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LinMot-Talk 6

1. Drivetypes Interfaces Applications e Co uc i Link EtherCAT LinUDP V1 LinUDP V2 asySteps asyStepsX6 gt lt E ojd _ per _ UR RE E EREN EE ER REMA pw mu M B8050 ML SC__T M B8050 ML IP__T TT ill DD ly LinMot Talk 6 LinMot 3 11 Login When successfully finished downloading the firmware login with File Login then select the appropriate port and press ok A login info window will appear showing the login progress When logged in you will find the following window File Search Drive Services Options Window Tools Manuals Help sg 48 Unnamed iP 10310180058 lt EHE amp A CT IB Project Control Status 4 pa Unnamed IP 10 3 10 184 USER A Control Panel tg Parameters i pe 05 Motion Control SW i D E sercos LP Variables E Oscilloscopes Messages gt dk Errors Curves f Command Table 0 Switch On Interface 0 Operation Enabled 0 Motor Hot Sensor 1 Safety Volt Enable 1 Digital Input 4 12 1 Switch Active 1 Motor Shart Time 2 Stop 1 Forced by Parameter 2 Enable Operation 2 Motor Supply Voltage 3 Enable Qneratian arced Paramete Ern 3 Moto
2. Command Table 5 Triggered Comm CAM Mode Setti Triggered C Pos Indexing E Analog Mode Setti E VAl 2 Pos Cont 5 30 0 1 E 16 Bit Interface Scali E Predef V Interpolat PY Streaming Setting E Time Curve Settings 225 0 E Master Encoder E Position Controller E Current Controller E Errors amp Warnings E Protected Technology Fu 15 0 1 E Motor Info B E sercos Variables 4 Oscilloscopes 75 0 2 Default 2 Messages Error Curves Command 93 7 5 0 4 15 15 1 i i i i i 1 05 0 102 2 204 4 306 6 408 8 511 6132 715 4 8176 919 8 Channel 1 SW Overview Actual Position Channel 2 MC SW Overview Demand Position Channel 3 MC SW Overview Difference Position Channel 4 MC SW Overview Demand t Comment 4 Oscilloscope Ready Possibly it is necessary to press button fit view Tuning the system would be started at this point One possibility is by restarting the Motor Wizard and changing the load or control parameter another one is to change the parameters directly in the parameter tree LinMot Talk 6 3 19 Continuous Two Point Mode The easiest way to run the motor continuously is to set the VAI 2 Pos Continuous mode In this mode the motor moves between the two positions Trig Fall and Trig Rise The time the motor waits at the two positions is defined under VAI 2 Pos Cont Settings The minimal settin
3. Deni a sia coca vasi M on eei inane 9 2 Airis gr 9 RE qu DM EAMUS A DR LA D 10 A ua rn 11 2 7 b A ect e ORT DII Staal 12 WESA SIND S dE iM a e REED 13 2 9 COMMAND ABLE sich arctica CEN 15 MES vele cic CODE EDS 16 S QUICK START GUIDE a Ede vu EVER EE ne ele Ev eau Rut s erasa esa ER ue 17 S MO E eir TOO EN UTERE 17 3 2 8550 ej Te EE TET 18 C BING 00 PA toad aa DD DD E 19 SP BINS DD e N DD DD DD a EE Por ae 20 SRo tA ene O0 S Y E 21 CABLING 14109 0 6s sete rr 22 GABEING IET oep Z 23 ST CABLING C 1200 dub tis 24 3 0 CABLING WIGOOO wich stant 25 9 10 FIRMIVARE DOWNLOAD a 26 c Y M sre 28 3 12 SCANNING CAN BUS
4. Oscilloscopes Y Messages Errors Download Window caves dm Upload from Drive 80 Download into Drive E Command Table Name ID Type Setpoint Wizard Length No of Setpoints We will now define curve going back So we start the curve wizard again and define under curve settings the following LinMot Talk 6 Curve Settings 1 X Curve Name Sineln Setpoint Calculation Wizard Sine Curve Length Curve ID 1 100 Start Point 50 mm End Point 0 mm Back gt Cancel Set curve ID to 3 Curve Name to Sineln Curve Length to 500ms Start Point to 50mm and End Point to Omm Click twice Next and then Finish Now we have defined the two curve segments and will join them together Select the two curves File Search Drive Services Options Window Tools Manuals Help lUnnamed iP 10310184USER P Ili e v amp ES amp A CLIE E Project Edit Window 4 fs Unnamed IP 10 3 10 184 USER SY Control Panel i rt Ex Envor Taks EE Eg Parameters Name ID Type Setpoint Wizard Length No of Setpoints 3 SineQut 2 Position vs Time Sine 1000 ms 501 Sineln 3 Position vs Time Sine 1000 ms 501 E Motion Control Sw Oscilloscopes e Messages Errors T Curves Command T able A X Download Window amp Upload from Drive F Download
5. 0 Interface Interface 11 Horme n Interface 12 Clearance Check Interface 13 To Inital PositionO Interface 14 Linearizing No Source Specified 15 Phase Search 0 No Source Specified 003Fh 1 Override Value Enable Manual Override 10 Panel Enable Manual Override Value Actual Value 412 Input P 411 Input 7 4410 Input 7 43 Input 4 8 Input 7 X47 Input x46 Input x45 Input 944 Input x43 Input 7 lt lt Umened P 10310128 USER j gt I lt E S El BASED Control Status 0 Operation Enabled 1 Switch On Active 7 1 14 Range Indicator 1 1 15 Range Indicator 2 0 Status Word 40F2h Op Main State 00h Op Sub State Enable Manual Override Command Category 0 Motor Hot Sensor 0 1 Motor Short Time Overload 0 2 Motor Supply Voltage Low 0 3 Motor Supply Voltage High 0 4 Position Lag Always 0 5 Reserved 0 Controller Hot 0 7 Motor Not Homed 1 8 PTC Sensor 1 Hel 0 9 PTC Sensor 2 Hot 0 10 RR Hot Calculated J 0 11 Res
6. 0 value Total Moving Mass 1564 9 Gravitation Force in motor direction ON External Constant Force OWN Sum of Constant Effective Forces ON FF Constant Force Current For constant force compensation FF Friction 0 049 4 Current For compensation of dry Friction FF Damping 5 Factor for compensation of viscous Friction FF Acceleration 0 038 A m s 2 Acceleration Feed Forward Factor 4 Help lt Back gt Finish Cancel With the next and last step the position drive s parameters will be set up X Motor Wizard E ml x Step 5 9 PID Position Controller PID Position Controller Setting P Gain j Ajmm Set To Default Soft P 1 D 3 I 0 Dom ums Set To Default Stiff P 3 D 8 I 0 I Gain o Al mm s Noise Filter Dead Band 0 02 mm IV Enable Noise Filter Beside the feed Forward parameters see previous step the PID controller setup influences the control behavior For the most applications it is possible to achieve good results with one of the given default settings no additional loop tuning necessary The Noise Filter eliminates noise from the position Feedback sensor when the motor stands still On Applications which require high positioning accuracy typically together with an external position sensor the Noise Filter should be disabled P Gain 1 A mm D Gain 3 Alfmis I Gain 0 A mm s Intergrator Limit 5 Maximal Current 8
7. Next gt Finish The derived settings show information about the complete motor type article numbers and the most important technical data LinMot Talk 6 The next step is to choose the flange for defining the cooling capability Motor wizard 1 Step 2 9 Motor Cooling Mounting and Cooling Flange Type The bulk of power loss is deduced over the flange The flange selection affects the Firmware temperature model calculation which is used For monitoring purposes Derived Settings Value Comment 4 Help lt gt Finish Longer extension cables will have an effect to motor s phase resistance In step 3 can be defined two cable segments Motor wizard aE Step 3 9 Extension Cable Setup First Extension Cable Segment Type KOS esi Length m Second Extension Cable Segment Type Extension Cable The ohmic resistance of extension cables can be quite high in relation motor s phase resistance the Firmware knows the total ohmic resistance it can optimize current control loop to the load If there are extension cables used in the application then that these segment s should be defined here The cable piece that comes directly out of the motor is negligible Derived Settings Value Comment Motor Phase Resistance 11 5 Ohm Cable Resistance 0 16 Ohm Total Resistance 11 66 Ohm
8. 0 8 PTC Sensor 1 Hot 0 9 Jog Move 0 Interface 9 Special Motion Active 0 9 PTC Sensor 2 HoL 0 Op State Not Ready to Switch On rn 10 Special Mode D Interface 10 In Target Position 0 10 RR Hot Calculated 0 Motor Not 4 11 Hame Interface TT Hoimed yaaa 0 11 Reserved 0 As rn 12 Clearance 0 Interface TA 0 12 Reserved 13 To Inital Position0 Interface 13 Motion Active 0 13 Reseed 0 Actual Position 0 00 mm r 14 Linearizing No Source Specified 14 Range Indicator 1 1 14 Interface Warn Flag Demand Position 0 00 mm 15 Phase Search 0 No Source Specified 15 Range Indicator 2 0 15 Application Warn Flag 0 Force Factor Motor not homed Control Word 003Fh Status Word 40F2h Warn Word 0080h Motor Current 0 00 1 L Override Value Main State 008 Logged Error Code 0000h i Pl E at i M Enable Manual Override Sub State 00h altan OR 10 Panel Motion Command Interface Ran Enable Manual Override Enable Manual Override lies 1 0 Override Value 7 Actual Value WLU AM X412 Input m 8411 Input B Command Category Most Commonly Used 4 10 Input 3 z
9. J 0 10 RR Hot Calculated 0 Motor Not Homed 11 Hem 0 Interface TI H med i iyi i nani 0 11 Reserved 0 AS 12 Clearance 0 Interface 12 Fatal 0 12 0 13 Go Inital PositionO Interface 13 Motion amp etive 0 13 Reserved Actual Position 0 00 mm m 14 Linearizing 0 Interface 14 Range Indicator 1 14 Interface Warn Flag Demand Position 0 00 mm mn 15 Phase Seareh 0 Interface 15 Range Indicator 2 0 15 Application Warn Flag 0 Force Factor Motor not homed Control Word 003Fh Status Word 40F2h Warn Word 0080h Motor Current 0 004 I L Override Value Op Main State 008 Logged Error Code OOOOh Logic Supply YOR 24 22 V t Enable Manual Override Op Sub State 00h Motor 72 56 V z Add Variable Del Variable 10 Panel Motion Command Interface DEN Enable Manual Override Enable Manual Override mr 1 T Override Value gt Actual Value d X442 Input m 5411 Input Command Category Most Commonly Used v x4 10 Input 3 re z 4 9 Input Command No Operation 000xh 12 48 Input Count Nibble Toggle Bits 68 Auto Increment Count Nibble 47 Input W
