Master Encoder User Manual
Contents
1. mode Wizard Type Manual x Position mm Position mm 86 00 85 00 Drive Type LinMot zl Name Master Encoder 76 00 76 00 Tine in 66 00 66 00 56 00 56 00 46 00 46 00 36 00 36 00 26 00 26 00 16 00 16 00 6 00 i i i i H 6 00 14 0 00 666 46 133232 1999 37 266583 333229 399875 5215 Time ms wv Ok X Cancel Figure 4 8 Defining a Cam in the Curve Inspector In contrast to the time for time locked curves the number of encoder incre ments over which the cam runs is not defined in the curve editor but can be set in the parameter tree under Encoder Encoder Application Cam Con fig Cam Length X See chapter 4 11 Parameters For achieving the best motor performance it is advisable to set the time to the expected value at 100 machine speed 34 Master Encoder User Manual 1 Software Description Defining Recipes L n M ot 4 9 Defining Recipes The master encoder software supports the use of recipes which means the possibility of working with different cam sets while the system runs A cam set consists of maximum four different cams one for each motor This functional ity makes the system possible to proceed product changes on the fly The recipe function is activate if the system detects a curve named Recipe Recipes are defined in the LinMof Talk Curve Editor Sn Edit Curve E Wizard Type Manual zl Position Steps Position Steps Drive Type Stepper zl 310 aig2. 2 1 Installation on Exx0 The following picture shows the power cabling of a master encoder module mounted on the controller type EX00 MT DN or EX30 DP EX00 MT ME01 01 08 EX00 DN amp ME01 02 08 EX30 DP DI 01 08 08 LinMot Fault Ready OJO StatA StatB OlO Mot A Sys 1 MotB Sys 2 24V ENC 1 VCC DIG OUT GND ENC 11 GND DIG IN GND DIG OUT Mot C Com 29 1 21 15 20 13 MotD gt PWR 25 48V 24V 3r Figure 2 1 Power Supply 1 24V ENC and GND ENC are not used for DIO1 08 08 The pin numbers which are set in brackets belong to the Control I O connec tor of the master encoder module Master Encoder User Manual 7 LinMot in ot Hardware Installation nstallation on ExOxO 2 2 Installation on Ex0x0 The following picture shows the power cabling of a master encoder module mounted on the controller EX000 MT DN or EX030 DP EX000 MT ME01 01 08 EX000 DN amp d MEO 02 08 EX030 DP DI 01 08 08 LinMot rex 0 24V ENC 1 Mot e t vec pig ouT Com e 18 GND ENC 1 e 0 end dia in PWR e 13 GND DIG OUT Motor e 2 B e 72V ES l 24V Figure 2 2 Power Sup
3. Encoder Counts Figure 4 13 Meaning of Motor Stroke and Counts per Stroke Master Encoder User Manual LinMot Software Description Parameters The two following figures show the effect of the FF Reversion parameter If this parameter is set to zero the movement of the linear motor could look like this Actual Pos mm Demand Pos mm 242 00 l l l 242 00 205 00 205 00 168 00 168 00 131 00 131 00 3400 9400 57 00 57 00 20 00 i l i i d d 20 00 oo 9009 1800 2700 3600 4500 5400 6300 7200 8100 9000 9900 Time ms Ch A Actual Pos mm Ch B Demand Pos mm Time 3 00 ms div Trig On Level Up 200 mm Figure 4 14 Motion with FF Reversion 0 By setting the FF Reversion parameter the overshooting and the large posi tion error can be minimized It is necessary to perform some practical tests to find out the optimal value of FF Reversion Master Encoder User Manual Actual Pos mm Demand Pos mm 242 00 242 00 205 00 205 00 168 00 168 00 131 00 131 00 94 00 34 00 57 00 57 00 20 00 20 00 0 00 3 00 18 00 27 00 36 00 45 00 54 00 53 00 72 00 81 00 30 00 99 00 Time ms Ch A Actual Pos mm Ch B Demand Pos mm Time 9 00 ms div Trig On Level Up 200 mm Figure 4 15 Motion with FF Reversion 32 51 r L I n Mot Software Description Parameters Master Encoder on Motors Encod
4. I T I 1 VCCENCIN 1 45V ENC OUT P 24V ENC 1 Control I O DSUB25 424N ENCI 1 Supply 24V GND ENC m GND ENCI i DL 1 I H lu 1 Figure 2 8 Loop through with a ABZ encoder on ME01 0X 08 modules Master Encoder User Manual 11 Hardware Installation Loop Through incremental EXOX1 ME i 1 1 1 h Lee 2 LINKA AC A gn 3 RJ45 Clee dc ik 6 6 L t gt 4 LINK B 4 5 i LER 5 5L L ree VCC ENC eter is rt GND ENC I4 Ld 8 8 ES il r 4 1 I 1 I VCC ENC IN 1 i 1 45V ENC OUT 2 24V ENC Control I O DSUB25 24V ENCI 3 1 Supply 24V enpenc GND ENC i i UERPO OEEO eee Figure 2 9 Loop through with a ABZ encoder on EX0X1 ME controllers 1 If the encoder works with a 5V supply voltage the internally generated 5V can be used by connecting the pins VCC ENC IN and 5V ENC OUT If the encoder has a different supply voltage an additional power source is neces Ld 1 sary The next figure shows the wiring of a stepper interface used in loop through mode MEO1 0X 08 EN STEP 6 amp SIEP 1 EQ STEP 3 LINK A 2L STEP E om DIR 17 DSUB9F 7D I t DIR S 3 DIR i Electronic ZERO fg LINK B
5. 20 4 28 8 V max 6 W 24V ENC 1 and GND ENC 15 5V ENC OUT 2 max 500mA Specification VCC ENC 14 and GND ENC 15 Specification GND DIG IN 20 common ground line Specification 6 34V 4A 24V DIG OUT 21 and GND DIG OUT 13 On Ex0x1 ME types the pins 13 15 and 20 are internally wired together and connected to DGND Master Encoder User Manual LinMot Hardware Description Pinout 3 9 Pinout The following figure shows the pin outs of the three connectors as a summary The specifications of the signals can be found in the chapters above Link A Control I 0 DSUB 9 female DSUB 25 female Pin incremental step dir zero absolute LinMot Pin 1 VCC ENC VCC ENC VCC ENC 1 24V ENC 2 A ISTEP IDATA 5V ENC OUT 3 B DIR CLK 3 Az ZERO 5 GND ENC GND ENC GND ENC 4 DIGIN 6 A STEP DATA 5 DIGIN4 7 B DIR CLK 6 DIGING 8 Z ZERO 7 DIGINS 9 FAR 9 DIGOUT 1 Pinks 10 DIG ouT3 male 11 DIGOUTS Pin incremental step dir zero absolute loop through 12 DIGOUT 7 1 VCC ENC VCC ENC VCC ENC VCC ENC 18 GND DIG OUT 2 A STEP DATA Link A pin 2 3 DIR CLK Link A pin 3 a4 VOCIENCIN 4 z ZERO s Link A pin 4 15 GND ENC 5 GND ENC GND ENC GND ENC GND ENC ET 16 DIG IN 1 6 A STEP DATA Link A pin 6 17 DIGINS 7B DIR CLK Link A pin 7 18 DIGINS Z ZERO Link A pin 8 19 DIGIN
6. Time 999 494 ms Position Steps 1 aso H i i i i i i i 030 0 00 10000 20000 300 00 400 00 43339 59999 69999 79999 899 99 999 99 Time ms Figure 4 9 Creating a Recipe A curve named Recipe must be defined in the Manual mode for a stepper motor The value for Time or Frequency is irrelevant Recipe must be writ ten with a capital letter at the beginning and the rest in small letters One recipe is defined with four curve numbers Recipe 1 Nbr 1 4 Recipe 2 Nbr 5 8 The curve numbers are filled in the position table 1 means curve number 1 2 curve number 2 The first curve number of each recipe is for motor A the second for motor B and so on The curve graphics which is drawn automatically in the window on the right does only show the curve numbers set on the left and has no relevance in this case Master Encoder User Manual 35 a L In Mot Software Description Defining Recipes In the curve editor the cam numbers for the different recipes are defined the following way Nbr Position Steps Recipe Motor Cam 0 A a 0 B b 0C c 0 D d 1 A e 1 B f 1 C g 1 D h 2 A i o o OA RON zi tU EI EDI EQ EOS EGO t0 64 XX 15 D xx If the recipe list has more than 64 items all items with a higher number than 64 will be ignored If the recipe list is shorter than 64 items and if a digital inputs combina
7. 4 2 Compatibility seeshaxeaishenucessass aceedsogsassetenseatesuapeassscnsessnsessnsbedeusuatsnonassboasesnsensssoastedees 27 Q3 COVETVICW acetsssevedsoeid dvs gneasacsstervensesdcsdedsdtevedssedddscueseateasssdendedesandedsavcsceatesecrcceeatesecs 27 44 Application Modes esee nete iueb xke nino REPE scene Sounesscvoasowenesnesiananadentuanscenetasceansedacesses 28 AS Encoder Types secssestee eek eee sa bind enksu ch Hao va Chu sena uS tie estesa PERMANERE URN QURE OP APP Vo er Ee kessa Se 31 AG Digital INpuls qadscscvesesceceudee cives ev ect bp aree sco pe eR Y FoU ee ERE E IUS ER ER CES ERE EERRI SETA SER Regn 32 4T Digital Gir PC DC PR 33 AS JDerminir Caseres ossessi eene erse i eris aerea bulo rS eos ESE rs to aE 34 49 TEMG RECIPES aecdessesssasedcboncdeticosdasdedsstessdssedddecssvicdedsesice detesucdedcaccedeansstensddeatesese 35 A AO SA SCIDC Oiimvatids sacessccscsoneedencsienedandoverssaecntedeunsstoneasdoneedncesiatesucsneuaccneneaccesssecauessen 38 AUS PATATICISIS ccpsusescaisasibaeuselessacssuasecassetantes ei uscuasesis EIEE E EER 46 4 12 Base Parameters sscecsvscesusveadcoveddssdestdscesssncvsdssceddsedesusveddsoceasavaceusiecsscedeatsceuscsdecsecdse 55 Bo CODONMPHISSIQDHID sente Ir Sacked cave IRR SEN DSi UR too pleea tons RE E 56 5 Installing the LinMot Master Encoder Software ssesssesssesssesssssssssssssesseesneesseesees 56 5 2 Quick Start up Guide for Cross Winding Application ccccccccsccscescscesceseesees 57 M
