LinMot E1100 Series Manuel utilisateur

Motion Control SW

Documentation of the Motion Control SW

-E1100 / B1100 Drive Series

Motion Control SW

User Manual

L

i

n

M

o

t



Motion Control SW

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 3.17b / Whp, December 2013

age 2/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot

Motion Control SW

L

i

n

M

o

t



TABLE OF CONTENT

SYSTEM OVERVIEW ............................................................................................................ 9

1.1 REFERENCES ......................................................................................................................... 9

1.2 DEFINITIONS, ITEMS, SHORTCUTS ............................................................................................. 9

1.3 DATA TYPES ......................................................................................................................... 9

2 MOTION CONTROL INTERFACES ............................................................................... 10

3 STATE MACHINE .............................................................................................................. 11

3.1 STATE 0: NOT READY TO SWITCH ON .................................................................................. 13

3.2 STATE 1: SWITCH ON DISABLED ........................................................................................... 13

3.3 STATE 2: READY TO SWITCH ON .......................................................................................... 13

3.4 STATE 3: SETUP ERROR STATE ............................................................................................. 13

3.5 STATE 4: ERROR STATE ....................................................................................................... 13

3. STATE 5: HW TEST ............................................................................................................ 13

3.7 STATE : READY TO OPERATE .............................................................................................. 13

3.8 STATE 8: OPERATION ENABLED ............................................................................................. 14

3.9 STATE 9: HOMING ............................................................................................................... 14

3.10 STATE 10: CLEARANCE CHECK ........................................................................................... 14

3.11 STATE 11: GOING TO INITIAL POSITION .............................................................................. 14

3.12 STATE 12: ABORTING ........................................................................................................ 14

3.13 STATE 13: FREEZING ......................................................................................................... 15

3.14 STATE 14: ERROR BEHAVIOUR QUICK STOP ......................................................................... 15

3.15 STATE 15: GOING TO POSITION .......................................................................................... 15

3.1 STATE 1 : JOGGING + ....................................................................................................... 15

3.17 STATE 17: JOGGING - ........................................................................................................ 15

3.18 STATE 18: LINEARIZING ..................................................................................................... 15

3.19 STATE 19: PHASE SEARCHING ............................................................................................. 15

3.20 STATE 20: SPECIAL MODE ................................................................................................. 15

3.21 BUILDING THE CONTROL WORD .......................................................................................... 15

3.22 CONTROL WORD ............................................................................................................... 1

3.23 STATUS WORD .................................................................................................................. 17

3.24 WARN WORD ................................................................................................................... 18

4 MOTION COMMAND INTERFACE ............................................................................... 19

4.1 MOTION COMMAND INTERFACE ............................................................................................. 19

4.1.1 Command Header .................................................................................................... 19

4.1.1.1 Master ID .......................................................................................................... 19

4.1.1.2 Sub ID ............................................................................................................... 19

4.1.1.3 Command Count ............................................................................................... 19

4.2 OVERVIEW MOTION COMMANDS ........................................................................................... 20

4.3 DETAILED MOTION COMMAND DESCRIPTION ........................................................................... 25

4.3.1 No Operation (000xh) .............................................................................................. 25

4.3.2 Write Interface Contro Word (001xh) .................................................................... 25

4.3.3 Write Live Parameter (002xh) ................................................................................. 25

4.3.4 Write X4 Intf Outputs with Mask (003xh) ................................................................ 25

4.3.5 Write X6 Intf Outputs with Mask (004xh) ................................................................ 25

4.3.6 C ear Event Eva uation (008xh) .............................................................................. 26

4.3.7 Master Homing (009xh) ........................................................................................... 26

4.3.8 VAI Go To Pos (010xh) ........................................................................................... 26

NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 age 3/91

 
L
 
i
 
n
 
M
 
o
 
t
 

 
Motion Control SW
3.9 VAI Increment Dem Pos (011xh)                                                                                   .............................................................................   26   
3.10 VAI Increment Target Pos (012xh)                                                                              ........................................................................   27   
3.11 VAI Go To Pos From Act Pos And Act Ve  (013xh)                                                    ..............................................   27   
3.12 VAI Go To Pos From Act Pos Starting With Dem Ve  = 0 (014xh)                            ......................   27   
3.13 VAI Increment Act Pos (015xh)                                                                                   .............................................................................   27   
3.14 VAI Increment Act Pos Starting With Dem Ve  = 0 (016xh)                                       .................................   28   
3.15 VAI Stop (017xh)                                                                                                         ...................................................................................................   28   
3.16 VAI Go To Pos After Actua  Command (018xh)                                                          ....................................................   28   
3.17 VAI Go To Ana og Pos (019xh)                                                                                   .............................................................................   28   
3.18 VAI Go To Pos On Rising Trigger Event (01Axh)                                                       .................................................   29   
3.19 VAI Increment Target Pos On Rising Trigger Event (01Bxh)                                     ...............................   29   
3.20 VAI Go To Pos On Fa ing Trigger Event (01Cxh)                                                     ...............................................   29   
3.21 VAI Increment Target Pos On Fa ing Trigger Event (01Dxh)                                   .............................   29   
3.22 VAI Change Motion Parameters On Positive Position Transition (01Exh)                ..........   29   
3.23 VAI Change Motion Parameters On Negative Position Transition (01Fxh)              ........   30   
3.24 Predef VAI Go To Pos (020xh)                                                                                    ..............................................................................   30   
3.25 Predef VAI Increment Dem Pos (021xh)                                                                     ...............................................................   30   
3.26 Predef VAI Increment Target Pos (022xh)                                                                  ............................................................   30   
3.27 Predef VAI Go To Pos From Act Pos and Act Ve  (023xh)                                         ...................................   30   
3.28 Predef VAI Go To Pos From Act Pos Starting With Dem Ve  = 0 (024xh)                 ...........   31   
3.29 Predef VAI Stop (027xh)                                                                                              ........................................................................................   31   
3.30 Predef VAI Go To Pos After Actua  Command (028xh)                                              ........................................   31   
3.31 Predef VAI Go To Pos On Rising Trigger Event (02Axh)                                           .....................................   31   
3.32 Predef VAI Increment Target Pos On Rising Trigger Event (02Bxh)                         ...................   31   
3.33 Predef VAI Go To Pos On Fa ing Trigger Event (02Cxh)                                         ...................................   31   
3.34 Predef VAI Go To Pos On Fa ing Trigger Event (02Dxh)                                         ...................................   31   
3.35 Predef VAI Infinite Motion Positive Direction (02Exh)                                              ........................................   32   
3.36 Predef VAI Infinite Motion Negative Direction (02Fxh)                                             .......................................   32   
3.37 P Stream With S ave Generated Time Stamp (030xh)                                                 ...........................................   32   
3.38 PV Stream With S ave Generated Time Stamp (031xh)                                               .........................................   32   
3.39 P Stream With S ave Generated Time Stamp and Configured Period Time (032xh)
                                                                                                                                             ..........................................................................................................................................   32   
3.40 Stop Streaming (03Fxh)                                                                                               .........................................................................................   33   
3.41 Time Curve With Defau t Parameters (040xh)                                                            ......................................................   33   
3.42 Time Curve With Defau t Parameters From Act Pos (041xh)                                     ...............................   33   
3.43 Time Curve To Pos With Defau t Speed (042xh)                                                         ...................................................   33   
3.44 Time Curve To Pos With Adjustab e Time (043xh)                                                     ...............................................   33   
3.45 Time Curve With Adjustab e Offset, Time Sca e & Amp itude Sca e (044xh)             .......   34   
3.46 Time Curve With Adjustab e Offset, Time & Amp itude Sca e (045xh)                       .................   34   
3.47 Time Curve With Adjustab e Offset, Time & Amp itude Sca e On Rising Trigger  
Event (046xh)                                                                                                                          ....................................................................................................................   34   
3.48 Time Curve With Adjustab e Offset, Time & Amp itude Sca e On Fa ing Trigger  
Event (047xh)                                                                                                                          ....................................................................................................................   34   
3.49 Time Curve To Pos With Defau t Speed On Rising Trigger Event (04Axh)                ..........   35   
3.50 Time Curve To Pos With Defau t Speed On Fa ing Trigger Event (04Cxh)              ........   35   
3.51 Time Curve To Pos With Adjustab e Time On Rising Trigger Event (04Exh)            ......   35   
3.52 Time Curve To Pos With Adjustab e Time On Fa ing Trigger Event (04Fxh)           .....   35   
3.53 Modify Curve Start Address in RAM (050xh)                                                              ........................................................   35   
3.54 Modify Curve Info B ock 16 Bit Va ue in RAM (051xh)                                              ........................................   36   
3.55 Modify Curve Info B ock 32 Bit Va ue in RAM (052xh)                                              ........................................   36   
 age 4/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot

Motion Control SW 
 
L
 
i
 
n
 
M
 
o
 
t
 

 
3.56 Modify Curve Data B ock 32 Bit Va ue in RAM (054xh)                                            ......................................   37   
3.57 Modify Curve Data B ock 64 Bit Va ue in RAM (055xh)                                            ......................................   37   
3.58 Modify Curve Data B ock 96 Bit Va ue in RAM (056xh)                                            ......................................   38   
3.59 Setup Encoder Cam On Rising Trigger Event With De ay Counts (069xh)                ..........   38   
3.60 Setup Encoder Cam On Rising Trigger Event With De ay Counts, Target Pos and  
Length (06Axh)                                                                                                                       .................................................................................................................   38   
3.61 Setup Encoder Cam On Fa ing Trigger Event With De ay Counts (06Bxh)              ........   39   
3.62 Setup Encoder Cam On Fa ing Trigger Event With De ay Counts, Target Pos  
and Length (06Cxh)                                                                                                                ..........................................................................................................   39   
3.63 Setup Encoder Cam On Rising Trigger Event With De ay Counts, Amp itude sca e  
and Length (06Dxh)                                                                                                                ..........................................................................................................   39   
3.64 Setup Encoder Cam On Fa ing Trigger Event With De ay Counts, Amp itude  
sca e and Length (06Exh)                                                                                                       .................................................................................................   40   
3.65 Start VAI Encoder Position Indexing (070xh)                                                             .......................................................   40   
3.66 Start Predef VAI Encoder Position Indexing (071xh)                                                 ...........................................   40   
3.67 Stop Position Indexing and VAI Go To Pos (07Exh)                                                   .............................................   40   
3.68 Stop Position Indexing and VAI Go To Pos (07Fxh)                                                   .............................................   41   
3.69  VAI 16 Bit Go To Pos (090xh)                                                                                    ..............................................................................   41   
3.70 VAI 16 Bit Increment Dem Pos (091xh)                                                                      ................................................................   41   
3.71 VAI 16 Bit Increment Target Pos (092xh)                                                                   .............................................................   41   
3.72 VAI 16 Bit Go To Pos From Act Pos And Act Ve  (093xh)                                          ....................................   42   
3.73 VAI 16 Bit Go To Pos From Act Pos Starting With Dem Ve  = 0 (094xh)                  ............   42   
3.74 VAI 16 Bit Increment Act Pos (095xh)                                                                        ..................................................................   42   
3.75 VAI 16 Bit Increment Act Pos Starting With Dem Ve  = 0 (096xh)                            ......................   42   
3.76 VAI 16 Bit Stop (097xh)                                                                                               .........................................................................................   42   
3.77 VAI 16 Bit Go To Pos After Actua  Command (098xh)                                               .........................................   43   
3.78 VAI 16 Bit Go To Pos On Rising Trigger Event (09Axh)                                            ......................................   43   
3.79 VAI 16 Bit Increment Target Pos On Rising Trigger Event (09Bxh)                          ....................   43   
3.80 VAI 16 Bit Go To Pos On Fa ing Trigger Event (09Cxh)                                          ....................................   43   
3.81 VAI 16 Bit Increment Target Pos On Fa ing Trigger Event (09Dxh)                        ..................   44   
3.82 VAI 16 Bit Change Motion Parameters On Positive Position Transition (09Exh)
                                                                                                                                             ..........................................................................................................................................   44   
3.83 VAI 16 Bit Change Motion Parameters On Negative Position Transition (09Fxh)
                                                                                                                                             ..........................................................................................................................................   44   
3.84 Predef VAI 16 Bit Go To Pos (0A0xh)                                                                         ...................................................................   44   
3.85 Predef VAI 16 Bit Increment Dem Pos (0A1xh)                                                          ....................................................   45   
3.86 Predef VAI 16 Bit Increment Target Pos (0A2xh)                                                       .................................................   45   
3.87 Predef VAI 16 Bit Go To Pos From Act Pos And Act Ve  (0A3xh)                             .......................   45   
3.88 Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Ve  = 0 (0A4xh)
                                                                                                                                             ..........................................................................................................................................   45   
3.89 Predef VAI 16 Bit Stop (0A7xh)                                                                                   .............................................................................   45   
3.90 Predef VAI 16 Bit Go To Pos After Actua  Command (0A8xh)                                   .............................   45   
3.91 Predef VAI 16 Bit Go To Pos On Rising Trigger Event (0AAxh)                                ..........................   46   
3.92 Predef VAI 16 Bit Increment Target Pos On Rising Trigger Event (0ABxh)              ........   46   
3.93 Predef VAI 16 Bit Go To Pos On Fa ing Trigger Event (0ACxh)                              ........................   46   
3.94 Predef VAI 16 Bit Increment Target Pos On Fa ing Trigger Event (0ADxh)            ......   46   
3.95 VAI Predef Acc Go To Pos (0B0xh)                                                                            ......................................................................   46   
3.96 VAI Predef Acc Increment Dem Pos  (0B1xh)                                                             .......................................................   46   
3.97 VAI Predef Acc Increment Target Pos (0B2xh)                                                           .....................................................   46   
3.98 VAI Predef Acc Go To Pos From Act Pos And Act Ve  (0B3xh)                                 ...........................   47   
NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 age 5/91

