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User Manual MC SW

1. 2h X X Wait Until In Target Position 3h X X Wait Until Rising Trigger Edge 4h X X Wait Until Falling Trigger Edge 8h X X Wait Time Defined With Cmd Table Var 1 9h X X Wait Time Defined With Cmd Table Var 2 22h Oh X X Wait Until Demand Position Greater Than 22h 1h X X Wait Until Demand Position Less Than 2h X X Wait Until Actual Position Greater Than 3h X X Wait Until Actual Position Less Than 4h X X Wait Until Difference Position Greater Than bh X X Wait Until Difference Position Less Than 6h X X Wait Until Difference Position Unsigned Greater Than 7h X X Wait Until Difference Position Unsigned Less Than 8h X X Wait Until Demand Velocity Greater Than 9h X X Wait Until Demand Velocity Less Than Ah X X Wait Until Actual Velocity Greater Than Bh X X Wait Until Actual Velocity Less Than Eh X XI Wait Until Current Greater Than Fh X X Wait Until Current Less Than 24h Oh X X Set Cmd Table Var 1 To 1h X X Add To Cmd Table Var 1 2h X X Set Cmd Table Var 2 To 3h X X Add To Cmd Table Var 2 8h X X Write Cmd Table Var 1 To UPID RAM value 9h XI X Write Cmd Table Var 2 To UPID RAM value Ch X X Write UPID RAM value To Cmd Table Var 1 Dh X XI Write UPID RAM value To Cmd Table Var 2 Eh X X Write UPID RAM value To UPID ROM value 25h Oh X X IF Cmd Table Var 1 Less Than 1h X X IF Cmd Table Var 1 Greater Tha
2. Page 12 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t The state machine can be followed in the PLCs with fieldbus using the the StateVar This re sponse word can be configured for any supported fieldbus State Var Main State Sub State The State Var is divided into two sections the Main State section high byte contains directly the number of the state machine the content of the Sub State low byte is state depending State Var Main State Sub State 00 Not Ready To Switch On 0 01 Switch On Disabled 0 02 Ready To Switch On 0 03 Setup Error Error Code which will be logged 04 Error Logged Error Code 05 HW Tests 0 Not yet defined 06 Ready To Operate 0 Not yet defined 07 08 Operation Enabled Bits 0 3 Motion Command Count Bit 4 Event Handler Active Bit 5 Motion Active Bit 6 In Target Position Bit 7 Homed 09 Homing 0Fh Homing Finished 10 Clearance Check 0Fh Clearance Check Finished 11 Going To Initial Position 0Fh Going To Initial Position Finished 12 Aborting Not yet defined 13 Freezing Not yet defined 14 Quick Stop Error Behaviour Not yet defined 15 Going To Position O0Fh Going To Position Finished 16 Jogging 01h Moving positive OFh Jogging Finished 17 Jogging 01h Moving negative OFh Jogging F
3. sss 37 4 3 43 PVA Stream With Slave Generated Time Stamp and Configured Period Time COSI RE 38 4 3 44 Stop Streaming UP bu stis ectetuer Le p ge Cup a De Bae 38 4 3 45 Time Curve With Default Parameters h 38 4 3 46 Time Curve With Default Parameters From Act Pos 04 Ich 38 4 3 47 Time Curve To Pos With Default Speed 042xh sss 39 4 3 48 Time Curve To Pos With Adjustable Time ich 39 4 3 49 Time Curve With Adjustable Offset Time Scale amp Amplitude Scale 044xh 39 4 3 50 Time Curve With Adjustable Offset Time amp Amplitude Scale 045xh 39 Page 4 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 4 3 51 Time Curve With Adjustable Offset Time amp Amplitude Scale On Rising Trigger a EE 40 4 3 52 Time Curve With Adjustable Offset Time amp Amplitude Scale On Falling Trigger TEV CEE E M EH p DP MEE PS 40 4 3 53 Time Curve To Pos With Default Speed On Rising Trigger Event 04Axh 40 4 3 54 Time Curve To Pos With Default Speed On Falling Trigger Event 04 Cxh 40 4 3 55 Time Curve To Pos With Adjustable Time On Rising Trigger Event 04Exh 41 4 3 56 Time Curve To Pos With Adjustable Time On Falling Trigger Event 04Fxh 41 4 3 57 Modify Curve Start Address in RAM 050xh sss 41 4 3 58 Modify Curve Info Block 16 Bit Value in RAM OS Ixh sss 41 4 3 59 Modify Curv
4. sss 64 4 3 146 Bestehorn VAJ Go To Pos On Rising Trigger Event OP Ach 64 4 3 147 Bestehorn VAJ Increment Demand Pos On Rising Trigger Event 0FBxh 65 4 3 148 Bestehorn VAJ Go To Pos On Falling Trigger Event 0FCxh 65 4 3 149 Bestehorn VAJ Increment Demand Pos On Falling Trigger Event OFDxh 66 4 3 150 Encoder Cam EE 66 4 3 151 Encoder Cam Disable CIOT eee ntu Et can ean SERI tesa Eqs 66 4332 Encoder Cam Go To Sync Pos CIO2xh idee te eh yet 66 4 3 1593 Encoder Cam Set Value LOAN uc eae nte m pe UR e EE PUE eer et GR Ah 66 4 3 154 Encoder Cam y Define Curve With Default Parameters 1yOxh 67 4 3 155 Encoder Cam y Define Curve From Act Pos lylxh sss 67 4 3 156 Encoder Cam y Define Curve To Pos 1y2xh sss 67 4 3 157 Encoder Cam y Define Curve From Pos To Pos In Counts 1y3xh 67 4 3 158 Encoder Cam y Define Curve To Pos In Counts 1y4xh sss 68 4 3 159 Encoder Cam y Define Curve With Amplitude Scale In Counts 1y5xh 68 4 3 160 Encoder Cam y Enable CEyOXh ases or cd oat Eee ie tete tes uh RE aei dal 68 43 100 Encoder Cam y Disable e EE 68 4 3 162 Encoder Cam y Change Amplitude Scale and Length 1y8xh 69 4 3 163 Start Command Table Command 200xh sss 69 4 3 164 Start Command Table Command On Rising Trigger Event 201xh 69 4
5. sss 76 43 209 IF Current Less Than ER 76 4 3 206 IF Current Greater Than 29h EE 76 4 3 207 IF Analog Val On X4 4 Less Than 260xh sss 76 4 3 208 IF Masked X4 Input Value Equal Than 262xh sse 76 4 3 209 IF Masked X6 Input Value Equal Than 263xh sse 76 4 3 210 IF Masked Status Word Equal Than 264xh sss 77 4 3 211 IF Masked Warn Word Equal Than 265xh sse 77 4 3 212 IF CAM Counts Less Than EE 77 4 3 213 Encoder Winding Stop Adaptation Of Left Right Position and Disturbance GOLIN um EC 77 4 3 214 Encoder Winding Restart Adaptation Of Left Right Position and Disturbance GOIXAN meer o t S rnm CET E Cea ert Oe 77 4 3 215 Encoder Curve Winding Start With Default Parameters 310xh 77 4 3 216 Encoder Curve Winding Start With Default Parameters At Revolutions 31 xh eka ater totidem tege b etu trt Eelere 78 4 3 217 VAI Go To Pos With Higher Force Ctrl Limit 380xh sss 78 4 3 2186 VAI Go To Pos From Act Pos And Reset Force Control 38Ixh 78 43219 Forte Ctrl Change Target Force 362Xh suos estie xin eR OB esata 78 4 3 220 VAI Go To Pos With Higher Force Ctrl Limit and Target Force 383xh 79 4 3 221 VAI Go To Pos With Lower Force Ctrl Limit 384xh sss 79 4 3 222 VAI Go To Pos With Lower Force Ctrl Limit and Target Force 385xh 79 4 3 223 VAI Go To Pos From A
6. 1 Par Condition Value Sint32 2 Par Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 206 NEME IF Current Greater Than 25Fxh Description Byte Offset 25F xh IF Current Greater Than Condition Value Sint32 Command Table ID IF TRUE Byte Description 260xh IF Analog Val On X4 4 Less Than Uint16 Uint16 Ulnt16 Condition Value Sint32 Command Table ID IF TRUE Uint16 Uint16 Ulnt16 1 Par X4 Bit Mask Uint16 2 Par Uint16 Command Table ID IF TRUE Uint16 Command Table ID IF FALSE Byte Offset Description X6 Bit Mask Uint16 Uint16 Condition Value Uint16 Command Table ID IF TRUE Command Table ID IF FALSE Uint16 Page 76 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 210 IF Masked Status Word Equal Than 264xh ame Byte De ptio pe O Header 0 264xh IF Masked Status Word Equal Than Ulnt16 1 Par 2 Status Word Bit Mask Uint16 2 Par 4 Condition Value Uint16 3 Par 6 Command Table ID IF TRUE Uinti6 1 255 4 Par 8 Command Table ID IF FALSE Uinti6 1 255 4 3 211 IF Masked Warn Word Equal Than 265xh Byte Offset Description 265xh IF Masked Warn Word Equal Than Ulnt16 Warn Word Bit M
7. Jerk 600 400 200 o 200 400 600 5 3 1 1 Parameters and Output The Bestehorn Motion is defined by the following parameters Target Position SInt32 0 1um s Maximal Speed UInt32 1E 6 m s Acceleration UInt32 1E 5 m s Jerk UInt32 1E 4 m s The Bestehorn Motion generates as outputs e Position SInt32 0 1um e Velocity SInt32 1E 6 m s e Acceleration SInt32 1E 5 m s Page 83 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 5 4 P V Stream For masters with NC Numerical Control capabilities the software supports cyclic streaming modes of the position and velocity or position only The streaming has to be strictly cyclic in the period range 2ms to 5ms This feature is supported with all fieldbus variants like Profibus DP CAN Open POWERLINK EtherCAT Different modes are supported In the first mode Motion command 030xh the master only streams the position In the second mode Motion command 031xh the master streams position and velocity whenever possible use the PV streaming mode because the acceleration derivation is less sensitive to bus jitters than in the position only streaming mode The third mode Motion command 032xh is like the first mode but for the derivation of the velocity and the acceleration a configured period time UPID 14E6h is taken instead of the slave re
8. Can be used in a linked command table sequence 4 3 170 Wait Until In Target Position 212xh AEG Byte Description Offset Header 0 212xh Wait Until Motion Finished Ulnt16 Can be used in a linked command table sequence 4 3 171 Wait Until Rising Trigger Event 213xh Name Byte Description Type Unit Offset Header O 213xh Wait Until Rising Trigger Ulntl Can be used in a linked command table sequence 4 3 172 Wait Until Falling Trigger Event 214xh Name Byte Description Type Unit Offset Header O 214xh Wait Until Falling Trigger Ulntl Can be used in a linked command table sequence Page 70 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 173 Wait Until Demand Position Greater Than 220xh Byte Description Offset Dem Pos Trig Level SInt32 Can be used in a linked command table sequence 4 3 174 Wait Until Demand Position Less Than 221xh Name Byte Description Offset Header 0 221xh Wait Until Demand Position Less Than UInt16 kee 2 Dem Pos Trig Level Sint32 0 1 um Can be used in a linked command table sequence 4 3 175 Wait Until Actual Position Greater Than 222xh Name Byte Description Type Unit Offset Header Q 222xh Wait Until Actual Position Greater Than ung Can be used in a linked command table sequence 4 3 176 Wait Until Actual Position Less Than 223xh Name Byte Descriptio
9. Parameter Value Header 208xh Modify Command Table 16 bit Parameter in Ulnt16 RAM 1 Par Command Table ID UInt16 1 255 2 Par Parameter Offset Uint16 Sint16 This command modifies a single 16 bit parameter of the specified command table entry with the specified offset to specified value Within the command table entry the link ID has offset 2 the motion command header has offset 4 and the first motion command parameter has offset 6 Page 69 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 167 Modify Command Table 32 bit Parameter in RAM 209xh ame Byte WS ptio pe Q c Header 0 209xh Modify Command Table 32 bit Parameter in Ulnt16 RAM 1 Par 2 Command Table ID Ulnt16 1 255 2 Par 4 Parameter Offset Uint16 0 3Eh 3 Par 6 Parameter Value Sint32 This command modifies a single 32 bit parameter of the specified command table entry with the specified offset to specified value Within the command table entry the link ID has offset 2 the motion command header has offset 4 and the first motion command parameter has offset 6 4 3 168 Wait Time 210xh Name Byte Description Type Unit Offset Header 10 210xh Wait Time Uinti6 Un Can be used in a linked command table sequence 4 3 169 Wait Until Motion Finished 211xh Name Byte Description Offset Header 0 211xh Wait Until Motion Finished Ulnt16
10. Event 2 Target Position SInt32 0 1 um Page 51 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 98 Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event OADxh Byte Description Type Unit Offset OADxh Predef VAI 16 Bit Increment Target Pos Ulnt16 Wage mn Target Position SInt16 Scaled 4 3 99 VAI Predef Acc Go To Pos 0BOxh Byte Description Type Unit Offset OBOxh VAI Predef Acc Go To Pos Ulnt16 2 Target Position SInt32 0 1 um 6 Maximal Velocit 4 3 100 VAI Predef Acc Increment Dem Pos 0B1xh Byte Offset 0 OB1xh VAI Predef Acc Increment Dem Pos Ulnt16 2 Position Increment SInt32 0 1 um 6 Maximal Velocit UInt32 1E 6 m s 4 3 101 VAI Predef Acc Increment Target Pos 0B2xh Name Byte Description Type Unit Offset 0B2xh VAI Predef Acc Increment Target Pos Ulnt16 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity UInt32 1E 6 m s 4 3 102 VAI Predef Acc Go To Pos From Act Pos And Act Vel 0B3xh Name Byte Description Type Unit Offset Header OB3xh VAI Predef Acc Go To Pos From Act Pos Ulnt16 And Act Vel Name Description Type Unit Header 1 Par 2 Par Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s This command starts a new VAI setpoint generation from the actual position and with actual velocity Can be used after a press comman
11. Temp RR Driver 1BCBh Temperature of Regeneration Resistor low side driver E1100 only Connector Temp 1BCCh Temperature of motor connector X3 E1100 only X3 Temp Core 1BCDh Temperature near microcontroller core E1100 only Max Drive Temp 1BCEh Maximal temperature of above variables 7 5 PosCtrlStructure Page 96 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW Lin Mo t 8 Motor Configuration The motor usually is set up with the motor wizard which sets all needed parameters Therefore a detailed description of the parameters will follow in the future 8 1 Generic Motor Temperature Calculated For third parties motors a generic calculated motor temperature model is used to adapt the winding resistance and to detect excess temperature Tw Ti Tr Te Rwinding Housing RHousing Mounting Rmounting Environment Motor Losses 20 i otor Losses winding CHousing Cmounting C Winding UPID 120Ch R Winding Housing UPID 1210h C Housing UPID 1211h R Housing Mounting UPID 1212h C Mounting UPID 1213h R Mounting Environment UPID 1214h The sum of all R defines the static power losses consider also Tw and Te With the capacitance the thermal time constant can be influenced The bigger the thermal capacitance the slower the temperature will rise Page 97 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Co
12. 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Curve Offset SInt32 0 1 um 3 Par 8 Time Scale 0 200 Ulnt16 0 01 4 Par 10 Amplitude Scale 200096 2000946 SInt16 0 1 With this command all the curve parameters are defined 4 3 50 Time Curve With Adjustable Offset Time amp Amplitude Scale 045xh Name Byte Description Type Unit Offset Header 0 045xh Time Curve With Adjustable Offset Time amp Ulnt16 Amplitude Scale 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Curve Offset SInt32 0 1 um 3 Par 8 Curve Time SInt32 10us 4 Par 12 Amplitude Scale 2000 2000 SInt16 0 1 With this command all the curve parameters are defined unlike command 44xh this command defines the absolute curve time Page 39 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 4 3 51 Time Curve With Adjustable Offset Time amp Amplitude Scale On Rising Trigger Event 046xh Description 046xh Time Curve With Adjustable Offset Time amp Amplitude Scale On Rise Trigger Event Curve ID Ulnt16 1 Par Ulnt16 2 Par 3 Par Curve Offset Curve Time SInt32 SInt32 0 1 um 10us 4 Par Amplitude Scale 2000 2000 SInt16 0 1 On arising trigger event start command 045xh 4 3 52 Time Curve With Adjustable Offset Time amp Amplitude Scale On Falling Trigger Event 047xh
13. 1E 5 m s Go to the target position defined with the command table variable 1 UPID 1E72h starting from actual position and with actual velocity 4 3 127 VAI Go To Cmd Tab Var2 Pos From Act Pos And Act Vel 0D7xh ame Byte De eile es c Header 0 OD7xh VAI Go To Cmd Tab Var2 Pos From Act Ulnt16 Pos And Act Vel 1 Par 2 Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 Acceleration Ulnt32 1E 5 m s 3 Par 10 Deceleration Ulnt32 1E 5 m s Go to the target position defined with the command table Variable 2 UPID 1E73h starting from actual position and with actual velocity Page 58 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 128 VAI Start Trig Rise Config VAI Command 0DExh Byte Description Unit Header 10 ODExh VAI Start Trig Rise Config VAI Command Uinti This command starts the VAI motion command defined with the parameters in Trig Rise Config of the Triggered VA Interpolator Run Mode settings 4 3 129 VAI Start Trig Rise Config VAI Command 0DFxh Name Byte Description Type Unit Offset Header 0 ODFxh VAI Start Trig Fall Config VAI Command Ulnt16 This command starts the VAI motion command defined with the parameters in Trig Fall Config of the Triggered VA Interpolator Run Mode settings 4 3 130 Sin VA Go To Pos 0E0xh Description OEOxh Sin VA Go To Pos UInt16 Target Position SInt32 2 Par 6 Max
14. 3 17 State 17 Jogging Setting the Jog Move bit in the control word the servo moves either a defined position decrement or to the minimal position with a limited speed Releasing the bit will stop the motion 3 18 State 18 Linearizing The linearizing state is used to correct position feedback parameters to improve the linearity of the position feedback 3 19 State 19 Phase Searching The phase search is only defined for three phase EC motors with hall switches and ABZ sensors to find the commutation offset for to the sensor It cannot be guaranteed that this feature will work for all kinds of EC motors The found offset can be found in the variable section Calculated Commutation Offset UPID 1C1Bh and has to be set manually to he parameter Phase Angle UPID 11F2h Page 16 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 3 20 State 20 Special Mode The Special Mode is available only on the B1100 drives In this state the current command mode over the analog input is available For using this mode see the 4 3 21 Building the Control Word The Control Word can be accessed bit by bit from different sources with different priorities The highest priorities have the bits that are forced by parameters The second highest priority has the control panel of the LinMot Talk software if logged in with the SW The next lower priorities have the bits that are defined on the X4 IOs as c
15. 4 3 112 VAI Dec Acc Go To Pos From Act Pos And Act Vel 0C3xh Name Byte Description Type Unit Offset 0 OC3xh VAI Dec Acc Go To Pos From Act Pos And Ulnt16 2 Target Position SInt32 0 1 um 6 Maximal Velocit Ulnt32 3 Par 10 Acceleration Deceleration UInt32 1E 5 m s This command starts a new VAI setpoint generation from the actual position and actual velocity Can be used after a press command Page 54 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 113 VAI Dec Acc Go To Pos From Act Pos Starting With Dem Vel 0 0C4xh Byte Description Name Unit Type Offset Header 0 0C4xh VAI Dec Acc Go To Pos From Act Pos Ulnt16 Starting With Dem Vel 0 2 Par 6 Maximal Velocity Ulnt32 3 Par 10 Acceleration Deceleration UInt32 This command starts a new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 114 VAI Dec Acc Go To Pos With Max Curr 0C5xh Byte Description Type Unit Offset Header 0 OC5xh VAI Dec Acc Go To Pos With Max Curr Ulntt6 2 Target Position SInt32 0 1 um 6 Maximal Velocity UInt32 1E 6 m s 10 Acceleration Deceleration Ulnt32 1E 5 m s 14 Demand Curr Limit Uint16 This command can be used as press command with limited current force This command sets the maximal current of the actual p
16. Motion Control SW Documentation of the Motion Control Software Motion Control SW User Manual for Drive Series A1100 C1100 C1200 E1200 E1400 2014 NTI AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactic 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 Document Version 4 3 4 Whp September 2014 Motion Control SW L in Mo t TABLE OF CONTENT SYSTEM OVERVIEW Tl REFERENCES ote t ec ea Sa OPEN EUER EL RONG PE FO E RR EE RR BO hes pt ods 10 1 2 DEFINITIONS ITEMS Snoprcumg a EEOSE EEEE Ea 10 BREET 10 2MOTION CONTROL INTERFACES 3STATE MACHINE 3 1 State 0 Nor READY To SWITCH ON 14 3 2 STATE T SWITCH EONA BIETA E EE 14 3 3 STATE 2 READY TO SWITCH ONG detect teet dee eee ESL EX TER re ee Reda 14 3 4 STATE 3 SETUP Ee ie o NAT eren vi a ore ee GI Civ a eis 14 3 9 9 TATE 4 ERROR VS EE 14 3 6 STATES HW KEEN 14 J STATE 6 READY T
17. 0 8h X X VAI Predef Acc Go To Pos After Actual Command Ah X XI VAI Predef Acc Go To Pos On Rising Trigger Event Bh X X VAI Predef Acc Increment Target Pos On Rising Trigger Event Ch X X VAI Predef Acc Go To Pos On Falling Trigger Event Dh_ X X VAI Predef Acc Increment Target Pos On Falling Trigger Event OCh Oh X X VAI Dec Acc Go To Pos 1h X Xj VAI Dec Acc Increment Dem Pos 2h X X VAI Dec Acc Increment Target Pos 3h X X VAl Dec Acc Go To Pos From Act Pos And Act Vel 4h__ X X VAI Dec Acc Go To Pos From Act Pos Starting With Dem Vel 0 oh X X VAI Dec Acc Go To Pos With Max Curr 6h X X VAl Dec Acc Go To Pos From Act Pos And Act Vel With Max Curr 7h X XI VAI Dec Acc Go To Pos From Act Pos Dem Vel 0 and With Max Curr 8h X X VAI Dec Acc Go To Pos After Actual Command Ah X XI VAI Dec Acc Go To Pos On Rising Trigger Event Bh X X VAI Dec Acc Increment Target Pos On Rising Trigger Event Ch X X VAI Dec Acc Go To Pos On Falling Trigger Event Dh X X VAI Dec Acc Increment Target Pos On Falling Trigger Event Eh X X VAI Dec Acc Infinite Motion Positive Direction Fh X X VAI Dec Acc Infinite Motion Negative Direction ODh Oh X X VAI Go Relative To Captured Pos 1h X X VAI Dec Acc 16 Bit Go To Pos 4h X XI VAI Go To Cmd Table Var 1 Pos 5h X X VAI Go To Cmd Table Var 2 Pos 6h X X VAI Go To Cmd Table Var 1 Pos From Act Pos And Act Vel 7h X X VAI Go To Cmd Table Var 2 Pos From Act Pos And Act