8. 8 ZERO MasterClock 4 DSUB9M 4 EFC GND 5 5 i S Iv 24V 24V ENC 24V ENC upp y GND ENG 15 Control I O GND ENC i Figure 2 10 Loop through with a stepper interface encoder on ME01 0X 08 modules AAA E e a EX0X1 ME i i i STEP H 71 STEP_ 1 5 rhe STEP STEP a e 3 D STEP 13 LINK A 2L STEP r3 rte F m DIR f3 RJ45 3 DIR ey Mhe o DR 15 e DH I1 i Electronic ZERO 4 LINK B 4 a 1 rie 1 MasterClock 2 push H HU 4 l GND s 8 a 1 i 1 1 1 1 1 1 1 1 S Iv 24V 24V ENC 24V ENC 3 u GND ENC fyz Control 1 0 GND ENC pply 15 ae 1 i 1 1 De gg a EE En ee J Figure 2 11 Loop through with a stepper interface encoder on EXOX1 ME controllers Master Encoder User Manual 1 Hardware Installation Digital Inputs L In Mot 2 7 Digital Inputs The eight digital inputs are designed for a 24V interface On the ME01 0X 08 and DI01 08 08 the inputs are galvanically isolated The wiring can be done like this ME01 0X 08 DI 01 08 08 EX0X1 ME _DIG IN 1 r _DIG IN 2 4 _DIG IN 3 H7 _DIG IN 4 _DIG IN 5 _DIG IN 6 _DIG IN 7 DIG IN 8 24V GND DIG IN 8 Control I O DSUB25 ojaan 20 Figure 2 12 Wiring of the digit
9. pOStuint16 QriVetarivecoge OXOD ELO 5 PC aCkjackcoge OX0D This command sets the Maximal Position parameter which is used for the upper turn around point for level winding applications Value Min Max DOSiuint16 32256 32256 MS MF Set Motor Stroke Direction ASCII sequence PC gt ELO IMP strok uint1e AVE tdrivecode OXOD ELO PC ACK ackcode OXOD This command sets the Motor Stroke parameter which is used for defining the ratio between Encoder Counts and Motor Stroke for level winding appli cations See chapter 4 11 Parameters for more details Value Min Max stroke uint16 64 16384 42 Master Encoder User Manual Software Description NC ND NF NL Master Encoder User Manual 4 LinMot ASCII Commands NC Get Cam Length Direction ASCII sequence PC ELO INC drive drivecode OxOD ELO gt PC lengthtyintre OxOD This command returns the value of the Cam Length parameter Value Min Max lengthtuint16 16 32767 ND Get Cam Delay Direction ASCII sequence PC ELO INC drivergri ecoge OX0D ELO PC 4F delayyintre OXOD This command returns the value of the Cam Delay parameter Value Min Max delay uint16 0 28672 Direction ASCII sequence PC ELO INF driverdrivecode OxOD ELO PC ValU ryintre OXOD This command returns the value of the FF Reversion parameter Value Min Max value yint16 0 32767 Direction ASCII sequence PC gt EL
10. 2 Winding Config bb dd FF Reversion p Jemiewisy2 Update Path Encoder Encoder ApplicationNw inding Config FF Reversion Figure 5 6 Winding Configuration Master Encoder User Manual 59 LinMot Contact Addresses Quick Start up Guide for Cross Winding Application 6 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration office linmot com Tech Support 41 0 56 544 71 00 support linmot com Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot Inc 5750 Townline Road Elkhorn WI53121 Sales and Aministration 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 e Please visit http Awww linmot com to find the distributor near you 60 Master Encoder User Manual Index Index A Absolute Encoder SSI 11 Absolute SSI 46 Absolute SSI with ext Reg 46 Application Cam 28 30 31 cross winding 31 Modes 28 parallel winding 31 ASCII Commands 38 overview 38 Binary Code 48 C Cam 28 30 31 defining 34 Cam 49 Cam Angle Config 55 Cam Angle Max 55 Cam Angle Min 55 Cam Config 49 Cam Delay 38 39 40 43 Cam Delay X 41 49 Cam Enable Motor X 52 53 Cam Length 43 Cam Length X 40 44 45 49 Cam Start Point 42 44 Cam Start Point X 49 Commissioning 56 Configuration
11. Contact nili P 60 System Overview 1 System Overview In automation applications it is often necessary to synchronize several sys tems not only in time lock but also in position lock mode The master encoder add on module for LinMof controllers opens solutions for position locked applications like cam master encoder winding etc A typical electronic line shaft solution with LinMof would look like this 7 erint Linear Motion 4 E tee Linear Motion Main Drive Electronic line shaft with Master Encoder Master Encoder Linear Motion 1 Linear Motion 5 mounted B on line M Linear Motion 2 E Linear Motion 6 shaft a I 1 n uiu Linear Motion 3 c Linear Motion 7 l 8 D gt Figure 1 1 Electronic Line Shaft with Master Encoder The master encoder module family consists of several types which provide up to 2 complete encoder links and up to 8 digital inputs and outputs The following table gives an overview over the different encoder module types which will be shortly describes below ME01 01 08 ME01 02 08 DI01 08 08 EX001 ME EX031 ME Link A ME ME ME Pos Sensor Pos Sensor Pos Sensor Link B loopthrough Pos Sensor loopthrough only only Digital x x x x Inputs Digital x x x x Output
12. DIG OUT 10k o 22 DIGOUT2 e 10 DIGOUTS e 23 DIGOUT4 o 11 DIGOUTS AW o 24 DIGOUT6 WK o 12 DIG OUT7 4 l 25 DIG OUT8 10k k 13 GND DIG OUT Figure 3 10 Digital Output Circuit on ME01 0X 08 and DI01 08 08 mod ules VCC DIG OUT DIG OUT 1 DIG OUT 2 DIG OUT 3 DIG OUT 4 DIG OUT 5 DIG OUT 6 DIG OUT 7 DIG OUT 8 GND DIG OUT Figure 3 11 Digital Output Circuit on EXOX1 ME controllers Characteristics Item Specification Number of Outputs 8 Max Current 0 5 A each output Output Type Electronic High Side Switch Supply Voltage 6 34 V between VCC DIG OUT and GND DIG OUT Max Frequency 1kHz Protection Overload Protection Inverse Polarity Protection Only on ME01 0x 08 Galvanic Isolation Note There is no recovery diode placed for driving relais Master Encoder User Manual 23 3 8 Power Supply Characteristics 24 Hardware Description Power Supply Each IO part of the master encoder module has its own galvanically isolated power supply The master encoder interface needs 5V which will be gener ated on the board from a 24V supply These 5V are available for supplying the encoder Master Encoder Inter face Supply Voltage Range Power Consumption Pins Names Numbers 5V Output Encoder Supply Pin Names Numbers Digital Inputs Supply Pin Names Numbers Digital Outputs Supply Voltage Range Max Current Pin Names Numbers Specification
13. EXOX1 ME Master Encoder User Manual 19 1 L In Mot Hardware Description Single Line Wiring 3 5 Single Line Wiring The figure below shows the wiring of the RS422 inputs when only one signal line is used In this case only the non inverted input is used Encoder Master Encoder Figure 3 6 Single Line Wiring on ME01 0x 08 Encoder Master Encoder Figure 3 7 Single Line Wiring on EX0X1 ME Note For a better operating safety and higher frequencies it is strongly rec ommended to use differential signal wiring In practical applications single line wiring has not performed very stable drift noise 20 Master Encoder User Manual a Hardware Description Digital Inputs L In Mot 3 6 Digital Inputs On the master encoder module there are eight galvanically isolated digital inputs All inputs are protected against inverse polarity and have a common ground line The pin out is shown in chapter 3 9 Pinout The functionality of the digital inputs is mapped fix Control I O s 16 DIG IN 1 4 DIGIN2 DIGIN3 5V1 1k65 AM 7 DIG IN 4 8 DIGINS DIG IN 6 6 5v1 1ke5 9 19 DIGIN7 D AW o 7 DIGIN8 20 GND DIG IN Figure 3 8 Digital Input Circuit on ME01 0X 08 and DI01 08 08 modules 6 6 Control I O 5 16 DIG IN 1 1nF 15k o DIG IN 2 DIGIN3 DIG IN 4
14. Hardware Description Link B The link B supports full encoder functionality on the module MEO1 02 08 On ME01 01 08 only the loop through mode is supported For the pin out see chapter 3 9 Pinout Item Connector Type Signal Levels Encoder Modes on ME01 01 08 Encoder Modes Input Current Encoder Supply Max Signal Freq Protection Termination Specification DSUB 9 male RJ45 differential RS422 loop through incremental only incremental A B Z up to 16 bits incremental STEP DIR ZERO up to 16 bits Only on ME01 0x 08 absolute SSI DATA CLK up to 24 bits ME01 0x 08 0 5mA DC 100mA max peak when switching typ 25mA 500kHz ExOx1 ME typ 50mA internally generated 5V 500mA max or externally Control I O signal VCC ENC IN pin 14 500 kHz Only on ME01 0x 08 Galvanic Isolation All signal lines are terminated See chapter 3 4 Encoder Signal Termination Master Encoder User Manual LinMot Hardware Description Encoder Signal Termination In ot 3 4 Encoder Signal Termination The figure below shows the termination of the RS422 signals on the encoder links A and B These termination circuits are placed on all lines and cannot be disabled by jumpers e g Encoder MEO1 0X 08 Figure 3 4 RS422 signal termination on ME01 0x 08 Encoder EXOX1 ME Figure 3 5 RS422 signal termination on
