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Release 1.3 - Instrumentation Projects

1. PC PLC vcc r 1 750 Ohm RX i e o RX gt gt S 5 750 Ohm L itr GND Ea 2 750 Ohm TX b r TX t 750 Ohm vcc TX TX GND RX RX TX TX GND RX RX RS485 Interface RS485 Interface LinMot E Slave 1 LinMot E Slave 2 Figure 8 4 Half duplex cabling with RS485 PC PLC vec L 750 Ohm A 2 W B m 2 750 Ohm GND eo l TX TX GND TX TX GND RS485 Interface RS485 Interface LinMot E Slave 1 LinMot E Slave 2 Figure 8 5 Half duplex cabling with RS485 Starting up The following steps show how a servo controller is started up in conjunction with the ASCII protocol Configure the servo controller in accordance to the user manual chapter 5 1 2 RS232 or chapter 5 1 3 RS485 It is import to set the ID of the servo controller The new ID is recognized only when the servo controller is 1 powered up or started from the LinMo Talk Start LinMof Talk and parameterize servo controller in accordance to the user manual chapter 5 1 1 Quit LinMof Talk 4 Start using the ASCII protocol e g with the Hyperterminal program of the windows platforms 115 Warning You may not use the backspace or delete keys while using a terminal pro gram to send commands to the servo controller 116 User Manual Rel
2. Ge Edit Multi Trigger Table x Active Input Signals DCBA X Tri 4 aba 0 0 rigger X Trigger C 1 1 Goto next state IX Trigger D 2 2 Goto previous state 3 3 Repeat actual state im Active Trigger Signals 4 4 4 Goto state lt amp Higi 5 5 Goto state x amp IX Trigger B I Trigger C 6 6 Goto state zi amp I Trigger D 7 7 Goto state 2 amp 8 8 Goto state amp gt Name A Multiqaer Tabl g 9 Goto state ultrigger Table A Goto state He amp Print B Goto state ze amp Ie Goto state xP G D Goto state gt G Goto state z amp F Goto state z ns Settings State Table Figure 2 10 Settings The Active Input Signals define which input signals are controlled by the master control system If all four input signals are activated sixteen input com binations are possible 0 15 for which an appropriate command must be defined in the command table Important The activated trigger signals are active only in the RUN operating state If the trigger inputs are needed for initializing they must be activated in the parameter inspector under System lO Configuration Through the fields of the Active Trigger Signals the input signals are selected whose change of level will cause the appropriate command to be executed With the adjustment in the right of the illustration the levels of input signals C and D may change without a new command being executed Only with a change o
3. Figure 2 5 Programming the motion sequences with a LinMof MT servo controller Plotted on the right are the motion profiles of motion sequence O state 1 These are to be understood as follows motors B motion profile 2 and C motion profile 3 move the container and lid respectively to the working posi tion a At the same time motor A motion profile 1 moves vertically to the lid b presses this into the container and then withdraws to its home position b to c Motor B motion profile 2 then ejects the container onto the indexing table c to d The motion sequences state 2 and state 3 define the positions of the motors in emergencies and during maintenance respectively Summary Together with direct linear motors and stepper motors the Multitrigger con cept enables complex mechatronic function units to be achieved in simple fashion The essential feature is the relieving to a large extent of the higher level overall control system PLC PC so that a simple and low cost configu ration is made possible User Manual Release 1 3 a MT Servo Controller Setup and installation Li n M ot 2 2 Setup and installation User Manual Release 1 3 In this section the control of the LinMof MT servo controller by a master con trol system will be explained in detail The Multi Trigger servo controller of the Ex00 MT and Ex000 MT series may be operated in the Multi Trigger or Analog Trigger mode Operation in Mul
4. 5 Curve No Operati Curve number 3 Stop Stop Acc 10 014 m s 2 Ace 10 014 EnaA Ha Figure 2 8 Controlling individual states If the input signals change to an input combination for which the No operation command is defined the current state is retained If the movement of the current state is not completed yet the movement com menced is ended as defined in the current state If the input signals change to an input combination for which the Goto next state command is defined the state following the current one is executed In table 2 1 Resulting movements on page 21 it will be seen what move ments result when Goto next state is called during a movement in progress of the previous state If the input signals change to an input combination for which the Goto previ ous state command is defined the state preceding the current one is per formed If the movement of the current state is not yet completed the resulting move ments may be obtained from the table above Movement started Movement called Resulting movement Abs Position A No Operation Abs Position A Abs Position B Abs Position B Rel Position B Rel Position A B Curve 2 Curve 2 Table 2 1 Resulting movements 21 Repeat actual state Goto state 22 MT Servo Controller Settings Table Movement started Movement called Resulting movement Rel Position A Curve 1 Stop Freeze No Operation Abs Position
5. 31 3 3 Cabling Shielding Bus connector Potential equalization 32 PROFIBUS Servo Controller Cabling State Description Search baud rate In this state the slave seeks the baud rate at which communication takes place on the bus Await para In this state only parametring telegrams are accepted metring telegram by the slave This telegram contains the information laid down in the standard e g PNO number sync freeze capability etc LinMo servo controllers await no application specific parameter data Await configura The configuration telegram lays down the number and tion telegram nature of the input and output data LinMo servo controllers support various data mod ules which may be put together at will It can thus be decided when parametring which data shall ultimately be transmitted in the data exchange mode For exam ple a motor may be configured so that the target and actual positions are transmitted Another motor on the same servo controller may be configured so that the maximum speed as well as the target position is trans mitted Data exchange When both the parametring and the configuration have been accepted from the slave s firmware the slave assumes this state and exchanges useful data cycli cally with the master In this subsection hints and rules are given for correct cabling of the PROFI BUS network Only cables with braided shielding should be used The shielding must be large a
6. 0 488 FF_Friction A FF_Acc mA m s 2 FF_Dec mA m s 2 Apply to Drive A M Figure 7 9 Resulting control parameters Tip If the mass of an application is not known the following method can be used Stop the motor on a certain position Reading out the needed motor current using the scope or reducing the max current down to the point where the motor can not longer hold the position User Manual Release 1 3 LinMot Tips and Tricks for the controller Configuration of the max Current 7 8 Configuration of the max Current User Manual Release 1 3 The maximal current may be set with the parameter Maximal Current in the directory Drives Drive X Control Parameters The following values should be used Series E100 Series E1000 Motor type 24V 48V 48V 72 V Supply Supply Supply Supply P01 23x80 2 0A 3 0A 3 0A 3 0A P01 23x160 1 0A 2 0A 2 0A 2 8A P01 37x120 3 0A 6 0A 6 0A P01 37x240 3 0A 3 3A 5 0A If smaller values are used the peak force according to the data sheets is reduced Bigger values lead to unstable operation Note that the current range of the E100 Servo Controller Series has to be switched Drives Drive X Control Switches as well to adjust the max current 109 LinMot I n ot Tips and Tricks for the controller Basic set up parameters for the Controller 7 9 Basic set up parameters for the Controller The following settings can be used for general applications Note that the cur
7. Defines the upper and lower limits of the position band monitoring If the actual position of drive is below its limit the digital output POSITION ERROR OUT is acti vated These two parameters define how close to desired tar get position the motors must be so that this is consid ered reached Active only in the MT mode If a motor is given a new set position relative or abso lute movement or a motion profile is started the In Position of the motor concerned goes to logic 0 till the slider of the motor is within a range around the set point Control Parameters This parameter sets the current for the stepper motor Drives Drive X Control Parameters Maximal Current This parameter sets the current for the stepper motor If the stepper motor is not moving the current is reduced to 50 87 88 Parameters Stepper motor parameters Control Modes This parameter is visible only with a servo controller of the E100 series and determines whether maximum current is to be 2 or 3 amperes The maximum current may be fine tuned with the Maximal Current parameter in the control directory Drives Drive X Control Switches Current 2A x 3A With this parameter a maximum current of 3 A is 1 ver elected otherwise it is 2 A 1 Visible only with a servo controller of the E100 series Commutation In this directory are the parameter determining the commutation of the con nected drives The commutation decides how
8. The ASCII command set has been expanded with commands for starting curves or cams from the actual position and commands for a setup service reading and writing memory words are added See chapter 8 3 Commands overview MT Commands for starting curves or cams from the actual position are added See chapter 2 3 State Table Profibus DP contains now modules for Error and Warning See chapter 3 7 Data module overview In LinMof Talk the oscilloscope can display saved shots from a file even in the offline mode For setting up the motor parameters there is a new Tuning Tool which helps setting up the correct values for the feed forward parameters such as Current Offset FF_Acceleration and FF_Deceleration according to the motor type load mass friction etc A detailed description of the tuning tool is located in chapter 7 7 The Tuning Tool Shots taken with the LinMof Talk s built in oscilloscope can now be saved and recalled This makes it very easy to exchange shots See chapter 1 2 Saving Oscilloscope Shots New Functions in Release 1 3 9 New functions in Release 1 3 LinMot Software Innovations Overview The error inspector displays additionally controller state and the Logged Warnings This means all warnings which have occurred since the last run setup will be stored and displayed This feature can be very helpful for com missioning machines See chapter 1 3 Logged Warnings Rel
9. chapter 3 1 Overview chapter 3 2 State machine chapter 3 3 Cabling chapter 3 4 Commissioning without PROFIBUS chapter 3 6 Setup chapter 3 7 Data module overview chapter 3 8 Data modules chapter 3 9 Diagnose chapter 3 10 Trouble shooting remedying faults chapter 3 11 Interfaces 3 1 Overview Open field bus PROFIBUS is an open field bus standard EN 50170 that is finding ever more widespread use in automation There are three versions of it FMS DP and PA PROFIBUS DP has been specially optimized for speed and is therefore especially suited for the higher level control of high dynamic motors like LinMof Master Slave PROFIBUS DP functions on the master slave principle with overlaid token passing between different masters The master slave communication is strictly cyclic whereby with the aid of time monitoring of the bus the failure of either a master or a slave is detected at once In addition the diagnose of a slave by a master is standardized and offers considerable possibilities for transmitting error and state information A PROFIBUS DP participator is identified via an adjustable address 0 125 Furthermore each equipment class has a so called ident number which is identical for all equipment of the same type all LinMo DP servo controllers have the same ident number www profibus com In the description that follows it is assumed that the user posses
10. 1 Search Home Position gt SE gt Position mm 2 Set Home Position Position mm 20 0 20 gt Home Position 3 Check travel range gt Position mm 20 0 20 Check Init Home Position Position 4 Go to Initial Position gt Position mm 2 0 20 Check Init Initial Home Position Position Position as follows Auto Move Out 20 0mm 20 0mm 0 0mm Description The motor seeks its Home Position Since Auto Move Out has been chosen as initialization mode the slider will stroke out of the motor The search is concluded as soon as the current reaches the Maximal Init Current value This adjustment ensures that the motor presses firmly against its stop After the motor has found the Home Position this posi tion is given the Home Position value in this example 20mm With it the position axis is defined After the Home Position has been defined the Check Init Position is moved into If an error occurs during this check traverse the initialization is discontinued If no check of the traverse is desired the Check Init Position is set equal to the Initial Position After checking the traverse range the Initial Position is assumed After reaching it the initialization procedure is concluded and the motor is ready for operation User Manual Release 1 3 Parameters Linear motor parameters Run Mode User Manual Release 1 3 Generating setpoints In this di
11. 6 2 Global parameters Global parameters define the global behavior of the system This includes password treatment error handling startup behavior in output configuration time and firmware information Device information Device The parameters in the Device directory provide information on the system hardware System Info Hardware Device R Type Gives information on servo controller type Serial No High Top three digits of serial number Serial No Low Bottom three digits of serial number Serial Number Serial number as a string Article Number Article number as a string User Manual Release 1 3 59 1 L I n M ot Parameters Global parameters Memory The parameters in the Memory directory provide information on the storage of the servo controller System Info Hardware Memory R Flash Type FLASH EPROM type used EEPROM Type EEPROM type used RAM Type RAM type used Software The parameters in the Software directory describe the software installed in the servo controller System Info Software Ri Release Software release Monitor Monitor release Base Firmware version Application Application software version Application 2 Application 2 software version Tree Type Parameter tree type Tree Version Parameter tree version ID Switch Position This parameter shows the ID switch position ID Switch Posi This value displays the position of the two hexadeci tion mal rotary ID switches on the controller on the front side if DP
12. Parameters Msg Mask Logging Mask User Manual Release 1 3 Global parameters The parameters in the Msg Mask directory specify when the Msg Output sig nal should be high parameter selected or low parameter not selected The parameters in the Logging Mask directory specify all internal error that should be stored by the servo controller The error log is preserved during power failures System Error Handling Msg Mask amp System Error Handling Logging Mask DCLV Power Too Low DCLV Power Too High DCLV Signal Too Low DCLV Signal Too High Electronic Fault Drive Type Mismatch Curve Error Slider Missing Init Failed Drive Following Error Drive Too Hot Calcu lated Drive Too Hot Sensor In Position The supply voltage for the power circuitry is too low The supply voltage for the power circuitry is too high The supply voltage for the power circuitry is too low The supply voltage for the power circuitry is too high Heat sink of servo controller is too hot over 70 C or a short circuit has been detected on a motor phase The connected actuator type does not corre spond with the selected actuator type A reference motion profile cannot be found or the desired profile is not compatible with the selected actuator type The slider is missing from a motor or the motor was not connected correctly The initialization process could not be completed successfully The following erro
13. This command sets up the cam mode It is possible to switch between time locked and position locked mode This command is only supported in master encoder mode Change to cam mode and start cam from actual position since release 1 3 11 This command sets up the cam mode It is possible to switch between time locked and position locked mode This command is only supported in master encoder mode In contrast to the Start Cam command this will set the curve position offset parameter such as the cam start point is equal to the actual wanted position Run motion profile from actual position since release 1 3 11 Same as Curve command but the curve position offset parameter will be set such as the curve starts at the actual wanted position Goto absolute position from actual position since release 1 3 14 Nearly the same command as Abs Position but the velocity acceleration lin miter starts from the actual position This command is intent to be used for releasing from a press situation Set demand position to actual position since release 1 3 14 Sets the demand positions to the actual motor position This command is used e g when the motor has been freezed and the motion should not con tinue when releasing from freeze if the motor has been current free and should be powered again without moving User Manual Release 1 3 MT Servo Controller 2 4 Settings Table No operation Goto next state Goto previous state User
14. Any axis on the servo controller can be configured to control a solenoid In this section all parameters needed for configuration of solenoids are explained To make them visible in the Parameter Inspector the Drive Type parameter must be selected in the Drives Drive X Type directory Master Booster In the solenoid mode this parameter must be always be set to Master Drives Drive X Advanced Master Booster Master The connected actuator is a master Generating setpoints In this directory the setpoint generation method is adjusted Run Mode The setpoint generating mode is defined with the Run Mode parameter The following modes may be distinguished Drives Drive X Set Value Generation Run Mode Serial The setpoint is given with a protocol via the serial interface The customer specific protocol is provided in the customized application software Analog The setpoint is given via the analog input corre sponding to the motor In the Set Value Generation directory the boundary setpoints may be fixed for the OV and 10V is formed linearly on the setpoints range defined by these boundary setpoints maximum min imum Continuous Curve A setpoint motion profile stored in the servo control ler is run through cyclically The curve numbers are selected under Curve Number in the Set Value Configuration directory Trigger Curve On the rising slope of the trigger signal a first and on the falling slope a second motion profile stored
15. NTI Ltd LinMot Haerdlistrasse 15 CH 8957 Spreitenbach Release 1 3 Includes Release 1 3 14 Supplement to V1 0 User Manual 05 30 2006 Tel 41 0 56 419 91 91 Fax 41 0 56 419 91 92 Email office LinMot com Homepage www LinMot com 2000 NTI Ltd 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 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 Version 1 16 May 30 2006 1 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 2 1 2 2 2 3 2 4 2 5 3 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 4 4 1 4 2 5 5 1 5 2 6 6 1 6 2 6 3 6 4 6 5 LinMot Software Inmovations s csscssssceccecescecescessessecessesescessesassecescacsecasescsececs OV ETVIEW cde cbeseostccicctktceteesekoseeadcotucsnseckscsedacewoseesguiebeasce a a E Saving Os
16. The value signaled back cor responds to 23 439 mA SC4 Sisk 4 Sets maximum current for motor B to 1 A SC64A 4 Sets maximum current for motor A to 1 5 A IZBA 4 Resets value of internal position counter of motor B to 0 PTA 195312504 Queries position increment of motor A The value signaled back corresponds to 19 53125 um SP2560BI 4 Sets the demand position of drive B to 50 mm RC1AA 4 Starts the motion profile with number 1 on motor A GPBJ 25604 Queries the actual position of motor B User Manual Release 1 3 145 a LinMot LinMot ASCII protocol Reference table status and error messages 8 7 Reference table status and error messages Acknowledgement codes ackcode Code E50 E51 E52 E53 E54 E55 E56 E57 E58 E59 E60 E61 E62 E63 E64 E65 E66 E67 E68 Description Okay no errors Command given cannot be performed in WAIT FOR DISABLE state Command given cannot be performed in DISABLE state Command given cannot be performed in INIT state Command given cannot be performed in ERROR state Command given cannot be performed in RUN state Internal error Wrong servo controller or motor selected This error message is sent if the servo controller is in the RS232 mode and a command addresses a mo
17. LinMot Software Innovations Minimal jerk motion profiles 1 4 Minimal jerk motion profiles To simplify the generation of such profiles the Curve Editor has been pro vided with a new tool the wizard This calculates the motion profile with the least possible jerking taking into account the parameters start point end point and desired traversing time Figure 1 3 Traverse speed and acceleration of a minimal jerk motion plots the traverse speed and acceleration of such a pro file End Position Start Position A lt Motion Time gt gt gt lt gt t gt t Figure 1 3 Traverse speed and acceleration of a minimal jerk motion Figure 1 4 Typical minimal jerk motion profile shows the Curve Editor with which a minimal jerk motion profile has been produced Wizard Type MinimalJerk l Position mm Position mm 34 00 Drive Type LinMot zi Time 499 929 ms 20 00 20 00 Start Point mm 0 End Point mm e 13 00 j 13 00 6 00 i 6 00 1 00 Lf i 1 00 0 00 12500 250 00 375 00 500 00 Time ms EEN Gave Sen Figure 1 4 Typical minimal jerk motion profile User Manual Release 1 3 LinMot In ot LinMot Software Innovations Limited jerk motion profiles 1 5 Limited jerk motion profiles From release 1 3 9 on the Curve Editor supports the new wizard for Limited Jerk profiles These profiles have the following adva
18. Ox0D This command sets the demand position to the acutal position This com mand is used e g when the motor has been freezed and the motion should not continue when releasing from freeze if the motor has been current free and should be powered again without moving SA SA Set maximum acceleration S Direction ASCII sequence PC ELO ISA ACC uint16 drive arivecode 0x0D ELO PC aCkjackcode 0x0D This command sets the maximum acceleration of the drive motor to the value acc The resolution of the acceleration may be queried with the command AI Value Min Max aCCjuint16 1 1536 SC SC Set maximum current force SIM Direction ASCII sequence PC ELO ISC CUIT int 16 OriVE drivecode 0x0D ELO gt PC ACK ackcode 0x0D 138 User Manual Release 1 3 j This command sets the maximum current of the drive motor to the value curr The current resolution may be queried with the command CI Value Min Max CUM uint16 0 256 User Manual Release 1 3 139 i SF SF Set FREEZE flags SM E Direction ASCII sequence PC gt ELO ISP lOfelocode AVE arivecode OxOD ELO gt PC ACK ackcode OxOD This commands sets or clears the FREEZE flags On each servo con troller there is a global FREEZE flag which freezes the motion of all drives and four motor specific FREEZE flags which freeze the motion of a single motor A motor moves only if both the global FREEZE
19. User Manual Release 1 3 133 GS GV GW 134 LinMot ASCII protocol Commands CE Get actual state E Direction ASCII sequence PC gt ELO IGS eloteiocode OxOD ELO gt PC State statecode OxOD This command gives the actual state of the servo controller The state con sists of one letter which encodes the state and a number The number is transmitted only in the error state and encodes the actual error The status coding is explained in chapter Reference table status and error messages on page 146 Typical sequence PC gt ELO ELO gt PC Description IGS1o R4 Queries the actual state The R denotes that the servo controller is in the RUN state GV Get maximum speed S Direction ASCII sequence PC gt ELO IGV drivejdrivecode OxOD ELO PC Veluint1e OxOD This command gives back the maximum speed of the motor drive The resolu tion of the speed may be queried with the command VI Value Min Max Veh uint16 6 24576 GW Get global warn status E Direction ASCIl Sequence PC ELO GW lOtelocode 0x0D ELO gt PC State statecode OxOD This command gets the global warn status of the selected servo controller The bits have the following meaning Bit N o Te o N o Name a a SE z o D D ke ke D Z 5 ke e a a Sl e 5 5 a ean aps e a o Q 2 668 OF OFZ OD OB Q 1 The heat sink of the servo controller is too hot over 70 c
20. rent range of the E100 Servo Controller Series has to be switched Drives Drive X Control Switches as well to adjust the max current Max Current Current Offset P D l FF Friction FF Acceleration FF Deceleration Filter max Speed Filter max Accel Control Switches PS01 23x80 2 99 A OA 1 A mm 4 A m s 0 A mm s OA 0 mA m s 0 mA m s 0 781 m s 30 5 m s 3A PS01 23x160 2A OA 1 A mm 4 A m s 0 A mm s OA 0 mA m s 0 mA m s 0 781 m s 30 5 m s 3A PS01 37x120 2 99 A OA 1 A mm 4 A m s 0 A mm s OA 0 mA m s 0 mA m s 0 781 m s 30 5 m s 3A PS01 37x240 2 99 A OA 1 A mm 4 A m s 0 A mm s OA 0 mA m s 0 mA m s 0 781 m s 30 5 m s 3A Figure 7 10 Basic set up for E100 Controller with 48V supply Max Current Current Offset P D l FF Friction FF Acceleration FF Deceleration Filter max Speed Filter max Accel PS01 23x80 4A OA 1 A mm 4 A m s 0 A mm s OA 0 mA m s 0 mA m s 0 781m s 30 5 m s PS01 23x160 2 8 A OA 1 A mm 4 A m s 0 A mm s OA 0 mA m s 0 mA m s 0 781m s 30 5 m s PS01 37x120 6A OA 1 A mm 4 A m s 0 A mm s OA 0 mA m s 0 mA m s 0 781m s 30 5 m s PS01 37x240 5A OA 1 A mm 4 A m s 0 A mm s OA 0 mA m s 0 mA m s 0 781m s 30 5 m s Figure 7 11 Basic set up for E1000 Co
21. setting ff parameters 19 setting motion profile 9 20 setting PID 19 solenoid 59 92 stepper motor 59 83 visibility 58 write protected 58 Parameter Inspector 58 parametring telegram 32 password 58 60 for installing 7 Paste 28 phase current adjusting 109 PI 136 PID controller 77 pin out PROFIBUS connector 33 PROFIBUS interface 50 PLC 14 15 99 pole distance 96 pole pitch 53 Pos Error Output 65 Pos Range 98 Pos Range Indicator 81 90 Pos Range Max 76 87 Pos Range Min 76 87 Position 52 Sollposition setzen 121 position actual position 41 after initialization 84 defining 19 increment 142 monitoring band 76 moving 18 setting 18 44 setting on next trigger 142 setting to zero 144 teach In 29 position axis defining 72 position controller 3 Position Monitoring 76 position monitoring 59 66 76 87 position range defining 86 position resolution getting 136 position sensing 2 69 combining with master booster 68 connecting 51 54 overview 51 principle 51 54 setting parameters 53 Position Sensor 67 69 position sensor 51 54 67 position zero 70 83 positioning range 74 potential equalization 32 power failures 63 Power High Error 64 Power High Warn 64 Power Low Error 64 Power Low Warn 64 print MT table 25 priority 99 process image 49 PROFIBUS commisioning 49 commissioning 34 connector 32 cycle time 49 data modul 36 DP FMS PA 30 guideline for building networks 33 setup 34 stub line 49 termination 3
22. 0x0D This command sets the FF Friction value of the motor drive to the value fffri The unit is 0 0234A Value Min Max fffriuint16 0 255 DI DI Set I value of controller Direction ASCII sequence PC gt ELO IDP Kuint16 P drive drivecode 0x0D ELO gt PC Hot ACK ackcode 0x0D This command sets the I value of the motor drive to the value i The unit is 0 0457 A mm s Value Min Max uint16 0 32640 126 User Manual Release 1 3 LinMot LinMot ASCII protocol Commands DK DK Set current offset Direction ASCII sequence PC ELO IDK curroffiyintre AVE arivecode OxOD ELO PC ack ackcodel 0x0D This commands sets the current offset of the motor drive to the value curroff The current resolution may be queried with the Cl command Adjusting the current offset is reasonable if the motor is mounted vertically and is loaded with changing load masses Value Min Max curroff yint16 256 256 DO DO Set motion profile offset SEM Direction ASCII sequence PC ELO IDO Coffi sint16 aP drive drivecode 0x0D ELO gt PC aCkjackcode 0x0D This command sets the motion profile offset of the selected drive The position resolution may be queried with the PI command Value Min Max Coffi sint16 32256 32256 DP DP Set P value of controller Direction ASCII sequence PC ELO IDP Pluint16 ar drive arivecode 0x0D ELO gt PC aCkjackcode 0x0D This command sets the P value
23. 5V Operating without Lin Mo sensor amplifier Operation without LinMof sensor amplifier is inadvisable If position sensors from other manufacturers are used the sine and cosine signals must have an offset voltage of 2 5V and an amplitude of max 2 3V Pin out is as follows Signal LinMof LinMot Description Name E100 E1000 Series Series GND Pin 8 Pin 6 Earth 5Vout Pin 3 Pin 5 5 Volt Output Max 50mA Sensor Sin Pin 4 Pin 7 Sine input Offset 5Vout 2 Amplitude 2 3 Volt Sensor Pin 9 Pin 8 Cosine input Cos Offset 5Vo 4 2 52 Amplitude 2 3 Volt User Manual Release 1 3 External position sensing Sine Cosine sensors Li n M ot Example User Manual Release 1 3 Resolution The table below correlates the resolution and stroke range of LinMof motors Resolution and stroke range Pole pitch Resolution Stroke range 20 um 1260mm 10 um 630mm 1mm 5um 315mm 2 5um 157 5mm 1 25um 78 75mm 20um 1260mm 5mm 10um 630mm 5um 315mm LinMo Talk If the external position sensing is employed and a resolution is other than 20pum allowance must be made for this in the following parameters e Home Check Init Initial Position e Minimal Maximal Position e OV 10V 0 1 Position e all parameters in the position monitoring directory e all parameters Position speed and acceleration for generating motion pro files in the Curve Inspector e all position values but not speed and acceleratio
24. A the motor has to be connected to the channel B If the external position sens ing is connected to the motor channel C the motor has to be connected to the channel D At At a4 aA Figure 4 2 Position sensing connection 51 Operation with LinMof position sen sors MS01 1000 P and MS01 5000 P External position sensing Sine Cosine sensors If operating with the LinMof position sensors MS01 1000 P or MS01 5000 P the sensor amplifier SA01 44 D is needed It performs the amplification of the differential sine and cosine signals The following diagram shows how to con nect the position sensor Adapter cable LinMot SA01 44 D Extension Position sensor 5 AC01 1000 23 sensor amplifier cable MS01 x000 P m K01 23 xx i A a Cpi e C e L Ei np ia Magnetic tape P 1000 Series MB01 x000 Figure 4 3 Connecting a position sensor using the LinMo sensor amplifier The table below shows the pin out on the input side of the sensing amplifier Both sine and cosine signals have differential inputs making them immune to electromagnetic interference Name of LinMot sensing Description signal amplifier GND Pin 8 Earth 5V Pin 7 output 5V supply Sensor Sint Pin2 input Differential sine input Sensor Sin Pin 1 input Amplitude 50mV Common mode range 0 5V Sensor Cos Pin5 input Differential cosine input Amplitude 50mV Sensor Cos Pin4 input Common mode range 0
