LinMot B1100 Series Manuel utilisateur

For the following LinMot Drives

B1100 series

E1100 series

LinMot Drive Configuration over

Fieldbus Interfaces

LinMot Drive Configuration over Fieldbus

This work is protected by copyright.

Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including

photocopying, recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole

or in part, without the prior written consent of NTI AG.

LinMot® is a registered trademark of NTI AG.

Note

The information in this documentation reflects the stage of development at the time of press and is therefore without obligation.

NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product

improvement.

Document version 1.1/ mk/Ro, June 2016

age 2/25 arameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 NTI AG / LinMot

LinMot Drive Configuration over Fieldbus

Table of Content

1 INT ODUCTION..................................................................................................................4

2 FI MWA E PA AMETE S................................................................................................5

2.1 OVERVIEW....................................................................................................................... 5

2.2 UNIQUE ARAMETER ID AND RAW DATA VALUE....................................................................6

2.3 ROM AND RAM VALUE....................................................................................................6

2.4 DEFAULT VALUE...............................................................................................................8

2.5 32 BIT ACCESS FOR ANY ARAMETER TY E.........................................................................8

3 FI MWA E LAYE CONCEPT........................................................................................10

4 PA AMETE CONFIGU ATION COMPATIBILITY ULES............................................12

5 CU VES............................................................................................................................ 13

5.1 CURVE OBJECT..............................................................................................................14

5.2 CURVE INFO BLOCK........................................................................................................15

Data Offset....................................................................................................................15

Object Type...................................................................................................................15

Number of Setpoints.....................................................................................................15

Data Type Size............................................................................................................. 15

Name............................................................................................................................ 16

Curve D........................................................................................................................ 16

X-Length....................................................................................................................... 16

X/Y-Dimension UU D....................................................................................................16

Wizard nformation........................................................................................................ 16

5.3 CURVE DATA BLOCK.......................................................................................................17

5.4 ERASING ALL CURVES IN THE RAM OF THE DRIVE...............................................................17

5.5 U LOADING CURVES FROM THE DRIVE...............................................................................18

5.6 DOWNLOADING CURVES INTO THE RAM OF THE DRIVE........................................................19

6 COMMAND TABLE...........................................................................................................20

6.1 COMMAND TABLE ENTRY FORMAT.....................................................................................21

7 PVL DATA FO MAT.........................................................................................................22

8 CONTACT ADD ESSES..................................................................................................25

NTI AG arameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 age 3/25

LinMot Drive Configuration over Fieldbus

1 Introduction

Users of LinMot drives (series E1100 and B1100) can easily setup

their drive by using the LinMot-Talk software. Beside other

functionality (firmware download, monitoring, LC emulation, etc.),

the LinMot-Talk software is used for altering the firmware

configuration parameters, for creating and up- and downloading of

curve profiles.

Most of the LinMot drives are equipped with a fieldbus interface to the

superior control system ( LC, I C). This interface is used for

controlling the drive under normal operation conditions (read/write of

control and status word, sending motion commands, etc.).

If the LinMot drive uses a fieldbus connection for the communication

to the superior control system ( LC, I C), then the same fieldbus

interface can be used for configuration purposes as well. The

following fieldbus interfaces are supported: rofibus D , CANOpen,

DeviceNet, RS232 and RS485 (using LinRS protocol).

This document describes in general the access to the configuration

parameters and the curve data over fieldbus interfaces. Detailed

information about how data access is implemented in the respective

interfaces can be found in the corresponding interface user manuals.

NOTE: The series E1100 and B1100 differ in some functions from

each other. If nothing is indicated, the behavior is the same.

age 4/25 arameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 NTI AG / LinMot

LinMot Drive Configuration over Fieldbus

2 Firmware Parameters

2.1 Overview

The LinMot drive firmware has to be configured through its

parameters in order to meet the needs of the application where the

servo system has to be integrated. Typical examples of firmware

parameters that must be set during the commissioning process are

motor definition parameters, position control parameters, etc.

