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1. Identifier PDO2 Sync 0x0A 0270h Sync raster PDO2 Addresses 0x0A 0238h 0x0A 0246h Four 32 Bit addresses that are mapped to the PDO PDOS PDOS Identifier 0x0A 0274h 11 Bit Identifier PDO3 Sync 0x0A 0276h Sync raster PDO3 Addresses 0x0A 0248h 0x0A 0256h Four 32 Bit addresses that are mapped to the PDO PDO4 PDO4 Identifier 0x0A 027Ah 11 Bit Identifier PDO4 Sync 0x0A 027Ch Sync raster PDO4 Addresses Ox0A 0258h 0x0A 0266h Four 32 Bit addresses that are mapped to the PDO The Sync raster is initialised with a value so that the four PDO s are sent with a burst 400 us for one PDO If the identifier or the Sync raster of a PDO is set to zero it is deactivated this is as well the start up value If no addresses are mapped the data is stuffed with zero 6 Monitoring Variables To simplify the monitoring of a LinMot system there are the following variables available which show the maximal set current and the maximal following error They are reset on each transition of the state machine to RUN They are mapped to the following addresses Max Current Motor A 0x0A 0194h Max Pos Error Motor A 0x0A 0196h Max Current Motor B 0x0A 01B4h Max Pos Error Motor B 0x0A 01B6h Max Current Motor C 0x0A 01D4h Max Pos Error Motor C 0x0A 01D6h Max Current Motor D 0x0A 01F4h Max Pos Error Motor D 0x0A 01F6h 7 Installation The installation requires an alre2. Mode Ox7FFFh Feature inactive OxF740 0 Position Mot C 0 Position for Spec Two Point Mode Ox7FFFh Feature inactive OxF742 1 Position Mot C 1 Position for Spec Two Point Mode Ox7FFFh Feature inactive OxF744 0 Position Mot D 0 Position for Spec Two Point Mode Ox7FFFh Feature inactive OxF746 1 Position Mot D 1 Position for Spec Two Point Mode Ox7FFFh Feature inactive 0xA0198 Via Position Mot A When crossing this position the max_speed is set to Via Speed Mot X This is only used when Set Pos Mot X is active Ox7FFFh Feature inactive OxA019A Via Speed Mot A Is used together with Via Position Mot X 0xA01B8 Via Position Mot B When crossing this position the max_speed is set to Via Speed Mot X This is only used when Set Pos Mot X is active Ox7FFFh Feature inactive OxA01BA Via Speed Mot B Is used together with Via Position Mot X 0xA01D8 Via Position Mot C When crossing this position the max_speed is set to Via Speed Mot X This is only used when Set Pos Mot X is active Ox7FFFh Feature inactive OxA01DA Via Speed Mot C Is used together with Via Position Mot X OxA01F8 Via Position Mot D When crossing this position the max_speed is set to Via Speed Mot X This is only used when Set Pos Mot X is active Ox7FFFh Feature inactive OxA01FA Via Speed Mot D Is used together with Via Position Mot X 0xA01A
3. 0 Time1 Trig to Pos Mot A Time measured from Trigger to Measure Position 1 1s control frequency standard is 400us for Motor A OxA01A2 Time2 Trig to Pos Mot A Time measured from Trigger to Measure Position 1 1s control frequency standard is 400us for Motor A 0OxA019E Measure Pos Mot A Measure position for Time Trig to Pos feature Motor A 0xA01C0 Time1 Trig to Pos MotB Time measured from Trigger to Measure Position 1 1s control frequency standard is 400us for Motor B 0xA01C2 Time2 Trig to Pos MotB Time measured from Trigger to Measure Position 1 1s control frequency standard is 400us for Motor B 0xA01BE Measure Pos Mot B Measure position for Time Trig to Pos feature Motor B 0xA01E0 Time1 Trig to Pos Mot C Time measured from Trigger to Measure Position 1 1s control frequency standard is 400us for Motor C OxA01E2 Time2 Trig to Pos Mot C Time measured from Trigger to Measure Position 1 1s control frequency standard is 400us for Motor C 0xA01DE Measure Pos Mot C Measure position for Time Trig to Pos feature Motor C 0xA0200 Time1 Trig to Pos Mot D Time measured from Trigger to Measure Position 1 1s control frequency standard is 400us for Motor D 0xA0202 Time2 Trig to Pos Mot D Time measured from Trigger to Measure Position 1 1s control frequency standard is 400us for Motor D OxA01FE Measure Pos Mot D Measure position for Time Trig to Pos feature Motor D In the following t