 
L
 
i
 
n
 
M
 
o
 
t
 

 
Motion Control SW
3.99 VAI Predef Acc Go To Pos From Act Pos Starting With Dem Ve  = 0  (0B4xh)         . .   47   
3.100 VAI Predef Acc Go To Pos After Actua  Command (0B8xh)                                     ...............................   47   
3.101 VAI Predef Acc Go To Pos On Rising Trigger Event (0BAxh)                                  ............................   47   
3.102 VAI Predef Acc Increment Target Pos On Rising Trigger Event (0BBxh)                ..........   47   
3.103 VAI Predef Acc Go To Pos On Fa ing Trigger Event (0BCxh)                                ..........................   48   
3.104 VAI Predef Acc Increment Target Pos On Fa ing Trigger Event (0BDxh)              ........   48   
3.105 VAI Dec=Acc Go To Pos (0C0xh)                                                                             .......................................................................   48   
3.106 VAI Dec=Acc Increment Dem Pos  (0C1xh)                                                             .......................................................   48   
3.107 VAI Dec=Acc Increment Target Pos (0C2xh)                                                           .....................................................   48   
3.108 VAI Dec=Acc Go To Pos From Act Pos And Act Ve  (0C3xh)                                 ...........................   49   
3.109 VAI Dec=Acc Go To Pos From Act Pos Starting With Dem Ve  = 0 (0C4xh)           . . .   49   
3.110 VAI Dec=Acc Go To Pos With Max Curr (0C5xh)                                                   .............................................   49   
3.111 VAI Dec=Acc Go To Pos From Act Pos And Ve  With Max Curr (0C6xh)              ........   50   
3.112 VAI Dec=Acc Go To Pos From Act Pos And Ve  = 0 With Max Curr (0C7xh)       ..  50   
3.113 VAI Dec=Acc Go To Pos After Actua  Command (0C8xh)                                       .................................   50   
3.114 VAI Dec=Acc Go To Pos On Rising Trigger Event (0CAxh)                                    ..............................   50   
3.115 VAI Dec=Acc Increment Target Pos On Rising Trigger Event (0CBxh)                  ............   51   
3.116 VAI Dec=Acc Go To Pos On Fa ing Trigger Event (0CCxh)                                  ............................   51   
3.117 VAI Dec=Acc Increment Target Pos On Fa ing Trigger Event (0CDxh)                ..........   51   
3.118 VAI Increment Captured Pos (0D0xh)                                                                      ................................................................   51   
3.119 VAI 16 Bit Dec=Acc Go To Pos (0D1xh)                                                                  ............................................................   51   
3.120 VAI Go To Cmd Tab Var1 Pos (0D4xh)                                                                    ..............................................................   51   
3.121 VAI Go To Cmd Tab Var2 Pos (0D5xh)                                                                    ..............................................................   52   
3.122 VAI Go To Cmd Tab Var1 Pos From Act Pos And Act Ve  (0D6xh)                         ...................   52   
3.123 VAI Go To Cmd Tab Var2 Pos From Act Pos And Act Ve  (0D7xh)                         ...................   52   
3.124 VAI Start Trig Rise Config VAI Command (0DExh)                                                 ...........................................   53   
3.125 VAI Start Trig Rise Config VAI Command (0DFxh)                                                 ...........................................   53   
3.126 Encoder Cam Enab e (100xh)                                                                                   .............................................................................   53   
3.127 Encoder Cam Disab e (101xh)                                                                                  ............................................................................   53   
3.128 Encoder Cam Go To Sync Pos (102xh)                                                                     ...............................................................   53   
3.129 Encoder Cam Set Va ue (104xh)                                                                                ..........................................................................   53   
3.130 Encoder Cam y Define Curve With Defau t Parameters (1y0xh)                              ........................   53   
3.131 Encoder Cam y Define Curve From Act Pos (1y1xh)                                                ..........................................   54   
3.132 Encoder Cam y Define Curve To Pos (1y2xh)                                                           .....................................................   54   
3.133 Encoder Cam y Define Curve From Pos To Pos In Counts (1y3xh)                         ...................   54   
3.134 Encoder Cam y Define Curve To Pos In Counts (1y4xh)                                          ....................................   54   
3.135 Encoder Cam y Define Curve With Amp itude Sca e In Counts (1y5xh)                  ............   55   
3.136 Encoder Cam y Enab e (1y6xh)                                                                                 ...........................................................................   55   
3.137 Encoder Cam y Disab e (1y7xh)                                                                                ..........................................................................   55   
3.138 Encoder Cam y Change Amp itude Sca e and Length (1y8xh)                                  ............................   55   
3.139 Encoder Winding Start With Defau t Parameters (300xh)                                        ..................................   55   
3.140 Encoder Winding Start With Defau t Parameters At Revo utions (301xh)               .........   55   
3.141 Start Command Tab e Command (200xh)                                                                 ...........................................................   56   
3.142 Start Command Tab e Command On Rising Trigger Event (201xh)                         ...................   56   
3.143 Start Command Tab e Command On Fa ing Trigger Event (202xh)                       .................   56   
3.144 Modify Command Tab e 16 bit Parameter in RAM (208xh)                                     ...............................   56   
3.145 Modify Command Tab e 32 bit Parameter in RAM (209xh)                                     ...............................   56   
3.146 Wait Time (210xh)                                                                                                     ...............................................................................................   57   
3.147 Wait Unti  Motion Finished (211xh)                                                                          ....................................................................   57   
3.148 Wait Unti  In Target Position (212xh)                                                                       .................................................................   57   
 age 6/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot

Motion Control SW 
 
L
 
i
 
n
 
M
 
o
 
t
 

 
3.149 Wait Unti  Rising Trigger Event (213xh)                                                                   .............................................................   57   
3.150 Wait Unti  Fa ing Trigger Event (214xh)                                                                 ...........................................................   57   
3.151 Wait Unti  Demand Position Greater Than (220xh)                                                 ...........................................   57   
3.152 Wait Unti  Demand Position Less Than (221xh)                                                       .................................................   57   
3.153 Wait Unti  Actua  Position Greater Than (222xh)                                                    ..............................................   58   
3.154 Wait Unti  Actua  Position Less Than (223xh)                                                          ....................................................   58   
3.155 Wait Unti  Difference Position Greater Than (224xh)                                              ........................................   58   
3.156 Wait Unti  Difference Position Less Than (225xh)                                                    ..............................................   58   
3.157 Wait Unti  Difference Position Unsigned Greater Than (226xh)                              ........................   58   
3.158 Wait Unti  Difference Position Unsigned Less Than (227xh)                                   .............................   58   
3.159 Wait Unti  Demand Ve ocity Greater Than (228xh)                                                  ............................................   59   
3.160 Wait Unti  Demand Ve ocity Less Than (229xh)                                                       .................................................   59   
3.161 Wait Unti  Actua  Ve ocity Greater Than (22Axh)                                                    ..............................................   59   
3.162 Wait Unti  Actua  Ve ocity Less Than (22Bxh)                                                          ....................................................   59   
3.163 Wait Unti  Current Greater Than (22Exh)                                                                ..........................................................   59   
3.164 Wait Unti  Current Less Than (22Fxh)                                                                      ................................................................   59   
3.165 Set Cmd Tab e Var 1 To (240xh)                                                                               .........................................................................   60   
3.166 Add To Cmd Tab e Var 1 (241xh)                                                                             .......................................................................   60   
3.167 Set Cmd Tab e Var 2 To (242xh)                                                                               .........................................................................   60   
3.168 Add To Cmd Tab e Var 2 (243xh)                                                                             .......................................................................   60   
3.169 Write Cmd Tab e Var 1 To UPID RAM va ue (248xh)                                              ........................................   60   
3.170 Write Cmd Tab e Var 2 To UPID RAM va ue (249xh)                                              ........................................   60   
3.171 Write UPID RAM Va ue To Cmd Tab e Var 1 (24Cxh)                                            ......................................   60   
3.172 Write UPID RAM Va ue To Cmd Tab e Var 2 (24Dxh)                                            ......................................   60   
3.173 IF Cmd Tab e Var 1 Less Than (250xh)                                                                    ..............................................................   61   
3.174 IF Cmd Tab e Var 1 Greater Than (251xh)                                                               .........................................................   61   
3.175 IF Cmd Tab e Var 1 Less Than (252xh)                                                                    ..............................................................   61   
3.176 IF Cmd Tab e Var 1 Greater Than (253xh)                                                               .........................................................   61   
3.177 IF Demand Position Less Than (258xh)                                                                    ..............................................................   61   
3.178 IF Demand Position Greater Than (259xh)                                                              ........................................................   61   