15. Incr 47 Contact 60 Counts per Stroke 50 Counts Rev 47 Cross Winding 31 49 Curve Number 55 D Decode 47 DI01 08 08 6 Digital Inputs 13 21 function 32 Signals 21 Digital Outputs 13 23 function 33 E Encoder absolut SSI 11 Incremental 9 Stepper Interface 10 Types 31 Encoder on Motors 52 Encoder Position 54 Encoder Position Config 54 Encoder Position Max 54 Encoder Position Min 54 Encoder Readout Width 47 User Manual Release 1 3 F FF Reversion 41 43 50 Function 54 G Gray Code 48 H Hardware Digital Inputs 21 digital outputs 23 Installation 7 Link A 17 Link B 18 mechanical dimensions 14 15 Mounting 14 Power Supply 24 Termination 19 20 Incr A B Z 46 Incr A B with ext Reg 46 Incremental Encoder 9 Incremental Stepper Interface 10 Inputs 53 Installation Hardware 7 Software 27 L Link A 17 Link B 18 Loop Through 11 M Maximal Position 42 44 55 MC 40 44 45 MD 42 ME01 01 08 5 6 ME01 02 08 6 Mimimal Position 55 Minimal Position 41 43 ML 41 MO 42 Mode 49 Mot X Cam Angle 54 Mot X Following Error 54 Mot X Pos Range 54 Motor X 52 Motor Stroke 42 44 50 MR 42 MS 42 N NC 43 ND 42 43 NF 43 NL 43 NO 44 None 54 NR 44 NS 44 P Parallel Winding 31 Parallel Winding 49 Parameters 46 Pin Outs 25 26 Position Coding 48 Position Format 47 power cabling 7 8 Power Supply 24 Processed Width 47 R Recipe define a 35 example 37 Recipe
16. PE RESP RAUM SS So s eI AES Seo AMAT 11 2 0 Loop Through anCtemielibal vesisessseuseoeevvese esae neri ev vo ath ue osese sess eaa ias netu PAR RR EUR 11 Zid Digital IupUls sasacececavestassevesssuncssecasvesusssdecadacesneapectnstedatewissnectcsebacesscdscstecdetedadwccees 13 2 5 Distal OOUIDHIS siesta DPiPERRenPREERPE SEP aiuto nsoh En Sek DI P ER e ER rao PR Macar Spee Eseo oo ep AS 13 3 Hardware Deseriptlon 5s voee itv ee pee esu t Aene NR prO E IER ERR S HUN EE ER EUE 14 SL MUI Sese eorr orae EV loe Rode ka eee Een ops uvae oaa v uo EE E S De PR VORNE EHE NER EV PS PORE NE 14 Dee ET pen 17 Dic T S e ds utis SERE seaweuss cuts eavae Rt abore SD Lis QUA D I Idi EARUM EE ORRURE 18 3 4 Encoder Signal TGtrmiyndtiOtias esses ones vost etia nere epe oaa ae ev s To evo eoo va ego V ONERE NEUE 19 39 VSMCS Lane W ITS po ee potevo echo ERE Ee en EUM Ee PP Ere bas ek eu opi Post oko P osi DE Sede ERA EN ERI Spo XAR 20 3 6 DISTAL pulls ossessione sei oe i eine oP Eee 9D MES Ue bete bU Ropa Br ke ble EE EORR CREER b Eae Rn ER S REN esie RR S 21 SM Digital OUUULs iode tae aedis isone ur edes dog vues proi ew eR iva uj Re eth 23 SiG LA ESL IKE TT T E EEE TE 24 SP NE sn eem T TAT 25 5 10 C Manges 1n EXUNXT MPE s eese sb aveo an soon eh ee casos senose oseere eU eeu aS P DEVE RE PUR RN EU 26 4 Software Description si sssaysscesecvdescesceedeveseeseceesceeess sxecbsssncesvdvecsovescssdeecsvarcasvassssevess 27 4 Lc ta S UA AICI T E tucdovenes E AET 27
17. be active it has to be switched on in the base parameter tree under System Command Interface List of additional commands and afterwards the alphabetical list of the com mands with detailed information DICITO NN SH Value Set Command Get Command E E Bi 4 5 26 Cam Length IMC INC X X Cam Start Point IMO INO x x Minimal Position IML INL x x T Maximal Position IMR INR x x 2 Motor Stroke IMS INS x O FF Reversion IMF INF x Cam Delay IMD IND x X Cam Number Rise Curve Number IPR IGR X X Counts per Stroke IMT INT x z Get wanted Position in Curve Cam IGH x x O Get actual Curve Cam IGG x X Star Cam ICU x X lt Start Cam from actual Position ICV x x CU CU Start Cam Direction ASCII sequence PC gt ELO ICU CaM uint16 P driVetarivecoge OxOD ELO gt PC HP ACK yint16 0x0D This command changes motor from time locked mode to cam mode If the motor is already in cam mode and only the cam profile has to be changed it is better to use the IPR command The CU command immediately switches the motor to the cam mode so if according to the settings cam start condition Cam Delay parameter Cam Length parameter the motor will jump to the corresponding position Value Min Max Cam wint16 0 63 38 Master Encoder User Manual Software Description CV GG GH CV Start Cam from actual position Direction ASCII sequence PC gt ELO ICV CaMuintie AVE tdrivecode OXOD ELO PC aCkjuint1e OXOD This co
18. controllers are looped together take a 1 1 Ethernet patch cable according to EIA TIA 568A standard drill pairs 1 2 3 6 4 5 7 8 e g RJ45 08 0 3 LinMot article number 0150 1852 Connect all necessary links to the new EXOX1 ME controller and install the newest firmware release 1 3 16 Login to the controller and open the saved configuration offline Set all parameters of the new system according to the settings in the offline config uration Load the saved curves 26 Master Encoder User Manual Software Description Installation L i n M 0 t 4 Software Description 4 1 Installation 4 2 Compatibility 4 3 Overview The hardware and software commissioning is described in chapter 5 Commissioning The present software version 1 4 7ME runs only on the newest LinMof MT controllers version 2 this is because of the hardware compatibility The sys tem provides full AT and MT functionality In this version the function of the digital inputs is mapped fix For the EXOX1 ME controller types the master encoder functionality is included in the release 1 3 16 itself The main difference to the 1 4 7ME ver sion is the lack of the SSI encoder type support because of the different hard ware LinMof keeps the right to make changes in later version which might not be downwards compatible Additionally to the AT and MT functionality the master encoder software pro vides the possibility of executing motio
19. ler is in the RUN state and the cam enable is active if used When the cam is finished it starts again immediately See chapter Continuous Cam Incr A B Continuous or STEP DIR Continuous The encoder signals come from a stepper motor interface with a zero signal The encoder signals come from a stepper motor interface The start of a motion is triggered by a reg istration input The encoder signals come from a stepper motor interface without a zero track The cam will be started as soon as the controller is in the RUN state and the cam enable is active if used When the cam is finished it starts again immediately See chapter Continuous Cam Incr A B Continuous or STEP DIR Continuous Only for ME01 0X 08 modules The encoder type is absolute SSI Only for ME01 0X 08 modules The encoder type is absolute SSI The movement of the motor will be started with a registration input Master Encoder User Manual 1 Software Description Parameters L n M ot Configuration Incr In the Configuration Incr directory are the parameters which define the incremental encoder more precisely This directory is only relevant if the encoder type is set to Incr A B Z or Incr A B with ext Reg Encoder Encoder Setup Configuration Incr Counts Rev Defines the number of counts per revolution the encoder has Range 16 32767 Decode This parameter specifies the decode mode of the encoder There are the fol
20. 7 20 GND DIG IN 21 VCC DIG OUT 22 DIG OUT 2 23 DIG OUT 4 24 DIG OUT 6 e 25 DIG OUT 8 Figure 3 12 Pin Out Overview on ME01 0X 08 modules Link B Control 1 0 DSUB 25 female RJ45 RJ45 Pin Pin incremental step dir zero loop through 1 24V ENC Ta STEP Link A pin 1 s BTE Link A pin 2 2 5V ENC OUT 3 B DIR Link A pin 3 3 4 z ZERO Link A pin 4 4 DIGIN2 5 ZERO Link A pin 5 5 DIGIN4 T eee s ems VCC ENC VCC ENC 8 GND ENC GND ENC GND ENC g Re 9 DIG OUT 1 Link A 10 DIG OUT 3 RJ45 11 DIG OUT 5 Pin incremental step dir zero 12 BIG GUUT HA STEP 18 GND DIG OUT 2 l a STEP 14 VCC ENC IN 3 B DIR 15 GND ENC 4 Z ZERO 16 DIGIN1 A j ZERO 17 DIGINS DIR 7 VCC ENC VCC ENC 19 DANS 8 GNDENC GND ENC T 185 DIGINI 20 GND DIG IN 21 VCC DIG OUT 22 DIGOUT2 For encoder and loop through use 28 DIGOUT4 Ethernet Cable EIA TIA 568A standard 24 DIG OUT 6 drilling pairs 1 2 3 6 4 5 7 8 25 DIG OUT 8 Figure 3 13 Pin Out Overview on EX0X1 ME controllers The connector types are Name Connector Type Connector Type ME01 0X 08 EX0X1 ME Link A DSUB 9 female RJ45 Link B DSUB 9 male RJ45 Control I O DSUB 25 female DSUB 25 female Master Encoder User Manual 25 3 10 Changes in EXOX1 ME Differences Hardware Description Ch
