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1. u keke keke keke kek k 18 Advanced Settings for Motors L kereker eke keke kek ek kk kk 18 Oe 1 GA la o ar W N a Te n r r 21 Operation State Contolera a E k r kk tae eee GK e K 22 Command Selection MOde uuiiiiiiii ekere kereke keke keke kaka kakacan nnn REK 22 Digital Inp t Fiter Sss ul ynni deal Ne ebe N Ke K qe Ne e EK e n s keride b 25 Command Executed Feedback vi siscc 255 isasaictttsipaeiuatiainagnensaveraganwiaanaun 26 3 3 Regeneration RESiStOr s cx ker ba yay i N eel beka E SNN R a 28 39 4 Position Control LOODA 4 455 1 454444 jk Alea sa den evan en EE 29 3 57 ADDJIGaliO Ny PLEIN Se kan W N 8 leh Da a ARD 31 4 MPG Comim INAS 5 aa tae ead ie i WD dee aves Ak A e d n K S N 33 4 1 Absolute Relative MOVE ass icausea ean diiandsiensesea alana 33 RAN WEE SS ates DD n gg Bl vats seul ees Wan ttahor ested ton 35 AS GACH FUNCTIONS crite saa k KK My Kan e Ke Ke ek e a aes eee 36 5 7 MPC System Control isr 40542445145122 55ee0a 1 Vek y k de y zena der ke bur ednan 37 5 1 Operating State Diagra m iiiiiiiiiiilEkkek kerek eke kereke kek eke kek ke 37 5 2 Operating State Control Signals Lii eee 38 5 3 Operating State Dependent Outputs iiirk keke ereke eke 39 5 4 Control Signal Sequence for Enabling and Homing the Motosr 40 5 5 Command Call and Feedbac2. Fite 3 LinMot MPC Co a s Application Data t l Si Settings Limitations Sequencer ome n Operating Stare Enabled l arem Enable Actual Commend 2 onna I Home 1e Targat Pos Tra Actuator Type Fite Terget Postion 0 00 nm Cormier Type A Oemand Porton 0 00 mm Etena Controt Actual Pr 0 00 men Power Supply Votage v 1 Ri Pabat o Orientation da I r poe K la Force N Command Table Command Nane Acton Postion ince Extua Patowd Speed Press Force Cylinder Carnation ox Controlar Running LinMot 4444 K Wi Yigg eters eG om MPC Version 3 2 User Manual LinMot Multi Position Cylinder 2007 NTI AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Please refer to the latest edition of our General business terms
3. sa j External Force DO er Command Table Action Portion Inct Ewra Peylood Speed Pren Force idiote ove Keach 20 mm P a 3 iodi down I Tesch 150 2 TU xwa TT li Z ej j Ta 5 Tev f J TT EUR eo TED e 2 U zun oo Connection Ox Kortroter tunera Page 4 48 User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 2 A10 Step Commissioning Example The following example demonstrates the simplicity of commissioning the Multi Position Cylinder system The example shows the typical procedure for the commissioning of a MPC axis It provides an overview of the required settings Application example A product of 50g has to be picked and placed by using a vertically mounted linear module LMO1 37x120 280 A gripper with weight 500g is attached to the linear module 2 1 Step 1 Installation of the MPC Configurator Software on the PC The MPC Configurator software runs on computers with one of the following Microsoft Windows operating systems Windows NT 4 0 Windows 2000 Windows XP The computer must have a free COM port for the communication with the controller If the computer doesn t have any COM ports then the communication can alternatively be established over USB by using an USB to RS232 converter The latest version of the MPC Configurator software is available from the LinMot web site www LinMot com Executing the program MPC3R setu
4. Document version 1 2 as May 2006 Page 2 48 User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 1 RSS Led ORV NEW iiini cau hcamssetiga ca h genset a Tay a l e e6 Pee E 4 2 A 10 Step Commissioning Example ccccccsessscsceseesceseeecececeeeceeeseesceeeeeeseeseeees 5 2 1 Step 1 Installation of the MPC Configurator Software on the PC 5 2 2 Step 2 Installation of the MPC Firmware on the Conitroller 6 2 94 olep 3 OO ars Mute tae at ene hue leh tee chet e aie tek obit led b e cea hee 7 2 4 Step 4 Act tor Selections Gees l adil ake lle laine elb H sir y k 8 2 5 Step 5 Application SetiNgS tec tees 31 4k254x1i5 x REP aN ka Kul toda autre K R J Za k z 9 2 6 Step 6 Motion Command Definition L 10 2 7 Step 7 Enabling the Motor and Homing ccececseseeecseeeeeceeeeeeeeeeseeseeeeseeees 11 2 8 Step 8 Testing Single Commands and Command Sequencee 13 2 9 Step 9 Saving the configuration eesctssetsesesessenceseecescesceceesessesesseeees 14 2 10 Step 10 External Control from PLC or IPC ccccseecesceseeseeeeeeceeeneeeceeees 15 3 MPC Config rator Settings iste tess icc y tod ace cect uss 0ya oad cancun N eee tactic ta 17 31 Act ator Set i eee Dane Ee A ME n nt yr NIE ser seeyh a erent 17 Settings for Modules and Motors
5. In Target Pos False Target Position 0 01 mm Demand Position 0 01 mm Actual Position 0 01 mm A Error No 3 Motor supply voltage too low Pommand Tab With a falling edge on the Enable signal an attempt to leave the Error state is made If there are no further error conditions pending when the falling edge is detected the Error state can be left If the reason which let the controller switch to Error state is still effective or a new error became effective the Error state can not be left If the error acknowledge try was successful the Error output is set active again 5 8 Emergency Stop Behavior NTI AG Clearing the Stop input signal initiates the emergency stop behavior If the motor was enabled when the Stop signal disappeared operating state Enabled or Homing the motor decelerates until the actual velocity is zero operating state Stopping Afterwards the power stage will be switched off and controller changes to operating state Locked A The operating state Locked A can be left by clearing the Enable signal acknowledge of the emergency stop Also in the emergency stop case the Enable signal has the control over the power stage Clearing the Enable signal means immediately turning off the power stage If an active deceleration of the motor is required the Enable signal has to remain active until the motor has stopped operating state Stopping see state machine diagram User Manual Multi Position Cylind
6. Multi Position Cylinder LinMot Gap Home Pos 0 Gap Max Pos Home Pos G The value of G defines the beginning of the work stroke range WS respectively to the stop position During the homing procedure the motor moves to the stop position and moves then to the beginning of the work stroke range Force Force 50 40 30 20 10 10 20 30 40 50 HEZ ZP Motor System MPC System The values of SH WS and G have to be set having regard to the stroke force diagram of the motor values ZP SS and from the motor s data sheet Also the mechanical arrangement of the application has to be considered By setting the values of SH WS and G the relation between the motor s coordinate system 0mm at postion Stator End ZP and the MPC reference system 0mm beginning of work stroke range is defined The following rules have to be considered The mechnical stop has to be found within the stroke range S Therefore the following condition has to be fulfilled when the value of SH is set ZP S 2 gt SH gt ZP S 2 For some motor types the value of S 2 is greater than the value of ZP In those cases the value of SH may be negative A negative value for SH means that the slider s front end moves into the stator while referencing The motor can be moved within the range of G while referencing and WS ordinary positioning commands This is an MPC software limitation The motor can apply forces over the stro
7. The resistor has to be connected to pin X1 3 RR and X1 4 RR If a regeneration resistor is used it has to be configured with the MPC Configurator This is done via the menu item Commissioning gt Regeneration Resistor Regeneration Resistor Setup x Resistor Type Nong C RR01 10 60 C RR01 10 150 Threshold Level 38 v OK Cancel In the setup window the Resistor Type and the Threshold Level have to be defined When the DC link voltage rises over the Threshold Level the controller begins to dump power to the regenerative resistor Page 28 48 User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 3 4 Position Control Loop NTI AG The motor s position is controlled through a digital PID controller The advanced user may optimize the application with these control parameters So even under difficult circumstances an optimal control performance can be reached We strongly suggest that care is taken when altering the control parameters With a bad controller setup the system can begin to oscillate and may harm the plant It would exceed the range of this document to explain the principles of PID controllers Information about the shape and function of PID controllers can be found in the corresponding technical literature Via the menu entry Commissioning gt Position Control the user gets access to the gain parameters of the PID controller x Control Parameters P