10. A m s 2 ji Spring Zero Position mm o0000000h 1341h SInt32 0 0001 mm mm 214748 36 D Filter Time Dus 0000h 1348h Tus us Dus Parameters which are marked as live can be altered while the drive s firmware is running other parameters can only be changed when the software is stopped The parameter service is controlled with the following buttons Show Hide Details Additional information for each parameter such as unique parameter ID UPID scaling min max value can be displayed on demand Show UPID Browser When parameters are edited which represent a UPID this button will be visible With this button the UPID browser will be opened for an easy selection of a parameter TI Y OK The input value is confirmed with this button Pressing the enter key has the same effect Cancel This button cancels the value typed in Read All parameters will be read and refreshed from the drive Default Parameters can be defaulted by instances With this button the default parameter procedure is started A window will be shown where the instances OS MC INTF and APPL software can be selected All parameters of the selected instances will be set to their default value 2 8 Variables LinMot Talk 6 The drive s variables which can be watched are arranged in different functional groups The MC SW overview group contains the most
11. a a ed 29 SCANNING ETHERNET 30 MOTOR oOOoOoeae_ee A A c zcZVZ 31 3 15 CONTINUOUS CURVE aufs Wan ee la kaca ku a bh ER o up va 40 O21 OAD EFINING CURVE TU T TT 41 SAT ONTOS cq T T LIN TTE 46 C5 Eod SCIELO TETTE 47 3 19 CONTINUOUS Two PolNT MIODE coco ato Ded a quee atte kal De asco aden edo ede du ls e EL LEE 48 9 20 EXPORT CONFIGURATION D s Cip I de ocu DD ZAMA 49 9 2 1 IMPORT CONFIGURATION den GO bete bu bI p a ak ka kak aus cna le ha Keke huy ca ke ee uma uU cec t cay S avaa 50 3 22 OFFLINE CONFIGURATION col ce ten au oe CE petat kal kuy eda tid e a hisk 50 3 23 CREATE OFFLINE CONFIGURATION pud Qe vicende Aio Beet bte Dee obe Ec uu eunt vical n eka Vut boa bk ue eiu sep M ak dka 51 3 24 COMPARE PARAMETERS 52 4 TROUBLE SHOOTING iaces eri iid 2 avdan esae neka hO SE YEY De a Eke We a D BURO W S e EE Wade Wira a de 53 4 1 SETTING ALL PARAMETERS DEFA
12. Controller E1 100 6 InterFace ler IG InterFace Application None The above window will be shown Select the drive first then choose the interface and application software The software parts which can be selected are the same as when installing firmware to the drive When created the configuration the parameters will have their default values The configuration can then be altered and saved the normal way LinMot Talk 6 LinMot 3 24 Compare Parameters Under Drive Compare Parameters there is a function which allows to compare the settings between different drives Compare Parameters Drive 1 My E1400 on COMI USER Drive 2 05 Parameter MC Parameter Only writable Parameter a x E1450 5E QN 05 offline USER Nr UPID O3E8h 1194h 119Eh 1147h 119Fh 1140h 1141h 1144h 11DAh 11DBh 1148h 11F2h 11F5h 11F4h 1230h 146Eh 146Fh 11FBh 13E1h 1340h 1342h 1343h 1348h 1345h C CI whe Save the List Path OS Drive Name Motion Control SW Motor Configuratio Motion Control SW Motor Configuratio Motion Control Sw Motor Configuratio Motion Control SW Motor Configuratio Motion Control SW Motor Configuratio Motion Control Sw itor Configuratio Motion Control Sw Motor Configuratio Motion Control SW Motor Configuratio Motion Control SW Motor Configuratio Motion Control SW Motor Configuratio Motion Control Sw
13. 00 05 0 00 1 4 00 02 2 00 1 4 00 10 14 00 1 4 00 22 2 00 1 4 00 06 78 00 1A 4E 00 02 48 00 1A 4E 00 10 0C 00 1 4 00 28 08 00 1A 4E 00 1B B8 00 1A 4E 00 1B BA 00 1A 4E 00 02 24 00 1A 4E 00 22 30 00 1A 4E 00 10 0A 00 1A 4E 00 03 4E 00 1A 4E 00 10 24 00 1A 4F 00 10 40 Group Number 2 Binkselected show Help Flo s E1250 PL MM_E1250_EC_UC MM_E1450_SC KHS Teststand Flo s E1250 IP Ludo Desk Unnamed Unnamed Laser3 Laser_X Laser3 Laser 2 MM E1250 PL UC QS TestCtr Device Type E1400 GP QN 1RB E1250 SC UC V1RE E1250 PL UC V1RD E1250 EC UC VIRC E1450 SC QN 1RB E1400 GP QN 1RD E1250 IP UC V1RE E1200 GP UC V1RC E1450 IP QN 1RB E1250 PN UC V1RE E1250 EC UC VIRE E1250 EC UC V1RE E1250 PL UC VIRC E1400 GP QN 1RD E1400 GP QN 1RB E1250 SC UCNN 1RD E1450 EC QN 1RB F14N0 GP ON RR Release Info 4 4 Build 20120130 4 4 Build 20120130 4 3 Build 20110901 4 2 Beta 20110211 4 4 Build 20120130 5 0 Beta 20120514 5 0 Beta 20120514 5 0 Beta 20120514 4 4 Build 20120130 4 4 Build 20120130 5 0 Beta 20120514 5 0 Beta 20120702 4 4 Build 20120130 4 4 Build 20120130 4 4 Build 20120130 5 0 Beta 20120514 4 4 Build 20120130 5 0 Build 20120710 4 4 Build 20120130 4 4 Ruild 20120130 FR ETE E Broadcom NetLink TM Gigabit Ethernet 10 3 10 87 With just one click
14. 15 drives Signal Supply X4 Pin1 GND Pin2 24VDC Configuration Ethernet X15 X16 Motor Power Supply 3phase X30 gt X2 Motor Phases gt Motor Encoder Signals gt X4 For a commissioning with PC it is necessary to wire only the Pin1 GND and Pin2 24VDC gt X15 X16 Ethernet Use a standard RJ45 patch cable to wire to the LAN X19 RS232 Use the RS232 PC configuration cable LinMot article number 0150 2143 to connect your PC via RS232 If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 gt X30 Motor Supply use 3x400 3x480VAC 50 60 Hz gt X33 Safety Relays For the safety relays use a separate 24VDC supply For a commissioning it is necessary to wire both X33 4 and X33 8 to 24 VDC and both Ksr X33 3 and X33 7 to GND 3 4 Cabling 1100 The following picture shows the connectors on the drive used for first commissioning with PC only Motor Power Supply X1 Motor Phases X2 Motor Sianals X3 RS232 to PC X5 Pin2 RS232TX Pin3 RS232RX Pinb GND Use a 1 1 cable to the PC Signal Supply X14 Pin13 Pin25 24VDC gt X1 Motor Supply use 48 72 VDC between PWR and PGND gt X2 Motor Phases gt Motor signals if motor has DSUB 9 connector connect it directly otherwise use an adapter to DSUB 9 or wire the phase lines to 2 gt X5 RS232 The cable be
15. Curve ut Setpoint Calculation Wizard Sine Curve Length f 000 Start Point 0 mm End Paint 50 mm lt Back gt In this mask we will set the curve ID to 2 we will have the merged curve with ID 1 the end and as name we set e g SineOut The end point is placed at 50mm With Next the wizard will show some curve data Calculated Curve Data X Based on the Curve Settings the wizard has calculated additional curve Information Stroke mm Peak Velocity 0 07954 m s Peak Acceleration 0 24674 m s 2 The next and last mask proposes a number curve setpoints It is advisable to accept this proposal Sumber of Setpoints The proposed number of setpoints iz BUT Number of setpoints 501 re inMot Talk 5 0 EM File Search Drive Services Options Window Jools Manuals Help 5 10310184 UUSER lt Edit Window 4 Unnamed 10 3 10 184 USER r Control Panel 7 4 Parameters Name ID Setpoint Wizard Length No of Setpoints 4 YE Control Sw SineOut 2 Position vs Time Sine 1000 ms 501 E Drive Configuration E Motor Configuration E State Machine Setup E Motion Interface E Position Controller E Current Controller E Errors amp Warnings E Protected Technology Functions E Motor Info Block
16. Demand Position 97 23 mm 80 52 mm 16 71 mm 400 ms 3 MC SW Overview Difference Position 0 014 mm 0 072 mm 0 058 mm 400 ms 4 MC SW Overview Demand Current 0A 0 101 A 0 101 A 400 ms Comment Parameter Caption UPID Value Serial Number 1040 1761 55T 010 Device Type 1020 E1250 IP UC V1RE Article Number 1050 0150 1761 Firmware Release 1060 5 1 Beta 20130506 OS File Name 1070 OSSW E1200 551 a05 ADF File Name 6220 PS01 37x120 Oscilloscope Ready 19 The oscilloscope is controlled with the buttons gt 50 2 The functions are from left gt Start Abort Start or abort an oscilloscope shot gt Fit View Displays the recorded channels such as they fit best in the scope window gt Fit View same unit same fit Displays the recorded channels such as the channels with the same unit have the same scaling and offset gt Save Display stores the settings for zoom scaling and offset gt Recall Display restores the settings for zoom scaling and offset which are previously stored with Save Display gt Export Data Export data and setups of the last recorded oscilloscope shot in a csv file gt Oscilloscope Settings Switch to setup mask for channels triggers times and modes gt Display Settings is used to set scale offset and color for the oscilloscope channels Show Hide Show and hide the oscilloscope channels aA 3 8 I
17. State MC SW Started Software Reset MC SW Stopped Tm To Error State MC Sw Started Software Reset MC SW Stopped Tm To Error State MC SW Started Software Reset MC Sw Stopped Tm To Error State MC SW Started Software Reset Source MC SW State Machine 05 SW State Machine MC SW State Machine MC SW State Machine 05 SW State Machine MC SW State Machine MC SW State Machine MC SW State Machine MC SW State Machine MC S w State Machine MC SW State Machine 05 SW State Machine MC SW State Machine MC SW State Machine 05 SW State Machine MC SW State Machine MC SW State Machine 05 SW State Machine MC SW State Machine MC SW State Machine 05 Actual drive Time 001604 23 08 2 4 Errors This panel reads out and shows all errors which are logged on the drive and displays them in chronological order File Search Drive Services Options Window Tools Manuals Help E d Unnamed IP 1031012608 lt 0 Project 2 Unnamed IP 10 3 10 126 USER Control Panel Event Time Eror Code Error Message Source kul tg Parameters 001584 38 45 813 0022h Fatal Err Motor Slider Missing MC SW Error Handler gt Ici Variables 001581 10 26 394 003Ch Err Phase broken MC SW Error Handler gt Oscilloscopes 001581 04 01 988 0022h Fatal Err Motor Slider Missing MC SW Error Handler gt Messages
18. defined a default oscilloscope which samples the actual position demand position position difference and demand current When clicking on the Show Oscilloscope button Eli the focus will be set to the default oscilloscope We could start the oscilloscope now with the start button P but it is recommended to set the recording time about 2 seconds one curve cycle is 1 5 s We will switch to the oscilloscope settings with xi General Trigger Advanced Acquisition Mode Single Shot Recording Time 2071 212 m w Channel 1 Group Variable SW Overview Act Pos T Z Channel 2 Group Variable Mc Siw Overview Dem Pos f Channel 3 Group Variable Mc SW Overview Pos v Channel 4 Group Variable Mc SW Overview Dem Current Ok Cancel Then press Ok and start the oscilloscope with The recorded data will read out from the drive and displayed which will look somehow like the following File Search Drive Services Options Window Tools Manuals Help Hot 10 310 184 USER P fl lt El amp El amp A gi 4 Unnamed IP 10 310 184 USER B E on joe on on Control Panel mm mm 4 ters 60 60 faci le e ode Sel i otion Inter un M i Run Mode Selectic Triggered VA Inter E Triggered Curves