21. DIG IN 5 DIG IN 6 DIG IN 7 DIG IN 8 3 DGND 3 1nF 15k 10k azk ell GND DIG IN DGND DGND Figure 3 9 Digital Input Circuit on EXOX1 ME controllers Characteristics Item Specification Number of Inputs 8 Logic Levels low lt 5V high gt 15V Nominal Voltage 24V Input Current ME01 0x 08 typ 11mA 24V max 15mA Ex0x1 ME typ 0 5mA 24V 50kOhm input resist ance Max Frequency 2kHz Protection Inverse Polarity Protection Only on ME01 0x 08 Galvanic Isolation Master Encoder User Manual 21 Signals 22 Hardware Description Digital Inputs In the present software version the function of the digital inputs is mapped fix The following table gives an overview in chapter 4 6 Digital Inputs the soft ware function is described Signal DIG IN 1 DIG IN 2 DIG IN 3 DIG IN 4 DIG IN 5 DIG IN 6 DIG IN 7 DIG IN 8 Function Trigger enable for motor A Trigger enable for motor B Trigger enable for motor C Trigger enable for motor D Recipe input bit 0 Recipe input bit 1 Recipe input bit 2 Recipe input bit 3 Master Encoder User Manual a Hardware Description Digital Outputs L In Mot 3 7 Digital Outputs There are eight digital outputs on the master encoder module with the charac teristics below The pin out is shown in chapter 3 9 Pinout WW KE fe 21 vec DIG OUT vk l 9
22. Delay counts and then starts the cam over Cam Length counts If the encoder counts up the following behavior is defined Pos Registration Figure 4 2 Registered Cam when encoder counts up If the encoder counts down the following behavior is defined Pos Cam Length Cam Delay Cam Length Cam Delay Counts Registration Figure 4 3 Registered Cam when encoder counts down A new cam cycle is only initiated on a rising edge of the registration input and if the previous cycle has completely finished minimal Cam Delay plus Cam Length counts Master Encoder User Manual 29 30 Software Description Application Modes Continuous Cam Incr A B Continuous or STEP DIR Con tinuous The continuous cam mode is selected in combination with the encoder types Incr A B Continuous or STEP DIR Continuous This mode is typically used for cutting applications The cutting itself is defined with the cam and the length of the cut object can be adjusted with the Cam Delay parameter A cycle is started when the cam enable input goes high or if the cam enable is not regarded when the software enters in RUN mode When the cam is finished and the cam enable is still active the next cycle starts immediately with the cam delay phase One a cycle has started it will be compl
23. LinMot Master Encoder User Manual Includes Release 1 3 16 and 1 4 11 2008 NTI AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improve ment Please refer to the latest edition of our General business terms Version 1 19 May 8 2008 I System OVOrVIQu s secs vaccetcccudiceraectlicscskaccccesdcaciacsvenenteensdacesssvaneesdunccsqnanavcaenaueaaweseene 5 2 Hardware Installation er 7 Ze Lisci Este reis o UR e UTR 7 2 2 TInstallagor om EXOXO quete bee Re AE EoEURN Qo IEM Aene e So Ec nobe to ENVASE Lec Spesso ast stss 8 2 3 Incremental BHOOGGE Gp svesesssestus sondsvves obrera ptr vvus PR EP S eH ap anireo rp Pes taa Veg Sa 9 2 4 Incremental Stepper Inferfaee sieeeeces eoe tdeveet epe erue ee eR inva Pepe o oen oe tup Fa Pouc ER aUe PEE EA IARE 10 26 S Absolute Encoder S Lus iiostob o eop ss Ph epiS eer b ERE PAP RURE
24. O INL drive grivecodej OXOD ELO PC POStyint16 OXOD This command returns the value of the Minimal Position parameter Value Min Max POS uint16 32256 32256 Co NO NR NS NT 44 Software Description ASCII Commands NO Get Cam Start Point Direction ASCII sequence PC ELO INO drive grivecode OXOD ELO PC 4F startpointuint1e OX0D This command returns the value of the Cam Start Point parameter Value Min Max startpointyintre O 32767 NR Get Maximal Position Direction ASCII sequence PC ELO INR drivergriecoge OXOD ELO PC HF POSiuint16 OXOD This command returns the value of the Maximal Position parameter Value Min Max POStuintt6 32256 32256 NS Get Motor Stroke Direction ASCII sequence PC 5 ELO INS drive arivecode OXOD ELO PC Stroker yintye OXOD This command returns the value of the Motor Stroke parameter Value Min Max stroke yint16 64 16384 Direction ASCII sequence PC gt ELO IMT driveraryecoga OX0D ELO PC 4F COUNTS yint76 OXOD This command returns the Counts per Stroke parameter Value Min Max COUPS yint16 64 16384 Master Encoder User Manual Software Description PR MC Set Cam Curve Number Direction ASCII sequence PC ELO IPR CaMuint16 elopejocoge OXOD ELO PC aCkackcoge OX10D This command sets the Curve Number parameter which defines the next cam number which will b
25. al inputs For more information see in chapter 3 Hardware Description 2 8 Digital Outputs All the eight digital outputs are designed for a 24V interface On the ME01 0X 08 and DI01 08 08 the outputs are galvanically isolated ME01 0X 08 DI 01 08 08 EX0X1 ME DIG OUT 1 41g DIG OUT 2 29 DIGOUT3 Fd E DIG OUT 4 l P DIG OUT 5 23 Control I O DiGourg i DSUB25 24 e DIGOUT7 L DIGOUT8 ba VCC DIG OUT 24V ap Dic OUT fs Figure 2 13 Wiring of the digital outputs The outputs switch electronically the 24V DIG OUT to the output pin The interface must be supplied pins 21 and 13 For more information see in chapter 3 Hardware Description Master Encoder User Manual 13 L In Mot Hardware Description Mounting 3 Hardware Description This chapter describes the circuitry of the different links of the master encoder modules 3 1 Mounting The picture below shows how the master encoder add on module is mounted on a LinMof EXXO controller and the mechanical dimensions Fixings for 2 x M5 screws p Centers 195 Figure 3 1 Mounting and dimensions 14 Master Encoder User Manual 1 Hardware Description Mounting L l n M ot The picture below shows how the master encoder add on module is mounted on a LinMof EXOXO controller and th
26. anges in EXOX1 ME The following table shows the differences between the master encoder func tionality on a EXOX1 ME controller and a MEO1 0X 08 module Item Location Dimension Connector Type Enc Link A Connector Type Enc Link B Galvanic Isolation Encoder Links amp Digital I Os Digital Input Cur rent SSI Encoder Type ME01 0X 08 Add On Module see chapter 3 1 Mounting DSUB 9 female see chapter 3 9 Pinout DSUB 9 male see chapter 3 9 Pinout Yes typ 11mA 24V max 15mA Supported EXOX1 ME Integrated on controller s bottom side see chapter 3 1 Mounting RJ45 see chapter 3 9 Pinout RJ45 see chapter 3 9 Pinout No typ 0 5mA 24V 50kOhm input resist ance Not Supported Application Conver sion The following steps are a guide to change an application realized with a ME01 0X 08 module to a system with a EXOX1 ME controller Save the parameter configuration and curves from the old system There fore use the appropriate LinMot Talk software version typ 1 3 14 or 1 3 12 Organize a EXOX1 controller with the ME option If encoder link A is used with the adapter cable K025 RJ45 D f 0 5 article number 0150 1866 the DSUBO from the encoder can be linked to the RJ45 jack If encoder link B is used with the adapter cable KO25 RJ45 D m 0 5 article number 0150 1867 the DSUBO from the encoder can be linked to the RJ45 jack If several
27. coder type ABZ STEP DIR ZERO and Absolute SSI can be used with the encoder internal zero signal for per manently clutched cams or the cam motion can be started on an external reg istration input See chapter 4 11 Parameters Master Encoder User Manual 31 4 6 Digital Inputs Normal Mapping 32 Software Description Digital Inputs There are two selectable mappings for the digital inputs in the software ver sion 1 4 1ME The pinning is selected in the Encoder Inputs Input Loca tion parameter See chapter 4 11 Parameters The following table shows the input mapping if the parameter is set to Nor mal Input Name TRIG ANALOG IN 1 TRIG ANALOG IN 2 TRIG ANALOG IN 3 TRIG ANALOG IN 4 DIG IN 1 DIG IN 2 DIG IN 3 DIG IN 4 DIG IN 5 DIG IN 6 DIG IN 7 DIG IN 8 Function Trigger Input Motor A Trigger Input Motor B Trigger Input Motor C Trigger Input Motor D Cam Enable Motor A Cam Enable Motor B Cam Enable Motor C Cam Enable Motor D Recipe Bit 0 LSB Recipe Bit 1 Recipe Bit 2 Recipe Bit 3 MSB Electronic Module MT MT MT MT ME ME ME ME ME ME ME ME Connector and Pin Sys 2 Pin 1 Sys 2 Pin 2 Sys 2 Pin 6 Sys 2 Pin 7 Control I O Pin 16 Control I O Pin 4 Control I O Pin 17 Control I O Pin 5 Control I O Pin 18 Control I O Pin 6 Control I O Pin 19 Control I O Pin 7 Master Encoder User Manual Software De