8. 8 Eme No Operation gt 8 Ome TT No Operation gt Connection OK Controller Running For our application example we set the payload mass value to 500g gripper mass The masses of the motor and the guidance have been defined for the software when the ADF file was loaded Since the product mass is only moved during a segment of the cycle we do not add the value here The value 50g will be a segment specific parameter see next step For vertical applications the Orientation angle is defined by the location of the stator s cable egress In applications where the motor s slider is moving the value has to be set according to the following rule If the stator s cable exits from the top this angle is 90 Conversely if the cable exits from the bottom this angle is 90 NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 9 48 LinMot Multi Position Cylinder 2 6 Step 6 Motion Command Definition Up to 8 commands can be defined in the MPC Command Table 256 commands with E1100 MT controllers For our Example we need to define only four commands Command No 1 Fast move to the pick position Command No 2 Slow move up after picking the product Command No 3 Slow move down to the place position Command No 4 Fast return to the start position For ordinary motion tasks we use the command type Absolute Move Optional text to describe the intention Command s target position of the
9. Configurator Login View Commissioning Help CESSES EE It is absolutely necessary that the configuration is saved to the non volatile memory flash memory on the controller If the configuration is not copied to the flash memory the settings and commands will be lost with the next power down of the controller It is possible to save a copy of the configuration to a file on the computer If the controller has to be replaced or other axes with the same configuration have to be set up the saved file can be imported It is recommended to print out the configuration These sheets become part of the plant s documentation A copy of the current configuration should always be in the cabinet where the MPC Controller is installed User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 2 10 Step 10 External Control from PLC or IPC amp LinMot MPC Configurator By selecting the item External Control the Login View Commissioning Help 2 system control is transfered to the IO interface Slta s 0 Control x C PC C l Config Mod The three control signals mable Home and ereni KERRAN Stop are now generated by the corresponding at digital inputs For enabling and referencing the motor the superior control system PLC or IPC ices has to generate the same signal sequence as we ee did manually in Step 7 Also execution of commands is now triggered over digital inputs Goto Po
10. Limitations Sequencer Maximum values reachable without command specific extra payload Stroke 280 mm Speed 1 862 m s Acceleration 12 38 m s 2 Press Force 8 N Actuator Type Name of the currently used actuator It isn t possible to edit the actuator s name If another actuator has to be used then it has to be changed via the menu item Commissioning gt Actuator Change The actuator which fits best to the application requirements can be determined with the sizing tool LinMot Designer Controller Type This information is read out of the controller and can not be changed With HC High Current versions of MP and MT controllers higher forces and therefore shorter positioning times can be reached Power Supply Voltage Supply voltage for the motors Controllers and motors are designed for 72V power supply Lowering the supply voltage lowers the system s velocity acceleration and press capabilities NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 31 48 LinMot Multi Position Cylinder Payload Here the moved load mass which is attached to the actuator has to be defined If the actuator is a predefined linear module e g LMO1 then the mass of the guidance must not be added here it is already part of the actuator definition file If the actuator is a bare linear motor PO1 then the whole moving mass including mass of the flange guidance etc has to be entered here but without the
11. all the outputs on X6 are in use On the outputs it is shown which command within the selected group has been executed similar to the MP controllers where only group 0 is existing Pin Name Function X6 9 In Position 1 1 command of the sel group executed X6 22 In Position 2 2 9 command of the sel group executed X6 10 In Position 3 37 command of the sel group executed X6 23 In Position 4 4 command of the sel group executed In Position 6 X6 11 In Position 5 5 command of the sel group executed X6 24 6 command of the sel group executed X6 12 In Position 7 7 command of the sel group executed X6 25 In Position 8 8 command of the sel group executed E g when command no 39 has been executed then the output Jn Position 7 is activated command no 39 is the 7 command within group 4 B Fix programmed output In the fix programmed output mode the same output is used for all commands Which output has to be used can be choosen in the IO Interface Setup window C Binary coded command number The ID of the executed command is set to the eight outputs as binary code Pin Name Function X6 9 In Position 1 Bit O of the executed command X6 22 In Position 2 Bit 1 of the executed command X6 10 In Position 3 Bit 2 of the executed command X6 23 In Position 4 Bit 3 of the executed command X6 11 In Position 5 Bit 4 of the executed com
12. eae Mulk In Target Pos False Actuator Type LM01 37x120 280 T Stop Target Pasition 0 01 mm Controller Type fEN00MP REVA C Extemal Control pear ot ez Power Supply Voltage p2 v Payload jo g A Warning No 7 Orientation jo deg m peor na Lacan External Force jn N r Command Table The motor will not be powered before the controller is in the Enabled state In the Enabled state the motor s position is actively controlled by the digital position control loop Because the motor has an incremental position measurement system it is necessary to reinitialize the motor s position after each power off of the controller Homing is done by moving against a mechanical stop When the stop has been found the controller reinitializes the position system relative to the stop position The following steps are necessary for bringing the controller to Enabled state PC Control Config Mode has to be activated if not already done Clear the Enable signal 3 Set the Stop signal because it is an inverted signal it has to be set for normal operation 4 Set the Enable signal a After applying this procedure the controller is in Enabled state and the motor is powered on The homing procedure can be enabled by setting the Home signal The motor begins to move and the Operation State has changed to Homing User Manual Multi Position Cylinder 20 02 2007 Page 11 48 Page 12 48 Multi Position Cylinder After the motor has
