Axh Wait Until Actual Velocity Greater Than Ulnti6 1 Par 2 Act Vel Trig Level SInt32 1E 6 m s Can be used in linked command table sequence 4 3 185 Wait Until Actual Velocity Less Than 22Bxh Name Byte Description Type Unit Offset Header 0 22Bxh Wait Until Actual Velocity Less Than Ulnti6 Ran 2 Act Vel Trig Level SInt32 1E 6 m s Can be used in a linked command table sequence 4 3 1896 Wait Until Current Greater Than 22Exh Name Byte Description Type Unit Offset Header 0 22Exh Wait Until Current Greater Than UlInti6 1 Par 2 Dem Curr Vel Trig Level Sinti6 1mA Can be used in linked command table sequence 4 3 187 Wait Until Current Less Than 22Fxh AEWIG Byte Description Type Unit Offset Header 0 22Fxh Wait Until Current Less Than Ulnt16 1 Par 2 Dem Curr Trig Level Sinti6 1mA Can be used in a linked command table sequence 4 3 188 Set Cmd Table Var 1 To 240xh Name Byte Description Type Unit Offset Header 0 240xh Set Cmd Table Var 1 To Ulnt16 1 Par 2 Set valu
144. ply 1019h If the logic supply voltage rises above this limit the warn bit Voltage High Motor Supply Voltage High bit 3 is set Parameter Name UPID Description Motor Supply 101Ah If the logic supply voltage sinks below this limit the error 03h Voltage Too Low will be generated Motor Supply 101Bh If the logic supply voltage rises above this limit the error 04h Voltage Too High will be generated 7 4 2 1 Phase Switch On Test The parameters in the Phase Switch On Test section are used in the HW Tests State State 5 before enabling the power stage If the motor power supply is on and there is no ground path in the motor inclusive cabling the phase voltage is approx 6 5V when in power off state When moving the motor the induced voltage may lead to HW test error Parameter Name UPID Description Phase Voltage 102Ch If one of the phase voltages is below this limit before Low Level powering up an error will be generated Phase Voltage 102Dh If one of the phase voltages is above this limit before High Level powering up an error will be generated Page 104 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot As anext motor cabling test step one single end of a phase is set to half of the motor supply voltage At this time the current into the servo controller has to be below the Phase Test Max Incurrent value An error will be genera
145. position is the motion s end position and doesn t change during the execution of a motion command 4 3 12 VAI Go To Pos From Act Pos And Act Vel 013xh DESIT Byte Description Type Unit Offset Header 0 013xh VAI Go To Pos From Act Pos And Act Vel Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s This command starts the new VAI setpoint generation from the actual position and actual velocity Can be used after a press command NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 31 117 e LinMot Motion Control SW 4 3 13 VAI Go To Pos From Act Pos Starting With Dem Vel 0 014xh Name Byte Description Type Unit Offset Header 0 014xh VAI Go To Pos From Act Pos Starting With Ulnt16 Dem Vel 0 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration UInt32 1E 5 m s This command starts the new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 14 VAI Increment Act Pos 015xh Name Byte Description Type Unit Offset Header 0 015xh VAI Increment Act Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um
146. r 0 OF8xh Bestehorn VAJ Go To Pos After Actual Ulnt16 Command 1 Par_ 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The command execution is delayed until the former command has been completed The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new VAI motion command as soon as bit 13 of the Status Word Motion Active is 0 After the event the Event Handler deactivates itself 4 3 146 Bestehorn VAJ Go To Analog Pos 0F9xh Name Byte Description Type Unit Offset Header 0 OF9xh Bestehorn VAJ Increment Actual Pos Ulnt16 1 Par 2 Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 Maximal Acceleration Deceleration Ulnt32 1E 5 m s 3 Par 10 Maximal Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed This command sets a new Target Position Calculated from the analog input on X4 4 or X20 Page 64 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 4 3 147 Bestehorn VAJ Go To Pos On Rising Trigger Event OFAxh Name Byte Description Type Unit Offset Header 0 OFAxh
