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1. A warning is issued and signaled with the Warn Output when any of the mon itored parameters is in a critical range The warning is cleared after the parameters are back in a save range The warning signal can be used by the superior controller to move the motor to a save position before disabling An error will shut down the amplifier if one of the monitored parameters is in an out of specification range The ERROR state of the drive can only be left if all parameters are back in normal operation range and the Enable Input is inactive Manual Ex10 VF Ex010 VF V2 2 Installation LinMo tE 3 Installation 3 1 Mechanical Dimensions of LinMot Amplifiers The LinMof Ex10 VF amplifiers do have the same mechanical dimensions as all other LinMot standard controllers AT MT DP or DN controllers from the 100series The mechanical dimensions of the Ex010 VF amplifiers corre spond with the standard 1000series controllers 120 oes n TOF Centers 315 Wh De 330 Centers 8 195 8 210 295 L 0 oni 00 Dimensions in mm 90 Figure 3 1 Mechanical dimensions of the LinMot amplifiers Manual Ex10 VF Ex010 VF V2 2 LinMot Installation 3 2 Mechanical Installation of LinMot Amplifiers LinMot amplifiers can be mounted with two screws scew diameter 5mm max head diameter 10mm on a panel The LinMot amplifiers must be mounted vertical to en2. E110 VF E210 VF E1010 VF E2010 VF User Manual 2 2 NTI AG Tel 41 0 56 419 91 91 LinMot Fax 41 0 56 419 91 92 Haerdlistrasse 15 Email office 9 LinMot com CH 8957 Spreitenbach Homepage www LinMot com Switzerland 2005 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 pho tocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of NTI Ltd LinMot is a registered trademark of NTI Ltd Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI Ltd reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Please refer to the latest edition of our General business terms Document version 8 as July 2005 Table of Contents 1 Description and Features ae nee 5 1 1 DGSCFIP AN Iain 5 aco e 5 2 Theory of Operation socsscesscessesssscssssssesaveesssonsvseeseessvecsvessessonnevsnseensvecsseosaessseensouesiees 6 21 Bere LOOPS eves FEULUS DEI KE UD AE EYED UN EXTR EOD NU DIY 6 2 2 Amplifier Types T 6 2 3 Master Bo ster Operation nn ee 7
3. Motor Connection The actuator cables are plugged into the connectors found on the front panel of the amplifier marked as MOT A and MOT All necessary signals for one motor are integrated in a single connector CAUTION Incorrect connection of the actuators may lead to destruction of the amplifier and the motors Disconnecting reconnecting motors while the amplifier is powered on even in DISABLE state can damage the motor and the amplifier For extension cables original LinMof cables must be used only Neither the LinMot motor cables nor the standard LinMof extension cables are flex cables Wherever the active part of the motor stator is not fixed the special trailing chain cable KSO7 has to be used Manual Ex10 VF Ex010 VF V2 2 15 LinMot Installation LinMot Linear Motors Ex10 VF LinMof linear motors are connected via 9 pin D Sub sockets to an Ex10 VF amplifier Pin Color Signal Pin Color Signal 1 red phase 1 6 pink phase 1 2 blue phase 2 grey phase 2 3 white 45V 8 brown ground GND 4 yellow sine sensor 9 green cosine sensor 5 black temp sensor Table 3 6 Pin configuration for the Ex10 VF motor socket Ex010 VF LinMof linear motors are connected via 10 pin Mini Combicom sockets to an Ex010 VF amplifier Pin Color Signal Pin Color Signal 1 red phase 1 6 brown ground GND 2 pink phase 1 7 yellow sine sensor 3 blue phase 2 8 green cosine sensor 4 grey phase 2 9 black temp sensor
4. Resolution 12Bit Input voltage 10V DC 10V DC abs max rating 20V DC 20V DC Impedance 38kQ Digital I O Signals All digital signals are optically isolated and can be operated between 5V and 24V DC Digital outputs are built through overload protected high side switches The output drivers must be supplied externally The logic high level of the digital outputs can be 2V less than the I O supply voltage depending on the load The outputs are equipped with weak pull down resistors internally The required supply current depends on the load on the outputs Technical data of digital inputs Voltage 0 24V DC abs max rating 5 28V DC for logic low 2V for logic high gt 4V Current 20mA Technical data digital outputs I O supply voltage 6 28V DC Output voltage 0 28V DC depends on external supply max sourcing current 0 5A Pull down resistors 22k max sinking current 10mA 24V The following figure shows a typical wiring of digital I O signals for drive A Digital O Signals Supply in 2 VO Supply Figure 3 5 Digital I O signal wiring 12 Manual Ex10 VF Ex010 VF V2 2 Installation LinMo tE Simulated Position Encoder Outputs The actual position of a LinMof linear motor is available as an incremental quadrature signal on the Sub D 25 connector As electrical interface the RS422 5V standard is used Quadrature Signals only Motor A shown Encoder Encoder G
5. lt 4 1 12 ENC OUT B ANALOG OUT 1 ANALOG IN ANALOG OUT 2 ANALOG IN ANALOG GND 3 ANALOG GND AMP ENABLE 4 ENABLE IN GP OUT 5 C LIMIT IN LinMot Ex10 VF 9 ENC OUT A 10 ENC OUT A 11 ENC OUT B AMP FAULT 6 FAULT OUT PWR SIGNAL PWR MOTOR 8 VCC EXT 10 21 1 0GND Psu LinMot 24V 48V DC 6V 24V DC Figure 3 10 Typical system wiring using an external position sensor With high end encoders a position repeatability better than 1um can be realized 18 Manual Ex10 VF Ex010 VF V2 2 T R LinMot Commander LinMot 4 LinMot Commander The LinMot Ex10 VF and Ex010 VF servo amplifiers are full digital con trolled devices They must be configured during the first commissioning This is done with the Windows based LinMof Commander Before starting make sure that the amplifier is powered and the serial inter face is connected to the PC with a one to one serial cable female connectors on both ends 4 1 Installation of LinMot Commander The new LinMof Commander software is 32bit Windows software It runs on computers operating under Windows 95 98 NT4 0 2000 ME and XP The actual software release V 2 2 x is available from the LinMot home page www linmot com After downloading the software you can start setup exe and follow the instructions in order to install the whole software pac
6. 0 7 Max Current Integrator Actual Speed Actual Position Derivative Figure 6 3 Velocity Control Network Velocity Gain With the Velocity Gain parameter the relation between analog command input and demanded velocity is determined Enter here a value which is at least 10 above the maximal from the application required velocity to get at least 10 control reserve Actually check how fast the LinMot can move in your application Too high values will decrease the controller per formance On the other hand the Velocity Gain parameter should not be set too high in order not to lose resolution on the Demand Speed signal 36 Manual Ex10 VF Ex010 VF V2 2 Amplifier Setup FF Acceleration FF Friction and I Gain velocity loop The Velocity Gain parameter should not exceed twice the maximum speed of the application A Demand Speed Velocity_G Analog In 10V Foo t Velocity Gain Figure 6 4 Gain from analog input signal to demand velocity In order to achieve good control performance the analog control signal must represent the same demand velocity on both systems the LinMot amplifier and the superior position control system The FF Acceleration path generates a current depending on the demanded acceleration This helps the controller to achieve a better per formance The FF Acceleration value can be calculated with the following formula m FF Acceleration Cr
7. Enable In 17 Drive B Enable In 5 Drive A Current Limit In 18 Drive B Current Limit In 6 Drive A Fault Out 19 Drive B Fault Out 7 Drive A Warn Out 20 Drive B Warn Out 8 6V 24V DC I O Supply 21 GND 9 Drive A Encoder Out A 22 Drive B Encoder Out A 10 Drive A Encoder Out A 23 Drive B Encoder Out A 11 Drive A Encoder Out B 24 Drive B Encoder Out B 12 Drive A Encoder Out B 25 Drive B Encoder Out B 13 GND Position Outputs Table 3 1 Pin configuration of the Exx10 VF I O connector Analog Control Inputs The analog control output of the motion controller and the input of the ampli fier should be connected by a shielded cable to reduce noise pick up For a higher noise immunity the analog inputs are symmetrical The control voltage is measured between the Analog In and the Analog In terminal To avoid ground loops the analog grounds of the motion controller and the amplifier should not be connected together If the motion controller provides symmetrical outputs noise pick up is elimi nated mostly The output voltage of some motion controllers i e Delta Tau P MAC must be limited to 10V DC between the positive and negative output Manual Ex10 VF Ex010 VF V2 2 11 LinMot Installation The following figure shows the wiring of the analog control signals for drive A Motion controller with asymetrical outputs Figure 3 4 Analog control signal wiring Technical data of analog inputs