25. B Rel Position B Curve 2 No Operation Abs Position B Rel Position B Curve 2 No Operation Abs Position B Rel Position B Curve 2 No Operation Abs Position B Rel Position B Curve 2 Rel Position A Abs Position B Rel Position A B Curve 2 Curve 1 Abs Position B last demand value of Curve 1 B Curve 2 Stop Abs Position B Rel Position B Curve 2 Freeze Freeze Freeze Freeze Table 2 1 Resulting movements If the input signals change to an input combination for which the Repeat actual state is defined the current state is performed once more If this state is to be repeated a number of times between the repeat actual state com mands the input combination for the No operation command must be given each time so that a change of the input combination ensues and hence Repeat actual state is called If the movement of the current state is not yet completed the resulting move ments may be obtained from the table above If the input signals change to an input combination for which the Goto state is defined this state is carried out If the movement of the current state is not yet completed the resulting move ments may be obtained from the table above From the example set out in the table below it will be clear how the desired states are called up from the master control by means of the four digital sig nals Trig In 1 4 A new state is performed only after the input combination of the
26. Current Current 1 802 A Sto Abs Current ae 190 749 Steps s 2 Current 0A No Operation Curve number 3 Stop Stop Ace 10 014 m s 2 Acc 10 014 m s 2 Edit State 0 Drive amp Abs Position x Position mm Speed 0 502 m s Take Ros Acc 10 014 m s 2 State Table Figure 2 12 Table of states A new state may be added at the bottom of the table Adding a new state is possible only if the table of states has less than 64 lines A new state is inserted at the top of the one selected momentarily A new state may be inserted only if the table of states has less than 64 lines The selected state is deleted This icon is active only if the entire line of the state in question is selected More than one line may be deleted at a time Lines once deleted cannot be recalled To prevent unintentional deletion the deleting of lines must be confirmed A new column for a further actuator is added at the right hand side of the table More actuators may be added than the connected servo controller is capable of controlling This enables a drive to be defined in a new column and copied later into another column 27 Insert Column Delete Column Copy Paste State commands Store Close 28 MT Servo Controller Configuration software A new column for a further actuator is inserted at the left of the selected col umn More actuators may be inserted than the connected servo controller is able to
27. LinMot ASCII protocol Commands AC Get demand current Direction ASCII sequence PC gt ELO IAC drivearivecode Ox0D ELO PC CUM sint16 OxXOD This command queries the demand current set by the controller for the selected drive The resolution of the current can be queried with the Cl com mand Value Min Max CUT sint16 256 256 Al Get acceleration resolution ES Direction ASCII sequence PC gt ELO IAI driVEjarivecode OXOD ELO gt PC aCCr OSjuint3z OxOD This command queries the acceleration resolution The values are given back in various units depending on the motor type selected Motor type Unit LinMof 1um s Stepper motor 2710 Steps s Typical sequence PC gt ELO ELO PC Description IAIBJ 238419 Queries actual acceleration resolution of motor B The value given back corresponds to 0 238m s because motor B was config ured as LinMof in this case User Manual Release 1 3 LinMot ASCII protocol Commands L in Mo te AO AS CA CB User Manual Release 1 3 AO Set address segment offset Direction ASCII sequence PC ELO IAO segoffsetryintre AVE drivecode OxOD ELO gt PC ACK ackcode 0x0D This command sets the address segment offset for the read and write memory commands The complete address is 24 bits wide and consists of the segment number highest 8 bits and the segment offset lowest 16 bits The address segment offset must be an ev
28. Parameters Linear motor parameters Position monitoring Position Monitoring The firmware supports two kinds of position monitoring Position band monitoring For every motor there is a position band If an active motor is outside its band the digital output POSITION ERROR OUT becomes active Following error monitoring The difference between setpoint and actual position must stay within cer tain limits When this difference becomes excessive if selected a warning or error is signalled Rea sons for this may be setpoint motion profiles too fast jumps in the setpoint motion profiles excessive load mass motor jammed i Following Error t The following parameters serve to specify the limits Drives Drive X Position Monitoring Pos Range Min Define the upper and lower limits of the position band Pos Range Max monitoring If the actual position of the motor is below its limit the digital output POSITION ERROR OUT is activated In Position These two parameters define how close to the In Position desired target position the motor must be so that it is considered reached If a motor is given a new set position relative or absolute movement or a motion profile is started the In Position of the motor concerned goes to logic 0 till the slider of the motor is within a range around the setpoint Following Error Define the maximum admissible following error If the difference between setpoint and act
29. Positive direction of LinMot motor Set the direction of the movement by clicking on the appropri ate button see Figure 7 7 Set application data Note If there are more motors working in parallel in the master booster or gantry mode add the load mass and the mass of the moving part of all motors together and then divide this value by the number of motors Set the resulting value in the Load Mass field and select None in the Add pop up menu With this method you can calculate and set the FF Parameter and the Current Offset for the master motor and all motors used for gantry Application Data Load Mass g Add Total Mass g 1200 Slider Mass gt 2029 Dry Friction N External Force N Angle deg r 90 Figure 7 7 Set application data 107 108 Tips and Tricks for the controller The Tuning Tool Load Mass Figure 7 8 Positive direction of LinMot motor Resulting control parameters values The calculated values for the Feed Forward Parameters and the Current Off set will shown in the Control Parameters group see Figure 7 9 Resulting control parameters To take these values for the motor select the drive in the pop up menu and press the button Apply to If you are connected with a Controller these values will be written into it and they take immediately effect live parameters Control Parameters Current Offset A
30. Release 1 3 Parameters Motor parameters Type These parameters define the connected actuator type The following actuators may be selected Drives Drive X Type No Drive LinMo POx 23 LinMof P0x 37 LinMot POx 37F LinMot POx 48 Stepper Magnet Sin Cos Position Sensor This type must be selected if no actuator is con nected or the actuator is to be cut out This type must be selected if a LinMof POx 23 drive is connected This type must be selected if a LinMof POx 37 drive is connected This type must be selected if a LinMof POx 37F fast drive is connected This type must be selected if a LinMof POx 48 drive is connected If a stepper motor is connected this type must be selected The stepper motor must be two phase This drive type is selected to control a solenoid with the servo controller If an external position sensor sine cosine type is to be connected to this channel this type must be selected See also chapter External position sens ing on page 51 Front Make absolutely certain that the configuration matches the motor type being used A wrong configuration can lead to damage of the connected drive linear motor stepper motor solenoid The actuators stepper motor and solenoid normally do not have built in tem perature sensors therefore they are not monitored for overload The user is himself responsible that these drives are not damaged in operation due
31. aware of the housing temperature may reach up to 60 C the heat sink up to 70 C Make sure that there is adequate heat dissipation at the location of installation As already stated in the section on the current supply the electronics must be earthed reliably Fixings for gt 2 x M5 screws Figure 5 1 Dimensions of LinMot E100 series servo controller in mm Fixings for 2 x M5 screws gt 179 2x MS screws _ x Centers 315 a 295 Table E 1 Dimensions of LinMot E1000 series servo controller in mm 154 User Manual Release 1 3 a Installation of the linear motors LinMot F Installation of the linear motors Lateral forces Parallelism error Horizontal mounting User Manual Release 1 3 The linear drives of the LinMot P family feature a slide bearing between the moving slider and the fix stator The requirements on this slide bearing con struction are exceptionally high due to the enormous dynamic properties and acceleration of the drives For these reasons the following points must be observed Due to the surface pressure caused by lateral forces excessive stressing on the slide bearing will result in reduced life of the linear motor For this reason care should be taken in the application and installation in order to reduce lat eral forces to a minimum transversal force Figure 6 1 L
32. booster running in opposi tion to the master Gantry Slave par The connected motor is a gantry slave running with allel the master It is possible to combine master booster operation with external position sens ing Up to 1 position sensor 1 master and 2 boosters may be connected to one LinMo servo controller With this configuration the external position sensor must be connected to the first motor channel the master to the sec ond channel and the boosters to the other channels It is also possible to have external position sensors for gantry configurations The sensors have to be connected directly before the motors E g the first channel is master s sensor the second is the gantry master the third is the slave s sensor and the last motor is the gantry slave 68 User Manual Release 1 3 Parameters Linear motor parameters Position Sensor User Manual Release 1 3 Position sensing With this parameter the user determines where the controller is to get its posi tion information from If external position sensing is employed the resolution may be set in addition Drives Drive X Advanced Position Sensor Internal sensor 20um Internal sensor 40um External 20um External 10um External 5um External 2 5 um External 1 25 um AB Enc1 1X AB Enc1 2X AB Enc1 4X AB Enc2 1X AB Enc2 2X AB Enc2 1X With this adjustment the actual position is deter mined with the inbuilt position sensing of the Lin Mo For str
33. command starts with the next positive edge of the trigger signal a motion profile cyclical from the actual wanted position After the first start the motion profile will be run cyclic without need for a fresh trigger signal With the help of the CS command the motion profile can be stopped As long as the motion profile is running no other motion commands may be executed on the motor This command must only be executed in the RUN state Note This command will change the Curve Position Offset parameter cC CC Runcurve cyclic SEM Direction ASCII sequence PC gt ELO ICC curveryintie AVE drivecode 0X0D ELO PC aCkjackcode 0x0D This command runs a curve cyclic This means that as soon as the motion profile is done it will be run again With the help of the CS command the motion profile can be stopped As long as the motion profile is running no other motion commands may be executed on the motor This command must only be executed in the RUN state Cl Cl Get current resolution E Direction ASCII sequence PC ELO IC lOtelocode 0x0D ELO gt PC CUITTES yintza OxXOD This command queries the current resolution of the selected servo controller The values are given back in pA Typical sequence PC gt ELO ELO gt PC Description ICH 23438 Queries current resolution of servo controller with ID 1 The value given back corresponds to 23 438 mA cs CS Stop cyclic motion profile SIM Direction ASCII sequence
34. control which may be compared with a cam control system Here the individual func tions are controlled not on the basis of angular information but by successive events or time intervals This approach is very common in the world of PLC programming on off on off Sequential Control 1 v 2 on off v 3 v y on off n Figure 2 2 sequential control Sequence controls run through the program step by step the advance from one program point to the next being triggered by events or time intervals Every program point is a self contained operation such as switching a relay on or off Compared with angle synchronous control by means of electronic shaft sequential control is much simpler for all operational situations are handled by identical conception This means there is no need to distinguish between angle synchronous running in normal operation and the sequential proce dures during initialization maintenance or emergencies On the other hand there are restrictions wherever processes in special motions must run paral lel or synchronously with each other A typical example are mechanical func tion units with several interacting motions for folding or assembling packagings and parts MT Servo Controller Overview PLC combined with complex motion sequences Today many control tasks in mechanical engineering are performed by simple PLC sy
35. directly without the need for a translator This is useful in applications where linear and rotary motion are needed In this section all parameters needed for configuration of stepper motors are explained To make them visible the parameter Stepper must be selected in the Drives Drive X Type directory Master Booster Operation In the stepper motor mode this parameter must always be set to the Master value Master Booster configurations are not supported in the stepper motor mode Drives Drive X Master Booster Master Must be selected if a stepper motor is controlled Initializing Normal stepper motors allow only a relative determination of position When starting therefore the reference position must be initialized just once This is a so called reference move The initialization mode of a stepper motor can be defined using the parame ters Init Mode Init Switches and the parameters in the Init Config directory The initialization mode establishes how the position zero of the stepper motor is defined There is a choice of the following modes Drives Drive X nitialization Init Mode Actual Position The momentary actual position is defined as zero Trig Turn Left The stepper motor turns counter clockwise till the zero is fixed by the positive slope of the trigger sig nal If the trigger signal is already active at the start of ini tialization the rotor turns in the opposite direction till the trigger signal drops On
36. drivecode 0x0D ELO PC Auint16 0x0D 128 User Manual Release 1 3 LinMot ASCII protocol Commands L in Mo te EE EF El User Manual Release 1 3 This command gives back the D value of the motor drive The unit is 0 015A m s Value Min Max duint16 0 32640 EE Get motor error status SEMI Direction ASCII sequence PC gt ELO IEE drivedrivecode 0X0D ELO PC State statecode OxOD This command gets the actual motor error status of the selected motor The bits have the following meaning Bit N o ite or N Name w a a 5S g 3 ao le D S Qe H Sale e e 12 16 2 e 8 E D D E c 3 D So d T Z fe 8 D D 5 g D o fe N kej O n cE o D 2 E g EF Get FF Friction value of controller Direction ASCII sequence PC ELO EP drive drivecodel 0x0D ELO PC ie ak fffri uint16 0x0D This command gives back the FF Friction value of the motor drive The cur rent resolution may be queried with the CI command Value Min Max fffri uint16 0 255 El Get I value of controller Direction ASCII sequence PC gt ELO ED driverdrivecode 0xX0D ELO PC Muint1e OxOD This command gives back the I value of the motor drive The unit is 0 0457 A mm s Value Min Max ituint16 0 32640 129 i EK EK Get current offset Direction ASCII sequence PC ELO IEK drive drivecode 0x0D ELO gt PC CULTOFE yint1e OxXOD This com
37. motor has not been initialized yet Drives Drive X Error Handling Warn Mask Drive Init Not Done R Pos Range Indicator In Position A motor has been connected incorrectly or not at all The slider is outside the position range defined by Pos Range Min Max If this warning is acti vated make sure that the Pos Range parame ters are adjusted so that the signal is no longer present after initializing otherwise it will be possible to ascertain only with great difficulty whether all motors have been initialized prop erly The output will only be activated with an AT servo controller if the parameter Pos Error Output in the directory System lO Confi guration is activated With an MT servo con troller in the MT mode parameter MT in direc tory System Command Interface activated the output is only activated if the parameter Pos Range in directory Multi Trigger Output Configuration Output 3 is activated A motor has reached the demand position The corresponding output Msg Output will be activated if the parameter Msg Output in the directory System lO Configuration is acti vated and the parameter In Position in the directory System Error Handling Msg Mask is activated The behavior of the motor after an emergency stop can be defined with the following modes Drives Drive X Error Handling Emergency Stop Emergency Stop Mode Off Motor no longer controlled Position still read in In this mode the phases no l
38. of LinMof Talk use Release 1 3 9 or higher If the movement sounds raw and hard reduce the number of points d If the profile will be produced by a third party program the following rules should be used every profile should consist at least of 16 points but the time between the points should not be shorter than 1 ms if there is a position step of 20 mm in 14 ms the number of points should be 14 In any other cases the distance between the points should be about 5 ms correct t Figure 7 3 Profiles must be smoothed 103 LinMot I n ot Tips and Tricks for the controller Adjustment of the Feed Forward Parame 7 5 Adjustment of the Feed Forward Parameters FF Friction FF Acceleration FF Deceleration 104 The term Feed Forward is used in control engineering to imply the anticipa tory calculation of a control variable This anticipation enables the controller to respond much better to the problem faced When the controller knows that there is high friction in the system and knows the coefficient of friction it can provide in advance the current necessary for a desired forward motion in order to overcome this friction There is then much less discrepancy from the outset between the actual and target positions The controller integrated in the LinMof servo controller includes these three anticipatory parameters with which the control behavior and hence the attain able dynamics can be im
39. of a LinMof servo controller for operation with the ASCII protocol Configuration To control a LinMof servo controller via the ASCII protocol it must be config ured appropriately Configuration is performed with the help of the Parameter Inspector of the LinMo talk software When doing the setup all parameters that cannot be altered with the help of the ASCII protocol have to be set e Command Interface e Motor Type e Run Mode e Initialization Mode e Error Handling Provided these parameters are adjusted properly for the particular application and the servo controller is correctly linked with the PC or PLC the LinMof servo controller may be operated via the ASCII protocol This parameter is located in the Parameter Inspector under the path System Command Interface It must be set either to ASCII RS232 or ASCII RS485 With these parameters each motor type can be specified They are located under the path Drives Drive X Type The X stands for one of the maximum of 4 motors A to D The initialization mode of the motors is set by the parameters in the directory Drives Drive X Initialization RS232 operation All LinMof servo controllers are configured ex works for operation with the RS232 interface The allocation of the interface is described in the user hand book The interface is operated as follows Parameter Value Baud Rate 9 600 Start Bits 1 Data Bits 8 Stop Bits 1 Parity No If operating over RS2
40. of the motor drive to p The unit is 0 00234 A mm Value Min Max P uint16 0 32640 DS DS Set motion profile speed SEM Direction ASCII sequence PC ELO IDS Vel uint16 SP OriVe arivecode 0x0D ELO PC ACK ackcode 0x0D User Manual Release 1 3 127 i This command sets the speed of motion profiles When the maximum value is set the motion profile is run as fast as it has been designed With lower values the speed drops linearly The speed may be altered any time Value Min Max Veluint16 0 4096 EA EA Get FF Acceleration value of controller Direction ASCII sequence PC ELO IEA drive drivecodel 0x0D ELO PC HACC yint16 0x0D This command gives the FF Acceleration value of the motor drive The unit is 0 1 mA m s Value Min Max faCC uint16 0 32640 EB EB Get FF Deceleration value of controller Direction ASCII sequence PC ELO EB rive drivecode 0x0D ELO PC fdeCiuintre OxOD This command gives the FF Deceleration value of the motor drive The unit is 0 1mA m s Value Min Max ffdeCtuint16 0 32640 EC EC Get motion profile amplitude SIM Direction ASCII sequence PC ELO IEC drive drivecode 0x0D ELO gt PC CAMPtuint16 OXOD This command gets the motion profile amplitude of the selected motor The maximum value 4096 is equal to 100 Value Min Max CaMPiuint16 0 4096 ED ED Get D value of controller Direction ASCII sequence PC ELO ED dTriVE
41. oscilloscope supports now saving and recalling shots With the Save Configuration button a complete oscilloscope configuration with the sampled data included can be saved as a ose file type When Opening the saved configuration the stored data will be displayed on the screen Hn Oscilloscope E400 MT on COM1 F Actual Pos mm Demand Pos mm 96 00 83 00 70 00 57 00 44 00 31 00 96 00 Open 83 00 70 00 57 00 44 00 31 00 18 00 Ld 48 00 0 00 46 00 9200 138 00 184 00 230 00 276 00 32200 368 00 414 00 Time ms Ch A Actual Pos mm Ch B Demand Pos mm Time 46 00 ms div_ Trig Manual Save ar Actual Pos x Channel A Drive M Chan A Chan B Trigger Acquire Display Channel B Var Demand Pos M Drive A M 1 3 Logged Warnings Figure 1 1 Saving or opening oscilloscope shots The servo controller stores all warnings occurred since the last run setup entering in the RUN mode These so called logged warnings are read out and displayed with the Error Inspector by clicking the Warnings button show warnings Go Error Inspector E400 MT on COM1 Logged Errors 10 Status Warnings Actual warnings PENDING WARNINGS LOGGED WARNINGS Only valid from release 1 3 16 Drive A following error Figure 1 2 Displaying logged warnings User Manual Release 1 3
42. ot A Compatibility with previous releases User Manual Release 1 3 To ensure transition without problems to Release 1 3 of LinMot Talk configu ration and motion profile data generated with the old versions may be imported into Release 1 3 of LinMof Talk The data files of Release 1 0 1 1 and 1 2 are supported Conversion is necessary when importing old configu rations This is performed automatically by the Parameter Inspector To avoid problems new configurations arrived at in this way should be verified carefully Servo controllers loaded with software release 1 0 or 1 1 cannot be operated with LinMof Talk Release 1 3 It is however possible to install LinMof Talk Release 1 0 1 1 1 2 and 1 3 simultaneously on a PC With a configuration like this all servo controllers may be operated Nevertheless it is essential that only one version of LinMof Talk at a time is started All software releases are found on the LinMot homepage under the WWW address http www lin mot com imports configurations configures servo con from trollers with R1 00 Rid RI 2 RIB R1 0 R1 1 R12 R1 3 LinMot TalkR1 0 X x LinMot TalkkR1i 1 X x LinMo TalkkR1 2 X X X x LinMof TalkR1 3 X X X X x xXx Table 1 1 Compatibility of LinMot Talk software Note The most secure way to transfer the configuration and curves from one firmware release to another is to save the configuration by using the same Lin Mo Talk version as the controll
43. software 24 The Multi Trigger servo controllers ExOO MT and Ex000 MT are configured with LinMof Talk configuration software like the Analog Trigger servo control lers Ex00 AT and Ex000 AT For programming the MT servo controller the Curve Inspector has been extended with a graphical user interface for the Multi Trigger functions All the functions of the LinMo Talk described in the operating instructions remain the same and will not be enlarged upon further here Curve Inspector This section will deal only with the extension of the Curve Inspector for the Multi Trigger table All other functions of the Curve Inspector may be read up in the operator s handbook Besides the curves with the Curve Inspector Multi Trigger tables may be defined also for the MT servo controller In the Curve Inspector these are handled like normal curves can be edited like curves loaded onto the servo controller and run If motion profiles are called in the Multi Trigger table they must be loaded onto the servo controller together with the Multi Trigger table Unlike the motion profiles only one Multi Trigger table may be loaded onto a servo controller Multi Trigger Table If the MT servo controller is configured for the Multi Trigger mode in the Curve Inspector there is a Create Multi Trigger Table key available beside the Create Curve key Ge Curve Inspector E400 MT on COM1 Curve Window Download Window No Name Dive Type Samples No Nane
44. target position by 100 units 135 i MH MH Move home position S Direction ASCII sequence PC ELO IMH Posincsint16 ar oriVe arivecode 0x0D ELO PC aCkjackcode 0x0D This command moves the home position of the motor by the amount posinc It has purpose only in few cases and should be used with caution This com mand must only be executed in the RUN state Important The minimum and maximum positions are not displaced as well PI PI Get position resolution SEM Direction ASCII sequence PC ELO IPP drive drivecode 0x0D ELO gt PC pOSINC yint32 0X0D This command queries the actual position resolution The values are given in different units depending on the motor type selected Motor type Unit LinMof 1pm 10 2m Stepper motor 1 256 Step Solenoid 1pA Typical sequence PC gt ELO ELO gt PC Description IPIAW 19531250 The return value 19531250 means the posi a tion resolution is 19 531250um if LinMot is selected as motor type for motor A The command IP1000A will therefore move motor A by 1000 19 53um PV PV Get protocol version E Direction ASCII sequence PC ELO IPV elOfelocode 0x0D ELO gt PC VersSiONuint16 OXOD This command queries the actual version number of the protocol All imple mented commands in Release 1 3 correspond to protocol version 2 The commands in the protocol version 2 are a super set of the commands in pro tocol vers
45. the error inspector The supply voltage for the Power circuitry is too low The supply voltage for the Power circuitry is too high The supply voltage for the Signal circuitry is too low The supply voltage for the Signal circuitry is too high The servo controller is too hot The motor is overloaded The motor is too hot Following error The slider is missing from the motor The initialization was not completed successfully Incorrect motor type configured or damaged motor A referenced motion profile for a motor is missing Selected motion profile not valid for actual drive type Table 2 1 LED Error Code Table LED blinks shortly ca 14s m LED blinks longer ca 12s User Manual Release 1 3 a LinMot Maintenance of servo controllers C Maintenance of servo controllers The servo controllers have no parts requiring maintenance by the user In nor mal operation it is not necessary to open these units Care must be taken to ensure that the heat generated by them can be dissipated without problems The heat sink should therefore be dusted off regularly and any other deposits cleaned away Fuses The supply inputs of the servo controllers are fused against overcurrents On the power PCB are two miniature fuses one for the signal current and one for the power current Their positions may be seen below Ex00 AT MT DP DN g S301 t re Figure C 1 LinMot Ex00 AT MT DP fuses on power PCB Fuse Type 301 m
46. this parameter is selected the byte order of the data modules is reversed With Siemens PLC control systems this parameter should be selected The parameters in the Info directory are valid only when the servo controller has been started PROFIBUS DP Info Slave Node Address Shows the PROFIBUS address of the LinMof servo controller Master Node Address Shows the PROFIBUS address of the master Baudrate Shows the identified baud rate This parameter is only valid if the servo controller is properly rec ognized by the DP master and is in the data exchange mode T L I n M ot Parameters PROFIBUS Parameters Interface Card Type With the selector parameter Interface Card Type the type of interface card can be selected None No interface card is attached or used DI01 08 08 A digital I O module DI01 08 08 is attached with 8 digital inputs and 8 digital outputs ME01 01 08 A master encoder module ME01 01 08 is attached which has one encoder link 8 digital inputs and 8 digital outputs ME01 02 08 A master encoder module ME01 02 08 is attached which has two encoder links 8 digital inputs and 8 digital outputs 100 User Manual Release 1 3 LinMot Tips and Tricks for the controller ntroduction I n ot 7 Tips and Tricks for the controller 7 1 Introduction This section enlarges upon tips and tricks for the new controller in textual form without going into the complicated theory It cannot and does not intend
47. to overloading overheating The parameters for the different actuator types are described in separate chapters Linear motor Stepper motor Solenoid Positions Sensor User Manual Release 1 3 chapter Linear motor parameters on page 68 chapter Stepper motor parameters on page 83 chapter Solenoid parameters on page 92 chapter Position sensing parameters on page 96 67 LinMot I n O Parameters Linear motor parameters 6 4 Linear motor parameters In this section all parameters needed for configuration LinMo linear motors are explained To make these parameters visible in the parameter inspector a LinMof motor in the directory Drives Drive X Type must be selected Master Booster operation Master Booster This parameter defines whether the connected motor is to be operated in the master booster or gantry slave mode A motor operated in the booster mode takes over most of its master parameters Thus if Drive B is configured as booster it takes over adjustments from Drive A A detailed explanation is given in chapter There are the following possibilities on page 55 If a drive is configured as a gantry slave it will get the save motion commands but the position controller is done separately Drives Drive X Advanced Master Booster Master The connected motor is master Booster parallel The connected motor is a booster running with the master Booster reverse The connected motor is a
48. trigger 17 23 multi trigger 17 Monitor 60 motion profile 85 89 creating 3 creation 5 getting amplitude 128 getting offset 130 getting speed 130 running 19 43 73 86 137 running cyclic 73 86 123 124 running on next trigger 123 125 141 142 setting amplitude 43 125 setting position offset 44 127 setting speed 43 127 stopping 124 synchronization of 12 motion sequence 14 15 motor booster 56 57 choosing type 67 dynamics 79 heating 81 initialising stepper 83 initializing linear 70 introducing next 42 master 56 57 master booster operation 2 putting in parallel 56 motor error status getting 129 motor type setting multi trigger 29 motor warn status getting 131 Move Home Position 19 movement interrupting 19 stopping 19 moving time 79 Msg Mask 63 Msg Output 65 MT 66 MT servo controller 3 12 command description 18 setup and installation 17 18 21 multi trigger table User Manual Release 1 3 creating 24 downloading 28 saving 28 N Next Drive 36 42 No Drive 67 No Operation 18 No operation 21 O Off 82 90 95 operating hours 66 Output 3 98 Output 4 98 Output Configuration 98 output signals 98 P P value 77 Package Installer 7 parallelism error 155 Parameter Attribute 58 Parameter Tabellen 58 121 parameter 58 control 59 77 global 56 57 58 59 linear motor 59 live 58 motor 58 59 motor parameters 66 multi trigger 59 97 position sensing 96 position sensor 59 PROFIBUS 59