147. r 8 Command Table ID IF FALSE Uint16 1 255 4 3 204 IF Difference Position Less Than 25Cxh Name Byte Description Type Unit Offset Header 0 25Cxh IF Difference Position Less Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 205 IF Difference Position Greater Than 25Dxh AEW Byte Description Type Unit Offset Header 0 25Dxh IF Difference Position Greater Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 206 IF Current Less Than 25Exh Name Byte Description Type Unit Offset Header 0 25Cxh IF Current Less Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 207 IF Current Greater Than 25Fxh Name Byte Description Type Unit Offset Header 0 25Fxh IF Current Greater Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 208 IF Analog Val On X4 4 Less Than 260xh Name Byte Description Type Unit Offset Header 0 260xh IF Analog Val On X4 4 Less Than UlInti6 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE
148. rt circuit between motor phase 1 and phase 2 detected Recommended actions check motor wiring check motor 0030h Err Phi Wired To Ph2 Motor phase 1 has contact to phase 2 Recommended actions check motor wiring check motor 0031h Err Phi Wired To Ph2 Motor phase 1 has contact to phase 2 Recommended actions check motor wiring check motor 0032h Err Phi Not Wired To Ph1 Motor phase 1 has no connection to phase 1 Recommended actions check motor wiring check motor 0033h Err Ph2 Wired To Ph1 Motor phase 2 has contact to phase 1 Recommended actions check motor wiring check motor 0034h Err Ph2 Wired To Ph1 Motor phase 2 has contact to phase 1 Recommended actions check motor wiring check motor 0035h Err Ph2 Not Wired To Ph2 Motor phase 2 has no connection to phase 2 Recommended actions check motor wiring check motor 0036h Err Ph1 Short Circuit To Ph2 Short circuit between motor phase 1 and phase 2 detected Recommended actions check motor wiring check motor 0037h Err Ph1 Short Circuit To Ph2 Short circuit between motor phase 1 and phase 2 detected Recommended actions check motor wiring check motor 0038h Err Ph2 Short Circuit To Phi Short circuit between motor phase 2 and phase 1 detected Recommended actions check motor wiring check motor 0039h Err Ph2 Short Circuit To
149. se motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh Page 78 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 223 VAI Go To Pos With Lower Force Ctrl Limit and Target Force 385xh Name Byte Description Type Unit Offset Header 0 385xh VAI Go To Pos With Lower Force Ctrl Limit Ulnt16 and Target Force 1 Par 2 Target Position Sint32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Force Limit Sint16 0 1N 5 Par_ 16 Target Force Sint16 0 1 N Moves to the defined target position if the measured force reaches the lower force limit the controller switches to the force control mode with target force target force To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh 4 3 224 VAI Go To Pos From Act Pos And Reset Force Control Set I 386xh Name Byte Description Type Unit Offset Header 0 381xh VAI Go To Pos From Act Pos And Reset Ulnt16 Force Control ie Rares 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s Reinstalls the position control mode and moves to the defined target position The part of the position controller is set to
150. t Until Demand Position Greater Than 220xh Name Byte Description Type Unit Offset Header 0 220xh Wait Until Demand Position Greater Than UlInti6 1 Par 2 Dem Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 175 Wait Until Demand Position Less Than 221xh Name Byte Description Type Unit Offset Header 0 221xh Wait Until Demand Position Less Than UlInti6 1 Par 2 Dem Pos Trig Level SInt382 0 1 um Can be used in a linked command table sequence 4 3 176 Wait Until Actual Position Greater Than 222xh Name Byte Description Type Unit Offset Header 0 222xh Wait Until Actual Position Greater Than Ulnt16 1 Par 2 Act Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence Page 70 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW Lin Mot 4 3 177 Wait Until Actual Position Less Than 223xh Name Byte Description Type Unit Offset Header 0 223xh Wait Until Actual Position Less Than UlInti6 1 Par 2 Act Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 178 Wait Until Difference Position Greater Than 224xh Name Byte Description Type Unit Offset Header 0 224xh Wait Until Difference Position Greater Than Ulnt16 1 Par_ 2 Diff Pos Trig Level SInt32 0 1