The easiest way to alter parameters is to use the LinMot-Talk

software tool. The software displays the parameters in a comfortable

tree structure. Most of the parameters are displayed as a scaled

value with the corresponding physical unit.

Figure 1: Firmware parameters listed in a tree structure

NTI AG arameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 age 5/25

LinMot Drive Configuration over Fieldbus

2.2 Unique Parameter ID and aw Data Value

The value of any parameter is stored as an integer value (raw data) in

the memory space of the drive. The parameter is identified through its

Unique arameter ID (U ID), which is a 16 Bit integer number.

Both, U ID and raw data value of any parameter can be displayed in

the LinMot-Talk parameter tree structure (press Show/Hide Details

button).

Figure 2: Detailed view for parameters

2.3 OM and AM Value

The value of any parameter is stored in the non-volatile memory area

of the LinMot drive (ROM value). During the boot-up process the

drive’s operating system creates a copy of the non-volatile memory

block to its RAM memory space. Thus, after the drive has powered

up, each parameter has two memory locations and values: one in the

ROM, the other in the RAM.

The firmware uses at run time exclusively the RAM values of the

parameters in its control tasks (fast data access). The drive’s

age 6/25 arameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 NTI AG / LinMot

Show/Hide

Details button

Unique

arameter ID

number

raw data value

LinMot Drive Configuration over Fieldbus

operating system and the fieldbus interfaces provide independent

access to ROM and RAM values.

When parameters are altered using the LinMot-Talk software, the

ROM and/or the RAM value are affected:

- When ‘live’ parameters are changed, then the LinMot-Talk software

writes to ROM and RAM memory.

- ‘Non-Live’ parameters are written only to ROM (and are copied to

RAM at next firmware start).

The LinMot-Talk software reads and displays the ROM values. It

reads the parameter values only once (during the login process). The

C software allows altering ‘non-live’ parameters only if the firmware

is stopped.

Over the fieldbus interface the RAM value of ‘non-live’ parameters

cannot be changed. Changing the ROM value is possible even when

the firmware is running (except for read-only parameters).

Changing the RAM value of a parameter immediately influences the

system behavior when the firmware is running (e.g. control

parameters of the position control loop).

Figure 3: Live arameters marked with a superscript 'L'

Changes to ROM values don’t affect the system behavior until the

next firmware startup (e.g. after a software reset initiated by the

superior control system or stop/start from the LinMot-Talk software).

NTI AG arameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 age 7/25

The RAM value of live

parameters (marked with a

superscript ‘L’) can be

altered at run time.

LinMot Drive Configuration over Fieldbus

2.4 Default Value

Beside the actual RAM and ROM value each parameter has its

default value. The default value is displayed in the detailed parameter

view of the LinMot-Talk software.

During firmware installation the ROM values are set to the default

values of the corresponding parameters.

E1100 drives provide resetting the parameters to their default values

over fieldbus interfaces. Resetting to default value is possible for

single parameters (via U ID) or for all parameters of any firmware

layer at once (see below).

NOTE: B1100 do not support this feature, because the default values

are not stored on the drive.

2.5 32 Bit Access for any Parameter Type

The whole configuration consists of parameters of different types (bit,

byte, 16bit integer, 32bit integer and string parameters). In order to

keep the interface as simple as possible any parameter can be

accessed as a 32bit integer value. The drive’s operating system will

filter out the relevant number of bits for each parameter.

Since string parameters can be longer than 4 characters (= 4 Bytes),

a single 32bit integer value is not sufficient to define a general string.

Therefore strings are handled in a special way:

-In the LinMot-Talk software to each string parameter one single

U ID is shown.

-Internally the string is split into parts (so called ‘stringlets’) of 4

characters (= 4 bytes = 32 bits).

-Each stringlet has its own U ID.

-For E1100 drives: The U ID of the first stringlet is the string U ID

plus 1, the U ID of the second stringlet is the string U ID plus 2

and so on.