8. 3V for Ex010 VF the warning condition is fulfilled When the motor supply voltage sinks below this level default 18 2V for Ex10 VF 36 5V for Ex010 VF the fault condition is fulfilled When the motor supply voltage exceeds this level default 53 4V for Ex10 VF 79 6V for Ex010 VF the fault condition is fulfilled When the motor supply voltage sinks below this level default 21V the warning condition is fulfilled When the motor supply voltage exceeds this level default 50 6V the warning condition is fulfilled When the motor supply voltage sinks below this level default 18 2V the fault condition is fulfilled When the motor supply voltage exceeds this level default 53 4V the fault condition is fulfilled Manual Ex10 VF Ex010 VF V2 2 LinMot Ex10 VF Ex010 VF Parameters 5 2 Drive Parameters Motor Type This parameter defines the type of the connected actuator Configuration Drive x Motor type No motor LinMot 0 23 LinMot POx 37 Single phase actuator Parallel Booster 1 Reverse Booster gj no actuator connected LinMof Motor of the POx 23 family LinMof Motor of the POx 37 family Single phase actuator like DC Motors Voice Coil Motors or Magnets Motor B is a booster working in the same direction as motor A Motor B is a booster working in the opposite direction as motor A 1 Visible only for drive B and only if drive A motor type is LinMot POx Amplifier Se
9. 59 00 Installation completed successfully Figure 4 2 Successful download of all firmware components After successful installation close the Package Installer window 4 3 Logging into LinMot Amplifier To start the communication with a LinMof amplifier connected to the serial port of your PC a login procedure is necessary This can be done by opening the File menu and selecting Login or double clicking on Project In the upcoming dialog window the communication port can be selected There can be only one LinMot amplifier per serial port but simultaneous communications with additional LinMot amplifiers on different serial ports is possible Leave the password field empty After successful login all features of the LinMot amplifier can be accessed in a tree structure similar to the Windows file explorer 4 4 Starting and Stopping the LinMot Amplifier 20 To set some configuration parameters the software running on the ampli fier must be stopped in advance there will be a message dialog if it is nec essary to stop the software This can be done by clicking the STOP button shown in the picture below window Help cue sea Disable the servo loop on the superior controller and wait until the con nected motors stand still before stopping the amplifier software The STOP button will change to a START button when the amplifier software is stopped Press this butt
10. TestOsci2 9 4 3 0 Messages 4 i i i i EEEELE SE ES RE Se dee no 0 30 59 00 4 Ff 012 4300 4 ie 007 27 00 1 Ee hae See Ree Ee 0 26 E E nu 5 00 0 63 000 14300 286 00 42300 57200 71500 85800 1001 00 Time ms 228 8 Figure 4 5 LinMot Commander software oscilloscope The LinMot Commander software oscilloscope is a very helpful tool for commissioning a LinMof drive system The buttons in the Oscilloscope pane do have the following functionality Setting After pressing this button the user can do the setting for his measurements Choosing the variables to be observed setting the recording time defining trigger conditions and setting different display options Start If no trigger condition is set the recording of the selected vari ables immediately begins after pressing the start button If additional trigger conditions are defined then the controller starts the measuring the first time the conditions are fulfilled EN Fit View The Fit View feature automatically sets scale and offset of the oscilloscope display in order to show all recorded data in the display window Zoom in out Instead of adjusting the offset and scale manually Setting window in order to see some data more in detail the zoom functions may be used Export The measured data can be saved
11. affects the whole VF Ampli fier can be found in the Information and System folders 4 6 Variables Monitoring In the Variables Monitoring folder important variables of the system and each drive can be monitored LinMot Commander 2 2 File Window Help miuus re amp m G895 RWC Project E G BOX1 on COM1 8 Configuration A Variables Monitoring Analog In 0115 Actual Position 0 004 mm E m Actual Speed m s Demand Speed Om s Drive B Demand Acceleration 0 m s 2 Oscilloscope Demand Motor Current 0A D Frishla In hinh FAL Figure 4 4 Variables Monitoring feature R Read Variable By clicking on this button the value of the selected variable will be updated Read All Variables All variables listed in the right pane will be updated Manual Ex10 VF Ex010 VF V2 2 21 4 7 Oscilloscope 22 LinMot Commander The updated values are valid only if the controller software has been run ning while the Read button has been pressed the red Stop button is visible in this case LinMot Commander 2 2 ial xl File Window eels ms E Project bg E EX c X zf c2 BOX1 on COM1 SS Configuration Drive Actual Position mm 50 6 Drive A Actual Speed m s 0 018 00 7 7 7 0 68 EH Variables Monitoring El Oscilloscope 81 00 4 1 ie 0 49
12. my mj mj m z Z 212 O Ol oO O 0 0 0 O oj oO oj mi m mj m D D D D zizizio al gt 2 ENCODER IN ANALOG OUT ANALOG OUT ANALOG GND AMP ENABLE AMP FAULT SUPPLY o 24V DC C 2 LED mimics Manual Ex10 VF Ex010 VF V2 2 For high performance velocity control the signals from an external AB incre mental position sensor may be used for velocity capturing The VF Amplifier can be equipped with an MEOT extension module with either one MEO1 01 08 or two 1 02 08 encoder inputs The encoder con nected to the upper encoder input socket can be used for velocity control of Drive A the second for Drive B MEO1 02 08 only The wiring of an MEO1 module is shown below Further description of the MEO1 module can be found in the brochure Master Encoder Interface avail able from www linmot com The MEO1 module must be supplied with 24VDC This extension module mounted on a VF Amplifier handles AB incremental encoders with RS422 signal level The digital IOs on the 25pin Sub D style connector are reserved for future application specific software extensions 01 A LinMot E210 1 ANALOG IN 2 ANALOG IN 3 ANALOG GND 7 WARN OUT 8 VCC EXT IO n Figure C 1 Wiring of an ME01 extension module PSU LinMot 48V DC The MEOT extension module is equipped with 4 LEDs These LEDs show the actu
13. of the connected motor Because the velocity loop tuning is load dependent the velocity loop of an amplifier must be tuned before the position loop is closed with an external position controller Chapter 6 describes how to tune the velocity loop of a Lin Mot amplifier Current Loop Operation In this operation mode only the current loop is closed in the amplifier The input signal of the amplifier represents the demand force of the connected motor The current loop on most amplifiers also the LinMot amplifiers is already tuned at factory and doesn t need to be tuned by the user 6 Manual Ex10 VF Ex010 VF V2 2 Theory of Operation 2 3 Master Booster Operation 2 4 Safety Master Booster operation enables the force available for a movement to be increased by putting motors in series or parallel One motor must be defined as master the other as booster The moving part of the motors must be cou pled mechanically During operation all parameters for the booster motor are copied from the master motor The current is calculated for the master motor only and set for both motors A booster motor may work in the same or in the opposite direction as the mas ter This behavior can be chosen by selecting the type of actor ie Master SS a 4 Booster reverse Figure 2 2 Master Booster operating mode LinMof amplifiers will energize the motors only if no error is p