49. 3 trouble shooting 49 PROFIBUS servo controller 2 30 protocol version getting 136 PV 136 R RAM 60 RAM Type 60 RC 137 Redefine Position 19 reference move 70 83 reference position 70 83 defining 83 moving 136 searching 71 Regler Einstellen 101 Rel Current 18 Rel Position 18 Release 60 repeat accuracy 96 Repeat actual state 22 resolution 53 69 88 revolving table 15 Rise Curve Number 74 86 93 RP 137 138 Run Curve 36 43 161 RUN flag setting 140 Run Input 65 Run Mode 73 85 92 RUN Request 39 RUN State 40 S SA 138 SC 138 Seconds 66 sensing head 51 54 sensor 52 direction 96 Sensor Direction 96 Sensor Period 96 sequential control 14 Serial 73 85 92 Serial No High 59 Serial No Low 59 serial number 59 service 150 servo controller 3 configuring MT servo controllers 24 Set CP 20 Set Current 19 Set Current 95 Set Curve Amplitude 36 Set Curve Offset 36 Set Curve Speed 36 43 44 Set FF 19 Set PID 19 Set Position 36 44 Set Value Configuration 74 86 93 setpoint 85 filtering 75 generation 73 85 92 setpoint generating 73 setpoint generation 66 setup software 34 SF 140 shielding 32 SI 140 Signal High Error 64 Signal High Warn 64 Signal Low Error 64 Signal Low Warn 64 signals active input signals 25 active trigger signals 25 sine cosine encoders 96 Sinus 79 slave DP slave definition 31 failure 30 Slave Node Address 99 100 slider front of 67 Slider Missing 63 80 81 96 softwar
50. 32 the controller is always addressed with the bus ID 1 independent from the position of the switches IDO and ID1 113 114 LinMot ASCII protocol Setup and installation RS485 operation For the operation over the RS485 link it is recommended to use the newer controller versions where the code switches IDO and ID1 are placed on the bottom side and not on the back side The advantage is that the controllers have not to be opened for changing the jumpers If it is not avoidable to use a controller with the ID switches on the back side it is advisory to contact the LinMot support support limot com The RS485 link is configured as follows Parameter Value Baud Rate 9 600 Start Bits 1 Data Bits 8 Stop Bits 1 Parity No The ID of the servo controller can be adjusted by means of the rotary switch on the back When using the ASCII protocol the ID numbers 1 to 6 are admis sible Thus up to 6 servo controllers may be networked with RS485 The illus tration below shows the servo controller from the rear Figure 8 3 Adjusting the servo controller ID in RS485 mode User Manual Release 1 3 LinMot ASCII protocol Fail save biasing User Manual Release 1 3 Setup and installation With so called fail safe biasing by using resistors an assured level is guaran teed on the bus even if no driver is active This is necessary for proper func tioning The circuitry of the resistors may be seen from the diagram below
51. All parameters are listed and explained in tabular form below PARAMETER TABLES In these tables all parameters are explained Each table describes a directory or a parameter which may have various pre defined values A BES ai ae B Parameter name Explanation D c A The parameters described are inthis C Attributes See also table 6 1 mean directory ings of the attributes B The names of the parameters D Description of parameter or prede fined values All parameters and directories are printed in bold type in this section so that they stand out Every parameter may have additional attributes The pos sible attributes are explained in the table below Attribute Meaning L This symbol signifies live parameter They may be altered while the motors are operating R This symbol signifies parameters that are write protected and cannot be altered by the user e This symbol indicates that the parameter is visible only under certain circumstances A footnote at the foot of the table states when this is so Table 6 1 Meaning of the attributes To obtain a better overview associated parameters are described in separate sections These include password protection system related error handling starting behavior system time and firmware version information In the Drives directory up to four actuators Drive A Drive B Drive C Drive D may be configured independently of each other The m
52. Bit voltlioja ejr iE o OE e A a oea Ra e ES Name alal ale T VIVIS D 5 DD o 0 akoak aa 8 3 2 e slslslaelelelelels as 22 2 2 H al sal ojolojojajojlali lt ollos 2 2 2 2 2 21 2 5 8 3 4 E fe ft te fav oin sa wo edee O wW 2 S 2 S a ajajajg ci a gcal a o oO ep 8 8 S S 8isisizElPlal Plo ajajaj sis Sl Sielelsl2iElel Sis L S E L O O OlOl S wWl OlalsZ2 g clZ The control word determines the state into which the servo controller has to go and is sent from master to slave The individual bits have the following meaning RUN Request Requests change to RUN state STOP Request Requests change to STOP state INIT Request Requests change to INIT state FREEZE ALL Req Requests change to FREEZE state for all Motors These signals correspond to those of the AT MT servo controller Thus for example the change to the initialization mode is requested by INIT Request All states are described in detail in the user manual in chapter 4 2 from page 4 6 39 40 PROFIBUS Servo Controller Data modules The signals Trig In 1 to Trig In 4 serve to initialize the motors in the initializing modes Trig Move Out or Trig Move In Trig In 1 motor A Trigger signal for motor A Trig In 2 motor B Trigger signal for motor B Trig In 3 motor C Trigger signal for motor C Trig In 4 motor D Trigger signal for motor D With the FREEZE DRIVE X signals single mot
53. Channel C Booster 2 i u s d Channel A Master D Aad a4 ati Figure 5 1 Master Booster operation of LinMo motors In operation the position is set for the master motor The current calculated by the position controller on the master motor is now set for both the master and the booster motors When configuring the motors the master must be defined before the boosters Only the following parameters must be defined on booster motors e motor type POx 23 POx 37 POx 48 same type as master e 2 or 3 Amps only with E100 series same value as master e commutation e error handling User Manual Release 1 3 Master Slave Modes Master Gantry operation L I n M ot Operating Modes A booster motor may exert its force either in the same direction as the master or opposed to it This can be chosen in the Master Booster directory In the Booster parallel setting the booster motor must point in the direction of the master in the Booster reverse setting in the opposite direction to the master See also Figure 5 2 Booster operating modes below Master Booster parallel Master se Booster parallel Master Booster reverse ee gt Figure 5 2 Booster operating modes 5 2 Master Gantry operation Principle Parameters User Manual Release 1 3 Like Master Booster operation the Master Gantry operation enables working of two or more motors together by c
54. Close Figure 7 5 The Tuning Tool 106 User Manual Release 1 3 LinMot Tips and Tricks for the controller The Tuning Tool I n ot User Manual Release 1 3 Motor data In the Motor Type pop up menu select your motor type If you have a special motor F Fast type or S Short type you can specify this in the pop up menu on the right side of the motor type field The slider length slider mass stator mass and force constant will be displayed Note If your motor is not in the motor type list then select the type Other and set the Force Constant the Slider Mass and the Stator Mass in the appropriate fields in this case you have to look up these values from the data sheet Motor Data Motor Type Slider Length mm Force Costant N A Slider Mass g Stator Mass g Figure 7 6 Choose the motor type Application data Set the load mass in the Load Mass field and select in the Add pop up menu the moving part of the motor The mass of the moving motor part will be added to the load mass The total mass will be displayed in the Total Mass field Set the dry friction in the Dry Friction field If any external constant force exists like MagSpring set its value in the field External Force The sign of this force is positive if it is in the same direction as the positive position direc tion of LinMot otherwise it is negative see Figure 7 8
55. Demand position is set to the actual position of the motor Set P value of controller Set I value of controller Set D value of controller Set FF Friction value of controller Set FF Acceleration value of con troller Set FF Deceleration value of con troller Set the Current Offset value of con troller Table 3 1 Overview of command module commands User Manual Release 1 3 PROFIBUS Servo Controller Data modules LinMot Control Status User Manual Release 1 3 The Control Status data module transmits the control word to the LinMof servo controller and reads back the status word from the servo controller It must be setup as first module All subsequent modules relate to motor A till the Next Drive module follows If the Next Drive module is not supported by the setup software as an alternative the Control Status module may be used again to introduce a new motor But only the data in the first Control Status will be evaluated Module Control Status Control Direction Master Slave Size 1 word Structure Bit lt a ejeje ee E a E E e e A e a A a EE Name S alolal lt Alon T 2 f SB else ele Jz olg a aja allelale z S la eg wee eslefa 8 8 8 418 313 WWW eleelea zla mea lle W we Ww o o o wl E O x 2 2 2 2 a a alels Dla EEIEIEE EEIE S S S Elzolrl g Status Direction Slave Master Size 1 word Structure
56. Dive Type Samples 1 Curvel LinMat 10 1008 231 Curvel LinMot 10 1008 231 2 Curve2 Stepper 10 999 686 Curve2 Stepper 10 999 686 3 MultiTriggerT able Create Multi Trigger Table Status Erasing flash EPROM section Downloading curve 1 Downloading curve 2 Downloading multi trigger table Downloading curve headers Download completed Figure 2 9 Create Multi Trigger Table key Pressing the Create Multi Trigger Table key opens the Edit Multi Trigger window The Edit Multi Trigger window consists of two pages designated with the two tabs Settings and State Table In the State Table the reference positions and setpoint motion profiles are entered as well as the desired commands for the individual motors The digital input signals and input combinations are assigned to the individual states on the settings page User Manual Release 1 3 MT Servo Controller Active Input Signals Active Input Signals IIX Trigger A IIX Trigger 8 IIX Trigger C X Trigger D Active Trigger Signals Active Trigger Signals X Trigger A X Trigger B II Trigger C I Trigger D Name r Name Multrigger Table Print p Print User Manual Release 1 3 Configuration software LinMot Control elements in Settings The first page of the Edit Multi Trigger table serves to set the active triggers and to define the name of the Multi Trigger table and the input table
57. ELO IRD drive drivecode OxOD ELO PC data juint16 0x0D This command reads a memory word 16 bits from the address previously set with the AO and AS commands The drive indicator is used as a controller selector any configured drive on the controller is possible Note this address can be altered by using the commands WS or RE Value Min Max datatuint16 0 65535 RE Read memory word with address increment Direction ASCII sequence PC ELO IRE drive drivecodel 0x0D ELO PC data juint16 0x0D This command reads a memory word 16 bits from the address previously set with the AO and AS commands After reading the address will be incremented 137 i automatically by 2 The drive indicator is used as a controller selector any configured drive on the controller is possible Value Min Max datat yint16 0 65535 RP RP Redefine actual position S Direction ASCII sequence PC ELO IRP POS sint16 T drive arivecode 0x0D ELO PC ACK ackcode 0x0D This command sets the actual position of the motor drive to the value pos It has purpose in only few cases and should be used with caution Important The minimum and maximum positions are not redefined This command must only be executed in the RUN state Value Min Max POS sint16 32256 32256 RQ RQ Set demand position to actual position S Direction ASCII sequence PC ELO IRQ drive drivecode 0x0D ELO PC B ACK ackcode
58. IG top USIG middle GND middle GND bottom UZK bottom Figure 3 5 Pin assignment of PROFIBUS servo controller User Manual Release 1 3 Interfaces r External position sensing Sine Cosine sensors Li n M ot 4 External position sensing The repeatable position accuracy of the linear motors of the LinMof P series with integrated measuring system can be increased to 10um or better with an external position sensing The very high linearity of the external sensor tape enables the deployment of linear motors in applications where a very high accuracy is demanded The LinMof servo controller support two types of external position sensors links Sine Cosine and A B incremental 4 1 Sine Cosine sensors Principle User Manual Release 1 3 The sine cosine position sensor consists of a sensing head and a magnetic scale strip When the sensing head is moved over the scale strip a sine anda cosine signal are given at the output From these signals the LinMo servo controller calculates a position signal which can be used to position the motors Magnetic tape Figure 4 1 Principle of the sin cos position sensing Sensing connection The external sensing is connected to an unused motor channel The motor that obtains its position via the external sensing must always be connected to the following channel Example If the external position sensing is connected to the motor channel
59. Initial Position 71 72 84 Initialization 70 83 initialization 59 66 initialization procedure 72 input range 85 input voltage mapping 86 Insert Column 28 Insert State 27 installation linear motors 155 servo controllers 154 interface 65 85 actuator 66 cabling RS485 115 command 66 pin out PROFIBUS 50 PROFIBUS DP 30 RS232 3 112 RS485 3 112 setting jumpers RS485 115 Internal Sensor 69 10 Configuration 65 IP 135 J Jitter 97 Jitter Filter 97 L lateral force 155 LED codes 150 LEDs 3 lid inserting 15 linearity 96 LinMot POx 23 67 LinMot POx 37 67 live parameter 58 load mass compensating 78 compensation 104 Logging Mask 63 lubricants grease 153 M Magnet 67 Magnetic 52 magnetic tape 2 maintenance motors 152 schedule 152 servo controllers 151 mass compensating 78 Master 68 83 92 User Manual Release 1 3 Index master class 1 and 2 description 31 failure 30 Master Booster 68 92 Magnet 92 Master Node Address 99 100 Master Booster 83 master booster operation 55 68 83 Max Acceleration 75 87 Max Velocity 60 75 87 Max Acceleration 36 41 Max Current 36 42 Max Velocity 36 42 Maximal Current 77 87 93 94 Maximal Deceleration 82 91 Maximal Init Current 71 Maximal Position 74 86 Maximal Speed 82 91 maximum acceleration getting 132 maximum current 71 77 79 87 94 getting 132 setting 89 MH 136 Micro Step 88 Mimimal Position 74 86 Minimal Current 93 mode analog
60. Manual Release 1 3 Settings Table The individual states are called up by the master control e g PLC with four digital signals Trig In 1 4 A command is assigned to each of the 16 possi ble input combinations of the trigger signals These commands allow states to be controlled directly calling up the following state or the previous one or per forming the same state once again Drive A LinMot Drive B Link Sin Edit Multi Trigger Table Active Input Signals DCBA DEC X Trigger A X Trigger m Abs Positi Position 5 mr No operation 14 Goto state Acc 10 014 m s 2 Ace 10 014 15 Goto state 0 X Trigger B 2 Rie 0001 1 1 Goto next state z reer 3 0010 2 2 Goto previous state bd x iiaae Rel Position No Operati 0011 3 3 Repeat actual state fal Increment 9 999 mm ae Do 0100 4 4 Goto state Speed 0 502 m s RR Trigger B 0101 5 5 Goto state 4 Ace 10 014 m s 2 I Trigger C 0110 6 6 Goto state zje 2 Rel Position No Operati Increment 9 999 mm I Trigger D 0111 7 Goto state 12 Speed 0 502 m s roa tooo 8 8 Goto state hd k Acc 10 014 m s 2 1001 g 3 Goto state fd z Multrigger Table e EA 3 No Operation Curve 1010 A 10 oto state Curve numbe B 11 Goto state 28 El 4 Abs Position Abs Positii c 12 Goto state hd Position 0 mm Position 0 mr D 13 Goto state 35 Speed 0 5 m s Speed 0 5 m iz F
61. Noise Dead Band Determines what constant current is to be fed forward for a slider motion The sign for the feed forward cur rent depends on the direction of the motor stroke This parameter may be used to compensate any friction present Determines what current must be fed forward to obtain the desired acceleration A value of 100mA m s2 causes a current of 100mA to be fed forward for an acceleration difference of 1m s Determines what current must be fed forward to obtain the desired deceleration A value of 100mA m s causes a current of 100mA to be fed forward for an deceleration difference of 1m s This parameter defines the width of the noise filter dead band This feature is to reduce the noise when the motor stands still Because this filter will reduce the accuracy in positioning it should only be turned on if the acoustic noise is really disturbing and when turned on the value should be set to the minimum where the noise disappears The noise dead band filter becomes active when the demand position doesn t change anymore When the integral position control parameter is set to zero the filter will freeze the motor current unless the actual motor position deviates more than the noise dead band width is defined from the average of the last eight actual motor positions before this filter becomes active When the integral position control parameter is turned on the filter will freeze the motor current unless t
62. OXOD ELO gt PC ACK ackcode OxOD This command sets the FF Acceleration value of the motor drive to value ffacc The unit is 0 1 mA m s Value Min Max Hacc uint16 0 32640 DB Set FF Deceleration value of controller Direction ASCII sequence PC gt ELO IDB ffdeCtuint16 drive drivecodel 0x0D ELO gt PC eet ACK ackcode 0x0D This command sets FF Deceleration value of the motor drive to ffdec The unit is 0 1 mA m s Value Min Max ffdeCiuint16 0 32640 DC Set motion profile amplitude SEM Direction ASCII sequence PC gt ELO IDC campuintie AVE arivecode 0X0D ELO gt PC ACK ackcode OxOD 12 ol i This command set the motion profile amplitude of the chosen motor The maximum value 4096 is equal to the scale factor 100 With this value the amplitude of the motion profile is as big as it was defined in the Curve Inspector Warning The motor will jump if this command is used while a curve is run ning Value Min Max camMp uint16 0 4096 DD DD Set D value of controller Direction ASCII sequence PC gt ELO IDD Quint16 OriVe arivecode 0x0D ELO PC P aCkjackcode 0x0D This command sets the D value of the motor drive to the value dec The unit is 0 015A m s Value Min Max Auint16 0 32640 DF DF Set FF Friction value of controller Direction ASCII sequence PC gt ELO IDF fffri uint16 drive drivecodel 0x0D ELO gt PC Hot ack ackcodel
63. PC ELO ICS stoPtdrivesen ANYATIVE drivecode OxOD ELO PC ACK ackcode 0x0D This command terminates the execution of one or more cyclic motion profiles The motion profile run to their end after reception of this command and will not be started again The variable drivesel specifies which motors should be halted Bit 3 2 1 0 Name Motor D MotorC MotorB Motor A With the variable anydrive a random motor may be chosen on the servo con troller 124 User Manual Release 1 3 LinMot ASCII protocol CT DA DB DC User Manual Release 1 3 LinMot Commands Example sequence PC gt ELO ELO gt PC Description ICS3AJ 4 Stops the execution of the cyclic motion pro files for the motors A and B CT Run motion profile cyclic on next trigger SEM Direction ASCII sequence PC gt ELO ICT curveryintie ANIVE drivecode OXOD ELO gt PC ACKiackcode OXOD This command starts with the next positive edge of the trigger signal a motion profile cyclical After the first start the motion profile will be run cyclic without need for a fresh trigger signal With the help of the CS command the motion profile can be stopped As long as the motion profile is running no other motion commands may be executed on the motor This command must only be executed in the RUN state DA Set FF Acceleration value of controller Direction ASCII sequence PC gt ELO IDA ffaCCryint1e FIVE drivecode
64. This parameter sets the amplitude of the motion pro file The value range is from 0 to 100 This parameter sets the speed of the motion profile The value range is from 0 to 100 1 Visible only in Analog mode 2 Visible only in Two Point mode 3 Visible only in Continuous Curve mode 4 Visible only in Trigger Curve mode Figure 6 1 Set position with analog setpoint on page 75 shows how the set point behaves in the Analog mode User Manual Release 1 3 Parameters Stepper motor parameters Filter Parameters User Manual Release 1 3 This directory includes all parameters needed for setpoint filtering Drives Drive X Set Value Generation Filter Parameter Max Speed Max Acceleration This value sets the upper speed limit It is disre garded when a motion profile is being run The speed and acceleration are then taken from the motion profile This value sets the upper limit for acceleration It is disregarded when a motion profile is being run The speed and acceleration are then taken from the pro file Position Monitoring The firmware supports two kinds of position monitoring that are explained in chapter Position monitoring on page 76 Because the stepper motor has no position feedback it is not possible to use the following error monitoring The following parameters serve to specify the limits Drives Drive X Position Monitoring Pos Range Min Pos Range Max In Position In Position
65. Typical sequence PC gt ELO ELO gt PC Description IVIAW 190735 Queries actual speed resolution motor A The value given corresponds to 0 190735 mm s because in this example motor A is config ured as LinMof WR Write memory word Direction ASCII sequence PC ELO IWR datayuintrey drive drivecode 0x0D ELO PC aCkjackcode 0x0D This command writes a memory word 16 bits at the address previously set with the AO and AS commands The drive indicator is used as a controller selector any configured drive on the controller is possible Note this address can be altered by using the commands WS or RE Value Min Max dat juint16 0 65535 143 i WS WS Write memory word with address increment Direction ASCII sequence PC gt ELO IWS datayuintie drive drivecode 0x0D ELO gt PC ACK ackcode 0x0D This command writes a memory word 16 bits at the address previously set with the AO and AS commands After writing the address will be incremented automatically by 2 The drive indicator is used as a controller selector any configured drive on the controller is possible Value Min Max datat yint16 0 65535 ZD ZD Set internal position counter to zero S Direction ASCII sequence PC ELO IZD OriVE drivecode 0x0D ELO PC ACK ackcode 0x0D This command sets the internal position counter to 0 shifting the home posi tion at the same time This command has purpose only in f
66. alculated as follows FF Dec Feed forward mA m s FF Deceleration m c4 m Moved mass g Ci Motor force constant N A User Manual Release 1 3 LinMot Tips and Tricks for the controller Adjusting of the Current Offset where m is the moved mass load mass slider or stator mass and c is the force constant of the chosen motor The value for the force constant c can be read from the data sheets 7 6 Adjusting of the Current Offset User Manual Release 1 3 Current offset with horizontal moves For applications with horizontal moves the circumstances for the forward and backward movement are identical and the parameter Current Offset should be zero Current offset with vertical moves In applications with vertical moves the weight of the load mass leads to an asymmetrical controller behavior for the up and down moves With the param eter Current Offset in the directory Drives Drive X Control Parameters this asymmetry may be compensated The value may be computed as follows m Load mass kg Current offset m g cy g Gravitation 9 81 m s Ci Motor force constant N A The mass m is the moved mass load mass slider or stator mass The force constant c can be read from the data sheets The sign of the parameter Cur rent Offset depends on the direction of the mounting If the cable exit is in direction to the floor then the sign is positive otherwise its negative 105 LinMot I n ot Tips and Tricks for the
67. alling slope on the trigger signal This parameter sets the position offset of the motion profile This parameter sets the amplitude of the motion profile The value range is from 0 to 100 This parameter sets the speed of the motion profile The value range is from 0 to 100 1 Visible only in Analog mode 2 Visible only in Two Point mode 3 Visible only in Continuous Curve mode 4 Visible only in Trigger Curve mode 74 User Manual Release 1 3 1 Parameters Linear motor parameters L I n M ot The diagram below shows the shaping of the analog input voltage to the posi tion setpoint in the Analog mode Set Value 10 V Position Actual Set Value 0 V Position Voltage OV Actual Analog Input 10V Figure 6 1 Set position with analog setpoint The setpoint reached is the value interpolared linearly between the parameter OV Position and 10V Position Filter Parameter This directory includes all parameters needed for setpoint filtering Drives Drive X Set Value Generation Filter Parameter Max Speed This value sets the upper speed limit It is disre garded when a motion profile is being run The speed and acceleration are then taken from the motion pro file Max Accelera This value sets the upper limit for acceleration It is tion disregarded when a motion profile is being run The speed and acceleration are then taken from the motion profile User Manual Release 1 3 75 d L I n M ot
68. ar motor parameters Init Config User Manual Release 1 3 In the Init Config directory are the following initialization parameters Drives Drive X Initialization init Config Init Speed Maximal Init Current Home Position Check Init Position Initial Position Defines the speed at which the slider moves when initializing This parameter states the amperage that must be detected when initializing against a stop It can thus be determined how firmly the linear motor is to press against the stop when initializing The current is set as a percentage of the maximum current After reaching the current set with the Maximal Init Current parameter when initializing the motor is initialized This position is now given the Home Position value After defining the Home Position there is an automatic traverse to the position defined under Check Init Position and back to the Home Position If the slider cannot reach the desired position desired travel range not free an error signal is given At the end of initialization the Initial Position is assumed When the slider reaches this position initialization is concluded In the example on the following page the meaning of these parameters is clar ified 71 Parameters Linear motor parameters The example below shows the initialization procedure The initialization parameters were set Init Mode Home Position Check Init Position Initial Position Action 72
69. arameters The following modes may be distinguished Drives Drive X Set Value Generation Run Mode Serial Analog Continuous Curve Trigger Curve Two Point The setpoint is given with a protocol via the serial interface The setpoint is given via the analog input corre sponding to the motor In the Set Value Generation directory the boundary setpoints may be fixed for the OV and 10V input levels The analog input range between OV and 10V is formed linearly on the set point range defined by these boundary setpoints maximum minimum A setpoint motion profile stored in the servo control ler is run through cyclically The motion profile num bers are selected under Curve Number in the Set Value Configuration directory On the rising slope of the trigger signal a first and on the falling slope a second motion profile stored in the servo controller are run through The curve num bers are fixed in Set Value Generation directory under Rise Curve Number and Fall Curve Number If the falling slope of the trigger signal ensues before the first profile is completed the second profile is run immediately afterwards If the trigger signal corresponding to the drive is active the value defined with the parameter 1 Posi tion in the Set Value Generation is traversed If the trigger signal is not active the value is traversed that is defined with the parameter 0 Position 85 Set Value Configura Parameters Stepper motor
70. are given via the MT interface This inter face may be selected only if a MT servo controller is con nected otherwise an error will be signalled upon start up ASCII RS232 The commands are given via the RS232 interface assisted by the ASCII protocol The LinMot Talk protocol for config uration and debugging is still available over the RS232 link ASCII RS485 The commands are given via the RS485 interface assisted by the ASCII protocol The LinMot Talk protocol for config uration and debugging is still available over the RS485 link Application The commands are given via a special application soft ware which can be programmed for special applications by NTI Ltd System time In this directory the system time can be recalled broken down into operating hours and seconds If the servo controller is stopped via the Stop key on the control panel the system time is no longer updated till the next start System Time Hours Operating hours Seconds Number of operating seconds 0 3600s 6 3 Motor parameters 66 The actuator interfaces Drive A to Drive D all have the same parameters The parameters described below are consequently the same for all four actu ator interfaces The drive parameters are divided into subsections giving the definition of the drive type initialization setpoint generation position monitoring control and error handling Different subdirectories appear depending on the chosen motor type User Manual
71. as Curve Offset When this flag is used the module Curve Offset should not be configured Module Run Curve Curve Direction Master Slave Size 1 word Structure Bit wol t alas rlo rH Ilr l rl rl rl eH OT e E a O MoO y TI MINIT oO Name ms PAEA SIS ajajaj 2 se el EEREN Seal 0 o0 o0 o o algele z ajala ajaja x ElEeleElsSl Ele Djl glej E r al aal AlE l s T Slg 2 Z Z 2 2 2 EERE A eE E o S e z ala Ss sls z o 5SIl8lololololo OlOlOjlOjJ jJO SS ZELS ESIE Eo Eoo E N E NE OJE Lg EIS 2 2 zlz z 9 6 5 6 c e s 2 0 o0 G ao n m u r o S O O W XD ajajaj Ole e le le le le Cl O Os L S 2 2 2 2 Lial oa alao o o The ME Mode flag is only valid for MP software Master Encoder with Profibus and if it is set the motion profile will run in master encoder mode This module serves to set the desired speed of motion profiles If the maxi mum value is set the motion profile is run as quickly as it was created With lower values the speed drops linearly Module Set Curve Speed Curve Speed Direction Master Slave Size 1 word Range 0 to 4096 Unit 0 0244 of maximum speed This module serves to set the desired amplitude of motion profiles The maxi mum value 4096 is equal to the scale factor 100 With this value the ampli tude of the motion profile is as big as it was defined in the curve creator M
72. at the end of the bus may be ter minated Because the bus is terminated actively for correct termination the equipment at the end of the bus must be switched on so that the connectors have the voltage for termination Check possibly whether the equipment in question also have a voltage supply for the external termination In case of doubt place LinMof servo controller at one end of the bus and the PLC at the other Stub lines are no longer admissible with 12MBit s Check version of GSD data file If data modules are configured for maximum acceleration maximum speed or maximum current they must be preloaded with suitable values so that the motor may be initialized Unfortunately the various PLC makers use different byte order definitions in their equipment One of them gives the smallest address to the least signifi cant byte LSB in a word while another does just the opposite To circumvent this problem with LinMo servo controller the byte order can be adjusted by means of parameters A wrongly configured byte order may result in the lower and upper bytes being switched round in a word With slow PLC controllers it is advisable to cut out the high priority diagnosis on the LinMo servo controller in order to shorten the maximum cycle time In case of error there will then be no high priority interrupt triggered on the PLC The error must then be handled in the cyclic OB To obtain a short cycle time it is advisable to map the LinM
