LinMot Drive Configuration over Fieldbus Interfaces SG5 1.0
Contents
1. NNNANS NN LAAN LinMot Drive Configuration over Fieldbus Interfaces SG5 1 0 User Manual This document applies to the following drives series A1100 C1100 C1200 E1200 E1400 ETTIDITENEE LinMot 5 c Son ET 0 2 e E ur 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 didactical use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG 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 1 2 Whp Ro May 2014 E Page 2 35 ETTTTTUEEENS LinMot Table of Content Ning ec 5 2 Firmware ParaniGue rs Ae 6 MES mr 6 2 2 Unique Parameter ID and Raw Data Value cccccccccceeceeeeeeeeeeeeeeeeeeeeeeeesneaaeeees 7 2 3 ROM a nd RAM AN issis o quince eau eit pode etate cece dtes cedit rp Rp 7 asy 8 a 2 5 32 Bit Access2. fii Unnamed Controller on COM1 x Control Panel Name Raw Data UPID Scale Offset Es Parameters Maximal Current 8000 119E 0 E os Phase Resistance 115 119F Motion Control Sw Phase Inductivity 70 1140 E Controller Configuration Force Constant 2380 11 1 7 E Motor Configuration Zero Position 650000 1142 Motor Type Shortened Stroke 1000000 1143 Motor Definitions Maximal Stroke 1000000 1144 Position Feedback Edge Force Constant 2380 1145 Commutation Monitoring Motor Hall Signals Stator Definitions Slider Definitions Flange Definitions Communication State Machine Setup raw data value Motion Interface Postion Controller Parameter ID Current Controller Errors amp Warnings number i E Fs T fr frr n HT E PROFIBUS Interface v QE Variables 3 Oscilloscopes Messages Errors ES Curves lt Configuration Path Motion Control Sw Motor Configuration Motor Definitions Zero Position Figure 2 Detailed view for parameters 2 3 ROM and RAM Value The value of any parameter is stored in the non volatile memory area of the LinMot drive ROM value During the boot up process the drive s operating system creates a copy of the non volatile memory block to its RAM memory space Thus after the drive has powered up
3. Curve Service Delete all Curves RAM c 5 c Son o 0 2 E ur NTI AG LinMot ET Page 17 35 ETCTTITENEEN LinMot 5 5 Uploading Curves from the Drive To read a curve from the drive using the fieldbus interface the following commands have to be used Curve Service Get Curve Curve Service Get Curve Info Block Curve Service Get Curve Data The curve service commands are described in the corresponding interface manuals Reading a curve is according the following scheme c 5 c Son o 0 2 E ur Figure 8 Flowchart Read Curve NTIAG LinMot Page 18 35 ETCTTITUENEN LinMot 5 6 Downloading Curves into the Drive s RAM To write a curve into the RAM of the drive the following commands have to be used Curve Service Add Curve Curve Service Add Curve Info Block e Curve Service Add Curve Data The writing of a curve is always according to the following scheme c 5 c Son o 0 2 E ur Figure 9 Flowchart Add Curve NTIAG LinMot Page 19 35 ETTTIDCTENEN LinMot 6 Command Table For programming simple sequences with decisions the LinMot drive supports the command table CT programming utility Up to 255 CT entries can be programmed The entries can be arranged in sequences and some branch possibilities are supported X LinMot Talk1100 V3 6 Beta 20060427 Z
4. Page 13 35 5 c Son ET 0 2 e E ur ETCTTITENEN LinMot 5 1 Curve Object Each curve object consists of a curve info block header and a curve data block setpoints The curve service provides commands for reading writing these blocks For further details how the curve service is implemented in the various fieldbus interfaces please consult the corresponding interface manuals Curve Info Block Byte Off Type Name E 0 1 Ulnt16 Data offset S 2 3 Ulnt16 Object type 4 5 UInt16 Number of setpoints 2 6 7 Ulnt16 Data Type size 8 8 29 String Name 30 31 Ulnt16 Curve ID l 32 35 UInt32 x Length 36 37 UInt16 XDimUUID 38 39 Ulnt16 YDimUUID 40 41 Ulnt16 Wizard Type 42 45 UInt32 Wizard Par 1 46 49 UInt32 Wizard Par 2 50 53 UInt32 Wizard Par 3 54 57 UInt32 Wizard Par 4 58 61 UInt32 Wizard Par 5 62 65 UInt32 Wizard Par 6 66 69 UInt32 Wizard Par 7 Curve Data Block 0 XXX Curve Setpoints Table 6 Curve Object Info Block and Data Block NTI AG LinMot LinMot com Page 14 35 LinMot User Manual ES 5 2 Curve Info Block 5 2 1 Data Offset The Data Offset contains the info block size information The software expects the info block to consist of 70 bytes So the first word of the info block must have the value 70 46h 5 2 2 Object Type The Object Type word consists o
5. 1000h 1EFFh 3 Interface Software 2000h 2EFFh 4 Application 3000h 3EFFh Table 3 UPID value ranges for SG5 drives The parameter definitions are stored in the drive On SG5 drives the UPID RAM ROM locations default values parameter type min max values and access rights are stored The corresponding definition files have been downloaded together LinMot com E Page 10 35 5 c Son o 0 2 E ur ETTITEEE LinMot with the firmware when the firmware was installed on the drive Information about the currently installed parameter tree files can be found in the operating system parameter tree branch LinMot Talk1100 V3 0 File Communication Controller Tools View Window Help in um kl amp a MyControleron COM x izi o Re amp n A em al VE fii MyController on COMT Y Control Panel Name Value UPID Eg Parameters File Name IntfTreeTiO0DP v350 b1 1380 os Base Name IntfTree1100DP 1400 E Hardware Sub Name 1405 Software Main Version 3 1410 Parameter Trees Sub Version 0 1411 Revision bl 1412 Tree ID 1417 z ri er rr f 3 Configuration Figure 6 Parameter tree information 5 c Son ET 0 2 fe E ur The parameter subtree e g Profibus parameter tree V3 0 etc is defined through its Tree ID Main Version and Subversion value Thi