14. the velocity loop is closed in the LinMot amplifier Manual Ex10 VF Ex010 VF V2 2 LinMot Ex10 VF Ex010 VF Parameters Encoder Simulation This parameter sets the resolution of the simulated encoder output signals The encoder simulation is always based on the internal position measuring system of the LinMot linear motor The max speed depends on the selected resolution If this value is exceeded a warning is generated Configuration Drive x Encoder simulation 1um e 2um e 5um 1 10um 1 20 1 50um sj Position is put out in 1um increments max speed 2 5m s Position is put out in 2um increments max speed 5m s Position is put out in 5um increments Position is put out in 10um increments Position is put out in 20um increments Position is put out in 50um increments 1 This parameter is only visible if a LinMof linear motor type is selected Logic Definition These parameters modify the active level of the digital I O signals Configuration Drive dU L0 logic definition Invert Enable In Invert CL In Invert Fault Out Invert Warn Out Manual Ex10 VF Ex010 VF V2 2 If this parameter is checked the Enable Input becomes low active If this parameter is checked the Current Limit CL Input becomes low active If this parameter is checked the Fault Output is set high during normal operation and low when the drive is in ERROR state If this
15. tuned at factory and can not be changed by the user The user must only set the Current Gain parameter which defines the gain from the input voltage to the demanded motor cur rent In general the Current Gain parameter should be set to the same value as the Maximum Current parameter in order to prevent any saturation effects Demand Current unlimited Current_G4 10V Analog In 10V cs is nr Current Gain Figure 6 2 Relation between analog input signal and demand motor current in force control mode There aren t further control parameters to be set in the force control mode on LinMot amplifier side All further control loops are part of the superior control system and must be tuned according to the corresponding user manual If the superior motion control system has a control structure which allows setting a load dependent FF Acceleration and or FF Friction then these features should be utilized Especially feeding forward of accelera tion might improve the position controller performance Manual Ex10 VF Ex010 VF V2 2 35 LinMot Amplifier Setup 6 4 Velocity Control Mode Velocity Control Network The velocity control network consist of a PI controller and feed forward path for acceleration and friction compensation The Demand Current is the sum of Current Offset FF Acceleration current FF Friction current and the output of the PI network Current Offset Analog In Demand Current
16. when slow motions are required 1 In Master Booster mode the motor force constant must be mulitplied by two Manual Ex10 VF Ex010 VF V2 2 37 38 Amplifier Setup Velocity Mode Controller Setup If velocity control mode is used the inner control loop velocity loop must be tuned first preferably independent from the superior position control loop Open Loop Position Control For tuning the velocity loop the superior controller must be running in open loop mode In open loop mode the demand velocity output of the position controller is driven only by the velocity feed forward path FF Velocity gain parameter of the motion controller All other control parameters in the superior system typically PID and FF Acceleration must be set to 0 in order to avoid influence to the controller output If the superior controller doesn t offer open loop mode an external signal generator is necessary Demand Acceleration Demand Speed Analog Output A 2 S o c o c 2 Integrator Actual Position Figure 6 5 Structure of a typical motion controller To achieve open loop control the PID gains and the FF Acceleration gain must be set to zero For tuning the velocity loop a trapezoidal demand velocity signal must be generated by the superior motion controller running in open loop mode The trapezoidal demand velocity represents an application typical point to point movement with defined max
17. 24A Safety suisse 7 2 5 Posion MGASUTCIMIGIN s siessdessnskincsenasanncapustsansunsslaeceeciatucenckiascanasansanesiweisnceusesancainuses 7 PM iris RR A E A 8 27 Protection erahnen 8 3 Installation essen 9 3 1 Mechanical Dimensions of LinMot AMPIE S sesssosssssssssoosssossssssssssesssesosssassosseso 9 3 2 Mechanical Installation of LinMor jcieieaseeeeekseuea kie e hin natas eue rana utar 10 3 3 Hleetrical COonnectiOns ssssssssissssssessssssse ssssssooissssssssss ssos ssss soos iieoissss sss RE dE R MPH 11 4 LinMot Commander ssssssssssssssesssssssssssssssssssssssssssssssssessssssssssssssssesssesssesssssssssesss 19 4 1 Installation of LinMot Commander ssssesssssssssssssssssssssssssessssssessssssssssssessssssssseseees 19 42 Upgrading Amplifier ee 19 43 Logging into LinMot Ampi ET seen 20 4 4 Starting and Stopping the LinMot AMPTE ees cities so sias ocv trus Po en 20 4 5 Configuratii mee 21 46 Variables MOBIDOUIHIE FEAT UR eese 21 47 naeh 22 4 8 INIGSSALES 23 5 LinMot Ex10 VF 010 Parameters sssssssscssssssssccsssssssccsssseesesessseseeseens 24 51 System Parametern 24 3 2 Drive wasscsiscseccianc ntsdesersectuceounsenndenssbivissecannndetsdensasteateranacsouvenees
18. 5 white 5 10 shielding Table 3 7 Pin configuration for the Ex010 VF motor socket Single Phase Actuators Single phase actuators like DC Motors or Voice Coils must be connected to phase 1 of the corresponding motor output Their position sensor sig nals must be connected to the superior motion controller On phase 2 of the motor output a bleeder resistor can be connected Rota tive DC Motors tend to bring a lot of energy into the amplifiers DC link dur ing deceleration The back EMF can increase the DC link voltage over the maximum allowed limits 55V for Ex10 VF and 80V for Ex010 VF amplifi ers which leads to a transition to ERROR state When the DC link voltage exceeds in parameter tree definable bleeding voltage the amplifier begins to bleed off power over this external brake resistor The optional bleeder must have resistance according to the following table The brake resistor should be able to draw 100W out of the DC link Motor Power Supply Ex10 VF Ex010 VF 24V 80 48V 160 82 72V 120 Table 3 8 Recommended bleeder resistance values For single phase actuators no other than the current output pins on the amplifiers motor socket must be used 16 Manual Ex10 VF Ex010 VF V2 2 Installation LinMo tE Ex10 VF Pin Signal Pin Signal motor phase motor phase optional bleeder phase optional bleeder phase do not connect do not connect ON o do not connect do not connect aR OU N do not conn
19. ND Figure 3 6 Wiring of position signals Channel A shown If a single phase actuator DC motor voice coil is connected to a motor chan nel then the respective simulated encoder outputs of the amplifier must not be used In this case the actuators position sensor is directly connected to the superior motion control system Also if a LinMof linear axis is equipped with a high accurate external position sensor the simulated encoder outputs must not be used The superior motion controller uses directly the external position sensor signals in this case Serial Communication Interface The serial communication interface is used to configure the LinMof Ex10 VF and Ex010 VF amplifiers It can be directly connected to the RS232 port of any PC Take care not to use a crossed 0 Modem cable but a cable con necting Pins 2 3 and 5 one to one Connector Sub D 9 male 1 do not connect 6 do not connect 2 RS232 TX 7 do not connect 3 RS232 RX 8 do not connect CAN L 4 do not connect 9 do not connect CAN H 5 GND Table 3 2 Pin configuration on the Exx10 VF Com connector Power Supply Power supply inputs for signal electronics and motors are separated on both the LinMof Ex10 VF and Ex010 VF amplifiers On machines whose actua tors must be powered off in the event of an emergency shutdown for safety reasons the motor supply can be switched off By maintaining the signal sup ply the position of the motor can still be captured Manu
20. The motor is overloaded temp sensor 3x blinking ne u Motor Error Start permissive denied Transition to insi RUN state not possible because analog input signal son 2 DISABLE was not in range 1V 1V 4x blinking state Motor Error Slider missing 5x blinking Motor Error Master or Booster motor failed 6x blinking Motor Error External position sensor is not available 7x blinking Motor Error Motor type mismatch or motor damaged Table A 1 LED Codes Manual Ex10 VF Ex010 VF V2 2 45 Maintenance B Maintenance Ex10 VF Ex010 VF 46 The supply inputs of LinMot VF Amplifiers are equipped with fuses against overcurrent On the power electronic boards two glass fuses are placed One for the motor supply and one for the signal supply If after consultation with the LinMot support team it turns out that one of the fuses must be replaced the following fuse types have to be used at i 302 Figure B 1 Fuses on the LinMot Ex10 VF power electronic board Fuse Type S301 Motor supply 10A slow 5mm x 20mm 302 Signal supply 0 5A slow 5mm x 20mm lt Figure B 2 Fuses on the LinMot Ex010 VF power electronic board Fuse Type S1 Motor supply 10A slow 5mm x 20mm S2 Signal supply 0 5A slow 5mm x 20mm Manual Ex10 VF Ex010 VF V2 2 VF Amplifier with MEO1 Extension Module C VF Amplifier with ME01 Extension Module C 1 Wiring MOTION CONTROLLER ENCODER VCC