13. moved motor mass stator or slider mass The motor mass value is part of the actuator definition file and therefore automatically added Orientation The mounting angle is defined according to the following drawings 90 Moving Slider Moving Stator External Force It often makes sense to compensate continuous external forces with external passive elements e g gravitation forces with MagSprings see www magspring com The force which is applied by such elements has to be entered with correct sign Moving Slider Moving Stator Page 32 48 User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 4 MPC Commands The motion commands are defined in the command table of the MPC Configurator The following command types are implemented Befehlstyp Aktion Absolute Move Move to an absolute defined target position Relative Move Incremental move Press Move with limited force New commands can be entered into the command table when the control mode is set to PC Control Config Mode and the Enable flag is cleared The command s parameters Position Increment Speed and Press Force can be altered even in run time they are considered the next time the command is called 4 1 Absolute Relative Move Positioning tasks are solved with the command types Absolute Move and Relative Move The difference between these two commands is that for an Absolute Move c
14. to be commissioned additional settings for defining the mechanics of the system should be considered see chapter MPC Configurator Setting Actuator Setting User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 2 5 Step 5 Application Settings For achieving best control performance the load must be defined precisely Based on the application data the controller calculates the optimal motion profiles and sets the feed forward parameters of its position control loop The application data settings can be altered if PC Control Config Mode Power supply voltage payload is selected orientation horizontal vertical and external forces have to be defined on the application data settings panel L nMot MPC Configurator 5 xi j Control j Status j Application Data Operating State Locked B Settings Limitations Sequencer PC Control Config Mode i Motor Homed False Asis N Mas I5 Enable Actual Command No Command e vame I Home In Target Pos False Actuator Type M 1 3 281 J Stop Target Position 0 00 mm Controller Type c Demand Position 0 00 mm f fe External Control Pte pies 0 00 mm Power Supply Voltage Y Payload po g A Warning No 7 Orientation an deg Hoorne home External Force fo N oor E Command Table Command Name Action Position Incr Extra Payload Speed Press Force 4 mda TT No Operation gt
15. 4 there are four outputs Their logic level depends on the current operating state Brake output X4 3 This output is designated for direct connection to a mechanical parking brake The output is set to logic level 1 brake released when the motor is active controlled by the MPC Controller This is the case in the operating states Enabled Homing and Stopping In Position X4 4 The Jn Position output can only become active in the operating states Enabled and Homing It is set when the homing procedure or any positioning command has been executed successfully Actual Position is within In Target Position Range The output is cleared when a new command is called or when external forces push the motor out of its In Target Position Range Error X4 5 This output shows whether the controller is in operating state Error Since it is an inverted output prefix the output is set to logic level 1 when the controller is not in Error state Warning X4 6 The controller software monitors some relevant operation parameters e g motor and controller temperature DC link voltage position lag etc If one of these parameters has reached or exceeded a critical value the overlaid controller is notified via the Warning output Again it is an inverted signal and therefore the output is set when there is no warning pending The output cleared as soon all operating parameters are in a safe range again Warnings don t have to be ac
16. 6 ime indicates whether a command TT Ezra is in execution grey or already executed green 8 T da T7 Connection OK Controller Running With the Sequencer tool it is possible to test command sequences It can be very helpful during the commissioning process It allows testing complete cycles without any overlaid controller very useful during burn in amp LinMot MPC Configurator 5 xi Login View Commissioning Help Sle 0 Control Status Application Data Operating State Disabled Settings Limitations Sequencer b Command Sequence 1 p100 2 p1000 3 4 p2000 e g 1 2 P500 3 4 P500 Pause 500ms Cycles fi 4 IV Unlimited Cycle Time 6190 ms Start PC Control Config Mode The numbers of the commands have to be typed comma separated Dwell times 0 03 mm between two motion commands are tee defined by a P followed by the pause time in milliseconds e g time which is necessary for closing a gripper Stop Thema Tee The time which was needed to do the whole sequence including stand still times is measured in the controller and displayed on the Sequencer panel NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 13 48 Multi Position Cylinder 2 9 Step 9 Saving the configuration Page 14 48 At the end of the commissioning process the configuration settings and command table has to be saved LinMot MPC
17. Gain ja o0 A mm D Gain ji Am l Gain 0o Ams o E Some empirical hints for the controller setup P Gain The greater the P Gain is set the better the Actual Position follows the Demand Positon value But with overlarge values the system tends to oscillations D Gain The numerical value should be set to a value between the 1 5 fold and the 4 fold of the P Gain value The greater the value is the more oscillations are damped but the more noise from the position sensors is amplified I Gain With the I gain the steady state position deviation can be eliminated For high dynamic application the Gain often has negative impact to the controller performance For such applications it is therefore recommended to set the Gain value to zero If an I Gain is needed then it is advisable to have a value of at least 30 A mm s The controller gains can t be optimized independently They should always be considered as a parameter set There isn t any universal optimal controller setup The application specific optimum is defined by weighting the different affects that can be influenced with the PID controller setup e g stiffness overshootings transient time position lag steady state position deviation noise emission etc User Manual Multi Position Cylinder 20 02 2007 Page 29 48 Page 30 48 Multi Position Cylinder The values given in the following tables have to be understood as guidline values Typical set
18. Jitter Filter protects against unintentional execution of commands due to jitter effects between the command inputs Note The debounce filters on the trigger inputs don t lead to any delays for start of any command The command is going to be started just after the first positive edge on the trigger input But then the input is not sampled by software for the adjustable Debounce Filter Time In contrast to the debounce filter the jitter filter leads always to a delayed execution of commands If the jitter filter is in use no trigger inputs then the selected command will not be executed before the input pattern has remained stable for the Jitter Filter Time So after selection of the command we have a minimal delay given by the value of the parameter Jitter Filter Time User Manual Multi Position Cylinder 20 02 2007 Page 25 48 Command Executed Feedback Page 26 48 Multi Position Cylinder On the connector X6 there are eight outputs which show whether a command has successfully executed In Position 1 In Position 6 If an MP controller is used the mapping is fix For each command there is a dedicated output The output is activated when a command has successfully executed As soon as a new command is started all outputs on the X6 connector are cleared In the setup window for the IO Interface of an MT Controller the user can choose between different command executed feedback modes A 8 Outputs default In this mode