6. Configuration Force Constant Motor Configuration Zero Position Ez Motor Type Shorlened Stroke E Motor Definitions Masimal Stroke E Position Feedback Edge Force Constant 238 N A Commutation Monitoring Motor Hall Signals a M Stator Definitions Slider Definitions Flange Definitions E Communication State Machine Setup Motion Interface Position Controller Current Controller E Errors amp Wamings E PROFIBUS Interface q Variables F Oscilloscopes Messages 2 Errors all Curves IA Owe t n pr rr Hr TH Configuration Path Motion Control SwW Motor Configuration Motor Definitions Zero Position Figure 1 Firmware parameters listed in a tree structure Page 6 35 NTIAG LinMot 5 c Son o 0 2 E ur ETTTTENEN 9 LinMot 2 2 Unique Parameter ID and Raw Data Value The value of any parameter is stored as an integer value raw data in the memory space of the drive The parameter is identified through its Unique Parameter ID UPID which is a 16 Bit integer number Both UPID and raw data value of any parameter can be displayed in the LinMot Talk parameter tree structure press Show Hide Details button Show Hide Details button LinMot Talkt 100 V3 0 d PEO SS E E
7. Data Data 4 Data Data 7 2 1 17 Command Table Get Entry Command ID 85h Word DO DI 1 Configuration Module Control Configuration Module Status 2 Entry Number Entry Number 3 Block Size 4 z 7 2 1 18 Command Table Get Entry Data Command ID 86h Word DO DI 1 Configuration Module Control Configuration Module Status 2 Entry Number Entry Number 3 Data 4 Data NTI AG LinMot Page 30 35 c 5 c Som ET 0 2 E ur TT LinMot 7 2 1 19 Command Table Get Entry List 0 7 Command IDs Word DO DI 1 Configuration Module Control Configuration Module Status 2 Offset in bytes 3 Bit field Bit set undefined Bit cleared used 4 Bit field Bit set undefined Bit cleared used c 5 c Son o 0 2 E ur NTI AG LinMot E Page 31 35 ETTITENEN LinMot 8 PVL Data Format The parameter settings curve profiles and command table of a LinMot drive can be exported together with other data parameters oscilloscope settings as a configuration file ending Imc with the LinMot Talk software The configuration file can then be imported to other drives again under usage of the LinMot Talk software Some users of the LinMot drives want to store the parameter setup and or curves in their main machine controller PLC IPC as
8. The Curve ID must be unique Allowed values are 1 100 0001h 0064h 5 2 7 X Length The X Length defines the base length of the curve profile 5 c Son o 0 2 E ur Position vs Time Curve Time 10us Cam profiles Pos vs Enc Pos Encoder Pos Increments 5 2 8 X Y Dimension UUID The following Unique Unit IDs UUIDs are supported Unit Scaling Description 0005h 0 1 um 21 107m Standard Linear Position Unit 001Ah 0 01 ms 1 10 s Standard Curve Time Unit 001Bh Standard Encoder Position Unit Table 8 Unit Definitions According to the table above the following values are correct Position vs Time Curves XDimUUID 001Ah YDimUUID 0005h Cam Profiles XDimUUID 001Bh YDimUUID 0005h 5 2 9 Wizard Information The wizard information wizard type amp wizard parameters is used only by the LinMot Talk software All those bytes should be set to 0x00 for curves which are not generated with the LinMot Talk curve tool LinMot com E Page 16 35 ETCTTTENEEN LinMot 5 3 Curve Data Block The curve data block contains the setpoints Y dimension The size of the block is No Of Setpoints Data Type Size The setpoints are equally spaced over the x length The x dimension equidistance is x Length No Of Setpoints 1 5 4 Erasing all curves from the Drive s RAM All curves in the RAM of the drive can be deleted by the following command
9. a simple value list So they don t need any PC tools for configuration of drives when they produce series of the same machine type or when they have to replace a drive in the plant Beside the possibility of exporting configurations in LMC file format the LinMot Talk software allows to save the setup into a simple text file Data is stored in an easy interpretable comma separated value format The file has the extension pvl Parameter Value List A simple parser can convert the text file data into the customer specific data format 5 c Son o 0 2 E ur LinMot Talk1100 V3 0 B20050303 File Options tire Tools View Window Help 32 on Cah EO x S E Ga A cv vix Value Figure 11 Export Raw Data The LinMot Talk software offers selective export of configuration data If All Parameters is selected all parameters are listed in the export file hundreds of parameters most of them are not used or set to their default value If Changed Parameters is selected the resulting file will be much smaller Only parameters which have been changed during the setup process and therefore are relevant for the application are listed in the file Only curves that are selected will be stored to the file LinMot com E Page 32 35 ETTITENENS LinMot FileType PVL FormatVersion 1 lt PVL File Header Start of Parameter Data Object parameter