151. t handler is active the command to be executed on the event situation will be restarted each time the event condition is fulfilled 4 3 7 Master Homing 009xh Name Header Byte Offset 0 Description 009xh Master Homing Type Ulnt16 Unit 1 Par 2 Home Position SInt32 0 1 um This command can be used if the master system knows the home position without going to the home state in the state machine The passed value of the home position is stored in the RAM value of the parameter Home Position UPID 13C7h then the corresponding value of the parameter Slider Home Position UPID 13CAh is calculated and stored in the RAM value Then a homing at actual position is done without going into the homing state 4 3 8 Reset 00Fxh Name Header Byte Offset 0 Description OOFxh Reset Type Unit Ulnt16 This command resets the all firmware instances of the controller Use this command with count 0 otherwise the controller reboots cyclic 4 3 9 VAI Go To Pos 010xh Name Byte Description Type Unit Offset Header 0 010xh VAI Go To Pos Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 3 Par 6 10 Maximal Velocit Acceleration UInt32 UInt32 1E 6 m s 1E 5 m s 4 Par 14 Deceleration UInt32 1E 5 m s Page 30 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1
152. t has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior Page 42 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 4 3 60 Modify Curve Data Block 32 Bit Value in RAM 054xh Name Byte Description Type Unit Offset Header 0 054xh Modify Curve Data Block 32 Bit Value in Ulnt16 RAM 1 Par 2 Curve ID UlInti6 1 100 2 Par 4 Offset in Byte Uint 6 O 3 Par 6 Curve point value Sint32 This command allows to modify in RAM a 32 bit value within the Curve Data Block of a curve with existing curve start address and curve info header block with the given ID The offset argument defines on which position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 6
153. tate as long the bits 0 is cleared 3 5 State 4 Error State The error state can be acknowledged with a rising edge of the control word bit 7 Error Acknowledge If the error is fatal bit 12 Fatal Error in the status word is set no error acknowledgment is possible In the case of a fatal error the error has to be checked and the problem has to be solved before a reset or power cycle is done for resetting the error 3 6 State 5 HW Test The HW Test state is an intermediate state before turning on the power stage of the servo controller If everything seems to be ok the servo changes to state 6 without any user action The test takes about 300ms 3 7 State 6 Ready to Operate In this state the motor is either position controlled or with demand current 0 and under voltage but no motion commands are accepted The mode is configurable with UPID 6300h Sending motion commands in this state will generate the error Motion command sent in wrong state and a state change to the error state will be performed Clearing the control word bit 3 Enable Operation in state 8 or higher will stop immediately the set point generation and a state transition to 6 is performed Clearing the bit while a motion is in execution a following error might be generated Page 14 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW Lin Mot 3 8 State 8 Operation Enabled This is the state of the nor
154. te Description Type Unit Offset Header 0 0C1xh VAI Dec Acc Increment Dem Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s 4 3 111 VAI DeczAcc Increment Target Pos 0C2xh Name Byte Description Type Unit Offset Header 0 OC2xh VAI Dec Acc Increment Target Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s Page 54 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 1 e Motion Control SW LinMot 4 3 112 VAI Dec Acc Go To Pos From Act Pos And Act Vel OC3xh Name Byte Description Type Unit Offset Header 0 OC3xh VAI Dec Acc Go To Pos From Act Pos And Ulnt16 Act Vel 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s This command starts a new VAI setpoint generation from the actual position and actual velocity Can be used after a press command 4 3 113 VAI DeczAcc Go To Pos From Act Pos Starting With Dem Vel 0 0C4xh AEW Byte Description Type Unit Offset Header 0 0C4xh VAI Dec Acc Go To Pos From Act Pos Ulnt16 Starting With Dem Vel 0 1 Par_ 2 Target Position SInt32 0 1 um 2 Par_ 6 Ma