21. Unit A Set the maximal current applied to the motor when the Current Limit input is active Unit A Ratio between input voltage and output current demand motor current at 10V input Unit A Ratio between input voltage and demand velocity demand velocity at 10V input Unit m s Determines how the difference between demanded velocity and actual velocity is represented by current command value Unit A m s Determines how the time integral of velocity deviation is represented by the current Unit A m s s Determines which current must be fed forward to obtain the desired acceleration Unit A m s 2 Determines which current must be fed forward to compensate dry friction Unit A 1 Visible only if the force mode is selected 2 Visible only if the velocity loop is closed in the LinMot amplifier Manual Ex10 VF Ex010 VF V2 2 LinMot Ex10 VF Ex010 VF Parameters LinMot Advanced Settings The parameters in the Advanced Setting folder may be modified only by advanced users with expert knowledge in control theory Configuration Drive x Amplifier setup Advanced settings Analog In offset FF Acceleration dead band 1 Us FF Friction dead band 1 Us Actual speed dead band 1 Le Integrator limit 1 Us Bleeder voltage 2 Us With this parameter an offset to tne analog command input can be added or subtracted Unit V Currents caused by the FF Acceleration
22. Where m is the moved mass payload and moved part of motor in kg and cy the force constant N A of the implemented LinMof linear motor The cor rect value for c can be found in the corresponding data sheet of the motor The FF Friction path generates a current which can compensate dry fric tion forces If there is a noteworthy friction in the system then the FF Fric tion value can be calculated using the following formula FR Friction Cp FF Where Fpp is the friction force in Newton and c the force constant N A of the used LinMof linear motor data sheet The Fpp can be measured with a spring scale electrically unplugged motor If there is only little fric tion in the system the FF Friction value may be set to zero The P and the Gain are the tuning parameters of the PI velocity control ler The P gain proportional gain generates a current which is proportional to the difference between the demanded and actual velocity speed devia tion The I gain integral gain corrects automatically any static deviations in the velocity control loop The integral gain cumulates the velocity difference over the time i e the longer the difference exists the more current is gen erated by the integrator For applications where high dynamic positioning is required the gain should be set to zero otherwise the gain could lead to unacceptable overshoots But setting an gain can distinctly improve the control performance
23. acceleration steepness of trapezoid edges and velocity height of trapezoid If it is impossible to generate this signal with the superior controller you may use an external signal genera tor instead Keep in mind that the area under the demand speed profile is equal to the demand stroke Manual Ex10 VF Ex010 VF V2 2 Amplifier Setup Manual Ex10 VF Ex010 VF V2 2 LinMot Commander 2 2 1 im xj File view Window Help 821 9NG 0 mmm Drive A Demand Speed m s 0 006 0 43 T 0 02 0 02 36 00 500 4600 8700 12800 16900 21000 251 00 29200 33300 Time ms 35 34 Figure 6 6 Trapezoidal demand speed signal Velocity Controller Tuning Start with setting the FF Friction and FF Acceleration parameters accord ing to the given formulas see above Set the P Gain of the velocity loop to a small value e g 1A m s and Gain to 0 ziii File View Window Help MARRE Eag Bm ea Drive Demand Speed m s 0 394 0 43 T Drive Actual Speed m s 0 394 r T 0 43 ix odi uie oun an oe ee 08 ee 0 02 3600 500 46 00 87 00 12800 169 00 0 02 210 00 251 00 29200 33300 Time ms 72 24 Figure 6 7 Speed following with correctly set Feed Forward parame ter but insufficient P Gain If the Feed Forward FF parameters are calculated correctly the
24. al Ex10 VF Ex010 VF V2 2 13 Installation CAUTION Exceeding the given absolut maximal rating voltages will harm the VF Amplifier and the connected motors as well Power supplies must be switched on and off on their primary side only Ex10 VF Ex10 VF amplifiers are supplied via a single three pole connector matching socket Phoenix PSC 1 5 3 F 1 Vcc signal supply 24V 48V DC 55V 2 Ground GND 3 Vcc motor supply 24 V 48V DC 55V Table 3 3 Pin configuration of the Ex10 VF PWR socket 1 Figure 3 7 Supply wiring of Ex10 VF Ex010 VF The Ex010 VF amplifier is supplied via two separate connectors Signal electronics are supplied by a three pole connector matching socket Phoenix PSC 1 5 3 F 1 Vcc signal supply 24V 48V DC 55V 2 Ground GND GND 3 do not connect Table 3 4 Pin configuration on Ex010 VF PWR Signal socket 14 Manual Ex10 VF Ex010 VF V2 2 Installation LinMo tE Motors are supplied via a two pole connector matching socket Phoenix MSTB 2 5 2 STF top Ground GND bottom Vcc motor supply 48V 72V DC 80V Table 3 5 Pin configuration on Ex010 VF PWR Motor socket LinMot E2010 LinMot E2010 Signal supply 24 48 V DC Motor supply 48 72 V Figure 3 8 Supply wiring of Ex010 VF
25. al operating state of the module only if the VF Amplifier firmware is not stopped Ready LED The green Ready LED indicates normal operation Fault LED The red Fault LED indicates a fault on the extension module A typical reason for a fault is that the extra power supply is missing State C LED The yellow State C LED shows the 9th bit of the increment counter of Drive A If the motor with correct wired sensor is moving the LED 47 S LinMot VF Amplifier with MEO1 Extension Module is blinking If Drive A is configured without an external sensor for position cap turing then the LED is on State LED The State LED on MEOT 01 08 is always off State D LED a on ME01 02 08 The LED shows the 9th bit of the increment counter of Drive B If the motor with correct wired sensor is moving the LED is blinking If Drive B is configured without an external sensor for position cap turing then the LED is on 48 Manual Ex10 VF Ex010 VF V2 2 Amplifier mode 25 Amplifier setup 25 33 Analog inputs 11 B Bleeder resistor 16 Booster 7 Brake resistor 16 C Closed loop control 40 Configuration 21 Current gain 35 Current limit 34 Current loop operation 6 D DC Motors 16 Description 5 Digital T O signals 12 DISABLE state 44 Drive parameters 25 E Electrical connection 11 Encoder simulation 29 ERROR state 44 Errors and warnings 30 External position sensor 13 F Features 5 FF Ac
26. ancactences 25 6 Amplifier Setup 33 6 1 Ampliner MOUs e 33 6 2 General Parameters cccssscsosscssssscsnsssoonsssestssossssseossssssssescesssssscnssoessssvasssensssessassscesscs 33 6 3 Force Control 35 54 Velocity Control Mode arena ee 36 Operating Stalin 43 B Maintenance esnusensennnie nennen 46 C VF Amplifier with MEO1 Extension Module c eee eere eren 47 C1 Wine me 47 C2 LED Mies een ion 47 Manual Ex10 VF Ex010 VF V2 2 Manual 10 Ex010 VF V2 2 4 j 1 Description and Features 1 1 Description The LinMot E110 VF E210 VF E1010 VF and E2010 VF servo amplifiers allow linear motors of the LinMot P series to be integrated very easily in existing motion controller multi axis systems In addition single phase actua tors like DC Motors can be controlled with this amplifier 1 2 Features The integration of two independent drives into a single housing saves place and minimizes wiring Each amplifier channel accepts a bipolar DC control input The amplitude of this signal may be used to control either the velocity or the current force of the connected LinMot linear motor Basing on the integrated sensors of a LinMof linear motor the actual posi tion is available as incremental position signal A B Each am