10. for any Parameter Type eese 9 S 3 Firmware Layer Conceptor eain akana eaaa aaa M 10 4 Parameter Configuration Compatibility Rules eene 12 o uE T D E 13 3 SEU R e eer eee Samer Ree ge ele re rae eee eee ere 14 5 2 CG rve INIO BIOCK ce cs 15 ore nnnm 15 S 5 2 2 Object Type eroas me en aan a aE EEA A E EA TARE ESE E E eee ere 15 5 2 3 N mber or SetpollWS s22 322 2 222 suse cao cds Sad vaio ranee aee Ea cui eaS KiS REE SEE 15 924 Data TYPE SIZE De e P nM 15 SELBE 16 5 2 0 C rve D eT 16 SRL ER si eT errea iaee enia eE ee Oe ere Cee EERE E 16 5 2 0 AY Dimension VUI Dieiis ts 16 5 2 9 Wizard INformatioN cm 16 5 3 C rve Data BlOCK Pcr 17 5 4 Erasing all curves from the Drive s RAM sssee 17 5 5 Uploading Curves from the Drive cocco rice tin nens 18 5 6 Downloading Curves into the Drive s RAM seeseeenmee 19 Xe nuu rm ai 20 6 1 Command Table Entry Format eese 21 7 Real Time IO Configuration Module eeeeeeeeeeneeeeeeeeeennnnn nennen 22 7 1 Configuration Module COTCIlrol cesses ee pac oot rta nna eer esp aet Seen open E Eee 22 1 1 1 Command CO Nt m 22 7 1 2 Parameter Command ID sssssseeeeeesseseeerrereresserrrrrrrrrtsserrtetttttettesssssneennennnn nenn 23 7
11. parameters E1200 and E1400 drives provide resetting the parameters to their default values over fieldbus interfaces Resetting to default value is possible for single parameters via UPID or for all parameters of any firmware layer at once see below E Page8 35 ETTTTENEEN LinMot 2 5 32 Bit Access for any Parameter Type The whole configuration consists of parameters of different types bit byte 16bit integer 32bit integer and string parameters In order to keep the interface as simple as possible any parameter can be accessed as a 32bit integer value The drive s operating system will filter out the relevant number of bits for each parameter Since string parameters can be longer than 4 characters 4 Bytes a single 32bit integer value is not sufficient to define a general string Therefore strings are handled in a special way n the LinMot Talk software to each string parameter one single UPID is shown Internally the string is split into parts so called stringlets of 4 characters 4 bytes 32 bits e Each stringlet has its own UPID The UPID of the first stringlet is the string UPID plus 1 the UPID of the second stringlet is the string UPID plus 2 and so on 5 c Son ET 0 2 fe E ur The following example shows the principle of converting strings to raw data values Example Writing the string X Axis Left to the parameter User Comment LinMot Tal
12. 00F4240h dE EndData EndObject lt j End of Curve Object Figure 13 Example of a PVL data file with a Curve Object LinMot com Page 34 35 5 c Son ET 0 2 fe E ur ETITTENEN LinMot 9 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration 41 0 56 419 91 91 office linmot com Tech Support 41 0 56 544 71 00 g support linmot com 5 Tech Support Skype skype support linmot 2 c Fax 41 0 56 419 91 92 ur Web http www linmot com USA LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration 877 546 3270 262 743 2555 Tech Support 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www linmot usa com Please visit http www linmot com to find the distributor closest to you Smart solutions are www LinMot com NTIAG LinMot LinMot com ET Page 35 35
13. 2 Configuration Module SU cise sec ccsavesd caecepeta en crate ceretensceelantiast ee rnrn nnne nne 25 7 2 1 Overview Configuration Module Return Status Values s 25 7 2 1 1 Overview Parameter ACCOSS cc cceceeneeeceeseeeeeeeeeeereneesneneeeeeeeenennees 26 T2 02 Overview Curve SOCIIS sche chet use ee tele eee aha 26 21 3 Start g tting UPID LISt cr Em 26 12 14 Get next UPID LIST IEM Rm 27 7 2 1 5 Start getting Modified UPID List Command ID 22h 28 7 2 1 6 Get Next Modified UPID List Item Command ID 23h 28 7 2 1 7 Get Error Log Entry Counter Command ID 70h sessssss 28 7 2 1 8 Get Error Log Entry Error Code Command ID 71h 28 7 2 1 9 Get Error Log Entry Time Low Command ID 72h ssse 28 7 2 1 10 Get Error Log Entry Time High Command ID 73h sssse 29 7 2 1 11 Get Error Code Text Stringlet Command ID 74h 29 7 2 1 12 Command Table Save To Flash Command ID 80h 29 7 2 1 13 Command Table Delete All Entries RAM Command ID 81h 29 7 2 1 14 Command Table Delete Entry Command ID 82h 30 7 2 1 15 Command Table Write Entry Command ID 83h 30 NTIAG LinMot Li