18. 1E 6 m s Ulnt32 1E 5 m s 4 Par Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The command execution starts immediately when the command has been sent This command should be used if the Actual Position does not match with the current Demand Position value c but it can be assumed that the motor stands still Actual Velocity assumed to be zero c e g because the motor stands on a hard stop This can happen after a Press command c where the actual motor position is defined through external conditions and the motor cannot and had not to follow the demand position By starting this command c the former accepted difference between Actual Position and Demand Position can be eliminated 4 3 143 Bestehorn VAJ Increment Actual Pos OF6xh Name Byte Description Type Unit Offset Header 0 OF6xh Bestehorn VAJ Increment Actual Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Actual Position value relative move The command execution starts immediately when the command has been sent
19. LinMot
20. Name Byte Description Type Unit Offset Header 0 047xh Time Curve With Adjustable Offset Time amp Ulnt16 Amplitude Scale On Falling Trigger Event 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Curve Offset SInt32 0 1 um 3 Par 8 Curve Time SInt32 10us 4 Par 12 Amplitude Scale 2000 2000 SInt16 0 1 On a falling trigger event start command 045xh 4 3 53 Time Curve To Pos With Default Speed On Rising Trigger Event 04Axh Byte Offset Header 04Axh Time Curve To Pos With Default Speed On Ulnt16 Rising Trigger Event Name Description Unit Type Ulnt6 1 100 Target Position SInt32 On a rising trigger event start command 042xh 4 3 54 Time Curve To Pos With Default Speed On Falling Trigger Event 04Cxh ame Byte Je eile ers O Header 0 04Cxh Time Curve To Pos With Default Speed On Ulnt16 Falling Trigger Event 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Target Position SInt32 0 1 um Page 40 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW On a falling trigger event start command 042xh 4 3 55 Time Curve To Pos With Adjustable Time On Rising Trigger Event 04Exh ame Byte De ptio pe ec Header 0 O4Exh Time Curve Go To Absolute Position With Ulnt16 Adjustable Time On Rising Trigger Event 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Target Position SInt32 0 1 um 3 Par 8 C
21. echo and this status word bits are located in the same byte no data consistency problem is possible with any fieldbus A new motion command can be setup when the Motion Command Count has changed to the last sent and the Motion Active bit is O or the In Target Position bit is 1 if an exact positioning is required 3 9 State 9 Homing The homing state is used to define the position of the system according a mechanical reference a home switch or an index For LinMot motors the slider home position at this home position is taken to compensate edge effects In the home sequence a position check of two positions and the motion to an initial position can be added Hint If a mechanical stop homing mode is chosen the initial position should be a little apart from this mechanical stop to avoid overheating of the motor 3 10 State 10 Clearance Check Setting the Clearance Check bit in the Control Word two positions are moved to to check if the whole motion range is free Normally this action is added to the homing sequence to ensure that the homing was done correctly Page 15 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 3 11 State 11 Going To Initial Position Setting the Go To Initial Position bit in the control word the servo moves to the initial position normally used to move away from the mechanical stop after homing to protect the motor from overheating at the mech
22. 1293h Time over which the Master Encoder speed is generated Time 7 4 Monitoring All drive series support enhanced monitoring features of the supply voltages and the board temperatures 7 4 1 Logic Supply Voltage The logic supply voltage must be in the range from 20V to 28V when using the default parameter settings If the supply voltage goes out of this range an error will be generated If the supply voltage goes below approx 18V the servo drive shuts down Parameter Name Description Logic Supply 100Eh If the logic supply voltage sinks below this limit the error 01h Voltage Too Low will be generated Parameter Name Description Logic Supply 1010h If the logic supply voltage rises above this limit the error 02h Voltage Too High will be generated 7 4 2 Motor Supply Voltage The motor supply voltage can be monitored with different warn and error levels Parameter Name UPID Description Voltage Low Motor Supply Voltage Low bit 2 is set Motor Supply 1019h If the logic supply voltage rises above this limit the warn bit Voltage High Motor Supply Voltage High bit 3 is set Page 93 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 7 4 2 1 Phase Switch On Test The parameters in the Phase Switch On Test section are used in the HW Tests State State 5 before enabling the power stage If the motor power supply is on and there is no ground p
23. 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s This command defines a new Sin VA motion command see description of command Sin VA Go To Pos OEOxh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 0x1039 4 3 139 Sin VA Increment Demand Pos On Falling Trigger Event OEDxh ame Byte DI eile pe O Header 0 OEDxh Sin VA Increment Demand Pos On Falling Ulnt16 Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s This command defines a new Sin VA motion command relative move see description of command Sin VA Increment Demand Pos 0E1xh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the falling trigger event The Event Handler
24. 7 2 2 1 Direct Trigger Mode In the Direct Trigger Mode copies the trigger input directly copied to the trigger output which is used by the MC SW No parameter configuration is needed for this mode Page 89 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 7 2 2 2 Inhibited Trigger Mode The Inhibit Trigger Mode can be used to debounce a jittering trigger input without delay This method doesn t increase the noise immunity Parameter Name UPID Description Rise Inhibit Time 170Dh Inhibit time after rising edge of trigger in signal ti Fall Inhibit Time 170Eh Inhibit time after falling edge of trigger in signal ts 7 2 2 3 Delayed Trigger Mode The Delayed Trigger Mode can be used to delay an action following the rising or falling trigger event Description Trigger Out delay time after rising edge of Trigger In signal Parameter Name UPID Rise Delay Time 170Fh Fall Delay Time 1710h Trigger Out delay time after falling edge of Trigger In signal tar Page 90 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 7 2 2 4 Inhibited amp Delayed Trigger Mode The Inhibited amp Delayed Trigger Mode first debounces the trigger input signal with the inhibit time The inhibited trigger signal is then delayed with the rise fall delay time and then co
25. Act Pos Starting With Dem Vel 0 VAI Increment Act Pos VAI Increment Act Pos Starting with Dem Vel 0 VAI Stop VAI Go To Pos After Actual Command VAI Go To Analog Pos VAI Go To Pos On Rising Trigger Event VAI Increment Target Pos On Rising Trigger Event VAI Go To Pos On Falling Trigger Event VAI Increment Target Pos On Falling Trigger Event VAI Change Motion Parameters On Positive Position Transition VAI Change Motion Parameters On Negative Position Transition 02h Predef VAI Go To Pos Predef VAI Increment Dem Pos Predef VAI Increment Target Pos Predef VAI Go To Pos From Act Pos And Act Vel Predef VAI Go To Pos From Act Pos Starting With Dem Vel 0 Predef VAI Stop With Quick Stop Deceleration Predef VAI Go To Pos After Actual Command Predef VAI Go To Pos On Rising Trigger Event Predef VAI Increment Target Pos On Rising Trigger Event Predef VAI Go To Pos On Falling Trigger Event Predef VAI Infinite Motion Positive Direction Predef VAI Infinite Motion Negative Direction XXX XXX X lt gt lt gt lt gt lt X X X Ee gt lt gt lt X lt OX gt lt gt lt XX X lt X lt gt x Xxx XXX XXX XX gt lt lt gt lt X XX XUX lt gt lt gt lt X O3h P Stream With Slave Generated Time Stamp P Stream With Slave Generated Time Stamp and Configured Period Time PV Stream With Slave Generated Time Stamp and Configured Period T
26. Byte Description Type Unit Offset Header 10 1y6xh Encoder Cam y Enable y 1 2 Uintl 4 3 161 Encoder Cam y Disable 1y7xh Byte Description Offset Page 68 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 4 3 162 Encoder Cam y Change Amplitude Scale and Length 1y8xh ame Byte Je eile pe O Header 0 1y8xh Encoder Cam y Define Curve To Pos Uint16 1 2 1 Par 2 Amplitude Scale Sint6 0 1 2 Par 4 CAM Length In Counts Sint32 1 Incr The new values for the amplitude scale and cam length are updated at next cam y start event 4 3 163 Start Command Table Command 200xh Name Byte Offset Description Type Unit een m 200xh Start Command Table Command Ulti6 1 Par Command Table ID Ulnt16 1 255 4 3 164 201xh Name Start Command Table Command On Rising Trigger Event Byte Offset Description Type Unit Header 201xh Start Command Table Command On Rising Ulnt16 Trigger Event Command Table ID Ulnt16 1 255 4 3 165 Start Command Table Command On Falling Trigger Event 202xh ame Byte De ejt o pe O Header 0 202xh Start Command Table Command On Falling Ulnt16 Trigger Event 1 Par 2 Command Table ID Ulnt16 1 255 4 3 166 Modify Command Table 16 bit Parameter in RAM 208xh Byte Description Offset
27. Delay Count SInt32 1 Incr 8 Target Position SInt32 0 1 um 12 Curve length SInt32 1 Incr Page 44 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Setup in the event handler to start a cam curve on the falling trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Bh and the specified cam start delay is written to the RAM value of UPID 154Dh Use the infinite cam length UPID1527h for triggered cam motions 4 3 67 Setup Encoder Cam On Rising Trigger Event With Delay Counts Amplitude scale and Length 06Dxh Byte Description Unit Type Offset Header 0 06Dxh Setup Encoder Cam On Rise Trigger Event Ulnt16 With Delay Counts Amplitude scale and Length 2 Par 4 Curve Start Delay Count SInt32 1 Incr 3 Par 8 Amplitude Scale Sint6 0 1 10 Curve length in Counts SInt32 1 Incr Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam length UPID1527h for triggered cam motions 4 3 68 Setup Encoder Cam On Falling Trigger Event With Delay Counts Am
28. Event Ch_ X X VAI 16 Bit Go To Pos On Falling Trigger Event Page 23 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW Lin Mo Dh VAI 16 Bit Increment Target Pos On Falling Trigger Event Eh VAI 16 Bit Change Motion Parameters On Positive Position Transition Fh VAI 16 Bit Change Motion Parameters On Negative Position Transition OAh Oh Predef VAI 16 Bit Go To Pos 1h Predef VAI 16 Bit Increment Dem Pos 2h Predef VAI 16 Bit Increment Target Pos 3h Predef VAI 16 Bit Go To Pos From Act Pos And Act Vel 4h Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 7h Predef VAI 16 Bit Stop With Quick Stop Deceleration 8h Predef VAI 16 Bit Go To Pos After Actual Command Ah Predef VAI 16 Bit Go To Pos On Rising Trigger Event Bh Predef VAI 16 Bit Increment Target Pos On Rising Trigger Event Ch Predef VAI 16 Bit Go To Pos On Falling Trigger Event Dh Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event X X X X X X X X X X X X X X X X X X X X X X X X X X X X OBh Oh X X VAI Predef Acc Go To Pos 1h X X VAI Predef Acc Increment Dem Pos 2h X X VAI Predef Acc Increment Target Pos 3h X X VAI Predef Acc Go To Pos From Act Pos And Act Vel 4h X XI VAI Predef Acc Go To Pos From Act Pos Starting With Dem Vel
29. Go To Pos On Rising Trigger Event The bit 8 of the status word shows if the event handler is active Once the event handler becomes active it remains active until it is deactivated with this clear command As long the event handler is active the command to be executed on the event situation will be restarted each time the event condition is fulfilled 4 3 7 Master Homing 009xh Name Byte Description Offset Header 0 009xh Master Homing Ulnt16 1 Par 2 Home Position SInt32 0 1 um This command can be used if the master system knows the home position without going to the home state in the state machine The passed value of the home position is stored in the RAM value of the parameter Home Position UPID 13C7h then the corresponding value of the parameter Slider Home Position UPID 13CAh is calculated and stored in the RAM value Then a homing at actual position is done without going into the homing state 4 3 8 Reset 00Fxh Name Byte Description Type Unit Offset Header 0 00Fxh Reset Ulni6 This command resets the all firmware instances of the drive Use this command with count 0 otherwise the drive reboots cyclic 4 3 9 VAI Go To Pos 010xh Description 010xh VAI Go To Pos Ulnt16 1 Par Target Position SInt32 2 Par Maximal Velocit Acceleration Deceleration Ulnt32 Ulnt32 UInt32 1E 5 m s 1E 5 m s
30. Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t This command allows to modify a 16 bit value or half of a 32 bit value in RAM within the curve info block of an existing curve profile with the given ID The offset argument defines on which position within the curve info block the modification takes place byte offset In order to modify for instance the value of x Length you first have to set the low word of the new curve length with Offset 32 and then the high word with offset 34 The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 59 Modify Curve Info Block 32 Bit Value in RAM 052xh Name Byte Description Type Unit Header 1 Par 3 Par Value Sint32 This command allows to modify a 32 bit value in RAM within the curve data block of an already existing curve profile with the given ID The offset argument defines on which position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to
31. Page 29 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 10 VAI Increment Dem Pos 011xh ame Byte DE ptio pe c Header 0 011xh VAI Increment Dem Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s This command sets a new target position and defines the maximal velocity acceleration and deceleration for going there The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the demand position value The demand position is the actual position setpoint on which the motor is controlled The demand position value moves towards the target position value while a motion command is in execution 4 3 11 VAI Increment Target Pos 012xh Byte Description Unit Type Offset Header 0 012xh VAI Increment Target Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocit UInt32 10 Acceleration UInt32 1E 5 m s Deceleration UInt32 1E 5 m s This command sets a new target position and defines the maximal velocity acceleration and deceleration for going there The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the former target position The target po
32. UInt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Force Limit Sinti6 0 1 N 5 Par 16 Target Force Sint16 0 1 N Moves to the defined target position if the measured force reaches the lower force limit the drive switches to the force control mode with target force target force To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh Page 79 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 223 VAI Go To Pos From Act Pos And Reset Force Control Set 386xh Description Type Unit 386xh VAI Go To Pos From Act Pos And Reset Force Control Set Target Position Ulnt16 SInt32 0 1 um 2 Par Ulnt32 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s Reinstalls the position control mode and moves to the defined target position The part of the position controller is set to the last force control current 4 3 224 VAI Increment Act Pos And Reset Force Control Set 387xh Type Unit Description 387xh VAI Go To Pos From Act Pos And Reset Force Control Set I Target Position SInt32 0 1 um 6 Maximal Velocit UInt32 1E 6 m s 10 Acceleration Ulnt32 1E 5 m s 14 Deceleration Ulnt32 1E 5 m s Ulnt16 2 Par 3 Par 4 Par Reinstalls the position control mode and moves to the
33. Unit Offset Header 0 071xh Start Predef VAI Encoder Position Indexing Ulnt16 1 Par 2 Target Position SInt32 0 1 um Changes to the VAI encoder position indexing mode the actual encoder count is to the target position The VAI parameters maximal velocity acceleration and deceleration are ones taken at calling time from the predefined VAI parameter set UPIDs 14BEh 14BF and 14COh To stop the indexing mode use one of the commands 008xh 07Exh or 07Fxh 4 3 71 Stop Position Indexing and VAI Go To Pos 07Exh Description 07Exh Stop Position Indexing And VAI Go ToPos Ulnt16 Target Position SInt32 UInt32 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s This command stops the position indexing mode and moves to the defined target position with a VAI command 4 3 72 Stop Position Indexing and VAI Go To Pos 07Fxh AEG Byte Description Type Unit Offset grey ro s 07Vxh Stop Position Indexing And VAI Go To Pos Ulnt16 1 Par Target Position SInt32 0 1 um This command clears the position indexing mode and moves to the defined target position with a Predefined VAI command 4 3 73 VAI 16 Bit Go To Pos 090xh Name Byte Description Type Unit Offset Header O 090xh VAI 16 Bit Go To Pos Ulti6 SInt16 2 Par 4 Maximal Velocit Ulnt16 EE eee a Ulnt16 4 Par Deceleration Ulnt16 Scaled Th
34. Vel Eh X X VAI Start Trig Rise Config VAI Command Page 24 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW Lin Mo t Fh X X VAI Start Trig Rise Config VAI Command OEh Oh X X Sin VA Go To Pos 1h X X Sin VA Increment Demand Pos 4h X X Sin VA Go To Pos From Actual Pos 6h X X Sin VA Increment Actual Pos 8h X X Sin VA Go To Pos After Actual Command 9h X X Sin VA Go To Analog Pos Ah X XI Sin VA Go To Pos On Rising Trigger Event Bh X X Sin VA Increment Demand Pos On Rising Trigger Event Ch X X Sin VA Go To Pos On Falling Trigger Event Dh X X Sin VA Increment Demand Pos On Falling Trigger Event OFh Oh X X Bestehorn VAJ Go To Pos 1h X X Bestehorn VAJ Increment Demand Pos 4h X X Bestehorn VAJ Go To Pos From Actual Pos 6h X X Bestehorn VAJ Increment Actual Pos 8h X X Bestehorn VAJ Go To Pos After Actual Command 9h X X Bestehorn VAJ Go To Analog Pos Ah X X Bestehorn VAJ Go To Pos On Rising Trigger Event Bh X X Bestehorn VAJ Increment Demand Pos On Rising Trigger Event Ch X X Bestehorn VAJ Go To Pos On Falling Trigger Event Dh X X Bestehorn VAJ Increment Demand Pos On Falling Trigger Event 10h Oh X X Encoder CAM Enable 1h X X Encoder CAM Disable 2h X X Encoder CAM Go To Sync Pos 4h X X Encod
35. Wa Bal Ge See 2 Wait Motion Done Wait until Motion Finished 3 GoTo 0 mm is Set Gene 3 GoTo 0 mm VAI Go To Pos Pos 0 mm Vek 1 m s Ace 10 m s 2 Dec 10 m s 2 None MC SW Warnings MC SW Phase Search 5 Reset CT Varl Set Cmd Table Var 1 To Set Val 0 8 GoTo 50mm MC SW Motion Interface 6 GoTo 50mm VAI Go To Pos Pos 50 mm Vek 1 m s Acc 10 m s 2 Dec 10 m s 2 7 wait In Pos ME SW Winding H Wait In Pos Wait until In Target Position 8 GoTo 0 mm MC SW Capture amp Trigger 8 GoTo 0 mm VAI Go To Pos Pos 0 mm Vek 1 m s Acc 10 m s 2 Dec 10 m s 2 3 Wait Motion MC SW Brake 3 Wait Motion Done Wait until Motion Finished 10 Inc CT Vart MC SW V interpolator 10 Inc CT Varl Add To Cmd Table Var 1 Add Val 1 11 IF Varl lt 5 MC SW Curve 11 IF Var 5 IF Cmd Table Var 1 Less Than Val 5 True Cmd ID GL False Cmd ID 12 None MC SW PVT Stream 12 End Seq No peration None MC SW Monitoring 13 MC SW Errors 14 Reduce Force Write Live Parameter UPID 1346h M Value 14 15 GoTo 50mm MC SW Encoder CAM 15 GoTo 50mm V I Go To Pos Pos 50 mm Vel 0 05 m s Acc 1 m s 2 Dec 1 m s 2 16 wait Motion MC SW Motor Data Sheet 16 Wait Motion Done Wait until Motion Finished 17 Test For Part MEG SW CommandiT abie 17 Test For Part IF Actual Position Less Than Val 48 mm True Cmd ID 18 False Cmd ID 21 None E WH Force Control 18 GoTo 0 mm VAI Go To Pos Pos 0 mm Vek 1 m s Acc 10 m s 2 Dec 10 m s 2 19 Set Normal F a Geen 19 Set Normal Force Wri
36. acceleration and deceleration for going there The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the actual position The actual position is the effective motor position This command can be used to perform a retraction move after a press command If the position increment argument is zero this command defines the actual motor position as new setpoint 4 3 15 VAI Increment Act Pos Starting With Dem Vel 0 016xh Byte Description Type Unit Offset Header 0 016xh VAI Increment Act Pos Starting With Dem Ulnt16 Vel 0 0 1 um 10 Acceleration UInt32 4 Par 14 Deceleration Ulnt32 1E 5 m s This command starts the new VAI setpoint generation from the actual position and the start velocity is forced to zero This command defines the maximal velocity acceleration and deceleration for going to the target position The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the actual position The actual position is the effective motor position This command can be used to perform a retraction move after a press command If the position increment argument is zero then this command defines the actual motor position as new setpoint 4 3 16 VAI Stop 017xh Page 31 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW Byte Description