19. ading the files When all firmware parts are successfully installed the Package Installer window can be closed Package Installer Action Progress EERE GGRRRRRRRRE Installing MPC Release 3 0 lol x Checking servo controller Device Type E1100MP Device Type supported True Device Software ID 2 Device Version supported True The Package Installer window informs you about the firmware installation process Stopping Program Installing files for Servo Controller E1100MP Erasing OS parameter sector Downloading OS parameter tree Downloading OS default parameters Erasing OS firmware sector Downloading OS Starting OS Waiting for OS reply OS started S is ready Erasing MC software sectors Downloading MC software Downloading MC parameter tree Downloading MC default parameters Erasing MPC software sectors Downloading MPC software Downloading MPC default table Downloading MPC parameter tree Downloading MPC default parameters Erasing Application Layer Writing Release Info Reset Device Please wait All firmware files sucessfully loaded User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 2 3 Step 3 Login In order to configure the controller click the menu item Login gt Login LinMot MPC Configurator View Commissioning Help Logout Close Select the PC s COM port
20. ators are stored in Actuator Definition Files adf Beside the ADF files for linear modules there are ADF files for the basic linear motors The ADF files of linear modules contain technical informations about the guide units in addition weights strokes and stop positions Therefore less parameters have to be set if a predefined linear module is used More parameters have to be set if a bare motor is choosen as actuator The menu item Commissioning gt Actuator Setup opens the actuator setup window The appearance of the window depends on the selected actuator type NTI AG Homing Current Limit Velocity j m Move to inner stop position Move to outer stop position 100 0 01 m s Position Monitoring In Target Position range 10 5 mm Motor Cooling Standard Flange Fan Cooling Water Cooling Extemal Position Sensor Actuator Setup window for linear modules Actuator Setup Motor Mounting oe fh fo FE Moving Stator 4 Moveln T Ez C Move Out Current Limit 100 Velocity 0 01 m s j Stroke j Home Position SH j j a ee le wS 0 Max Pos Slider Home Position SH 7 2 mm Work Stroke ws 1378 er Gap Home Pos G j5 mm m Position Monitoring r Friction Forces In Target Position range 10 5 mm Dry Friction 2 N Viscous Friction 1 Nz mzs J r External Position Sens
21. ble 6 1 IV Home X6 14 IV Stop 6 2 Help m Command Selection 5 Bit Group Selection 8 Trigger Inputs C 8 Bit Code for Command Number with extra Tigger Input 8 Bit Code for Command Number without Tigger Input Help Trigger Debounce Time 1 ms Trigger Retardation Time 0 ms Jitter Filter Time for 6 Bit Code 5 ms Help r Command Executed Feedback Fix programmed output nPos 1 X6 3 v Binary Coded Cmd No lnPos 1 Bit InPos8 Bit 7 OK Cancel Advanced IO interface setup for MT controllers User Manual Multi Position Cylinder 20 02 2007 Page 21 48 Multi Position Cylinder Operation State Control There are three digital inputs on the connector X6 for the control of the operating state machine of the controller Pin Name Function X6 1 Enable Enables the motor X6 14 Home Enables the homing procedure X6 2 Stop Emergency stop inverted signal The usage of these inputs is recommended but voluntary They can be switched off by software For the inputs which are not in use the controller software sets the corresponding state transition request flags automatically auto enable after powerup auto home after enabling no emergency stop functionality Attention For safety reasons it is strongly recommended to use all the three control inputs Safety issues when not using these control inputs must be carefully evaluated for the machine Command Se
22. command Command Tabie Extra Payload Speed Press Force Action Go absoli Move z Teach 2 poductup Go Absolute Move z Teach 0 mm 50 s 0 x mmand Name J 7 Cmd7 TT No Operation gt 8 tme 1 No Operation gt Connection OK Controller Running If for some motion commands an The speed of the motion is additional load mass has to be defined as a value 100 is the expected e g mass of a product it is maximum speed the motor can defined in the corresponding achieve with the given load data command lines Page 10 48 User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 2 7 Step 7 Enabling the Motor and Homing NTI AG The three control signals Enable Home and Stop inverted emergency stop control the operating state of the MPC Controller Only when the MPC Controller is in the Enabled state and the motor has been homed can motion commands be executed The current Operation When PC Control is active the State is displayed on the control signals are generated by Status panel the check boxes in the control Below the Operation panel State information the status of the Motor L Mot MPC Configurator Homed flag 1S Logirl View Commissioning Help displayed Status ia Application Data Operating State Locked B ettings Limitations Sequencer ae geo
23. command is used If it is possible to push the entire product into the packaging then at the end of the movement the output X4 4 is set Because the motor s force is limited with the parameter Press Force it is possible to detect if the push process failed When the motor has to apply the maximal allowed force product jam the corresponding output on the socket X6 is activated The overlaid process controller can react to this signal e g by ejecting product and or packaging unit User Manual Multi Position Cylinder 20 02 2007 Page 35 48 Multi Position Cylinder 4 3 Teach Function Page 36 48 The target position of Absolute Move and Press commands can be defined by entering the corresponding number on the MPC screen or by using the Teach function The Teach function is available when the control is set to PC Control Config Mode and the motor must have been previously homed Teach Position 14 50 mm gt a fa i IV Enable Command Table j Cancel Position Incr Tech om z Teach 450 mm Action When the Enable signal is set the motor can be moved by clicking the arrow buttons jog move mode In Disabled state the motor can manually be brought to the desired target position By pressing the OK butten the current teach position is copied to the command table User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 5 MPC Sys
24. connected to the controller from the pop up window Afterwards the software starts uploading the configuration from the controller Wait until the process is completed up to 30s After successfull login the MPC Configurator user interface is shown amp LinMot MPC Configurator 5 xj Login View Commissioning Help Sta s 0 Control Status Application Data Operating State Disabled Settings Limitations Sequencer PC Control Config Mode Motor Hemed False IF Enable Actual Command No Command aame MyAsis IF Home In Target Pos False Actuator Type al I Stop Target Position 3 12 mm Controller Type e Demand Position 3 12 mm External Control Ket Poata 3 12 mm Power Supply Voltage F Enable Payload 0 F Home A Warning No 7 M Stop Orientation Motor not homed Extemal Force Command Table Position Incr Extra Payload Speed Press Force Command Name a 2 Em 3 fem TT 4 e ics 6 tre ica a Connection OK No Operatior No Operatior o Operatior Controller Running NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 7 48 LinMot Multi Position Cylinder 2 4 Step 4 Actuator Selection Page 8 48 Before the axis can be configured you need to load the the technical data for the particular MPC actuator you are using These data are stored in so called Actuator Definition F
25. ds can be called before the former command has finished The new command starts immediatly no queuing The same Relative Move command often has to be executed several times consecutively e g destacking applications Between two calls a minimal delay time of twice the Debounce Filter Time is necessary then So it is guaranteed that all commands are executed without any further time lag Since by the execution of Relative Move commands the current Target Position is incremented not the Actual Position value no drift phenomenas can occur even after thousands of Relative Move commands 5 6 Command Call and Feedback with E1100 MT Controller When an MT type controller is used the way commands are called and the kind of the feedback depend on the configuration setting The corresponding explanations can be found in the chapter MPC Configurator Settings IO Interface With the default setup the behavior of an MT controller is exactly the same as on a MP type controller Page 42 48 User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 5 7 Error Acknowledge When the controller is in Error state the output Error is cleared which can be detected by the overlaid control system PLC IPC The reason for the transition to Error state is displayed as clear text message on the status panel of the MPC Configurator Status Operating State Error Motor Homed True Actual Command No Command