14. 33 Project Bii Unnamed Controller on COM1 di Z x Y Control Panel Hane Es Parameters FF Constant Force E 0 FF Friction E Motion Control Sw FF Spring Compensation Controller Configuration FF Damping D A m s Motor Configuration FF Acceleration 0 021 A m s 2 State Machine Setup Spring Zero Position Omm Motion Interface P Gain 1A mm r rr or m 1 Psion Controller D Gain 3 m s rue ix I Gain D A mm s E Eti Par Set electio Intergrator Limit 8A E Control Paramet il Cuirent B E Control Paramet f Advanced Settings Current Controller Errors amp Warnings z PROFIBUS Interface Variables Messages The RAM value of live parameters marked with a superscript L can be altered at run time Figure 3 Live Parameters marked with a superscript L Changes to ROM values don t affect the system behavior until the next firmware startup e g after a software reset initiated by the superior control system or stop start from the LinMot Talk software 2 4 Default Value Beside the actual RAM and ROM value each parameter has its default value The default value is displayed in the detailed parameter view of the LinMot Talk software During firmware installation the ROM values are set to the default values of the corresponding
15. B xj File Search Controler Services Options Window Tools Manuals Help D3 SAS AlMaine P NO X vtS EGAdSIE O E Project ig z 2 2 CHER My Box ID 170nCAN Delete All Upload Download Control Panel E t Parameters Entry ID 4 V Auto execute new command on next cycle H Variables Entry Name ID of Sequenced Entry 5 gt Unnamed i Oscilloscopes 3 Messages Motion Command Category Variable Parameter Access E Errors Motion Command Type White Interface Control Word zu ail Curves Interface Control Word Part Pos 0 mm Vet 0 1 m s Pos 100 mm Vek 0 5 m s xd Cir ODDO ad d Cut 003Fh one d Cu 083Fh None 5 c Son o 0 2 E ur Command Table 4 255 Figure 10 Command Table within LinMot Talk The CT entries can be accessed by the motion control firmware through corresponding motion commands or through digital IOs The firmware uses the table data that is located in the RAM memory space of the drive The CT can be stored permanently into the flash memory as well At boot time the operating system copies the entire CT from the flash memory to the RAM If the CT entries are generated and downloaded using the LinMot Talk software they are always stored into RAM and flash memory permanently saved It is also possible to download or modify CT entries in the drive over a fieldbus Then it is necessary to have the CT entry d
16. ata stored in the superior machine controller There are three ways to bring the entry data to the LinMot drive 1 The CT entries are created and downloaded to a drive by using the LinMot Talk software Afterwards the CT entry data can be uploaded from the drive over the fieldbus interface using the CT service 2 The CT entries are created and then exported to a raw data file PVL file using the LinMot Talk software This generated file can be loaded to the main controller 3 The CT entry data is fully generated by the main machine controller without using the LinMot Talk command table editor NTIAG LinMot LinMot com Page 20 35 ETITTTENEEN LinMot 6 1 Command Table Entry Format Each CT entry consists of one bit in a presence list bit O entry exists and a command table entry data block of 64 bytes size The CT service provides commands for reading writing those blocks For further details how the CT services can be used for reading and writing CT entries over a fieldbus interface please consult the corresponding interface manual Byte Off 00h 03h Bit field for entries 1 31 Bit O entry exists 04h 07h Bit field for entries 32 63 O8h 0Bh OCh 0Fh 10h 13h 14h 17h 18h 1Bh Table 9 Command Table Entry Saving Format 5 c Son ET 0 2 fe E ur Byte Off 00h 01h Command entry Version ID fix A701h 02h 03h Linked Command Entry ID IDZFFFFh not linked 04h 05h Motion Co
17. e P01 EndData EndObject Figure 12 Example of a PVL data file with Parameter Data Objects Page 33 35 FileType PVL FormatVersion 1 LinMot User Manual StartObject Curve lt 4 Start of Curve Object CurveName Example Curve Start of Curve Info Block Info Block Column Definition CurvelD 23 InfoBlockByteSize DataBlockByteSiz 40 StartInfo Data Offset 70 0046h Object Type 0003h uc ae 00030046h 0004000Ah 44 No Of Setpoints e g 10 000Ah Data Type Size 4h 6D617845h 5F656C70h 76727543h 22 Bytes for Curve Name 4 00000065h Curve ID e g ID 23 0017h 00000000h 0017 h 00004E20h44 x Length e g 200ms 20000 00004E20h 0005001Ah qq E200301h XDimUUID e g 001Ah YDimUUID e g 0005h 00000000h 42400000h 0000000Fh 4 amp 4 Wizard Info 00000000h 00000000h 00000000h End of Curve Info Block Sy la EndInfo StartData lt ___ Start of Curve Data Block GColl Value 00000000h Data Block Column Definition 000075CAh 0001C8F2h 0003D090h 44 4 Curve Setpoints 00064DF8h 0008F448h 000B71B0h 000D794Eh 000ECC76h End of Curve Data Block 0
18. each parameter has two memory locations and values one in the ROM the other in the RAM The firmware uses at run time exclusively the RAM values of the parameters in its control tasks fast data access The drive s operating system and the fieldbus interfaces provide independent access to ROM and RAM values When parameters are altered using the LinMot Talk software the ROM and or the RAM value are affected When live parameters are changed then the LinMot Talk4 software writes to ROM and RAM memory Dy Page 7 35 NTIAG LinMot 5 c Son ET 0 2 e E ur ETTIDTENES LinMot Non Live parameters are written only to ROM and are copied to RAM at next firmware start The LinMot Talk software reads and displays the ROM values It reads the parameter values only once during the login process The PC software allows altering non live parameters only if the firmware is stopped Over the fieldbus interface the RAM value of non live parameters cannot be changed Changing the ROM value is possible even when the firmware is running except for read only parameters Changing the RAM value of a parameter immediately influences the system behavior when the firmware is running e g control parameters of the position control loop LinMot Talk1100 V3 0 5 c Son ET 0 2 fe E ur D e Eal a unsnedConleonctv P Ii 5 S Y GE ES 3 A ET E