37. connector has to be used for supplying the brake driver Apart from this the functionality of the E1400 brake is identically with the brake on the X4 3 connector The output X4 3 can drive up to 1A so it can be used to control directly a valve of a pneumatic brake module For this reason this output can be configured as brake output The cases in which the brake has to be applied or released are configured over the brake mode parameters The brake output is controlled from the state machine Parameter Name UPID Description Status Word 1717h The brake is released X4 3 24V when bit O of the status Operation word Operation Enabled is set Otherwise the brake is Enabled applied Ctrl Word Abort 1718h The brake is applied X4 3 OV when entering the Aborting State 12 and released X4 3 24V when going to Page 87 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t Operation Enabled State 8 again Quick Stop 1716h Special brake behavior with Quick Stop Brake Mode Status Word Operation Enabled has also to be set 7 2 1 1 X4 3 Brake Operation Enabled Behavior The following figure shows the behavior when only the brake mode Status Word Operation Enabled is selected If only this switch with UPID 1717h is activated no apply or release delay time is regarded 7 2 1 2 X4 3 Brake Operation Abort Behavior When set t
38. controller set UPID 13A6h or 13BAh to the value defined with the 4 parameter 4 3 117 VAI Dec Acc Go To Pos After Actual Command 0C8xh Name Byte Description Type Unit Offset Header OC8xh VAI Dec Acc Go To Pos After Actual Ulnt16 Command Target Position SInt32 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 118 Header OCAxh VAI Dec Acc Go To Pos On Rising Trigger Event Ulnt16 VAI Dec Acc Go To Pos On Rising Trigger Event OCAxh Description 1 Par Target Position SInt32 0 1 um 2 Par Maximal Velocit Acceleration Deceleration Ulnt32 UInt32 1E 6 m s 1E 5 m s 4 3 119 VAI Dec Acc Increment Target Pos On Rising Trigger Event OCBxh ame Byte De eile pe Oo O Header 0 OCBxh VAI Dec Acc Increment Target Pos On Ulnt16 Rising Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration UInt32 1E 5 m s Page 56 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 120 VAI Dec Acc Go To Pos On Falling Trigger Event OCCxh ame Byte DI eile ers O Header 0 OCCxh VAI Dec Acc Go To Pos On Falling Trigge
39. during this action contact support 0060h Cfg Err Configuration error regeneration resistor turn on off RR Voltage Set Too Low voltage parameter value is too low Recommended actions check parameters 101Eh and 101Fh 0061h Cfg Err Configuration error regeneration resistor turn on off RR Hysteresis 0 5V voltage parameter values too close to each other Recommended actions check parameters 101Eh and 101Fh 0062h Cfg Err Configuration error Software tried to start a curve that is Curve Not Defined not defined yet Action to take define the curve using the curves service check if curves were downloaded to drive check the curve IDs check the configuration check the PLC program 0063h Cfg Err Configuration error Invalid max current setting in control Pos Ctrl Max Curr High parameters Recommended actions check parameters 13A6h and 13BAh check PLC program 0064h Cfg Err Fatal Configuration error No motor has been configured yet No Motor Defined Recommended actions use the motor wizard to configure the motor Page 103 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 0065h Cfg Err Fatal No Trigger Mode Defined Configuration error Digital input X4 6 is configured for trigger input function but the trigger mode is not defined yet Recommended actions configure parameter 170Ch 0067h Cfg Err Fatal Wrong Stator Type Configuration error The config
40. incremented target position The part of the position controller is set to the last force control current 4 3 225 Current Command Mode 390xh Name Byte Description Type Unit Offset Jam 390xh Current Command Mode Ulti6 1 Par Demand Current Sint32 0 001A Change in Current Command mode if not yet and set demand current 4 3 226 Change to Position Controlled Mode 39Fxh Name Byte Description Type Unit Offset Header 0 39Fxh Change to Position Controlled Mode Ulnt16 Go back to position controlled mode Page 80 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo te 5 Setpoint Generation 5 1 VA Interpolator The VA Interpolator generates a position curve from one position to another due to the parameter values of acceleration deceleration and a maximal speed A new target position can be set even if the old target position was not reached 5 1 1 1 Parameters and Output The VA Interpolator is defined by the following parameters Target Position SInt32 0 1um s Maximal Speed UInt32 1E 6 m s Acceleration UInt32 1E 5 m s Deceleration UInt32 1E 5 m s The VA Interpolator generates as outputs e Position SInt32 0 1um e Velocity SInt32 1E 6 m s e Acceleration SInt32 1E 5 m s Page 81 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 5 2 Sine VA Motion The Sine
41. only with Force Control Key Page 27 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 Detailed Motion Command Description 4 3 1 No Operation 000xh Name Byte Description Type Unit Offset Header 10 No Operation 000xh Ulti6 This command does nothing It can be sent in any operational state 4 3 2 Write Interface Control Word 001xh INE Taare Byte Description Type Unit Offset Header 10 O01xh Write Interface Control Word Ulti6 Interface Control Word Ulti6 This command allows writing the control word through the motion command interface The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer other ways to access the control word directly Mostly a direct access is more comfortable than the way over the motion command interface 4 3 3 Write Live Parameter 002xh Name Byte Description Type Unit Offset 002xh Write Live Parameter UPID Unique Parameter ID Parameter Value the Unit depends on Parameter Ulnt16 Ulnt16 Div Header 1 Par 2 Par This command allows writing any live parameter s ram value through the motion command interface The parameter has to be specified by its UPID Unique Parameter ID In order to keep the interface as simple as possible any parameter can be accessed as 32bit integer value The drive s operating system will filter out the relevant number of bits for paramet
42. the former command has been completed The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new VAI motion command as soon as bit 13 of the Status Word Motion Active is O After the event the Event Handler deactivates itself Page 60 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 4 3 135 Header 1 Par 2 Par Sin VA Go To Analog Pos 0E9xh Byte DE eile ers c 0 OE9xh Sin VA Go To Analog Pos Ulnt16 2 Maximal Velocit UInt32 1E 6 m s 6 Acceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity This command sets a new Target Position Calculated from the analog input on X4 4 or X20 4 3 136 Header 1 Par Sin VA Go To Pos On Rising Trigger Event OEAxh Description OEAxh Sin VA Go To Pos On Rising Trigger Event Target Position Ulnt16 SInt32 0 1 um Maximal Velocity Ulnt32 1E 6 m s Acceleration Ulnt32 1E 5 m s This command defines a new Cos motion command see description of command Sin VA Go To Pos OEOxh The command will be started on each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler start
43. 00 2 Par 4 Offset in Byte Uinti6 0 3 Par 6 Curve point value Sint32 4 Par 10 Curve point value Sint32 This command allows to modify in RAM two 32 bit value within the curve data block of a curve with existing curve start address and curve info header block with the given ID The offset argument defines on which position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 62 Modify Curve Data Block 96 Bit Value in RAM 056xh AEG Byte Description Type Unit Offset Header 0 056xh Modify Curve Data Block 96 Bit Value in Uint16 RAM 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Offset in Byte Uint16 0 3 Par 6 Curve point value Sint32 4 Par 10 Curve point value Sint32 5 Par 14 Curve point value Sint32 This command allows to modify in RAM three 32 bit value within the curve data block of a curve with existing curve start address and curve info header block with the given ID The offset argument defines on which position
44. 16 Scaled 4 3 81 VAI 16 Bit Go To Pos After Actual Command 098xh Name Byte Description Type Unit Offset Header 0 098xh VAI 16 Bit Go To Pos After Actual Ulnt16 Command 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 82 VAI 16 Bit Go To Pos On Rising Trigger Event 09Axh Name Byte Description Type Unit Offset Header 0 9Axh VAI 16 Bit Go To Pos On Rising Trigger Ulnt16 Event 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled Page 48 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 4 3 83 VAI 16 Bit Increment Target Pos On Rising Trigger Event 09Bxh Description 9Bxh VAI 16 Bit Increment Target Pos On Rising Ulnt16 Trigger Event 1 Par 2 Position Increment SInt16 Scaled 2 Par 4 Maximal Velocit Ulnt16 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 84 VAI 16 Bit Go To Pos On Falling Trigger Event 09Cxh Name Byte Description Type Unit Offset Header 0 09Cxh VAI 16 Bit Go
45. 185 Wait Until Current Greater Than 22Exh sse 73 Page 7 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 4 3 186 Wait Until Current Less Than 22Fxh sse 73 4 3 187 Set Cmd Table Var 1 TOG DAO iota eset reo t tbe tuti RS le 73 43 188 Add To Cmd Table Var 1 24 TEM icc aae ret ele od th t a ee sen 73 4309 Set Cmd Table Var 2 To 242XIl aeos up ee be re TP TERRENO Te ERN 3 4 3 190 Add To Cmd Table Var leede 73 4 3 191 Write Cmd Table Var 1 To UPID RAM value 248xh sss 73 4 3 192 Write Cmd Table Var 2 To UPID RAM value 249xh sse 74 4 3 193 Write UPID RAM Value To Cmd Table Var 1 24Cxh sss 74 4 3 194 Write UPID RAM Value To Cmd Table Var 2 24Dxhy sss 74 4 3 195 IF Cmd Table Var 1 Less Than ZION x idee tee co EE 74 4 3 196 IF Cmd Table Var 1 Greater Than 25TXh eio ese e te vette et 74 4 3 197 IF Cmd Table Var Re EE 74 4 3 198 IF Cmd Table Var 1 Greater Than 2355340 sodio ater e aeta e eic eas 75 4 3 199 IF Demand Position Less THARA2 ION setae etui ont vos eed bende 75 4 3 200 IF Demand Position Greater Than 259xh sse 75 4 3 201 IF Actual Position Less Than 254xh ect it tete eene 75 4 3 202 IF Actual Position Greater Than 25Bxh sss 75 4 3 203 IF Difference Position Less Than O3Cchl sss 75 4 3 204 IF Difference Position Greater Than 25Dxh
46. 3 165 Start Command Table Command On Falling Trigger Event 202xh 69 4 3 166 Modify Command Table 16 bit Parameter in RAM 206xh ssssssse 69 4 3 167 Modify Command Table 32 bit Parameter in RAM 209xh ssssssse 70 4 3168 Wait Time EEN 70 4 3 169 Wait Until Motion Finished OT fb 70 4 3 170 Wait Until In Target Position 212xh sse 70 4 3 171 Wait Until Rising Trigger Event CO ch 70 4 3 172 Wait Until Falling Trigger Event 214xh sse 70 4 3 173 Wait Until Demand Position Greater Than CO Zb 71 4 3 174 Wait Until Demand Position Less Than 22Ixh sse 71 4 3 175 Wait Until Actual Position Greater Than O22ichl 71 4 3 176 Wait Until Actual Position Less Than 223xh sssssssssssssseee 71 4 3 177 Wait Until Difference Position Greater Than 224xh sss 71 4 3 178 Wait Until Difference Position Less Than 225xh sss 71 4 3 179 Wait Until Difference Position Unsigned Greater Than 226xh 72 4 3 180 Wait Until Difference Position Unsigned Less Than 227xh sss 72 4 3 181 Wait Until Demand Velocity Greater Than 2268xhy sss 72 4 3 182 Wait Until Demand Velocity Less Than 229xh sss 72 4 3 183 Wait Until Actual Velocity Greater Than 22Axh sss 72 4 3 184 Wait Until Actual Velocity Less Than 22Bxh sse 72 4 3
47. Act Vel 0D7xh 58 4 3 128 VAI Start Trig Rise Config VAI Command DEXxh sss 29 4 3 129 VAI Start Trig Rise Config VAI Command 0DFxh sss 59 4 3 130 Sin VA Go To Pos TUEOSR eebe uscita ui Eet Sade oaks 59 4 3431 Sin VA Increment Demand Pos OLAX ss eee p eU insta Er RD 59 4 3 132 Sin VA Go To Pos From Actual Pos UE Zb 60 4 3 133 Sin VA Increment Actual Pos EOXR s e ise e ee ete red et 60 4 3 134 Sin VA Go To Pos After Actual Command OEGSxh sss 60 4 3 135 Sin VA Go To Analog Pos UE9xh dece t e b etre p d asain 61 4 3 136 Sin VA Go To Pos On Rising Trigger Event OF Ach 61 4 3 137 Sin VA Increment Demand Pos On Rising Trigger Event 0EBxh 61 Page 6 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 4 3 138 Sin VA Go To Pos On Falling Trigger Event 0ECxh sess 62 4 3 139 Sin VA Increment Demand Pos On Falling Trigger Event 0EDxh 62 43 140 Bestehorn VAS Go To Pos F xh tdeo md eere eden ae 62 4 3 141 Bestehorn VAJ Increment Demand Pos OF Ixh sse 63 4 3 142 Bestehorn VAJ Go To Pos From Actual Pos OFZch 63 4 3 143 Bestehorn VAJ Increment Actual Pos 0F6xh esse 63 4 3 144 Bestehorn VAJ Go To Pos After Actual Command 0FSxh sss 64 4 3 145 Bestehorn VAJ Go To Analog Pos 0F9xh
48. From Act Pos And Act Vel 0A3xh 50 4 3 92 Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 0A4xh morer 51 4 3 93 Predef VAI 16 Bit Stop E sss deus de vetet ett bep c uetus e Date lite 51 4 3 94 Predef VAI 16 Bit Go To Pos After Actual Command 0AG8xh sss od 4 3 95 Predef VAI 16 Bit Go To Pos On Rising Trigger Event 0AAxh 51 4 3 96 Predef VAI 16 Bit Increment Target Pos On Rising Trigger Event OABxh Ad 4 3 97 Predef VAI 16 Bit Go To Pos On Falling Trigger Event 0ACxh 51 4 3 98 Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event 0ADxh 52 4 3 99 VAI Predef Acc Go To Pos LOB OID os dete duisi pe er ta e ON S tae 52 4 3 100 VAI Predef Acc Increment Dem Pos 0B Ixh sss 22 4 3 101 VAI Predef Acc Increment Target Pos OP Zb 32 4 3 102 VAI Predef Acc Go To Pos From Act Pos And Act Vel 0B3xh 32 4 3 103 VAI Predef Acc Go To Pos From Act Pos Starting With Dem Vel 0 0B4xh 53 4 3 104 VAI Predef Acc Go To Pos After Actual Command 0B6 amp xh suus 53 4 3 105 VAI Predef Acc Go To Pos On Rising Trigger Event BAxh s 53 4 3 106 VAI Predef Acc Increment Target Pos On Rising Trigger Event OBBxh 53 4 3 107 VAI Predef Acc Go To Pos On Falling Trigger Event 0BCxh 53 4 3 108 VAI Predef Acc Increment Target
49. O OPERATE ta ice eben e P Fede e EA i EES 14 3 8 STATE 8 OPERATION EvaptEn nnn sese nenne teen n rese enne rennen nene nene 15 3 0 STATE Ot EEN 15 3 10 STATE 10 CLEARANCE CHECK vetet eee i tet aree etus reet ete e d bebe d vlr e uas 15 3 11 Strate 11 GOING To INITIAL POSITION eese eene eene eterne 16 3712 S TATE 12 ABORTING EE 16 3 13 S TATE 13 EEN 16 3 14 STATE 14 ERROR BEHAVIOUR QUICK EE 16 315 STATE 15 GOING TO POON e e eh p a E OP sad ua D Ss 16 3 16 STATE 16 JOGGING ENEE 16 3 T7 STATE 17 JOGGING asks eene er eee er bee ee die 16 3 18 d 8 IANEARRIZING i arre rre Teo Eo o o eco ore e re ad e D aetate 16 3 19 STATE 19 EE 16 3 20 STATE 20 SPECIAL MODE 5 3 eco wine er RB 17 3 21 BUILDING THE CONTROL Wopn 17 3 22 CONTROL WORD EE 17 3 23 STATUS WORD io e i ro D GN GO Cd Osee vene C PATRE Mew RA a UE ER 19 3 24 WARN WORD EN 20 4MOTION COMMAND INTERFACE 4 1 MorioN COMMAND IwvrrRraCE ea ara R aae i SARE a EEAS 21 BDL Command Header acest rtc E IO A id EE ARN 21 D r WOR Maser HR EE 21 2 152 SUD UD eoe eroe inst Ned ope dem hau aca Benne Caec taal tants 21 41 1 3 Command C OU sco o cranes EE 21 4 2 OVERVIEW MOTION COMMANDS eese eene e nnne nenne enne a intet tien nnn iain eene nenne 22 4 3 DETAILED MOTION COMMAND DpscRron eene eene eee nennen eene nennen nnne nennen 28 4 3 1 No Operation EE psit ta ouo lure ole adm Sd bes 28 4 3 2 Write Interface Control Word 00D EEN 28 4 3 3 Writ
50. PID1527h to modulo cam length The cam length can be defined independently from the master encoder length So with a 8000 counts ABZ master encoder also 16 000 counts or 4 000 counts cam length is possible With the following sequence a startup or resynchronization to a standing master encoder is possible Move to start position of cam 1 motion e g VAI GoTo Pos 010xh Define cam 1 motion e g Encoder CAM 1 Define Curve To Pos 112xh Move to start position of cam 2 motion e g VAI GoTo Pos 010xh Define cam 2 motion e g Encoder CAM 2 Define Curve To Pos 112xh Go to synchronized cam position with 102xh After synchronized cam position is reached enable cam motion with 100xh Start turning the encoder With the following sequence a re synchronization to a moving master encoder is possible Disable cam start enable UPID 1528h and wait until cam enabled vanishes or clear also cam enabled 1BA9h Move to start position of cam 1 motion e g VAI GoTo Pos 010xh Define cam 1 motion e g Encoder CAM 1 Define Curve To Pos 112xh Define cam 2 motion e g Encoder CAM 2 Define Curve To Pos 112xh After the synchronized cam position is reached enable the cam motion with 100xh Enable cam start enable UPID 1528h Page 85 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo te 6 Command Table NOTE The command table in the B1100 drives is limited to 31 entri
51. Page 63 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 144 Bestehorn VAJ Go To Pos After Actual Command 0F8xh ame Byte De ptio pe O Header 0 OF8xh Bestehorn VAJ Go To Pos After Actual Ulnt16 Command 1 Par_ 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Jerk UInt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The command execution is delayed until the former command has been completed The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new VAI motion command as soon as bit 13 of the Status Word Motion Active is O After the event c the Event Handler deactivates itself 4 3 145 Bestehorn VAJ Go To Analog Pos 0F9xh Description OF9xh Bestehorn VAJ Increment Actual Pos Ulnt16 Maximal Velocity Ulnt32 1E 6 m s Acceleration Ulnt32 1E 5 m s 10 Jerk Ulnt32 1E 4 m s Header 1 Par 2 Par 3 Par Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed This command sets a new Target Position Calculated from the analog input on X4 4 or X20 4 3 146 Bestehorn VAJ Go To Pos On Rising Trigger Event OFAxh Description Type Unit OFAxh Bestehorn VAJ Go To Pos On Rising
52. Pos On Falling Trigger Event OBDxh 54 43 109 VAI Dec Ace Go To Pos O CON i s eese eerta rin bx ec eet 54 4 3 110 VAI Dec Acc Increment Dem Pos 0C Ich 54 4 3 111 VAI Dec Acc Increment Target Pos C2xh sss 54 4 3 112 VAI Dec Acc Go To Pos From Act Pos And Act Vel 0C3xh ssssse 54 4 3 113 VAI Dec Acc Go To Pos From Act Pos Starting With Dem Vel 0 0C4xh 55 4 3 114 VAI Dec Acc Go To Pos With Max Curr 0CS5xh sss 55 4 3 115 VAI Dec Acc Go To Pos From Act Pos And Vel With Max Curr OC6xh 55 4 3 116 VAI Dec Acc Go To Pos From Act Pos And Vel 0 With Max Curr 0C7xh 56 4 3 117 VAI Dec Acc Go To Pos After Actual Command UC ch 56 4 3 118 VAI Dec Acc Go To Pos On Rising Trigger Event 0CAxh sss 56 4 3 119 VAI Dec Acc Increment Target Pos On Rising Trigger Event OCBxh 56 4 3 120 VAI Dec Acc Go To Pos On Falling Trigger Event 0CCxh sss 57 4 3 121 VAI Dec Acc Increment Target Pos On Falling Trigger Event 0CDxh 57 4 3 122 VAI Increment Captured Pos dDch eene 57 4 3 123 VAI 16 Bit Dec Acc Go To Pos DIxh esses eene 57 4 3 124 VAI Go To Cmd Tab Varl Pos 0D4xhy eese eene 58 4 3 125 VAI Go To Cmd Tab Var2 Pos ODI iso A reb ped Aa teli td 58 4 3 126 VAI Go To Cmd Tab Var Pos From Act Pos And Act Vel 0D6xh 58 4 3 127 VAI Go To Cmd Tab Var2 Pos From Act Pos And
53. Table Var 1 Less Than UInt16 Condition Value Sint32 Command Table ID IF TRUE Uint16 1 255 Command Table ID IF FALSE Uint16 1 255 2 Par 3 Par 4 3 196 IF Cmd Table Var 1 Greater Than 251xh Name Byte Description Offset o 251xh IF Cmd Table Var 1 Greater Than Ulnt16 Condition Value 2 Par 6 Command Table ID IF TRUE Uint6 1 255 3 Par 8 Command Table ID IF FALSE Uint6 1 255 4 3 197 IF Cmd Table Var 1 Less Than 252xh Byte Offset Name Description 252xh IF Cmd Table Var 1 Less Than Ulnt16 Condition Value Sint32 Command Table ID IF TRUE Uint16 1 255 Command Table ID IF FALSE Uint16 1 255 Page 74 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 198 IF Cmd Table Var 1 Greater Than 253xh ame Byte WS ptio pe c Header 0 253xh IF Cmd Table Var 1 Greater Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 199 IF Demand Position Less Than 258xh Byte Description Offset Header O 258xh IF Demand Position Less Than Ulnt16 L Condition Value 2 Par Command Table ID IF TRUE Uint16 3 Par Command Table ID IF FALSE Uintl6 1 255 4 3 200 IF Demand Position Greater Than 259xh Name Byte Description Offset 259xh IF Demand Pos