73. ateral force The linear drives of the LinMof P series function best when operated as drive elements and are not used as guide or bearing elements Binding of the system arises if the slider of the LinMot P drives is used to move another longitudinally sliding machine part via direct coupling In order to compensate for the parallelism errors a flexible coupling repre sented here by a bent line must be used between the slider and the moving machine part Figure 6 2 Compensation of parallelism errors If the linear motors are mounted horizontally the key of the stator should be on the lower side see figures above If mounted like this the slider mass is com pensated by magnetic forces in the stator 155 Mounting the stator Mounting of the load Handling the sliders Entering the slider into the stator 156 Installation of the linear motors The stators are mounted by clamping As clamping device the LinMot flange should be used or a similar construction Most important is a broad clamping surface in order to get a good heat dissipation The clamping force should not be so tight as to compress the stator housing Hint Don t use tightening tools with lever arm without an additional torque measurement The load mass must be mounted in a way that only the end piece of the slider is held with the appropriate wrench Caution magnetic attraction By no means should the sensitive slider tube or the sl
74. ation Direction Master Slave Size 1 word Range 1 to 1536 Unit Motor type Unit LinMo 238 419 mm s Stepper 47 6836 Steps s Solenoid Max Speed Max Current Next Drive 42 PROFIBUS Servo Controller Data modules This module sets the maximum speed of the motor Module Max Speed Max Speed Direction Master Slave Size 1 word Range 6 to 24576 Unit Motor type Unit LinMo 190 735 m s Stepper 0 081469Steps s Solenoid This module sets the maximum current power of the motor Module Max Current Max Current Direction Master Slave Size 1 word Range 0 to 255 Unit 23 438 mA This module introduces the next motor when setup Individual setup software packages do not support this module because it transmits no useful data If this is the case the Control Status module may be used instead Module Next Drive Next Drive Direction Master Slave Size 0 words User Manual Release 1 3 PROFIBUS Servo Controller Data modules LinMot Run Curve Set Curve Speed Set Curve Amplitude User Manual Release 1 3 This module serves to run a motion profile on the servo controller While the Continuous Flag is set the motion profile is repeated continuously If the Delayed flag is set the motion profile will not be started as long as another profile is running With the Incremental flag the actual Set Position is used
75. be recalled individually by the higher level control When more than one digital input signal changes its state at the same time jitter effects may occur If for example state 3 0011 is called from state 0 input combination 0000 the last two input bits ought to change at exactly the same moment If this does not happen during the change the status 1 0001 or 2 0010 will be assumed briefly If the servo controller were now to detect these transient states undesirable consequences would result To prevent this a new state is assumed only after the input signals have remained stable for an adjustable time interval Multi Trigger Jitter Filter Time Time interval during which the input signals must be stable so that a change of state is performed Acknowledge This parameter defines how long the signal In Position at least stays at zero after a command has been executed The signal In Position goes to one if this time has expired and the motor has reached its wanted position Multi Trigger Acknowledge Time Minimal time during the signal In Position goes to zero after a command has been executed 1 L I n M ot Parameters MT parameters Output Signals Output Configuration Outputs 3 and 4 can be configured by the user by means of the parameters in the directory Multi Trigger Output Configuration Output 3 The function of output 3 and 4 can be selected with this parameter Output 4 Multi Trigger Output Configuration Outpu
76. ber 74 86 93 Feed 104 feed forward 78 feedback signal 15 FF Acceleration 78 104 108 getting 128 setting 125 FF Deceleration 78 104 getting 128 setting 125 FF Friction 78 getting 129 setting 126 field copying 28 160 pasting 28 field bus 30 Filter Parameter 75 87 firmware 1 2 58 59 flags getting 135 FLASH 60 Flash Type 60 Following Error 76 following error 14 76 80 81 monitoring 76 Following Error 76 force 2 3 8 19 ripple 79 setting maximum 138 force offset setting 127 Freeze 82 90 95 FREEZE flag setting 140 Freeze Input 65 FREEZE Request 39 Freeze Unfreeze 19 friction compensating 78 compensation 104 Full Step 88 fuses 151 G GA 131 132 GC 132 GD 132 GE 133 Get Current 36 41 Get Position 36 41 GK 130 global error status getting 133 global warn status getting 134 Goto Next State 21 Goto Position 82 90 Goto previous state 21 GP 133 GS 134 GSD file 34 GV 134 GW 134 GX 135 H Half Step 88 heat losses 79 heat sink temperature 62 Home Position 71 72 84 home position moving 19 136 Hours 66 I value 77 ident 30 In Pos A D 98 In Position 63 81 90 In Position 76 In Position 87 In Position 87 In Position 76 Index Info 99 Init Config 71 84 INIT Done 40 Init Failed 63 80 INIT flag setting 140 Init Input 65 Init Mode 70 83 Init Once 70 84 INIT Request 39 INIT State 40 Init Switches 70 84 Init Velocity 71 84
77. ccccccccccccsssssssssssssssssssssssssssssssssssssssssssssscees OU OVERVIEW woccissiiscedbsecdac scsccdecadecsccsecccseceadeceecsestecesdascdecessisceecoscsdcucsessouscdsssdecascsseceses OU State MACHING sieiccdessincssecesscesesssaccedscasce cossenceesseveoss cocsescssctesesesveeeacceceseoceseseesosscsese OL Oro E0 ec cuts ndesecds tues teas N TTT T Commissioning Without PROFIBUS essssssssesssesssoossoossosesssesssosssoossoossssssssesssessse OF PROFIBUS Parameters ars cuesscsestiassns caus cadencues satasiancebvcnbsccbetsactesbadetdesasntusannaxancanvese OF DLE SA E E E E A oo Datta mod le Ov rVieWsissssicsosssseisisossscsssoboicsissssei sissors sssasoisiseis sosise sse issis isoisisossi OO Data IMO CUles aiceaviccasaiccpeduiesscsusaasadnvauulassasseuaabideuauesvetenbaasetsteaabiaeddatesspussrseavacieeie OL TILA TIOSE sincere dscupetessadovecnsnstacessesueecngassscubencocbcssesussgsassusscdueenscaesncesacanescuecseeusecenaro gt Trouble shooting remedying faults cccccccsccsccscssccsccsccssccssccccssccccscssecscsees 4D INCE g E E AA E E EEE E ER E T RE n External position sensing sseessecessocssoesssecesocesooesoocesoecsscesooesoosesocessocesocssoosesssss DL SinG COSINE SENSOMS ssicsesecsessso iness eises seige sos ossos es an o asrasa osso ersa L JA BeSENSOTS sesstssenasessecectsesebocsescosssteved ooasessecncdseesssececapesscueasotassacesensscesseesecossbacecssoee 4 Mast r Slayve WIOG ES 5 cisisce5csepco
78. ce this has been done the In Position signal is activated If commands are called while the actuator is in the freeze state upon giving the unfreeze com mand the command last called is executed if the commands last called were Rel Position commands the relative positions are added All FREEZE commands are cancelled upon leaving the RUN operating state Setting maximum current This command sets the maximum amperage and with it the force of the actua tor in question Only positive values may be set Setting current offset This command sets the current offset It can be used to compensate a static force Setting the Feed Forward Parameters This command sets the Feed Forward parameters It can be used to obtain optimal adaptation of the controller when changing the load mass Setting the PID parameters This command sets the PID Parameters It can be used to adapt the controller to changing load conditions during operation 19 Set CP Recipe Start Cam Start Cam ActPos Curve ActPos Abs Pos Act Pos SetDPosToAPos 20 MT Servo Controller State Table Setting the Motion Profile Properties This command sets the motion profile properties offset amplitude and speed Change Recipe for Master Encoder since release 1 3 10 When operating in master encoder mode this command changes the cams for the next cam cycle This command is only supported in master encoder mode Change to cam mode since release 1 3 10
79. ch is to flow through the winding with 10V input voltage with solenoid control With solenoids this value defines the current driven with a logic 0 of the trigger With solenoids this value defines the current driven with a logic 1 of the trigger In the Continuous Curve mode the motion profile stored in the servo controller and bearing the number in Curve Number is run over cyclically In the Trigger Curve mode the motion profile with this number is run on the rising slope of the trigger signal In the Trigger Curve mode the motion profile with this number is run on the falling slope of the trigger signal This parameter sets the current offset of the motion profile This parameter sets the amplitude of the motion pro file The value range is from 0 to 100 This parameter sets the speed of the motion profile The value range is from 0 to 100 1 Visible only in Analog mode 2 Visible only in Two Point mode 3 Visible only in Continuous Curve mode 4 Visible only in Trigger Curve mode 93 94 Parameters Solenoid parameters The diagram below shows the shaping of the analog input voltage to the cur rent setpoint in the Analog mode Set Value 10 V Current Actual Set Value 0 V Current Voltage OV Actual Analog Input 10 V Figure 6 2 Set current with analog setpoint The setpoint reached is the value interpolated linearly between the parameter OV Current and 10V Current Control Paramet
80. cilloscope SOS is ssccsvscodarencaossoenassescvdsonpaseeasssasencscncstenasssdonsecsaccnseepeeenns Logged Wal MINES siccrsvenseconoesacuascavasuucsisonsdsowesiuse shenueddentesncasscvesdenssedensslonesbetensensedieneed 1 1 4 4 Mimimal jerk Motion PrOMlESssiscssseiechssevschnossvssociasbodschesesssmanssnncabessonssoresunsocinctedesoenie Limited jerk motion profiles eesssesssesssesssocesoossooesssesssesesoosssosssesssesesoosssosssssssssssse PACKAGS IMS CA LICL css ccstewosecannesudeasoeSouciiecuecsiensvascests oossoo insenso saae sno esas oosa oat VO stat s display sss csssionesdoastssebeneonasebestadesnscanas ces sceeQanscendes vs unveuapsensuonssenesseesesnebon New commands for MT servo controller ccccscscccsccscccccsccccssccccssccccsscecssceeeeees O Oper ti nal SCALES siecsverascvsswscavsacessawcesexosdelondedenneseceastssedenuesereseensbesaherousceesesseseeusnos LU MT Servo Controller occcccsccccccteccccccccesssssseceoscscecesetesesecscssdsacssseteesesescsdedsvedsosesescses Le EAE A AAE ET EET EE NEEE T EE T LZ Setup and installati n ssssssseses sesoto sesscsoso soost sosotos aitosa cossa tsciso to soise o stees seo asnes LT SUAS elo C AA OEA AE E E Settings Pablo sa ccccscvtdessecussoncesscandstesssnsenersuestavsoisssonensvecssecentssodscsaasovevedseecsasesencessaie L Configuration BOTEW ALS Secasiebecitixticceaicscstcoasassecgadssseaceatanstanaws Secesdsesecssendbeseaeaseseosse 24 PROFIBUS Servo Controller
81. control This enables a drive to be defined in a new column and copied later into another one The selected column is deleted This key is active only if the entire column is selected More than one column may be deleted at a time Columns once deleted cannot be recovered To prevent unintentional loss deletion must be confirmed The entries of individual fields several fields entire lines or columns may be copied By means of the Paste command the entries of the copied fields may be inserted in other fields The Paste command functions only if the actuator types of the copied field and insertion field and the number of fields are identi cal In the individual fields of the state table the movements or commands are entered which the actuator in question is to perform when the state is called Edit State 0 Drive A Poston ml Speed ms ses a Figure 2 13 Entering state commands The state command is selected in the selected field of the table on the left hand side by means of a pull down menu containing all state commands valid for the motor type adjusted The right hand fields beside the pull down serve to configure the state com mand Only the fields available with the state command selected are dis played By means of the Update key the adjustments made are transferred into the field If they are not to be taken over the alterations can be rejected by press ing the Cancel key With the Ok key the Edit Multi Trigger wi
82. controller else on the bottom side which are used to define the MAC ID for bus interfaces Passwords Passwords In the Passwords directory the password for the servo controller can be set System Passwords User The User parameter contains the currently used user password It can be altered only at this place No password is set when the servo controllers are supplied Error handling In this subsection the global handling of errors is described Here a distinction is made between warnings and faults In most cases a warning is given first when an error occurs If the higher level system does not respond to the pending warning the servo controller goes to the error state Warnings A warning is given with an active digital output signal WARNING OUT This is activated when a warning occurs When a warning message is given the sys 60 User Manual Release 1 3 a Parameters Global parameters L n M ot tem is still fully operational All motors are controlled A warning message enables the higher level system to respond to the warning and carry out a controlled system shutdown e g bring it into an emergency stop position When a warning is given the servo controller is always still in the RUN state User Manual Release 1 3 61 Error Error Mask Warn Mask Parameters Global parameters An error is signalled on the one hand by activating the digital output signal ERROR OUT This is done when an error occurs On th
83. controller The Tuning Tool 7 7 The Tuning Tool The Tuning Tool was introduced in the software Release 1 3 10 It helps the user to calculate and set the Feed Forward Parameters and the Current Offset without need of reading the motor data sheet The Tuning Tool is started by clicking the button Show Tuning Tool in the Parameter Inspector see Figure below Show Tuning Tool Hr Parameter Inspector F440 MT on COM1 0 Maximal Current G Current Offset lt Set Value Generation Position Monitoring Control Switches Gi FF Friction FF Acceleration 0 mA m s 2 FF Deceleration 0 mA m s 2 Path Drives Drive A Control Parameters Figure 7 4 Parameter Inspector Example Using the Tuning Tool A linear motor P01 37x240 60x260 in vertically mounted positive direction opposite to the gravity force and moves a load mass of 1 2kg attached to the slider The linear motor has a force constant c of 40 8N A and the slider mass is 829g This sums up to a moved mass of 2029g x Motor Data Motor Type Slider Length mm Force Costant N A Slider Mass g Stator Mass g 40 8 e29 1385 Application Data Load Mass g Add Total Mass g fi 200 Slider Mass xl 2029 Dry Friction N External Force N pp Angle deg 90 Control Parameters Current Offset A 0 488 FF_Friction A FF_Acc mAj m s 2 FF_Dec mAj m s 2 applyto __ Divea sy
84. d those in the Init Config directory Init Mode The initialization mode lays down how the position zero of the slider is defined There is a choice of the following modes Drives Drive X Initialization init Mode Actual Position The present position is defined as zero Auto Move Out The slider moves out up to a mechanical stop This position is set as zero Auto Move In The slider moves in up to a mechanical stop This position is set as zero Trig Move Out The slider moves out till the zero is set by the posi tive slope of the trigger signal If the trigger signal has already been set when initial ization is started the slider moves in till the trigger signal stops Only then does the slider move out again so that the zero can be fixed with the positive trigger slope Trig Move In The slider moves in till the zero is set by the positive slope of the trigger signal If the trigger signal has already been set when initial ization is started the slider moves out till the trigger signal drops Only then does the slider move in again so that the zero can be fixed with the positive trigger slope Init Switches Drives Drive X nitialization Init Switches Init Once If this parameter is activated the motor is initialized in the INIT state for the first term only If this parame ter is not activated the motors are initialized every time an active INIT signal is present 70 User Manual Release 1 3 Parameters Line
85. ds may be assigned to the input combina tions only if all necessary input signals have been activated Input combina tions not valid because the corresponding input signals have not been activated are shown in grey in the command table User Manual Release 1 3 MT Servo Controller Add State Add Column User Manual Release 1 3 Configuration software LinMot Control elements in State Table Defined in the State Table are the actions to be performed by each individual actuator in the particular status Up to 64 states may be stored At any state one or all motors can be actuated Gir Edit Multi Trigger Table Abs Current Current 0 4 Abs Position Position 0 Steps Speed 101 013 Steps s Acc 2002 861 Steps s 2 No Operation Position 5 mm Speed 0 502 m s Ace 10 014 m s 2 No Operation Curve Curve number 6 Rel Position Increment 9 999 mm Speed 0 502 m s Ace 10 014 m s 2 Rel Position Increment 9 999 mm Speed 0 502 m s Ace 10 014 m s 2 Abs Current Current 0 491 Rel Position Increment 20 Steps Speed 101 013 Steps s Acc 2002 861 Steps s 2 No Operation No Operation Curve Curve number 2 No Operation No Operation Abs Position Position 0 mm Speed 0 5 m s Ace 10 014 m s 2 Abs Position Position 0 mm Speed 0 5 m s Ace 10 014 m s 2 Abs Position Position 0 Steps Speed 101 013 Steps s Acc 2002 861 Steps s 2 Curve Curve number 4 No Operation Abs
86. dual one of them are the movements that must be performed by the actuator concerned No Operation Abs Position Abs Current Rel Position Rel Current 18 when the state is selected 5 Edit Multi Trigger Table x Jae co ee iss State Drive A LinMot Drive B LinMot Drive C Stepper Drive D Magnet a 0 Abs Positio Abs Position Abs Position Abs Current Position 5 mm Position 0 Steps Current 04 Speed 0 502 m s Speed 101 013 Steps s Acc 10 014 m s 2 Acc 2002 861 Steps s 2 1 Rel Position No Operation No Operation Curve Increment 9 999 mm Curve number 6 Speed 0 502 m s Ace 10 014 m s 2 2 Rel Position No Operation Rel Position Abs Current Increment 9 999 mm Increment 20 Steps Current 0 491 A Speed 0 502 m s Speed 101 013 Steps s Acc 10 014 m s 2 Acc 2002 861 Steps s 2 3 No Operation Curve No Operation No Operation Curve number 2 4 Abs Position Position 0 mm Speed 0 5 m s Acc 10 014 m s 2 Abs Position Position 0 mm Speed 0 5 m s Acc 10 014 m s 2 Abs Position Position 0 Steps Speed 101 013 Steps s Acc 2002 861 Steps s 2 No Operation Curve Curve number 4 5 Curve Curve number 3 Abs Current Current 1 802 4 No Operation 6 Abs Current Stop Acc 190 749 Steps s 2 Current 0 4 mm Speed 0 502 m s E Bstior Acc 10 014 m s 2 eine Settings State Table x Cancel Stop Stop Ace 10 014 m s 2 Acc 10 014 m s 2 I Ed
87. e symbol stands for or In the Argument types Argument types Argument type uint16 sint16 uint32 ackcode drivecode elocode statecode 120 Description Cardinal value ranging 0 218 1 The value must be represented decimally ASCIl System The plus sign is optional with positive values Example 0 123 3300 200 500 Signed cardinal value 215 2 5 1 The value must be represented decimally in the ASCII system The plus sign is optional with positive values Example 0 123 2000 200 240 Cardinal value ranging 0 232 1 The value must be represented decimally in the ASCII system Example 0 123 200000 3000000 240 Acknowledge code sent back from the servo controller after every action or set command received The individ ual codes are explained in chapter Reference table sta tus and error messages on page 146 Motor designator Motor designators are ASCII capitals If the protocol is set to RS232 only the motor designa tors A B C and D are allowed Otherwise if the cor responding servo controller and motor exist any designator may be used A X All designators are given in chapter Reference table motor designator on page 148 Example A D gt Drive A E H gt Drive A Ow C D controller with ID 1 C D controller with ID 2 U X gt Drive A B C D controller with ID 6 Servo contr
88. e installing 3 7 solenoid 67 SP 140 141 speed getting maximum 134 initialization 84 initilization speed 71 of stepper motors 88 setting maximum 141 setting maximum 42 75 87 speed resolution getting 143 SR 140 SS 141 162 standstill 89 standstill time 79 startup behaviour 65 Startup Mode 65 state adding 27 controlling 21 deleting 27 DISABLE 3 ERROR 62 FREEZE 8 getting 134 INIT 65 70 inserting 27 operational states of firmware 10 repeating 22 RUN 61 65 STOP 3 state flags getting 131 state machine DP slave 31 status of I O signals 8 status display 3 status word 39 Stepper 67 stepper motor 67 Stop 19 Stop Current 95 STOP flag setting 141 Stop Position 82 91 STOP Request 39 storage 60 stroke range 53 stub line PROFIBUS 49 supply voltage 62 thresholds 64 SV 141 T target position 87 TC 141 teach in 29 TI 142 Time 66 97 time 58 66 time integral 77 token passing 30 TP 142 Trapezoid 79 travel range 69 checking 71 Tree Type 60 Tree Version 60 Trig In 1 4 40 Trig Move In 70 Trig Move Out 70 Trig Turn Left 83 Trig Turn Right 83 Trigger Curve 73 85 92 trigger signal 70 85 reading 65 trouble shooting PROFIBUS 49 Two Point 73 85 92 Type 59 67 U User 60 Index V version 58 VI 143 voltage thresholds 64 W Warn Mask 62 80 89 96 Warn Output 65 warning 60 WARNING Pending 40 Z ZD 144 User Manual Release 1 3
89. e controller Selection between PD or PID Controller 7 2 Selection between PD or PID Controller PD Controller A PD controller is one working with only proportional and derivative action l 0 This type of controller is simple to adjust and has a very robust behav iour Its disadvantage is that any static deviations present are not corrected automatically PID Controller A PID controller works with proportional integral and derivative control This kind of controller corrects automatically any static controller deviations by vir tue of its action The disadvantage of this controller is that system oscilla tions may occur When adjusting the controller the values may be taken over from the PD controller and the term increased slowly The higher the term is set the faster the controller will correct any position deviations occurring An overlarge term may lead to instabilities in the control behavior however With high load masses a small term is advisable thereof 7 3 Adjusting of the prefilter Filter 102 The prefilter limits the max acceleration and velocity to the goal of the user Using the prefilter it is possible that a PC or PLC can send a rectangular posi tion jump but the motor moves smoothly limited by the max acceleration and velocity Basically the reference signal is not allowed to change faster than the motor can follow The right set up of the prefilter is more important than the optimal tuning of
90. e other hand an error leads to an immediate switch off of all motors controlled by the servo control ler The servo controller is then in the ERROR state With fatal errors there is an instant jump into the error state The selected entries determine which errors cause the firmware to go to the error status The motors are stopped if there is an error System Error Handling Error Mask R DCLV Power Too Low Power supply voltage too low DCLV Power Too High Power supply voltage too high DCLV Signal Too Low Signal supply voltage too low DCLV Signal Too High Signal supply voltage too high Electronic Fault Heat sink of servo controller is too hot over 70 C or a short circuit has been detected on a motor phase In this directory all internal errors are selected that are to trigger a warning signal on the digital output System Error Handling Warn Mask DCLV Power Low Power supply voltage low DCLV Power High Power supply voltage high DCLV Signal Low Signal supply voltage low DCLV Signal High Signal supply voltage high Electronic Fault Heat sink of servo controller hot over 70 C or a short circuit has been detected on a motor phase 1 As soon as the heat sink temperature is over 70 C the warning Electronic Fault is activated Then after 5 seconds the error Electronic Fault is activated 1 The exact threshold values for the voltage monitoring are shown in table 6 2 on page 64 62 User Manual Release 1 3
91. ease 1 3 8 3 Commands overview ASCII Commands ifs fl E Set Get tape Value E Command Comand a z A o 0 Increment demand position IIP x x Increment demand position on next trigger ITI x x Set demand position on next trigger ITP x xX XxX Goto position from actual postion ISW x xx Goto position from actual postion on next trigger ITW x xXx Xx Run curve IRC x xX XxX Run curve on next trigger ITC x xX Run curve cyclic ICC x XxXxX a Run curve cyclic on next trigger ICT x xX Runcurve profile at actual position IRA x xx Run curve on next trigger at actual position ITA x xX XxX 5 Run curve cyclic at actual position ICA x xX Xx 3 Run curve cyclic on trigger at actual position ICB x xx Stop cyclic motion profile ICS x x xX Move home position IMH x x Redefine position IRP x x Set demand position to actual position IRQ x x Redefine position to zero IZD x x Set Address Segment Offset IAO x Set Address Segment Number IAS x Write Memory Word IWR x Write Memory Word with address increment IWS x Demand position ISP IGD x xXx xX FF Acceleration IDA IEA x FF Deceleration IDB IEB x FF Friction IDF IEF x P value of controller IDP IEP x a D value of controller IDD IED x value of controller IDI IEI x Maximal speed ISV IGV x x 8 Maximal acceleration ISA IGA x x 3 Maximal current ISC IGC x XxXxX Current offset IDK IEK x z Motion profile amplitude IDC IEC x x
92. ease 1 3 10 supports the Gantry mode which makes it easy for the user to initialize and command axis where two motors work together but are mechanically linked in a weak way both of the two motors have to be posi tion controlled The gantry mode is available in combination with external sensors and booster motors See chapter 5 2 Master Gantry operation Long stroke motors can now be run over the whole stroke without redefining the motor position or moving the home position Therefore the sensor con figuration mode Internal Sensor 40pm is added By selection of this item one position increment will be 40 um which allows to cover 2520mm See chapter Position sensing on page 69 For some applications it is helpful if all motor start their initialization hom ing at the same time Therefore the global switch Init Together was added See chapter 6 2 Global parameters To open up the versatility of the position sensor types A B sensors are supported on the master encoder module Up to two A B sensors can be linked with any motor See chapter 4 2 A B sensors Release 1 3 10 provides the master encoder functionality see Addendum Master Encoder in combination with the MT Multitrigger DP Profibus or DN DeviceNet interface For each interface there are added master encoder specific command for changing recipe initiating cams or unlocking cam mode The configuration and debugging protocol RS Talk is supported on b
93. ecelerates and stays in that position The motor remains in operation Goto Position The motor goes to the Emergency Stop Position and stays there The motor remains in operation 1 The speed and acceleration value of these movements can be set with the parame ters Maximal Speed and Maximal Acceleration in the directory EmergencyConfigu ration Emergency Configura This directory contains only one parameter defining the position to which the tion motor is moved in the event of an emergency stop Drives Drive X Error Handling Emergency Stop Emergency Configu ration 5 Stop Position If the Drive Goto Position emergency stop 2 mode is selected when an emergency sto gency p occurs the position defined under Emergency Stop Position will be assumed at once The motor remains in operation Max Speed Sets the speed with which the motor goes to the L Stop Position Max Acceleration Sets the acceleration with which the motor accel L erates decelerates if the STOP signal is acti vated 1 Visible only if the parameter Emergency Stop Mode is set to Goto Position or Freeze 2 Visible only if the parameter Emergency Stop Mode is set to Goto Position 82 User Manual Release 1 3 Parameters Stepper motor parameters L n M ot 6 5 Stepper motor parameters Master Booster Initialization Init Mode User Manual Release 1 3 Any axis on the servo controller can be configured to drive a stepper motor
94. ed WARNING If the address is set to FF the servo controller is in the so called bootstrap mode and no LED will be on even not the green one 2 Create motion profile with the LinMo Talk software and download it to the servo controller The start point of the profile should be equal to the last point 3 Set motor type initialization and controller parameters See also chapter Parameters on page 58 4 Set parameters in the directory Drives Drive X Set Value Generation Set Value Configuration If the parameter Curve Number is set to 0 no motion profile will be executed 5 Inthe Control Panel press first the Stop key and then the Start key If the cabling and all the parameters are correct the motor will now run the chosen motion profile cyclic 3 5 PROFIBUS Parameters The PROFIBUS relevant parameters are described in chapter 6 9 3 6 Setup PROFIBUS slave projects are performed mostly using PC setup software All leading PLC makers such as Allen Bradley Bosch Mitsubishi Omron and Siemens provide such project environments Device Data Base The basis for open setup is provided by the electronic data pages designated Sheet as equipment master files in the PROFIBUS standard All information needed for setup the particular slave is taken over by the setup software from these equipment master files The definition of the GSD files laid down in the stan dard ensures that every norm conforming slave can work with all n
95. eerr is listed further below in the motor fault table E driveerr B Servo controller in ERROR state A fault has occurred on motor B E driveerr C Servo controller in ERROR state A fault has occurred on motor C E driveerr D Servo controller in ERROR state A fault has occurred on motor D 146 User Manual Release 1 3 LinMot ASCII protocol Reference table position increment L In ot System error codes syserr Code Description Supply voltage too low for power part Supply voltage too high for power part Supply voltage too low for signal part Supply voltage too high for signal part Servo controller overheated Motor fault codes driveerr Code J Description Motor overloaded Motor overheated A following error has occurred The motor slider is missing An error has occurred during initialization Wrong motor type configured or motor defective No motion profile for the motor or a motion profile selected is incompatible with the motor type 8 8 Reference table position increment The following table lists the values signaled back when the PI command is used They may however alter with a future ASCII protocol version When ever possible therefore the position increment should be queried with the PI command Motor type Increment LinMo 19 53125um Stepper 1 8 Step Solenoid 23 438mA 8 9 Reference table speed increment The table be