19. f four nibbles 1 nibble 4 bits lowest nibble Object Version must be 3 lower middle nibble Type of Object Curve Oh higher middle nibble X dimension Code highest nibble Y dimension Code Curve Info Block Object Type Type amp Version m 7 eT Oh yeu 3h m Curve Version 3 x X amp Y Y dimension code X dimension code dimension codes 0 Position 0 Time 1 Velocity 1 Encoder Pos 2 Current Increments 3 Encoder Pos 2 Position Increments 4 Encoder Speed 5 MicroSteps Table 7 Curve Info Block Object Type According to the definitions above the Object Type has the following value Position vs Time curve 0003h e Cam profiles Pos vs Enc Pos 0103h Other object types are not supported yet 5 2 3 Number of Setpoints The number of setpoints of the profile is given as 16bit value The minimal number of setpoints is 2 5 2 4 Data Type Size This value defines the size of one setpoint Position values are defined in 32bit format 32bit 4 bytes Page 15 35 NTI AG LinMot c 5 c Son o 0 2 E ur TT LinMot 5 2 55 Name In order to make identification easier a descriptive name can be defined e g Fast Move Out or Retraction 22 bytes are reserved for the name string The string is terminated with OOh If the profile is machine generated PLC Program etc the name space will be typically filled with OOh 5 2 6 Curve ID
20. h firmware layer a Check Value Rule Tree ID Tree ID of the source file and target system must be the same e g it is not possible to download a DeviceNet setup onto a drive with Profibus interface firmware installed Tree Main Version The source file parameter tree must have the same Main Version as the tree installed on the target system Tree Sub Version The Sub Version of the source must be the same or smaller than the corresponding value of the target system backward compatibility within main version Table 5 Compatibility Rules for SG5 drives LinMot com E Page 12 35 ETTITTEEE LinMot The drives can store up to 100 curves which can be generated and downloaded by the LinMot Talk Software The curves are identified by their ID 1 100 X LinMot Talk1100 3 0 B20050301 1 gt B Gl x File Communication Controller Tools View Window Help m cB Son CAN gt E eo NC Raa A a Ep Project em E foo fu V dh 3 on CAN y dimension Control Panel EN Eg Parameters 4 typically position H E 0s Linear Position mm Position mm H E Motion Control Sw 109 00 7 109 00 E PROFIBUS Interface Dis Enable 90 00 Node Address Byte Order Diagnose Priority POD tra uii pensas ie aa a asesor 71 00 E Monitoring Channels f H e Variables Oscilloscopes Messages Errors 33 00 p praris peT d Te meneseses 33 00 eH Curves Push 1 Push 2 5i Push com
21. ion Module Control Configuration Module Status 2 Error Code Error code 3 Stringlet Number 0 7 Stringlet Byte 0 and 1 4 Stringlet Byte 2 and 3 7 2 1 12 Command Table Save To Flash Command ID 80h Word DO DI Configuration Module Control Configuration Module Status B E UNI For this command the MC software must be stopped with command 35h Stop MC and Application Software The Fieldbus Interface will stay active while the MC software is stopped 7 2 1 13 Command Table Delete All Entries RAM Command ID Word DO DI 1 Configuration Module Control Configuration Module Status 2 3 4 NTIAG LinMo D Page 29 35 c 5 c Son o 0 2 E ur LinMot User Manual E amp LinMot 7 2 1 14 Command Table Delete Entry Command ID 82h Word DO DI 1 Configuration Module Control Configuration Module Status 2 Entry Number Entry Number 3 4 7 2 1 15 Command Table Write Entry Command ID 83h Word DO DI 1 Configuration Module Control Configuration Module Status 2 Entry Number Entry Number 3 Block Size even number of bytes Block Size 4 7 2 1 16 Command Table Write Entry Data Command ID 84h Word DO DI 1 Configuration Module Control Configuration Module Status 2 Entry Number Entry Number 3
22. k1100 V3 7 Beta 20071113 Eom vs ES SACS Q A eR X Axis Left SXE Name Value UPID Type Min Max O3E8h String 32 Characters 3F2h String 32 Characters i E rn MyController on COM1 Control Panel gt Parameters Controller Name MyController os User Comment X Axis Left E Hardware E Hardware Software E Software Parameter Trees E Parameter Trees Communication E Communication Passwords E Passwords Special Function Parameters E Special Function Parameters Motion Control Sw CANopen Interface sje Parameters Path tOSlUser Comment Figure 4 String parameter example for E1200 see UPID OS3F2h The following table shows how the stringlet UPIDs and the corresponding 32bit integer values are determined Stringlet X Ax is L eft Parameter UPID O3F3h O3F4h O3F5h Ordinal 1st Char Ord X 58h Ord 1 69h Ord e 65h Ordinal 2nd Char Ord 20h Ord s 73h Ord f 66h Ordinal 3rd Char Ord A 41h Ord 20h Ord t 74h Ordinal 4th Char Ord x 78h Ord L 4Ch 00h Parameter Value 78412058h 4C207369h 00746665h Table 1 String access over stringlets Page 9 35 ETITITTENEEN LinMot 3 Firmware Layer Concept Layer The firmware on the drive consists of up to four layers Name Layer Functionality 1 O