3.179 IF Actua  Position Less Than (25Axh)                                                                      ................................................................   62   
3.180 IF Actua  Position Greater Than (25Bxh)                                                                 ...........................................................   62   
3.181 IF Difference Position Less Than (25Cxh)                                                                ..........................................................   62   
3.182 IF Difference Position Greater Than (25Dxh)                                                          ....................................................   62   
3.183 IF Current Less Than (25Exh)                                                                                   .............................................................................   62   
3.184 IF Current Greater Than (25Fxh)                                                                             .......................................................................   62   
3.185 IF Ana og Va  On X4.4 Less Than (260xh)                                                               .........................................................   63   
3.186 IF Masked X4 Input Va ue Equa  Than (262xh)                                                        ..................................................   63   
3.187 IF Masked X6 Input Va ue Equa  Than (263xh)                                                        ..................................................   63   
3.188 IF Masked Status Word Equa  Than (264xh)                                                            ......................................................   63   
3.189 IF Masked Warn Word Equa  Than (265xh)                                                             .......................................................   63   
3.190 Encoder Winding Stop Adaptation Of Left/Right Position and Disturbance  
(304xh)                                                                                                                                    ..............................................................................................................................   63   
3.191 Encoder Winding Restart Adaptation Of Left/Right Position and Disturbance  
(305xh)                                                                                                                                    ..............................................................................................................................   64   
3.192 Encoder Curve Winding Start With Defau t Parameters (310xh)                             .......................   64   
3.193 Encoder Curve Winding Start With Defau t Parameters At Revo utions (311xh)
                                                                                                                                             ..........................................................................................................................................   64   
3.194 VAI Go To Pos With Higher Force Ctr  Limit (380xh)                                             .......................................   64   
3.195 VAI Go To Pos From Act Pos And Reset Force Contro  (381xh)                             .......................   64   
NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 age 7/91

L

i

n

M

o

t



Motion Control SW

4.3.196 Force Ctr Change Target Force (382xh) ........................................................... 65

4.3.197 VAI Go To Pos With Higher Force Ctr Limit and Target Force (383xh) .......... 65

4.3.198 VAI Go To Pos With Lower Force Ctr Limit (384xh) ........................................ 65

4.3.199 VAI Go To Pos With Lower Force Ctr Limit and Target Force (385xh) ........... 66

5 SETPOINT GENERATION ............................................................................................... 67

5.1 VA-INTERPOLATOR ............................................................................................................. 7

5.1.1.1 Parameters and Output ...................................................................................... 7

5.2 P(V)-STREAM .................................................................................................................... 8

5.3 CAM MOTIONS .................................................................................................................... 9

5.3.1 Triggered Cam Motions ........................................................................................... 69

5.3.2 Repeated Cam Motions with the Modu o CamMode ............................................... 69

5.4 WINDING ............................................................................................................................ 70

5.4.1 Winding disturbance ................................................................................................ 70