96. eirs a oeoo ie S tiae 118 GD ComMmMandS ssspusspusdessvuGady sued cabo ssvgedpotoesdapo san nsenscosestnssvusspesuevacsusecusabydekbassnasencananase 120 BIO VV Pical SEQUENCE E E T TT 145 8 7 Reference table status and error Messages us csesesossaccissvcsnscsenesstesonseessssvescntaossse 146 8 8 Reference table position increment essseesseessoosssoesssessseessoessoosssossssessesesoossssssos 147 8 9 Reference table speed increment eesssesssesssoeesoossooesssessseessoossoossoosssesssosssoossssseos 147 8 10 Reference table acceleration increment essseeeseoesssoesssesssecssoossoossoossssesssesssosssossos 148 8 11 Reference table CUrrent increment ssssssosaivccnssosvesdnsssucsbocvesconwssevadsveekbeccbvsorcanseees 148 8 12 Reference table motor designator ssessseesseeesoosssoesssessseessoessoossoosssesssosesoossssseos 148 A Compatibility with previous releases sesesooescoccsocsssccssocesocesoossoseesscesocesooseos 149 B Service Error display sssssisssccsscsensscnacsedeesasveveveidensevesssncdesevavnsevaassedeesesencsoedeoeeys 150 C Maintenance of servo controllers sccccscssssssssesssecssscsscssscceseecsssssscseseeeees 151 D Maintenance of LinMot P motors s scssssssssssssssssssessssssssssssssssesssssssssssssessssssseses 152 E Mechanical installation servo controllers scccscssscsssssssscsccecsescsscseseeees 154 F Installation of the linear motors ssccsscscsssscscccsscessc
97. elsius or a short circuit on a motor phase has been detected After 5 seconds the controller goes into the ERROR state 2 DCLV Signal stands for the DC link voltage of the signal board 3 DCLV Power stands for the DC link voltage of the power board User Manual Release 1 3 LinMot ASCII protocol Commands L in Mo te GX User Manual Release 1 3 GX Get flags E Direction ASCII sequence PC ELO IGX elOfelocode 0x0D ELO PC flags flagcode 0x0D This command gets all flags of the selected servo controller The bits have the following meaning 1 FREEZE Flag Drive B FREEZE Flag Drive A 0 Bit 5 4 Name FREEZE Flag global FREEZE Flag Drive D 3 FREEZE Flag DriveC 2 RUN Flag INIT Flag STOP Flag Typical sequence PC gt ELO ELO gt PC Description IGX14 1342 The read value shows that the RUN flag and the FREEZE flags for the motors B and C are set IP Increment demand position relative positioning S Direction ASCII sequence PC gt ELO IP posinggintre AriVe drivecode OXOD ELO PC ACK ackcode OxOD This command increments the target demand position of the motor drive by the amount posinc This command must only be executed in the RUN state The resolution of the position may be queried with the command PI The incre ment position must be in the range of 32256 to 32256 Typical sequence PC gt ELO ELO gt PC Description IP100A 1 4 Increments the
98. en number The drive indicator is used as a con troller selector any configured drive on the controller is possible Value Min Max segoffsetyintre O 65534 AS Set address segment number Direction ASCII sequence PC ELO TAS SEQiuinta drive drivecode 0x0D ELO PC aCkjackcode 0x0D This command sets the address segment number for the read and write mem ory commands The complete address is 24 bits wide and consists of the seg ment number highest 8 bits and the segment offset lowest 16 bits The drive indicator is used as a controller selector any configured drive on the controller is possible Value Min Max SEQ uint3 0 255 CA Run curve cyclic at actual position Direction ASCII sequence PC gt ELO ICA cUurvejuintre AVE drivecode OxOD ELO PC aCkjackcode 0x0D This command runs a curve cyclic from the actual wanted position This means that as soon as the motion profile is done it will be run again With the help of the CS command the motion profile can be stopped As long as the motion profile is running no other motion commands may be executed on the motor This command must only be executed in the RUN state Note This command will change the Curve Position Offset parameter CB Runcurve cyclic on next trigger at actual position L ES EM Direction ASCII sequence PC gt ELO ICB curvejuintre AIVE drivecode OxOD ELO PC aCkjackcode 0x0D 123 i This
99. ences are triggered by digital signals from the PLC which thus controls the entire sequence without having to bother about synchroniza tion or the actual position control of the motors After a first start command from the PLC the linear drives B and C bring the container and lid respectively into the working position Linear motor A simul taneously begins a vertical motion profile which pushes the lid into the con tainer The container is then ejected onto a revolving table and a corresponding feedback signal is sent to the PLC motion sequence 0 Pro vided further conditions are fulfilled the PLC starts the motion sequence 1 which returns drives B and C to their home positions and turns the table 180 at the same time drive D 15 MT Servo Controller Overview The next figure shows the programming of motion sequences 0 and 1 states O and 1 with the LinMof Multitrigger control and the motion profiles 1 2 and 3 for motion sequence 0 Drive A LinMot Drive B LinMot Drive C LinMot Curve Curve Curve No Operation Curve number 1 Curve number 2 Curve number 3 No Operation Abs Position Abs Position Rel Position Position 0 mm Position 0 mm Increment 180 Steps Speed 1 m s Speed 1 m s Speed 800 018 Steps s Acc 50 068 m s 2 Acc 50 068 m s 2 Acc 10014 306 Steps s Curve 1 SA 1 l 4 gt Curve 2 SA Po i 1 1 1 1 t I i T Curve 3 o i SA i i i i 1 i i l t r T T gt a b Cc d
100. er s firmware is and import the configuration with a LinMof Talk of the same version as the destination controller s firm ware is Note A newer hardware version or revision requires always a newer firmware version Firmware cannot support newer hardware as a matter of principle The newest hardware is always supported by the latest firmware releases of 1 1 1 2 and 1 3 149 B Service Error display Error display Ready LED 3Hz off 2x 1Hz 1Hz on d on 1x0 2x0 3x 4x0 on LED is ON off LED is OFF 150 Service Error display When an error occurs it is displayed by means of the blinking of at least one of the four LEDs on the front of the servo controller The Ready LED is ON as soon as the supply voltage for the processor is guaranteed and the system has started up correctly Communication with the PC over the serial interface is only possible when this LED is ON The following table summarizes the blink codes and their meaning 2Hz e 2x 3x 4x 5x 6x Mot A 1x Mot B 2x0 Mot B Maro ES 4x 6x 7x 8x 2Hz HW system error Hardware error in the servo control ler SW1 System error Software error in the servo control ler The system software wasn t loaded successfully SW2 System error Software error in the servo control ler The system software wasn t loaded successfully Generic fault The exact error message may be dis played with
101. ers This directory includes the parameters needed for control and regulation See also page 82 for tips and tricks Drives Drive X Control Parameters Maximal Current Determines the maximum current and therefore the maximum force Control Modes This parameter is visible only with a servo controller of the E100 series and determines whether maximum current is to be 2 or 3 amperes The maximum current may be narrowed still closer with the Maximal Current parameter in the Control Parameters directory Drives Drive X Control Switches Current 2A x 3A With this parameter a maximum current of 3 A is ch selected otherwise it is 2 A 1 Visible only with a servo controller of the E100 series User Manual Release 1 3 1 Parameters Solenoid parameters L n M ot Error Handling Handling errors on the motors are described in this subsection General infor mation on errors and warnings may be obtained from chapter Error handling on page 60 Error Mask The directory below shows which internal errors lead to the error state Error Mask and what is to happen in the event of an emergency stop Emergency Stop Drives Drive X Error Handling Error Mask Drive Type Mis The connected motor type does not match the match one selected or the connected motor is defective R Curve Error A motion profile cannot be found R Emergency Stop The behavior of the solenoid after an emergency stop can be defined wit
102. et PID 9 setting actual position 9 setting current 9 setting current offset 9 setting demand position 9 setting ff parameters 9 setting maximum current 9 setting motion profile properties 9 setting PID parameters 9 Stop 9 stop movement 9 Command Interface 66 command table creating 26 commands for MT servo controller 8 commissioning 3 8 31 PROFIBUS 34 49 Commutation 79 88 Commutation 79 compatibility 1 149 configuration I O signals 65 importing 3 149 configuration software 24 configuration telegram 32 container 15 Continuous Curve 73 85 92 control concept 12 Control Parameter 77 control parameter 77 Control Switches 79 control word 39 Control Status 36 39 controller 3 69 adjusting on the fly 19 38 getting D value 128 getting value 129 getting P value 130 setting D value 126 setting value 126 setting P value 127 Copy 28 CT 124 125 current actual current 41 changing 18 maximum 77 79 87 94 setting 18 setting maximum 19 42 89 94 Current 2A x 3A 79 88 Current 0 93 Current 1 93 Current OV 93 Current 10V 93 Current Offset 77 current offset getting 130 setting 127 current reduction 89 current resolution 89 getting 124 Curve 19 Curve Amplitude 74 86 93 Curve Done A D 40 Curve Error 63 80 89 95 Curve Inspector 24 Curve Number 74 86 93 Curve Position Offset 74 86 93 Curve Speed 74 86 93 cycle time PROFIBUS DP 49 D D value 77 DA 123 125 data exchan
103. ew cases and should be used with caution Important The minimum and maximum posi tions are not displaced as well This command must only be executed in the RUN state 144 User Manual Release 1 3 The following typical sequence provides an overview of the capabilities of the ASCII protocol The symbol denotes the hexadecimal value 0x13 To repeat this sequence the motor connectors Mot A and Mot B must each be linked to a LinMof motor and configured Moreover at least one motion pro file must be stored in the servo controller LinMot ASCII protocol Typical sequence 8 6 Typical sequence Typical sequence PC gt ELO ELO gt PC Description IPNI 22 Queries the actual protocol version of servo controller Gs1o Wo Queries the state of servo controller 1 The W denotes the Wait for Disable state ISR IJ 4 Clear RUN request flag iS A Clear INIT request flag IESI DA Queries the state of servo controller 1 The D denotes the Disable state STL 4 Set INIT request flag Initialization starts IEXIJ 102421 Wait until Init Not Done flag is cleared The denoted state is still INIT This command may be repeated until the initialization has finished ISREF we Set RUN request flag IST Id 4 Clear INIT request flag Gs1i Ra Queries the state of servo controller 1 The R denotes the RUN state eri 234381 Queries the current increment of servo controller 1
104. f input signal A or B respectively will the command defined for the actual input combination be executed A name may be assigned to the Multi Trigger table The desired name is entered in the field Upon pressing this button the entire configuration of the Multi Trigger table is printed out 25 MT Servo Controller Configuration software Command table 26 In this table commands are assigned to all combinations of the input signals This allows for example a state to be called directly in the table of state see next section in the state following or in the previous one or the current state to be repeated DCBA HEX DEC 0000 0 0 No operation 0001 1 1 Goto next state 0010 2 Goto previous state 0011 al 3 Repeat actual state o 0101 5 5 Goto state M 4 S mo e e Goose P m11 7 7 Gata state l12 Figure 2 11 Command table Entered in the first three columns are the input signal levels for all input com binations in binary hexadecimal and decimal form Via the pull down menu in the fourth column the desired commands may be set for the input combina tions The fifth column appears only if a state is called directly with the Goto state command The desired state number 0 63 can then be set in the fifth column In the fifth column state numbers may be set only if the states in question have already been defined in the table of states In the table of commands comman
105. fine Position Defining the actual position With this command the actual position is redefined It may be performed only if the actuator in question has reached its target position and is not in the FREEZE state Set Current Set maximal current This command sets the maximum current and hence the force of the actuator concerned Only positive values may be entered Set FF Setting feed forward parameters Release 1 3 This command sets the feed forward parameters It may be used to adapt the controller optimally when changing the load mass Set PID Setting PID parameters Release 1 3 This command sets the PID parameters It may be used to adapt the control ler optimally during operation Set Cur Offset Setting current offset Release 1 3 This command sets the current offset for linear motors Set CP Setting curve properties Release 1 3 This commands sets the motion profile properties offset amplitude and speed 8 User Manual Release 1 3 LinMot Software Innovations New commands for MT servo controller Recipe Start Cam Abs Pos Act Pos SetDPosToAPos User Manual Release 1 3 Change Recipe for Master Encoder Release 1 3 10 When operating in master encoder mode this command changes the cams for the next cam cycle This command is only supported in master encoder mode Change to cam mode Release 1 3 10 This command sets up the cam mode It is possible to switch between time locked and position locked
106. flag and his motor spe cific FREEZE flag are cleared Typical sequence PC gt ELO ELO gt PC Description ISF A 2 Sets the FREEZE flag on motor A ISF 12 2 Sets the global FREEZE flag of the servo controller with the ID 1 SI SI Set INIT flag E Direction ASCII sequence PC ELO ISP elopelocode Ox0D ELO gt PC ACK ackcode OXOD This command sets or clears the INIT flag The meaning of the INIT flag is given in chapter Operational states on page 10 SP SP Set demand position absolute positioning SIM Direction ASCII sequence PC gt ELO ISP poSisintret ANIVE drivecode 0X0D ELO gt PC aCkiackcode 9xOD This command sets the demand position for the motor drive to the value pos The resolution of the position may be queried with the command PI Value Min Max POS sint16 32256 32256 SR Direction ASCII sequence PC ELO ISR lofelocode OxOD ELO gt PC aCkiackcodej OxOD This command sets or clears the RUN flag The meaning of the RUN flag is described in chapter Operational states on page 10 140 User Manual Release 1 3 Commands L in Mo te LinMot ASCII protocol SS SV SW TA User Manual Release 1 3 SR Set STOP flag E Direction ASCII sequence PC gt ELO ISS lopelocode OXOD ELO gt PC aCkjackcode 0x0D This command sets or clears the STOP flag The mean
107. ge x 1 2 Ox0D End of acknowledge 118 User Manual Release 1 3 The following example shows how a new demand position for motor A is given to the connected servo controller Direction ASCII Description sequence PC gt LinMo controller SP2000A Sets the demand position 0x0D of motor A to 2000 incre ments LinMo controller gt PC 0x0D When the symbol fol lowed by a symbol OxOD is transmitted this means the command has been accepted by the Lin Mo servo controller Hint Over RS232 it is possible to run the ASCII and the LinMot Talk protocol together In this case it is important to finish all the commands and their answers completely before starting a command from the other protocol If the LinMot Talk communication results in the Device Time Out error it is most likely that the ASCII command was not finished correctly In this case only a carriage returns 0x0D has to be sent with a terminal program User Manual Release 1 3 119 8 5 Commands LinMot ASCII protocol Commands The table below provides an overview of the variable types employed in the following sections The variable types may be subscripted and indicated in square brackets after the variable Thus for example posjgint7g Stands for a variable named pos of type sint16 As may be seen from the table below the variable type sint16 stands for a signed cardinal value Values in square brackets are optimal Th
108. ge 32 data modul 36 data module 35 byte order 99 DB 125 DC 125 DCLV Monitoring 64 DCLV Power Too High 62 63 DCLV Power Too Low 62 63 DCLV Signal Too High 62 63 DCLV Signal Too Low 62 63 DD 126 Delete Column 28 Delete State 27 demand current 77 demand position getting 132 incrementing 135 setting 140 141 Design Manual 156 device data base sheet 34 device information 59 DF 126 DI 126 diagnose 30 99 Diagnose Priority 99 159 DISABLE State 40 DK 127 DP 127 DP address checking 49 Drive Following Error 63 80 81 Drive Hot Sensor 81 Drive Init Not Done 81 90 Drive Too Hot Calculated 63 80 81 Drive Too Hot Sensor 63 80 drive type 58 Drive Type Mismatch 63 80 89 95 96 DS 127 duty cycle 79 dynamic 79 E EA 128 EB 128 ED 128 EE 129 EEPROM 58 60 EEPROM Type 60 EF 129 El 129 Electronic Fault 62 63 electronic main shaft 12 Emerg Stop Input 65 Emergency Configuration 82 91 95 emergency stop 82 90 95 Emergency Stop Mode 82 95 end position switch 14 EP 130 equipment class 30 error 62 error display 150 error handling 58 59 60 80 89 95 error log 63 Error Mask 62 80 89 95 96 ERROR OUT 62 Error Output 65 ERROR Pending 40 ERROR State 40 ES 130 EW 131 EX 131 Extension 52 External 1 25 um 69 External 10 pm 69 External 2 5 um 69 External 20 pm 69 External 5 ym 69 external position sensing overview 51 external position sensor 96 F Fall Curve Num
109. gnetic band is damaged An attached Booster or Gantry slave motor has an warning The Type of warning can be found in the diagnostic data of the slave motor The Homing has not finished yet The motor is not within the Pos Range configured with LinMot Talk The DC Link Voltage of the power board is low The DC Link Voltage of the power board is high e g extensive break ing The Power Supply Voltage of the micro controller board is low The Power Supply Voltage of the micro controller board is high The Servo Controller is hot User Manual Release 1 3 a PROFIBUS Servo Controller Trouble shooting remedying faults L I n M ot 3 10 Trouble shooting remedying faults Clearing the PLC Servo controller will not go on line Motor not initialized Byte order Long cycle time User Manual Release 1 3 PROFIBUS DP is a very robust industrial bus consequently most problems when commissioning can usually be traced to faulty cabling or configuring and not to defective equipment With communication problems the bus cabling should be checked first and then the configuring The following tips have proved useful in practice It is advisable to clear the PLC completely every time when altering the config uration or software Check DP address It is adjusted with the two rotary switches on the front of the servo controller Important The address is entered hexadecimal Check the cabling Only the two connectors
110. h O always 141 i standing for an empty motion profile This command must only be executed in the RUN state Note When using this command the Curve Position Offset parameter will be changed TC TC Run motion profile on next trigger SIM Direction ASCII sequence PC ELO ITC CUrVetuint16 drive drivecodel 0x0D ELO PC ACK ackcode Ox0D This command runs a stored motion profile on the next trigger pulse Since the servo controller has very fast trigger inputs a motion profile can be started very precisely The motion profiles are always started on the positive slope The curve parameter defines the motion profile that is to be started The admissible range goes from 0 to 63 with O always standing for an empty motion profile This command must only be executed in the RUN state Tl TI Increment demand position on next trigger S Direction ASCII sequence PC ELO ITP POSINC sint16 drive drivecode 0x0D ELO PC ACK ackcode Ox0D This command increments the demand position of the motor drive by the amount posinc on the next trigger The move is always started on the rising edge of the signal This command must only be executed in the RUN state The increment position must be in the range from 32256 to 32256 TP TP Set demand position on next trigger SIM Direction ASCII sequence PC ELO ITP POS sint16 rive drivecode 0x0D ELO PC ACK ackcode 0x0D This command sets the demand p
111. h the Mode following mode Drives Drive X Error Handling Emergency Stop Emergency Stop Mode Off Solenoid no longer has current Freeze The actual amperage at the moment of the emer gency stop is frozen The solenoid remains in opera tion Set Current At any emergency stop the current defined under Stop Current is driven at once Emergency Configu This directory contains only one parameter defining the current which is driven ration into the solenoid in the event of an emergency stop Drives Drive X Error Handling Emergency Stop Emergency Configu ration Stop Current If the Set Current emergency stop mode is 1 selected when an emergency stop occurs this current is driven at once into the connected sole noid 1 Visible only if the Emergency Stop Mode is set to Set Current User Manual Release 1 3 95 L I n M ot Parameters Position sensing parameters 6 7 Position sensing parameters With the external sensing it is possible to enhance the repeat accuracy and the linearity of the LinMo motors Sine cosine encoders with 1 to 5 mm pole distance are supported The external sensing can be configured with two parameters In chapter External position sensing on page 51 this subject is explained in more detail Sensor Period With this parameter the pole distance of the connected encoder is set Either 1mm or 5mm may be selected Drives Drive X Sensor Configuration Sensor Period 1mm Must be chosen if
112. he actual motor position deviates more than the noise dead band width is defined from the demand position User Manual Release 1 3 7 Parameters Linear motor parameters L n M ot Control Switches Commutation User Manual Release 1 3 Control modes This parameter is visible only with a servo controller of the E100 series and determines whether maximum current is to be 2 or 3 amperes The maximum current may be fine tuned with the Maximal Current parameter in the Control Parameters directory Drives Drive X Control Switches Current 2A x 3A ___If this parameter is selected the maximal current is ch limited to 3 otherwise to 2 amperes 1 Only visible for the series E100 controller units Commutation In this directory are the parameters determining the commutation of the con nected drives are to be powered On a linear motor the commutation affects the following operating variables e force ripple e heat losses in the motor e motor dynamics The following commutation modes may be selected Drives Drive X Advanced Commutation Sinus Default Force ripple little heat losses inthe motor small motor dynamics medium In most cases it is advisable to select this standard commutation adjustment Trapezoid Force ripple large Heat losses in motor large Motor dynamics medium to high Block Force ripple very large Heat losses in motor very large Motor dynamics high Because of the very large heat
113. high Electronic Fault Emergency Stop Reserved Cause The calculated temperature of the motor is hot The measured temperature of the motor is hot Following Error LinMot No slider in the stator or the slider is extracted too much External Sensor The distance between the sensor head and the magnetic band is too big or the magnetic band is damaged The Homing has not finished yet System Resources low The DC Link Voltage of the power board is low The DC Link Voltage of the power board is high e g extensive break ing The Power Supply Voltage of the micro controller board is low The Power Supply Voltage of the m micro controller board is high The Servo Controller is hot The servo controller is in the emer gency stop state 47 48 PROFIBUS Servo Controller Diagnose Motor Warnings BitNo Warning 0 N OA 10 11 12 13 14 15 Motor hot calculated Motor hot sensor Following Error Slider Missing Slave warning Reserved Init not done Reserved Mot not in Pos Range DCLV Power small DCLV Power high DCLV Signal small DCLV Signal high Electronic Fault Reserved Reserved Cause The calculated temperature of the motor is hot The measured temperature of the motor is hot Following Error LinMot No slider in the stator or the slider is extracted too much External Sensor The distance between the sensor head and the magnetic band is too big or the ma
114. his can lead to permanent damage of the slider surface damage bending Further hitting against other ferrous objects represents a danger of injury Bruised fingers etc The slider of the LinMof P motors can reach temperature values that can cause burns if touched The sliders of the LinMot P motors are fast moving machine parts The user is responsible for taking all the measures necessary to avoid any con tact and the relative danger of injuries to living beings cover protection from contact etc Accumulations of dirt in particular of ferrous chips magnetic attraction or dry running of the slider can considerably shorten the slider s lifetime The sliders may only be stored or transported in the special plastic case with cardboard inlay or already inserted and blocked in the stator The sliders must be protected from dirt particularly metal chips etc Maximal storage temperature 70 C Both slider and stator must be cleaned and subsequently re greased if they become dirty see section D 157 a LinMot Installation of the linear motors 158 User Manual Release 1 3 Index Index Digits 0 Position 74 86 0 V Position 74 86 1 Position 74 86 10 V Position 74 86 A Abs Current 18 Abs Position 18 AC 122 acceleration setting maximum 138 setting maximum 41 75 87 acceleration resolution getting 122 accuracy 2 improving 51 Active Input Signals 25 Active Trigger Signals 25 Actual P
115. hrough Pos Sensor only 54 User Manual Release 1 3 External position sensing A B sensors Li n M ot Parameters When a motor gets its actual position from a A B sensing the only parameter to be set is under Drive X Advanced Position Sensor The resolution of the encoder can be modified by selecting the decode mode There are the following possibilities A B sensor specific items in Drives Drive X Advanced Position Sensor AB Enc1 1X Position from Encoder Link 1 Decode mode 1x AB Enc1 2X Position from Encoder Link 1 Decode mode 2x AB Enc1 4X Position from Encoder Link 1 Decode mode 4x AB Enc2 1X Position from Encoder Link 2 Decode mode 1x AB Enc2 2X Position from Encoder Link 2 Decode mode 2x AB Enc2 1X Position from Encoder Link 2 Decode mode 4x User Manual Release 1 3 55 Master Slave Modes Master Booster operation 5 Master Slave Modes As a LinMof controller can serve up to four motors several motor can work together as one logical axis Two different master slave modes are supported master booster and master gantry slave 5 1 Master Booster operation Principle Parameters 56 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 and up to three others as boosters In addition the sliders of the motors are coupled together mechanically D 4 Channel B Booster 1 5
116. icance 1 Shielding shielding safety earth 2 M24 earth of 24V safety earth 3 RxD TxD P receive send data plus B line red 4 CNTR P repeater control signal direction control 5 DGND data transmission potential reference potential to VP vp supply voltage plus P5V P24 plus 24V output voltage RxD TxD N1 receive send data N A line green O ON O CNTR N repeater control signal direction control 1 This signal must be present The others are optional With complicated and widely distributed arrangement of PROFIBUS equip ment on a bus line it is advisable to thoroughly study the technical guideline for building up PROFIBUS DP FMS networks This handbook may be ordered from all PROFIBUS user organizations under No 2 111 The addresses of PROFIBUS user organizations are given on Internet under http www profi bus com User Manual Release 1 3 33 L I n M ot PROFIBUS Servo Controller Commissioning without PROFIBUS 3 4 Commissioning without PROFIBUS The PROFIBUS servo controller can be commissioned without a working PROFIBUS connection This mode is well suited for adjusting the controller and testing the cabling and the power supply In this commissioning mode a loaded motion profile is running continuously The following steps explain how to proceed 1 Set PROFIBUS address to EE Because the address switches are read only once at start up it is necessary to reset the controller when address has chang
117. ication Error Cause The calculated temperature of the motor is too hot The measured temperature of the motor is too hot Following Error LinMot No slider in the stator or the slider is extracted too much External Sensor The distance between the sensor head and the magnetic band is too big or the magnetic band is damaged An attached Booster or Gantry slave motor has an error The Type of error can be found in the diag nostic data of the slave motor Error during the Homing procedure The type of the connected motor is not identical with the configured one The started curve is not stored in the Controller The DC Link Voltage of the power board is too low The DC Link Voltage of the power board is too high e g extensive breaking The Power Supply Voltage of the micro controller board is too low The Power Supply Voltage of the micro controller board is too high E1000 series The Servo Controller is too hot or the short circuit detection has trig gered E100 series The Servo Controller is too hot DP specific Error e g data out of Range User Manual Release 1 3 PROFIBUS Servo Controller Diagnose System Warnings BitNo Warning 0 OAN OO F User Manual Release 1 3 Motor too hot calculated Motor too hot sensor Following Error Slider Missing Reserved Reserved Init not done Reserved Low Free Capacity DCLV Power small DCLV Power high DCLV Signal small DCLV Signal
118. ich Distributor Description nung Plain LinMot LinMot Plain bearing paste with bearings lubricant solid lubricant constituents food 0150 1950 suitable for plain bearings in industr i icati j Klybersynth Kl ber fare ore noe wit UH1 14 31 Lubrication APANE EUSE USDA H1 approval Syn thetic low temperature high speed grease for rolling contact and plain bearings chains and seals Plain Molykote Molykote Alternative to LinMot bearings DX grease Rolling con Microlube Kluber For rolling contact and plain tact bear GBU Y 131 Lubrication bearings preferentially for ings high specific loads and influence of moisture and water Vacuum Barrierta Kluber High temperature grease L55 Lubrication for rollers and ball bearings in conveying equipment and automatic baking ovens also rolling contact and plain bearings in electric motors Table D 1 Lubricants 153 LinMot I n O Mechanical installation servo controllers E Mechanical installation servo controllers The LinMot servo controllers can be panel mounted with two M5 screws each The fixing plates are designed to facilitate mounting and dismounting the servo controllers The LinMot servo controllers should be mounted vertically if possible This will assure better cooling LinMof servo controllers have temperature moni toring which switches off the power electronics in the event of an overheated heat sink CAUTION When mounting the servo controllers be
119. ider end piece be clamped or used as a tightening tool W slider load Figure 6 3 Load mass mounting The sliders of the LinMot P motors must be handled with great care Even minor damage to the slider surface can cause a drastic reduction of its life time The slider is a high precision machine element consisting of a thin steel tube and neodymium magnets As it is designed for loads in the longitudinal direction even just hitting an iron plate due to the magnetic attraction can cause permanent damage to the slider Clean the slider with disposable paper first Take special care that there are no metallic particles on the surface of the slider Lubricate the slider in accor dance with the instruction in section D Insert the slider with the notchless end into the stator Many helpful hints for mechanical solutions can be found in the LinMot Design Manual Art No 0150 2215 User Manual Release 1 3 a Installation of the linear motors LinMot CAUTION User Manual Release 1 3 Under no circumstances may a damaged slider be used further as this can lead to permanent and non reparable damage to the stator The slider of the LinMot P motors contains neodymium magnets that can cause damage to magnetical data medium or sensitive electronic devices by merely coming close to them When manipulating the sliders hitting them against iron parts tools etc must be absolutely avoided as t