23. lt 7 2 1 6 Get Next Modified UPID List Item Command ID 23h Word DO DI 1 Configuration Module Control Configuration Module Status 2 UPID found 3 Data Value Low 4 Data Value High 7 2 1 7 Get Error Log Entry Counter Command ID 70h Word DO DI 1 Configuration Module Control Configuration Module Status 2 3 Number of Logged Errors 4 Number of Occurred Errors 7 2 1 8 Get Error Log Entry Error Code Command ID 71h Word DO DI 1 Configuration Module Control Configuration Module Status 2 Entry Number 0 24 Entry Number 3 Logged Error Code 4 7 2 1 9 Get Error Log Entry Time Low Command ID 72h Word DO DI 1 Configuration Module Control Configuration Module Status 2 Entry Number 0 24 Entry Number 3 Entry Time Low Word 4 Entry Time Mid Low Word NTI AG LinMot E Page 28 35 c 5 c Som ET 0 2 E ur LinMot User Manual E 7 2 1 10 Get Error Log Entry Time Hic Word DO DI 1 Configuration Module Control Configuration Module Status 2 Entry Number 0 24 Entry Number 3 Entry Time Mid High Word 4 Entry Time High Word The Error Log Entry Time consists of 32Bit hours Time High and 32Bit ms Time Low 7 2 1 11 Get Error Code Text String Command ID 74h Word DO DI 1 Configurat
24. mmand Header 06h 25h Motion Command Parameters 26h 35h Entry Name 0 terminated string with up to 16 characters 36h 3Fh Reserved for further use Table 10 Command Table Entry Data Block Format For reading a CT entry the start reading entry with ID command returns the data block size in bytes 40h After this command a read command can be repeated until the whole data block is read out For writing a CT entry start with a command which defines the ID and the data block size after this repeat writing the data with a command until the whole data is written If this is done correctly the bit in the presence list will be cleared For modifying a single motion command parameter during runtime a motion command exists with ID write offset and data as parameters Page 21 35 ETTTITENEN LinMot 7 Real Time IO Configuration Module The Configuration Module module allows access to parameters variables curves error log and command table Also restart start and stop of the drive is possible Of course the Configuration Module module works independently from the MC Interface For this reason changing a parameter and sending a motion command can be done in parallel WONDER Configuration Module Control Configuration Module Status 2 Argument meaning depends Argument meaning depends on Cmd ID on Cmd ID Argument meaning depends Argument meaning depends on Cmd ID on Cmd ID on Cmd ID 7 1 Configuration Module Contr
25. nMot com Page 3 35 ETTITEEES LinMot 7 2 1 16 Command Table Write Entry Data Command ID 84h 30 7 2 1 17 Command Table Get Entry Command ID 85h suuuuuse 30 7 2 1 18 Command Table Get Entry Data Command ID 86h 30 7 2 1 19 Command Table Get Entry List 0 7 Command IDs 87h 8Eh 31 8 PVL D ta Format Mee c 32 9 Contact noL o 35 NTIAG LinMot Ds Page 4 35 5 c Son ET 0 2 fe E ur ETTTITENEENNE LinMot 1 Introduction Users of LinMot drives can easily setup their drive by using the LinMot Talk software Beside other functionality firmware download monitoring PLC emulation etc the LinMot Talk software is used for altering the firmware configuration parameters for creating and up and downloading of curve profiles Most of the LinMot drives are equipped with a fieldbus interface to the superior control system PLC IPC This interface is used for controlling the drive under normal operation conditions read write of control and status word sending motion commands etc If the LinMot drive uses a fieldbus connection for the communication to the superior control system PLC IPC then the same fieldbus interface can be used for configuration purposes via PLC as well The following fieldbus interfaces are supported PROFINET EtherCAT sercos POWERLINK E
26. ol Parameter Command ID to be executed Reserved Command Count 15 14 113 12 111 10 9 8 7 6 5 4 3 2 1 0 c 5 c Son o 0 2 E ur The Configuration Module Control is split in two parts Parameter Command ID to be executed bits 8 15 see table Command ID Command Count bits 0 3 7 1 1 Command Count A new command is only evaluated if the value of the command count changes In the easiest way bit 0 could be toggled a Page 22 35 NTIAG LinMot ETCUTITENEN LinMot 7 1 2 Parameter Command ID This selects the command Configuration Module Command ID List Command ID Description 00h No Operation Parameter Access 5 10h Read ROM Value of Parameter by UPID 11h Read RAM Value of Parameter by UPID o 12h Write ROM Value of Parameter by UPID j 13h Write RAM Value of Parameter by UPID 14h Write RAM and ROM Value of Parameter by UPID 15h Get minimal Value of Parameter by UPID m 16h Get maximal Value of Parameter by UPID 17h Get default Value of Parameter by UPID Parameter UPID List 20h Start Getting UPID List 21h Get next UPID List item 22h Start Getting Modified UPID List 23h Get next Modified UPID List item Stop Start Default 30h Restart drive Recommended with Command Count 0 31h Set