4. User manual WAP Extension V1 4 32b LinMot WordAccApp 1 Description The application Word Access Application WAP was developed to control the LinMot Servo Controller by any serial protocol which only has to be able to access the internal RAM of the Controller in words 2 bytes At the moment it is used together with the LinMot RSTALK and CANTalk protocol It s a virtual interface within the internal RAM of the LinMot Servo Controller It runs on MT Controllers with at least hardware revision 2 2 Commands The WAP supports in the actual version the following commands Command ID Hex Par 1 le Par 3 Par 4 Description Bitset 0x0100 Address Mask Value Copies the masked bits from value to address Startcurve 0x020m Curve A Curve B Curve C Curve D Runs the curves with the given number There s one byte reserved for each motor Goto Position 0x030m Pos A Pos B Pos C Pos D Commands the motors to an absolute position Move 0x040m Val A Val B Val C Val D The actual position is moved to HomePosition the given value The motor will not jump Start ME Cam 0x050m Curve A Curve B Curve C Curve D Runs the curves with the given number as CAM There s one byte reserved for each motor The m within the ID means the motor mask Bit O is motor A Bit 1 is motor B This means that with a single command all motors can be commanded simultaneously The commands should always be used as followed 1 Set the parameter
5. able the bit definitions of the errors and warnings can be found Bit definitions for the error state of the motors and the system Bit 0 Motor too hot calculated The calculated temperature is too high I t protection Bit 1 Motor too hot sensor The measured temperature of the motor is too hot PTC sensors Bit 2 Following Error Following Error Bit 3 Slider missing The Hall sensors don t have reasonable signals because there is either no slider in the stator or the distance between magnetic strip and sensor head of the external sensor system is too big Bit 4 Reserved Bit 5 Init failt There was an error during the INIT procedure check position Bit 6 Wrong motor type Wrong or no motor is attached Bit 7 Curve missing Error when starting a curve the curve is not loaded into the Flash NTI AG LinMot 08 09 2003 3 7 User manual WAP Extension V1 4 32b memory Bit 8 Reserved Bit 9 DCLV power too small The DC Link Voltage is too low Bit 10 DCLV power too high The DC Link Voltage is too high Extensive breaking Bit 11 DCLV signal too small The logic power supply voltage is too low Bit 12 DCLV signal too high The logic power supply voltage is too high Bit 13 Electronic fault The Heat sink of the controller is too hot or the short circuit protection of the power stage was triggered Bit 14 Reserved Bit 15 Application error Application specific erro
6. ady installed LinTalk Release 1 3 10 or higher a Start LinTalk exe b Select Special gt Install Package c In the following dialog enter as ID Install The password is NTI in capital letters d In the open dialog select the file wapxxx ik or mwapxxx ipk if the master encoder functionality is used NTI AG LinMot 08 09 2003 6 7 User manual WAP Extension V1 4 32b LinMot e Wait until the installation has finished successfully 8 Example This example shows how a positions and curves are commanded using this software a Install the firmware according to the previous chapter b Log into the Controller and open the parameter inspector c Set the parameter Command Interface in the directory System to application d Set up the attached motors and set the run mode to serial e Push the Start button in the control panel f Write the following variables with CANTalk or RSTalk Address Value Description OxF70C 0x0002 Set the RUN REQUEST flag The controller should now be in the state RUN Bit 1 on the Address OxF60E STATUS should be set OxF704 PosA The desired Set Position for motor A OxF706 PosA The desired Set Position for motor B OxF702 0x0303 GotoPos Command for motor A and B OxF70E_ Status shows the state of the controller NTI AG LinMot 08 09 2003 7 7
7. cceleration of Motor A OxEOF2 Max Acceleration B Max Acceleration of Motor B OxE1B2 Max Acceleration C Max Acceleration of Motor C OxE272 Max Acceleration D Max Acceleration of Motor D OxE046 Max Current Mot A Max Current of Motor A OxE106 Max Current Mot B Max Current of Motor B OxE1C6 Max Current Mot C Max Current of Motor C OxE286 Max Current Mot D Max Current of Motor D OxF722 Spec Max Current Mot Max Current of Motor A in the Run State with activated Feature Spec A Current on E Stop OxF724 Spec Max Current Mot Max Current of Motor B in the Run State with activated Feature Spec B Current on E Stop OxF726 Spec Max Current Mot Max Current of Motor C in the Run State with activated Feature