26. duce a disproportional requirement of power dissipation This power is dissipated as heat back to motor and controller Also the position control performance tends to be better for slower motions no overshoots The execution of Relative Move commands which would exceed the MPC work stroke is denied at run time By generating a warning the controller signals that the command will not be executed User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 4 2 Press NTI AG By defining a Press command a target position value has to be entered similar to Absolute Move commands For Press commands an additional force limit has to be defined When a Press command is called the motor moves towards the command s target position whereby the motor never applies more than the given Press Force motor current limitation When the motor has reached the target position the In Position output on the front side socket X4 is set pin X4 4 When the motor is applying the given Press Force the command specific In Position output on the socket X6 is active The output remains active as long as motor is applying Press Force and is cleared otherwise Typically the Press command is used for pushing parts into others see the following application example jaa _ Product jam no harm Press application example A product has to be pushed into its packaging unit For the push motion the Press
27. e Group ID X6 4 Grp3 Bit 3 of the Group ID X6 17 Grp4 Bit 4 of the Group ID Through a rising edge on one of the following eight trigger inputs the commands are started Pin Name Function X6 5 Goto Position 1 Starts 1 command of the sel group X6 18 Goto Position 2 Starts 2 command of the sel group X6 6 Goto Position 3 Starts 3 command of the sel group X6 19 Goto Position 4 Starts 4 command of the sel group X6 7 Goto Position 5 Starts 5 command of the sel group X6 20 Goto Position 6 Starts 6 command of the sel group X6 8 Goto Position 7 Starts 7 command of the sel group X6 21 Goto Position 8 Starts 8 command of the sel group B 8 Bit Code for Command Number with extra Trigger Input The command to be executed is selected by its binary coded number which is set onto eight inputs A rising edge on an extra trigger input starts the selected command The binary coded command number has to be set to the following digital inputs Pin Name Function X6 5 Goto Position 1 Bit 0 of the command number X6 18 Goto Position 2 Bit 1 of the command number X6 6 Goto Position 3 Bit 2 of the command number X6 19 Goto Position 4 Bit 3 of the command number X6 7 Goto Position 5 Bit 4 of the command number X6 20 Goto Position 6 Bit 5 of the command number X6 8 Goto Position 7 Bit 6 of the command number X6 21 Goto Pos
28. e appropriate output becomes active the Press command is handled specially see command description Execution of commands is possible in Enabled state only The motor must be homed before Input Goto Pos 1 X65 i e In Position 1 X6 9 B In Position X4 4 f Outputs a The rising edge on the input Goto Position 1 starts execution of command no 1 b After detection of the rising edge the controller firmware does not read out the state of the respective command trigger input for the definable Debounce Filter Time c After detection of a falling edge on a Goto Position input the input is not sampled for the duration of the Debounce Filter Time The next positive edge can not be detected before the filter has timed out d As soon a new command has started all Jn Position outputs are cleared e When the Actual Position reaches the Target Position the In Position output X4 4 becomes active If the respective command is of type Absolute Move or Relative Move the command specific In Position outputs on X6 is activated at the same time If the NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 41 48 LinMot Multi Position Cylinder command is of type Press the command specific output is active when the motor applies the defined press force The commands are started through rising edges A signal pulse is therefore sufficient to call a command The pulse length has to be at least 0 5ms New comman
29. er 20 02 2007 Page 43 48 A MPC Conitroller Types Page 44 48 Multi Position Cylinder As part of the MPC system a MPC Controller is needed The different controller types differ in their power stage maximal motor current and their functionality Coniroller E1100 MP E1100 MP HC E1100 MT E1100 MT HC No of commands 8 8 256 256 Max motor current 4A 15A 4A 15A Motor supply voltage 72 V 72 V 72V 72V Ext position sensor option No No Yes Yes Command type Absolute Move Yes Yes Yes Yes Command type Relative Move We re ves ves Command type Press Yes Yes Yes Yes User Manual Multi Position Cylinder 20 02 2007 NTI AG NTI AG Multi Position Cylinder LinMot Connector Location on the MPC Controller X1 Motor Supply 24 72VDC X3 Motor Connector Power Supply L____ ae 1x115V AC 1x230V AC X4 Control Logic Supply 1 Sy ti a i RS232 Interface to PC for Configuration LinMot E1100 MP CER X6 Digital 10 s Linear Motor with internal Position Feedback Digital Control Signals from to overlaid Controller PLC IPC Logic Supply 24VDC Detailed informations about the controller hardware can be found in the corresponding installation guide The installation guide is delivered with the controller and can be downloaded from www LinMot com User Manual Multi Position Cylinder 20 02 2007 Page 45 48 LinMot Multi Position Cyl
30. found the mechanical stop it moves to a position 5mm away from the stop This position is now the Omm position of the MPC reference system Successfull finish of the homing procedure is shown in the status panel Motor Homed True After clearing the Home signal the controller returns to Enabled state and is then ready for the execution of motion commands User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 2 8 Step 8 Testing Single Commands and Command Sequences If the controller is in Enabled state and the motor is homed motion commands can be started by clicking the command s Go button PC Control has to be active On the Status panel the Target Position of the current command the Dex Demand Position interpolation between start and target position and soe Status Application Data the Actual Position is shown ae aaa Settings Linitations Sequence ike me Axis Name MyAxis and il IF Home In Fa ge Actuator Type A fi 8 IV Stop Target Position 0 00 mm Controller Type Demand Position 19 24 mm em External Control ea peace 19 28 mm Power Supply Voltage 2 N Payload 500 g Orientation 30 deg J Extemal Force 0 N Command Table Command Name Action Position Incr Extra Payload Speed Press Force 1 fast down Jat lute Move z Teach 200 m n 4 fast retum Go Teach fo mm 5 tm5 The command line s color
31. iles adf The menu item Commissioning gt Actuator Change opens the dialog window for choosing a definition file For our application example we have to select the file LMO 37x120 280 adf After loading the actuator definition file the name of the actuator is shown on the application settings LinMot MPC Configurator panel nl xl Login View Commissioning Help S bale 0 Control Status k Operating State Disabled Settings Lim ons Sequencer PC Control Config Mode x x Motor Homed False Axis N r Actual Command No Command kene F Home In Target Pos False Actuator Type LM 1 3 T Stop Target Position 0 00 mm Controller Type E1100 MP REV A Demand Position 0 00 mm External Control ERREA 0 00 mm Power Supply Voltage Y F Enable Payload g H e z itp A amigao Orientation deg Mot t homed cara at External Force N m Tommand Tahle Note The MPC software concept was particularly developed for using linear modules from manufacturers defined combination of linear motor and linear guide unit e g LinMot s M01 module family The Actuator Definition File adf of a linear module contains the technical data of the motor max current force constant stroke etc and the mechanical data of the guide unit masses stroke stop positions In our application example we are using a linear module If a linear motor without LinMot s mechanical guide needs