27. parameter ROM values to default OS SW 32h Set parameter ROM values to default MC SW 33h Set parameter ROM values to default Interface SW 34h Set parameter ROM values to default Application SW 35h Stop MC and Application Software for Flash access 36h Start MC and Application Software Curve Service 40h Save all Curves from RAM to Flash 41h Delete all Curves RAM 50h Start Adding Curve RAM 51h Add Curve Info Block RAM 52h Add Curve Data RAM 53h Start Modifying Curve RAM 54h Modify Curve Info Block RAM 55h Modify Curve Data RAM 60h Start Getting Curve RAM 61h Get Curve Info Block RAM 62h Get Curve Data RAM NTIAG LinMot Page 23 35 ETTITTEEE LinMot Error Log 70h Get Error Log Entry Counter 71h Get Error Log Entry Error Code 72h Get Error Log Entry Time low 73h Get Error Log Entry Time high 74h Get Error Code Text Stringlet Command Table E 80h Command Table Save to Flash 5 81h Command Table Delete All Entries RAM 82h Command Table Delete Entry D 83h Command Table Write Entry 84h Command Table Write Entry Data z 85h Command Table Get Entry 5 86h Command Table Get Entry Data 87h Get Presence List of Entries 0 31 from RAM 88h Get Presence List of Entries 32 63 from RAM 89h Get Presence List of Entries 64 95 from RAM 8Ah Get Presence List of Entries 96 127 from RAM 8Bh Get Pre
28. perating System Resource Management Communication with LinMot Talk Start Stop of the other SW layers Parameter Variable Service Oscilloscope Service Message Error Service Motion Control Software Current Control Loop Position Control Loop Set Value Generation Monitoring Interface Software Communication to superior control system e g via PROFINET EtherNet IP Profibus CANOpen DeviceNet LinRS etc Application Customized firmware extensions Table 2 The four firmware layers Each firmware part has its own parameters located in a separate branch of the parameter tree X LinMot Talk1100 V3 7 Beta 20071113 File Search Controller Services Options Window Tools Manuals Help D5 cha s S Unnamed on COM1 x Wo dB x T E gArfE O ai x Mili Unnamed on COM1 X Control Panel Value UPID Type Min z Os Motion Control SW CANopen Interface Easy Steps Motion Control SW CANopen Interface E Easy Steps CQ Variables Oscilloscopes Messages Errors E Curves Command Table Parameters Figure 5 Parameter tree with branches for the different firmware layers On SG5 drives each firmware layer has its own range of UPIDs for its parameters and variables Layer Name UPID Range 1 Operating System 0000h 0EFFh 2 Motion Control SW
29. plete on C n e a a sm 5200 4 ite tedee3l RI 52 00 1400 4 4 eee bee 14 00 5 00 5 00 000 200 00 40000 60000 80000 1000 00 1200 00 x dimension Time ms typically time Figure 7 Curves within LinMot Talk The curves which can be accessed by the motion control firmware through corresponding motion commands are located in the RAM memory space of the drive They can be permanently stored into a flash memory block as well At boot time the operating system copies the curve data from the flash memory to the RAM memory block The curve profiles which are generated and downloaded using the LinMot Talk software are always stored to RAM and flash memory permanently saved It is also possible to download curves to the drive over the fieldbus Then it is necessary to have the curve objects stored in the superior machine drive There are three ways to bring the profiles there 1 The curves are created and downloaded to a drive with LinMot Talk Then the curve objects can be uploaded from the drive over the fieldbus interface using the curve service 2 The curves are created and then exported to a raw data file PVL file using the LinMot Talk software Then the PVL file can be loaded to the main drive 3 The curve object is fully generated by the main machine controller without using the LinMot Talk curve tool LinMot com
30. s information can be captured by reading out the values of the parameters with UPID according to the following table These parameters are used to perform compatibility tests before parameter configurations are downloaded to drives see below Layer Tree ID UPID Main Version UPID Sub Version UPID 10S 0539h 0532h 0533h 2MC SW 056 1h 055Ah 055Bh 3 Interface SW 0589h 0582h 0583h 4 Application 05B1h 05AAh O5ABh Table 4 UPID value of tree identification of the different SW layers LinMot com E Page 11 35 TT LinMot 4 Parameter Configuration Compatibility Rules The current parameter configuration can be stored into a PVL file This text file contains the parameter UPID and value in an easy to interpret list This parameter list can easily be stored in a superior machine controller PLC IPC and downloaded to any drive of the same type if necessary Besides the parameters raw data the PVL file contains additional information about the system on which the PVL file was created 3 Before complete parameter configurations are downloaded from the superior machine control system to the LinMot drive it is recommended to perform some T compatibility checks With these checks it can be ensured that the configuration 3 stored in the superior control system source file is fully compatible with the 5 firmware installed drive target system s c The following rules must be considered for eac