19. z z 54 9 Input Command No Operation 000xh 3 848 U Count Nibble Toggle Bits 0h Zi Auto Increment Count Nibble X47 D TogdeBitst 46 Input Dd 45 Dd FID X44 Input Name Offs Description Scaled Value Int Value Value 4 amp 3 Input G Header 0 O00xh No Operation 0 0 0000h Read Command Send Command Now we will fetch the control over the Switch On and the Home flags X n Dx E n E r xX Control Switch Freeze Voltage Enable Duick Stop Enable Operation Go To Position Error Ack nowledge 0 amp 9 Move 10 Reserved Control verride value Enable Manual Override Now turn off and turn on again the Switch flag this is because of the auto start prevention At this time the motor will be powered and position controlled at the actual position Set the Home flag and the motor will initialize against the inner hard stop When the motor stands still clear the Home flag and the motor will run the curve continuously Detailed information about the MC software s state diagram can be found in the MC software manual LinMot LinMot Talk 6 3 18 Oscilloscope The oscilloscope is a very useful tool for tuning the motor The LinMot Talk software has
20. 001581 03 41 101 0022h Fatal Err Motor Slider Missing MC SW Error Handler Errors 001581 03 28 981 0022h Fatal Err Motor Slider Missing MC SW Error Handler aui Curves 001581 03 02 662 0022h Fatal Err Motor Slider Missing SW Error Handler omend Tale 001581 01 23 733 0022h Fatal Motor Slider Missing MC SW Error Handler 001581 00 51 445 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001581 00 36 129 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001581 00 26 533 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001581 00 18 404 0022h Fatal Err Motor Slider Missing MC SW Error Handler a 001580 59 27 847 0022h Fatal Err Motor Slider Missing MC SW Error Handler 1 001580 53 18 071 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001580 59 09 207 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001580 59 01 009 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001580 58 43 159 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001580 58 32 411 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001580 57 34 069 0022h Fatal Err Motor Slider Missing SW Error Handler 001580 56 59 120 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001580 55 39 374 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001580 54 24 900 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001580 31 55 052 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001580 3
21. 4 Help 1 Next gt Finish The next hardware setup step is to define an external position sensor system if present For E1100 drives can be chosen between none incremental AB Z and analog sine cosine 1Vpp For B1100 drives can be chosen between none incremental AB Z and AB encoder simulation Ini xi Step 4 9 External Position Sensor System External Position Sensor Type Analog Sine Cosine 1Vpp Count Direction Positive m Resolution r 1 4 Period Length 250 um 1v With an additional external position measuring system the positioning accuracy and the linearity can be improved The optional position sensor has to be connected to x12 on the controller Derived Settings Value 4 Help lt Back Next gt Finish LinMot Talk 6 With step 5 the feed forward parameters are set up Depending on the moving mass additional load mass friction and orientation Under the derived settings the influence can be watched Motor Wizard inl x Step 5 9 Feed Forward Parameters Mechanical Layout Moving Part of Motor Slider T Orientation Angle 90 90 Slider 1064 g Additional Load Mass g Friction Forces 500 Dry Friction po o N Viscous Friction Nifmjs MagSpring or other constant force External Constant Force N Force Direction Negative v
22. 501 23 160 4 E P501 37x120 adf E PS01 37x120 HP adf S P501 37x240 adf E P501 37x240F adf E P501 48x240 adf 9 P501 48x240F adf PS01 23K1 60 adf Files of type Actuator Data Files adf Y Open as read only LinMot Talk 6 Select the actuator type you have wired to the drive then press Open The following steps will show forms including drawings and descriptive texts The first step is to define the stator and slider Motor Wizard eee Step 1 9 Actuator Selection Actuator Data File Stator Slider Slider Mounting Direction 501 37 240 adf Change Actuator 50 1 37x240 v 01 20500 420 The slider can be identified by its length Newer sliders have the type engraved on the surface Regular Y The sliders are not symmetric The value of ZP Zero Position depends on the mounting direction relative to the stator Therefore the available stroke range changes with the mounting direction Force 5 1 1 5 i Foti V SS _ 005 ZP Notch value Comment MOTOR P01 37x240 160x360 Maximal Stroke S 360 mm Shortened Stroke 55 160 mm Electromagnetic Zero Position ZP 130 mm Force Constant 40 8 Edge Force Fb 58 STATOR 501 37 240 Article Number 0150 1203 Stator Length 347 mm Stator Mass 1385 g SLIDER PLO1 20x500 420 Article Number 0150 1328 Slider Length 500 mm Slider Mass 1064 q
23. Motor Configuratio Motion Control SW Motor Configuratio Motion Control SW Motor Configuratio Motion Control Sw Motor Configuratio Motion Control Sw Motor Configuratio Motion Control SW Motor Configuratio Motion Control SW Motor Configuratio Motion Control SW state Machine Set Motion Control SWPosition Controller Motion Control SWiPosition Controller Motion Control SWPosition Controller Motion Control SW Position Controller Motion Control SW Position Controller Motion Control SWPosition Controller Motion Control SWPosition Controller Motion Control SWErrors amp Warnings Motion Control SWlErrors amp Warnings Name Drive Name Motor Type Maximal Current Maximal Motor Supply Voltage Phase Resistance Phase Inductance Force Constant Maximal Stroke Sensor Type Count Direction Motor Sensor WaveForm Table Sel Phase Angle Phi To Ph2 Angle BackEMF Calc Source Temperature Sensor Type Minimal Position Maximal Position Communication Type Position Recovery Position Tolerance FF Acceleration P Gain D Gain D Filter Time Integrator Limit Maximal Current Noise Deadband Width Minimal Position Maximal Position Value My E1400 LinMot Plug and Play 344 7ooy 2 7000hm 4 900mH 60NJA 230mm Sine Cosine Sensor Negative IFFT Calculated 2 195 0026 119 9986 Velocity Of Feedback Communication 1 mm 220mm Mone 2 mm 0 054A m s 2
24. Noise Filter Dead Band 0 02 mm E Finish It is recommendable to start with the default soft settings because the parameters can be changed any time later on by restarting the motor wizard or by setting in the parameter tree directly With the soft parameter setting PID values will be quite low such as the motor is low noise and the position is not controlled very stiffly The stiff parameter set tends to more noise and more power consumption of the motor but the position will be controlled harder In both settings the Gain is set to zero which means a steady state deviation from the desired position can occur When using the Gain the position controller may tend to swing The Noise Filter option is to reduce the noise from the position feedback sensor at standstill For finding the best set of PID parameters the system has to be optimized iteratively There is no general way of how to optimize the settings because different goals can be achieved such as position accuracy power minimization noise reduction LinMot LinMot Talk 6 The next step is to define the homing procedure Ini Step 7 9 Homing Home Position Search Move Speed 0 01 mis Mode Mechanical Stop Negative Search The motor moves in negative direction until mechanical stop is reached This position is assumed to be the Home Position Before motion commands can be executed the motor m
25. Ulnt15 Ulnt16 754 SInt15 754 0 0001 mm 1E 6 m s 1E 5 m s 2 0 0001 mm 1E 6 m s 1E 6 m s 0 0001 mm 1E 6 m s 0 001 0 001 1 1 1 1 1 1 1 1 1 1 0 0027027027 V 0 0027027027 V 0 00537056328 V 0 00537056328 V The variable service is controlled with the following buttons ShowlHide Details Additional information for each parameter such as unique parameter ID UPID scaling min max value can be displayed on demand once Y 11 e dej m m Y gt 9 o 5 ct 5 O 2 lt c 5 N UO D 7 D 2 gt Write Variable Writes selected variable to the drive gt Edit Properties The parameter properties can be displayed and gt Read Variable Reads the selected variable from the drive once Read Variables Reads from the drive all variables of the section Read All Variables Cyclically Reads from the drive all variables of the section cyclically Remove Del Removes the selected variable from the list changed gt New Variable In a new generated variable section a new variable can be Y s Er J a El ER Y defined This is a drop down menu which supports different variable New Bit In a new generated variable section a variable of the type bit can be defined New String Variable In a new generated variable section a va
26. V1 not supported by LinMot Talk 6 502 Families E400 E4000 V2 not supported by LinMot Talk 6 563 Family E1100 CO DN DP LC HC XC SG4 Family B1100 VF PP GP ML LC HC XC SG5 Family E1200 GP DP DS EC IP PD PL PN SC SE Family E1400 GP DP DS EC IP PD PL PN SC SE 05 15 Family B8000 ML GP EC IP PL PN SC SG6 Family C1250 DS EC IP PD PL PN SC SE 05 15 Family E1400V2 GP DP DS EC IP PD PL PN SC SE 0S 1S SG7 Family A1100 Family C1100 GP DS EC PD PN SE 05 15 1 2 UPID Unique Parameter ID All parameters have an assigned identification number which is called a UPID Unique Parameter ID All parameters are accessed on the drive over this identification LinMot LinMot Talk 6 1 3 PnP Plug and Play The drive families A1100 C1100 C1200 E1200 and E1400 support so called Plug and Play functionality When a motor is connected to the drive the motor will be automatically detected and the parameters will be set accordingly The drive then can control the motor without any further configuration procedure When starting the motor wizard the connected motor is already selected and all the further configuration such as exact slider moving mass friction etc can be set up All components drives and motors which support the plug and play functionality are marked on the type label with PnP The drive startup sequence i