27. as to be calculated by derivation of the analog input signal Derivation increases noise and therefore brings additional noise into the servo system 6 2 General Parameters The visibility of most of the control parameters depends on the selected amplifier mode force or velocity But there are a few valid in both modes Manual Ex10 VF Ex010 VF V2 2 33 Maximum Current Offset Current Current Limit 34 Amplifier Setup The user has to set the maximal current which depends on the used Lin linear motor type and the supply voltage The following values are recommended Ex10 VF Ex010 VF Motor type 24V 48V 48V 72N P0x 23x80 2 0A 3 0A 3 0A 3 0A P0x 23x160 1 0A 2 0A 2 0A 2 8A P0x 37x120 3 0A 6 0A 6 0A P0x 37x240 3 0A 3 3A 5 0A Table 6 1 Recommended maximum current setting Setting higher values tends to worse controller performance If smaller val ues are used the peak force of the motor see data sheet can not be achieved If for safety reasons e g during the commissioning process the maximal motor force has to be limited then the user can set smaller values here The offset current is used to compensate static forces In general the fol lowing formula has to be used to determine the offset F sr OffsetCurrent T f Where For is the static force N and c the force constant N A of the implemented LinMot linear motor The c factor can be found in the Lin data sheets The offset current
28. celeration 37 FF Friction 37 Firmware 19 FIRMWARE STOPPED state 43 Fuses 46 G Grounding 11 gain velocity loop 37 Connector 11 I O logic definition 29 Installation 9 L LED Code 45 LinMot Commander 19 LinMot linear motors 16 Login 20 M Maintenance 46 49 Master Booster 7 Maximum current 34 MEOI extension module 47 Messages 23 Motor connection 15 Motor type 25 N NO MOTOR CONFIG state 43 Offset current 34 Open loop control 38 Operating states 43 Oscilloscope 22 P gain velocity loop 37 Parameters 24 Password 20 Position capturing 28 Position measurement 7 Position signals 13 Power supply 13 Protection circuits 8 R Referencing 8 RUN state 44 S Safety 7 Serial communication 13 Servo loops 6 Single phase actuators 16 Start and Stop 20 State diagram 43 State transitions 43 System parameters 24 U Upgrade firmware 19 V Variables monitoring 21 Velocity control mode 36 Velocity control network 36 Velocity controller tuning 39 Velocity gain 36 Velocity loop operation 6 Voice Coil 16 WAIT FOR DISABLE state 43 Index Manual Ex10 VF Ex010 VF V2 2
29. ect Table 3 9 Pin configuration for single phase actuators on LinMot Ex10 VF motor socket Ex010 VF Pin Signal Pin Signal 1 motor phase 6 do not connect 2 motor phase 7 donot connect 3 optional bleeder phase 8 do not connect 4 optional bleeder phase 9 do not connect 5 donot connect 10 not connect Table 3 10 Pin configuration for single phase actuators on LinMot Ex010 VF motor socket Typical System Wirings The following figures show the typical system wiring for drive A on a VF Amplifier Drive B is wired similarly The system consists of the following components Motion controller LinMof Ex10 VF amplifier LinMof power supply Actuator LinMof linear motor with or without external position sensor 6V 24V supply for I O signals and motion controller Manual Ex10 VF Ex010 VF V2 2 17 LinMot Installation Wiring of an Ex010 VF amplifier would be the same except for the extra motor power supply 48V 72V MOTION CONTROLLER ANALOG OUT LinMot Ex10 VF ANALOG OUT ANALOG GND 3 ANALOG GND AMP ENABLE 4 ENABLE IN GP OUT 5 C LIMIT IN AMP FAULT 6 FAULT OUT 7 WARN OUT 8 VCC EXT IO 21 1 0GND PWR SIGNAL PWR MOTOR PSU LinMot 24V 48V DC 6V 24V DC Figure 3 9 Typical system wiring using the internal position measuring system of LinMot linear motors MOTION CONTROLLER
30. ending and the Enable Input is activated To ensure that the motors do not jump when the Enable Input gets activated the analog input signal demand force or demand velocity must be about OV at this moment For safety reasons the controller can deny a transition to RUN state if this signal is not in the range 1V 1V This safety feature is disengage able For a safe operation of linear motion systems motions in the end range of the allowed stroke must be monitored specially This is normally done with limit switches at both ends of the stroke If the drive is moved into one of this switches the drive must be stopped immediately The limit switch signals must be fed into the superior motion controller 2 5 Position Measurement The accuracy of motion systems depends mainly on the implemented position measurement system LinMof linear motors have integrated position sensors basing on the mea surement of the magnetic field of the slider This method allows a position repeatability better than 0 1mm The LinMof Ex10 VF and Ex010 VF ampli fier family outputs this information as quadrature A B signal The resolution of this simulated encoder outputs can be configured to 1um 2um 5um 10um 20um or 50um 4x sampling Choosing a higher resolution does not increase the accuracy because the encoder simulation always works basing on the internal sensor system with the given repeatability The incremental position outputs can provide fre
31. er closing the superior position control loop Manual Ex10 VF Ex010 VF V2 2 41 LinMot Amplifier Setup 42 Manual Ex10 VF Ex010 VF V2 2 Operating States A Operating States IEP amp Each motor channel of a LinMot VF Amplifier is equipped with three LED s Different operating states and errors are displayed with blink patterns The two drives on E210 VF and E2010 VF work independently from each other and may be in different operating states at the same time FIRMWARE STOPPED Oren 1 LED Blinking Power Up STA f LED On NO MOTOR CONFIGURED Transition Condition Logic Operation Shortcut ERROR PENDING EP ENABLE INPUT ACTIVE MOTOR CONFIGURED SOFTWARE START COMMAND SOFTWARE STOP COMMAND LOGIC OR LOGIC AND LOGIC NOT Figure A 1 Operating States Diagram FIRMWARE STOPPED This state is entered when the user clicks on the STOP button in the LinMof commander or after the firmware upgrade In this state all six LED s are lit The state can be left by clicking the START button in the LinMot com mander or by powering off and on the signal supply of the controller NO MOTOR CONFIGURED If no motor is configured on a motor channel the respective Error LED red and the Ready LED green are dark The Warn LED yellow is lit WAIT FOR DISABLE For safety reasons transition to normal operating states is possible only if the Enable Input is inact
32. f over temperature Manual Ex10 VF Ex010 VF V2 2 5 LinMot Theory of Operation 2 Theory of Operation 2 1 Servo Loops Most position control systems are arrangements of three control loops as shown in Figure 2 1 1 The current loop directly influences motor acceleration and deceleration force The current loop is present in each amplifier 2 The velocity loop supplies a velocity signal which becomes the demand signal for motor acceleration Some amplifiers give the user the possibility to close the velocity loop inside the amplifier 3 The position control loop is the over riding motion loop The position loop is generally closed by a third party motion controller and can not be closed inside the LinMof VF Amplifier If the position loop must also be closed by LinMof then LinMot standard controllers AT MT DP or DN family must be used instead of VF Amplifiers Position loop Velocity loop Current loop Position encoder Position Figure 2 1 Arrangement of the three essential loops for position control 2 2 Amplifier Types Different types of amplifiers are known In motion control systems velocity mode and force mode amplifiers are most used LinMof VF Amplifiers can be configured to operate in both of these modes Velocity Loop Operation In this operation mode the two inner loops the current loop and the velocity loop are closed in the amplifier The input signal of the amplifier is the demand velocity
33. gh the limit 8 MHz 1 This parameter is visible only if a LinMof linear motor type is selected 2 The level can be set at Configuration System DCLV Monitoring Manual Ex10 VF Ex010 VF V2 2 31 7 Error Warn Logging Mask These masks determine which errors and warnings are logged in the non volatile memory of the LinMot amplifier Only errors and warnings which are selected in the respective Detection Masks are visible and may be logged 32 Manual Ex10 VF Ex010 VF V2 2 6 Amplifier Setup The LinMot amplifier needs to be tuned to obtain good results This chap ter shows how a good setup can be achieved 6 1 Amplifier Mode First of all the user has to decide which amplifier mode force or velocity will be used The decision either for force or velocity mode depends mainly on the given interface from the superior control system If the analog controller output is explicitly stated to represent Demand Velocity then velocity mode is preferrably chosen If the output is explicitly stated to be a Demand Force signal the force mode has to be selected If it is unclear or if the user has the possibility to choose the output format then force mode is more favorable because of the following reasons In force mode all essential tuning parameters are located in the same system the superior motion controller This makes the loop tuning much easier and more comfortable for the user e LinMof linear motors are