155. ted otherwise Parameter Name UPID Description Phase Test Max 102Eh If the current rises above this limit if one edge of a phase is Incurrent set to a voltage en error will be generated 7 4 3 Regeneration Resistor The regeneration resister terminals on X1 can be used for energy dissipation when the motor is decelerating Parameter Name UPID Description Enable 101Dh The regeneration resistor output can be activated with this parameter e 0 Disable e 1 Enable In the configuration section the switch on and off voltage levels for the regeneration resistor can be defined The turn on voltage has to be at minimum 0 5V higher than the turn off voltage Ensure that the idle motor supply voltage is lower than the turn off voltage Parameter Name UPID Description Turn On Voltage 101Eh If the Motor Supply Voltage rises above this limit the low side switch of the regeneration output is activated Turn Off Voltage 101Fh If the Motor Supply Voltage sinks below this limit the low side switch of the regeneration output is turned off With the RR Temp Calculated section the temperature model of the regeneration resistor is parameterized This is used for avoiding damages to the regeneration resistor if the energy dissipation rises over the resistor s capabilities Parameter Name UPID Description RR Resistance 1022h Resistance value of the regeneration resistor This value is used for cal
156. the last force control current 4 3 225 VAI Increment Act Pos And Reset Force Control Set 387xh Name Byte Description Type Unit Offset Header 0 381xh VAI Go To Pos From Act Pos And Reset Ulnt16 Force Control 1 Par 2 Target Position Increment SInt32 0 1 um 2 Par_ 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s Reinstalls the position control mode and moves to the incremented target position The part of the position controller is set to the last force control current NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 79 117 r C LinMot Motion Control SW 4 3 226 Current Command Mode 390xh Name Byte Description Type Unit Offset Header 0 390xh Current Command Mode Ulnt16 1 Par 2 Demand Current Sint32 0 001 A Change in Current Command mode if not yet and set demand current 4 3 227 Change to Position Controlled Mode 39Fxh AEWIG Byte Description Type Unit Offset Header 0 39Fxh Change to Position Controlled Mode Ulnt16 Go back to position controlled mode 4 3 228 VAJI Go To Pos 3A0xh Name Byte Description Type Unit Offset Header 0 3A0xh VAJI Go To Pos Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Ulnt32 1E 5 m s 4 Par 14
157. the motion functionality a memory mapped motion command interface can be used These two instances are mapped via an interface SW to an upper control system PLC IPC PC The interfacing is done with digital I Os or a serial link like Profibus DP CAN bus CANopen RS485 RS422 or RS232 LinRS protocol Ethernet POWERLINK EtherCAT Ethernet IP With LinMot Talk the control over the control word can be taken bit by bit for testing and debugging Unused control word bits can be forced by parameter value Also the control of the motion command interpreter can be switched to the control panel of the LinMot Talk software for testing All this can be done while the system is running so be careful using this features on a running machine Realtime Machine Control Monitoring Testing Simulating LinMot Talk1100 Control Panel PLC with serial bus f Interface Control Motion Control Word Motion Word Command Parameter Force Values Command X Registers Registers Control Word Intf Control Word Event Copy Mask Parameter Force Mask Motion Command Handler Interface Selector Control Word Status Word Command Response Registers Registers State Machine Control Motion Command Interpreter Axle Control NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 11 117 r LinMot Motion Co