120. igh Warn A warning is given if this signal supply voltage is exceeded Signal Low Error An error is signalled if this signal supply voltage is understepped Signal High Error An error is signalled if this signal supply voltage is overstepped By default a warning is given if the nominal voltage is exceeded by 6 or understepped by 12 An error leading inevitably to the servo controller being run down is signalled if the nominal voltage is exceeded by 12 or under stepped by 24 We recommend checking the voltage supply before and during the first com missioning ascertaining above all whether the connected power supply has sufficient voltage and current Nominal Default Default Warning Error threshold V threshold V Signal voltage Min 24V 21 12V 18 24V 24 48V Max 48V 50 88V 53 76V Power voltage Min 24V 21 12V 18 24V 24 48V Max 48V 50 88V 53 76V Power voltage Min 48V 42 24V 36 48V 48 72V Max 72V 76 32V 77 93V Table 6 2 Default thresholds for supply voltage monitoring 64 User Manual Release 1 3 1 Parameters Global parameters L n M ot Start up behaviour Startup Mode In the Startup Mode directory there is an on off parameter with which the star tup behavior of the firmware can be determined System Startup Mode Auto Start If this parameter is set the servo controller jumps automatically after powerup into the INIT state and then to RUN provided no error and warning occurred Init Together If this parame
121. in This procedure allows very fast and precise programming of movement sequences When teaching in the slider is brought manually to the desired reference position and the actual position is read out from the servo controller and entered into the desired field in the table of states The teach in function is available in the absolute position mode in the state table The actual slider position is taken over by the Take Position key It must then be defined at what speed and with what acceleration the stored position is to be approached By pressing the Update key the values are entered in the cell of the state table Edit State 0 Drive A Poin ee is ses ea Figure 2 15 Take Position key for teach in For taking over the actual position values the connected MT servo controller must be started After initializing the motors are switched off by deactivating the RUN input Now the sliders can be brought to the desired reference posi tions and the values transferred into the table of states 29 T LinMot PROFIBUS Servo Controller Overview 3 PROFIBUS Servo Controller Release 1 3 now supports the PROFIBUS DP compatible LinMof servo con troller These servo controllers have a 12MBit s fast PROFIBUS DP interface and are eminently suited for complex motion sequences in conjunction with PLC controls having an integrated PROFIBUS DP master interface The PROFIBUS description is divided into the following subsections
122. in the servo controller are run The curve numbers are fixed in the Set Value Generation under Rise Curve Number and Fall Curve Number If the fall ing slope of the trigger signal ensues before the first profile is completed the second curve is run immedi ately afterwards Two Point If the trigger signal corresponding to the drive is high the value defined with the parameter 1 Cur rent is driven If the trigger signal is low the value defined with the parameter 0 Current is driven 92 User Manual Release 1 3 Set Value Configura The Set Value Configuration directory contains all configuration parameters tion needed in connection with the setpoints Parameters Solenoid parameters User Manual Release 1 3 Drives Drive X Set Value Generation Set Value Configuration Minimal Current L L OV Current Lie 10V Current Lie 0 Current Lier 1 Current Lier Curve Number Le Rise Curve Number 4 Fall Curve Number 4 Curve Current Offset L L Curve Speed L Maximal Current Curve Amplitude Determines the minimal current for the solenoid lower limit of current range Determines the maximal current for the solenoid upper limit of current range In the Analog mode this parameter defines the cur rent which is to flow through the winding with OV input voltage with solenoid control In the Analog mode this parameter defines the cur rent whi
123. ing of the STOP flag is described in chapter Operational states on page 10 SV Set maximum speed S Direction ASCII sequence PC ELO ISV vel uint16 ap drive drivecode 0x0D ELO PC aCkjackcode 0x0D This command sets the maximum speed of the motor drive to the value vel The resolution of the speed may be queried with the command VI Value Min Max Veluint16 6 24576 SW Goto position from actual position absolute positioning Direction ASCII sequence PC ELO ISW POS sint16 drive drivecode 0x0D ELO gt PC aCkjackcode 0x0D This command sets the demand position for the motor drive to the value pos The resolution of the position may be queried with the command PI In con trast to the SP command the V A limiter starts at the actual position This command can be used for releasing from a press situation Value Min Max POS sint16 32256 32256 TA Run curve on next trigger at actual position SMi Direction ASCII sequence PC ELO ITA CUrVtyint1e FIVE drivecode OXOD ELO gt PC ACK ackcode OXOD This command runs a stored motion profile from the actual wanted position on the next trigger pulse Since the servo controller has very fast trigger inputs a motion profile can be started very precisely The motion profiles are always started on the positive slope The curve parameter defines the motion profile that is to be started The admissible range goes from 0 to 63 wit
124. ion 1 Release 1 2 Typical sequence PC gt ELO ELO gt PC Description IPV1 21 Queries the actual protocol version 136 User Manual Release 1 3 LinMot ASCII protocol RA RC RD RE User Manual Release 1 3 LinMot Commands RA Run curve at actual position SIM Direction ASCII sequence PC gt ELO IRA CUurvetyintrey AVE arivecode OXOD ELO PC aCkjackcode 0x0D This command starts the stored motion profile from the actual wanted posi tion The curve parameter defines the profile which is to be started The admissible range goes from 0 to 63 with 0 standing for an empty motion pro file This command must only be executed in the RUN state Note When using this command the Curve Position Offset parameter will be changed If the RA command is given while another motion profile is already being run the new profile is started at once RC Run motion profile SIM Direction ASCII sequence PC gt ELO IRC curveruintiet AVE drivecode OxOD ELO gt PC ACK ackcode OxOD This command starts the stored motion profile The curve parameter defines the profile which is to be started The admissible range goes from 0 to 63 with 0 standing for an empty motion profile This command must only be executed in the RUN state If the RC command is given while another motion profile is already being run the new profile is started at once RD Read memory word Direction ASCII sequence PC gt
125. ional Field Devices aE vo LinMot LinMot EX lt 30 DP Universal Module Control Status 1 Set Position 1 Wo g Get Position 1 We Run Curve 1 Wor Max Acceleration PROFIBUS 1 DP Master System 1 Max Velocity 1 Ww Max Current 1 Wi Address Q Address Next Drive 0 Wore Drive Ctrl Stat 1 Word DI D 256 257 256 257 Command 2 Word Set Position 1 Word DO Moto r A GATEWAY Get Position 1 Word DI 258 259 H Configured Stations Command 2 Word DO 272 275 H E Controller Next Drive 0 Word DI DO H CP 342 5 as DP Master Set Position 1 Word DO 262 263 Motor B H DP AS i Get Position 1 Word DI 262 263 e A of Max Velocity 1 Word DO 264 265 Next Drive 0 Word DI DO Set Position 1 Word DO 268 269 T Get Position 1 Word DI 266 267 Motor C Max Current 1 Word DO 270 271 NN 2 Output field for Infotext Figure 3 3 LinMot PROFIBUS servo controller setup 35 3 7 Data module overview 36 PROFIBUS Servo Controller Data module overview This subsection provides an overview of the data modules that can be used to configure LinMof PROFIBUS servo controller With the help of these mod ules it can be defined which data are to be exchanged between the PROFI BUS master and the LinMof servo controller One module encapsulates an indivisible data block Such a block may comprise one or more da
126. it State 0 Drive A abs Position zd Position E Figure 2 7 State Table The movement to be performed can be defined in the table by the following functions Actuator performs no movement The actuator performs no movement or completes a movement already begun This is used with servo controllers for several axes when an actuator is not to perform any movement in the particular state or is to complete the movement started Positioning to absolute position The actuator is brought to the desired absolute position relative to zero sub ject to an adjustable maximum speed and maximum acceleration As soon as the actuator reaches its end position the In Position signal is activated Set an absolute amperage This command is visible only when controlling solenoids and serves to set the current for this Displacement about the relative position The actuator is displaced by the desired distance relative to actual target position not exceeding a preselected maximum speed and maximum accel eration As soon as the actuator reaches its targets position the In Position signal is activated Setting a relative amperage This command is visible only when controlling solenoids and serves to set a relative current for them User Manual Release 1 3 MT Servo Controller State Table LinMot Curve Move Home Position Redefine Position Stop Freeze Unfreeze Set Current Set Cur Offset Se
127. j So 5 x0 A S g D _ oD ss Je WElE 2 1E fe e Le 3 82 2323 3 8 amp 8 8 3 ES ang F Ee og EX EX Get state flags E Direction ASCII sequence PC ELO IEX Ofelocode 0x0D ELO gt PC State statecode OxOD This command gets the state flags of the selected servo controller The bits have the following meaning Bit o o nN H Ft MOM A TF D Name D amp 2 s D wn E o oO m a lt C W o D o D Q g zZ 2 2 2 2 no T a gt 2 A lee la el ee IE oe EEFE 1 de io l le IS o e s l I s o n o 9 2 Z D D D D Sle ke 2 fe 8 2 IE Fe fe de e i z 6 2 zl 6 e eee Typical sequence PC gt ELO ELO gt PC Description IEX14 129 The read value shows that the servo control ler is in the state RUN and the motor A is in position User Manual Release 1 3 131 GA GC GD 132 LinMot ASCII protocol Commands GA Get maximum acceleration S Direction ASCII sequence PC ELO IGA drive drivecode OxOD ELO PC ACCtuint16 OxXOD This command gives back the maximum acceleration of the drive motor The resolution of the acceleration may be queried with the Al command Value Min Max ACC int 16 1 1536 GC Get maximum current force SM Direction ASCII sequence PC gt ELO IGC drive drivecode 9xXOD ELO gt PC CUM uint16 0X0D This command gives the maximum current of the motor drive The resolution may be queried wi
128. l states The servo controller DISABLE state is now signalled by the two LEDs Stat A and Stat B flashing twice briefly This is now distinguished clearly from the STOP state The diagram below shows all conditions that must be satisfied for a change of state Since release 1 3 9 the state STOP emergency stop state is distinguished by blink codes from the states INIT and RUN The state STOP can only be left to the state DISABLE by clearing the INIT RUN and STOP request flags FIRMWARE STOPPED Power Down Stop Firmware Power Up Start Firmware WAIT FOR DRIVE INIT DISABLE IRR amp IR amp ISR R SR 1 o e IRR amp IR amp ISR IO Input Signals Abbreviation Set INIT Request Input signals have to be Set RUN Request activated in the parameter Set STOP Request tree i Set FREEZE Request i z O LED off RUN signal is set in state Faut O Ready LED blinking Reset INIT Request SETUP For changing into the statA O10 StatB 36 LED on Reset RUN Request state DISABLE the RUN Reset STOP Request signal must be cleared from Reset FREEZE Request the active interface Internal Signals 1 From Release 1 3 9 DRIVE_INIT_NOT_DONE ERROR_PENDING WARNING_PENDING Figure 1 9 Operational states 10 User Manual Release 1 3 LinMot LinMot Software Innovations Operational states In ot Powerup Interruption of the power supply User Manual Release 1 3 The following diagram shows I O sig
129. lf Step 0 5 1 1 5 2A 0 75 1 5 2 25 0 375 0 75 3A 5 625 6A Full Step gt 0 125A gt 0 178A gt 0 05A Table 6 3 Maximum current adjustment for stepper motors 1 For all E100 E200 E400 device which have a serial number bigger than 001 200 only the 3A column is valid If the rotor of the stepper motor performs no movement the phase current is halved This reduction ensues automatically 200 ms after standstill The parameter for the motor current can be found in the directory Drive Drive X Control Parameters Error Handling Handling errors on the motors are described in this subsection General infor mation on errors and warnings may be obtained from the chapter Error han dling on page 60 The directories below shows which internal errors lead to the error state Error Mask which errors generate a warning Warn Mask and what is to happen in the event of an emergency stop Emergency Stop The user cannot access all error and warn parameters because the hardware might suffer damage through incorrect adjustments Drives Drive X Error Handling Error Mask Drive Type Mismatch The connected motor type does not match the R one selected or the connected motor is defec tive Curve Error A motion profile cannot be found R 89 Emergency Stop Mode 90 Parameters Stepper motor parameters The Drive Init Not Done parameter cannot be deselected so that the servo controller cannot assume the RUN state if a
130. ll the command Unlock Set Position to enable the position setting again 37 LinMot Command No Command Redefine Position Move Home Position Unlock Set Position Set Demand Posi tion to Actual Posi tion Set P Set Set D Set FF Friction Set FF Acceleration Set FF Deceleration Set Current Offset 38 ID HEX 0x00 0x01 0x02 0x03 0x04 0x10 0x11 0x12 0x13 0x14 0x15 0x16 Value from to 32256 32256 32256 32256 32640 32640 32640 on 209 32640 lS aS 0 Oo 0 32640 256 256 PROFIBUS Servo Controller Unit 19 53125um or 1 8Step 19 53125um or 1 8Step 0 00234 A mm 0 0457 A mm s 0 015A m s 0 0234A 0 1 mA m s 0 1 mA m s2 23 4mA Data modules Description No command is executed Redefines the actual position and sets the demand position to the same value This command freezes the position selected with the Set Position module It can be enabled again with the Unlock Set Position Shifts the reference position by the specified value The demand position is shifted as well so that the motor does not move This command freezes the position updated with the Set Position module It can be ena bled again with the Unlock Set Posi tion Enables target position updated with the Set Position module This com mand is needed only after the Rede fine Position and Move Home Position commands The
131. losses this commu tation may be chosen only where highest dynamics in association with low duty cycle are demanded The duty cycle is the ratio between the moving time and standstill time of the motor The parameters for the maximal current are in the directory Drives Drive X Control Parameters 79 Error Mask Warn Mask 80 Error handling Parameters Linear motor parameters Handling errors on the motor side is described in this subsection General information on errors and warnings may be obtained from the chapter Error handling on page 60 The directories below show for the motors which internal errors lead to the error state Error Mask which errors generate a warning Warn Mask and what is to happen in the event of an emergency stop Emergency Stop The user cannot access all error and warn parameters because the hardware might suffer damage through incorrect settings Drives Drive X Error Handling Error Mask Drive Type Mismatch R Curve Error R Slider Missing R Init Failed R Drive Following Error Drive Too Hot Calcu lated Drive Too Hot Sensor R The connected motor type does not match the one selected or the connected motor is defec tive A setpoint motion profile cannot be found The slider is missing or the motor has not been connected properly An error has occurred while initializing the motor A motor has a following error A motor was temporary overl
132. low lists the values signaled back when the VI command is given They may however alter with a future ASCII protocol version Whenever possible therefore the speed increment should be queried with the VI com mand Motor type Increment LinMo 190 735 m s Stepper 0 081469 Steps s Solenoid 0 User Manual Release 1 3 147 LinMot LinMot ASCII protocol Reference table acceleration increment 8 10 Reference table acceleration increment The table below lists the values signaled back when the Al command is given They may however alter with a future ASCII protocol version Whenever possible therefore the acceleration increment should be queried with the Al command Motor type Increment LinMot 238 419mm s Stepper 47 6836 Steps s Magnet 8 11 Reference table current increment The table below lists the values signaled back when the CI command is given They may however alter with a future ASCII protocol version Whenever possible therefore the current increment should be queried with the Cl com mand Servo controller Increment Ex00 Ex000 23 438 mA 8 12 Reference table motor designator The motor designator identifies a motor in a system solution in which the ASCII protocol is used under RS485 Controller ID Motor A Motor B Motor C Motor D O O AON E io FS ee im ee lt o atl a espe es e lt p al ww i ae amp 148 User Manual Release 1 3 1 Compatibility with previous releases Li n M
133. ly in the servo con troller To confirm that the motion has been carried out PLC is able to signal back like an end position switch or monitor a following error In addition the PLC is capable of stopping a machine that has been started or interrupting it for a certain time Otherwise the entire motion sequence is performed decentrally in the servo controller so that the PLC is relieved entirely of the position con trolling that involves much computing The figure above shows various motion sequences available from LinMof Multitrigger with the associated configuration possibilities Especially interest ing with regard to combined movements is the ability to control up to 4 motors simultaneously with one E400 MT or E4000 MT servo controller In this way the synchronous motion of 4 motors can be triggered by a single start com mand from the PLC The following example will provide an insight into these possibilities User Manual Release 1 3 MT Servo Controller Inserting a lid Shown below schematically is a motion sequence as needed to insert a lid ina container Drive A Motion sequence 0 Position container and lid Slide lid in container Push container on round table Drive C SS W Container Motion sequence 1 Rotate round table by 180 degree Drive B Move motor B and C back to the home position Drive D User Manual Release 1 3 Figure 2 4 Inserting a lid The two motion sequ
134. ly then does it turn left again so that the zero can be fixed with the positive trigger slope Trig Turn Right The stepper motor turns clockwise till the zero is fixed by the positive slope of the trigger signal If the trigger signal is already active at the start of ini tialization the rotor turns in the opposite direction till the trigger signal drops Only then does it turn right again so that the zero can be fixed with the positive trigger slope 83 Init Switches Init Config 84 Parameters Stepper motor parameters Drives Drive X nitialization Init Switches Init Once If this parameter is activated the motor is initialized only the first time in the DRIVE INIT state If it is not activated the motors will be initialized every time when changing from the DISABLE to the DRIVE INIT state In the Init Config directory are the following initialization parameters Drives Drive X Initialization Init Config Init Speed Home Position Initial Position Defines the speed at which motor rotates when initializing When the reference move is completed the actual position is assigned to this value At the end of initialization the Initial Position is moved into Initialization is concluded when the motor reaches this position User Manual Release 1 3 Parameters Stepper motor parameters Run Mode User Manual Release 1 3 Generating Setpoints The setpoint generating mode is defined with the Run Mode p
135. mand queries the current offset of the motor drive The resolution of the current may be queried with the Cl command Value Min Max Curroff uint16 256 256 EO EO Get motion profile offset SIM Direction ASCII sequence PC ELO EO drive arivecode 0x0D ELO PC COfftsintie OxOD This command gets the motion profile offset of the selected motor The posi tion resolution may be queried with the PI command Value Min Max Coffi sint16 32256 32256 EP EP Get P value of controller Direction ASCII sequence PC ELO EP drive drivecode 0x0D ELO PC P uint16 0x0D This command gives back the P value of the motor drive The unit is 0 00234 A mm Value Min Max P uint16 0 32640 ES ES Get motion profile speed SEM Direction ASCII sequence PC ELO IES OriVE drivecode 0x0D ELO PC Veluint16 0x0D This command gives back the speed of the motion profiles If the maximum value is set the motion profile is run as fast as it has been designed With lower values the speed drops linearly Value Min Max Veluint16 0 4096 130 User Manual Release 1 3 1 EW EW Get motor warn status SEM Direction ASCII sequence PC ELO IEW drive drivecode 9x0D ELO gt PC statelstatecode OxOD This command gets the actual motor warn status of the selected motor The bits have the following meaning Bit co o Te lt N X r Name xo xe 5 g 2 5g Z D 5 T cc c fe z g zo
136. mode This command is only supported in master encoder mode The table below provides an overview of the available MT commands MT commands Command Description No Operation Do not obey any command Abs position Positioning to absolute position Rel position Move by position difference Abs current Set absolute amperage Rel current Set relative amperage Set current Set maximum amperage Set FF Set feed forward controller parameters Set PID Set PID controller parameters Set Cur Offset Set current offset Set CP Set motion profile properties Curve Run setpoint motion profile Move home position Move home position Redefine position Define actual position Freeze unfreeze Interrupt movement Stop Stop movement Recipe Change recipe for cam applications Start Cam Change to cam mode Goto absolute position from actual position since release 1 3 13 Nearly the same command as Abs Position but the velocity acceleration lin miter starts from the actual position This command is intent to be used for releasing from a press situation Set demand position to actual position since release 1 3 13 Sets the demand positions to the actual motor position This command is used e g when the motor has been freezed and the motion should not continue when releasing from freeze if the motor has been current free and should be powered again without moving LinMot In ot LinMot Software Innovations Operational states 1 9 Operationa
137. n Inspection Inspection Lubrication Lubrication Lubrication after first 8 hrs Inspection Inspection Inspection after first week Inspection Inspection Inspection all 3 months Inspection Inspection Inspection Lubrication all 6 months Inspection Inspection Inspection Lubrication Lubrication Lubrication Inspection The following must be checked when inspecting the drives e Is the slider lubricated completely e Is the lubricant not decomposed e Can the slider be moved easily e Is the connector cable in good condition Cleaning On no account may brushes or similar be used for cleaning purposes No cleaning fluid containing solvents kerosene or similar must be used 1 Carefully withdraw the slider from the stator 2 Clean the slider and stator with soft disposable paper assisted by methy lated spirit or alcohol 3 Lubricate the slider and introduce it carefully 152 User Manual Release 1 3 Maintenance of LinMot P motors Lubricating instructions User Manual Release 1 3 The lubricant reduces the friction between the chromium nickel steel surface of the slider and the plastic plain bearing POM or Delrin based In addition it prevents fretting corrosion The lubricant employed must not attack the mate rial of the plain bearing and must be temperature resistant up to 100 C It must retain low viscosity at low temperatures and not evaporate The following table gives an overview for different lubricants Application Beze
138. n profile ended on motor C Curve Done D Motion profile ended on motor D The four bits In Position A D indicate whether the motor after a new position has been set or a motion profile has been executed has reached a defined range around the target point The limits of this range can be set with the User Manual Release 1 3 PROFIBUS Servo Controller Data modules Get Position Get Current Max Acceleration User Manual Release 1 3 parameters In Position and In Position in the directory Drives Drive X Position Monitoring In Position Drive A Motor A has reached the target point In Position Drive B Motor B has reached the target point In Position Drive C Motor C has reached the target point In Position Drive D Motor D has reached the target point This module serves to transmit the actual position of the motor from the LinMof servo controller to the PLC Module Get Position Actual Position Direction Slave Master Size 1 word Range 32 256 to 32 256 32 767 on invalid positions Unit Motor type Unit LinMof 19 53125um Stepper 1 8Step Solenoid 23 438mA This module serves to transmit the actual current of the motor from the LinMo servo controller to the PLC Module Get Current Actual Position Direction Slave Master Size 1 word Range 256 to 256 Unit 23 438 MA This module sets the maximum acceleration of the motor Module Max Acceleration Max Acceler
139. n values in multitrigger tables the ASCII protocol and the PROFIBUS All these parameters must be converted by the following formula ValUenew Value eaj Factor The factor has the following value Resolution Factor 10um 2 5um 4 2 5um 8 1 25um 16 The resolution has been set to 5um If the Home Position parameter is now to be adjusted to 30mm a value of 120mm must be entered instead 53 L I n M ot External position sensing A B sensors 4 2 A B sensors Principle The A B position sensor consists of a sensing head and a magnetic or other scale strip When the sensing head is moved over the scale strip it will gener ate two digital output signals A and B which are phase shifted by 90 degrees The signals A and B are feed into an encoder link of the master encoder over RS422 From these signals the LinMo servo controller calculates a position signal which can be used to position the motors Scale Strip Figure 4 4 Principle of the A B position sensing Sensing connection The external A B sensing is connected to an encoder link of the master encoder module See Addendum Master Encoder The signal type of the encoder link is RS422 and the encoder can be freely assigned to the motor by the software The following table shows which master encoder module provides which func tionality and number of encoder channels ME01 01 08 ME01 02 08 Link A ME ME Pos Sensor Pos Sensor Link B loop t
140. nals during a typical powerup Siana Ono igna i i i gt D DE O os 48V gt Power TELLS oV T 1 1 i i a INIT a8 d n RUN a WARN j j ao C amp C T T T T 5 O ERROR DiN se ETE nr E Figure 1 10 Powerup Because of the safety regulations it is in most cases necessary to turn of the power supply of the motors in case of an emergency shutdown The LinMo units are well equipped for this procedure because they have separate motor power and logic signal supplies Therefore in case of an emergency shutdown the power supply can be interrupted while the signal supply can be kept on so that the motors may not be initialized with homing The following diagram shows the relevant I O signals during such a procedure 24V gt o Signal i Ta e ov 5 5 48V a l gt Power i i u ae a 2 RUN i 5 0 QG D oi FREEZE o WARN 5G Se 3 D O ERROR State Position i Drive gpes to FREEZE i 1 position with 25mm s Figure 1 11 Interruption of the power supply 11 T L in M ot MT Servo Controller Overview 2 MT Servo Controller 2 1 Overview The synchronization of electric drives is normally made by complex electronic encoders Simple PLCs are flow controlled and don t provide this functionality The multitrigger concept permits nevertheless the synchronization of com
141. ndow is closed and the alterations are stored in the Multi Trigger table The Cancel key enables the window to be closed without storing the alterations After closing the Edit Multi Trigger window the Multi Trigger table is in the Curve Window of the Curve Inspector The Multi Trigger table can now be moved like a motion profile into the download window and loaded onto the servo controller User Manual Release 1 3 1 MT Servo Controller Configuration software L I n M ot Set Port and Drive Type User Manual Release 1 3 After a double click at the first cell of a column the Set Port and Drive Type window appears Set Current Redefine Pos Current 0 4 Position 0 mm Curve Curve numbe Drive Type Figure 2 14 Set Port and Drive Type Window In this window the user may alter the port motor output on servo controller for the selected column and actuator type However the actuator type can be altered only if no cell of the column has been edited yet By pressing the Ok key the alterations are stored with the cancel key they are cleared Columns may also be defined that are not assigned to any motor output This allows columns to be exchanged in the state table by altering the columns in question to Not Assigned first and then assigning them to the desired motor outputs Teach In with Multi Trigger mode The Multi Trigger servo controller of the ExOO MT and Ex000 MT series may be programmed by teaching
142. ntages no acceleration force jumps in contrast to the Point to Point type and the maximal speed and acceleration can be set explicitly The next figure shows the traverse speed and acceleration For short strokes or small maximal accelerations it is possible that the maximal speed is not reached A End Position 7 ee Start Position al gt i Motion Time gt y A Max Speed Figure 1 5 Traverse speed and acceleration of a limited jerk motion Figure 1 6 Typical limited jerk motion profile on page 6 shows an example of a limited jerk profile generated in the curve editor x Waad Type Posion fen Postion fn s400 5400 One ie Nase W200 a aa aaa a a e am Ti s j OO u A e000 Stat Point me g End Poire fren a gt max Speed fav s w y w max Sean Ace mi2 i max Stop Ace m s2 a 13900 130 120 120 SW i 20 C i i 200 0 00 37 27 7453 111 90 1490 183 2220 Te s Bj 2 Brvew Pre A X Cancel Figure 1 6 Typical limited jerk motion profile 6 User Manual Release 1 3 LinMot Software Innovations Package installer 1 6 Package installer User Manual Release 1 3 Equipping the servo controller for a new SW release has entailed loading many individual data files onto the servo controller With the new Package Installer a release may now be loaded with a few mouse clicks The installer itself ascertains which servo controller is involved and aut
143. ntroller with 72V supply User Manual Release 1 3 LinMot Tips and Tricks for the controller Tuning of the controller I n ot 7 10 Tuning of the controller There are many very different ways of adjusting a PID controller The following method has acquitted itself in practice 1 Set phase current parameters according to chapter Configuration of the max Current on page 109 Set the filter parameters according to chapter Adjusting of the prefilter Fil ter on page 102 or create a profile according to chapter Using profiles for reference position on page 103 Set feed forward parameters according to chapter Adjustment of the Feed Forward Parameters on page 104 After these two steps the following parameters in the list Drives Drive X Control Parameters have to be set P 0 25A mm D 2 00A m s 1 0 00A ms Now the desired motion profile can be loaded Then the motor has to be started in the Continuous Curve mode Now increase the parameter D by 1 0 until the motor begins to oscillate Then reduce the D value to 60 Now increase the parameter P by 0 25 until the motor begins to oscillate Then reduce the P value to 80 The parameter I should only be set if the steady state position difference between the actual and demand position in standstill is to big To set the parameter I increase the value by 5 0 until the steady state posi tion difference is minimized and at the same time there is no overshoo