28. e executed This command can be used to command the recipe over the ASCII interface Value Min Max CaM uint16 0 63 Master Encoder User Manual 45 4 11 Parameters Type 46 Software Description Parameters The master encoder application needs some additional parameters which are organized in an application parameter tree The visibility feature chang ing visibility of parameter tree structures depending on the different selec tions can not be supported for these parameters Some parameters of the base software parameter tree may change their function in combination with the master encoder applications Please see chapter 4 12 Base Parame ters The master encoder specific parameters are subdivided into three parts encoder parameters application parameters and I O parameters Encoder Parameters These parameters are used to specify the hardware of the connected encoder This parameter defines the connected encoder type Encoder Encoder Setup Type Incr A B Z Incr A B with ext Reg Incr A B Contin uous STEP DIR ZERO STEP DIR with ext Reg STEP DIR Contin uous Absolute SSI Absolute SSI with ext Reg The encoder type is incremental with a zero signal The encoder type is incremental without a zero sig nal The cam will be started and synchronized with a registration input The encoder type is incremental without a zero track The cam will be started as soon as the control
29. e mechanical dimensions Fixings for 2 x M5 screws 179 a ae O DURAS RR e Linmop r L1 Figure 3 2 Mounting and dimensions Master Encoder User Manual 15 L In Mot Hardware Description Mounting The picture below shows the mounting dimension of a EX0X1 ME controller Fixings for 2 x M5 screws 330 Centers 315 dimensions in mm Figure 3 3 Mounting and dimensions 16 Master Encoder User Manual Hardware Description Link A 3 2 Link A The link A supports full encoder functionality on the modules MEO1 01 08 and MEO1 02 08 For the pin out please seechapter 3 9 Pinout Characteristics Item Connector Type Signal Levels Encoder Modes Input Current Encoder Supply Max Signal Freq Protection Termination Master Encoder User Manual Specification DSUB 9 female RJ45 differential RS422 incremental A B Z up to 16 bits incremental STEP DIR ZERO up to 16 bits Only on ME01 0x 08 absolute SSI DATA CLK up to 24 bits ME01 0x 08 0 5mA DC 100mA max peak when switching typ 25mA 500kHz ExOx1 ME typ 50mA internally generated BV 500mA max or externally Control I O signal VCC ENC IN pin 14 500 kHz Only on ME01 0x 08 Galvanic Isolation All signal lines are terminated See chapter 3 4 Encoder Signal Termination 17 3 3 Link B Characteristics
30. ed cam mode is selected in combination with the encoder types Incr ABZ STEP DIR ZERO or Absolute SSI on MEO1 0X 08 modules The relation between encoder position and motor position is visualized in the following figure Pos Encoder Z Figure 4 1 Motor Position according to Encoder Counts The motion is strictly cyclic If the encoder counts up when Z occurs the motor stands still for Cam Delay encoder counts and then runs the cam over Cam Length counts If the encoder counts down after the Z occurs the motor stands still for Counts Rev Cam Delay Cam Length then runs the cam backwards over Cam Length counts and at the end stands still for Cam Delay counts The sum of Cam Delay and Cam Length must be less or equal than Counts Rev Master Encoder User Manual Software Description Registered Cam Incr A B with ext Reg STEP DIR with ext Reg or Absolute SSI with ext Reg The registered cam mode is selected in combination with the encoder types Incr A B with ext Reg STEP DIR with ext Reg or Absolute SSI with ext Reg This mode is typically used for applications with a conveyor belt and an light barrier where the synchronization must be against the conveyor Independent from the encoder count direction after the rising edge on the reg istration input occurs the motor waits for Cam
31. een these two points the output is active high Encoder Outputs Output Y Encoder Position Config Encoder Position Defines the encoder position at which the digital out Min put Y switches on L Encoder Position Defines the encoder position at which the digital out Max put Y switches off L Master Encoder User Manual LinMot Software Description Base Parameters I n ot Cam Angle Config The parameters in this directory which only exists for the outputs 2 4 6 and 8 are used to define the switching points of the digital output if the output function is set to Mot X Cam Angle Between these two points the output is active high Encoder Outputs Output Y Cam Angle Config Cam Angle Min Defines the cam position at which the output Y L switches on Cam Angle Max Defines the cam position at which the output Y L switches off 4 12 Base Parameters In this section there will be the parameters discussed which have a changed function in the master encoder context Set Value configura In the two winding applications the Minimal Position and Maximal Position tion parameters define the reversal points Please note In contrast to other appli cation modes these two parameters are not live Drives Drive X Set Value Generation Set Value Configuration Minimal Position Determines the minimal position for the motor lower limit of positioning range In the level winding application it defines the lower tur
32. er on Motors These on off parameters define which motors will run in the position locked mode All not selected motors will run the time locked mode Encoder Master Encoder on Motors Motor A Motor A runs in the cam mode if selected Motor B Motor B runs in the cam mode if selected Motor C Motor C runs in the cam mode if selected Motor D Motor D runs in the cam mode if selected Each item is only visible if the corresponding motor is selected High Resolution Motors High Resolution This on off parameters defines if the motor will run in the high resolution regis Motors tration mode This mode is for high speed applications where it is necessary to start a movement exactly on the hardware start strobe even without any software synchronization This mode is only for incremental encoder applica tions without zero track In this release 1 4 1ME the high resolution mode is only supported for motor A See also chapter 4 6 Digital Inputs If any of the motors run in the high resolution mode make sure the input loca tion is set to Exchanged Encoder Encoder on Motors Motor A Motor A runs in the high resolution mode Motor B Motor B runs in the high resolution mode Motor C Motor C runs in the high resolution mode Motor D Motor D runs in the high resolution mode Each item is only visible if the corresponding motor is selected Inputs Location This parameter defines the mapping of the digital inputs Because of the
33. etely finished Pos Cam Enable Figure 4 4 Continuous Cam when counting up If the encoder counts down the following behavior is defined Pos Delay Delay Delay Cam Length Cam Length Cam Length Counts Cam Enable Figure 4 5 Continuous Cam when counting down Master Encoder User Manual Software Description 4 5 Encoder Types Parallel Winding In this application type a wire e g has to be guided according to the rotation speed of a coil on which it has to be wired up The motion ratio between the LinMof motor and the winder coil must be definable diameter of the wire and the turn around points have to be set on line This application is only for incremental encoder types The parallel winding mode generates a pattern like this Figure 4 6 Parallel winding mode pattern Cross Winding The cross winding application is quite similar to the parallel winding applica tion It will create another winding pattern and therefore it has some other parameters See chapter 4 11 Parameters The cross winding mode generates a pattern like this Figure 4 7 Cross winding mode pattern The master encoder hardware module supports different encoder types in dif ferent modes which can be selected in the parameter tree under Encoder Encoder Setup Type Each en
34. high resolution input feature there are two mappings Encoder inputs input Location Normal The mapping is as describe in chapter 4 6 Digital Inputs Exchanged The Trigger Input Motor X and Cam Enable Motor X signals are exchanged 52 Master Encoder User Manual Software Description Cam Enables Parameters These on off parameters define which cam start enable inputs are turned on Encoder Inputs Cam Enables Cam Enable Motor A Cam enable input for motor A is read in Cam Enable Motor B Cam enable input for motor B is read in Cam Enable Motor Cam enable input for motor C is read in Cam Enable Motor D Cam enable input for motor D is read in Each item is only visible if the corresponding motor is selected The following figure shows the logic how the cam is started DD qM Zero AND Z E o nci Ext Registration AND Reg Input Trigger TRIG ANALOG IN X ger Enable DIG IN X Cam Enable Mot X a pre Start Cam Figure 4 16 Cam Start Logic Master Encoder User Manual 53 Function Encoder Position Con fig 54 Software Description Parameters Outputs These parameters are used to define the behavior of the digital outputs This parameter is to select the signal source for the output The Y stands for the numbers 1 to 8 and the X is for the motor letters A to D Please note The Encoder Position and the Cam Angle Mot X are not available on each ou