32. inder Notes Page 46 48 User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 47 48 Smart solutions are Multi Position Cylinder www LinMot com NTI AG LinMot Haerdlistrasse 15 CH 8957 Spreitenbach Switzerland LinMot Inc N2444 Broad Street Delavan WI 53115 USA Tel 41 0 56 419 91 91 Fax 41 0 56 41991 92 office LinMot com www LinMot com Phone 1 877 546 3270 1 262 728 22699 Fax 1 800 463 8708 office US LinMot com www LinMot com LinMot products are available from more than 80 Distributors worldwide For the distribution nearest you visit http www LinMot com Page 48 48 User Manual Multi Position Cylinder 20 02 2007 NTI AG
33. ition 8 Bit 7 of the command number The command is going to be started when a rising edge on the extra trigger input is detected User Manual Multi Position Cylinder 20 02 2007 Page 23 48 LinMot Multi Position Cylinder Pin Name Function X6 15 GrpO Trig Starts the selected command C 8 Bit Code for Command Number without Trigger Input The command to be executed is selected by its binary coded command number Pin Name Function X6 5 Goto Position 1 Bit 0 of the command number X6 18 Goto Position 2 Bit 1 of the command number X6 6 Goto Position 3 Bit 2 of the command number X6 19 Goto Position 4 Bit 3 of the command number X6 7 Goto Position 5 Bit 4 of the command number X6 20 Goto Position 6 Bit 5 of the command number X6 8 Goto Position 7 Bit 6 of the command number X6 21 Goto Position 8 Bit 7 of the command number The command starts automatically When an input pattern command number has remained stable for the jitter filter time then the corresponding command is going to be started without any other trigger signals Page 24 48 User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot Digital Input Filters NTI AG Depending on the Command Selection Mode other kinds of software filters are applied on the digital input A 5 Bit Group Selection 8 Trigger Inputs The 8 command trigger inp
34. k with E1100 MP Conitroller 41 5 6 Command Call and Feedback with E1100 MT Coniroller 42 5 EPROP ACK MOWIEO 0 ni oct ste ease ot xir a Ad Sa ak dicate Ar a W k T 43 5 8 Emergency Stop Behavior 2 cscsscunsa cs ieaedennadacaiacumwassaedt oncdiengess 43 A MPG Gontroller TSS eae ta 5 ae le Yada Cael E ea 44 B Connector Location on the MPC Controller cccceceeesseseeseeeeeeeseeeeeeseeeeeeeneees 45 NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 3 48 LinMot Multi Position Cylinder 1 System Overview MPC Controller E1100 servo controller with a maximum of 8 programmable positions in the MP version and 256 in the MT version E The MPC Actuator typically a linear module is driven by the MPC Controller The controller sets the Demand Position and controls the actuator s Actual Position by using the position sensor feedback from the actuator Ez i ay For the commissioning of the system the PC software MPC Configurator is used The program communicates over a RS232 connection with the MPC Controller The primary control system PLC or IPC controls the MPC Controller by using digital IOs Operating State SN Dd Azar ezan 2 Asis Nome Mees Hone In Target Por The Achato Type F Bue Target Postion 0 00 mm Cortes Type ore C Extecnad Cor rol Romer Bese pepo Powe Supp Velage 7 v Paylood fo 9 Omerin
35. ke range S electro magnetic limition Because the ranges G and WS have to be within S following conditions have to be considered NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 19 48 Page 20 48 Multi Position Cylinder Homing Mode Move In SH G WS lt ZP S 2 Homing Mode Move Out SH G WS gt ZP S 2 In the range of SS the motor can apply its maximal force In general it is recommended to set the range WS equal to SS This has to be considered already when the axis is designed By setting the parameter G the beginning of the work stroke range WS can be set to the beginning of SS Example A linear motor P01 23x80 30x90 has to be referenced by moving the slider s front end in direction of the stator s front end This example will use the snap ring on the front of the slider as the mechanical homing stop Home will be defined as the location where this ring abuts the front of the stator The MPC work stroke range WS should be equal to the range SS Settings The parameter Homing Mode has to be set to Move In SH 7 2 mm According to the design drawing of the slider this is the distance from the snapper ring inner side to the slider front end WS 30 mm Size of the SS range defined in the motor s data sheet G 17 8 mm With regard to the stroke force diagram of the motor the value of G has to be calculated by using the following formula G ZP SH SS 2 40mm 7 2mm 30
36. knowledged from the superior control system in contrast to errors Note The fact motor not homed is also treated as a warning condition Therefore the Warning output can only become activated after the homing procedure has been successfully completed User Manual Multi Position Cylinder 20 02 2007 Page 39 48 Multi Position Cylinder LinMot 5 4 Control Signal Sequence for Enabling and Homing the Motor The following figure shows an example sequence for enabling and referencing the motor Power Supply Logic Supply 24Vdc Mot Supply 72Vdc Home X6 14 Enable X6 1 Stop X6 2 Inputs Outputs Brake X4 3 InPos X4 4 Error X4 5 Warning X4 6 Through selective setting and resetting of the control signals the state transitions of the controller s operating state machine can be controlled a The controller software starts working when the 24Vdc logic supply is turned on b When the controller firmware has started and no error condition has been detected the Error output is set c By clearing the Enable signal the operating state Locked A can be left The Enable signal may have been cleared already at power on d Through setting the Stop signal inverted emergency stop input the state Locked B can be left and the controller changes to the Disabled state The Stop signal may have been set before or with the 24Vdc logic supply e Before the transition t
37. lection Mode Page 22 48 The command selection mode is alterable only if an MT type controller is used If an MP controller is in use the Command Selection mode is not changeable The command selection of the MP controllers corresponds to the MT mode 5 Bit Group Selection Trigger Inputs see below with the limitation that no groups can be selected In that case the Group ID is always zero which means that up to eigth different commands can be used If on an MT Controller only the first 8 commands are used then its default behavior is exactly the same as if an MP controller is used For MT controllers one of the following command selection modes has to be selected 5 Bit Group Selection 8 Trigger Inputs default 8 Bit Code for Command Number with extra Trigger Input 8 Bit Code for Command Number without Trigger Input User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder NTI AG A 5 Bit Group Selection 8 Trigger Inputs The 256 MPC Commands are arranged in 32 Groups Group 0 Group 31 Each group contains eight commands For the group selection there are five digital inputs on the connector X6 Grp0 Grp4 Before the execution of a MPC command the superior control system PLC IPC has to set the group address to these inputs binary coded Pin Name Function X6 15 Grp0 Trig Bit 0 of the Group ID X6 3 Grp Bit 1 of the Group ID X6 16 Grp2 Bit 2 of th