34. ible only if a LinMof linear motor type is selected 2 The level can be set at Configuration System DCLV Monitoring 3 This parameter is visible only if the usage of an external AB encoder is selected 4 This parameter is visible only on Drive A if Motor Type of Drive B is setto be a Booster motor Warn Detection Mask With the Warn Detection Mask the user can decide which internal warn conditions activate the Warn Output and generate a warn message Configuration Drive x Position capturing Errors and Warnings Warn detection mask Motor overload Based on the output current the amplifier estimates calculated the actual motor temperature If the estimated tem perature becomes high warning is generated Motor overload LinMot linear motors are equipped with integrated temp sensor temperature sensors If a connected motor gets hot a this warning occurs some seconds before the axis goes to the ERROR state Signal supply low If the signal supply voltage sinks below the defined level a warning is generated Signal supply If the signal supply voltage exceeds the defined high level a warning is generated Motor supply low The amplifier generates a warning if the motor sup ply voltage sinks under the defined warn level Motor supply The amplifier generates a warning if the motor sup high ply voltage rises over the defined warn level Encoder output This warning is activated if the encoder rate is near frequency hi
35. ifier is equipped with an MEOT extension module the same external sensor sig nals can also be used for position and speed capturing in the LinMot VF Amplifier This makes sense only for axes in velocity control mode See also Appendix C If the VF Amplifier is not equipped with a MEOT extension module as usual the Internal sensor check box must be selected Configuration Drive x Position capturing Internal sensor 1 External encoder 1um 2 External AB encoder 2um 2 External AB encoder 5um 2 External AB encoder 10um 2 External AB encoder 20um 2 a Position capturing based on the internal position measuring system If no MEOT extension module is used this item must be checked Position capturing based on an external AB linear encoder with lum resolution connected to the MEO1 extension module Position capturing based on an external AB linear encoder with 2um resolution connected to the MEO1 extension module Position capturing based on an external AB linear encoder with 5um resolution connected to the MEOT extension module Position capturing based on an external AB linear encoder with 10um resolution connected to the MEO1 extension module Position capturing based on an external AB linear encoder with 201m resolution connected to the MEO1 extension module 1 This parameter is only visible if a LinMof linear motor type is selected 2 Visible only if
36. ive If the Enable Input is active at firmware start or power up then the axis stays in WAIT FOR DISABLE state as long as the Enable Input keeps active In the WAIT FOR DISABLE state the Warn and the Ready LED are lit The Error LED is switched off Manual Ex10 VF Ex010 VF V2 2 43 44 Operating States DISABLE If the axis is disabled the green LED flashes twice followed by a longer pause Any warnings are displayed by a blink pattern on the yellow LED according to the table on the next page The Error LED is dark RUN When the amplifier is enabled and the motors are powered the Ready LED is lit continuously Any warnings are displayed by a blink pattern on the yellow LED see following table The Error LED is dark ERROR If an amplifier channel has a fault condition the red LED is blinking Slow blink ing 0 5Hz indicates an amplifier specific error both motor channels may be affected faster blinking 2Hz indicates a motor specific fault condition The yellow LED displays the type of error with flash codes according to the fol lowing table As long as any error conditions are pending the green LED is dark If there are no further errors pending but the Enable Input is active then the lit Ready LED displays that the axis is ready for the transition to the DISABLE State For safety reasons the transition directly to RUN State is not possible Manual Ex10 VF Ex010 VF V2 2 Operating States L 1 Mote Error War
37. kage on your computer The program can be started by clicking Start Programs LinMot gt LinMot Commander 2 2 x 4 2 Upgrading Amplifier Firmware It is recommended to download the latest firmware version to the amplifier V2 2 x Downloading firmware will erase an eventually existing old con figuration and will reset all parameter tree items to their default values Start LinMof Commander but don t log in Start the installation script by clicking the Run Script button LinMot Commander V 2 2 File Window Help Figure 4 1 Starting the firmware download script In the file dialog select the new firmware installation file Lm2R2Rx sct from folder Cmdr2r2r0 Firmware Lm2R2Rx In the upcoming window the serial port which is used for updating the amplifier must be selected Manual Ex10 VF Ex010 VF V2 2 19 LinMot Commander Package Installer 1 inl xl Action Poges Checking servo controllor Device name E210VF Device version 1 2 Device supported ves Monitor version 2 3 7 Time 03 58 38 Installing files Set monitor parameter default values MONO1 GR2 Download monitor upgrader LMON2UP2 HX2 Start monitor upgrader Upgrading monitor to version 2 3 7 Monitor upgrade finished Erasing firmware sector MFBASE Sw Hx2 Erasing parameter sector Downloading parametertree 210VF HX2 Downloading default parameters 210VF GR2 Time 09
38. mainly used for high dynamic positioning Because the stroke of a linear motor is always limited they never have to run for a long time with constant speed in contrast to traditional rotative electric motors When high dynamic motions are required the velocity control loop looses its relevance A fast position control loop is more important in this case e Because LinMot linear motors don t have an extra velocity measuring system in contrast to some rotative motors with extra tachometer gener ator the actual velocity value has to be calculated through derivation of the position sensor signals Derivation always causes additional noise in the system which may decrease the control performance The more noisy the position signal is the more noisy will the actual velocity signal be By using an external position sensor fed into a LinMof MEO1 exten sion module see Appendix C the noise level in velocity mode can be reduced In force mode the usage of a MEO1 module is not necessary even for high performance position control with external position sensor because in this mode no derivation of the actual position signal is used by the VF Amplifier Especially when high load masses are attached to a LinMof linear motor it is very important to feed forward the required current for the acceleration of the load mass In velocity control mode FF Acceleration has to be calculated in the LinMot amplifier The required demand acceleration information h
39. must be set in vertical applications in order to compen sate gravity to get a better servo performance The value can be calcu lated by using the following formula OffsetCurrent Where is the moved mass payload and moved part of motor in g is the acceleration due to gravity 9 81m s The sign of the parameter depends on the direction of the mounting If the motor cable exit is in direc tion to the floor then the sign is positive otherwise it must be set negative The motor current is limited with the Maximum Current parameter in gen eral But in some application it is necessary that the motor current is further limited not for the whole cycle but temporarily This is necessary e g for assembly applications where parts have to be pressed into others with lim ited force With the Current Limit parameter the user can define a second current lim itation which is considered only when the CL Input gets active Setting this parameter greater than the Maximum Current parameter doesn t make sense because the Maximum Current limitation has higher priority 1 In Master Booster mode the motor force constant must be mulitplied by two Manual Ex10 VF Ex010 VF V2 2 Amplifier Setup 6 3 Force Control Mode Current Gain Current Offset Analog In Current Ga Demand Current unlimited Demand Current Tv Max Current Figure 6 1 Force Control Network The current control loop is already