54. To Pos On Falling Trigger Ulnt16 Event 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 85 VAI 16 Bit Increment Target Pos On Falling Trigger Event 09Dxh Header Description 09Dxh VAI 16 Bit Increment Target Pos On Falling Trigger Event Ulnt16 1 Par 2 Position Increment SInt16 Scaled 2 Par 4 Maximal Velocit UlInt16 Scaled 3 Par 6 Acceleration UlInt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 86 VAI 16 Bit Change Motion Parameters On Positive Position Transition 09Exh Name Byte Description Type Unit Offset Header 0 O9Exh VAI 16 Bit Change Motion Parameters On Ulnt16 Positive Position Transition 1 Par 2 Transition Event Position SInt16 Scaled 2 Par 4 Max Velocity After Event Ulnt16 Scaled 3 Par 6 Acceleration After Event UlInt16 Scaled 4 Par 8 Deceleration After Event Ulnt16 Scaled As soon as the demand position crosses the event change position in positive direction the parameters for velocity acceleration and deceleration will be changed to the values defined in the command Page 49 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 87 VAI 16 Bit Change Motion Parameters On Negative Position Transition 09Fxh Description O9Exh
55. Ulnt16 Trigger Event 2 Target Position SInt32 0 1 um Maximal Velocity Ulnt32 1E 6 m s Acceleration Ulnt32 1E 5 m s Jerk Ulnt32 1E 4 m s Header 1 Par This command defines a new Bestehorn motion command see description of command Bestehorn VAJ Go To Pos OFOxh The command will be started on each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 1039h Page 64 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 4 3 147 Bestehorn VAJ Increment Demand Pos On Rising Trigger Event OFBxh Description Type Unit OFBxh Bestehorn VAJ Increment Demand Pos On Rising Trigger Event Position Increment Ulnt16 SInt32 0 1 um 2 Par Ulnt32 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Jerk Ulnt32 1E 4 m s This command defines a new Bestehorn motion command relative move c see description of command Bestehorn VAJ Increment Demand Pos OF 1xh The command will be started on each rising edge on the Trigger signal Thi
56. Unit Header 0 017xh VAI Stop Tie Ea 1 Par_ 2_ Deceleration CU Int32 1E 5 m s 4 3 17 NEME VAI Go To Pos After Actual Command 018xh Byte Offset Description Type Unit Header O 018xh VAI Go To Pos After Actual Command Uinti6 Target Position Target Position 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s 4 Par Deceleration Sint32 Ulnt32 1E 5 m s This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 18 VAI Go To Analog Pos 019xh ame Byte De eile es c Header 0 019xh VAI Go To Analog Pos Ulnt16 1 Par 2 Maximal Velocit Ulnt32 1E 6 m s 2 Par 6 Acceleration Ulnt32 1E 5 m s 3 Par 10 Deceleration Ulnt32 1E 5 m s 4 3 19 VAI Go To Pos On Rising Trigger Event 01Axh Name Byte Description Type Unit Offset Header 0 01Axh VAI Go To Pos On Rising Trigger Event Ulnt16 keea 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s 4 3 20 VAI Increment Target Pos On Rising Trigger Event 01Bxh Name Byte Description Type Unit Offset Header 0 01Bxh VAI Increment Target Pos On Rising Trigger Ulnt16 Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceler
57. VAI Change Motion Parameters On Negative Position Transition 01FXxh 34 4 3 25 Predef VAI Go E te oth FO e rentes ore ute 34 4 3 26 Predef VAI Increment Dem Pos U2Z TX tee 34 4 3 27 Predef VAI Increment Target Pos 022xh ii ep eege Eed 34 4 3 28 Predef VAI Go To Pos From Act Pos and Act Vel 023xh sss 34 4 3 29 Predef VAI Go To Pos From Act Pos Starting With Dem Vel 0 024xh 35 4330 Predef VAI Stop 02 THI ni tee reet EE 35 4 3 31 Predef VAI Go To Pos After Actual Command 028xh sss 23 4 3 32 Predef VAI Go To Pos On Rising Trigger Event 02Axh sss 35 4 3 33 Predef VAI Increment Target Pos On Rising Trigger Event 02Bxh 35 4 3 34 Predef VAI Go To Pos On Falling Trigger Event 02Cxh sss 35 4 3 35 Predef VAI Go To Pos On Falling Trigger Event 02Dxh sss 36 4 3 36 Predef VAI Infinite Motion Positive Direction 02Exh sss 36 4 3 37 Predef VAI Infinite Motion Negative Direction 02Fxh sss 36 4 3 38 P Stream With Slave Generated Time Stamp 030xh sss 36 4 3 39 PV Stream With Slave Generated Time Stamp 03 Th 36 4 3 40 P Stream With Slave Generated Time Stamp and Configured Period Time 032xh Tr Tm e a 37 4 3 41 PV Stream With Slave Generated Time Stamp Stamp and Configured Period Time E EE 34 4 3 42 PVA Stream With Slave Generated Time Stamp 034xh
58. VAI Change Motion Parameters on Ulnt16 Negative Position Transition 2 Transition Event Position SInt16 Scaled 2 Par 4 Max Velocity After Event UlInt16 3 Par 6 Acceleration After Event Ulnt16 Scaled 4 Par 8 Deceleration After Event Ulnt16 Scaled As soon as the demand position crosses the event change position in negative direction the parameters for velocity acceleration and deceleration will be changed to the values defined in the command 4 3 88 Predef VAI 16 Bit Go To Pos 0A0xh Byte Description Offset Header 0 OAOxh Predef VAI 16 Bit Go To Pos Ulnt16 leans linea Target Position Sinti6 Scaled 4 3 89 Predef VAI 16 Bit Increment Dem Pos 0A1xh Name Byte Description Type Unit Offset Header O OA1xh Predef VAI 16 Bit Increment Dem Pos Ulti6 Position Increment SInt16 4 3 90 Predef VAI 16 Bit Increment Target Pos 0A2xh Byte Description Offset Position Increment Sint16 4 3 91 Predef VAI 16 Bit Go To Pos From Act Pos And Act Vel OA3xh Name Byte Description Type Unit Offset Header OA3xh VAI 16 Bit Go To Pos From Act Pos And Ulnt16 Act Vel 1 Par Target Position SInt16 Scaled This command starts a new VAI setpoint generation from the actual position can be used after a press command Page 50 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 92 Predef VAI 16 Bit Go To Pos From Act Pos Starting With De
59. ab ea eus 90 1 2 2 3 Delayed Re 90 7 2 2 4 Inhibited amp Delayed Trigger Mode uie oie D na Rt iue 9 7 2 3 X4 8 and X4 9 Limit SWHOROR eerte toe nite eset as feed d peer d fel ave Mea 91 724 X4 TD and KAA EP TE Tand PTG uso asse p t EREMO elati e ape oA etie 91 7 2 5 X4 12 SVE Safety Voltage Enable oes es ica tot vec ponte EORUM ERO YNU 92 T OM BS PERE CONDE EE e acl t dut 92 E MONITORISG anos docta t emt DLE el oc Ate Ae D xD M e UE 93 d I LOGIE Supply Volla pe auina tania cone detis Lodel tici ien oe scien at ets 93 7 4 2 Motor Supply Voltage idt stel teer esp tds Le stel Ru RH Rh Ped pats 93 TAZ Phase Switch On TES eot steep enl eoa tette ive Mte DER Aceh 94 E 94 7 4 4 Temperature MORNVOPIIE EE 95 FER POSCTRESTRUCTURE T 96 8MOTOR CONFIGURATION 8 1 GENERIC MOTOR TEMPERATURE CALCULATED E 97 9STATE MACHINE SETUP 10 ERROR CODE LIST 11CONTACT ADDRESSES Page 9 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot System Overview This user Manual describes the Motion Control SW functionality of the LinMot E1200 E1400 drives 1 1 References Ref Title Source 3 Usermanual_LinMot Talk_4 pdf www linmot com The documentation is distributed with the LinMot Talk configuration software or can be downloaded from the Internet from the download section of our homepage 1 2 Definitions Items Shortcuts Shortcut Meaning OS Operating system Software Appl Application So
60. ame for E1100 E1200 and E1400 drives but are different for the B1100 drives In this documentation the E1100 E1200 E1400 UPIDs are used If a UPID for a B1100 drive is needed a conversion list can be generated with the LinMot Talk software 7 1 Power Bridge The E1100 B1100 drives are divided into three different power classes The normal drives have a maximal current of 8A the high current name extension HC variant has a maximal current of 15A and the extreme current name extension XC has a maximal current of 25A The E1200 series is only available as ultra current drives name extension UC with a current maximum of 32A 7 2 X4 I O Definitions The functionality of most IOs can be programmed as a control word input bit or status word output bit or they can be used as interface IO and read out or written over a serial bus interface Apart from this general functionality a few lOs have a special functionality Descriptor General Special Functions Purpose IO X4 3 Yes Brake Output X4 4 Yes Analog In X4 5 Yes Capture Input X4 6 Yes Trigger Input X4 7 Yes Home Switch Input X4 8 Yes Limit IN Input X4 9 Yes Limit OUT Input 24V Step Input X4 10 Yes PTC 1 Input 24V Direction Input X4 11 Yes PTC 2 Input X4 12 No SVE Safety Voltage Enable Input 7 2 1 X4 3 Brake X31 X32 with E1400 Drive With the E1400 drives the brake is available only on the X32 connector the X31
61. anical stop After an error it is also recommended to move to a defined position again 3 12 State 12 Aborting Clearing the Abort bit in the control word initiates a quick stop After the motion has stopped the servo rests position controlled Setting the bit again the drive rests in position until a new motion command is executed 3 13 State 13 Freezing Clearing the Freeze bit in the control word initiates a quick stop After the motion is stopped the servo rests position controlled Setting the bit again the drive will finish the frozen motion e g if it was a VAl command Curve motion can be frozen but not restarted by releasing this bit setting the bit again the motor moves at the target position of the last VAI command if never used a VAI command it will go to the initial position 3 14 State 14 Error Behaviour Quick Stop Most of the errors which can occur during an active motion cause a quick stop behavior to stop the motion After the quick stop is finished the motor is no longer position controlled 3 15 State 15 Going To Position Setting the Go To Position bit in the control word the serveo moves to the defined position recommendable for example after an error to move to a defined position again 3 16 State 16 Jogging Setting the Jog Move bit in the control word the servo moves either a defined position increment or to the maximal position with a limited speed Releasing the bit will stop the motion
62. ask Uint16 Condition Value Uint16 Command Table ID IF TRUE Uintl6 1 255 Command Table ID IF FALSE Uint16 4 3 212 IF CAM Counts Less Than 266xh Byte Description Type Unit Offset Header O 256xh IF CAM Counts Less Than Ulnti 1 Par 2 Condition Value Sint32 Counts eed PELLI ee a Par Command Table ID IF FALSE Uint16 1 255 4 3 213 Encoder Winding Stop Adaptation Of Left Right Position and Disturbance 304xh Name Byte Description Type Unit Offset Header 0 304xh Encoder Winding Stop Adaptation Of Ulnt16 Left Right Position And Disturbance 4 3 214 Encoder Winding Restart Adaptation Of Left Right Position and Disturbance 305xh Byte Description 4 3 215 Encoder Curve Winding Start With Default Parameters 310xh Name Byte Description Offset 310xh Encoder Curve Winding Start With Default Ulnt16 Parameters Curve ID UInt16 Page 77 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 216 Encoder Curve Winding Start With Default Parameters At Revolutions 311xh Name Byte Description Offset 311xh Encoder Curve Winding Start With Default Ulnt16 Parameters At Revolutions Curve ID Ulnt16 ursi Revolution Counts To Start SInt32 4 3 217 VAI Go To Pos With Higher Force Ctrl Limit 380xh INE Taare Byte Description Type Unit Offset Header O 380xh VAI Go To Po
63. ath in the motor inclusive cabling the phase voltage is approx 6 5V when in power off state When moving the motor the induced voltage may lead to HW test error Parameter Name UPID Description Low Level powering up an error will be generated Phase Voltage 102Dh If one of the phase voltages is above this limit before High Level powering up an error will be generated As a next motor cabling test step one single end of a phase is set to half of the motor supply voltage At this time the current into the drive has to be below the Phase Test Max Incurrent value An error will be generated otherwise Parameter Name UPID Description Phase Test Max 102Eh If the current rises above this limit if one edge of a phase is Incurrent set to a voltage en error will be generated 7 4 3 Regeneration Resistor The regeneration resister terminals on X1 can be used for energy dissipation when the motor is decelerating Parameter Name UPID Description Enable 101Dh The regeneration resistor output can be activated with this parameter e 0 Disable e 1 Enable In the configuration section the switch on and off voltage levels for the regeneration resistor can be defined The turn on voltage has to be at minimum 0 5V higher than the turn off voltage Ensure that the idle motor supply voltage is lower than the turn off voltage Parameter Name UPID Description side switch of the regeneration output is acti
64. ation Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s Page 32 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 21 VAI Go To Pos On Falling Trigger Event 01Cxh ame Byte De eile pe c Header 0 01Cxh VAI Go To Pos On Falling Trigger Event Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration UInt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s 4 3 22 VAI Increment Target Pos On Falling Trigger Event 01Dxh Name Byte Description Type Unit Offset Header 0 01Dxh VAI Increment Target Pos On Falling Ulnt16 Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocit UInt32 1E 6 m s 3 Par 10 Acceleration UInt32 1E 5 m s 4 Par 14 Deceleration UInt32 1E 5 m s 4 3 23 VAI Change Motion Parameters On Positive Position Transition 01Exh Name Byte Description Type Unit Offset Header 0 01Exh VAI Change Motion Parameters On Positive Ulnt16 Position Transition 1 Par 2 Transition Event Position SInt32 0 1 um 2 Par_ 6 Max Velocity After Event Ulnt32 1E 6 m s 3 Par 10 Acceleration After Event Ulnt32 1E 5 m s 4 Par 14 Deceleration After Event UInt32 1E 5 m s This motion command moves an event change position an event maximal speed an event acceleration and an event deceleration to the eve
65. bout 300ms 3 7 State 6 Ready to Operate In this state the motor is either position controlled or with demand current 0 and under voltage but no motion commands are accepted The mode is configurable with UPID 6300h Sending motion commands in this state will generate the error Motion command sent in wrong state and a state change to the error state will be performed Clearing the control word bit 3 Enable Operation in state 8 or higher will stop immediately the set point generation and a state transition to 6 is performed Clearing the bit while a motion is in execution a following error might be generated Page 14 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 3 8 State 8 Operation Enabled This is the state of the normal operation in which the motion commands are executed It is strongly recommended to use the State Var for the motion command synchronization with any fieldbus system State Var Main State 8 H Motion Command Count oOc cto 2odctoz n T a r g e t P o S it i o n In the high byte stands the number of the main state 8 In the low byte stands in the lowest 4 bits the actual interpreted Motion Command Count bit 4 indicates if the event handler is active in bit 5 stands the status word bit Motion Active in bit 6 the status word bit In Target Position and in bit 7 the status word bit Homed Because the Motion Command Count
66. but it can be assumed that the motor stands still Actual Velocity assumed to be zero e g because the motor stands on a hard stop This can happen after a Press command where the actual motor position is defined through external conditions and the motor can not and had not to follow the demand position By starting this command the former accepted difference between Actual Position and Demand Position can be eliminated 4 3 133 Sin VA Increment Actual Pos 0E6xh Description OE6xh Sin VA Increment Actual Pos 2 Position Increment SInt32 0 1 um 6 Maximal Velocit UInt32 1E 6 m s 10 Acceleration Ulnt32 1E 5 m s 1 Par 2 Par 3 Par Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Actual Position value relative move The command execution starts immediately when the command has been sent 4 3 134 Sin VA Go To Pos After Actual Command 0E8xh Description OE8xh Sin VA Go To Pos After Actual Command UInt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocit UInt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity The command execution is delayed until
67. can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 0x1039 4 3 140 Bestehorn VAJ Go To Pos 0FO0xh Description Header OFOxh Bestehorn VAJ Go To Pos UInt16 1 Par Target Position SInt32 Maximal Velocit 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed Page 62 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 141 Bestehorn VAJ Increment Demand Pos 0F1xh ame Byte De ptio pe c Header 0 OF 1xh Bestehorn VAJ Increment Demand Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Demand Position value relative move The command execution starts immediately when the command has been sent 4 3 142 Bestehorn VAJ Go To Pos From Actual Pos 0F4xh Name Byte Description Type Unit Offset Header O OF4xh Bestehorn VAJ Go To Pos From Actual Pos UInti6 ssi SInt32 2 Par 6 Maximal Velocit Ulnt32
68. ceive time stamp This minimizes the bad influence of the transmission jitter The position setpoint generation in these modes is delayed 1 5 times the streaming cycle time e g with 2ms streaming period time the delay is 3ms In the P streaming mode it is possible that depending on the cycle time a quiet noisy motion is generated this because of the twice derivation of the position signal to generate the acceleration value In this case it is recommended to set the position controller value FF Acceleration UPID 0x13A0 and 0x13B4 to zero 1 P V Streaming with CANOpen is only possible with transmission type 1 synchronous transmission Page 84 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 5 5 Cam Motions NOTE Cam motions are not available in the B1100 drives For high speed synchronization different modes of cam motions are supported The motions are defined with cam curves which can be defined with the curve tool of the LinMot Talk software 5 5 1 Triggered Cam Motions For triggered cam motions setup the master encoder and then set cam mode UPID1527h to infinite length Then use the motion commands 069xh or O6Bxh to setup the cam curves which should be started at the trigger event or use the triggered cam curve run mode 5 5 2 Repeated Cam Motions with the Modulo CamMode For repeated cam motions setup the master encoder and then set cam mode U
69. coder CAM Set Value Ulnt16 1 Par 2 Counter Value SInt32 1 Incr Page 66 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 154 Encoder Cam y Define Curve With Default Parameters 1yOxh At the moment two cams can be defined In the following y 1 stands for cam 1 and y 2 stands for cam 2 ame Byte WS ptio pe c Header 0 1yOxh Encoder Cam y Define Curve With Default Ulnt16 Parameters y 1 2 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Curve Start Count SInt32 1 Incr 4 3 155 Encoder Cam y Define Curve From Act Pos 1y1xh Name Byte Description Type Unit Offset Header 0 1y1xh Encoder Cam y Define Curve From Act Pos Ulnt16 y 1 2 1 Par 2 Curve ID Ulnti6 1 100 Curve Start Count SInt32 If the encoder value is in the range of cam y the motor has to be at the start position of the cam y during the command setup to set the position start point of cam y correctly 4 3 156 Encoder Cam y Define Curve To Pos 1y2xh Name Byte Description Type Unit Offset en ae 1y2xh Encoder Cam y Define Curve To Pos Ulnt16 EE 1 2 Uint16 1 100 Curve Start Count SInt32 3 Par 8 Target Position SInt32 If the encoder value is in the range of cam y the motor has to be at the start position of the cam y during command setup to set the position start point correctly of cam y 4 3 157 Encoder Cam y Define Curve From Pos To Pos In Co
70. ct Pos And Reset Force Control Set I 386xh 80 4 3 224 VAI Increment Act Pos And Reset Force Control Set I 387xh ss 80 4 3 225 Current Command Mode 390xh i io tope tei eet tret uci tend v its 80 4 3 226 Change to Position Controlled Mode 39Fxh ere t eene 80 SSETPOINT GENERATION Sul EE 81 Oy Parameters and Output eoe S ate RR owe 8 Page 8 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 2 2 SINE Ee 82 25 2 41 Parameters and Outputs iua eet qe roto rectas do er eo eode eee ab enis ee i ec 82 5 3 BESTEHORN VAJ MOTION a bae iba sie te AN a sque dale tad su dida du sia i 83 2 3 TT EE EELER EE 83 J4 PCV SS TREANM EE 84 5 5 CAM MOTIONS TE 85 E E 85 5 5 2 Repeated Cam Motions with the Modulo Com Mode 85 6COMMAND TABLE 7DRIVE CONFIGURATION Tel voids e cT 87 TXA VO DDERINEDIONSS cu ioci Sta sd n Deae ars one bia ee pede O e Ust ges det peu D Eon ads 87 7 2 1 X4 3 Brake X31 X32 with E1400 Drive aside sch bote s e et is 87 7 2 1 1 X4 3 Brake Operation Enabled Behavior seen 88 7 2 1 2 X43 Brake Operation Abort Behavior scusteso tese coi tur deett bates tete eub dno un 88 7 2 1 3 X4 3 Brake Operation Quick Stop Bchavior 89 APP CX UID ILAA A TERRENCE crm 89 12 221 Direct Trig ger Mode ios eonun UI sa Woe ti DoD Doe issu etait Caylee 89 7 222 ADE Trigger Mode ee prr ips Rot dana de