6 COMMAND TABLE ........................................................................................................... 71

7 DRIVE CONFIG RATION ............................................................................................... 72

7.1 POWER BRIDGE ................................................................................................................... 72

7.2 X4 I/O DEFINITIONS ........................................................................................................... 72

7.2.1 X4.3 Brake ............................................................................................................... 72

7.2.1.1 X4.3 Brake Operation Enabled Behavior ......................................................... 73

7.2.1.2 X4.3 Brake Operation /Abort Behavior ............................................................ 73

7.2.1.3 X4.3 Brake Operation Quick Stop Behavior .................................................... 74

7.2.2 X4.6 Trigger ............................................................................................................. 74

7.2.2.1 Direct Trigger Mode ......................................................................................... 74

7.2.2.2 Inhibited Trigger Mode ..................................................................................... 75

7.2.2.3 Delayed Trigger Mode ...................................................................................... 75

7.2.2.4 Inhibited & Delayed Trigger Mode .................................................................. 7

7.2.3 X4.8 and X4.9 Limit Switches .................................................................................. 76

7.2.4 X4.10 and X4.11 PTC 1 and PTC 2 ......................................................................... 76

7.2.5 X4.12 SVE (Safety Vo tage Enab e) ......................................................................... 77

7.3 MASTER ENCODER .............................................................................................................. 77

7.4 MONITORING ...................................................................................................................... 79

7.4.1 Logic Supp y Vo tage ............................................................................................... 79

7.4.2 Motor Supp y Vo tage .............................................................................................. 79

7.4.2.1 Phase Switch On Test ....................................................................................... 79

7.4.3 Regeneration Resistor .............................................................................................. 80

7.4.4 Temperature Monitoring ......................................................................................... 81

7.5 POSCTRLSTRUCTURE ........................................................................................................... 82

8 MOTOR CONFIG RATION ............................................................................................ 83

8.1 GENERIC MOTOR TEMPERATURE CALCULATED ........................................................................ 83

9 STATE MACHINE SET P ................................................................................................ 84

10 ERROR CODE LIST ........................................................................................................ 85

11 CONTACT ADDRESSES ................................................................................................. 92

age 8/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot

Motion Control SW

L

i

n

M

o

t



System Overview

This user Manual describes the Motion Control SW functionality of the LinMot E1100 /

B1100 drives.

1.1 References

Ref Title Source

1 Installation_Guide_E1100.pdf www.linmot.com

2 Installation_Guide_B1100.pdf www.linmot.com

3 Usermanual_LinMot-Talk_4.pdf www.linmot.com

4 QuickStartGuide_B1100-VF.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

LM LinMot linear motor

OS Operating system (Software)

MC (SW) Motion Control (Software)

Intf Interface (Software)

Appl Application (Software)

VAI VA-Interpolator (Max velocity limited acceleration position interpolator)

os osition

Vel Velocity

Acc Acceleration

Dec Deceleration

U ID Unique arameter ID (16 bit)

1.3 Data types

Type Range/Format Num of bytes

Bool Boolean, False/True 1/8

Byte 0..255 1

Char ASCII 1

String Array of char last char = 00h X

SInt16 -32768..32767 2

UInt16 0..65535 2

SInt32 -2147483648..2147483647 4

UInt32 0..4294967295 4

NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 age 9/91

Realtime Machine Control Monitoring, Testing, Simulating

L

i

n

M

o

t



Motion Control SW

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 wor can be used. For

controlling the motion functionality a memory mapped motion comman interface can be

used. These two instances are mapped via an interface SW to an upper control system

( LC, I C, C, ..). The interfacing is done with digital I/Os or a serial link like rofibus D ,

CAN bus (DeviceNet, CANopen), RS485, RS422 or RS232 (LinRS protocol).

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 careful using this features on a

running machine!

age 10/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot

PLC

with serial bus

Control Word Intf

Copy Mask

Status Word

Control Word

Parameter Force Mask

Motion

Command

Registers

Motion

Command

Registers

Control Word

Parameter Force Values

Event

Handler

Control Word

Interface Control

Word

Command

Registers

Response

Registers

LinMot-Talk1100

Control Panel

Motion Command

Interface Selector

State Machine Control Motion Command

Interpreter

Axle Control

LinMot E1100 Series Manuel utilisateur

Manuels Unité de contrôle populaires d'autres marques