158. ting with Dem Vel 0 7h X X X X VAI 16 Bit Stop 8h IX X X XI VAI 16 Bit Go To Pos After Actual Command Ah X X X X VAI 16 Bit Go To Pos On Rising Trigger Event Bh X X X X VAI 16 Bit Increment Target Pos On Rising Trigger Event Ch X X X X VAI 16 Bit Go To Pos On Falling Trigger Event Dh X X X X VAI 16 Bit Increment Target Pos On Falling Trigger Event Eh XIX X X VAI 16 Bit Change Motion Parameters On Positive Position Transition Fh XIXI X X VAI 16 Bit Change Motion Parameters On Negative Position Transition OAh Oh X X X X Predef VAI 16 Bit Go To Pos ih X X X X Predef VAI 16 Bit Increment Dem Pos 2h X X X X Predef VAI 16 Bit Increment Target Pos 3h X X X X Predef VAI 16 Bit Go To Pos From Act Pos And Act Vel 4h XIX X X Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 7h X X X X Predef VAI 16 Bit Stop With Quick Stop Deceleration 8h X XIX X Predef VAI 16 Bit Go To Pos After Actual Command Ah X X X X Predef VAI 16 Bit Go To Pos On Rising Trigger Event Bh X X X X Predef VAI 16 Bit Increment Target Pos On Rising Trigger Event Ch X X X X Predef VAI 16 Bit Go To Pos On Falling Trigger Event Dh X X X X Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event OBh Oh X X VAI Predef Acc Go To Pos th X X VAI Predef Acc Increment Dem Pos 2h X X VAI Predef Acc Increment Target Pos 3h X X VAI Predef Acc Go To Pos From Act Pos And Act Vel 4h X X VAI Predef Acc Go To Pos From Act P
159. tion Control SW 03 11 2015 NTI AG LinMot Motion Control SW 4 3 165 201xh Name Header Start Command Table Command On Rising Trigger Event Byte Offset 0 Description 201xh Start Command Table Command On Rising Trigger Event Type Ulnt16 Unit 1 Par 2 Command Table ID Ulnti6 1 255 4 3 166 Start Command Table Command On Falling Trigger Event 202xh Name Byte Description Type Unit Offset Header 0 202xh Start Command Table Command On Falling Ulnt16 Trigger Event 1 Par 2 Command Table ID Ulnti6 1 255 4 3 167 Modify Command Table 16 bit Parameter in RAM 208xh Name Byte Description Type Unit Offset Header 0 208xh Modify Command Table 16 bit Parameter in Ulnt16 RAM 1 Par 2 Command Table ID Ulnti6 1 255 2 Par 4 Parameter Offset Uinti6 0 3Eh 3 Par 6 Parameter Value Sinti6 This command modifies a single 16 bit parameter of the specified command table entry with the specified offset to specified value Within the command table entry the link ID has offset 2 the motion command header has offset 4 and the first motion command parameter has offset 6 4 3 168 Modify Command Table 32 bit Parameter in RAM 209xh AEWG Byte Description Type Unit Offset Header 0 209xh Modify Command Table 32 bit Parameter in Ulnt16 RAM 1 Par 2 Command Table ID Ulnt16 1 255 2 Par 4 Parameter Of
160. tpoint Delay UPID 1394h FEN gt e J Difference Position UPID 1B90h P Gain UPID 13A2h l s 3 Actual Velocity UPID 1B8Eh C4 Demand Velocity UPID 1B8Bh Velocity Setpoint Delay UPID 1395h Limited Integrator Integrator Limit UPID 123A5h I Gain UPID 13A4h Difference Velocty UPID 1891h D Gain UPID 13A3h FF Friction UPID 139Dh gt FFD gt FF Damping UPID 129Fh Cs p FFA Demand Acceleration UPID 188Ch Actual Position UPID 188Dh Spring Zero Position UPID 13A1h FF Constant Force UPID 138Ch fe Y m M 5 7 v Spring Deflecton E FF Acceleration UPID 13A0h UPID 1B8Fh t FF Spring Compensation UPID 138Eh Demand Current Maximal Current UPID 1893h UPID 13A6h NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 107 117 r LinMot Motion Control SW 8 Motor Configuration The motor usually is set up with the motor wizard which sets all needed parameters Therefore a detailed description of the parameters will follow in the future 8 1 Generic Motor Temperature Calculated For third parties motors a generic calculated motor temperature model is used to adapt the winding resistance and to detect excess temperature C Winding UPID 120Ch R Winding Housing UPID 1210h C Housing UPID 1211h R Housing Mounting UPID 1212h C Mounting UP
161. tpoints Demand Position Demand Velocity Demand Acceleration and Demand Jerk are calculated by the internal Velocity Acceleration Jerk Interpolator VAJI This command initializes the VAJI with the current Demand Position Demand Velocity and Demand Acceleration value Therefore it is possible to start a new command while the execution of a former command is still being executed Page 80 117 User Manual Motion Control SW 03 11 2015 NTI AG LinMot 7 Motion Control SW LinMot 4 3 230 VAJI Increment Target Pos 3A2xh Name Byte Description Type Unit Offset Header 0 3A2xh VAJI Increment Target Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Deceleration Ulnt32 1E 5 m s 5 Par 18 Jerk Ulnt32 1E 4 m s This command sets a new Target Position and defines the maximal velocity maximal acceleration maximal deceleration and jerk for going there The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the current VAJI Target Position value relative move The command execution starts one cycle after the command has been sent The setpoints Demand Position Demand Velocity Demand Acceleration and Demand Jerk are calculated by the internal Velocity Acceleration Jerk Interpolator VAJI