71. d Page 52 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 103 VAI Predef Acc Go To Pos From Act Pos Starting With Dem Vel 0 0B4xh AEG Byte Description Type Unit Offset OB4xh VAI Predef Acc Go To Pos From Act Pos UInt16 Starting With Dem Vel 0 n e 2 Target Position SInt32 0 1 um 2 Pa 6 Maximal Velocity UInt32 1E 6 m s This command starts a new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 104 VAI Predef Acc Go To Pos After Actual Command 0B8xh Name Byte Description Type Unit Offset Deet OB8xh VAI Predef Acc Go To Pos After Actual Ulnt16 EE Command EE Target Position SInt32 2 Par Maximal Velocity Ulnt32 JE 6 m s This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 105 VAI Predef Acc Go To Pos On Rising Trigger Event OBAxh Description Type Unit OBAxh VAI Predef Acc Go To Pos On Rising Ulnt16 Trigger Event keer 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 4 3 106 VAI Predef Acc Increment Target Pos On Rising Trigger Event OBBxh Name Byte Description Type Unit Offset Header OBBxh VAI Predef Acc Increment Target Pos On Ulnt16 Rising Trigger Event SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s 4 3 107 VAI Pred
72. d Bit 7 Reset Error Control Word Bit 1 Control Word Bit 2 Release with 0 of Control word bit 0 Switch On No bit is set in the Warn Word One or more bits in the Warn Word are set Event Handler cleared or disabled Event Handler setup Special motion commands Homing runs 10 Not In Pos Motion active or actual position out of window In Target Position 1 In Pos Actual position after motion in window 11 Homed 12 Fatal Error TD Active 0 1 0 1 14 Not In Range 1 Defined UPID is not in Range 1 Range Indicator 1 In Range1 Defined UPID is in Range 1 ER Indicator 2 Motor not homed Motor homed Fatal Error No Motion Motion active Not In Range 2 In Range2 Incremental sensor not homed referenced Position sensor system valid A fatal error can not be acknowledged Setpoint generation inactive Setpoint generation VAI curve active Defined UPID is not in Range 2 Defined UPID is in Range 2 Page 19 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 3 24Warn Word Following table shows the meaning of the single bits of the Warn Word Bit Name 0 Motor Hot Sensor 1 Motor Short Time Overload 42t 2 Motor Supply Voltage Low 3 Motor Supply Voltage High 4 Position Lag Always 5 Reserved 6 Drive Hot 7 Motor Not Homed 8 PTC Sensor 1 Hot a of of of a of offs CH Meaning Normal Operation Mot
73. download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 60 Modify Curve Data Block 32 Bit Value in RAM 054xh ame Byte De eile pe O Header 0 054xh Modify Curve Data Block 32 Bit Value in Ulnt16 RAM 1 Par 2 Curve ID Ulnt16 1 100 2 Par 4 Offset in Byte Uinti6 0 3 Par 6 Curve point value Sint32 This command allows to modify in RAM a 32 bit value within the Curve Data Block of a curve with existing curve start address and curve info header block with the given ID The offset argument defines on which position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior Page 42 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 61 Modify Curve Data Block 64 Bit Value in RAM 055xh ame Byte DI eile ers O Header 0 055xh Modify Curve Data Block 64 Bit Value in Ulnt16 RAM 1 Par 2 Curve ID Ulnt16 1 1
74. e 2 has contact to phase 1 Ph2 Wired To Ph1 Recommended actions check motor wiring check motor 0034h Err Motor phase 2 has contact to phase 1 Ph2 Wired To Ph1 Recommended actions check motor wiring check motor 0035h Err Motor phase 2 has no connection to phase 2 Ph2 Not Wired To Ph2 Recommended actions check motor wiring check motor 0036h Err Short circuit between motor phase 1 and phase 2 Ph1 Short Circuit To Ph2 detected Recommended actions check motor wiring check motor 0037h Err Short circuit between motor phase 1 and phase 2 Ph1 Short Circuit To Ph2 detected Recommended actions check motor wiring check motor 0038h Err Short circuit between motor phase 2 and phase 1 Ph2 Short Circuit To Ph1 detected Recommended actions check motor wiring check motor 0039h Err Short circuit between motor phase 2 and phase 1 Ph2 Short Circuit To Ph1 detected Recommended actions check motor wiring check motor O003Ah Err Motor phase U broken Phase U Broken Recommended actions check motor wiring check motor OO3Bh Err Motor phase V broken Phase V Broken Recommended actions check motor wiring check motor 003Ch Err Motor phase W broken Phase W Broken Recommended actions check motor wiring check motor Page 102 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 0040h Err X4 3 brak
75. e Info Block 32 Bit Value in RAM 052xh sss 42 4 3 60 Modify Curve Data Block 32 Bit Value in RAM U vb sss 42 4 3 61 Modify Curve Data Block 64 Bit Value in RAM 055xh sss 43 4 3 62 Modify Curve Data Block 96 Bit Value in RAM 056xh sss 43 4 3 63 Setup Encoder Cam On Rising Trigger Event With Delay Counts 069xh 43 4 3 64 Setup Encoder Cam On Rising Trigger Event With Delay Counts Target Pos and Length 00x ses tele ptetiqeiei eva eere eb bee eh ett Ae deg 44 4 3 65 Setup Encoder Cam On Falling Trigger Event With Delay Counts 06Bxh 44 4 3 66 Setup Encoder Cam On Falling Trigger Event With Delay Counts Target Pos ang Lenth 06CXh e ed sepu a pne careat Ben ddnde E Nott PA RARE EY dn 44 4 3 67 Setup Encoder Cam On Rising Trigger Event With Delay Counts Amplitude scale and Length OCI ee Seeerei eebe ee 45 4 3 68 Setup Encoder Cam On Falling Trigger Event With Delay Counts Amplitude scale amd Cete liU E t sunto Ee rot eo Eege 45 4 3 69 Start VAI Encoder Position Indexing d Zb 45 4 3 70 Start Predef VAI Encoder Position Indexing 07 Ixh sss 46 4 3 71 Stop Position Indexing and VAI Go fofbosd Ech 46 4 3 72 Stop Position Indexing and VAI Go To Pos 07Fxh sese 46 4 3 73 VAI 16 Bit Go To Pos ODO osc casein ess ttstons et aise oe eese ene he tene El 46 4 3 74 VAI 16 Bit Increment Dem Pos 09 Ixh sse 47 4 3 75 VAI 16 Bit Increme
76. e Live Parameter 0023 1 sesticaneseast dos arare susie NO uous RAN eut 28 4 3 4 Write X4 Intf Outputs with Mask 003xh sss 28 4 3 5 Select Position Controller Set 0053 5 sse e OWN TU ENTRE REY 29 4 3 6 Clear Event Evaluation 0USXA2J 4 laa soc ute me dnm rers RO 29 Page 3 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 4 3 7 Master Homing EE 29 4 O Reset OU UD ical cacao te e e set pha tale iuit eR th cruci so oh Det an d EU 29 49 VAT EE 29 4 3 10 Al Increment Dem os OL Do xdi datas e brevia ED eio bsp ea ded f 30 4 3 11 VAI Increment Target Pos 01 edel eeh 30 4 3 12 VAI Go To Pos From Act Pos And Act Vel 013xh sss 30 4 3 13 VAI Go To Pos From Act Pos Starting With Dem Vel 0 014xh 3l 4 3 14 VAI Increment Act Pos OLIN osea ikke tre s E 31 4 3 15 VAI Increment Act Pos Starting With Dem Vel 0 016xh sss 31 SE EE 3l 4 3 17 VAI Go To Pos After Actual Command 018xh sse 32 4 3 18 VAI Go To Analog EE 32 4 3 19 VAI Go To Pos On Rising Trigger Event UI Ach 32 4 3 20 VAI Increment Target Pos On Rising Trigger Event 01Bxh sues 22 4 3 21 VAI Go To Pos On Falling Trigger Event 01Cxh sss 33 4 3 22 VAI Increment Target Pos On Falling Trigger Event 01 Dh 33 4 3 23 VAI Change Motion Parameters On Positive Position Transition 01Exh 33 4 3 24
77. e driver reports error X4 3 Brake Driver Error Recommended actions check for short circuit on X4 3 0041h Err X4 3 X4 11 output driver reports error Dig Out X4 4 X4 11 Status Recommended actions check for short circuit on outputs X4 4 X4 11 or output configurations 0042h Err X6 output driver reports error Dig Out X6 Status Recommended actions check for short circuit on outputs X6 0044h Err Ground fuse for digital outputs on X4 blown X4 Dig Out GND Fuse Blown Recommended actions check X4 wiring contact support for repair 0045h Fatal Err Motor communication lost Motor Comm Lost Recommended actions Power down and check motor wiring and motor replace cable and or motor 0046h Err PTC 1 on X4 10 broken or not connected PTC 1 Broken Recommended actions Power down and check PTC 1 wiring and resistance 0047h Err PTC 1 on X4 10 short to 24V PTC 1 Short To 24V Recommended actions Power down and check PTC 1 wiring and resistance 0050h Setup Err Setup error hardware is not supported by the software HW Not Supported Recommended actions download correct firmware contact support 0051h Setup Err Software key and access code for special functionality is SW Key Missing missing Recommended actions Order the SW key with your support together with the serial number of your HW 0058h Runtime Err Runtime error MC SW was not able to change ROM write error parameter value in ROM Recommended actions verify PLC is not configuring
78. ef Acc Go To Pos On Falling Trigger Event OBCxh ame Byte De ptio pe a Header 0 OBCxh VAI Predef Acc Go To Pos On Falling Ulnt16 Trigger Event 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s Page 53 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 108 VAI Predef Acc Increment Target Pos On Falling Trigger Event OBDxh Name Byte Description Type Unit Offset OBDxh VAI Predef Acc Increment Target Pos On Ulnt16 Falling Trigger Event a Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity 1 LU 1E 6 m s 4 3 109 VAI Dec Acc Go To Pos 0COxh Name Byte Description Type Unit Offset Header 0 OCOxh VAI Dec Acc Go To Pos Ulnti6 Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s Acceleration Deceleration Ulnt32 1E 5 m s 4 3 110 VAI Dec Acc Increment Dem Pos 0C1xh ame Byte De eile es c Header 0 OC1xh VAI Dec Acc Increment Dem Pos Ulnt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s 4 3 111 VAI Dec Acc Increment Target Pos 0C2xh Byte Description Type Unit Offset Header 0 OC2xh VAI Dec Acc Increment Target Pos Uinti6 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration Ulnt32 1E 5 m s
79. er CAM Set Value 11h Oh X X Encoder CAM 1 Define Curve With Default Parameters 1h X X Encoder CAM 1 Define Curve From Act Pos 2h X X Encoder CAM 1 Define Curve To Pos 3h X X Encoder CAM 1 Define Curve From Pos To Pos In Counts 4h X X Encoder CAM 1 Define Curve To Pos In Counts bh XX Encoder CAM 1 Define Curve with Amplitude Scale In Counts 6h X X Encoder CAM 1 Enable 7h X X Encoder CAM 1 Disable 8h __ X X Encoder CAM 1 Change Amplitude Scale and Length 12h Oh X X Encoder CAM 2 Define Curve With Default Parameters 1h X X Encoder CAM 2 Define Curve From Act Pos 2h X X Encoder CAM 2 Define Curve To Pos 3h XX Encoder CAM 2 Define Curve From Pos To Pos In Counts 4h X X Encoder CAM 2 Define Curve To Pos In Counts bh XX Encoder CAM 2 Define Curve with Amplitude Scale In Counts 6h X X Encoder CAM 2 Enable 7h X X Encoder CAM 2 Disable 8h_ X X Encoder CAM 2 Change Amplitude Scale and Length 20h Oh X X Start Command Table Command 1h X X Start Command Table Command On Rising Trigger Event 2h X X Start Command Table Command On Falling Trigger Event 8h X X Modify Command Table 16 bit Parameter in RAM 9h X X Modify Command Table 32 bit Parameter in RAM 21h Oh X X Wait Time 1h X X Wait Until Motion Finished Page 25 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW Lin Mo t
80. er Err PVT Buffer Underflow User error The PLC program has sent the stream position commands too slowly the buffer had an underflow Streaming has to be strictly cyclic Recommended actions check PLC program check the fieldbus by using bus monitor tools 0084h User Err PVT Master Too Fast User error The PLC program has begun to send PVT streaming command The commands were too close to each other The drive expects new streaming commands every 2ms to 5ms Recommended actions check PLC program check the fieldbus by using bus monitor tools 0085h User Err PVT Master Too Slow User error The PLC program has begun to send PVT streaming command The cycle time between the streaming commands has been too long The drive expects new streaming commands every 2ms to 5ms Recommended actions check PLC program check the fieldbus by using bus monitor tools Page 104 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW User error The PLC program has sent a motion command while the drive was not in an appropriate 0086h User Err Motion Cmd In operational state Most of the motion commands are Wrong St accepted only in operational state 8 Operation Enabled Recommended actions check the PLC program User error The motor moved into the Limit Switch In 0087h User Err while it was still in the stroke range Limit Switch In High Recomme
81. ers with smaller data size e g only the lowest bit is considered for Boolean parameters The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer other ways to read and write parameter values directly Mostly a direct access is more comfortable than the way over the motion command interface 4 3 4 Write X4 Intf Outputs with Mask 003xh Name Byte Description Type Unit Offset 0 003xh Write X4 Intf Outputs with Mask Ulnt16 2 Bit Mask Bit 0 X4 3 Bit 1 X4 4 Ulnt16 4 Bit Value Bit 0 X4 3 Bit 1 X4 4 Ulnt16 This command allows writing the configured X4 interface outputs with a write mask through the motion command interface To write an output the corresponding bit in the mask must be set Bit 0 is mapped to output X4 3 bit 1 to output X4 4 etc Page 28 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 4 3 5 Select Position Controller Set 005xh This command selects the active position controller set A B UPID 0x1393 For set A the ID is 0 and for Set B the ID is 1 4 3 6 Clear Event Evaluation 008xh Name Byte Description Type Unit Offset Header 0 008xh Clear Event Evaluation UInt16 This command resets the event handler The event handler becomes active if a motion command has been sent that does not immediately start but waits with its execution until other conditions are fulfilled e g command VAI
82. es and is flash only for this reason it is not possible to write or modify the table over a serial interface The command table functionality can be used for programming sequences directly in the drive The following examples illustrate the possibilities of the command table The shown command table can be loaded from the defaults CT Example Imc X LinMot Talk1100 V3 6 Beta 20060427 File Search Controller Services Options Window Tools Manuals Help BSS S 8 weno PMO X vudsgEGA dSm f Project fl 2 H E My Box ID 17 on CAN E um peer JS Control Panel tg Parameters Entry ID bh aE 0s o ET Motion Control Sw E Nane Petraea E Linns Motion Command Category Conditions E amp Y Variables Motion Command Type IF Actual Position Less Than zc User Defined Condition Value 48 mm i OS SW Operating Hour Cou Table Command ID IF TRUE 18 gt GoTo 0 mm OS SW Message Error DS SW Hw Configuration Table Command ID IF FALSE 21 gt GoTo 0 mm OS Hash Value E 05 SW Status Low ST OS SW Keys MC SW Overview ME SW Motor 0 Name Tye 0 0 0 0 Pac rs2 Pa Pat SeguencedEny Weed 1 GoTo 50mm VAI Go To Pos Pos 50 mm Vet 0 5 m s Ace 2m s 2 Dec 1m s 2 2 Wait Motion
83. finished then starts the new defined VAI motion 4 3 32 Predef VAI Go To Pos On Rising Trigger Event 02Axh Name Byte Description Type Unit Offset 0 02Axh Predef VAI Go To Pos On Rising Trigger Ulnt16 Event 2 Target Position SInt32 0 1 um 4 3 33 Predef VAI Increment Target Pos On Rising Trigger Event 02Bxh Name Byte Description Type Unit Offset Header 02Bxh Predef VAI Increment Target Pos On Rising Ulnt16 Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 4 3 34 Predef VAI Go To Pos On Falling Trigger Event 02Cxh ame Byte Br eile ers O Header 0 02Cxh Predef VAI Go To Pos On Falling Trigger Ulnt16 Event 1 Par 2 Target Position SInt32 0 1 um Page 35 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 35 Predef VAI Go To Pos On Falling Trigger Event 02Dxh ame Byte DI ptio pe O Header 0 02Cxh Predef VAI Go To Pos On Falling Trigger Ulnt16 Event Top ape Target Position SInt32 0 1 um 4 3 36 Predef VAI Infinite Motion Positive Direction 02Exh Name Byte Description Type Unit Offset Header O 02Exh Predef VAI Infinite Motion Positive Direction Ulnt8 4 3 37 Predef VAI Infinite Motion Negative Direction 02Fxh Byte Description Type Unit Offset Header 0 02Fxh Predef VAI Infinite Motion Negative Direction Ulnt16 4 3 38 P Stream With Slave Generated Time Stam
84. ftware VA Interpolator Max velocity limited acceleration position interpolator Pos Position o Vel Velocity Deceleration UPID Unique Parameter ID 16 bit 1 3 Data types Type Range Format Num of bytes Bool Boolean False True 0 255 String Array of char last char 00h 2 SInt16 32768 32767 Ulnt16 0 65535 SInt32 2147483648 2147483647 4 Ulnt32 0 4294967295 4 Des Page 10 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW Lin Mot 2 Motion Control Interfaces For controlling the behavior of the motion control SW two different Interfaces are available For controlling the main state machine a bit coded control word can be used For controlling the motion functionality a memory mapped motion command interface can be used These two instances are mapped via an interface SW to an upper control system PLC IPC PC The interfacing is done with digital I Os or a serial link like Profibus DP CAN bus CANopen RS485 RS422 or RS232 LinRS protocol Ethernet POWERLINK EtherCAT Ethernet IP With LinMot Talk the control over the control word can be taken bit by bit for testing and debugging Unused control word bits can be forced by parameter value Also the control of the motion command interpreter can be switched to the control panel of the LinMot Talk software for testing All this can be done while the system is running so be care
85. ful using this features on a running machine Realtime Machine Control Monitoring Testing Simulating PLC LinMot Talk1100 with serial bus Control Panel Interface Control Motion Control Word Motion Word Command Parameter Force Values Command Registers Registers Control Word Intf Control Word Motion Command Event Copy Mask Parameter Force Mask Interface Selector Handler Control Word Status Word Command Response l i Registers Registers State Machine Control Motion Command Interpreter Axle Control Page 11 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW Lin Mot 3 State Machine The main behavior of the axles is controlled with the control word it is shown in the following state diagram Switch On 0 Not Ready to Bit 0 0 Switch On Disabled 1 Control Word XXXX XXXX xxxx x110 Ready to Switch On 2 ES Bit 0 1 HW Tests 5 Ready to Operate 6 SC Bit 3 1 Operation Bit 0 0 Enabled 8 Error 4 Setup Error 3 Error Behavior Quick Stop 14 Switch Off OTT Si Disable QuickStop Voltage Homing 9 Aborting 12 Going To Position 15 Freezing 13 Linearizing 18 Clearance Chesne Eo Jogging 16 Phase Searching 19 Going To Initial Position 11 Jogging 17 Special Mode 20
86. generates a position curve from one position to another due to the parameter values of target position maximal speed and acceleration A new target position can only be started when the previous motion was finished Position 60 40 20 Velocity o O 1 0 2 0 3 0 4 0 5 Acceleration N H D H ui noir DM N 5 2 1 1 Parameters and Output The Sine Motion is defined by the following parameters e Target Position SInt32 0 1um s e Maximal Speed UlInt32 1E 6 m s e Acceleration UInt32 1E 5 m s The Sine Motion generates as outputs e Position SInt32 0 1um e Velocity SInt32 1E 6 m s e Acceleration SInt32 1E 5 m s Page 82 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 5 3 Bestehorn VAJ Motion The Bestehorn generates a position curve from one position to another due to the parameter values of target position maximal speed acceleration and jerk A new target position can only be started when the previous motion was finished Position 120 100 80 So 40 20 o o 0 05 O 1 O 15 Oo 2 velocity 1 2 o s 4 O 6 4 O 4 4 O 2 4 o Q O05 C L 0 15 CO 23 Acceleration 20 15 10 5 e 5 10 15 20
87. gh parameter 1473h Recommended actions check the motor load check the motor stroke range for possible collisions check the position controller setup check the setpoint generation unreachable speed acceleration values check the motor sizing 000Ch Err Pos Lag Standing Too Big Not on B1100 The motor was not able to reach the target position or was not able to stay at the target position The maximal allowed position difference is defined through parameter 1475h Recommended actions check the motor load check the motor stroke range for possible collisions check the position controller setup check the motor sizing O000Dh OOOEh Fatal Err X1 Pwr Over Current Err Supply Dig Out Missing Over current on X1 detected Recommended actions check motor wiring check motor configuration for PO1 48 type motors set parameter 11F4h to value 0001h Drive board defective Recommended actions contact support for repair OOOFh Err The PTC 2 sensor on X4 11 is hot or not connected PTC 2 Sensor Too Hot Recommended actions check the temperature check the wiring 0010h Err Drive power bridge phase 1 too hot Drive Ph1 Too Hot Recommended actions check motor wiring 0011h Err Drive power bridge phase 1 too hot Drive Ph1 Too Hot Recommended actions check motor wiring 0012h Err Drive power bridge phase 2 too hot Drive Ph2 Too Hot Recommended actions check motor wir