27. are joined A wizard will be started for defining the curve properties of the joined curve The download window is used to manage the curves which are stored on the drive or have to be downloaded Modifications in this window will show up the message Curves have changed Please download After pressing the download into Drive button the window and the drive will be synchronized Upload from Drive af Download into Drive gt Upload Curves from Drive All curves stored on the drive will be uploaded and displayed gt Download Curves to Drive The drive s curve sector will be synchronized with the download window gt Auto Numerate Curves The curve ID which must be unique will be set automatically The maximum number of curves and number of sample points is defined as follows Series B1100 Max 15 Curves Curves 70Bytes SamplePoints 4Bytes lt 2016Bytes Series A1100 C1100 Max 49 Curves Curves 70Bytes SamplePoints 4Bytes lt 32512Bytes All other Series Max 99 Curves Curves 70Bytes SamplePoints 4Bytes lt 65280Bytes 1 SamplePoints total of sample points in all curves LinMot Talk 6 2 7 Parameters The drive s parameters are displayed in a tree view E sercos Variables 4 Oscilloscopes Parameters as E Motion Control Sw E Drive Configuration 4 E Motor Configuration Motor Type Motor Definit Posten ek P Gain 1 5 A mm 000 1342h Ulntl6 0 1 A m
28. edited table from the PC to the drive An application example of the CT can be found in the motion control software user manual Usermanual MotionCtrlSW E1100 pdf 2 10 Access Codes On the drive special features or customer specific applications can be protected by a software key This means a key must be activated by an access code which 15 drive specific pinned to the serial number Under Drive Set Access the following window will open Set Access Code I X Active Keys Access Code Keyl 5493h Force Closed Loop Control 58328193 Keyz 0000h Key Kev3 OOOOH Kev 4 OOOOH Key Set Key Access Code Mame Value HEX Access Code HE 2 2 1 The keys will nat be activated Ehe controller until a reboot has been processed Press the activate button to reboot Activate Close A maximum of four keys can be set on the drive Under Active Keys all valid installed keys are listed key value and access code A new key can be set by selecting the key name and defining the value and access code With the write button the key and access code are written to the drive As soon as the drive has rebooted click the Activate button the new key will be active if the access code fits Please note Access codes are drive specific They cannot be copied from one drive to another The following table shows on which drives the
29. into Drive Name ID Type Setpoint Wizard Length No of Setpoints then press the Join Curves button i he curve settings mask for the joined curve appears Curve Settings X Curve ID 1 100 zi Curve Mame utln Setpoint Calculation Wizard Mane Curve Length f SOO Back gt We will set the curve name to SineOutln and make sure curve ID is 1 The curve length is proposes as the sum of the curve segment times Press Next and Finish The curve for the continuous curve mode is now defined and has according to the parameter settings the curve ID 1 As we want to download the curves to the drive we select all the curves in the edit window and move them to the download window r Tr mice File Search Drive Services Options Window Tools D t Ils bl 8 Unnamed IP 10 310 184 USER gt m B lt ES amp El amp A CP E Project Edit Window 4 fs Unnamed IP 10 3 10 184 USER S Control Panel a Parameters Name ID Type Setpoint Wizard Length No of Setpoints EE Motion Control Sw SineQut 2 Position vs Time Sine 1000 ms 501 EE sercos Sineln 3 Position vs Time Sine 1000 ms 501 et Variables SineQutln 1 Position vs Time None 2000 ms 1001 Oscilloscopes Messages e Errors ETI Curves Command Table Manuals Help E Download Window Upload from Drive g D
30. the LinMot Talk software will log in to all drives The colored markings have the following meaning Green The drive is ready to log in I Grey You are already logged into this drive Red Another instance is logged into this drive other user or other interface The default mode for acquiring an IP address is via DHCP If no servers on the connected network respond the drive switches to the 4 Link Local addressing scheme also known as APIPA on Windows systems This way the drive automatically assigns itself an address within the range of 169 254 0 1 through 169 254 255 254 Subnet Mask 255 255 0 0 Please note that this process can take up to a minute until a valid address is assigned to the drive this way LinMot LinMot Talk 6 3 14 Motor Wizard As no motor is defined the next step is to start the motor setup wizard Press the button and the following window will appear Look in C3 Motors v O LinMot Bridge Modules Ica LinMot Linear Modules Recent Murs Documents ea Other Motors r 8 Desktop My Computer File name Network Files of type Actuator Data Files adf Places Open as read only As we want to configure a LinMot Motor we choose LinMot Linear Motors and press Open Look in LinMot Linear Motors t ak E P501 235x80 adf P501 23x80 adf Documents 8
31. 1 18 600 0022h Fatal Err Motor Slider Missing MC SW Error Handler E 001580 24 13 443 0022h Fatal Err Motor Slider Missing MC SW Error Handler 001580 22 28 353 0022h Fatal Err Motor Slider Missing MC SW Error Handler TN w PON Errors Actual Drive Time 001604 24 13 2 5 Oscilloscope The drive s built in oscilloscope which can record up to eight channels in real time is controlled with the oscilloscope tool During login the oscilloscope reads out the settings and data from the drive If an oscilloscope shot is running or ready to read out data an item called Read out will be displayed Otherwise a default item will be generated LinMot Talk 5 1 X File Search Drive Services Options Window Tools Manuals Help 1 9 El amp 8 Unnamed iP 10 3 10 232 05 8 Ii lt v ES amp ES dn A EP 4 Ea Unnamed IP 10 3 10 232 USER BB E Control Panel a AE mm Parameters 135 CP Variables 127 5 0 45 03 4 Oscilloscopes Default 120 0 375 0 25 2 Messages 112 5 0 3 02 Errors Curves 105 0 225 0 15 Command T able 97 5 0 15 0 1 90 0 075 0 05 82 5 0 0 75 0 075 0 05 67 5 0 15 01 60 0 225 0 15 0 301 5 603 904 5 1206 1507 1809 2110 2412 2713 3015 Cursor1 Value Cursor2 Value Cursor2 Cursor1 Time2 Time1 1 MC SW Overview Actual Position 97 216 mm 80 448 mm 16 768 mm 400 ms 2 MC SW Overview
32. 5A mm 10A m s Dus 0 030mm true true Value2 1450 5 0 05 motor 40A 750 100hm 2 800mH 25 600N 4 100000mm Sensor Positive Mone 2708 120 0046 Actual Velocity None 100000mrm 100000mm Motor Link C Smm 52 10A mm 20 5 40005 40 40 Omm false false This useful function works with online and offline configurations There are different setups available such as firmware instances OS MC INTF and APPL or parameter types read only or writable The parameter list can be saved as a pvl file comma separated text file LinMot LinMot Talk 6 4 Trouble shooting 41 Setting all Parameters to Default Values E1100 E1200 E1400 B8050 MB8050 C1100 GP and C1250 All parameters of the SG3 and SG5 drives can be set to their default values without the use of the LinMot Talk This can be done according these steps 1 Power off the drive 2 the two ID switches to OxFF 3 Power on the drive the Error and Warn LEDs will blink alternately at 4Hz 4 Set the two ID switches to 0x00 o Wait until the Warn and EN LEDs will flash together at 2Hz 6 Power off and on again B1100 564 drives an image of the default parameters will be stored during the software installation This image can be reloaded to the operating parameters The procedure is the following 1 Set the parameter with UPID 0x6085 to 0x0001 2 Power off the drive 3 Power on the d
33. Documentation of LinMot Talk 6 Configuration Software i j i n 1 TAE B a LinMot Talk 6 User Manual 2014 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 didactically use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of 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 3 April 2015 LinMot LinMot Talk 6 Table of Content T INTRO U eq FIO WN Messe eI a 4 11 315 TEM GENERATIONS 2y NE 4 1 2 UPID UNGUE PARAMETER IE abeo ucc aa deals syed a n eR D n Dese ded Hela neo vt idu mz Deu obe 4 Ne Oc NP CLUS ANDE ONY J rJ 5 POVERVIEW ea 6 ZN TOOL BUTON DAR TTE a a a sd a a a a a a Mat a a ese ba 7 2 2 CONIROLE I ANBE ene Uta deis a ies a henna caine 8 2 3 NIESSAGBS
34. E Ez Y Show Hide Cursor Two time cursors be displayed for measuring the signals 2 6 5 LinMot Talk 6 With the curve tool motor motion profiles can be easily created joined uploaded downloaded and saved NOTE On B1100 the curve feature must be enabled with an access key LinMot Talk 5 0 fog Ex File Search Drive Services Options Window Tools Manuals Help m tole 1031015058 P S El amp E GBA EI Project Window 4 Ea Unnamed IP 10 3 10 126 USER E Control Panel t Parameters Name ID Type Setpoint Wizard Length No of Setpoints Variabl SineOut 1 Position vs Time Sine 1000 ms 501 Messages Sineln 2 Position vs Time Sine 500 ms 501 Errors SinQutln Curve 3 Position vs Time None 1500 ms 1501 Curves Command T able Y Download Window Upload from Drive 2 Download into Drive Ay Curves have changed Please download Name ID Typ Setpoint Wizard Length No of Setpoints SineOut 1 Position vs Time Sine 1000 ms 501 Sineln 2 Position vs Time Sine 500 ms 501 4 SinQuln 3 Position vs Time None 1500 ms 1501 Ir E New Curve Starts the curve wizard which guides through the curve generation Edit Properties The properties of a selected curve like name time Or stroke can be modified Edit Curve Values The curve points can be manually edited Join Curves All selected curves