31. s of one firmware layer StartObject Parameter GTreeFileName OSTREE110008 V350 bl TreeLayer 1 TreeID 1 MainVersion 3 Parameter Compatibility SubVersion 0 check information Revision bl StartData Coll UPID Col2 Value Col3 Caption Col4 caledValue Unit 03E9 6F43794D OSNDrive Name 1 MyCo 03EA 6F72746E OS Drive Name 2 ntro 03EB 72656C6C OS Drive Name 3 ller 03EC 00000000 0S Drive Nam 03ED 00000000 0S Drive Nam O3EE 00000000 0S Drive Nam O3EF 00000000 0SNDrive Nam 03F0 00000000 0S Drive Nam 03F3 78412058 0SNUser Comm 03F4 4C207369 0SNUser Comm 03F5 00746665 0SNU m 03F6 00000000 0S U m m m m m Data List Column Definition 5 c Son ET 0 2 fe E ur _1 X Ax Data List most lt important is the UPID and the Value Column N Co mp rh o ct E 03F7 00000000 0SN 03F8 00000000 0SN 03F9 00000000 0S U O3FA 00000000 0S U End of Parameter EndData d Data Object QEndObject OANA Owes terete terete tte woannons StartObject Parameter TreeFileName MCTREE1100DSW4 HC V3S0 b1 TreeLayer 2 TreeID 4612 MainVersion 3 SubVersion 0 Revision bl StartData Coll UPID Col2 Value Col3 Caption Col4 ScaledValue Unit 1194 00000002 Motion Control SW Motor Configuration Motor Typ
32. sence List of Entries 128 159 from RAM 8Ch Get Presence List of Entries 160 191 from RAM 8Dh Get Presence List of Entries 192 223 from RAM 8Eh Get Presence List of Entries 224 255 from RAM LinMot com Page 24 35 ETCTTTENEEN LinMot 7 2 Configuration Module Status Parameter Status Reserved Command Count Response 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The Configuration Module Status is split in two parts E Parameter Status bits 8 15 see table Parameter Status amp Command Count Response bits 0 3 Echo of Command Count of Control o Word for Handshaking 5 7 2 1 Overview Configuration Module Return Status Values Status Return Value Description E 00h OK done 02h Command Running Busy 04h Block not finished Curve Service 05h Busy COh UPID Error Cih Parameter Type Error C2h Range Error C3h Address Usage Error C5h Error Command 21h Get next UPID List item was executed without prior execution of Start Getting UPID List C6h End of UPID List reached no next UPID List item found DOh Odd Address D1h Size Error Curve Service D4h Curve already defined Curve not present Curve Service NTI AG LinMot EV Page 25 35 LinMot User Manual E 7 2 1 1 Overview Parameter access Word DO DI 1 Configuration Module Con
33. therNet IP Profibus DP CANOpen DeviceNet RS232 and RS485 using LinRS protocol This document describes in general the access to the configuration parameters and the curve data over fieldbus interfaces Detailed information about how data access is implemented in the respective interfaces can be found in the corresponding interface user manuals NOTE The drive series A1100 C1100 C1200 E1200 and E1400 differ in some functions from each other If nothing is indicated the behavior is the same 5 c Son o 0 2 E ur LinMot com ET Page 5 35 LinMot User Manual E amp 2 Firmware Parameters 2 1 Overview The LinMot drive firmware has to be configured through its parameters in order to meet the needs of the application where the servo system has to be integrated Typical examples of firmware parameters that must be set during the commissioning process are motor definition parameters position control parameters etc The easiest way to alter parameters is to use the LinMot Talk software tool The software displays the parameters in a comfortable tree structure Most of the parameters are displayed as a scaled value with the corresponding physical unit LinMot Talkc 100 V3 0 ha E al eb B Unnened Contolera Po lt YQ aoa fi Unnamed Controller on COM1 afs Y Control Panel Name Eg Parameters Maximal Current as Phase Resistance Motion Control SW Phase Inductivity Controller
34. trol Configuration Module Status 2 Parameter UPID Parameter UPID 3 Parameter Value Low Parameter Value Low 4 Parameter Value High Parameter Value High 7 2 1 2 Overview Curve access Word DO DI 1 Configuration Module Control Configuration Module Status 2 Curve Number Curve Number 3 Data Value Low Info Block size Data Value Low Info Block size 4 Data Value High Data Block size Data Value High Data Block size 7 2 1 3 Start getting UPID List Word DO DI 1 Configuration Module Control Configuration Module Status 2 Start UPID search from this UPID 3 z 4 NTI AG LinMot Page 26 35 c 5 c Som ET 0 2 E ur ETTITEEEB S LinMot 7 2 1 4 Get next UPID List item Word DO DI 1 Configuration Module Control Configuration Module Status 2 UPID found 3 Address Usage 4 E Address Usage Life Parameter ROM Write ROM Read RAM Write RAM Read N Not used for Hash calculation 15 14 13 11 10 NTIAG LinMot 3 Page 27 35 5 c Son o 0 2 E ur LinMot User Manual E 7 2 1 5 Start getting Modified UPID List Command ID 22h Word DO DI 1 Configuration Module Control Configuration Module Status 2 Start UPID search from this UPID 3 4
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