Spec C Current on E Stop OxF728 Spec Max Current Mot Max Current of Motor D in the Run State with activated Feature Spec D Current on E Stop OxF72A Spec Max Current Mot Max Current of Motor A On E Stop with activated Feature Spec A E Stop Current on E Stop OxF72C Spec Max Current Mot Max Current of Motor B On E Stop with activated Feature Spec B E Stop Current on E Stop OxF72E Spec Max Current Mot Max Current of Motor C On E Stop with activated Feature Spec C E Stop Current on E Stop OxF730 Spec Max Current Mot Max Current of Motor D On E Stop with activated Feature Spec D E Stop Current on E Stop OxE050 Error Mot A Error state of Motor A OxEO5E Buffered Error Mot A Buffered Error state o
8. e Hall sensors don t have reasonable signals because there is either no slider in the stator or the distance between magnetic strip and sensor head of the external sensor system is too big Bit 4 Reserved Bit 5 Reserved Bit 6 Init not done The Init procedure hasn t been done yet Bit 7 Reserved Bit 8 Mot not in pos range Motor is not in PosRange to be configured with LinTalk Bit 9 DCLV power too small The DC Link Voltage is too low Bit 10 DCLV power too high The DC Link Voltage is too high Extensive breaking Bit 11 DCLV signal too small The logic power supply voltage is too low Bit 12 DCLV signal too high The logic power supply voltage is too high Bit 13 Electronic too hot The Heat sink of the controller is too hot or the short circuit protection of the power stage was triggered Bit 14 Reserved Bit 15 Reserved During runtime all parameters which are marked as Live with an L symbol in the parameter inspector can be changed If the needed addresses are not listed in the above table please contact support linmot com The units can be found in the addendum to the release 1 3 9 on chapter 3 7 4 Variable Block To have flexible and efficiant access to different variables there are two blocks of 32 words with an addresslist each 32 bit per word This allows to bring the variables together so that they can be transferred with the block read and block write commands of the used serial protocol There sho
9. f Motor A The single Init flags for each motor can only be used within the RUN state With each rising edge the configured homing routine will be executed The speed and acceleration can be controlled with the parameters Max Speed and Max Acceleration as it is done with a normal positioning commands NTI AG LinMot 08 09 2003 2 7 User manual WAP Extension V1 4 32b LinMot OxE052 Warnings Mot A Warnings of Motor A OxE110 Error Mot B Error state of Motor B OxE11E Buffered Error Mot B Buffered Error state of Motor B OxE112 Warnings Mot B Warnings of Motor B OxE1D0 Error Mot C Error state of Motor C OxE1DE Buffered Error Mot C Buffered Error state of Motor C OxE1D2 Warnings Mot C Warnings of Motor C OxE290 Error Mot D Error state of Motor D OxE29E Buffered Error Mot D Buffered Error state of Motor D OxE292 Warnings Mot D Warnings of Motor D OxE35A Error System Error state of the system OxE3E0 Buffered Error System Buffered Error state of the system OxE35C Warnings System Warnings of the system OxF738 0 Position Mot A 0 Position for Spec Two Point Mode Ox7FFFh Feature inactive OxF73A 1 Position Mot A 1 Position for Spec Two Point Mode Ox7FFFh Feature inactive OxF73C 0 Position Mot B 0 Position for Spec Two Point Mode Ox7FFFh Feature inactive OxF73E 1 Position Mot B 1 Position for Spec Two Point
10. r Bit definitions for the system warnings Bit 0 Motor too hot calculated The calculated temperature is high Pt protection Bit 1 Motor too hot sensor The measured temperature of the motor is too hot PTC sensors Bit 2 Following Error Following Error Bit 3 Slider missing The Hall sensors don t have reasonable signals because there is either no slider in the stator or the distance between magnetic strip and sensor head of the external sensor system is too big Bit 4 Reserved Bit 5 Reserved Bit 6 Init not done The Init procedure hasn t been done yet Bit 7 Reserved Bit 8 Low free capacity Low free cpu capacity Bit 9 DCLV power too small The DC Link Voltage is too low Bit 10 DCLV power too high The DC Link Voltage is too high Extensive breaking Bit 11 DCLV signal too small The logic power supply voltage is too low Bit 12 DCLV signal too high The logic power supply voltage is too high Bit 13 Electronic too hot The Heat sink of the controller is too hot or the short circuit protection of the power stage was triggered Bit 14 Reserved Bit 15 Reserved Bit Definitionen der Motor Warnungen Bit 0 Motor too hot calculated The calculated temperature is high Pt protection Bit 1 Motor too hot sensor The measured temperature of the motor is too hot PTC sensors Bit 2 Following Error Following Error Bit 3 Slider missing Th