38. mand X6 24 In Position 6 Bit 5 of the executed command X6 12 In Position 7 Bit 6 of the executed command X6 25 In Position 8 Bit 7 of the executed command User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot Note Beside the outputs In Position 1 In Position 8 on the X6 connector there is another n Position output on the front side connector X4 pin X4 4 This output also becomes active when a command has been executed and becomes cleared when a new command is started see chapter Operating state dependent output signals The only difference is the feedback of the Press command see chapter MPC Commands In most cases only the Jn Position output X4 4 is connected with the superior controller and used by the sequential program there The outputs from socket X6 are mainly used for monitoring purposes NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 27 48 LinMot Multi Position Cylinder 3 3 Regeneration Resistor When big load masses have to be decelerated by the linear motor then kinetic energy is converted back to electrical energy generator effect The energy is then stored in the DC power bus where the voltage rises It can happen that this DC level will exceed 90V which leads to a transition to error state error message Motor supply voltage too high For some application it is therefore necessary to dissipate this energy in a regenerative resistor
39. mm 2 17 8 mm Force Motor System MPC System User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder 3 2 NTI AG 10 Interface The two MPC controller tyes MP and MT implement the same state machine model For the control of the operating state there are three digitial inputs on each controller Enable Home and Stop But there are differences between the two controller types regarding to how commands can be started and how the controller sets the command executed feedback For each of the eight motion commands of an MP controller there is a dedicated digital input for the command start Goto Position I Goto Position 8 There are eight outputs for the corresponding commands In Position 1 In Position 8 With an MT type controller it is possible to define up to 256 different motion commands There are still only 8 inputs and 8 outputs The MPC Configurator provides different modes for the call and the feedback of the motion commands when an MT type controller is used The IO Interface Setup window looks different when an MT controller is connected 10 Interface Setup x Ew State Control Digital Control Inputs in use IV Enable X6 1 IV Home X6 14 Help IV Stop 6 2 m Command Trigger Inputs Trigger Debounce Time 10 ms IO interface setup for MP controller 10 Interface Setup x Operation State Control Digital Control Inputs in use IV Ena
40. o the Enabled state the motor supply voltage mostly 72Vdc has to be applied The motor supply can be turned on together with the 24Vdc logic supply f By setting the Enable signal the Disabled state is left and the Enabled state entered The motor is powered on User Manual Multi Position Cylinder 20 02 2007 NTI AG Page 40 48 Multi Position Cylinder LinMot g As soon as the controller is in Enabled state the Brake output is turned on and thus the brake released if there s a brake connected h When in operating state Enabled the Home input is set the controller changes to the Homing state The motor performs its homing procedure i At the end of the homing procedure the Jn Position output becomes active j If there are no further warnings pending the Warning output is set to logic level 1 after homing The warning motor not homed is not active anymore k After successfully finishing of the homing procedure the Home input can be cleared The controller comes back to Enabled state and is now ready for executing MPC motion commands 5 5 Command Call and Feedback with E1100 MP Controller For each of the eight programmable commands on an E1100 MP controller there is a designated input Goto Position I Goto Position 8 and a correspoding output In Position I In Position 8 The commands have to be started through rising edges on the corresponding inputs When the command has successfully executed th
41. ommand the target position is given as a distance from the O point whereas for a Relative Move command a value is given as a distance from the location where the command is received When a Relative Move command is called the new target position is calculated by adding the command s increment to the current target position value Typical application for the use of Relative Move commands destacking NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 33 48 LinMot Multi Position Cylinder Page 34 48 When a positioning command is called the Demand Position value does not jump to the new Target Position value With the given load data and the speed value the controller calculates a demand position profile between the former and the new Target Position Point to Point interpolation with limited acceleration velocity and deceleration Stroke mm 100 The motion s speed has to be defined as a percent value 100 corresponds to the shortest possible positioning time which is internaly calculated based on motor and application data If a certain stroke is realized with 20 speed then 5x more time is required for doing the movement than if the same stroke would be done with maximal 100 speed When defining the motion speed the following basic principle should be considered Motions should be defined as fast as necessary but as slow as the application allows Faster movements pro
42. or M Motor Cooling Sensor Typ Standard Flange C Fan Cooling Water Cooling OK Cancel Advanced Actuator Setup window if an adf file was loaded which contains only data about the linear motor User Manual Multi Position Cylinder 20 02 2007 Page 17 48 Multi Position Cylinder Settings for Modules and Motors Homing Before positioning commands can be executed the motor has to be homed referenced During the homing procedure the motor moves against a mechanical stop The stop position is detected through the rising motor current You can define the direction and speed of this reference move and the maximal motor current In Target Position Range A command is completed when the set point generation has finished Demand Position Target Position and the Actual Position is within the In Target Position Range around the command s Target Position When this happens the In Position output is set If the motor s actual position leaves the In Target Position Range through applying external forces the output is cleared Motor Cooling The controller software estimates the motor s temperature by monitoring the power consumption If the motor has an extra cooling system the calculated temperature model has to be set accordingly External Positions Sensor This option is available for controller types E1100 MT and E1100 MT HC By using an external position sensor the positioning accuracy can be increa
43. p exe installs the MPC Configurator software on your PC jp LinMot MPC Configurator 3 0 InstallShield Wizard InstallShield Wizard Completed The InstallShield Wizard has successfully installed LinMot MPC Configurator 3 0 Click Finish to exit the wizard After successful installation the MPC Configurator can be started from the MS Windows start menu Start gt Programs gt LinMot gt MPC Configurator 3 1 NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 5 48 Multi Position Cylinder 2 2 Step 2 Installation of the MPC Firmware on the Controller Page 6 48 It is recommended to update the controller s firmware before the first commissioning The current firmware version is part of the MPC Configurator installation and can be downloaded to the controller by using the MPC Configuator software see Step 1 The controller has to be powered up green LED is on and the PC s COM port must be connected with the configuration interface connector X5 on the controller For this purpose a 1 1 RS232 cable has to be used not a null modem cable After starting the MPC Configurator the download can be started by clicking the menu item Commissioning gt Firmware Download The script file MPC3R1 sct has to be used for fully automated download of all necessary files in the current firmware release When the PC s COM port is selected the Package Installer window opens The MPC Configurator will begin downlo