35. EL 4 6 Input 4 5 Input m x44 Inpu r Name Offs Description Scaled Value Int Value Dec Int Value 43 Input Header 0 0004 Operation 0006h IO Panel Motion Command Interface gt Control Word The MC software s control word can be directly written from the PC For taking over the PC control the left check box Enable Manual Override must be selected The state of each flag can be set with the right check box Override Value If other flags have to be altered the override mask must be configured in the parameter tree under Parameters Motion Control SW State Machine Setup Control Word Ctrl Word Parameter Force Mask gt Status Word The status word shows the actual state of the drive s MC software status word It is updated automatically gt General Monitoring This window displays actual motor and drive information gt Additional Variables this window variables could be chosen then they are shown in the list and would updated automatically gt O Panel For commissioning The user can take control of the X4 IOs E1100 or X14 lOs B1100 drives gt Motion Command Interface The MC software s motion command Interface can be directly accessed over this window When enabled Enable Manual Override switch must be set MC commands can selected parametrized and sent to the drive Because the motion command interface is independent of the interface running on
36. Mot Phases X3 Mot Sensor 51 52 ID Selector X33 STO Relais RT Bus LEDs X18 RT Bus Out X17 RT Bus Out LEDs State Indicator X13 Ext Pos Sens Diff Hall Sw gt gt gt gt X4 Logic Supply Control X19 System X1 Motor Supply use 48 72 VDC between PWR and PGND X2 Motor Phases X3 Motor Signals Note the motor phases are not present on this connector Thus wire the motor phases in any case to 2 X4 For a commissioning with the PC it is necessary to wire only the Pint GND and Pin2 24VDC gt X19 RS232 Use the RS232 PC configuration cable LinMot article number 0150 2143 to connect your PC via RS232 If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 X33 Safety Relays The connector X33 is only present for 1S safety functionality For the safety relays use a separate 24VDC supply For a commissioning it is necessary to wire both Ksr X33 4 and X33 8 to 24 VDC and both Ksr X33 3 and X33 7 to GND 3 9 Cabling M8000 MS8000 MBI1150 MB8050 X3 Motor X34 72VDC RT LEDs 5 1 52 X36 24 IN X19 Config RS232 X33 Safety State LEDs State LEDs X17 X18 RealTime ETHERNET LinMot Talk 6 MBI150 MF8000 gt Motor This is the only connector to the motor it includes the phases and signals gt X19 RS232 Use the RS232 PC configuration cable LinMot article number 0150 2143 to con
37. ULT VALUES i lt kil ness akla dala a dak a e bak a ekl e aa vos 53 2 77 INTER ER CE DOES NOT RUN a a dtm ke nadie A RE MEE EID DE UU EE 53 AS Sa HOP II ed ai Si an IRON EN DA a SEET e Me Beacons N DE KN N S S NN 53 5 CONTACT ADDRESSES itecto atate re es cete DERO k etae kr Jul Kh RE G K n Ku Sa B ku d KDE W REKE REKE KE KA ka 54 1 Introduction The LinMot Talk 6 software is a PC based tool which helps the user in a comfortable way installing firmware on the drive setting up the drive s configuration defining and programming motion profiles emulating the PLC watching variables and reading messages and errors The LinMot Talk 6 works with the drive series A1100 B1100 C1100 E1100 C1200 E1200 E1400 and 8050 It replaces the LinMot Talk1100 software For the rest of this document and all other documents the more general term LinMot Talk will be used for the Linmot PC configuration software 11 System Generations SG The LinMot drive families are based on different hardware platforms which are called system generations The abbreviation is SG Whereas differences of hardware of software functionality exist between the system generations the documentation is marked with the SG term The following table gives an overview of which drive family belongs to which SG SG Drives 561 Families E400 E4000
38. ables 4 Status 4 Monitoring O Switch On Interface 0 Operation Enabled 0 Motor Hot Sensot 0 Connection Online Name Value 1 Safety Volt Enable 1 Digital Input 4 12 1 Switch 4 1 Motor Short Time 0 Firmware 5 Running 2 Stop T as Forced by Parameter 2 Enable peration 2 Motor Supply Voltage Low 0 Motor Status Switched Off 3 Enable Operation 1 Forced by Parameter kd Ji REM 0 3 Motor Supply Voltage High 0 4 Z amp bo t uus Forced by Parameter 4 Safety Volt Enable 1 4 Position Lag amp lways 0 M Forced by Parameter 5 Quick 1 5 Reed siiis 0 Go Position 0 Interface B Switch On Locked 1 Drive Hol 0 7 Error Acknowledge O Interface 1 7 Motor Not Homed 1 8 Move 0 Interface 8 Event Handler Active J 0 8 Sensor 1 Hot J 0 r 9 Move 0 Interface 9 Special Motion Active 0 9 PTC Sensor 2 Hot 0 Op State Mot Heady Sete On r 10 Special Mode 0 Interface 10 In Target Position
39. cally Thus it is not necessary to know all node IDs Under File Scanning with CANusb a list of the present drives will be displayed Login MACID Device Name User ID Password j 34 Unnamed USER a Unnamed service Login All Login Selected Abort With just one click the LinMot Talk software will log in to all drives LinMot Talk 6 3 13 Scanning Ethernet When one or several drives are linked with Ethernet for configuring it is helpful to scan automatically for linked drives Thus it is not necessary to know all node IP addresses Under File Scanning via Ethernet first the interface has to be selected network link With the radio button Group Number could be activated a scan for a special drive group The list will only display the drives with the group number like the number in the text field In the drives this number is saved in the parameter with the name Net Group and the UPID 0078h Choose the Interfaces Interface Send A list of the present drives will be displayed 10 3 10 22 10 3 10 61 10 3 10 66 10 3 10 67 10 3 10 82 10 3 10 93 10 3 10 106 10 3 10 107 10 3 10 108 10 3 10 109 10 3 10 123 10 3 10 127 10 3 10 129 10 3 10 132 10 3 10 137 10 3 10 143 10 3 10 179 10 3 10 184 10 3 10 186 10 3 10 191 amp All Groups IP Address MACID 00 1A 4E 00 10 5C 00 1A 4E 00 1A 5C 00 1 4 00 0 00 1 4 00 00 80 00 1 4
40. ce Mask Digital Input Force Value x4 Output Mask Digital Output Force Mask Digital Output Force Value 24 4 Analog Voltage 24 4 Analog Voltage Filtered Diff Analog Voltage Diff Analog Voltage Filtered v Value 0 0 Not DODOh D mm D m s 0 m s 2 0 000 0 000 D m s 0 000 0 000 0 002 0 0 0200h FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE TRUE 0000h 0200h 0000h 0000h 0000h 0000h 0000h RawData 00h 00h 00h 0000h O0000000h O0000000h 00000000h FFFFFFFAh FFFFFFO6h 00000000h 00000003h 000000 000000028 o0000000h 0000h 0000h 0200h Oh Oh Oh Oh Oh Oh Oh Oh Oh th 0000h 0200h 0000h 0000h 0000h 0000h 0000h 0004h o0000000h FFF5h O0000000h UPID 1B5Eh 1B5Fh 1B60h 1B62h 1B8Bh 1B8Ch 1B8Dh 1B8Eh 1B90h 1B31h 1B32h 1B33h 1B34h 1B35h 1C84h 1C8Eh 1C8Fh 1C30h 1C81h 1C32h 1C93h 1C84h 1C35h 1C36h 1C3 h 1C83h 1C85h 1CCOh 1CClh 1C88h 1CC2h 1CC3h 1CA4h 1C4 h 1CA6h 1CA8h Db t Ile bl 8 Unnaned IP 10 310 184 UsER m lt 0 Project 4 Unnamed IP 10 3 10 184 USER Type Ulnt8 Enumerator Ulnti6 SInt32 SInt32 SInt32 SInt32 SInt32 SInt32 SInt32 SInt32 SInt32 SInt32 SInt15 SInt15 Ulnt15 Bool Bool Bool Bool Bool Bool Bool Bool Bool Bool Ulnt15 6 6 6 Ulnti6 Ulnt15
41. different functions are available Legend S Standard Function TF Technology Function can be enabled with key NA Function not available Technology Functions v Curve Force Control 4d LinMot LinMot Talk 6 3 Quick Start Guide This chapter helps step by step to set up a system using servo drive and the LinMot Talk configuration software 3 1 Cabling E1100 The following picture shows the connectors on the drive used for a first commissioning with PC only Motor Power Supply X1 Motor Phases X2 if present otherwise on X3 5 Motor Signals Signal Supply X4 Pin1 GND Pin2 24VDC Pin12 SVE if present RS232 to PC X5 Pin2 RS232TX Pin3 RS232RX Pinb GND Use a 1 1 cable to the PC gt X1 Motor Supply use 48 72 VDC between PWR and PGND gt X2 Motor Phases if this connector is not present connect the motor on only gt Motor signals if motor has a DSUB 9 connector connect it directly otherwise use an adapter to DSUB 9 or wire the phase lines to X2 gt X4 For a commissioning with the PC it is necessary to wire only the Pin1 GND Pin2 24 and if present Pin12 save voltage enable SVE 24 gt 5 5232 The cable between the LinMot drive and PC must be DSUB 9 F F 1 1 X modem If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 3 2 Cabling E1200 Th
42. e If this does not help or you are working with a B1100 drive there is a script under File gt Open gt StopFirmware sct which keeps trying to stop the drives firmware while it is powered on After a power up within the first 2 seconds the interface can be prevented from starting LinMot Talk 6 5 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration Tech Support Tech Support Skype Fax Web 41 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 Morrisey Dr Elkhorn WI 53121 Sales and Administration Tech Support Fax E Mail Web 877 546 3270 262 743 2555 8 7 804 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 LinMot LinMot Talk 6
43. e following picture shows the connectors on the drive used for a first commissioning with PC only 4 Motor Power Supply X1 Motor Phases X2 if present otherwise on X3 Motor Signals X3 DSUB 9f Signal Supply X4 Pin1 GND Pin2 24 Pin12 SVE if present lt q _ Configuration Ethernet X15 X16 RS232 to PC X19 Pin3 RS232RX Pin5 GND Pin6 RS232TX gt X1 Motor Supply use 48 72 VDC between PWR and PGND gt X2 Motor Phases gt Motor Signals Note the motor phases are not present on this connector Thus wire the motor phases in any case to 2 gt X4 For a commissioning with PC it is necessary to wire only the Pin1 GND Pin2 24VDC and if present Pin12 save voltage enable SVE 24 gt X15 X16 Ethernet Use a standard RJ45 patch cable to wire to LAN gt X19 RS232 Use the RS232 PC configuration cable LinMot article number 0150 2143 to connect your PC via RS232 If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 LinMot LinMot Talk 6 3 3 Cabling E1400 The following picture shows the connectors on the drive used for a first commissioning with PC only Motor Phases X2 Motor Encoder Signals X3 DSUB 15f RS232 to PC X19 Pin3 RS232RX Pin5 GND Pin6 RS232TX Safety Relays X33 only present