11. r is in ESTOP Bit 6 Error Pending Flag Bit 7 Warning Pending Flag Bit 8 Trigger Level A Bit 9 Trigger Level B Bit 10 Trigger Level C Bit 11 Trigger Level D Bit 12 In Position Flag of Motor A Bit 13 In Position Flag of Motor B Bit 14 In Position Flag of Motor C Bit 15 In Position Flag of Motor D OxF712 Setpos Mot A Direct Set Position for Motor A without handshake 0x7FFFh Feature disabled OxF714 Setpos Mot B Direct Set Position for Motor B without handshake Ox7FFFh Feature disabled OxF716 Setpos Mot C Direct Set Position for Motor C without handshake Ox7FFFh Feature disabled OxF718 Setpos Mot D Direct Set Position for Motor D without handshake Ox7FFFh Feature disabled OxF71A TrigPos Mot A Stored position of Motor A at any rising O 1 edge of the Trigger Input A OxF71C TrigPos Mot B Stored position of Motor B at any rising 0 1 edge of the Trigger Input B OxF71E TrigPos Mot C Stored position of Motor C at any rising O 1 edge of the Trigger Input C OxF720 TrigPos Mot D Stored position of Motor D at any rising O 1 edge of the Trigger Input D OxE040 APOS Mot A Actual position of Motor A OxE100 APOS Mot B Actual position of Motor B 0xE1C0 APOS Mot C Actual position of Motor C 0xE280 APOS Mot D Actual position of Motor D 0xE030 Max Speed Mot A Max Speed of Motor A OxEOFO Max Speed Mot B Max Speed of Motor B 0xE1B0 Max Speed Mot C Max Speed of Motor C 0xE270 Max Speed Mot D Max Speed of Motor D 0xE032 Max Acceleration A Max A
12. s Par 1 to Par 4 2 Set the Command ID 3 Poll the Command ID until it is either 0x0000 Ok OxOOFE DATA OUT OF RANGE or OxOOFF UNKNOWN COMMAND 3 Adresses The following table shows the used addresses Address Name Description OxF702 Command Command ID with motor mask OxF704 CMD Par 1 Command Parameter 1 OxF706 CMD Par 2 Command Parameter 2 OxF708 CMD Par 3 Command Parameter 3 OxF70A CMD Par 4 Command Parameter 4 OxF70C Control Control Word Bit 0 reserved Bit 1 Run Request Flag Bit 2 Stop Request Flag Emergency Stop Bit 3 Main Init Request Flag Bit 4 Freeze Request Flag Motor A Bit 5 Freeze Request Flag Motor B Bit 6 Freeze Request Flag Motor C Bit 7 Freeze Request Flag Motor D Bit 8 reserved Bit 9 reserved Bit 10 reserved NTI AG LinMot 08 09 2003 1 7 User manual WAP Extension V1 4 32b LinMot Bit 11 reserved Bit 12 Init Request Flag Motor A Bit 13 Init Request Flag Motor B Bit 14 Init Request Flag Motor C Bit 15 Init Request Flag Motor D Run State only Run State only Run State only Run State only mannanna OxF70E Status Status Wort Bit 0 Init done Bit 1 Controller is in state RUN Bit 2 Controller is in state ERROR Bit 3 Controller is in state INIT Bit 4 Controller is in state DISABLE Bit 5 Controlle
13. uld only be used even addresses The mapping of these blocks can be changed during runtime NTI AG LinMot 08 09 2003 4 7 User manual WAP Extension V1 4 32b LinMot Read Block From this block can be read up to 32 words The mapping can be configured with Read Block Address memory area For each word there is a 32 Bit address The mapping can be changed during runtime Addresses Read Block 0x0A 0006h 0x0A 0044h Read Block Address 0x0A 0046h 0x0A 00C4h Write Block Into that block there can be written up to 32 words The mapping can be configured with the Write Block Address memory area Addresses Write Block 0x0A 00C6h 0x0A 0104h Write Block Address 0x0A 0106h 0x0A 0184h NTI AG LinMot 08 09 2003 5 7 User manual WAP Extension V1 4 32b LinMot 5 Cyclic actual values There are 4 cyclic PDO s with 4 word data each available This allows the PLC to get the actual values of the LinMot Controller without polling them They are cyclic sent over CAN bus with a configurable cycle time The PDO s have to be set up by the Talk protocol The following addresses are relevant Inhibit Time _PDO_Wait 0x0A 0284h Wait time in 400us PDO1 PDO1 Identifier 0x0A 0268h 11 Bit Identifier PDO1 Sync Ox0A 026Ah_ Sync raster PDO1 Addresses Ox0A 0228h 0x0A 0236h Four 32 Bit addresses that are mapped to the PDO PDO2 PDO2 Identifier Ox0A 026Eh 11 Bit
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