144. oaded Possible causes are the motor was blocked or over loaded load mass too big trajectory too fast san If this parameter is unselected it can be possi ble that an overheating of the motor which is caused by a shorttime overload cannot be detected anymore The motor may be dam aged An overheated motor has been detected It has been overloaded and or cooled inadequately User Manual Release 1 3 Parameters Linear motor parameters Most parameters in the Warn Mask directory can be edited unlike those in the Error Mask directory Only the warning Drive Init Not Done cannot be cleared This warning is maintained till a motor has been initialized and pre vents the servo controller assuming the RUN state as long as a motor is not initialized Drives Drive X Error Handling Warn Mask Slider Missing Drive Init Not Done R Drive Following Error Pos Range Indicator Drive Too Hot Calcu lated Drive Hot Sensor In Position User Manual Release 1 3 Slider missing or motor incorrectly connected A motor has been connected incorrectly or not at all The motor has a following error The slider is outside the position range defined by Pos Range Min Max If this warning is acti vated make sure that the Pos Range parame ters are adjusted so that the signal is no longer present after initializing otherwise it will be possible to ascertain only with great difficulty whether all motors have been initialized
145. odule Set Curve Amplitude Curve Amplitude Direction Master Slave Size 1 word Range 0 to 4096 Unit 0 0244 of maximum amplitude T LinMot PROFIBUS Servo Controller Data modules Set Curve Offset This module serves to set the desired offset of the motion profiles Module Set Curve Offset Curve Offset Direction Master Slave Size 1 word Range 32256 to 32256 Unit Motor type Unit LinMo 19 53125um Stepper 1 8Step Solenoid 23 438 mA Set Position This module serves to transmit the desired target position of the motor to the LinMof servo controller Module Set Position Demand Position Direction Master Slave Size 1 word Range 32256 to 382256 Unit Motor type Unit LinMot 19 53125 um Stepper 1 8 Step Solenoid 23 438mA 44 User Manual Release 1 3 7 PROFIBUS Servo Controller Diagnose LinMot 3 9 Diagnose User Manual Release 1 3 PROFIBUS DP is prepared for diagnosing equipment with messages in clear text The LinMof servo controller and most of the setup software packages support this In the diagnose messages any warnings and errors of a DP slave present appear in clear text If the diagnose is to be evaluated with a PLC pro gram recourse may be had to the description of the diagnose data in the GSD file There the meanings of all bits are defined OLET AARE LinMot EXX30 DP Pfad OniineSSIMATIC 300 Station 1 CPU315 2 DP 1 Betriebs
146. oessecessvnstadeouseseobosseston svacssecdsestodscduaccorsesetecauae 101 7 2 Selection between PD or PID Controller ssiscssicessssvcscosoedsssscososencasenasoseoncecesase 102 7 37 Adjusting of th preftilter Filtet ssssesssessessssvssrscssvessscssessecsossscsocsoseisvssssoesosers csie 102 7 4 Using profiles for reference position e sesseeseessessoesoessessoesoosseesoesoossoesoesoesoosseesoee 103 7 5 Adjustment of the Feed Forward Parameters esssesssesssoeesoossssesssesssocesoossoossosessse 104 T6 Adj st g OF The Current Offsetasssssssssoisscesssessecssosssee sses ians ens stiess 105 TT The Tunne HOO sc sataasesiacseodscstenscsonnensssaedeseebanooudcssedcensosessvaccabendstousssucscevccssseensdes 106 7 8 Configuration of the max Current seesseesseosssoesssesssecssoossoossooesssesssessoosssossssesssee 109 7 9 Basic set up parameters for the Controller essesssesoessessoesoossoesoesoossoesoesoossoesoesoee 110 PAO Tuning of the Controller vescescacerscscssesscecacsseecssoota sovetaysotaussbusssocsebecetoussesstensda cascade 111 Delt HEC KATY PESUILSS S51 A T TA E TOS 111 8i LinMot ASCII protocolarias ap a i 112 Bel Tntroductdh s sesiet esenee ossee i e o EE ES E EEE 112 8 2 Set pand installatioi sssri casgessvsclessshnssenscopacese ontoseno rass essees se eoar oas iois 113 8 3 Commands OVerVieW scsoedensocussnctsccasannscabsuasocusiioesecsouecusosdcundsncaspanmesatesasoassteeunsesas 117 9 4 Command SITUCTULE csser sessao desto ee
147. of servo controller into the process image and not perform subsequent peripheral accessing Depending on the application and control it may make sense to map the Lin Mof servo controller into their own part process image This eliminates cyclic process image updating 1 Here the cycle time on the PLC is meant The bus cycle time on PROFIBUS is independent of the PLC cycle time in most cases 49 LinMot 3 11 Interfaces 50 PROFIBUS Servo Controller The PROFIBUS servo controller have the following interfaces Series 130 Pin Mot A Mot D 1 PHASE 1 PHASE 2 5VA SIN TEMP IN PHASE 1 PHASE 2 AGND cos CONANDRWNY Series 1030 I 5 Mot A Mot D o SHIELD TEMP IN cos SIN AGND 5VA PHASE 2 PHASE 2 PHASE 1 PHASE 1 NURON O Series 1030 Pin PWR top GND bottom UZK Fault Stat A Mot A gt ID1 ID2 99 Mot B gt Sys 2 22 gt Mot C gt Com D9 Mot D gt PWR gt gt PROFIBUS DP address DP address high byte DP address low byte DP not connected not connected RxD TxD P CNTR P GND isolated 5V isolated not connected RxD TxD N not connected Pin Com 2 RS 232 TX 3 RS 232 RX 5 GND Series 130 Series 1030 Pin PWR Pin PWR top US
148. okes up to 1200mm it is recommended to select this resolution This is the default setting With this adjustment the actual position is deter mined with the inbuilt position sensing of the Lin Mo but the resolution is 40um so the motor can cover a stroke of up to 2400mm without shifting the home position With this adjustment the motor obtains its actual position from the position sensor connected on the channel above If for example a motor is connected to channel B he then takes his actual position from the position sensor connected to channel A With this adjustment the motor obtains its actual position from the position sensor connected to an encoder link on the master encoder module ME01 01 08 or ME01 02 08 The type of sensor is incre mental AB and the decode mode can be 1X only rising edge of signal A 2X all rising edges of signal A and B or 4X any edge of signal A and B In chapter External position sensing on page 51 it is explained how the adjusted resolution depends on the travel range 69 i L I n M ot Parameters Linear motor parameters Initializing Homing Initialization The position sensing employed in the motors of the LinMof series allows rel ative position determination When starting therefore the reference position must be initialized just once This is done by means of a so called reference move The way a motor is initialized is defined by the parameters Init Mode Init Switches an
149. oller designator Servo controller designators are ASCII digits If the protocol is set to RS232 only the digit 1 is allowed Otherwise digits 1 to 6 may be used provided the corresponding servo controller exist Status code sent back from the servo controller after a GS command The individual codes are explained in chapter Reference table status and error messages on page 146 User Manual Release 1 3 j Command description All commands in this chapter have been organized in alphabetic order The following example shows how a description looks like ASCII COMMANDS All commands are shown and described in these tables One table describes one ASCII command A Bee E aO E terse L AS EM C B Direction ASCII sequence D PC ELO SP POS sint16 drive drivecode OXOD ELO gt PC aCkjackcode 0x0D A The heading row shows the com C These icons specify on which mand and a short command descrip motortypes the command works Look tion also table 8 1 Icon description B Shows the direction of the communi D Shows the ASCII sequence cation The following table shows the meaning of the icons in the heading row of the command description Icon Description L The command works for linear motors 5 The commands works for stepper motors M The command works for magnet solenoids Tabelle 8 1 Icon description User Manual Release 1 3 121 AC Al 122
150. omatically loads the software for the particular version The Package Installer is started by selecting the menu option Special gt Install Package After this Install as User ID and as password NTI must be entered in capitals The installation file is in the LinMot Lin Firmware direc tory Gr Package Installer ol x Action Loading BASE_SWR HEX Progress Ta 8 8 e Log window Installing package LM1R3R10 IPK Checking servo controller Device name E400MT Device version 2 1 Device supported yes Installing files Downloading monitor loader Starting monitor loader Loading monitor Downloading basesoftware Figure 1 7 Package installer during the installation of LinMof servo controller a L inMot LinMot Software Innovations O status display 1 7 I O status display The new I O status display assists the user when commissioning the servo controller It shows the status of the input and output signals It enables verify ing whether all inputs are connected properly The display is activated by pressing the IO Status key in the Error Inspector ix SEAE Errors Kl Wamings S Logged Errors 10 Status 10 Status ANALOG A ANALOG B ANALOG C ANALOG D OUT 1 WARNING NOT ACT LOW OUT 2 ERROR NOT ACT LOW OUT 3 POS ERR NOT ACT LOW OUT 4 MSG Figure 1 8 IO Status display 1 8 New commands for MT servo controller Rede
151. ommanding just the master motor But in contrast to the Booster motor the gantry slave motor is completely position controlled it only has copied the commanded positions from the master This enables another type of mechanical constructions where the two motors are placed far from each other and the mechanical coupling can be weak or even inexistent There can be configured up to three gantry slave on the same con troller It is also possible to combine external sensors with the gantry master and slaves Channel A Master BAL AL AA ae Channel B Gantry Slave Figure 5 3 Gantry operation In operation the position is set for the master motor and will be copied auto matically to the slave The motors are position controlled independently of each other When configuring the motors the master must be defined before the slaves The slaves must be completely configured except for the run mode A slave is defined by selecting Gantry Slave parallel under DriveX Advanced Master Booster 57 6 Parameters 6 1 Introduction System parameters Drive parameters 58 Parameters ntroduction All servo controllers of the LinMof family may be configured for the applica tion by means of parameters The configuration is stored on the servo control ler in the nonvolatile EEPROM The parameters are grouped hierarchically tree structure and may be edited simply with the Parameter Inspector
152. onger have current Freeze The motor decelerates and stays in that position The motor remains in operation Goto Position The motor goes to the Emergency Stop Position and stays there The motor remains in operation 1 The speed and acceleration value of these movements can be set with the parame ters Max Speed and Max Acceleration in the directory Emergency Configuration User Manual Release 1 3 Parameters Stepper motor parameters Emergency Configu This directory contains the parameters defining with what parameters the ration motor is moved if an emergency stop is activated with the STOP signal Drives Drive X Error Handling Emergency Stop Emergency Configu ration 5 Stop Position 2 Max Speed L Max Acceleration L If the Drive Goto Position emergency stop mode is selected when an emergency stop occurs the position defined under Emergency Stop Position will be assumed at once with ulti mate regulation to this The motor remains in operation Sets the speed with which the motor goes to the Stop Position Sets the acceleration with which the motor accel erates decelerates if the STOP signal is acti vated 1 Visible only if the parameter Emergency Stop Mode is set to Goto Position or Freeze 2 Visible only if the parameter Emergency Stop Mode is set to Goto Position User Manual Release 1 3 91 L I n M ot Parameters Solenoid parameters 6 6 Solenoid parameters
153. orm con forming masters The GSD file for the LinMof servo controllers is named LINMOOB6 GSD and is located according to the software installation in folder GSD of the installed LinMof Talk software e g C LINMOT 1R3 GSD Setup The actual setup is done mostly by means of drag and drop The following steps are run through typically 1 Load all necessary GSD files of the slaves employed into the setup soft ware This step must be performed only once with the usual programs 2 Create and configure a PROFIBUS system on the desired master 3 Create the individual slaves on the bus system 4 Configure the individual slaves 34 User Manual Release 1 3 PROFIBUS Servo Controller Setup User Manual Release 1 3 LinMot When configuring the slaves the desired data modules may be determined which are exchanged with the master in cyclic traffic All data modules sup ported by the LinMo servo controller are described on page 37 In Figure 3 3 LinMot PROFIBUS servo controller setup a typical setup of a PROFIBUS system with two LinMo servo controllers is shown The project shown was accomplished with the help of the Siemens Step7 software max HW Config Hardware Configuration Demo_Project SIMATIC 300 Station Station Edit Insert PLC View Options Window Help Dieja S Solia JED 22 xe Hardware Configuration Demo_Project SIMATIC 300 Station Profil Standard hd PROFIBUS DP H Addit
154. ors can be interrupted within their movement FREEZE Drive A FREEZE Signal of Motor A FREEZE Drive B FREEZE Signal of Motor B FREEZE Drive C FREEZE Signal of Motor C FREEZE Drive D FREEZE Signal of Motor D The state in which the servo controller is signalled back by the status word The individual bits have the following significance RUN State Servo controller in RUN state ERROR State Servo controller in ERROR state INIT State Servo controller in INIT state DISABLE State Servo controller in DISABLE state INIT Done All motors have been initialized The CMD Executed bit changes its polarity at every command executed with the Command module CMD Executed This bit changes its polarity with every command executed The two signals ERROR Pending and WARNING Pending indicate whether there is an error or a warning present ERROR Pending There is an error WARNING Pending There is an warning The four bits Curve Done A D indicate whether a motion profile commenced with the Run Curve module has been completed already The motion profiles are always started by toggling a bit in the Run Curve module As soon as the motion profile is ended the Curve Done A D assumes the same value as the bit in the Run Curve module In this way it is possible to determine any time whether a motion profile is still being executed or has been completed Curve Done A Motion profile ended on motor A Curve Done B Motion profile ended on motor B Curve Done C Motio
155. osition 70 83 actual position getting 133 redefining 138 actual state getting 134 actuator type 80 Adapter 52 Add Column 27 Add State 27 address showing PROFIBUS 99 Al 122 Analog 73 85 92 Analog Trig Drive A 65 Analog Trig Drive B 65 Analog Trig Drive D 65 Analog Trig DriveC 65 angle signal 12 Application 60 66 argument types 120 ASCII protocol 3 112 acknowledge structure 118 command structure 118 example sequence 145 setup 113 ASCII RS232 66 ASCII RS485 66 AT 66 attribute meaning 58 Auto 88 Auto Move In 70 Auto Move Out 70 Auto Start 65 Base 60 Baudrate 99 100 baudrate autodetect PROFIBUS 32 showing PROFIBUS 99 100 Bewegungsprofil Erstellen 6 ruckminimiertes 6 Block 79 User Manual Release 1 3 Booster parallel 68 Booster reverse 68 bus cabling 49 byte order 49 99 Byte Order Datamodules 99 C cabling checking 49 PROFIBUS DP 32 CC 123 124 Check Init Position 71 72 Cl 124 CMD Executed 40 column adding 27 copying 28 deleting 28 inserting 28 pasting 28 Command Redefine Position 3 Set Current 3 Command 36 37 command Abs Current 9 Abs Position 9 changing current 9 Curve 9 for MT servo controllers 18 Freeze Unfreeze 9 freeze movement 9 Move Home Position 9 moving demand position 9 moving home position 9 No Operation 9 no operation 9 Redefine Position 9 Rel Current 9 Rel Position 9 running motion profiles 9 Set CP 9 Set Cur Offset 9 Set Current 9 Set FF 9 S
156. osition of the motor drive to the pos value at the next trigger pulse Since the servo controller has very fast trigger inputs a movement can be started very precisely The movement is always started on the positive edge This command must only be executed in the RUN state Value Min Max POS sint16 32256 32256 TW TW Goto position from actual position on next trigger absolute positioning SEM Direction ASCII sequence PC gt ELO ITW POS sint16 drive drivecode 0x0D ELO PC aCkjackcode 0x0D 142 User Manual Release 1 3 LinMot ASCII protocol Commands L in Mo te Vi WR User Manual Release 1 3 This command sets the demand position of the motor drive to the pos value at the next trigger pulse Since the servo controller has very fast trigger inputs a movement can be started very precisely The movement is always started on the positive edge This command must only be executed in the RUN state In contrast to the TP command the V A limiter starts at the actual position This command can be used for releasing froma press situation Value Min Max POSt sint 16 32256 32256 VI Get actual speed resolution S Direction ASCII sequence PC gt ELO IVI driverdrivecode 0X0D ELO gt PC velreStyintgz OxOD This command queries the actual speed resolution The values are given in different units depending on the motor type selected Motor type Unit LinMot 1nm s Stepper motor 2716 Steps s Solenoid 0
157. oth links RS232 and RS485 The two links are handled completely separately thus it is even possible to communicate over the two links at the same time Release 1 3 9 supports a new curve type Limited Jerk in the Curve Cre ator For this type the maximal speed and maximal acceleration are config urable like for the Point To Point type The acceleration and thus the force will not jump but change with a ramp The curve type Ramp is not supported anymore It can be replaced easily by the type Manual with two curve points and the time When importing curve files in the Curve Inspector the curve type Ramp will be automati cally converted to the Manual type Parallel master booster operation of motors This enables the force availa ble for a movement to be increased in simple fashion Support for external sensors which make possible substantially higher accuracy Thus positioning to an accuracy of 10um is possible with the appropriate magnetic tape The external sensors are connected to motor channels not in use The LinMof firmware supports the new PROFIBUS servo controller E130 DP E230 DP E430 DP E1030 DP E2030 DP and E4030 DP With the new PC software both servo controller with Release 1 2 and servo controller with the new Release 1 3 can be parameterize and operated User Manual Release 1 3 a LinMot LinMot Software Innovations Overview In ot New functions in Release 1 2 User Manual Release 1 3 The DISABLE sta
158. otor parameters define the behavior of the actuators concerned This is determined by the drive type User Manual Release 1 3 1 Parameters Global parameters L I n M ot the initialization setpoint generation positioning monitoring control parame ters and the drive related error handling The parameter for configuring the lin ear motors stepper motors solenoids and external position sensors are described in separate sections MT parameters The Multi Trigger directory serves to configure the MT servo controller It is visible only if a MT servo controller is connected and if the Command Inter face parameter in the System directory has the value MT PROFIBUS parame In the PROFIBUS directory settings for the PROFIBUS servo controller can be ters made They are visible only with the servo controller having a PROFIBUS interface e g E430 DP Where are the param The table below shows the sections describing the individual parameters eter descriptions Global parameters chapter Global parameters on page 59 Motor parameters chapter Motor parameters on page 66 Linear motor chapter Linear motor parameters on page 68 Stepper motor chapter Stepper motor parameters on page 83 Solenoid chapter Solenoid parameters on page 92 Position sensor chapter Position sensing parameters on page 96 MT parameters chapter MT parameters on page 97 PROFIBUS parame chapter PROFIBUS Parameters on page 99 ters
159. otor supply 10A slow 5mm x 20mm 302 logic supply 0 5A slow 5mm x 20mm Ex000 AT MT DP DN q gt j PE Figure C 2 LinMot Ex000 AT MT DP fuses on power PCB Fuse Type S1 motor supply 10A slow 5mm x 20mm S2 logic supply 0 5A slow 5mm x 20mm User Manual Release 1 3 151 LinMot Maintenance of LinMot P motors D Maintenance of LinMot P motors The maintenance schedule below is based on a 5 day week with 8 working hours daily Central European industrial operating conditions are assumed Where conditions differ as with severe and permanent fouling direct sun shine operation outdoors etc the maintenance intervals must be shortened until empirical values for the particular application are obtained Accordingly a distinction is drawn between the maintenance schedules for standard applica tions and first applications or arduous conditions Standard applications This maintenance schedule should be used for standard applications Time Less than 120 120 to 360 over 360 strokes min strokes min strokes min commissioning Inspection Inspection Inspection Lubrication Lubrication Lubrication every 3 months Inspection Inspection Lubrication every 6 months Inspection Inspection Inspection Lubrication Lubrication First arduous This maintenance schedule should be used for first and arduous applications applications Time Less than 120 120 to 360 over 360 strokes min strokes min strokes min commissioning Inspectio
160. parameters The Set Value Configuration directory contains all configuration parameters needed in connection with the setpoints Drives Drive X Set Value Generation Set Value Configuration Minimal Position L Maximal Position L OV Position us 10V Position ue 0 Position ue 1 Position ue Curve Number ue Rise Curve Number et Fall Curve Number Le Curve Pos Offset L Curve Amplitude L Curve Speed L Determines the minimal position for the motor lower limit of positioning range Determines the maximal position for the motor upper limit of positioning range In the Analog mode this parameter defines the posi tion to be assumed with OV input voltage In the Analog mode this parameter defines the posi tion to be assumed with 10V input voltage Defines the position assumed in the Two Point mode when the trigger is at a logic 0 Defines the position assumed in the Two Point mode when the trigger is at a logic 1 In the Continuous Curve mode the motion profile stored in the servo controller and baring the number in Curve Number is run over cyclically In the Trigger Curve mode the motion profile with this number is run on the rising slope of the trigger signal In the Trigger Curve mode the motion profile with this number is run on the falling slope of the trigger signal This parameter sets the position offset of the motion profile
161. plex movements using simple PLC systems Mechatronic Control Concepts Electronic main shaft Starting from an angle signal usually given by an angle encoder flanged onto the main shaft the electronic mainshaft causes all drives to follow in angular synchronism i e position controlled Both central and decentral concepts are employed In the latter case each decentral drive receives an angle signal enabling it to read the required target position from a stored table If flag errors are disregarded the entire machine may be considered as rigidly intercou pled The control outlay on machines engineered in this way is not to be underestimated and calls for elaborate electronics In particular a distinction must be drawn between the synchronous running of the drives required dur ing operation which is disturbed only by lag errors and the situation known as special conditions as occur when switching on the machine during mainte nance or faults Encoder E400 AT Axis Controller sy encoder k YE E400 ME Figure 2 1 Electronic main shaft Using electronic main shaft all drives are synchronized on the basis of an angle signal from an encoder The motion profiles are stored centrally in an axis control or decentrally in the drives themselves 12 User Manual Release 1 3 MT Servo Controller Sequential control User Manual Release 1 3 A fundamentally different philosophy is followed by the sequential
162. prop erly The output will only be activated with an AT servo controller if the parameter Pos Error Output in the directory System lO Confi guration is activated With an MT servo con troller in the MT mode parameter MT in direc tory System Command Interface activated the output is only activated if the parameter Pos Range in directory Multi Trigger Output Configuration Output 3 is activated A motor was temporary overloaded Possible causes are the motor was blocked or over loaded load mass too big trajectory too fast N If this parameter is unselected it can be possi ble that an overheating of the motor which is caused by a shorttime overload cannot be detected anymore The motor may be dam aged Excessive motor heating has been detected Motor overloaded and or inadequately cooled A motor has reached the demand position The corresponding output Msg Output will be activated if the parameter Msg Output in the directory System lO Configuration is acti vated and the parameter In Position in the directory System Error Handling Msg Mask is activated 81 d L I n M ot Parameters Linear motor parameters Emergency Stop Mode The behavior of the motor after an emergency stop can be defined with the following modes Drives Drive X Error Handling Emergency Stop Emergency Stop Mode Off Motor no longer controlled Position still read in In this mode the phases no longer have current Freeze The motor d
163. proved With the FF Friction parameter the sliding friction of the system can be com pensated Its value may be calculated as follows FF FrictionFeed forward friction A FF Friction Fer Ci Fer Sliding friction N Ci Force constant motor N A where Fpp is the sliding friction and c is the force constant of the chosen motor Tip FFR can be measured with a spring scale disconnect motor and the value for the force constant cf can be read from the data sheets In applications with long strokes it is also possible to measure the current during the constant movement with the scope This measured motor current is exactly the value of FF Friction The parameter FF Acceleration helps the controller when accelerating by providing in anticipation a current proportional to the acceleration demanded This parameter should be used wherever very fast and dynamic movements are needed or where big load masses are connected The value of this parameter can be calculated as follows FF Acc Feed forward mA m s FF Acceleration m c m Moved mass g Ci Motor force constant N A where m is the moved mass load mass slider or stator mass and c is the force constant of the chosen motor The value for the force constant c can be read from the data sheets This parameter is the counterpart to FF Acceleration and is used for anticipa tory control of the current while the motor is being braked The value of this parameter can be c
164. r of a motor is too big The fol lowing error can be set separately for each motor A motor was temporary overloaded Possible causes are the motor was blocked or over loaded load mass too big trajectory too fast This monitoring should only be activated for the following motors all other motors are equipped with improved temperature sensors which detect these overload conditions e P01 23x80 with Ser Nr 000 100 until 000 400 e P01 23x160 with Ser Nr 000 100 000 440 until The monitoring can be switched on or off with the parameter Drives Drive X Error Han dling Error Mask A motor is too hot It is overloaded and or insuffi ciently cooled The motors have reached the demand position 1 Not visible if parameter MT has been selected in the System Command Interface directory 63 1 L I n M ot Parameters Global parameters DCLV Monitoring The warnings and errors in the voltage monitoring are generated according to the values set out below System Error Handling DCLV Monitoring R Power Low Warn A warning is given if this power supply voltage is understepped Power High Warn A warning is given if this power supply voltage is exceeded Power Low Error An error is signalled if this power supply voltage is understepped Power High Error An error is signalled if this power supply voltage is exceeded Signal Low Warn A warning is given if this signal supply voltage is understepped Signal H
165. rea on both sides With permanently installed equipment it is a good thing to bare the shielded cable without interruption and lay it on the shielding rail or earthed conductor rail This will enhance reliability in an environment subject to severe interference Only bus connectors suitable for PROFIBUS and the corresponding baud rate should be used The connectors at both ends of the bus should have connect able termination Such connectors are obtainable from Siemens for example The shielding of the PROFIBUS cable must not be used for potential equaliza tion For installations earthed at different points a separate earth line must be laid having an impedance at least 10 times less than that of the cable shield ing User Manual Release 1 3 7 PROFIBUS Servo Controller Cabling LinMot Termination With baud rates above 1 5 MBit s the PROFIBUS must be terminated actively at both ends In addition there should be a 100nH series inductance in each connector for each outgoing data line ea 3900 B Line 3 A Line 8 ac DGND 5 Figure 3 2 Termination of PROFIBUS line in accordance with EN50170 Pin No with 9 pin D SUB connector Connector allocation The connector allocation is laid down in the PROFIBUS standard All equip ment conforming to the standard must adhere to this allocation The table below shows the allocation of the 9 pin DSBUN connector Pin No Signal Signif
166. rectory the method of generating setpoints is adjusted The setpoint generating mode is defined with the Run Mode parameter The following modes may be differentiated Drives Drive X Set Value Generation Run Mode Serial Analog Continuous Curve Trigger Curve Two Point The setpoint is given with a protocol via the serial interface The setpoint is given via the analog input corre sponding to the motor In the Set Value Generation directory the boundary setpoints for the input levels OV and 10V is depicted linearly on the setpoint range defined by these boundary setpoints maximum min imum A motion profile stored in the servo controller is run through cyclically The curve number is selected under Curve Number in the Set Value Configura tion directory On the rising slope of the trigger signal a first and on the falling slope a second motion profile stored in the servo controller are run through The curve num bers are fixed in Set Value Generation directory under Rise Curve Number and Fall Curve Number If the falling slope of the trigger signal ensues before the first profile is completed the second profile is run immediately afterwards If the trigger signal corresponding to the drive is active the value defined with the parameter 1 Posi tion in the Set Value Generation is traversed If the trigger signal is not active the value is traversed that is defined with the parameter 0 Position 73 Parameter
167. s Linear motor parameters Set Value Configura tion The Set Value Configuration directory contains all configuration parameters needed in connection with the setpoints Drives Drive X Set Value Generation Set Value Configuration Minimal Position L Maximal Position m OV Position 1 V Position Fs S v N O o 5 m 1 Position 2 Ir Curve Number T 3 Rise Curve Number 4 L e Fall Curve Number Le Curve Pos Offset L Curve Amplitude L Curve Speed L Determines the minimal position for the motor lower limit of positioning range Determines the maximal position for the motor upper limit of positioning range In the Analog mode this parameter defines this position to be assumed with OV input voltage In the Analog mode this parameter defines this position to be assumed with 10V input voltage Defines the position assumed in the Two Point mode when the trigger is at a logic 0 Defines the position assumed in the Two Point mode when the trigger is at a logic 1 In the Continuous Curve mode the motion profile stored in the servo controller and bearing the number in Curve Number is run over cyclically In the Trigger Curve mode the motion profile with this number is run on the rising slope on the trigger signal In the Trigger Curve mode the motion profile with this number is run on the f