44. erved 0 12 Reserved 13 Reserved 14 Interface Warn 15 Application Warn Warn Word Logged Error Code ole Monitoring Connection Status Online Firmware Status Running Motor Status Switched Off Op State Not Ready to Switch On 4 Motor Not Homed 0 00 mm 0 00 mm Actual Position Demand Position Force Factor Motor not homed Motor Current 0 00A Logic Supply Volt 24 44 V Motor Supply 73 69 V Most Commonly Used 7 Command Type No Operation 000xh t Value Dec Int Value Hex Count Nibble Toggle Bits Auto Increment Nibble Name Offs Description Scaled Value Header 000 No Operation 0 Motion Command Window 0000h Send Command Monitoring Window 2 1 Tool button bar LinMot Talk 6 D a ki 4 Unnamed IP 10 3 10 184 LISER b B The tool button bar is always present and consists of the following buttons from left gt Show Hide Tree shows or hides the project tree window t gt Up sets the focus in the project tree to the parent of the selection adi gt Toggle toggles between the last two displayed tree branches Import Configuration imports a drive s configuration Export Configuration exports a drive s configuration Different parts such a
45. f Off Off Off Off Off Off Raw Data UPID O001h 1450h 6 0002h 1450h Ulnti amp O00Dh 1450h 0007h 1450h UlnttG 00 1450h 6 0 1450h Ulnti amp OO04h 1450h 6 0004h 1450h Ulnti amp OO0Bh 1450h 6 0006h 1450h Ulntt6 0008h 1450h 6 VAI 2 Pos Continuous 0009h 1450h 6 C Continuous Curve C PC Motion Command Interface 4 m Off 0005h 1450h 6 0010h 1450h Ulnti amp Path Motion Control SWAMotion Interface Run Mode Settings Run Mode Selection VAI 2 Pos Continuous And then the positions have to be set under Trig Fall Config Position and Trig Rise Config WPosition File Search Drive Services Options Window Jools Manuals Help a Project 4 Unnamed IP 10 3 10 184 USER Control Panel Parameters E os E Motion Control Sw E Drive Configuration E Motor Configuration E State Machine Setup 4 E Motion Interface E Run Mode Settings z Run Mode Selection 4 E Triggered V Interpolator Settings E Tria Fall Config E Tria Rise Config E Triggered Curves Settings E Command T able Settings E Triggered Command T able Settings E Mode Settinas E Triggered CAM Curves Settings E Pos Indexing Settings E Analog Mode Settings E VAI 2 Pos Cont Settings E 16 Bit Interface Scaling E Predef VA Interpolator E P Streaming Settings E Time Curve Setti
46. gered CAM Curve Off 0008h 1450h Ulnti amp E Triggered Command T able Settings VAI 2 Pos Continuous Off 0003h 1450h UInt16 CAM Mode Settings Continuous Curve On 0005h 1450h 6 i E Triggered CAM Curves Settings C PC Motion Command Interface Off 0010h 1450h UInt6 Pos Indexing Settings Analog Mode Settings EZ 16 Bit Interface Scaling EZ Predef V Interpolator EZ PV Streaming Settings E Time Curve Settings i b Master Encoder Position Controller Ez Current Controller E Errors amp Warnings E Protected Technology Functions PE Motor Info Block p E sercos gt GE Variables Oscilloscopes Messages Errors 4 m Parameters Path Motion Control SW Motion Interface Run Mode Settings Run Mode Selection Continuous Curve The second parameter to be set is to define which curve has to be run Set the parameter Curve ID to 1 under Motion Control SW Motion Interface Time Curve Settings File Search Drive Services Options Window Tools Manuals Help D t 48 IP 10 310184 USER e lii lt lt BR El Project d 1 TN DEF 4 Unnamed IP 10 3 10 184 USER nQ Control Panel Name Value Raw Data UPID Type Scale 4 Parameters Curve ID 1 0001h 14C8h Ulnti6 1 gt 05 Curve Offset mm 00000000h 14C9h Slnt32 0 0001 mm 4 We Motion Lonia Sw Curve Amplit
47. gs for this mode are shown next First the mode has to be set Search Drive Services Options Window Tools Manuals Help Project Unnamed IP 10 3 10 184 USER Control Panel 4 Parameters E 05 4 E Motion Control Sw E Drive Configuration E Motor Configuration E State Machine Setup 4 E Motion Interface 4 E Run Mode Settings Run Mode Selection E Triggered VA Interpolator Settings E Triggered Curves Settings E Command Table Settings E Triggered Command Table Settings E CAM Mode Settings E Triggered CAM Curves Settings E Pos Indexing Settings E Analog Mode Settings E 2 Pos Cont Settings E 16 Bit Interface Scaling E Predef VA Interpolator E Streaming Settings E Time Curve Settings E Master Encoder E Position Controller E Current Controller E Errors amp Warnings E Protected Technology Functions E Motor Info Block E sercos GP Variables 4 Oscilloscopes Default Messages Errors e Curves Command T able Parameters r 2 Pos Continuous uere IF 10310184 USER gt lt YEE lt X Name C Motion Command Interface Triggered V Interpolator Rise Triggered For Backward C Triggered Time Curves C Command Table Mode C Triggered Command Table C Position Indexing C Analog C Triggered Analog C CAM Mode Triggered CAM Curve Value Off Off Off Off Of
48. inuous Curve Mode We want the motor to run a curve cyclically The easiest but not so informative way to run the motor would be the VAI 2 Pos Continuous mode The drive is set to continuous curve mode by selecting Continuous Curve under Motion Control Interface Run Mode Settings RunMode Selection in the parameter tree NOTE For enabling the curve feature on B1100 drives it is necessary to set an access Search Drive Services Options Window Tools Manuals Help h t a ig N Bi lt 0 Project Continuous Curve V X Gur 4 pa Unnamed IP 10 3 10 184 USER Control Panel Name Value Raw Data UPID 4 t3 Parameters C Motion Command Interface Off 0001h 1450h 05 Triggered VA Interpolator Off 0002h 1450h 4 E Motion Control Sw C Rise Triggered VAI For Backward 1450h Ulntt6 P E Drive Configuration C Triggered Time Curves Off 0007h 1450h E a Command Table Mode 0003h 1450h Motion Interface Triggered Command Table Off O00Ch 1450h Ulnt15 Position Indexing Dff DOOAh 1450h Ulnt1 amp 4 E Run Mode Settings PO eme Analog Off 0004h 1450h Ulnt1 amp Ez Triggered VA Interpolator Settings C i Triggered Analog Off 0 1450h 6 EZ Triggered Curves Settings CAM Mode Off O006h 14501 Command Table Settings C Trig
49. is recommended to export all For a configuration recovery it is necessary to select the parameters curves and command table In case of a support request it is very helpful to provide the complete configuration as well with variables oscilloscope shots message and error log 3 21 Import Configuration A configuration can be imported with File gt Import or with the button S When opening a configuration to a drive a compatibility list of the parameter trees will be shown Then the selection of the importable parts will be shown Select the data to be imported X Import All X Parameters x 05 Motion Control 5 X Cmd Tab 10 Interface Oscilloscope X Read out X Curves Help Curve X NewCurve X Command T able Command T able It is possible to import only some specific parts e g curves or command table 3 22 Open Offline Configuration A configuration can also be opened when no drive is present Under File gt Login Open offline Configuration Interface 65232 C OFFLINE Configuration File C Program alk11 Login ID USER Password Object Inspector after Login This is a very helpful feature for supporting problems LinMot LinMot Talk 6 3 23 Create Offline Configuration For any supported drive a configuration can be created offline Choose the menu item File Create Offline
50. le number 0150 3110 gt X40 Wire Pini GND and Pin2 24VDC for signal supply and for motor supply use 48 72 VDC for PWR on Pind and PGND is on Pin3 Linmot provides a connector with the crimped 1 5m long wires as a product under the article number 0150 3545 LinMot LinMot Talk 6 37 Cabling C1100 X1 Mot Supply PE X2 Mot Phases X3 Mot Sensor 51 62 ID Selector X33 STO Relais RT Bus LEDs LEDs State Indicator 54 X8 X18 CMD Out LI 7 um 27 4 Logic Supply Control XT X17 CMD In X13 Ext Pos Sens X19 System Diff Hall Sw gt X1 Motor Supply use 48 72 VDC between PWR and PGND gt X2 Motor Phases gt Motor Signals Note the motor phases are not present on this connector Thus wire the motor phases in any case to X2 X4Fora commissioning with the PC it is necessary to wire only the Pin GND and Pin2 24VDC X19 RS232 Use the RS232 PC configuration cable LinMot article number 0150 2143 to connect your PC via RS232 If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 X33 Safety Relays The connector X33 is only present for 1S safety functionality For the safety relays use a separate 24VDC supply For a commissioning it is necessary to wire both Ksr X33 4 and X33 8 to 24 VDC and both Ksr X33 3 and X33 7 to GND LinMot Talk 6 3 8 Cabling C1200 55 X1 Mot Supply PE X2
51. m A mm 0 A mm EE Commutation D Gain 3 A m s OO1Eh 1343h Ulnti6 0 1 Az m s D A m s A m s E Monitoring Motor Identification I Gain A mm s 0000h 13A4h Ulnt16 D1A mm s OA mm s 0A mm s E Motor Communication Integrator Limit 44 OO000FA0h 1345h Slnt32 0 001 Communication i Maximal 44 1346h 5132 0 001 E State Machine Setup Noise Deadband Width 0 01 mm 0064h 1347h Ulnt1B 0 0001 mm mm Motion Interface E Position Controller Feedback Selection Ctrl Par Set Selection E Control Parameter Set E Control Parameter Set B E amp dvanced Settings E Current Controller E Errors amp Warnings E Protected Technology Functions E Motor Info Black Command T able File Search Drive Services Options Window Tools Manuals Help m tui b l amp 88 Unnomed iP 10 310 184 USER lt amp El E Project 4 Unnamed 10 3 10 184 USER SY Control Panel 4 Parameters v X Name Value Raw Data Offset Min FF Constant Force 00000000h 139Ch 532 0 001 FF Friction o0000000h 139Dh 532 0 001 A FF Spring Compensation A m 0000h 139Eh SInt16 1A m m 30000 A m FF Damping 0000h 139Fh SintlG 0 01 A m s 300 A m s FF Acceleration 0 015 A m s 2 ODOFh 1340h Ulnt16 0 001 A m OA m s 2
52. nect your PC via RS232 If the PC has no COM port use the USB to RS232 converter LinMot article number 0150 available 3110 gt X33 Safety Relays The connector X33 is only present for 15 safety functionality For the safety relays use a separate 24VDC supply For a commissioning it is necessary to wire both Ksr X33 4 and X33 8 to 24 VDC and both Ksr X33 3 and X33 7 to GND gt X34 Motor Supply use 48 72 VDC between PWR and PGND The Axis 1 4 and 5 8 are supplied separately gt X36 For a commissioning with the PC it is necessary to wire only the Pin1 GND and Pin2 24VDC 3 10 Firmware Download As the cabling is done correctly now turn on the drive s power and start up the LinMot Talk software Before using the drive the first time the firmware has to be downloaded Therefore press install firmware button to start the wizard Choose Firmware_Build20101126 sct or similar and press Open Then the wizard will start and guide through the installation In case of installing the firmware over ETHERNET the service password is required This is for safety reasons Especially if there are a lot of drives accessible in the network it can easily happen to confound them Thus it is strongly recommended to set a password By default no password is set If the password is unknown the parameters can be set to default by hex switches see 4 1 Setting all Parameters to Default Values Acc
