LinMot E1100-GP Manuel utilisateur

Documentation of the Command Table IO interface for the

following Drives:

E1100-G

E1100-G -HC

E1100-G -XC

Command Table IO Interface

User Manual

LinMot



Command Table IO Interface

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 3.14 / June 2 18

Page 2/8 User Manual Command Table IO Interface / 29/ 8/2 18 NTI AG / LinMot

Command Table IO Interface

LinMot

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TABLE OF CONTENT

1 SYSTEM OVERVIEW....................................................................................................................4

2 ACTIVATING AND DEACTIVATING OF THE COMMAND TABLE IO INTERFACE......4

3 SMART CONTROL WORD BEHAVIOR.....................................................................................5

3.1 INTF SWITCH ON FLAG BEHAVIOR.....................................................................................................5

3.2 INTF HOME FLAG BEHAVIOR.............................................................................................................5

3.3 INTF ERROR ACKNOWLEDGE FLAG BEHAVIOR......................................................................................5

3.4 INTF GO TO INITIAL POS FLAG BEHAVIOR..........................................................................................5

4 MOTION COMMAND TABLE......................................................................................................6

5 X6 OUTPUT FEEDBACK...............................................................................................................

3.5 OVERRIDE FUNCTIONS FOR OUTPUTS ON X6........................................................................................7

6 CONTACT ADDRESSES................................................................................................................8

NTI AG / LinMot User Manual Command Table IO Interface / 29/ 8/2 18 Page 3/8

LinMot

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Command Table IO Interface

1 System Overview

The Command Table IO Interface SW has the following functionality:

Smart Control Word behavior (Enable, Home and Error Acknowledge over one single

IO possible)

Mapping of the X6 inputs to access the motion command table

Mapping of the X6 outputs for system feedback of its state

All this functionality can be wired to the X6 connector that is available on the E11 -GP

drives.

2 Activating and Deactivating of the Command Table IO

Interface

Over the interface switch on the S3.4 the command table IO interface SW can be activated

(switched on) or deactivated (switch off), like all other interface SW on the E11 drive

series.

Page 4/8 User Manual Command Table IO Interface / 29/ 8/2 18 NTI AG / LinMot

I terface

CAN Term

RS485 Term

RS485/232

O - Off

Command Table IO Interface

LinMot



3 Smart Control Word Behavior

All control word actions, which are configured in the Command Table IO Interface, affect the

interface control word bits. So if a control word bit is mapped to a X4 IO or is forced by

parameter, this still has priority and the behavior rests unchanged.

3.1 Intf Switch On Flag Behavior

It is strongly recommended to influence the control word bit ‘Switch On‘ over a serial bus

connection or a digital input. For a test system it might be helpful if the system starts up

automatically when switched on. For this case the switch on flag can be set to autostart.

3.2 Intf Home Flag Behavior

Setting the Intf Home Flag Behavior to ‘Autohome’ starts automatically the homing if the state

8 ‘Operation Enabled’ is reached and the status word bit 11 ‘Homed‘ is cleared. When the

homing procedure has finished the interface control word bit 11 ‘Home’ is cleared and the

state 8 is entered again.

3.3 Intf Error Acknowle ge Flag Behavior

Setting the Intf Error Acknowledge Flag Behavior to ‘/Switch On Flag’ sets the interface

control word bit 7 ‘Error Acknowledge’ when releasing the ‘Switch On’ Flag.

3.4 Intf Go To Initial Pos Flag Behavior

Setting the Intf Go to Initial Pos Flag Behavior to ‘Enter Operation Enabled’ sets the interface

Control Word bit 13 ‘Go To Initial Position’ in state ‘Ready to Operate’ (State: 6), normal

operation of this behavior is to move to the ‘Initial position’ after enabling.

NTI AG / LinMot User Manual Command Table IO Interface / 29/ 8/2 18 Page 5/8

LinMot



Command Table IO Interface

4 Motion Command Table

The second and main functionality of the command table IO interface SW is to access the

command table through the X6 inputs. Two different evaluation modes are available:

Coded States ..255 with settling time

Coded States ..255 with Eval on X6.5

In both modes the table below defines the mapping of the inputs to the command table ID

bits.

X6 input pin Command Table ID bit

X6.1 Bit

X6.14 Bit 1

X6.2 Bit 2

X6.15 Bit 3

X6.3 Bit 4

X6.16 Bit 5

X6.4 Bit 6

X6.17 Bit 7

In the first mode with the settling time parameter, the inputs have to be stable for the defined

settling time (UPID: 23 h) until the command is evaluated.

In the second mode the ID inputs are captured on a rising edge of the input X6.5. The input

X6.5 can be filtered (UPID: 23 1h) and inhibited (UPID 23 2h).

Page 6/8 User Manual Command Table IO Interface / 29/ 8/2 18 NTI AG / LinMot

Command Table IO Interface

LinMot

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5 X6 Output Feedback

The eight output signals on the X6 connector can be configured for different demands to the

feedback. The table below shows the default configuration of the X6 outputs

X6 output pin UPID Command Table ID bit

X6.9 24 h Op. Main State Bit

X6.22 25 h Op. Main State Bit 1

X6.1 26 h Op. Main State Bit 2

X6.23 27 h Op. Main State Bit 3

X6.11 28 h None

X6.24 29 h Status Word bit ’Motion Active’

X6.12 2A h Status Word bit ’In Target Position’

X6.25 2B h Status Word bit ’Event Handler Active’

With the first four output bits (X6.9, X6.22, X6.1 and X6.22) a direct monitoring of the main

state is possible. Also a transition to the error state can be detected. The output X6.24 is high

if a motion is active, X6.12 is high if no motion is active and the target position is reached

within the configurable limit (UPID 147 h, 147Ch and 1471h). The output X6.25 indicates if

the event handler is active, e.g. during a sequence of motion commands in the motion

command table.

3.5 Overri e Functions for Outputs on X6

For the inputs X6.18 and X6.6 override functions for the X6 outputs can be defined, e.g. if the

input on X6.18 is high the outputs on X6 have not the configured mapping but show the error

code.

The table below shows the default configuration of the override function.

X6 input pin UPID X6 output Override function

X6.18 223 h Show error code

X6.6 224 h None

NTI AG / LinMot User Manual Command Table IO Interface / 29/ 8/2 18 Page 7/8

LinMot



Command Table IO Interface

6 Contact Addresses

-----------------------------------------------------------------------------------------------------------------------------

SWITZERLAND NTI AG

Bodenaeckerstrasse 2

CH-8957 Spreitenbach

Sales and Administration: +41-( )56-419 91 91

[email protected]

Tech. Support: +41-( )56-544 71

[email protected]

Tech. Support (Skype) : skype:support.linmot

Fax: +41-( )56-419 91 92

Web: http://www.linmot.com/

-----------------------------------------------------------------------------------------------------------------------------

USA LinMot USA Inc.

N1922 State Road 12 , Unit 1

Lake Geneva, WI 53147

hone: 262-743-2555

E-Mail: [email protected]

Web: http://www.linmotusa.com/

-----------------------------------------------------------------------------------------------------------------------------

Please visit http://www.linmot.com/ to find the distribution near you.

Smart solutions are…

Page 8/8 User Manual Command Table IO Interface / 29/ 8/2 18 NTI AG / LinMot

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