40. n LED Ready LED Description LED FIRMWARE STOPPED state off on off NO MOTOR CONFIGURED state off on on WAIT FOR DISABLE state off off 2x blinking DISABLE state No warning pending off off on RUN state No warning pending off 1x blinking 2x blinking DISABLE RUN state Warning The supply voltage for DISABLE state the power circuitry is low 2x blinking DISABLE RUN state Warning The supply voltage for on RUN state the power circuitry is high 3x blinking DISABLE RUN state Warning The supply voltage for the signal circuitry is low 4x blinking DISABLE RUN state Warning The supply voltage for the signal circuitry is high 5x blinking DISABLE RUN state Warning Motor overload calcu lated 6x blinking DISABLE RUN state Warning Motor overload temp sensor 7x blinking DISABLE RUN state Warning Encoder output fre quency high 0 5Hz 2x blinking off Error pending DCLV Error The supply voltage for the power circuitry blinking is too low 3x blinking nk Error reason DCLV Error The supply voltage for the power circuitry disappeared is too high ready for transi 4x blinking tion to DISABLE DCLV Error The supply voltage for the signal circuitry Ste is too low 5x blinking DCLV Error The supply voltage for the signal circuitry is too hign 6x blinking Amplifier Error Amplifier too hot or short circuit 2Hz 1x blinking off Error pending Motor Error The motor is overloaded calculated blinking 2x blinking Motor Error
41. n the Actual Speed signal follows more or less to the Demand Speed signal After testing that the FF parameters are set correctly you can increase the P Gain in steps of 0 5A m s until the Actual Speed signal is congruent with the Demand Speed signal If the P Gain is increased too much the motor becomes louder Further increasing could even lead to instability 39 40 Amplifier Setup Typically the optimum between good speed following and few noise pro duction will be achieved with P Gains between 3A m s and 15A m s LinMot Commander 2 2 E ial xl File view Window Help gt l Drive A Demand Speed m s 0 439 Drive Actual Speed m s 0 439 0 44 T T T T 0 44 m een 035 Dx x N ae 026 016 n Redde Re 016 i eee er 007 0 02 0 02 38 00 500 46 00 8700 12800 16900 21000 25100 29200 333 00 Time ms 253 46 Figure 6 8 Result after tuning the velocity control loop If the internal motor position sensor is used the captured velocity signal is noisy In this case look at the average and not at single overshooting peaks This noise occurs because the velocity signal is calculated out of the position feedback Direct driven linear motors can not be equipped with tachogenerators for a smooth velocity feedback With an external position sensor signal fed into a MEOT extension module see A
42. network smaller than this value are suppressed Noise intro duced by derivation of tne demand speed signal can be reduced with this parameter Unit A The FF Friction network does fully affect the control ler output only if the analog command input demand velocity is greater than this value noise suppression while standstill of the motor Unit V If the actual speed is less than this value then the actual speed is set to zero Noise introduced by deri vation of the actual position can be reduced with this parameter noise suppression while standstill of the motor Unit m s This value limits the velocity control loop integrator capacity The demand current part caused by the I Gain is limited in order to suppress position over shoots Unit A If the motor supply DC link voltage exceeds this level the amplifier begins to bleed off power over the optional external brake resistor Unit V 1 Visible only if the velocity loop is closed in the LinMot amplifier 2 Visible only if Single Phase Actuator is selected Manual Ex10 VF Ex010 VF V2 2 27 28 LinMot Ex10 VF Ex010 VF Parameters Position Capturing When high performance in the position control is required then the LinMot linear motor axis has to be equipped with an additional external position sensor The signals of this sensor are used from the superior motion con trol system for closing the position control loop If the LinMot VF Ampl
43. on to restart normal operation of the LinMot amplifier Window Help osus dg Manual Ex10 VF Ex010 VF V2 2 7 R LinMot Commander LinMot 4 5 Configuration All configuration parameters can be found under the Configuration folder The parameters are arranged in a tree structure In the left pane the parameter group is chosen on the right pane its value can be set File view Window Help gt ss E Project B E BOX1 on COM1 E Configuration Name H E Information C No motor H E System LinMot POx 2 EE Drive A ot POx 3 Motor type le phase E Amplifier setup Position capturing Encoder simulation 140 logic definition m Ceara Figure 4 3 Editing of VF Amplifier configuration All changes in the parameter settings are automatically copied into the non volatile memory of the amplifier Some parameters can only be set if the software running on the LinMof amplifier is stopped So called Live Parameters tagged with a superscript red L can be altered during run time E g the controller gain parameters are live parameters therefore the loop tuning can be done online Some parameters are visible only under certain circumstances E g the user doesn t have the opportunity to configure Velocity Mode if Actuator Type is set to Single Phase Actuator Drive A and B are configured independent from each other except for Master Booster operation Parameters which
44. parameter is checked the Warn Output is set high during normal operation and low in the case of a pending warning 29 LinMot Ex10 VF Ex010 VF Parameters Errors and Warnings The LinMof amplifier firmware constantly monitors all important opera tion parameters Deviations from save operation state are indicated to the superior control system with digital outputs Warn and Fault output Error Detection Mask With the Error Detection Mask the user can decide which internal error conditions lead to ERROR state transition motor will be switched off Fault Out activated and a respective error message generated Configuration Drive x Position capturing Errors and Warnings Error detection mask Motor type mis match R Slider missing Amplifier ther mal overload IR Motor overload calculated a Motor overload temp sensor 1 Ra Signal supply too low Signal supply too high R Motor supply too low This error is set if the connected motor type does not match with the selection in the parameter tree This error is set if the amplifier can t detect a slider in the LinMof linear motor stator The temperature of the power electronics in the amplifier is monitored constantly If the VF Ampli fier is too hot it will shut down Based on the output current the amplifier estimates the actual motor temperature If the motor is too hot calculated this error is set With
45. plifier has several protection circuits to protect the amplifier motor and operator from almost any kind of fault Flashing LED show the type of fault occurred and separate outputs can be used to send signals to other equipment In addition the error or warn message can be read in plain text by using the LinMot Commander software Ergonomic design Easy configuration with Windows based software tools Easy access to connections Differential Inputs Two independent low noise differential inputs accepting 10VDC Dual mode operation The amplifier may be configured for current force or velocity control Current Limit Maximum motor current is adjustable Two different levels can be selected with a digital input Fault and Warn output Two digital outputs per motor channel monitor the status of the amplifier Polarity of these signals can be configured Short circuit protection Phase outputs are short circuit protected LED diagnostics Green LED indicates normal operation condition yellow LED indicates warnings and red LED indi cate fault conditions The yellow LED flashes in fault condition to display the actual fault Over under voltage These circuits monitor amplifier power supply volt ages constantly They will shut down the amplifier in the event of any out of specification condition Over temperature The motor and the amplifier heatsink temperature is monitored constantly The amplifier will be shut down in case o
46. ppendix the noise on the actual speed signal can be reduced For slow motions setting an Gain can be helpful If even with high P Gain value over 15A m s no acceptable following of the Actual Speed can be achieved it is advisable to add an Gain In this case start with an Gain of 30A m s s Increase this value then in steps of 10A m s s until good speed following is achieved For slow movements Gain values about 100 200A m s s are realistic Too high integral gains will lead to overshoot in velocity and position Closed Loop Position Control After the velocity control loop is tuned the superior position control loop has to be closed For tuning the position control loop follow the instructions given in the user manual of the motion controller Manual Ex10 VF Ex010 VF V2 2 Amplifier Setup With a good position controller setup positioning without over shoot is pos sible LinMot Commander 2 2 ni Eile View Window Help mci am mm Drive Actual Position mm 122 925 131 00 131 00 114 00 i E 114 00 97 00 nd 97 00 80 00 d ae 80 00 63 00 i fe un De j 53 00 oder dede 4600 29 00 eee i 3 29 00 12 00 m L4 MMeeee je j 1200 5 00 5 00 76 00 800 9200 176 00 26000 34400 428 00 Time ms 182 72 Figure 6 9 Positioning without overshoot aft