53. ngs E Master Encoder CAM E Position Controller EZ Current Controller E Errors amp Warnings E Protected Technology Functions E Motor Info Block E sercos Variables 4 Oscilloscopes Default Messages Errors ETI Curves Command Table Parameters te 10 mm Unnamed 10 310 184 USER j gt lt E 4 X Name L Acceleration L Deceleration Raw Data UPID 0001 8640h SInt32 0 18 145Dh Sint32 1E 5 m s 2 Path Motion Control SW Motion Interface Run Mode Settings Triggered VA Interpolator Settings Trig Fall Confiq Position This is all we have to configure The speed acceleration and deceleration can also be defined at this place in the parameter tree The motor can now be started the same way as described under 3 17 Control Status LinMot LinMot Talk 6 3 20 Export Configuration When the drive settings are done it is strongly recommended to save the complete configuration This can be done under File gt Export or with by clicking on After the file name dialog the selection of the parts to be exported will be shown Select the data to be exported Eg X Parameters 05 x Motion Control S Tab 10 Interface Variables User Defined Oscilloscope Read aut X Messages X Messages List x Errors X Errors List Curves x Help Curve Ok Cancel It
54. oad to Drive ID Name Type Par 1 Par 2 Par 3 1 2 3 4 5 8 Unnamed Go Pos Pos mm Vel 1 m s Unnamed Go To Pos 0 mm Vek 1 m s Unnamed VAI Go To Pos mm Vel 1 m s Ace 10 m s 2 Ace 10 m s 2 10 m s 2 Command Table 2 255 A big variety of commands can be set in this tables such as motion commands conditions sequence directives parameter access This makes the CT to very powerful functional unit The CT entries can be accessed executed via digital inputs on X6 or via interface software The CT tool has the following editing elements Entry ID indicates the CT entry which is being edited gt Entry Name is a descriptive string of max 16 characters gt Motion Command Category the available commands are fitted into groups for keeping a better overview gt Motion Command Type specifies the command to be executed in this entry gt Auto execute new command on next cycle when selected on the next cycle the entry specified under ID of Sequenced Entry will be executed This gives the possibility of defining cycles simple logical sequences gt of Sequenced Entry defines the CT entry executed on the next cycle when Auto execute new command on next cycle is activated gt Apply writes the edited values into the entry gt Upload from Drive reads and displays the entire command table from the drive Download to Drive writes the
55. oject 4 Unnamed IP 10 3 10 184 USER Control Panel 4 Eg Parameters E os E Motion Control Sw E sercos er Variables Oscilloscopes Messages Errors Command T able Manuals Help Unnamed IP 10 310 184 USER v t3 amp ES 2 Control lt lt Status lt lt Monitoring 1 0 Switch ue Interface 0 Operation Enabled 0 0 Motor Hot Senso 0 Connection Status Online 1 Safety Volt Enable 1 Digital Input 4 12 1 Switch On Active 1 1 Motor Short Time Overload 0 Firmware Status Running 2 Quick Stop Ad ak Forced by Parameter 2 Enable peration 0 2 Motor Supply Voltage Low Motor Status Switched Off 3 Enable peration 1 Forced by Parameter ee 0 3 Motor Supply Voltage High 0 Ae FABON sius 1 BEW Forced by Parameter 4 Safety Volt Enable 1 4 Position Lag Always 0 5 ZFreeze 2 Forced by Parameter 5 Quick 1 5 Go Position D 2 2 Interface Switch On Locked 1 B Drive Hot rn 7 Error Acknowledge O Interface FERT ES DOS 1 7 Motor Not Homed 1 8 Move Interface 8 Event Handler Active
56. ording to the drive type different interfaces and application software can be selected The following tables show the compatibility of drive type interfaces and applications Legend D Programmed as default X Can be selected GW Gateway Software 6 3 Until Software Build 6 3 ML Motion Link Version eee STILI P Ji jp rry 2 ix aas xt ame e coo oxil 3 E a E E A E A c1250 05 fiT LL Lp TT a _ fop tT Drivetypes Interfaces Applications CT Interface EasyStepsX6 MasterSlave LinMot LinMot Talk 6 2nm Cc co mer REED N XLI EBoD V2 _ f1 es e Dix 1T _ A RR ER Dix amu eT e El4505CV2 _ 2 CT BIB OM Bi BIB Bl HIR BIL J Bi Mi A D REB DERDEN E006PV1 IT E30DPV1 y xj xxi 0 TT pe xj PE ed ox me _ 2 ox ix ado d dodd xr a IE Mi Bi Mi Bi Mi E EE T Ir j _ 2 x Hi BE LI LI Ki BI
57. ownload into Drive Curves have changed Please download Name ID Type Setpoint Wizard Length No of Setpoints 49 SineDut 2 vs Time Sine 1000 ms 501 49 Sineln 3 Position vs Time Sine 1000 ms 501 SineDutln 1 Position vs Time None 2000 ms 1001 When double click the SineOutln Curve the joined curve is shown LinMot LinMot Talk 6 Linear Position mm Linear Position mm 61 00 54 00 54 00 47 00 47 00 40 00 40 00 33 00 33 00 25 00 26 00 19 00 19 00 12 00 12 00 5 00 5 00 2 00 a 2 00 000 187 50 37500 56250 75000 937 50 112500 131250 1500 00 Time ms Now the curves must be downloaded to the drive Therefore press the Show Curves rk button and then the Download Curves into Drive button 0 Downloa Download inte Controller Then a warning comes up which has to be confirmed and the progress window will display the actions taken to download the curves LinMot Ta lk 6 3 17 Control Status As we have defined now all parameters and curves we will let the motor running For this time we will take over the interface control from PC So we are interface independent Switch to the control panel with the button then press start button gt starting the drive s firmware and wait until the control status panel is updated and looks the following iin File Search Drive Services Options Window Tools Mot Talk 5 0 n t2 Pr
58. r Supply Voltage 4 Abort 4 Position Lag Always 5 Freeze Mam m 5 Reserved 6 Go To H Object Description what is the Object Inspector 6 Drive Hot 7 Error Ac 7 Motor Not Homed TED 8 PTC Sensor 1 Object Type vidis D S PTC Sensor 2 Hot 10 RR Hot Calculated 11 Reserved Description With the Control Panel Service the controller can be 12 Reserved controlled even without superior control system The 13 Reserved Control Word controls the State Machine of the 1 14 Interface Warn Flac controller The bits of the Status Word inform about 15 Application Warn FI the status of the controller The operational state Warn Word variable shows in which state the controller is see state machine diagram In the bottom part of the panel Logged Error Cade the last motion command that was send from the superior controller can be read out If Manual Override 7 Open Object Inspector after Login BIETET 10 mm 1 mr Name Control Panel CEFEFETFETET 31 P Override Val X412 Input r 4 11 Innut 3 mu Caramaned 4 The Object Inspector window can dragged away closed It can be reopened with F1 LinMot LinMot Talk 6 3 12 Scanning CAN Bus When one or several drives are linked with CAN bus for configuring it can be very helpful to scan the CAN bus for linked drives automati
59. riable of the type string can be defined New Float32 In a new generated variable section a variable of the type float32 can be defined types gt New With UPID new generated variable section a variable can be added by using the UPID from the appropriate parameter Under User Defined any variables or parameters can be arranged together Typically the variables are selected via UPID It is also possible to drag and drop them from the parameter or variable section LinMot LinMot Talk 6 2 9 Command Table The drive supports the command table CT functionality which means a set of up to 255 motion commands 31 commands for B1100GP and B1100VF series drives on B1100PP CT is not supported can be stored in this table An example of is shown in the following picture Search Drive Services Options Window Tools Manuals Help t ole b l 8 Unnamed 1031018405 m Project Unnamed IP 10 3 10 184 USER Entry ID lt gt Control Panel Entry Name E an Motion Command Category Most Commonly Used E Motion Control Sw Motion Command Type V I Pos Target Position D mm 2 _ Auto execute new command on next cycle Unnamed Maximal Velocity 1 m s Oscilloscopes Acceleration 10 m s 2 ile Deceleration 10 m s 2 Errors Apply e Command Table Upload from Drive g Downl
60. rive The value of the parameter with UPID 0x6085 will be automatically cleared to 0x0000 A1100 All parameters set to their default values without the use of the LinMot Talk This can be done according these steps 1 Power off the drive 2 Setthe DIP switch 55 2 to on 3 Power on the drive the Error and Warn LEDs will blink alternately at 4Hz 4 Setthe DIP switch S5 2 to off o Wait until the Warn and EN LEDs will flash together at 2Hz 6 Power off and on again 4 2 Interface does not run If the interface software DeviceNet CANopen Profibus LinRS does not communicate there may be several reasons gt Specific Interface Software not installed gt Switch 53 4 Interface on drive s bottom side must be set to On In case of LinRS this switch must be set to off when configuring over RS232 and set to on when running the LinRS interface gt Parameter with UPID 2008h set to disable gt Baud Rate and Node ID selection not correctly set Parameters and or ID switches on drive s front 4 3 Stopping Firmware When the same link is used for configuration purposes and from the interface e g RS232 link and LinRS interface it may not be possible to login with the LinMot Talk software In some cases it should be possible to log in e g to download new firmware On E1100 drives the interface switch S3 4 can be set to off and after a power up the interface software should be deactivated and the configuration link should be fre