162. um Can be used in a linked command table sequence 4 3 179 Wait Until Difference Position Less Than 225xh Name Byte Description Type Unit Offset Header 0 225xh Wait Until Difference Position Less Than Ulnt16 1 Par 2 Diff Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 180 Wait Until Difference Position Unsigned Greater Than 226xh Name Byte Description Type Unit Offset Header 0 226xh Wait Until Difference Position Unsigned Ulnt16 Greater Than 1 Par 2 Diff Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 181 Wait Until Difference Position Unsigned Less Than 227xh Name Byte Description Type Unit Offset Header 0 227xh Wait Until Difference Position Unsigned Ulnt16 Less Than 1 Par 2 Diff Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 182 Wait Until Demand Velocity Greater Than 228xh Name Byte Description Type Unit Offset Header 0 228xh Wait Until Demand Velocity Greater Than Ulnti6 1 Par 2 Dem Vel Trig Level SInt32 1E 6 m s NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 71 117 r LinMot Motion Control SW Can be used in a linked command table sequence 4 3 183 Wait Until Demand Velocity Less Than 229xh Name Byte Description Ty
163. xh VAI Predef Acc Go To Pos From Act Pos Ulnt16 And Act Vel 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s This command starts a new VAI setpoint generation from the actual position and with actual velocity Can be used after a press command 4 3 103 VAI Predef Acc Go To Pos From Act Pos Starting With Dem Vel 0 OBAxh Name Byte Description Type Unit Offset Header 0 OB4xh VAI Predef Acc Go To Pos From Act Pos Ulnt16 Starting With Dem Vel 0 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s This command starts a new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 104 VAI Predef Acc Go To Pos After Actual Command 0B8xh Name Byte Description Type Unit Offset Header 0 OB8xh VAI Predef Acc Go To Pos After Actual Ulnt16 Command 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 105 VAI Predef Acc Go To Pos On Rising Trigger Event OBAxh Name Byte Description Type Unit Offset Header 0 OBAxh VAI Predef Acc Go To Pos On Rising Ulnt16 Trigger Event 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 M
164. ximal Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed 4 3 142 Bestehorn VAJ Increment Demand Pos 0F1xh Name Byte Description Type Unit Offset Header 0 OF1xh Bestehorn VAJ Increment Demand Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Demand Position value relative move The command execution starts immediately when the command has been sent 4 3 143 Bestehorn VAJ Go To Pos From Actual Pos 0F4xh Name Byte Description Type Unit Offset Header 0 OF4xh Bestehorn VAJ Go To Pos From Actual Pos Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Maximal Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Maximal Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The command execution starts immediately when the command has been sent This command should be used if t
165. ximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s This command starts a new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 114 VAI DeczAcc Go To Pos With Max Curr 0C5xh Name Byte Description Type Unit Offset Header 0 0C5xh VAI Dec Acc Go To Pos With Max Curr Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Demand Curr Limit Uint16 1mA This command can be used as press command with limited current force This command sets the maximal current of the actual position controller set UPID 13A6h or 13Bah to the value defined with the 4 parameter To reset the current to the normal value use the command OC6xh or 0C7xh NTI AG LinMot User Manual Motion Control SW 03 11 2015 Page 55 117 e LinMot Motion Control SW 4 3 115 VAI Dec Acc Go To Pos From Act Pos And Vel With Max Curr 0C6xh Name Byte Description Type Unit Offset Header 0 0C6xh VAI Dec Acc Go To Pos From Act Pos And Ulnt16 Vel With Max Curr 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s 4 Par 14 Demand Curr Limit Uint16 1mA

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