88. h VAI Go To Pos With Higher Force Ctrl Limit Ulnt16 and Target Force 1 Par 2 Target Position Sint32 0 1 um 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s 3 Par 10 Acceleration UInt32 1E 5 m s 4 Par 14 Force Limit Sinti6 0 1 N 5 Par 16 Target Force Sinti6 0 1 N Moves to the defined target position if the measured force reaches the higher force limit the drive switches to the force control mode with target force target force To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh 4 3 221 VAI Go To Pos With Lower Force Ctrl Limit 384xh INE Taare Byte Description Type Unit Offset Header 0 384xh VAI Go To Pos With Lower Force Ctrl Limit Ulnt6 SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s 4 Par Force Limit Sint16 0 1N Moves to the defined target position if the measured force reaches the lower defined value the drive switches to the force control mode with target force force limit To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh 4 3 222 VAI Go To Pos With Lower Force Ctrl Limit and Target Force 385xh Name Byte Description Type Unit Offset Header 0 385xh VAI Go To Pos With Lower Force Ctrl Limit Ulnt16 and Target Force 1 Par 2 Target Position Sint32 0 1 um 2 Par 6 Maximal Velocit
89. he brake mode to Ctrl Word Abort the brake is applied in state Aborting 12 and the maximal current of the motor is set to OA If using this behavior ensure that the maximal current UPID 13A6h and 13BAh is not set over a serial bus during the state Aborting 12 Parameter Name UPID Description Apply Delay 171Bh Delay time after brake output goes to OV until the maximal Time current of the motor is set to OA UPID 13A6h and 13BAh Release Delay 171Ch Delay time of the Status Word bit Operation Enabled after Time the motion has stopped Page 88 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 7 2 1 3 X4 3 Brake Operation Quick Stop Behavior If also the Quick Stop brake behavior is selected the brake is applied X4 3 OV as soon as the motion has stopped then the reset of the Operation Enabled bit is delayed by the apply delay time which then also powers off the motor Parameter Name UPID Description Apply Delay 171Bh Delay time of the Status Word bit Operation Enabled after Time the motion has stopped 7 2 2 X4 6 Trigger For the trigger input which is evaluated in the motion control task different evaluation modes are supported Parameter Name UPID Description Trigger Modes 170Ch Trigger mode selection e 0 None 1 Direct 2 Inhibited 3 Delayed 4 Inhibited amp Delayed
90. imal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity 4 3 131 Sin VA Increment Demand Pos 0E1xh Name Byte Description Type Unit Offset Header 10 OE1xh Sin VA Increment Demand Pos Ulti6 1 Par 2 Position Increment SInt32 EE Maximal Velocit Ulnt32 1E 6 m s 3 Par Acceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Demand Position value relative move The command execution starts immediately when the command has been sent Page 59 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 132 Sin VA Go To Pos From Actual Pos 0E4xh ame Byte De eile es c Header 0 OE4xh Sin VA Go To Pos From Actual Pos Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity The command execution starts immediately when the command has been sent This command should be used if the Actual Position does not match with the current Demand Position value
91. ime Xxx XI K DK X lt gt lt gt lt XX gt lt gt lt gt lt x x Page 22 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW Lin Mo 4h X X PVA Stream With Slave Generated Time Stamp 5h X X PV Stream With Slave Generated Time Stamp and Configured Period Time Fh X X Stop Streaming 04h Oh Als Time Curve With Default Parameters 1h X X Time Curve With Default Parameters From Act Pos 2h X X Time Curve To Pos With Default Speed 3h X X Time Curve To Pos With Adjustable Time 4h X X Time Curve With Adjustable Offset Time Scale amp Amplitude Scale 5h X X Time Curve With Adjustable Offset Time amp Amplitude Scale Dh X X Time Curve With Adjustable Offset Time amp Amplitude Scale On Rising Trigger Event 7h X XI Time Curve With Adjustable Offset Time amp Amplitude Scale On Falling Trigger Event Ah X X Time Curve To Pos With Default Speed On Rising Trigger Event Ch X X Time Curve To Pos With Default Speed On Falling Trigger Event Eh X X Time Curve To Pos With Adjustable Time On Rising Trigger Event Fh X X Time Curve To Pos With Adjustable Time On Falling Trigger Event 05h Oh X X Modify Curve Start Address in RAM 1h Tal X Modify Curve Info Block 16 Bit Value in RAM 2h X X Modify Curve Info block 32 B
92. in a linked command table sequence 4 3 182 Wait Until Demand Velocity Less Than 229xh Name Byte Description Type Unit Offset Header 0 229xh Wait Until Demand Velocity Less Than Ulnti Can be used in a linked command table sequence 4 3 183 Wait Until Actual Velocity Greater Than 22Axh Name Byte Description Type Unit Offset Header Q 22Axh Wait Until Actual Velocity Greater Than ung Can be used in linked command table sequence 4 3 184 Wait Until Actual Velocity Less Than 22Bxh NEUI Byte Description Type Unit Offset Header 0 22Bxh Wait Until Actual Velocity Less Than Ulint16 1 Par 2 Act Vel Trig Level SInt32 1E 6 m s Can be used in a linked command table sequence Page 72 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 4 3 185 Byte Offset Wait Until Current Greater Than 22Exh Description Dem Curr Vel Trig Level Sint16 Can be used in linked command table sequence 4 3 186 Wait Until Current Less Than 22Fxh Name Byte Description Offset Header 0 22Fxh Wait Until Current Less Than Ulnt16 1 Par 2 Dem Curr Trig Level Sint16 1mA Can be used in a linked command table sequence 4 3 187 Name Byte Offset Set Cmd Table Var 1 To 240xh Description Type Unit Header O 240xh Set Cmd Table Var 1 To Uinti6 1 Par 2 Set
93. ing 0013h Err Drive power bridge phase 2 too hot Drive Ph2 Too Hot Recommended actions check motor wiring 0014h Err DC link temp sensor has detected over temperature Drive Pwr Too Hot Recommended actions check wiring 0015h Er Regeneration resistor switch hot Drive RR Hot Calc Recommended actions check RR configuration Turn On level Resistance etc check RR sizing 0016h Err Temp sensor on X3 has detected over temperature Drive X3 Too Hot Recommended actions check motor wiring 0017h Err Temp sensor on drive s PCB board reports core being Drive Core Too Hot hot 0018h Err Drive power bridge phase 1 may be defective Power Bridge Phi Recommended actions contact support Defective 0019h Err Drive power bridge phase 1 may be defective Power Bridge Ph1 Defective Recommended actions contact support 001Ah Err Drive power bridge phase 2 may be defective Power Bridge Ph2 Recommended actions contact support Defective Page 100 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 001Bh Err Power Bridge Ph2 Defective Drive power bridge phase 2 may be defective Recommended actions contact support 001Ch 001Dh Err Supply DigOut X6 Fuse Blown Err Supply X3 3 5V Fuse Blown Supply fuse for digital outputs on X6 blown Recommended actions check X6 wiring contact support for repair Supply X3 3 5V fuse blown Motor or and or wir
94. ing 0025h Err Sensor Alarm On X12 Occurred Sensor Alarm Recommended actions Check sensor mounting band contamination or motion speed 0028h Err Short circuit between phase 1 and ground detected Ph1 Short Circuit To GND Recommended actions check motor wiring check motor 0029h Err Short circuit between phase 1 and ground detected Ph1 Short Circuit To GND Recommended actions check motor wiring check motor 002Ah Err Short circuit between phase 2 and ground detected Ph2 Short Circuit To GND Recommended actions check motor wiring check motor Page 101 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 002Bh Err Ph2 Short Circuit To GND Short circuit between phase 2 and ground detected Recommended actions check motor wiring check motor 002Ch Err Ph1 Short Circuit To Ph2 Short circuit between motor phase 1 and phase 2 detected Recommended actions check motor wiring check motor 0030h Err Motor phase 1 has contact to phase 2 Ph1 Wired To Ph2 Recommended actions check motor wiring check motor 0031h Err Motor phase 1 has contact to phase 2 Ph1 Wired To Ph2 Recommended actions check motor wiring check motor 0032h Err Motor phase 1 has no connection to phase 1 Ph1 Not Wired To Ph1 Recommended actions check motor wiring check motor 0033h Err Motor phas
95. ing defective Recommended actions contact support for drive repair check motor and wiring replace motor and motor cables 001Eh Err Supply X3 8 AGND Fuse Blown Supply X3 8 analog ground fuse blown Recommended actions contact support for drive repair check motor and wiring replace motor and motor cables 0020h Err Motor Hot Sensor Temp sensor reports hot motor Recommended actions wait until motor has cooled down until corresponding warning disappears check load check the motor configuration check the setpoint generation unreachable speed acceleration values check the motor sizing 0021h Fatal Err X3 Hall Sig Missing Motor hall signals not connected to X3 or motor defective Recommended actions Power down the drive and all power supplies then reconnect motor check motor and wiring check parameter 1221h 0022h Fatal Err Motor hall sensors cannot see magnetic field of the Motor Slider Missing slider The motor position was outside the allowed range defined through the motors ZP and Max Stroke data see data sheet Recommended actions check stroke range check slider orientation 0023h Err Short time motor overload detected Motor Short Time Overload Recommended actions check if motor is blocked check motor sizing 0024h Err Regeneration resistor hot calculated RR Hot Calculated Recommended actions check RR configuration Turn On level Resistance etc check RR siz
96. inished 18 Linearizing Not yet defined 19 Phase Search Not yet defined 20 Special Mode Not yet defined Page 13 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 3 1 State 0 Not Ready To Switch On In this state the release of control word bit 0 switch on is awaited As soon as this bit is cleared a change to state 1 is performed This behavior avoids self starting if all necessary bits for a start are set correctly in the control word 3 2 State 1 Switch On Disabled The state machine rests in this state as long as the bits 1 or 2 of the control word are cleared 3 3 State 2 Ready To Switch On The state machine rests in this state as long as the bit 0 is cleared 3 4 State 3 Setup Error State The state machine rests in this state as long the bits 0 is cleared 3 5 State 4 Error State The error state can be acknowledged with a rising edge of the control word bit 7 Error Acknowledge If the error is fatal bit 12 Fatal Error in the status word is set no error acknowledgment is possible In the case of a fatal error the error has to be checked and the problem has to be solved before a reset or power cycle is done for resetting the error 3 6 State 5 HW Test The HW Test state is an intermediate state before turning on the power stage of the drive If everything seems to be ok the servo changes to state 6 without any user action The test takes a
97. ints Demand Position c Demand Velocity and Demand Acceleration are calculated by the internal Velocity Acceleration Interpolator VAI This command initializes the VAI with the current Demand Position and Demand Velocity value Therefore it is possible to start a new command while execution of a former command is not fully completed Page 57 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 124 VAI Go To Cmd Tab Var1 Pos 0D4xh ame Byte De ptio pe c Header 0 OD4xh VAI Go To Cmd Tab Var1 Pos Ulnt16 1 Par 2 Maximal Velocit Ulnt32 1E 6 m s 2 Par 6 Acceleration Ulnt32 1E 5 m s 3 Par 10 Deceleration Ulnt32 1E 5 m s Go to the target position defined with the command table variable 1 UPID 1E72h 4 3 125 VAI Go To Cmd Tab Var2 Pos 0D5xh Name Byte Description Type Unit Offset Header O OD5xh VAI Go To Cmd Tab Var2 Pos Ulti6 Maximal Velocit Ulnt32 1E 6 m s 2 Par 6 Acceleration 11 UInt32 1E 5 m s 3 Par 10 Deceleration UInt32 1E 5 m s Go to the target position defined with the command table variable 2 UPID 1E73h 4 3 126 VAI Go To Cmd Tab Var1 Pos From Act Pos And Act Vel 0D6xh ame Byte DE ptio pe c Header 0 OD6xh VAI Go To Cmd Tab Vari Pos From Act Ulnt16 Pos And Act Vel 1 Par 2 Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 Acceleration Ulnt32 1E 5 m s 3 Par 10 Deceleration Ulnt32
98. is command is similar to the 010xh command but the parameters are only 16 bit and scaled The scaling is according to the parameter settings under Motion Control SW Motion Interface 16 Bit Interface Scaling Page 46 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 74 VAI 16 Bit Increment Dem Pos 091xh ame Byte De eile es c Header 0 091xh VAI 16 Bit Go To Relative Position Ulnt16 1 Par 2 Position Increment SInt16 Scaled 2 Par_ 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 75 VAI 16 Bit Increment Target Pos 092xh Name Byte Description Type Unit Offset Header 0 092xh VAI 16 Bit Increment Target Pos Ulnt16 1 Par 2 Position Increment SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 76 VAI 16 Bit Go To Pos From Act Pos And Act Vel 093xh AEG Byte Description Type Unit Offset Header 0 093xh VAI 16 Bit Go To Pos From Act Pos And Act Ulnt16 Vel Par 2 Target Position SInt16 Scaled 2 Par_ 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled This command starts the new VAI setpoint generation from the actual position can be used after a press command 4 3 77 VAI 16 Bit Go To P
99. istor housing and Environment environment Environment 102Ah Environmental temperature of the regeneration resistor Temperature The figure below shows the implemented temperature model for the regeneration resistor 7 4 4 Temperature Monitoring The E1100 drive hardware contains eight absolute temperature sensors for thermal protection On the B1100 drive is one sensor placed Parameter Name UPID Description Temp Sens Warn 1040h If the maximal board temperature rises above this level a Level warning is generated bit 6 in Warn Word is set Temp Sens Error 1041h If the maximal board temperature rises above this level the Level error is generated error codes 10h 17h The table below shows the mapped variables of the temperature monitoring Variable Name UPID Description Power Bridge 1BC6h Temperature of power driver Phase 1 E1100 only Temp Ph1 Power Bridge 1BC7h Temperature of power driver Phase 1 E1100 only Temp Ph1 Temperature of power driver Phase 2 E1100 onl Page 95 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t Temp Ph2 Power Bridge 1BC9h Temperature of power driver Phase 2 E1100 only Temp Ph2 Power Bridge 1BC9h Temperature of power driver Phase 2 E1100 only Temp Ph2 Power Bridge 1BCAh Temperature of power drivers DC link voltage E1100 only Temp DCLV
100. it Value in RAM 4h X X Modify Curve Data Block 32 Bit in RAM 5h X X Modify Curve Data Block 64 Bit in RAM 6h X X Modify Curve Data Block 96 Bit in RAM 06h 4h X X Setup Encoder CAM from Actual Counts With Delay Counts 9h X X Setup Encoder CAM On Rise Trigger Event With Delay Counts Ah AIS Setup Encoder CANM On Rise Trigger Event With Delay Counts Target Pos and Length Bh X X Setup Encoder CAM On Fall Trigger Event With Delay Counts Ch X X Setup Encoder CAM On Fall Trigger Event With Delay Counts Target Pos and Length Dh X X Setup Encoder CAM On Rise Trigger Event With Delay Counts Amplitude scale and length Eh X X Setup Encoder CAM On Fall Trigger Event With Delay Counts Amplitude scale and length 07h Oh X X Start VAI Encoder Position Indexing 1h X X Start Predef VAI Encoder Position Indexing Eh X X Stop Position Indexing And VAI Go To Pos Fh X X Stop Position Indexing And Predefined VAI Go To Pos 09h Oh X X VAI 16 Bit Go To Pos 1h X X VAI 16 Bit Increment Dem Pos 2h X X VAI 16 Bit Increment Target Pos 3h X XI VAI 16 Bit Go To Pos From Act Pos And Act Vel 4h X XI VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 5h X X VAI 16Bit Increment Act Pos 6h X X VAI Increment Act Pos Starting with Dem Vel 0 Th XX VAI 16 Bit Stop 8h X X VAI 16 Bit Go To Pos After Actual Command Ah X X VAI 16 Bit Go To Pos On Rising Trigger Event Bh X X VAI 16 Bit Increment Target Pos On Rising Trigger
101. ition Greater Than Condition Value Sint32 Command Table ID IF TRUE Uinti6 1 255 Uint16 Name Byte Offset Description 0 25Axh IF Actual Position Less Than Ulnt16 2 Condition Value Sint32 6 Command Table ID IF TRUE Uinti6 1 255 8 Command Table ID IF FALSE Uint16 4 3 202 IF Actual Position Greater Than 25Bxh Name Byte Description Offset L 25Bxh IF Actual Position Greater Than UInt16 Condition Value Sint32 Command Table ID IF TRUE Uint16 1 255 Command Table ID IF FALSE Uint16 1 255 2 Par 3 Par 4 3 203 IF Difference Position Less Than 25Cxh Name Byte Description Offset 25Cxh IF Difference Position Less Than Ulnt16 OE d Condition Value Command Table ID IF TRUE Uint16 3 Par Command Table ID IF FALSE Uintl6 1 255 Page 75 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 4 3 204 IF Difference Position Greater Than 25Dxh ame Byte WS ptio pe c Header 0 25Dxh IF Difference Position Greater Than Ulnt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 205 IF Current Less Than 25Exh Header Byte Offset CI 6 Description 25Cxh IF Current Less Than Ulnt16
102. ity The commands have to be sent strictly cyclic in order to prevent buffer underflow buffer overflow errors The period length must be in the time range of 0 4ms 10ms The setpoint time stamp is generated by the slave s interface when the command is received receive time stamp The first two streaming commands are used to determine the nominal period length The setpoints are Than delayed 1 5 times the period length Between the setpoints the slave performs a fine interpolation Since acceleration setpoint derivation is less sensitive to bus jitters it is recommended to use this command PVA streaming instead of the simple P streaming command whenever possible For the derivation of the velocity and the acceleration the configured streaming period time 14E6h is taken to minimize the communication time jitter 4 3 44 Stop Streaming 03Fxh Name Byte Description Type Unit Offset Header 10 03Fxh Stop Streaming Uinti6 This command is used to leave the streaming mode 4 3 45 Time Curve With Default Parameters 040xh Name Byte Description Type Unit Offset S 040xh Time Curve With Default Parameters Ulti6 1 Par Curve ID Ulnt16 1 100 4 3 46 Time Curve With Default Parameters From Act Pos 041xh Name Byte Description Offset Header 0 41xh Time Curve With Default Parameters From Ulnt16 Act Pos 1 Par 2 Curve ID Ulnt16 1 100 This command sets the curve offset to the actual
103. lay Counts Target Pos and Length 2 Curve ID Ulnt16 1 100 3 Par 8 Target Position SInt32 0 1 um 4 Par 12 Curve length SInt32 1 Incr Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam length UPID1527h for triggered cam motions 4 3 65 Setup Encoder Cam On Falling Trigger Event With Delay Counts 06Bxh Description O6Bxh Setup Encoder Cam On Falling Trigger Event With Delay Counts Type Ulnt16 Unit Curve ID Ulnt16 Ulnt32 1 Incr Curve Start Delay Count Setup in the event handler to start a cam curve on the falling trigger event with the specified curve ID and the specified delay counts The specified curve ID is written to the RAM value of UPID 154Bh and the specified cam start delay is written to the RAM value of UPID 154Dh Use the infinite cam length UPID1527h for triggered cam motions 4 3 66 Setup Encoder Cam On Falling Trigger Event With Delay Counts Target Pos and Length 06Cxh Name Byte Description Type Unit Header 0 06Cxh Setup Encoder Cam On Falling Trigger Ulnt16 Event With Delay Counts Target Pos and Length Curve ID Ulnt16 1 100 4 Curve Start
104. m Vel 0 OA4xh Name Byte Description Type Unit Offset OA4xh Predef VAI 16 Bit Go To Pos From Act Pos Ulnt16 ON Target Position SInt16 Scaled This command starts a new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 93 Predef VAI 16 Bit Stop 0A7xh Byte Description Type Unit Offset Header 0 OA7xh Predef VAI Stop With Quick Stop Ulnt16 Deceleration 4 3 94 Predef VAI 16 Bit Go To Pos After Actual Command 0A8xh Byte Description Type Unit Offset Header OA8xh Predef VAI 16 Bit Go To Pos After Actual Ulnt16 Command 1 Par Target Position SInt16 Scaled This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 95 Predef VAI 16 Bit Go To Pos On Rising Trigger Event OAAxh Name Byte Description Type Unit Offset OAAxh Predef VAI 16 Bit Go To Pos On Rising Ulnt16 I MARRE Target Position SInt16 Scaled 4 3 96 Predef VAI 16 Bit Increment Target Pos On Rising Trigger Event OABxh Name Byte Description Type Unit Offset Header OABxh Predef VAI 16 Bit Increment Target Pos On Ulnt16 Rising Trigger Event 1 Par 2 Position Increment SInt16 Scaled 4 3 97 Predef VAI 16 Bit Go To Pos On Falling Trigger Event OACxh Byte Type Unit Offset 0 OACxh VAI 16 Bit Go To Pos On Falling Trigger Name Description