61. rresponds En distance 2 3 E otep 8 83 Homing LinMot LinMot Talk 6 With the last wizard step the user s coordinate system can be defined Motor Wizard step 979 Homing Ill Definition of the Application Reference System Home Position 10 mm 43m 347 mm Move to the Initial Position at the End of the Homing Procedure Initial Position IP o 347 mm C T IP You can define your application specific reference system by assigning any position value to Ehe Home Position All Further position values based on this system At the end of the homing procedure the motor moves to the Initial Position Then it is ready to execute the motion commands IF the motor has to be homed a mechanical stop then the Initial Position value should differ From Ehe Home Position Derived Settings Comment Minimal Position stroke range limit 7 mm Maximal Position stroke range limit 290 mm Distance C 20 mm Distance D 133 mm Help Finish Cancel At the end press finish If the firmware on the drive is still running an appropriate message will be shown All parameters will now being written to the drive The motor wizard can be run several times e g to setup an external sensor to change the load setup or to change the motor type When rerunning it at the end will be shown a list of parameters which will be changed LinMot Talk 6 LinMot 3 15 Cont
62. s parameters variables oscilloscope or curves can be selected to be exported WE Y Y iri Save All exports a drive s configuration Only three options to save variables are available Print prints items like curves parameter configurations etc Install Firmware Start the drive s firmware installation Reboot restarts the firmware on the drive Stop stops the firmware on the drive used for downloading and software configuration gt gt 4 Re BI Iz LE Y Blink sends a blink LED command to the drive which is selected Go Offline logs out from actual drive Start Motor Wizard starts the motor configuration setup wizard Show Control Panel switches to the control panel Show Parameters switches to the variables Show Variables switches to the variables Show Oscilloscope switches to the oscilloscope Show Messages switch to the message viewer Show Errors switches to error viewer Show Curves switches to the curve tool Show Command Table switches to the command table editor Show Object Inspector displays a window in which shows help information to each selected object 2 2 Control Panel The Control Panel helps the user to access directly to the control and status word of the MC Software The drive can be commanded from the PC thus no PLC is necessary to be used for the first commissioning General Additional Control Word Status Word Monitoring Vari
63. s the following Load Parameters from Drive s ROM MC SW present Yes PnP On or ne ID Y es Mode Same Motor No No MotChkSum changed MotSerNum changed Y es Default Parameters Read Parameters from Motor Copy Parameters Error Motor Type Mismatch All parameters which are set by the previous PnP motor will be set to default values prior to load the new parameters LinMot Talk 6 LinMot 2 Overview The following screen shot gives an overview of the different functions integrated in the LinMot Talk software Configuration and Setup Tools Drive Selection Shortcuts to Tools Control Status Window LinMot Talk ve Services Options Window T Manuals 2 Search Dt Project 4 le Unnamed IP 10 3 10 126 USER Control Panel Parameters at Variables Oscilloscopes Messages Errors 0 Switch 1 1 Safety Volt Enable 1 2 Stop 1 3 Enable Operation 1 4 Abot 5 Freeze amp Go To Position 0 CETT EET TIT 3 e Project tree window Help Interface Digital Input 4 12 Forced by Parameter Forced by Parameter Forced by Parameter Forced by Parameter Interface i Curves 7 Error Acknowledge 0 Interface 8 Jog Move 0 Interface Command Table 9 Move
64. the drive the same the commands can be exactly tested before programming them in the PLC LinMot LinMot Talk 6 2 3 Messages This panel reads out and shows all messages which are logged on the drive and displays them in chronological order If logged in a B1100 series drive this window does not appear because those drives do not support message logging T _Inivic alk File Search Drive Services Options Window Tools Manuals Help ttum b l amp d3 Unnamed 1031012605 N lt BAD Project AP Control Panel gt tg Parameters Ici Variables gt Oscilloscopes ET Curves Command T able 4 pa Unnamed IP 10 3 10 126 USER Event Time 001604 11 32 773 001604 11 30 710 001604 11 23 897 001584 39 45 813 001584 39 44 008 001584 39 41 945 001582 00 44 953 001581 40 15 176 001581 10 53 469 001581 10 50 487 001581 10 26 394 001581 10 01 482 001581 08 53 817 001581 08 51 754 001581 09 51 603 001581 04 01 988 001581 04 00 183 001581 03 58 120 001581 03 57 969 001591 03 41 101 001581 03 39 296 001581 03 37 233 001581 03 37 082 001581 03 28 981 001581 03 27 176 001581 03 25 113 Message MC SW Started Software Reset MC SW Stopped Tm To Error State MC SW Started Software Reset MC SW Stopped Tm To Ready To Switch On State Tm To Operation Enabled State Tm To Ready To Switch On State Tm To Error State Tm To Ready To Switch
65. tween the LinMot drive and PC must be DSUB 9 F F 1 1 X modem If the PC has no COM port available use the USB to RSZ32 converter LinMot article number 0150 3110 gt X14 For a commissioning with the PC it is necessary to wire only the Pin13 and Pin25 24 LinMot LinMot Talk 6 3 5 Cabling B8050 ML The following picture shows the connectors on the drive used for a first commissioning with PC only RT ETH Out X18 RT ETH In X17 4 RT Bus LED RT Bus ID S1 52 State LED RS232 Config to PC X23 Pin2 RS232TX Pin3 RS232RX 5 GND Use a 1 1 cable to the PC Supply 24VDC X24 MC Link 1 X25 MC Link 2 X26 t MC Link 3 X27 MC Link 4 X28 gt X23 RS232 The cable between the LinMot drive and PC must be DSUB 9 F F 1 1 X modem If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 gt X24 Use 24V switched power supply 3 6 Cabling A1100 PE X2 Mot Phases X3 Mot Sensor X44 Mot Peripheral IO 7 4 RT LEDs 55 Switches State LEDs X19 System X42 43 Control IN OUT 40 41 Supply IN OUT gt X2 Motor Phases gt Motor Signals gt X19 RS232 Use the RS232 PC configuration cable LinMot article number 0150 3544 to connect your via RS232 If the PC has no COM port available use the USB to RS232 converter LinMot artic
66. ude Scale 100 14CAh Slnt16 EE Drive Configuration CurveTime Scale 100 2710h 14CBh SIntiB E Motor Configuration State Machine Setup 4 E Motion Interface PE Run Mode Settings 16 Bit Interface Scaling E Predef V Interpolator E PV Streaming Settings E Time Curve Settings b Master Encoder HE Position Controller Ez Current Controller gt Errors amp Warnings p E Protected Technology Functions Motor Info Block D E sercos LF Variables gt Oscilloscopes Messages H E mors 4 Parameters Path Motion Control SW Motion Interface Time Curve Settings Curve ID Before running the curve it is advisable to define the curve we want to run LinMot LinMot Talk 6 3 16 Defining Curves Curves can be easily defined with the curve wizard For this example we will define two sine curve forms over a stroke of 50mm out and in with different speeds which will be joined together Now step by step Open the curve tool by clicking the Show Curves button l in the tool button bar Then press the New Curve button to start the curve wizard Curve Type Selection X Select Curve Linear Position Back gt Cancel As we want to define a curve in position vs time mode we can keep the default selection and press the next button Curve Settings X Curve ID 1 100 E
67. used variables 9 LinMot Talk 5 0 File Search Drive Services Options Window Tools Manuals Help X Control Panel Parameters E Motion Control Sw User Defined 05 Sw Operating Hours 7 Time OS Sw Message Error 05 Sw Monitoring OS SW HW Configuration 05 Hash Value OS SW Status MC SW Overview MC SW Motor MC SW X13 Ext Sensor MC SW Current Controller MC SW Control Word MC SW Status Word MC SW Wamings MC SW Phase Search MC SW Linearizing MC SW Motion Interface MC SW Capture Trigger amp Mapped Inputs MC S w V interpolator MC SW Curve MC SW Monitoring MC SW Errors MC SW Encoder CAM MC SW Motor Data Sheet MC SW Command T able MC SW Force Control E sercos Oscilloscopes Messages Errors fl Curves Command T able me R WEG State Machine Main State State Machine Sub State State State Var Demand Position Demand Velocity Demand Acceleration Actual Position Actual Velocity Actual Velocity Filtered Difference Position Difference Velocity Demand Current Pos Ctrl Demand Current Demand Position 16 Bit Actual Position 16 Bit 10 State Word IO State Bit 0 4 3 IO State Bit 1 4 4 IO State Bit 2 4 5 IO State Bit 3 4 IO State Bit 4 4 7 10 State Bit 5 4 8 IO State 4 4 IO State Bit 74 10 IO State Bit 8 4 11 IO State Bit 9 4 12 4 Intf Dutputs Digital Inputs Word Digital Input For
68. ust be homed Depending on the selected mode the motor searches a mechanical stop and or an electrical switch Derived Settings Value 4 Help lt Back Next gt Finish Cancel The most frequently used homing mode is Mechanical Stop Negative Search In this case the slider will move with the notch towards the stator s front end where no cable is Other modes support homing on home switches limit switches indexer inputs or some combinations of those LinMot Talk 6 Step 8 is to define the slider home position This is for the motor and drive the most important value It defines at the home position where the slider is positioned relative to the stator This defines how far the motor can move in each direction Motor Wizard Derived Settings Sli Distance from Stator End to Slider End at the Home Position S47 mm 500 mm Distance 10 mm Distance B 143 mm The controller needs Eo know the physical position of the slider relative to the stator Please determine either distance or distance B when the motor stands at the Home Position mechanical stop or switch Hence vou can move the motor manually bo the Home Position Then you can measure stator end to slider end and enter the corresponding value The other value is calculated by the software IF the slider end is inside the stator tube then you have to give your entry a negative sign Comment der Home Fosition Co

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