35. i a ea a i i i ESTIS EST EST Encoder Readout Width e g 20 Bits Processed Width e g 12 Bits O 0 0 0 001300103810 16 bits Figure 4 11 Position Format Example As a short practical example an absolute SSI encoder is assumed which has 24 position bits 12 bits revolution counter and 12 bits resolution in one revolu tion A defined cam has to be run each two revolutions with 1024 encoder counts each revolution The parameters have to be set to Encoder Readout Width 21 Bits Processed Width 10 Bits Position Coding This parameter defines the coding of the serially transmitted position of the absolute encoder This parameter is only to be set for absolute encoders Encoder Encoder Setup Configuration Abs Position Coding Gray Code The coding of the serially clocked in position is in Gray code Binary Code The coding is binary 48 Master Encoder User Manual Software Description Parameters Encoder Application Parameters These parameters define the behavior of the master encoder application Mode This parameter defines the application type Encoder Encoder Application Mode Cam Config Cam Parallel Winding Cross Winding The motor s controlled by the LinMof unit run a predefined motion profile as a cam Depending on the selected encoder type the start and synchroni zation is controlled by the zero or registration inputs This application type will wind bobbins
36. lowing possibilities 1x 2x and 4x decode See the figure below Zero Offset This parameter is to compensate the difference between the machine and the encoder zero posi tions This parameter is only relevant for encod ers with a zero track This figure shows how the different decode modes generate the increments out of the signals A and B Signals B i i i i Decoded counts ml Job tot tl exllilitititili ex HELLE LL LET Figure 4 10 Decoding of incremental signals Position Format Only for ME01 0X 08 modules In the Position Format directory are the parameters which define the number of bits transferred from the absolute encoder via SSI and how many of these bits will be processed This directory is only relevant if the encoder type is set to Absolute SSI or Absolute SSI with ext Reg Encoder Encoder Setup Configuration Abs Position Format Encoder Readout This parameter defines how many position bits Width have to be clocked in from the absolute encoder The most significant bit of the position will be clocked first Range 2 24 Processed Width This parameter defines how many bits of the clocked in position will be processed See the fig ure below Range 2 15 Master Encoder User Manual 47 r L In Mot Software Description Parameters The following figure shows how the position defining bits are processed MSB Complete Internal Encoder Position Bits max 24 Bits LSB L3 SES
37. mmand changes the motor from time locked mode to cam mode If the motor is already in cam mode and only the cam profile has to be changed it is better to use the PR command The CU command immediately switches the motor to the cam mode so if according to the settings cam start condition Cam Delay parameter Cam Length parameter In contrast to the CU command the motor will start the cam from the actual position Note The parameter Curve Position Offset will be changed Value Min Max CaM vint16 0 63 GG Get actual Cam Curve Number Direction ASCII sequence PC gt ELO 1GG drivel arivecode OX0D ELO PC camping OXOD This command returns the active cam number This command can be used to find out when the commanded recipe PR becomes active so the next cam number can be commanded Value Min Max CaM uint16 0 63 GH Get wanted Cam Position Direction ASCII sequence PC ELO IGH driveraryecoge OXOD ELO PC POStyint16 OXOD This command returns the actual wanted position in cam mode according to the encoder position and the selected cam profile This command can be used for changing from position to time locked mode Value Min Max POStuint16 32256 32256 Master Encoder User Manual 39 GR MC MT 40 Software Description ASCII Commands GR Get Cam Curve Number Direction ASCII sequence PC 5 ELO GR driveraryecoge OXOD ELO PC HF campis OXOD This comma
38. n around point Maximal Position Determines the maximal position for the motor upper limit of positioning range In the level winding application it defines the upper turn around point Curve Number In the cam application the Curve Number parame ter defines the cam number This value will be over written if recipes are used Master Encoder User Manual 55 Commissioning Installing the LinMof Master Encoder Software 5 Commissioning This section deals with the steps necessary for successfully commissioning a LinMof system for master encoder module applications 5 1 Installing the LinMot Master Encoder Software 56 The master encoder software is delivered as an install package on diskette This install package contains everything needed to operate LinMof in the master encoder mode Procedure for installing the master encoder software is as follows 1 o N Oa fF Q 9 Install release R1 3 16 on your PC The software can be downloaded from the internet www linmot com Only for MEO1 0X 08 modules Mount the master encoder add on module on the LinMof servo controller Otherwise use a EXOX1 ME controller type Provide a serial link between PC and servo controller Supply servo controller and encoder module with power Start LinMof Talk 1 3 16 Select Install Package from Special menu Log in with ID Install and password NTI In the appearing file dialogue select the installation package Install i
39. n profiles based on an encoder position cam locked mode This software is configurable with an extended parameter tree in which the encoder type the application mode and the behavior of the digital IOs can be set Due to the additional digital inputs and outputs the digital command inter face has become more flexible The ASCII protocol which is fully supported has become more powerful with the addition of some master encoder specific commands Master Encoder User Manual 27 Software Description Application Modes 4 4 Application Modes 28 The master encoder software supports three basic application types cam parallel winding and cross winding Cam The cam application mode supports the electronic cam functionality in gen eral The cams are defined like other motion profiles and are saved on the LinMof controller When executing cam profiles the speed will be overtaken from the encoder motion Cams can be started on encoder reference on reg istration inputs or continuously There are configuration parameters for cam length over how many encoder counts a cam goes cam delay encoder counts delay after reference or registration input and cam start point the angle in the cam Depending on the corresponding encoder type the cam application mode can have three submodes which are called and discussed as follows Fixed Cam Registered Cam and Continuous Cam Fixed Cam Incr ABZ STEP DIR ZERO or Absolute SSI The fix
40. nd returns the value of the Curve Number parameter Value Min Max delay uint16 0 63 MC Set Cam Length Direction ASCII sequence PC gt ELO IMC lengthy inr driverarivecoge OXOD ELO PC aCkjackcoge OX0D This command sets the Cam Length X parameter which defines the motion ration between master encoder and motor movement for cam applications This command must be used carefully Because this command takes effect immediately a running cam will make the motor jumping to its new position This command is preferably used in the DISABLE state Value Min Max lengthuint16 16 32767 MT Set Counts per Stroke Direction ASCII sequence PC 5 ELO IMT countsiyint1e AVE arivecode OXOD ELO PC ACK ackcode OXOD This command sets the Counts per Stroke parameter which is used in wind ing configurations This command is preferably used in the DISABLE state Value Min Max Counts yint16 64 16384 Master Encoder User Manual 1 Software Description ASCII Commands L l n M ot MD MD Set Cam Delay Direction ASCII sequence PC ELO IMD delayjuintie AVE drivecode OXOD ELO PC ACK ackcode OxOD This command sets the Cam Delay X parameter which defines the number of increments the system will wait after an active edge on the registration input until the cam will be started This command only takes effect if the encoder application mode is set to Cam and the registration inpu