105. mand parameter words Example VA Interpolator 16 bit Go To Absolute Position Word Description Example of command 1 Command Header with ID Go To Absolute Position Immediate 2 1 Command Parameter Position 91 2 Command Parameter Maximal Speed 4 3 Command Parameter Acceleration 51 4 Command Parameter Deceleration 6 16 5 Command Parameter Not used 4 1 1 Command Header Master ID Sub ID Command Count 1S iss ae a EON EOS 8 7 6 5 4 3 2 1 0 The header of the Motion command is split into three parts e Master ID e SubID e Command Count 4 1 1 1 Master ID The master ID specifies the command group 4 1 1 2 Sub ID The sub ID is used to identify different commands from the same command group 4 1 1 3 Command Count A new command will only be executed if the value of the command count has changed In the easiest way bit O can be toggled Page 21 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 4 2 Overview Motion Commands Master Sub E E Description ID ID 14 24 MU 0 0 00h X X Write Interface Control Word X X Write Live Parameter X X Write X4 X14 Intf Outputs with Mask Ee Select Position Controller Set Clear Event Evaluation Xx XXX 01h Reset VAI Go To Pos VAI Increment Dem Pos VAI Increment Target Pos VAI Go To Pos From Act Pos And Act Vel VAI Go To Pos From
106. ment Demand Pos On Falling Trigger Event OFDxh Name Byte Description Type Unit Offset Header 0 OFDxh Bestehorn VAJ Increment Demand Pos On Ulnt16 Falling Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Jerk Ulnt32 1E 4 m s This command defines a new Bestehorn motion command relative move c see description of command Bestehorn VAJ Increment Demand Pos OF 1xh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 1039h 4 3 150 Encoder Cam Enable 100xh Name Byte Description Type Unit Offset Header 0 100xh Encoder CAM Enable Ulnt16 4 3 151 Encoder Cam Disable 101xh Name Byte Description Type Unit Offset Header 0 101xh Encoder CAM Disable Ulnt16 4 3 152 Encoder Cam Go To Sync Pos 102xh Name Byte Description Type Unit Offset Header 10 102xh Encoder CAM Go To Sync Pos Ulti6 4 3 153 Encoder Cam Set Value 104xh Name Byte Description Offset Header 0 104xh En
107. ment SInt32 0 1 um 4 3 27 Predef VAI Increment Target Pos 022xh NEME Unit Byte Offset Description Type Eu 022xh Predef VAI Increment Target Pos Ulti6 1 Par Position Increment SInt32 0 1 um 4 3 28 Predef VAI Go To Pos From Act Pos and Act Vel 023xh Description Type Unit Header 0 023xh Predef VAI Go To Pos From Act Pos And Ulnt16 Act Vel laee 2 Target Position SInt32 0 1 um This command starts the new VAI setpoint generation from the actual position can be used after a press command Page 34 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 29 Predef VAI Go To Pos From Act Pos Starting With Dem Vel 0 024xh Name Byte Description Type Unit Offset 0 024xh Predef VAI Go To Pos From Act Pos With Ulnt16 Dem Vel 0 2 Target Position SInt32 0 1 um This command starts the new VAI Setpoint generation from the actual position and the start velocity is forced to zero can be used after a press command 4 3 30 Predef VAI Stop 027xh Byte Description Type Unit Offset Header 0 017xh Predef VAI Stop With Quick Stop Ulnt16 Deceleration 4 3 31 Predef VAI Go To Pos After Actual Command 028xh Byte Description Type Unit Offset Header 0 028xh Predef VAI Go To Pos After Actual Ulnt16 Command 1 Par 2 Target Position SInt32 0 1 um This command waits until the actual motion setpoint generation has
108. n 2h XI X IF Cmd Table Var 2 Less Than 3h X X IF Cmd Table Var 2 Greater Than 6h X X IF Cmd Table Var 1 Less Than UPID Value Th X X IF Cmd Table Var 2 Less Than UPID Value 8h X X IF Demand Position Less Than 9h X X IF Demand Greater Than Ah X X IF Actual Position Less Than Bh XJ X IF Actual Greater Than Ch X X IF Difference Position Less Than Dh X X IF Difference Greater Than Eh X XI IF Current Less Than Fh X X IF Current Greater Than 26h Oh X X IF Analog Val On X4 4 Less Than 2h X X IF Masked X4 Input Value Equal Than 3h X X IF Masked X6 input Value Equal Than 4h X X IF Masked Status Word Equal Than 5h X X IF Masked Warn Word Equal Than 6h X X IF CAM Counts Less Than 38h Oh F F VAI Go To Pos With Force Ctrl Limit 1h F F VAI Go To Pos From Act Pos And Reset Force Control Page 26 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 2h F F Force Ctrl Change Target Force 3h__ F F VAI Go To Pos With Force Ctrl Limit and Target Force 4h F F VAI Go To Pos With Lower Force Ctrl Limit 5h F F VAI Go To Pos With Lower Force Ctrl Limit and Target Force 6h F F VAI Go To Pos From Act Pos And Reset Force Control Set 7h F F VAI Increment Act Pos And Reset Force Control Set Oh X X Current Command Mode 39 15h X X Change to Position Controlled mode F
109. n Type Unit Offset Header 0 223xh Wait Until Actual PositionLessThan ung Can be used in a linked command table sequence 4 3 177 Wait Until Difference Position Greater Than 224xh Name Byte Description Offset Header 224xh Wait Until Difference Position Greater Than Ulnt16 1 Par Diff Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 178 Wait Until Difference Position Less Than 225xh Byte Description Offset Diff Pos Trig Level SInt32 Can be used in a linked command table sequence Page 71 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 179 Wait Until Difference Position Unsigned Greater Than 226xh ame Byte De ptio pe Q O Header 0 226xh Wait Until Difference Position Unsigned Ulnt16 Greater Than 1 Par 2 Diff Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 180 Wait Until Difference Position Unsigned Less Than 227xh Name Byte Description Type Unit Offset Header 227xh Wait Until Difference Position Unsigned Ulnt16 Less Than Diff Pos Trig Level SInt32 Can be used in a linked command table sequence 4 3 181 Wait Until Demand Velocity Greater Than 228xh Name Byte Description Offset Header 0 228xh Wait Until Demand Velocity Greater Than Ulnt16 1 Par_ 2 Dem Vel Trig Level SInt32 1E 6 m s Can be used
110. n of the velocity and the acceleration the configured streaming period time 14E6h is taken to minimize the communication time jitter 4 3 41 PV Stream With Slave Generated Time Stamp Stamp and Configured Period Time 033xh Name Byte Description Type Unit Offset a ae 033xh PV Stream With Slave Generated Time Ulnt16 E Stamp Stamp and Configured Period Time ERE te Position SInt32 2 Par Velocity SInt32 1 um s This command can be used for cyclic streaming of position and velocity setpoints This is possible if master provides NC functionality The commands have to be sent strictly cyclic in order to prevent buffer underflow buffer overflow errors The period length must be in the time range of 0 4ms 10ms The setpoint time stamp is generated by the slave s interface when the command is received receive time stamp The first two streaming commands are used to determine the nominal period length The setpoints are Than delayed 1 5 times the period length Between the setpoints the slave performs a fine interpolation Since acceleration setpoint derivation is less sensitive to bus jitters it is recommended to use this command PV streaming instead of the simple P streaming command whenever possible For the derivation of the velocity and the acceleration the configured streaming period time 14E6h is taken to minimize the communication time jitter 4 3 42 PVA Stream With Slave Generated Time Stamp 034xh Byte Description T
111. nal to B B and the Zero to Z Z Parameter Name UPID Description Encoder Type 128Eh Defines the Master Encoder Type e 0 None e T ABZ e 2 AB e 4 Step Dir SD e 5 Step Dir Zero SDZ The decoding parameter defines how many edges of the signals are evaluated For AB Z encoder types 1x 2x 4x decoding is valid for SD Z encoder types only 1x and 2x decoding is valid If 4x decoding is selected a 2x decoding is forced without error generation Parameter Name UPID Description Decoding 128Fh Defines the Master Encoder decoding e 0 1x e 1 2x e 2 4x With the direction parameter the count direction of the encoder evaluation can be defined Parameter Name UPID Description Direction 1290h Defines the Master Encoder direction e 0 Positive e 1 Negative Page 92 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot The Counts Revolution parameter defines the number of counts per revolution for ABZ or SDZ master encoders Parameter Name UPID Description Counts 1291h Only used for ABZ or SDZ encoders to define the counts Revolution per revolution The Speed Filter Time parameter defines the time over which the master encoder speed is calculated Bigger values generate a smother master encoder speed but generate a bigger delay time of the speed which may be a problem if the master encoder speed varies quickly Parameter Name UPID Description Speed Filter
112. nded actions check the PLC program or check homing User error The motor moved into the Limit Switch Out 0088h User Err while it was still in the stroke range Limit Switch Out High Recommended actions check the PLC program or check homing User error The automatic calculated amplitude scale is 0089h User Err out of range 2000percent to 2000percent Curve Amp Scale Error Recommended actions check the PLC program or use other curve VE es Called command Table entry is not defined 008Ah Cmd T Entry Not Def Recommended actions check the PLC program or define Command Table Entry Page 105 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW Lin Mo t 11 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration 41 0 56 419 91 91 office linmot com Tech Support 41 0 56 544 71 00 support linmot com Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration 877 546 3270 262 743 2555 Tech Support 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www linmot usa com Please visit http www linmot com to find the distribution near you Smart solutions are www LinMot com Page 106 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG
113. nt Target Pos 092xh essent 47 4 3 76 VAI 16 Bit Go To Pos From Act Pos And Act Vel 093xh sss 47 4 3 77 VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 094xh 47 4 3 78 AT 16 Bit Increment Act Pos UOI ess epa poi Rte nta i Hua ce tel ade 48 4 3 79 VAI 16 Bit Increment Act Pos Starting With Dem Vel 0 096xh 48 4 3 80 AT LO Bit Stop EE 48 4 3 81 VAI 16 Bit Go To Pos After Actual Command 096xh sss 48 4 3 82 VAI 16 Bit Go To Pos On Rising Trigger Event 09Axh sss 48 4 3 83 VAI 16 Bit Increment Target Pos On Rising Trigger Event 09Bxh 49 4 3 84 VAI 16 Bit Go To Pos On Falling Trigger Event 09Cxh sss 49 4 3 85 VAI 16 Bit Increment Target Pos On Falling Trigger Event 09Dxh 49 4 3 86 VAI 16 Bit Change Motion Parameters On Positive Position Transition 09Exh EE Ee 49 4 3 87 VAI 16 Bit Change Motion Parameters On Negative Position Transition 09F xh noe aR name besauiiaad 50 4 3 88 Predef VAI 16 Bit Go To Pos 0AOxh sss 50 4 3 89 Predef VAI 16 Bit Increment Dem Pos 0A Ich 50 4 3 90 Predef VAI 16 Bit Increment Target Pos 0A2xh sss 50 Page 5 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 4 3 91 Predef VAI 16 Bit Go To Pos
114. nt instance and starts the event evaluation As soon as the demand position crosses the event change position in the positive direction the VAI is changed with event values the target position rests unchanged Page 33 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion 4 3 24 Control SW VAI Change Motion Parameters On Negative Position Transition 01Fxh Description Type 01Fxh VAI Change Motion Negative Position Transition Parameters On Ulnt16 Unit 2 Par 3 Par Transition Event Position Max Velocity After Event Acceleration After Event SInt32 Ulnt32 Ulnt32 0 1 um 1E 5 m s 4 Par Deceleration After Event UInt32 1E 5 m s This motion command moves an event change position an event maximal speed an event acceleration and an event deceleration to the event instance and starts the event evaluation As soon as the demand position crosses the event change position in the negative direction the VAI is changed with event values the target position rests unchanged 4 3 25 Predef VAI Go To Pos 020xh Byte Description Offset 0 2 Unit Type 020xh Predef VAI Go To Pos Target Position Ulnt16 SInt32 0 1 um 4 3 26 NEME Predef VAI Increment Dem Pos 021xh Description Byte Offset Type Unit Jain 021xh Predef VAI Increment Dem Pos Uinti6 1 Par Position Incre
115. ntrol SW Lin Mo t 9 State Machine Setup In the state machine setup sections the parameters to influence the behavior of the single states can be defined Page 98 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 10 Error Code List 0000h No Error No error is pending 0001h Err X4 Logic Supply Too Low The logic supply voltage has been too low The minimal logic supply voltage level is defined through parameter 100Eh Recommended actions check your 24V logic power supply 0002h 0003h Err X4 Logic Supply Too High Err X1 Pwr Voltage Too Low The logic supply voltage has been too high The maximal logic supply voltage level is defined through parameter 1010h Recommended actions check your 24V logic power supply The motor power supply voltage has been too low The minimal motor supply voltage level is defined through parameter 101Ah Recommended actions check your motor power supply check the wiring check the sizing of the power supply add a capacitor too enforce your DC link 0004h Err X1 Pwr Voltage Too High The motor power supply voltage has been too high The maximal motor supply voltage level is defined through parameter 101Bh Back EMF effects may boost the DC link voltage Recommended actions check your motor power supply check the wiring check the sizing of the power supply use a regeneration resistor for p
116. ontrol word input bits The lowest priority have bits which are set over the interface normally a serial fieldbus connection so in the Ctrl Word Interface Copy mask all bits can be selected without causing any problems but bits which should not be accessed through the interface can be masked out 3 22 Control Word With the Control Word 16Bit the main state machine of the drive can be accessed Following table shows the meaning of each bit 0 Switch On Voltage Enable 2 Quick Stop 3 Enable Operation Freeze 6 Go To Position Error Acknowledge Jog Move Jog Move os e Special Mode joi o o Operation OFF3 Operation Operation disabled Operation enable Abort Operation Freeze motion Operation Go To Position Error Acknowledge Special Mode Stop Homing A Stop gt Current 0 power switches disabled State change from switch on disabled to ready to switch on Power switches disabled without microcontroller action Quick Stop gt Current 0 gt H Bridges disabled Position controller active Motion Commands disabled Position controller active Motion Commands enabled Quick Stop position control rests active motion command is cleared Quick Stop position control rests active Target position not cleared curves motions are aborted Rising edge will reactivate motion command Go to fixed parameterized Position Wait for release of signal Ri
117. or Temperature Sensor On Normal Operation Calculated Motor Temperature Reached Warn Limit Normal Operation Motor Supply Voltage Reached Low Warn Limit Normal Operation Motor Supply Voltage Reached High Warn Limit Normal Operation Position Error during Moving Reached Warn Limit Normal Operation 9 Reserved PTC 2 10 RR Hot Calculated Reserved Reserved Reserved AR Interface Warn Flag 15 Application Warn Flag o CH Temperature on Drive High Normal Operation Warning Motor Not Homed Yet Normal Operation PTC Temperature Sensor 1 On Normal Operation e El wo N oO gt CO Ai CO CH PTC Temperature Sensor 2 On Normal Operation Regenerative Resistor Temperature Hot Calculated Normal Operation Warn Flag Of Interface SW layer Normal Operation Warn Flag Of Application SW layer Normally the warn word bits are used to react in conditions before the drive goes into the error state E g a typical reaction on the warning Motor Temperature Sensor would be a stop of the machine before the drive goes into the error state and the motor goes out of control to avoid crashes Page 20 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 4 Motion Command Interface 4 1 Motion Command Interface The motion command interface consists of one word that contains the command ID and up to 16 com
118. os From Act Pos Starting With Dem Vel 0 094xh Name Byte Description Type Unit Offset Header 0 094xh VAI 16 Bit Go To Pos From Act Pos Starting Ulnt16 With Dem Vel 0 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled This command starts a the new VAI Setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command Page 47 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 78 VAI 16 Bit Increment Act Pos 095xh ame Byte De eile es c Header 0 095xh VAI 16 Bit Increment Act Pos Ulnt16 1 Par 2 Position Increment SInt16 Scaled 2 Par_ 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 79 VAI 16 Bit Increment Act Pos Starting With Dem Vel 0 096xh Byte Unit Description Type 096xh VAI 16 Bit Increment Act Pos UInt16 1 Par 2 Position Increment SInt16 Scaled 2 Par 4 Maximal Velocit Ulnt16 Scaled 3 Par 6 Acceleration Ulnt16 Scaled 4 Par 8 Deceleration Ulnt16 Scaled 4 3 80 VAI 16 Bit Stop 097xh Byte Description Type Unit Offset Header 0 097xh VAI 16 Bit Stop Ulnt16 1 Par 2 Deceleration Ulnt
119. osition controller set UPID 13A6h or 13Bah to the value defined with the 4 parameter To reset the current to the normal value use the command OC6xh or OC7xh 4 3 115 VAI Dec Acc Go To Pos From Act Pos And Vel With Max Curr 0C6xh Byte Description Type Unit Offset Header 0 OC6xh VAI Dec Acc Go To Pos From Act Pos And Ulnt16 Vel With Max Curr DEI 10 Acceleration Deceleration UInt32 1E 5 m s Demand Curr Limit Uint16 This command can be used after the command OC5xh to set the current to the normal value At the beginning of the motion the position controller integrator is cleared This command sets the maximal current of the actual position controller set UPID 13A6h or 13BAh to the value defined with the 4 parameter Page 55 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 4 3 116 Curr 0C7xh VAI Dec Acc Go To Pos From Act Pos And Vel 0 With Max Byte Description Type Unit Offset Header 0 OC7xh VAI Dec Acc Go To Pos From Act Pos And Ulnt16 Vel 0 With Max Curr M 2 Target Position SInt32 0 1 um 3 Par 10 Acceleration Deceleration UInt32 4 Par 14 Demand Curr Limit Uint16 This command can be used after the command O0C5xh to set the current to the normal value At the beginning of the motion the position controller integrator is cleared This command sets the maximal current of the actual position
120. ower dissipation add a capacitor too enforce your DC link 0005h 0006h Err X1 RR Not Connected Err PTC 1 Sensor Too Hot A regeneration resistor is configured see parameter 101Dh but not connected Recommended actions connect the regeneration resistor to X1 The PTC 1 sensor on X4 10 is hot or not connected Recommended actions check the temperature check the wiring 0007h Err Min Pos Undershot The motor position has been below the minimal position see parameter 146Eh Recommended actions check the configuration check the PLC program 0008h Err Max Pos Overshot The motor position has been above the maximal position see parameter 146Fh Recommended actions check the configuration check the PLC program 0009h Err Ext Int Sensor Diff Err The position difference between sensor feedback on X3 and sensor feedback on X12 has been too big Recommended actions check sensor wiring check sensor configuration count direction etc check parameter 1266h 000Ah Fatal Err X12 Signals Missing The external sensor is not connected to X12 or the wiring is not ok Recommended actions check the wiring Page 99 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW OOOBh Err Pos Lag Always Too Big The motor was not able to follow the demand position The maximal allowed position difference is defined throu
121. p 030xh Name Byte Description Type Unit Offset Eu Jt 030xh P Stream With Slave Generated Time Stamp UInti6 1 Par Position SInt32 0 1 um Position streaming mode The time stamp is generated by the interface receive time stamp of TO the streaming period has to be in the time range 2 5ms For good results the streaming period has to be as constant as possible 4 3 39 PV Stream With Slave Generated Time Stamp 031xh Byte Description Type Unit Offset Name Header 0 031xh PV Stream With Slave Generated Time Ulnt16 Stamp 1 Par 2 Position SInt32 6 Velocit SInt32 Position and velocity streaming mode Preferred streaming mode The time stamp is generated by the interface receive time stamp of TO the streaming period has to be in the time range 2 5ms Less sensitive to deviations of the streaming period Page 36 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 40 P Stream With Slave Generated Time Stamp and Configured Period Time 032xh Name Byte Description Type Unit Offset 0 032xh P Stream With Slave Generated Time Stamp Ulnt16 and Configured Period Time 2 Position SInt32 Position streaming mode The time stamp is generated by the interface receive time stamp of TO the streaming period has to be in the time range 2 5ms For good results the streaming period has to be as constant as possible For the derivatio