47. quencies up to 3MHz This limits the max velocity depending on the chosen resolution 3m s 1pm If Manual Ex10 VF Ex010 VF V2 2 7 2 6 Referencing Theory of Operation the encoder rate is too high a warning is issued Position increments could be lost if the allowed rate is exceeded Position accuracy can be increased by using an external position sensor incremental linear encoder connected directly to the superior position con troller With high end encoders a position repeatability better than 1um can be realized If the VF Amplifier is equipped with an MEOT Extension Module then the sig nal from an external position sensor can be used for position control Superior motion controller and speed control VF Amplifier in velocity mode See Appendix C The external sensor system MS01 which is used for the LinMot standard controllers AT MT DP and DN can not be used with the VF Amplifier Most linear positioning system including the LinMot system are based on incremental position measurement A special reference sequence is neces sary to define a reference position This reference search must be accomplished by the superior position control system LinMof actuators can be referenced against a hard stop which will cause no harm to the motor 2 7 Protection circuits LinMot amplifiers monitor all important operation parameters like supply and temperature constantly Any anormality will lead to a warning or error
48. sure good cooling For space requirements please see the following drawings Maximal power LinMoft E210 dissipation 88 E110 VF 22W 0 E210 VF 38W 100 L 50 L 50 100 507 Dimensions in mm Figure 3 2 Installation of Ex10 VF amplifier 100 Lino 2019 PS 1 Tm 100 89 Maximal power dissipation E1010 VF 55W E2010 VF 95W NA 0 50 50 Dimensions in mm 501 Figure 3 3 Installation of Ex010 VF amplifier 10 Manual Ex10 VF Ex010 VF V2 2 Installation 3 3 Electrical Connection This chapter provides the information to make all the necessary electrical connections to the amplifier Grounding IMPORTANT The housing of the LinMof amplifiers must be earth grounded The ground of the power supplies must also be connected to earth at the same single point In order to prevent any harm to the system the motion con troller has to be grounded to the same level Both the LinMot amplifier and the motion controller must be connected to ground first before any other con nections between them are installed VO Connector All I O signals are available on the 25pin Sub D style connector Connector Sub D25 female 1 Drive A Analog In Drive B Analog In 2 Drive A Analog In 15 Drive B Analog In 3 Analog GND 16 Analog GND 4 Drive A
49. tate Figure 4 6 Observing state transitions and warning error events with the Messages tool The messages stored in the nonvolatile memory are marked with logged Manual Ex10 VF Ex010 VF V2 2 23 7 LinMot LinMot Ex10 VF Ex010 VF Parameters 5 LinMot Ex10 VF Ex010 VF Parameters In this chapter you will find short descriptions of the configuration parameters Following signs are used in the tables below Read only parameter user cannot alter this parameter L Live parameter this parameter can be altered during operation This symbol indicates that the parameter is visible only under certain cumstances 5 1 System Parameters DCLV Monitoring In this folder the DC link voltage levels which can generate warnings and errors are defined Exceeding the ranges will activate the Warn Output and the Error Output if the corresponding items in the drive specific Warn and Error Detection Mask are selected see below Configuration System DCLV Monitoring Motor supply low warn Motor supply high warn Motor supply low error Motor supply high error Signal supply low warn Signal supply high warn Signal supply low error Signal supply high error When the motor supply voltage sinks below this level default 21V for Ex10 VF 42 2V for Ex010 VF the warning condition is fulfilled When the motor supply voltage exceeds this level default 50 6V for Ex10 VF 76
50. this feature crash situations can be detected faster than with the hardware sensor This item should be deselected only if this error occurs sometimes during normal operation no crashes The motor is then running near its thermal limit LinMof linear motors are equipped with integrated temperature sensors If a connected motor gets too hot this error is set and the motor channel is switched off If the signal supply voltage sinks below the defined level the drive is shut down If the signal supply voltage rises over the defined level the drive is shut down If the motor supply voltage sinks under the minimal specified level the drive is shut down Manual Ex10 VF Ex010 VF V2 2 1 Configuration Drive Warnings Error detection mask Motor supply too If the motor supply voltage rises over the maximal high specified level the drive is shut down R External position External position sensor is not available The MEO1 sensor error module not supplied or not existent at all With a 3 d m ME01 01 08 module an external position sensor is available only on channel A Master Booster An error on the booster leads to ERROR state on error the master motor 4 Re Start permission The transition to RUN state is denied if analog error command input is not in the range of 1V 1V when enable input becomes activated 1 This parameter is vis
51. to disk in Comma Sepa rated Values csv format for further evaluation e g with MS Excel Matlab etc Manual Ex10 VF Ex010 VF V2 2 7 R LinMot Commander LinMot 4 8 Messages The amplifier monitors the drive operational states and all critical parame ters constantly If one of them is out of the specification range a warning or an error message is generated and signalled to the superior control with digital I O signals The LinMot amplifiers stores events internally with a time stamp state transitions warnings errors Warnings and errors enabled in the Logging mask are also stored in the nonvolatile memory With the LinMof Com mander Message Service the events stored and logged in a LinMof amplifier can be viewed in plain text LinMot Commander 2 2 File Window Help WTE E Project BOX1 on COM1 EH Configuration Variables Monitoring Oscilloscope tem 000020 37 16 272 000020 37 16 271 DRIVE Error Motor missing Logged 000020 37 01 578 DRIVE Transition to RUN state 000020 36 56 552 DRIVE Transition to DISABLE state 000020 36 36 453 DRIVE Transition to WAIT FOR DISABLE state 000020 36 36 453 DRIVE B Transition to NO MOTOR CONFIGURED state 000020 36 36 453 DRIVE B Transition to SETUP state 000020 36 36 452 DRIVE Transition to SETUP state 000020 35 00 314 os Rebooted Logged 000020 35 00 289 os Rebooted Logged DRIVE Transition to ERROR s
52. tup In this folder the amplifier mode and control parameters are set For further description of the controller loops see chapter 6 Amplifier Mode With the Amplifier Mode parameter the user can select which servo loops are closed inside the LinMof amplifier Configuration Drive x Amplifier setup Amplifier mode Force Velocity 1 Only the current loop is closed inside the amplifier The output current is proportional to the analog com mand signal The current and velocity loops are closed inside the amplifier The velocity of the connected linear motor is proportional to the analog command signal 1 Visible only if motor type is LinMot POx Manual Ex10 VF Ex010 VF V2 2 25 LinMot Ex10 VF Ex010 VF Parameters Control Parameters Depending on the selected amplifier mode different control parameters can be set Configuration Drive x Amplifier setup Control parameters Maximum current Current offset Current limit CL Input L Current gain Velocity gain 2 Us P Gain velocity loop 2 Ue I Gain velocity loop Lis FF Acceleration Lie 2 FF Friction 2 Sets the maximum current applied to the motor This parameter also determines the maximum force the motor can provide Maximal current also depends on the motor type and supply voltage Unit A Offset current used to compensate static forces such as gravity in vertical applications
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