41. pk under LM1R3R16 Firmware for EXOX1 ME controllers or ME1R4R11 ipk under LM1R3R16 Firmware ME for MEO1 0X 08 modules Wait until the installation is completed 10 Setup the parameters Encoder Type Encoder Application according to chapter 4 11 Parameters Master Encoder User Manual Commissioning Quick Start up Guide for Cross Winding Application 5 2 Quick Start up Guide for Cross Winding Application General System Set Value Generation Set Value Configura tion Master Encoder User Manual This section is a guide for a quick start up of a cross winding application for one axis The encoder type in this example is assumed to be incremental 5000 increments per revolution The movement ratio between linear motor and encoder increments is set in this case to 20mm per 5000 increments The following items show step by step which setting have to be done Please set up the system like for a normal AT system Select the correct drive type and set up its parameters Possibly the command interface selection and the I O configuration have to be changed The Run Mode has to be set to Continuous Curve lA Serial Set Value Configuration b O Analog Position Monitoring Control Switches Control Parameters Error Handling Advanced M Filter Parameter Update gt amp Continuous Curve O Trigger Curve O Two Point O Interface xva Stream Path Drives Drive A Set Value Gene
42. ply 1 24V ENC and GND ENC are not used for DI01 08 08 The pin numbers which are set in brackets belong to the Control I O con nector of the master encoder module 8 Master Encoder User Manual LinMot Hardware Installation ncremental Encoder in ot 2 3 Incremental Encoder An incremental encoder with ABZ signals where Z is optional is connected to the master encoder module the following way ME01 0X 08 6 2 7 LINKA 3lor DSUB9 8 LINK B 4 VCC ENC 1 2 GND ENC E VCC ENCIN 1 1 sv ENC OUT 424N ENC Control I O DSUB25 Supply 24V annene z Figure 2 3 Wiring of an incremental ABZ encoder on ME01 0X 08 mod ules EXOX1 ME A Y e e A p B Ig e B LINK A 2 8 or RJ45 e o 14 LINK B Z 5 vec ENC 5 GND ENC n VCC ENC IN jq 1 sv ENC OUT 5 424V ENC Control I O DSUB25 Supply 24V cnND enc 15 Figure 2 4 Wiring of an incremental ABZ encoder on EXOX1 ME control lers 1 If the encoder works with a 5V supply voltage the internally generated 5V can be used by connecting the pins VCC ENC IN and 5V ENC OUT If the encoder has a different supply voltage an additional power source is neces sary 2 ME01 01 08 modules do not provide this function on link B See for more information in cha
43. pter 3 Hardware Description Master Encoder User Manual 9 2 4 Incremental Stepper Interface Hardware Installation ncremental Stepper Interface A stepper motor interface can be connected to the master encoder module the following way ME01 0X 08 20 sree T DR go w DIR HLK A Electronic zero slg PU MasterClock UM 1 GND f Supply 24V ET Control I O DSUB25 pply GND ENC Fg Figure 2 5 Wiring of a incremental stepper encoder on ME01 0X 08 mod ules EXOX1 ME STEP STEP DIR DIR ZERO ZERO Lr 2 ge mW Electronic MasterClock LINK A or LINK B 1 RJ45 Ol B D o p Y Y Y Y y Y GND 24V ENC GND ENC t Control I O DSUB25 Supply 24V Figure 2 6 Wiring of a incremental stepper encoder on EXOX1 ME con trollers 1 ME01 01 08 modules do not provide this function on link B The signals STEP DIR and ZERO are RS422 compatible ZERO can be wired optionally See for more information in chapter 3 Hardware Descrip tion Master Encoder User Manual 1 Hardware Installation Absolute Encoder SSI L In Mot 2 5 Absolute Encoder SSI Absolute encoders are wired with the master encoder module
44. r Configuration Incr Decode is to set to 1X tion Decode for this application s Parameter Inspector E400 MT on COM1 Io 1 Decode a Configuration Incr Zero Offset 0 Counts 2X Decode 4X Decode Update ath Encoder Encoder Setup Configuration Incr NDecode Figure 5 4 Encoder Configuration Application Mode In this example the application is cross winding Thus Cross Winding is to be selected under Encoder Encoder Application Mode ix SAE Encoder Setup B O Cam Encoder Application Id winding Config O Parallel Winding Master Encoder on Motors Cross Winding High Resolution Motors Inputs Outputs Update Path Encoder Encoder Application Mode Cross Winding Figure 5 5 Application Mode 58 Master Encoder User Manual T Commissioning Quick Start up Guide for Cross Winding Application L In Mot Winding Configuration Under Encoder Encoder Application Winding Config the movement con trol of the motor is set up With the parameters Counts per Stroke the ratio between motor speed and encoder speed is defined In this example we set it to 5000 counts The FF Reversion parameter influences the motor behavior at the turn around points we set it to 32 mm m s Hn Parameter Inspector E400 MT on COMI Encoder Application lt Master Encoder on Motors High Resolution Motors Inputs Outputs G Counts per Stroke 5000 Counts gt L FF Reversion 32 mm m s
45. ration Aun Mode Figure 5 1 Set Value Generation The two parameters Min Position and Max Position are used in the cross winding application to define the two turn around points Ln Parameter Inspector E400 MT on COM1 Type Initialization Set Value Generation Position Monitoring Control Switches Control Parameters Maximal Position b Run Mode 4 Set Value Configuration Filter Parameter 220 005 mm Update Minimal Position L Maximal Position Curve Number Curve Position Offset Curve Amplitude Curve Speed Path Drives Drive A Set Value Generation Set Value Configuration Maximal Position Figure 5 2 Set Value Configuration 57 T L mn Mot Commissioning Quick Start up Guide for Cross Winding Application Encoder Type Under Encoder Encoder Setup Type the encoder has to be selected Incr A B with ext Reg zix Encoder Setup Encoder Application p Configuration Incr lt Master Encoder on Motors High Resolution Motors Inputs Outputs J Incr A B Z Incr A B with ext Reg Incr A B Continuous O STEP DIR ZERO STEP DIR with ext Reg O STEP DIR Continuous O Absolute SSI Absolute SSI with ext Reg Vvvvv Update Path Encoder Encoder Setup Type Incr A B with ext Reg Figure 5 3 Encoder Type Selection Encoder Cunfigura The decode mode Encode
46. s Version Ex001 ME Ex031 ME The version 3 controller series with the master encoder option ME provide the master encoder functionality without an additional module Most of the interfaces and features are the same on both systems The porting from a ME01 module to a EX0x1 ME controller and a description of the differences can be found in chapter 3 10 Changes in EXOX1 ME Master Encoder User Manual 5 System Overview Version ME01 01 08 The master encoder module ME01 01 08 provides one fully equipped encoder link link A The link B can be used for looping through the incremen tal signals of link A In additionally there are eight digital inputs and outputs on this module Version ME01 02 08 The master encoder module ME01 02 08 provides two fully equipped encoder links links A and B Link B can also drive out the incremental sig nals from link A and link B can be used for external A B position sensors Additionally there are eight digital inputs and outputs on this module Version DI01 08 08 This module provides 8 digital inputs and 8 digital outputs without encoder links The inputs and outputs are designed for a 24 Volt interface and the sig nal lines are galvanically isolated Master Encoder User Manual a LinMot Hardware Installation nstallation on ExxO in ot 2 Hardware Installation This chapter shows how to mount and wire the different combinations of main module master encoder module and encoder
47. s 35 S Set Value configuration 55 Software commissioning 56 Compatibility 27 Installation 27 Overview 27 STEP DIR with ext Reg 46 STEP DIR ZERO 46 T Termination 19 20 Type 46 W Winding Config 50 Wiring digital inputs 13 digital outputs 13 Encoder SSI 11 Incremental Encoder 9 loop through 11 Stepper Interface 10 61
48. scription Digital Outputs L n M ot Exchanged Mapping The following table shows the input mapping if the parameter is set to Exchanged Input Name Function Electronic Connector Module and Pin TRIG ANALOG Cam Enable Motor A MT Sys 2 IN 1 Pin 1 TRIG ANALOG Cam Enable Motor B MT Sys 2 IN 2 Pin 2 TRIG ANALOG Cam Enable Motor C MT Sys 2 IN 3 Pin 6 TRIG ANALOG Cam Enable Motor D MT Sys 2 IN 4 Pin 7 DIG IN 1 Trigger Input Motor A ME Control I O Pin 16 DIG IN 2 Trigger Input Motor B ME Control I O Pin 4 DIG IN 3 Trigger Input Motor C ME Control I O Pin 17 DIG IN 4 Trigger Input Motor D ME Control I O Pin5 DIGIN5 Recipe Bit 0 LSB ME Control I O Pin 18 DIG IN6 Recipe Bit 1 ME Control I O Pin 6 DIG IN 7 Recipe Bit 2 ME Control I O Pin 19 DIG IN 8 Recipe Bit 3 MSB ME Control I O Pin 7 The inputs RUN INIT FREEZE and EMERGENCY STOP keep the same function and same pinning as in the AT mode 4 7 Digital Outputs The function of the digital outputs on the LinMof controller base module keeps the same with the master encoder software The additional outputs on the master encoder module are configurable in the parameter tree under Encoder Ouputs Output X See chapter 4 11 Parameters Master Encoder User Manual 33 1 Li n Mot Software Description Defining Cams 4 8 Defining Cams Cams can be defined in the Curve Inspector similar to curves for time lock