168. s meant this is only a minor limi tation Module Command Command ID Direction Master Slave Size 1 word Structure Bit wolt alal o Hr l olrl HlrlHl alolnjol ml i am al rjo Name T 3 alalajajajalaja sae lle ea lka lka ala D fee eke reel E ee re c G OT 0 GO GO E E E E E E EIE 2 E E E E EJE EIE Sle SSeS iS elelal O S e S22 ees pelea heals Sl elolels alee leis mje pelle SlSlSlSlH L L Plalalalalalalala Command Value Direction Master Slave Size 1 word Range see table below Unit see table below The table 3 1 Overview of command module commands on page 38 describes the commands that can be executed with this module All com mands are started by altering the Start Command bits and apply at the same time to all motors specified with bits Motor A D It is therefore possible with one command to alter the P value of all motors The commands Redefine Position and Move Home Position freeze the position set with the Set Position module This is necessary to prevent unwanted position jumps With the command Unlock Set Position the posi tion update is enabled again The correct use of this command accordingly comprises the following steps 1 Perform the Redefine Position command With this command a new value is allocated to the actual position 2 Adapt the target position transmitted with the Set Position command 3 Ca
169. ses basic knowledge on PROFIBUS DP One very good information source for PROFI BUS information is the WWW address http Awww profibus com To be found there are various descriptions and further reaching literature refer ences 30 User Manual Release 1 3 PROFIBUS Servo Controller State machine LinMot 3 2 State machine What is a Slave What is a Class 1 master What is a Class 2 master User Manual Release 1 3 To make the documentation understood more easily a brief description of the state machine of a DP slave is given below It shows the states in which a DP slave may be and which steps it must pass through to go on line On line means the state in which the master exchanges useful data cyclically with the slave According to PROFIBUS terminology the LinMo servo controllers are slaves Therefore they cannot initiate data transmissions on their own but must be requested to do so by the so called master usually a PLC A master of Class 1 conducts useful data traffic with the slave assigned to it Class 1 masters are usually industrial PLC systems A master of class 2 is intended for commissioning purposes and may briefly take over the control of any slaves Class 2 masters are usually PCs with a PROFIBUS printed circuit board Search baudrate lt Wait for parameter telegram Wait for configuration telegram Data exchange mode Figure 3 1 State machine of a PROFIBUS DP slave
170. sscssscccsescsscssssssseeeees 155 LinMot LinMot Software Innovations Overview 1 LinMo Software Innovations 1 1 Overview New functions in Release 1 3 14 New functions in Release 1 3 12 New functions in Release 1 3 11 New functions in Release 1 3 10 User Manual Release 1 3 For the Release 1 2 1 3 various extensions have been made to the PC soft ware LinMof Talk and to the firmware that runs on the LinMof servo control ler This handbook describes all new functions and explains differences to Release 1 1 With all alterations care has been taken to preserve compatibility with Releases 1 0 and 1 1 The following list provides an overview of the new functions All innovations are described in detail in separate sections The motor series POx 48 is supported Noise dead band filter added when motor stands still See chapter Control parameters on page 77 CANopen interface added CANopen controllers are available as indepen dant product types like DeviceNet controllers Commands GotoPositionFromActualPosition and SetDemandPositionToAc tualPosition added in MT ASCII DP DN and CO CANopen interface ASCII The command EX read state flags contains now as well the emer gency stop substate information On login LinMo Talk checks the release consistency between PC and con troller software The serial link RS485 supports for both protocols RSTalk and ASCII RS485 the half and full duplex modes
171. stems Nevertheless once elaborate motions have to be controlled the demands made on PLC systems are so exacting that the low priced small devices are no longer up to the job Mechatronic engineering has now reached the stage where the number of function modules realized by the closed loop brushless permanent magnet linear motors or rotational drives is growing steadily so that increasingly complex motion sequences have to be controlled In the view of this situation the LinMof servo controller has been extended to include a so called multitrigger functionality The basic idea behind multitrigger is to regard single or coupled motions of several motors as self contained motion sequences That means a movement or motion sequence of several coupled linear or rotary motors can be started and stopped by the PLC comparable with a relay that is switched on and off on off PLC Curve start stop Sequential Control 1 M 2 Goto absolut Position t start stop Position 44mm max Speed 2m s y max Acceleration 120 m s M 7 Goto relative Position start stop Increment 8mm N max Speed 1 3 m s max Acceleration 45 m s Figure 2 3 Sequential control Sequential control runs through the program step by step triggering complex motion sequences absolute or relative movements contours comparable with the closing of a relay These then proceed decentral
172. t when accelerating or decelerating 7 11 Checking results User Manual Release 1 3 Correct adjustment of the controller is best verified with the oscilloscope inte grated in the LinMo talk software Of prime importance is the comparison between the actual position and the target demand position In addition it is a good idea to check the required motor current with the scope If the motor current stays in its limitation for to long it is a signal that the motor is overloaded and therefore proper tuning is not possible 111 8 LinMot ASCII protocol 8 1 Introduction The LinMof ASCII protocol offers the user the possibility of transmitting com mands to the LinMof servo controller with a simple ASCII protocol via an RS232 or RS485 interface This enables a LinMof servo controller to be inte grated seamlessly in systems operated with the help of these standard inter faces The illustrations below show typical system environments in which LinMo servo controllers are operated via an ASCII protocol PLC LinMot RS232 Figure 8 1 LinMo servo controller with RS232 PLC LinMot RS485 Figure 8 2 Several LinMo servo controllers networked with RS485 112 User Manual Release 1 3 LinMot ASCII protocol 1 8 2 Setup and installation Command Interface Motor Type Initialization Mode User Manual Release 1 3 This section covers the setup and installation
173. t 3 None Output not driven In Pos A In PosB In Position signals from motor A B C and D In Pos C In Pos D In Pos A B AND gating of relevant In Position signals In Pos C D In Pos A B C D Pos Range Pos Range signal is given Multi Trigger Output Configuration Output 4 None Output not driven In Pos A In Pos B In Position signal from motors A B C and D In Pos C In Pos D In Pos A B AND gating of relevant In Position signals In Pos C D In Pos A B C D 98 User Manual Release 1 3 Parameters PROFIBUS Parameters Li n M ot 6 9 PROFIBUS Parameters Diagnosis Priority Byte Order Datamodules Info User Manual Release 1 3 In this section the parameters of the PROFIBUS DP servo controller are explained With the Diagnosis Priority parameter the user decides the priority with which the LinMo servo controller request diagnosis from the PLC in the event of an error PROFIBUS DP Diagnose Priority None No diagnose requested from the PLC Low Diagnosis requested from PLC with low priority The cyclic program OB1 of the PLC is inter rupted by a low priority OB High Diagnosis requested from PLC with high priority The cyclic program OB1 of the PLC is inter rupted by a high priority OB The Byte Order Datamodules parameter determines the byte order with which the data modules are to be evaluated and dispatched on the LinMof servo controller PROFIBUS DP Byte Order Datamodules Reversed When
174. t FF Set PID User Manual Release 1 3 Run motion profile A stored motion profile on the servo controller is run subject to an adjustable maximum speed and maximum acceleration As soon as the actuator reaches the last setpoint on the motion profile the In Position signal is activated Displacement of the reference position zero The motion profiles and absolute positions relate always to the reference posi tion determined after initialization With Move Home Position the reference position zero of the drive in question is displaced by the desired distance This command may be executed only if all actuators have reached their set points and none of the motors are in the FREEZE state Defining the actual position With this command the actual position is redefined This command may be executed only if the actuator concerned has reached its target position and is not in the FREEZE state Stop movement The movement in progress is interrupted and the actuator is brought to a stop subject to an adjustable maximum acceleration As soon as the actuator is stopped the In Position signal is activated Movement interruption The freeze command interrupts the movement in progress and the actuator is brought to a stop subject to the maximum acceleration for the current move ment Unlike the stop command the In Position is not activated by the freeze command The unfreeze command enables the interrupted movement to be completed On
175. ta values The table below gives an overview of the available modules Data module Command Control Status Get Position Get Current Max Acceleration Max Current Max Speed Next Drive Run Curve Run Incr Curve Set Position Set Curve Speed Set Curve Amplitude Set Curve Offset Description Performs a command on the LinMo servo controller Transmits the control and status words to and from the servo controller respectively Reads the actual motor position Reads the actual current Sets the maximum acceleration Sets the maximum amperage power Sets the maximum speed Introduces a new motor Starts a filed motion profile Starts a filed motion profile and the actual demand position is set as curve offset Sets motor s target position Sets speed of motion profiles Sets the amplitude of motion profiles Sets the position offset of motion profiles In the projecting software the modules bear after their actual name an identifi cation indicating the direction of communication and the amount of data exchanged User Manual Release 1 3 PROFIBUS Servo Controller Data modules LinMot 3 8 Data modules Command User Manual Release 1 3 All data modules are explained in the description below This module serves to send commands to the LinMo servo controller It may be setup only once per servo controller Since it is possible to specify at the running time for which motors the command i
176. te is now signalled by the LEDs Stat A and Stat B flashing briefly twice It is now distinguished unmistakely from the STOP state The complete state diagram with all LED codes is shown in Fig 1 5 operating states on page 6 The multitrigger servo controller support four new commands With Set PID Set FF Set Cur Offset and Set CP the controller adjustment and the motion profile properties may be altered during operation on the fly New ASCII commands for starting movements with the help of trigger impulse and for writing and reading various parameters A full description may be found in the section on LinMo ASCII protocol on page 86 The speed amplitude and position offset of the motion profiles can be set at run time with the ASCII protocol and the PROFIBUS Support of a new motion profile type for producing minimal jerk motion pro files With this motion profile type very simple position profiles can be pro duced having minimal jerking The so called Package Installer facilitates equipping the servo controller to the latest release With only few mouse clicks the servo controller pro grammed with release 1 0 or 1 1 can be equipped for release 1 2 Extended controller The internal position controller has been optimized and given new functions Through these extensions the controller can be better adapted to the purpose in demanding servo applications Implementation of an ASCII protocol for the RS232 and RS485 interfaces Wi
177. ter is set all the configured motors will start their initialization at the same time If this parameter is cleared motor A will be initializ ing first then motor B C and D O configuration IO Configuration The parameters in this directory define which input and output signals of the standard interface are to be read in or written out System IO Configuration Run Input These parameters determine whether the signals Init Input from the interface are read in Freeze Input Emerg Stop Input Analog Trig Drive A These parameters determine whether the trigger Analog Trig Drive B signals are read in the states DRIVE INIT and RUN Analog Trig Drive C Analog Trig Drive D Error Output These parameters determine whether the corre Warn Output sponding signals are written to the interface Pos Error Output ch Msg Output ch 1 Not visible if parameter MT has been selected in the System Command Interface directory Normally only the inputs and outputs needed or processed by the higher level control system should be selected User Manual Release 1 3 65 Command Interface Time Parameters Motor parameters Command interface Listed under Command Interface is the interface from which the commands for the servo controller are given Only one interface at a time may be acti vated System Command Interface AT The commands are given via the AT interface This is the default setting MT The commands
178. th the Cl command Value Min Max CUFT uint 16 0 256 GD Get demand position SIM Direction ASCII sequence PC gt ELO IGD drive drivecode OXOD ELO PC POStsint1g OxXOD This command gives back the target demand position of the motor drive This command may not be used when a motion profile is run The resolution of the position may be queried with the command PI Value Min Max POS sint16 32256 32256 User Manual Release 1 3 1 GE GE Get global error status E Direction ASCII sequence PC ELO IGE elOtelocode 0x0D ELO gt PC Stat statecode OxOD This command gets the actual global error status of the selected motor The bits have the following meaning Bit N o lo t o N Name D z E T 2 a e 5 aL a Gea Gea SEELI i D D L L 3 a a a a L 1 The heat sink of the servo controller is too hot over 70 celsius or a short circuit on a motor phase has been detected 2 DCLV signal stands for the DC link voltage of the signal board 3 DCLV Power stands for the DC link voltage of the power board GP GP Get actual position SEM Direction ASCII sequence PC ELO IGP drive drivecode 0x0D ELO PC POS sint16 0x0D This command queries the actual position the motor drive The resolution of the position may be queried with the command PI Typical sequence PC gt ELO ELO gt PC Description IGPA 256 Queries the actual position of motor A
179. th this protocol very simple applications may be programmed controlling several LinMof motors via RS232 or RS485 interface Via the protocol pre defined position profiles may be started and any target positions moved into The new ASCII protocol is described in the section on the LinMof ASCII protocol on page 86 of this handbook Support of the operation of LinMof P01 23x160 motors with the servo con troller of the E1000 series The motors are connected with an adapter cable Importing motor configuration data from different servo controller is now assisted If for example a motor configuration has been stored on E100 servo controller this can be loaded without problems onto E200 E400 E1000 E2000 or E4000 servo controller The multitrigger servo controller support two new commands With the com mand Redefine Position the actual position can be redefined With Set Current the maximum current and the force of a motor can be altered New in the Error Inspector is a function for displaying the current I O val ues With the help of this I O status display problems during commissioning can be overcome efficiently Support for the big type adjustment in Windows 95 NT Users of large mon itors can new use the big type setting This ensures that all the displays on the screen remain legible even when using 19 or 21 monitors LinMot Software Innovations Saving Oscilloscope Shots 1 2 Saving Oscilloscope Shots The
180. the connected sensors have 1mm pole distance 2mm Must be chosen if the connected sensors have 2mm pole distance 5mm Must be chosen if the connected sensors have 5mm pole distance Sensor Direction With this parameter the direction of the sensor in relation to the motor is set Drives Drive X Sensor Configuration Sensor Direction Positive Must be set if the sine signal is to come before the cosine when the slider strokes out of the motor Negative Must be set if the cosine signal is to come before the sine when the slider strokes out of the motor Error Mask Warn Mask The directory below shows which internal errors lead to the error state Error Mask and which warnings Warn Mask are available Drives Drive X Error Handling Error Mask Drive Type Mis The connected motor type does not match the match one selected or the connected motor is defective R Slider Missing The sensor is missing or incorrectly mounted or connected R Drives Drive X Error Handling Warn Mask Slider Missing The sensor is incorrectly mounted or connected 96 User Manual Release 1 3 Parameters MT parameters L n M ot 6 8 MT parameters Jitter Filter Acknowledge User Manual Release 1 3 The parameters for the MT servo controller serve to configure the inputs and outputs They are available only on the MT servo controllers e g E400 MT Jitter Via the four digital inputs up to 16 states can be defined which may
181. the controller Which max velocity and acceleration a motor can reach depends in a complex way with the parameters of the application mass friction profile amplifier It is proposed that the user simulates the application with the program Lin Mof Designer see LinMot CD or www linmot com to calculate the possible max values In the case of using profiles the prefilter is switched off Max val ues for acceleration and velocity must be observed during the creation of the profiles t Position Figure 7 2 Reference signal before and after Filter User Manual Release 1 3 LinMot Tips and Tricks for the controller Using profiles for reference position 7 4 Using profiles for reference position User Manual Release 1 3 Using a mode which is based on profiles it is important to realize the following 4 points a the motor must be able to fulfill the profile based on the maximal possible velocity and accelerations The profile should not change faster than the motor is able to follow It is proposed that the user simulates the application with the program LinMo Designer see LinMot CD or www linmot com to calculate the possible max values b All profiles should be smoothed No jump in position or velocity is allowed Use sine or hyperbolic functions while generating ramps which are offered by the Curve Inspector of LinMo Talk c Accept the number of points which are proposed by the Curve Inspectors
182. the two phases of the con nected motors are to be powered With the stepper motors the commutation affects the following operating variables e resolution e smooth running e maximum attainable speed Drives Drive X Advanced Commutation Auto Default Resolution 4 quarter steps step Max speed high With this commutation there is automatic shuttling to and fro between the commutations explained below depending on the speed The advantage is the high maximum speed combined with good resolution Micro Step Resolution 4 quarter steps step Max speed low The advantage of this commutation is the attainable resolution and low vibration running The low maximum speed attainable is a disadvantage Half Step Resolution 2 quarter steps step Max speed medium Full Step Resolution 1 quarter steps step Max speed high The advantage of this commutation is the maximum speed attainable on the other hand the resolution is low User Manual Release 1 3 Parameters Stepper motor parameters L n M ot Current resolution Current Reduction Error Mask Warn Mask User Manual Release 1 3 Because the current drivers in the servo controller have only limited resolu tion only the combinations of maximum current phase current and commu tation set out below should be used Commutation Maximum Current LinMot E100 E200 E400 LinMot 2A 3A E1000 E2000 E4000 Auto Micro Step 1 2A 1 5 3A 0 75 1 5 5 25 6A Ha
183. ti Trigger mode The Multi Trigger mode is an extension of the Digital Trigger mode on the AT servo controller see user handbook section 4 1 3 In the Digital Trigger mode two setpoint motion profile can be followed by each motor using the ris ing and falling slopes of the trigger signal In the Multi Trigger mode up to 64 setpoint motion profiles or reference posi tions can be stored on the servo controller for each motor They may be selected by means of digital trigger signals from the master control E400 MT SPS State 1 Drive A Goto Position 10mm Drive B Goto Position 25mm lt State No Digital Outputs Drive C Goto Position 23mm Drive D Goto Position 37mm State 2 Drive A Goto Position 39mm Drive B Goto Position 17mm Drive C Goto Position 20mm In Position Digital Inputs Drive D Goto Position 48mm a p State 3 State n Figure 2 6 MT control by digital trigger signals The movements are stored in the form of states state 0 state 1 state 63 on the servo controller The master control PLC calls up the individual states by means of digital trigger signals As soon as the actuators have reached the end positions of the current state this is reported to the master control by means of digital In Position signals 17 2 3 State Table MT Servo Controller State Table Up to 64 states may be defined in this table Defined in each indivi
184. to impart theoretical knowledge for adjusting the controller The interested user who likes to wrestle with theory is advised to consult the relevant litera ture The following picture shows the structure of the controller The words printed with italic letters announce parameters which can be adjusted Basically it is a PID Controller with Feed Forward structures and an additional v a Limiter for the prefiltering of the reference signal As an option there is a profile generator Reference Position S N current D Actual integrated Current Offset Force Offset FF Friction Feed Forward Friction FF Acceleration Feed Forward Acceleration FF Deceleration Feed Forward Deceleration Maximal Current Maximal Force Motor Position User Manual Release 1 3 Figure 7 1 Structure of the controller The default setting of the controller parameters is suitable for operating the motors under a lot of normal conditions Specially if the load mass exceeds that of the slider by factors or when using motors with long sliders the con troller should be adapted to this duty Adapting the control parameters is advisable also if major friction forces occur or highly dynamic movements are demanded from the motor It is important to follow exactly the following guide lines Tuning without follow ing proper rules is nearly impossible or needs a lot of time 101 LinMot I n ot Tips and Tricks for th
185. tor or servo controller that is not allowed in this mode In the RS232 mode only the servo controller 1 and motors A to D may be used The selected motor is not present or no drive has been selected as drive type Unknown error Wrong command format Sign error An attempt has been made to set the RUN INIT FREEZE or STOP flag although these flags are set in the parameter IO configuration When these are set the state of the flags is deter mined solely by the digital inputs of the servo controller The motion profile selected is not present in the servo controller An attempt has been made to start a motion profile which was not made for the actual motor type Value range exceeded Command too long The motor is not in the mode Serial Select Serial in the parameter inspector under Drives Drive X Set Value Generation Run Mode This command cannot be used with slave motors This command cannot be used with the selected motor type State codes statecode Code Description WwW Servo controller in WAIT FOR DISABLE state R Servo controller in RUN state T Servo controller in INIT state D Servo controller in DISABLE state E syserr Servo controller in ERROR state There is a system error The coding of syserr is listed further below in the system error table E driveerr A Servo controller in ERROR state A fault has occurred on motor A The coding of driv
186. trigger signals has been stable for an adjustable time jitter filter User Manual Release 1 3 MT Servo Controller Settings Table Shown in the table are the movements of motor A from the foregoing chart TRIG IN Command 4 3 2 1 input sig nals 0100 Goto State 0 0001 Goto next state 0000 No Operation 0001 Goto next state 0000 No Operation 0011 Repeat actual state 0000 No Operation 0001 Goto next state 0000 No Operation 0110 Goto State 6 Current Movement of motor A state number 0 Positioning to absolute position 5mm e max traversing speed 0 5m s e max acceleration 10m s 1 Positioning to absolute position 10mm e max traversing speed 0 5m s e max acceleration 10m s 2 Positioning to relative position 10mm e max traversing speed 0 5m s e max acceleration 10m s Positioning to relative position 10mm e max traversing speed 0 5m s e max acceleration 10m s Slider remains in current position or commenced movement is completed Slider is stopped with acceleration 10m s2 Table 2 2 Sequence of individual states Operation in Analog Trigger mode In the Analog Trigger mode the MT servo controllers ExOO MT and EXO00 MT behave like the AT servo controllers ExO0 AT and Ex000 AT With this setting the MT functions described in these instructions are not available only the AT functions explained in the user handbook User Manual Release 1 3 23 MT Servo Controller Configuration software 2 5 Configuration
187. tssesesecsoas eases cons tegassedseacoupaohesaseacensasnessohsonptexiarensen DO Master BOOSTER perati specmscccsdsecdsancsuecdenssdeceubiesuasopeadusescscseudcedeevedsosssdecensysviesss O Master Gantry OPerallOn viscciscsveesdavete const epacesenansscasedcensnccapesdecedecsencdgeobesoouesseaessss D T PAPAMNEUERS E EE EE E EE EEA T TMTEODUCTION ERIE EAA ET A E E DO Global PAL AINGlEET ccscsascscscsseckeccbsscedesdodseCesedescdddesestecSedsecsesdeissvebesossdsesedssodadcsvsuscsoe OO Mot r PATATMICLELS wcsssscvcspecoseadinsscndcsenssevkasyaukbssbuaneuconsceeeadsusdecsepyconuedasdseenscpsesecaiveve OO Linear motor parameters cesienecciixsscdeaiccsnaccanavsecedssaseacesseuacecdnsceceedeesassessedessocsessarsse OO Stepper motot par thetetSsssssssessesssossissdresesss ressos ee oseisoiesaseioo sreo bs so dteseiss ossos OO 6 0 Solenoid PALAMIClCES rascsccopenscdessestectennednnnsseduecdensesocasstansdeebandeceasesataconsedcecnesecassece 92 6 7 Position sensing PATAIMICLETS s35 o5 osssenessasesisedasonesdonseecsenasesdsteasdesdstoud edoetasenassexeasasete 96 6 8 MT Parameters csiscccssssetcascssssccescsssesiescsccasdevesvessdsboadsscesvesdeacsicoudscstanssaniscseakscccercdece 97 6 9 PROFIBUS Paramiclers isscsisesssnvsscenvelaaserescesucscoeusssencdsesbeavoedenvelucdsseussdertesunnssans 99 7 Tips and Tricks for the controller eoesooesooessocessecesocesocesoosesocessecsoossoosessesssee 101 T A CLM OMUCM OM ciaseeccsatasceccsseceascotensstoac
188. ual position is greater or smaller than the adjusted value a warning or an error is signalled Following Error 76 User Manual Release 1 3 Parameters Linear motor parameters Control Parameters User Manual Release 1 3 Control parameters This directory includes the parameters needed for control See also chapter 7 Tips and Tricks for the controller Drives Drive X Control Parameters Maximal Current Current Offset P Determines the maximum current that can be applied to the motor by the controller Through the maximum current this parameter also determines the maximum force the motor can provide Enables a static force sustained by the motor to be compensated Determines how the difference between setpoint and actual position is to be represented by the demand current A setting of 1A mm causes a current of 1 ampere for a position deviation of 1mm Determines how the difference between setpoint and actual speed is to be represented by the current set point An adjustment of 4A m s causes a current of 4 amperes for a speed difference of 1 mm s Determines how the time integral of the position devia tion is to be represented by the current setpoint An adjustment of 100A mm s causes a current of 1 ampere for a position difference of 0 1 mm over a time of 0 1s 77 78 Parameters Linear motor parameters Drives Drive X Control Parameters FF Friction FF Acceleration FF Deceleration
189. x Motion profile offset IDO IEO Xx XxxX Motion profile speed IDS IES Xx XxxX FREEZE flag ISF IGX Xx XxXxX INIT flag RUN flag STOP flag ISI SR IGX x ISS User Manual Release 1 3 117 r ASCII Commands AgME IAC x Actual current Actual position IGP x x xX Position resolution IPI Xx XxXxX Speed resolution IVI x x Acceleration resolution IAI x x Current resolution ICI x amp State IGS x E Global error status IGE x o Global warn status IGW x 8 Motor error status IEE x XxxX Motor warn status IEW x x x State flags IEX x Protocol version IPV x Read Memory Word IRD x Read Memory Word with address increment IRE x 8 4 Command structure All ASCII commands are structured to the following pattern Command structure Byte Value Meaning 0 p Command head Veo char char Command Choad char Arguments x 1 I Ox0D End of command ASCII Character 0x0D 13 decimal Carriage Return Every command begins with an exclamation mark followed by two characters coding the command then the command arguments and finally a carriage return symbol Every command received on the LinMof servo controller is acknowledged A further command may be sent only if the last one has been acknowledged by the servo controller The command acknowledgement is structured as follows Acknowledge structure Byte Value Meaning 0 Acknowledge head TX char Acknowledge messa
190. zustand der CPU RUN Status Fehler Betriebszustand der Bagr Allgemein DP Slave Diagnose l MasterAdresse 2 Herstellerkennung 16 OOB6 Version Standarddiagnose des Slave Bhat a Slave spezifische Diagnosedaten Ansprechiiberwachung aktiviert ERROR Slider missing ERROR Motor B slider missing WARNING Motor A init not done WARNING Motor B slidermissing WARNING Motor B init not done Kanalspezifische Diagnose Steckplatz Kanal Nr Fehler Schlie en Drucken Hilfe Figure 3 4 Diagnosis message of LinMof servo controller The diagnostic telegram consists of 28 Byte In the following tables the map ping of diagnostic data to the warnings and errors of the LinMo System are shown Bie No Meaning 0 5 According the PROFIBUS standard 6 7 Header and Padding 8 9 System Errors 10 11 Motor A Errors 12 13 Motor B Errors 14 15 Motor C Errors 16 17 Motor D Errors 18 19 System Warnings 20 21 Motor A Warnings 22 23 Motor B Warnings 24 25 Motor C Warnings 26 27 Motor D Warnings 45 PROFIBUS Servo Controller Diagnose System and Motor Errors Bit No 0 10 11 12 13 14 15 46 Error Motor too hot calculated Motor too hot sensor Following Error Slider Missing Slave Error Init failed Motor Type mismatch Curve Missing Reserved DCLV Power too low DCLV Power too high DCLV Signal too low DCLV Signal too high Electronic Fault Reserved Appl

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