122. pied to the trigger out signal Parameter Name UPID Description Rise Inhibit Time 170Dh_ Inhibit time after rising edge of Trigger In signal ti Fall Inhibit Time 170Eh Inhibit time after falling edge of Trigger In signal ti Rise Delay Time 170Fh Trigger Out Delay time after rising edge of Trigger In signal tar Fall Delay Time 1710h Trigger Out Delay time after falling edge of Trigger In signal tar 7 2 3 X4 8 and X4 9 Limit Switches If on IO pin X4 8 and or on X4 9 a limit switch is defined the error behavior in case of an active limit switch can be configured The error is only generated on a powered motor which is homed so it is possible to exit the error state with a new homing request For that reason also the homed bit in the status word is cleared if moving into a limit switch Parameter Name UPID Description Error Behavior 121Bh Error behavior of the configured limit switches e 0 No Error maybe only used for homing e 1 Power Off e 2 Quick Stop 7 2 4 X4 10 and X4 11 PTC 1 and PTC 2 On IO pins X4 10 and X4 11 PTC sensors can be connected to supervise an over temperature of a motor and or the transformer supply The other side of the PTC has to be connected to 24V If the resistance is below 2kOhm the input is high If it rises above 15kOhm the output is regarded as low Typically the transition low to high is between 5kOhm and 7kOhm If the input
123. plitude scale and Length 06Exh Name Byte Description Type Unit Offset Header 0 O6Exh Setup Encoder Cam On Fall Trigger Event Ulnt16 With Delay Counts Amplitude scale and Length Curve ID Ulnt16 1 100 4 Curve Start Delay Count SInt32 1 Incr 8 Amplitude Scale Sint16 0 1 96 10 Curve length in Counts SInt32 1 Incr Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam length UPID1527h for triggered cam motions 4 3 69 Start VAI Encoder Position Indexing 070xh Name Byte Description Type Unit Offset Header 0 070xh Start VAI Encoder Position Indexing Ulnt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s Page 45 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Changes to the VAI encoder position indexing mode the actual encoder count is to the target position To stop the indexing mode use one of the commands 008xh 07Exh or 07F xh 4 3 70 Start Predef VAI Encoder Position Indexing 071xh Name Byte Description Type
124. position set point then starts the specified time curve with the default parameters curve time scaling and curve amplitude scaling Page 38 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 47 Time Curve To Pos With Default Speed 042xh ame Byte Je eile pe O Header 0 042xh Time Curve To Pos With Default Speed Ulnt16 1 Par 2 Curve ID Ulnt16 1 100 zar Target Position SInt32 0 1 um This command sets the curve offset to the actual demand position and scales the curve the way that the target position is reached at the end the scaling range is 2000 2000 if this range is exceeded an error will be generated then starts the specified time curve with the default curve speed parameter 4 3 48 Time Curve To Pos With Adjustable Time 043xh Description 043xh Time Curve To Pos With Adjustable Time Ulnt16 Curve ID UInt16 Target Position SInt32 Curve Time This command sets the curve offset to the demand position and scales the curve the way that the target position is reached at the end the scaling range is 2000 2000 if this range is exceeded an error will be generated The curve time is taken from the motion command 4 3 49 Time Curve With Adjustable Offset Time Scale amp Amplitude Scale 044xh Name Byte Description Type Unit Offset Header 0 044xh Time Curve With Adjustable Offset Time Ulnt16 Scale amp Amplitude Scale
125. r Ulnt16 Event 1 Par_ 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration Deceleration UInt32 1E 5 m s 4 3 121 VAI Dec Acc Increment Target Pos On Falling Trigger Event OCDxh Byte IN Feats Description Unit Type Offset Header 0 OCDxh VAI Dec Acc Increment Target Pos On Ulnt16 Falling Trigger Event 1 Par 2 Par 6 Maximal Velocity UInt32 1E 6 m s 3 Par 10 Acceleration Deceleration UInt32 1E 5 m s 4 3 122 VAI Increment Captured Pos 0DOxh Description ODOxh VAI Increment Captured Pos Ulnt16 1 Par 2 Captured Position Increment SInt32 2 Par 6 Maximal Velocit Ulnt32 Acceleration Ulnt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s Go to the target position Captured Pos Captured Increment Position 4 3 123 VAI 16 Bit Dec Acc Go To Pos 0D1xh Description OD1xh VAI 16 Bit Dec Acc Go To Pos Ulnt16 2 Target Position 2 Par 4 Maximal Velocity Ulnt16 Scaled 3 Par 6 Acceleration Deceleration UInt16 Scaled This command sets a new Target Position and defines the maximal velocity acceleration and deceleration for going there The Target Position is calculated by adding the Position Increment argument and the value of the capture variable UPID 0x1E62 The command execution starts immediately when the command has been sent The setpo
126. rises the corresponding bit in the warn word will be set after the PTC Warn Time After the PTC error time the corresponding error is set The error only can be acknowledged if the corresponding PTC warn bit has vanished Page 91 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 7 2 5 X4 12 SVE Safety Voltage Enable X4 12 is a special input input only If it goes low for more than 0 5ms the PWM generation of the power stage is disabled by hardware Additionally this bit is mapped directly to the Control Word bit 1 To disable this feature the input must be wired to 24V logic supply 7 3 Master Encoder The master encoder can be used for applications where high speed synchronization is needed such as winding application indexing positioning mode etc The parameter Encoder Source defines whether the master encoder is connected to the X10 RJ45 or the X12 DSUB 9 connector X10 is looped through to the master encoder connector X11 RJ45 This simplifies the loop through cabling of the encoder signals Parameter Name UPID Description Encoder Source 172Ah Defines the source of the Master Encoder e 0 None e 1 Encoder Input X10 e 2 Ext Sensor Input X12 The encoder type parameter defines the signal type of the master encoder At any rate the signals have to be differential RS422 When using a SD Z master encoder the step signal has to be connected to A A Dir sig
127. s With Higher Force Ctrl Limit UInti6 Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s 4 Par Force Limit Uint16 0 1 N Moves to the defined target position if the measured force reaches the higher defined value the drive switches to the force control mode with target force force limit To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh 4 3 218 VAI Go To Pos From Act Pos And Reset Force Control 381xh Name Byte Description Type Unit Offset Header 0 381xh VAI Go To Pos From Act Pos And Reset Ulnt16 Force Control 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s 3 Par 10 Acceleration UInt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s Reinstalls the position control mode and moves to the defined target position 4 3 219 Force Ctrl Change Target Force 382xh Name Byte Description Type Unit Offset Header 0 382xh Force Ctrl Change Target Force Ulnt16 1 Par 2 Target Force Sint16 0 1N This command can be used to change the target force during the force control mode Page 78 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 220 VAI Go To Pos With Higher Force Ctrl Limit and Target Force 383xh Name Byte Description Type Unit Offset Header 0 383x
128. s command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 1039h 4 3 148 Bestehorn VAJ Go To Pos On Falling Trigger Event OFCxh Description Type Unit Header OFCxh Bestehorn VAJ Go To Pos On Falling Trigger Event Target Position SInt32 6 Maximal Velocit Ulnt32 1E 6 m s 10 Acceleration Ulnt32 1E 5 m s 14 Jerk Ulnt32 1E 4 m s Ulnt16 1 Par 2 Par 3 Par 4 Par This command defines a new Bestehorn motion command see description of command Bestehorn VAJ Go To Pos OFOxh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 1039h Page 65 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 4 3 149 Bestehorn VAJ Incre
129. s the new Sin VA motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 0x1039 4 3 137 Header Sin VA Increment Demand Pos On Rising Trigger Event OEBxh Description OEBxh Sin VA Increment Demand Pos On Rising Trigger Event Type Ulnt16 Unit 1 Par Position Increment SInt32 0 1 um 2 Par Maximal Velocit Acceleration Ulnt32 Ulnt32 1E 6 m s 1E 5 m s This command defines a new Sin VA motion command relative move see description of command Gin VA Increment Demand Pos 0E1xh The command will be started on each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 0x1039 Page 61 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 138 Sin VA Go To Pos On Falling Trigger Event OECxh ame Byte De eile es c Header 0 OECxh Sin VA Go To Pos On Falling Trigger Event Ulnt16 1 Par 2 Target Position SInt32 0 1 um
130. sing edge of signal acknowledges error Jog Move Jog Move e CO N KE HE ER Special Mode At startup bit 11 Status word is cleared until Page 17 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t procedure is finished 12 0 Stop Clearance Check Clearance Check 1 Clearance Check Enable Clearance Check Movements 13 Go To Initial Position Go To initial Position ising edge will start go to initial position 14 Reserved Reserved 15 Stop Phase Search Phase Search Phase Search Enable Phase Search Movements Page 18 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW 3 23 Status Word Bit Val SE Enabled Ee On Active Enable Operation Error 4 Voltage Enable 5 Quick Stop 6 Switch On Locked Weak E Handler Active 0 1 9 0 1 0 Special Motion Active Following table shows the meaning of the single bits Meaning Operation Enabled Switch On Disabled Switch On Enabled Operation Disabled Operation No Error Error Power Bridge Off Operation Active Operation Not Locked Switch On Locked Warning not active Warning active Event Handler Inactive Event Handler Active Normal Operation Special Command runs Remark State Nr 8 State Nr 8 or higher copied to drive EN LED Control Word Bit 0 Control Word Bit 3 Acknowledge with Control wor
131. sition is the motion s end position and doesn t change during the execution of a motion command 4 3 12 VAI Go To Pos From Act Pos And Act Vel 013xh Name Byte Description Type Unit Offset 013xh VAI Go To Pos From Act Pos And Act Vel Ulnt16 Target Position SInt32 0 1 um EET E Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s 4 Par Deceleration Ulnt32 1E 5 m s This command starts the new VAI setpoint generation from the actual position and actual velocity Can be used after a press command Page 30 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 13 VAI Go To Pos From Act Pos Starting With Dem Vel 0 014xh Byte Description Type Unit 014xh VAI Go To Pos From Act Pos Starting With Ulnt16 Dem Vel 0 Target Position SInt32 0 1 um Maximal Velocit Ulnt32 3 Par 10 Acceleration UInt32 1E 5 m s 4 Par 14 Deceleration UInt32 1E 5 m s This command starts the new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 14 VAI Increment Act Pos 015xh Name Byte Description Type Unit Offset Header 0 015xh VAI Increment Act Pos Ulnt16 2 Position Increment SInt32 0 1 um 6 Maximal Velocit Ulnt32 Acceleration UInt32 1E 5 m s 4 Par 14 Deceleration Ulnt32 1E 5 m s This command sets a new target position and defines the maximal velocity
132. te Live Parameter UPID 1346h M Value 44 20 CT Vari 0 Messages 20 CT Mat 0 Set Cmd Table Var 1 To Set Val 0 None Errors 21 GoTo 0 mm VAI Go To Pos Pos 0 mm Vek 1 m s Acc 10 m s 2 Dec 10 m s 2 22 Set Normal F e Curves 22 Set Normal Force Write Live Parameter UPID 1346h M Value 44 23 CT Mat 1 Command T able 23 CT Varl 1 Set Cmd Table Var 1 To Set Val 1 None 24 25 The first sequence ID1 ID2 and ID3 shows a simple sequence GoTo 50mm wait until motion is completed and then go back to 0mm The second sequence ID5 12 repeats 5 times the Sequence GoTo 50mm GoTo 0mm ID 5 Set Command Table To Var 1 0 ID 6 GoTo 50mm ID 7 Wait Until In Target Position ID 8 GoTo 0mm ID 9 Wait until Motion Done ID 10 Increment Command Table Var 1 ID 11 If Command Table To Var 1 5 Then GoTo ID 6 Else GoTo ID 12 ID 12 No Operation End of Sequence SAS Um deco The third sequence ID14 23 changes the maximal current of the position controller set A UPID 13A6 goes to 50mm wait until motion completed tests if part is present Act Pos 48 goes back to Omm sets Normal Force Current and sets CT Var 1 0 if part was present else set CT Var1 1 Page 86 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW L in Mo t 7 Drive Configuration The parameter configuration is normally done with LinMot Talk software 3 The UPIDs over which the parameter can be accessed are the s
133. unts 1y3xh Byte Description Type Unit Offset Header 0 1y3xh Encoder Cam y Define Curve To Pos Ulnt16 1 2 4 Par 12 Target Position SInt32 0 1 um 5 Par 16 CAM Length In Counts SInt32 1 Incr Page 67 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 158 Encoder Cam y Define Curve To Pos In Counts 1y4xh Byte Description Type Unit Offset Header 0 1yAxh Encoder Cam y Define Curve To Pos UInt16 y 1 2 1 Par_ 2 Curve ID Ulnt16 1 100 3 Par 8 Target Position SInt32 0 1 um 4 Par 12 CAM Length In Counts SInt32 1 Incr If the encoder value is in the range of cam y the motor has to be at the start position of the cam y during command setup to set the position start point correctly of cam y 4 3 159 Encoder Cam y Define Curve With Amplitude Scale In Counts 1y5xh Name Byte Description Type Unit Offset 0 1y5xh Encoder CAM y Define Curve To Pos Uint16 1 2 2 Curve ID Uint16 1 100 4 Curve Start Count Sint32 1 Incr 8 Amplitude Scale Sint6 0 1 4 Par 10 CAM Length In Counts Sint32 1 Incr The values for the amplitude scale and cam length are updated immediately for this reason this command should only used outside the cam y old and new definition For changing the amplitude scale and or length during cam y is active use the command 1y8xh instead 4 3 160 Encoder Cam y Enable 1y6xh Name
134. ured motor type does not match with the connected motor Recommended actions configure correct motor type by using the motor wizard connect an appropriate motor 0068h Cfg Err Fatal No Motor Communication Configuration error The drive was not able to establish the communication to the microcontroller on the motor Older P01 motors don t support motor communication Recommended actions check motor wiring check motor check the motor configuration disable communication by using parameter 11FBh if you have an old P01 motor 0069h Cfg Err Wrong Slider Configuration error A wrong slider has been configured or slider home position has an invalid value Recommended actions reconfigure the motor by using the motor wizard 0080h User Err Lin Not Homed User error The PLC program tried to start an action that requires the motor to be already homed but the motor was not homed Recommended actions check the PLC program do a homing of the motor first 0081h User Err Unknown Motion Cmd User error The PLC program sent an unknown motion command ID Recommended actions check PLC program check firmware version 0082h User Err PVT Buffer Overflow User error The PLC program has sent the stream position commands too fast the buffer had an overflow Streaming has to be strictly cyclic Recommended actions check PLC program check the fieldbus by using bus monitor tools 0083h Us
135. urve Time SInt32 10us On a rising trigger event start command 043xh 4 3 56 Header Time Curve To Pos With Adjustable Time On Falling Trigger Event 04Fxh Description 04Fxh Time Curve To Pos With Adjustable Time On Falling Trigger Event Target Position Ulnt16 SInt32 3 Par Curve Time SInt32 10us On a falling trigger event start command 043xh 4 3 57 Name Modify Curve Start Address in RAM 050xh Byte Description Type Unit Offset Header 10 050xh Modify Curve Start Address in RAM BI Ulnt6 1 100 Curve Start Address Offset Uintl J This command allows locating the curve start address points to the start of the curve info header A value of OFFFh means no curve has been defined can be used to clear a curve When using this command the whole memory management of the curve data has to be done by the superior system A curve can only be defined with a valid start address If a start address is defined the curve curve info header and curve data points has to be completely defined otherwise this will lead to an unpredictable behavior Modify Curve Info Block 16 Bit Value in RAM 051xh Description 4 3 58 Ulnt16 051xh Modify Curve Info Block 16 Bit Value in RAM Curve ID Offset in Byte Value Header Ulnt16 Uint16 Sint16 1 Par OP Page 41 106 User Manual
136. vated Turn Off Voltage 101Fh If the Motor Supply Voltage sinks below this limit the low side switch of the regeneration output is turned off With the RR Temp Calculated section the temperature model of the regeneration resistor is parameterized This is used for avoiding damages to the regeneration resistor if the energy dissipation rises over the resistor s capabilities UPID 1022h Parameter Name RR Resistance Description Resistance value of the regeneration resistor This value is used for calculating how much heat energy is generated in the resistor at the current DC link voltage If Calc Temp RR Winding UPID1CODh of the calculated temperature model rises above this value bit 10 of the Warn Word is set Warning Temp Page 94 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Motion Control SW Lin Mot Error Temp 1025h If Calc Temp RR Winding UPID1CODh of the calculated temperature model rises above this value the drive goes to error state with the error 15h In the Temp Model Parameters section the regeneration resistors temperature model is defined Parameter Name UPID Description C Resistor 1026h Heat capacity of the resistor winding itself R Winding 1027h Thermal resistance value between resistor winding and its Housing housing C Housing 1028h Heat capacity of the resistor housing R Housing 1029h Thermal resistance value between res
137. vaue Sit32 O 4 3 188 Name Byte Add To Cmd Table Var 1 241xh Description Offset Header 0 241xh Add To Cmd Table Var 1 Ulnt16 1 Par 2 Add value Sint32 4 3 189 Set Cmd Table Var 2 To 242xh Name Byte Description Offset Header 0 242xh Set Cmd Table Var 2 To Ulnt16 1 Par 2 Set value Sint32 4 3 190 Add To Cmd Table Var 2 243xh Name Byte Offset Description Type Unit Header 10 243xh Add To Cmd Table Var 2 Ulti6 Add value 4 3 191 Byte Offset Description Sin32 Write Cmd Table Var 1 To UPID RAM value 248xh UPID Unique Parameter ID Ulntt6 Page 73 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 4 3 192 Write Cmd Table Var 2 To UPID RAM value 249xh Name Byte Description Type Unit Offset Header 0 249xh Write Cmd Table Var 2 To UPID RAM value Ulnt16 1 Par 2 UPID Unique Parameter ID Ulnt16 4 3 193 Write UPID RAM Value To Cmd Table Var 1 24Cxh Name Byte Description Type Unit Offset Header 0 24Cxh Write UPID RAM value To Cmd Table Var 1 UlntiG 1 Par 2 UPID UniqueParameterID LUmpel 4 3 194 Write UPID RAM Value To Cmd Table Var 2 24Dxh Unit 4 3 195 IF Cmd Table Var 1 Less Than 250xh Byte Description Offset 9 7 6 8 250xh IF Cmd
138. within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 63 Setup Encoder Cam On Rising Trigger Event With Delay Counts 069xh Name Byte Description Type Unit Offset Header 069xh Setup Encoder Cam On Rising Trigger Ulnt16 Event With Delay Counts 1 Par 2 CuvelID J UInt16 1 100 2 Par 4 Curve Start Delay Count Ulnt32 Page 43 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam Length UPID1527h for triggered cam motions Motion Control SW 4 3 64 Setup Encoder Cam On Rising Trigger Event With Delay Counts Target Pos and Length 06Axh Name Byte Description Type Unit 0 O6Axh Setup Encoder Cam On Rise Trigger Event Ulnt16 With De
139. ype Unit Offset 034xh PVA Stream With Slave Generated Time Ulnt16 Stamp Position SInt32 2 Par_ 6 Velocity SInt32 1 um s 3 Par 10 Acceleration SInt32 1E 5m s This command can be used for cyclic position velocity and acceleration setpoint streaming This is possible if master provides NC functionality The commands have to be sent strictly cyclic in order to prevent buffer underflow buffer overflow errors The period length should be in the time range of 0 4ms 10ms The setpoint time stamp is generated by the slave s interface when the command is received receive time stamp The first two streaming commands are used to determine the nominal period length The setpoints are Than delayed Page 37 106 User Manual Motion Control SW SG5 23 09 2014 NTI AG LinMot 1 5 times the period length Between the setpoints the slave performs a fine interpolation For good results the streaming period has to be as constant as possible 4 3 43 PVA Stream With Slave Generated Time Stamp and Configured Period Time 035xh ame Byte De ptio pe c Header 0 035xh PVA Stream With Slave Generated Time Ulnt16 Stamp and Configured Period Time 1 Par 2 Position SInt32 0 1 um 2 Par 6 Velocity SInt32 1 um s 3 Par 10 Acceleration SInt32 1E 5m s This command can be used for cyclic streaming of position velocity and acceleration setpoints This is possible if master provides NC functional

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