44. s are given by the corresponding digital inputs on the socket X6 If one or more of those inputs were disabled during commissioning then the corresponding state transition request flags are set automatically see chapter MPC Configurator Setup IO Interface The control signals do have the following functions Enable Input X6 1 The Enalbe signal is used for switching between Enabled and Disabled state For safety reasons after power up the signal level has to be set to logic 0 to leave state Locked A before the motor can be enabled afterwards The Enable signal is also used to acknowledge the Error state see chapter Error Acknowledge Home X6 14 This signal enables the homing procedure The Home signal has to be set until the homing procedure has finished In Position output becomes active at the end see below Afterwards the signal can be reset The controller comes back to Enabled state and is then ready to execute the motion commands defined in the command table Stop X6 2 The Stop signal is used for the emergency stop funcitionality Because it is an inverted signal not the input has to be on logic level 1 for normal operation After power up the controller remains in the state Locked B until the control signal Stop is set User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 5 3 Operating State Dependent Outputs NTI AG On the front side socket X
45. sed The achievable accuracy mainly depends on the feedback and the mechanical systems Incremental AB sensors RS422 level as well as anlog sine consine sensors 1Vpp can be used If an external position sensor is configured it is strongly recommended to check the settings before the motor is enabled When the motor is moved manually the Actual Position value should change accordingly Specifically the count direction has to be set correctly Advanced Settings for Motors Page 18 48 Motor Mounting LinMot linear motors can be mounted on two different ways Either the slider passive magnetic rod or the stator acitve part of the motor is moving The mass of stator and slider are different For achieving best position control performance the parameter Motor Mounting has to be set correctly Slider Home Position SH This parameter defines the position of the mechanical reference stop For setting the parameter correctly the motor is moved manually to the stop position Then the distance between front end of stator and front end of slider has to be measured If the slider s front end is inside the stator at this position then this value is negative Work Stroke WS The value of WS defines the MPC work stroke which begins with Omm and ends at Max Pos WS Only positions inside the work stroke range WS can be programmed to be the Target Position of motion commands User Manual Multi Position Cylinder 20 02 2007 NTI AG
46. sition I Goto Position 8 If only eight or less commands are defined then there is a dedicated digital input for each command A rising edge on one of those inputs starts the corresponding command When the command is executed motor has reached target position the respective digital output In Position 1 In Position 8 is set When the command has successfully finished A rising edge on the motor has reached target position the Goto Position input starts the command respective output is set Input Goto Position 1 Output Jn Position 1 If more than eight motion commands are defined which is possible only with MT type controllers then the mode for addressing commands can be changed see chapter MPC Configurator Settings IO Interface NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 15 48 Page 16 48 Multi Position Cylinder We now are at the end of our short commissioning example With a fine tuning the system performance can be further optimized The position and speed values or the position control parameter setting can be changed see chapter MPC Configurator Setting Position Control The command parameters position and speed and the control parameters can be altered even while the system is running User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder 3 MPC Configurator Settings 3 1 Actuator Setup The techical data of the MPC actu
47. tem Control 5 1 Operating State Diagram From power on until commands can be called the controller runs through different operating states The state transitions are released by control signals or error conditions e g Motor supply voltage to low power on reset Locked A Enable 0 Errors gone amp Locked B ha Enable Stop 1 Disabled Enable 1 Stop 0 Enable 0 fi Stop 0 rom any operating Stopping Enabled i state Home 1 Home 0 Stop 0 Enable 0 Enable 0 ip etc aa Rae es SSeS oat eR Sey te ah Kar oh St ao echt Seat eae Spieler A Ee ARE ey le fa Ge KEKE a NET i Tezwn Power stage on oils Symbols oOo Operating state State transition Condition that leads to a state transition NTI AG User Manual Multi Position Cylinder 20 02 2007 Page 37 48 Multi Position Cylinder The current operating state is displayed on the status panel of the MPC Configurator _ Status Operating State Enabled Motor Homed True Actual Command 2 In Target Pos True Target Position 0 00 mm Demand Position 0 00 mm Actual Position 0 00 mm 5 2 Operating State Control Signals Page 38 48 The three control signals Enable Home and Stop can be generated by different instances During the commissioning process PC Control Config Mode is activated the control signals are set via the software check boxes on the control panel If External Control is activated the control signal
48. up for high dynamic applications Controller soft middle Stiff P Gain 1 2 4 D Gain 2 4 10 I Gain 0 0 0 Typical setup for slower applications Controller soft middle Stiff P Gain 1 2 4 D Gain 2 4 10 I Gain 50 50 100 Note The motor current setpoint value is calculated as the sum of the position control loop output and some feed forward values The feed forward values are automatically calculated by the controller based on the motor and application data The position control performance is therefore affected by those values The control performance can be improved by setting the application data according to reality actuator type power supply voltage orientation and load mass User Manual Multi Position Cylinder 20 02 2007 NTI AG Multi Position Cylinder LinMot 3 5 Application Settings Based on the application data settings the controller calculates maximal values for stroke velocity acceleration and press force They therefore affect directly the motion profiles and the control behavior of the motor The more accurate the data settings reflect reality the better the control performance Application Data Settings Limitations Sequencer Axis Name MwAsis Actuator Type 01 37 120 280 Controller Type E Power Supply Voltage p2 y Payload o g Orientation J deg IJi External Force j 0 N to Application Data Settings
49. uts are each equipped with a digital debounce filter After a signal edge is detected on an input the corresponding input becomes locked for the duration of the adjustable Trigger Debounce Time This filter prevents multiple initiations of a command even if the input signal is chattering important for Relative Move commands If the selection of the command group and activation of the trigger signal has to be realized in the same PLC cycle then the trigger input signals may be additionally retarded parameter Trigger retardation Time This is to assure that goup selection is active before a command is executed B 8 Bit Code for Command Number with extra Trigger Input On the trigger input X6 15 there is a digital debounce filter After a signal edge is detected on this input the input becomes locked for the duration of the Trigger Debounce Time This filter prevents multiple initiation of a command even if the input signal is chattering important for Relative Move commands If the command selection 8 Bit Code and the triggering have to be realized in the same PLC cycle then the trigger signal may be additionally retarded This is to assure that command selection is active before a command is executed C 8 Bit Code for Command Number without Trigger Input In this mode commands are selected and started when the command number pattern has remained stable for the adjustable jitter filter time on the 8 command selection inputs The
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