49. scription Parameters In this directory are the parameters for the level winding application This directory is only relevant if the encoder application mode is set to Parallel Winding or Cross Winding Encoder Encoder Application Winding Config Motor Stroke This parameter works together with the Counts per 1 Stroke parameter It defines the motor stroke per encoder counts See figure below Range 64 16384 Counts per Stroke In parallel winding applications this parameter works together with the Motor Stroke parameter It defines the number of encoder counts per motor stroke See figure below In cross winding applications this parameter defines the number of encoder increments it will take the motor to move from one turn around point to the other Range 256 16384 FF Reversion This parameter is used to optimize the motion of the Ho at the turn around points See the figure elow Range 0 32767 1 Relevant only if the Encoder Application Mode is set to Parallel Winding The following figure shows the meaning of the Motor Stroke and Counts per Stroke parameters for parallel winding applications The movement ratio between motor and encoder is defined as the quotient Motor Stroke Counts per Stroke Please note there is one degree of freedom for the selection of the two parameters It is exactly the same if it is selected 20mm 1000counts or 100mm 5000counts e g Wanted Position Motor Stroke
50. t put Encoder Position is on Output 1 3 5 and 7 Cam Angle Mot X on 2 4 6 8 Encoder Outputs Output Y Function None The output is disabled Mot X In Position The output is high if the corresponding motor is in position which is defined by the In Position and In Position parameters Mot X Pos Range The output is low if the motor is in the position range defined by Pos Range Min and Pos Range Max in the base parameter tree Please note Outputs 1 and 2 can be mapped to motor A outputs 3 and 4 to motor B etc Mot X Following The output is high if a following error has occurred Error The following error generation can be configured by the parameters Following Error and Following Error in the base parameter tree Encoder Position The output is high if the encoder position is within the count range defined by the parameters Encoder Position Min and Encoder Position Max under Encoder Outputs Encoder Position Config This choice is only selectable for the outputs 1 3 5 and 7 Mot X Cam Angle The output is high if the cam angle is within the count range defined by the parameters Cam Angle Min and Cam Angle Max under Encoder Out puts Cam Angle Config This choice is only selecta ble for the outputs 2 4 6 and 8 The parameters in this directory which only exists for the outputs 1 3 5 and 7 are used to define the switching points of the digital output if the output function is set to Encoder Position Betw
51. t is used Value Min Max delay uint16 0 28672 MF MF SetFF Reversion Direction ASCII sequence PC ELO IML valuejuint g drivetarvecoge OXOD ELO 5 PC aCkjackcoge OX0D This command sets the FF Reversion parameter which is used for defining the position controller behavior at the reversion points in the level winding application See chapter 4 11 Parameters for more details Value Min Max Value jint16 0 32767 ML ML SetMinimal Position Direction ASCII sequence PC ELO IML poStuint1e drivel arivecode OXOD ELO PC ACK ackcode OXOD This command sets the Minimal Position parameter which is used for the lower turn around point in the level winding application Value Min Max POS uint16 32256 32256 Master Encoder User Manual 41 L l n Mot Software Description ASCII Commands MO MO Set Cam Start Point Direction ASCII sequence PC gt ELO IMO startpointyintse AVE arivecode OXOD ELO 5 PC ACKiackcode OX0D This command sets the Cam Start Point parameter which defines the start position of the cam on a registration or a zero indicator event This command must be used carefully Because this command takes effect immediately the motor will jump to its new position This command is preferably used in the DISABLE state See chapter 4 11 Parameters for more details Value Min Max startpointyintre O 32767 MR MR Set Maximal Position Direction ASCII sequence PC gt ELO IMR
52. the following way Note SSI modes are only supported by the ME01 0X 08 add on mod ules the controllers EX0X1 ME do not provide this function ME01 0X 08 6 2 CLK 5 CIK LINK A 3 or e 8 LINKB 2 VCC ENC GND ENC z VCC ENCIN jq 1 sv enc OUT 5 24V ENC 1 Control I O Supply 24V ewpENc Figure 2 7 Wiring of an absolute encoder SSI on ME01 0X 08 modules 1 If the encoder works with a 5V supply voltage the internally generated 5V can be used by connecting the pins VCC ENC IN and 5V ENC OUT If the encoder has a different supply voltage an additional power source is neces sary 2 Only ME01 02 08 modules provide this function on link B See for more information in chapter 3 Hardware Description 2 6 Loop Through incremental If there is just one incremental encoder on which several motors from different electronics are synchronized there is the possibility to loop through the encoder signals The following figure shows the wiring of an incremental ABZ encoder in loop through mode MEO1 0X 08 I 6 6 DEOR eee Mc 2 A las le E LINK A 2 5 14 gt 7 DSUB9F 1 5 et lege 3 3 po 1 bee 8 LINKB sZ Ti be 4 DSUB9M 4 te 1 1 L4 ial GND ENC i a 1g 5 5 5d i i
53. tion is set which would access to not defined items the combi nation will be ignored and the system will keep executing the former recipe A recipe set of cams for each motor are selected by the digital inputs DIG IN 5 to DIG IN 8 on the master encoder module The following table shows the mapping of the digital input pattern an the corresponding recipe number DIG IN X Recipe Number 8 7 6 5 0 0 0 0 0 0 0 0 1 1 0 0 1 0 2 1 1 1 1 15 A new recipe will be loaded when the digital inputs have changed and the next registration event or zero signal of the encoder has occurred This user interface for defining recipes will become more comfortable in future versions 36 Master Encoder User Manual a Software Description Defining Recipes L In Mot Example In this example we assume the following Recipe Nbr Position Steps o N o0 FWD bPENDN OD WOW O11 In this case there are two recipes defined which can be selected the following y e o o DIGIN4 o o DIGIN3 o o DIG IN2 2 o DIGIN 1 o Motor A n MotorB w Motor C A ow Motor D Master Encoder User Manual 37 Software Description ASCII Commands 4 10 ASCII Commands The ASCII command interface can also be used in combination with the mas ter encoder There are some additional commands for configuring and con trolling The mechanism of the ASCII command interface is described in the Addendum V1 3 chapter 8 If the ASCII command interface has to
54. with the par allel winding pattern This mode can only be used with incremental encoder types This application type will wind bobbins with a cross winding pattern This mode can only be used with incremental encoder types The parameters in this directory are to define the cam function This directory is only used for cam applications Encoder Application Mode set to Cam The X stands for the motor letters A to D Encoder Encoder Application Cam Config Master Encoder User Manual Cam Length X Cam Start Point X Cam Delay X This parameter defines over how many encoder counts the cam for the motor is defined Thus the time information of the cam in the curve editor is not relevant See the figure below This parameter defines the start point in the cam E g if Cam Length X is set to 1000 and Cam Start Point X is set to 250 the cam will start at 90 degrees run to 360 wrap around and finish up to 90 degrees See the figure below This parameter defines the delay in encoder counts which the motor will wait on a registration event until the cam will be started Pos Original Cam Oo Cam Start Point i 2 j Pos t t 256 512 768 1024 Inc Cam Length Cam with Cam Start Point set to 256 i Inc m Cam Length E Registration A B Figure 4 12 Parameters Cam Length X and Cam Start Point X 49 Winding Config 50 Software De
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