-For B1100 drives: The U ID of the first stringlet is the string U ID

itself, the U ID of the second stringlet is the string U ID plus 1

and so on.

The following example shows the principle of converting strings to

raw data values.

age 8/25 arameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 NTI AG / LinMot

LinMot Drive Configuration over Fieldbus

Example:

Writing the string ‘X-Axis Left’ to the parameter ‘User Comment’:

Figure 4: String parameter example for E1100 (see U ID 03F2h)

Figure 5: String parameter example for B1100 (see UP D 7078h)

The following table shows how the stringlet UP Ds and the

corresponding 32bit integer values are determined:

Stringlet "X Ax" “is L” “eft”

arameter U ID

E1100

03F3h 03F4h 03F5h

arameter U ID

B1100

7078h 7079h 707Ah

Ordinal 1st Char: Ord(‘X’)=58h Ord(‘i’)=69h Ord(‘e’)=65h

Ordinal 2nd Char: Ord(‘ ‘)=20h Ord(‘s‘)=73h Ord(‘f‘)=66h

Ordinal 3rd Char: Ord(‘A’)=41h Ord(‘ ’)=20h Ord(‘t’)=74h

Ordinal 4th Char: Ord(‘x’)=78h Ord(‘L’)=4Ch 00h

arameter Value: 78412058h 4C207369h 00746665h

Table 1: The four firmware layers

NTI AG arameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 age 9/25

LinMot Drive Configuration over Fieldbus

3 Firmware Layer Concept

The firmware on the drive consists of up to four layers:

Layer Name Layer Functionality

1 Operating

System

- Resource Management

- Communication with LinMot-Talk

- Start/Stop of the other SW layers

- arameter / Variable Service

- Oscilloscope Service

- Message / Error Service

2 Motion

Control

Software

- Current Control Loop

- osition Control Loop

- Set Value Generation

- Monitoring

3 Interface

Software

- Communication to superior control system

(e.g. via rofibus, CANOpen, DeviceNet,

LinRS, etc.)

4 Application - Customized firmware extensions

Table 2: The four firmware layers

Each firmware part has its own parameters located in a separate

branch of the parameter tree.

Figure 6: arameter tree with branches for the different firmware

layers

age 10/25 arameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 NTI AG / LinMot

Autres manuels pour B1100 Series

Ce manuel convient aux modèles suivants

Table des matières

Autres manuels LinMot Matériel informatique

LinMot

LinMot E1100 Series Manuel utilisateur

Manuels Matériel informatique populaires d'autres marques

EMC2

EMC2 VNX Series Manuel du propriétaire

Panasonic

Panasonic DV0PM20105 Manuel utilisateur

Mitsubishi Electric

Mitsubishi Electric Q81BD-J61BT11 Manuel utilisateur

Gigabyte

Gigabyte B660M DS3H AX DDR4 Manuel utilisateur

Raidon

Raidon iT2300 Manuel utilisateur

National Instruments

National Instruments PXI-8186 Manuel utilisateur

Hauppauge

Hauppauge WinTV-HVR-2250 Manuel utilisateur

Kontron

Kontron CP6002 Manuel utilisateur

Manhattan

Manhattan 702843 Manuel utilisateur

Aphex

Aphex 230 Manuel utilisateur

AMD

AMD Phenom II Manuel d'exploitation

Intel

Intel NUC 12 Pro Manuel utilisateur

dbx

dbx Zone Pro 1260 Manuel utilisateur

Galaxy

Galaxy GHDX2-2430S-24F4D Manuel utilisateur

Intel

Intel AXXRMFBU4 Manuel utilisateur

Kontron

Kontron DIMM-PC/MD Manuel utilisateur

ST X-NUCLEO-SAFEA1B Mode d'emploi

STEINWAY LYNGDORF

STEINWAY LYNGDORF SP-1 Manuel utilisateur