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LinMot-Talk 5

1. Scale 0 001 4 0 0014 14m Type SInt32 SInt32 Sint16 Sint16 Ulnt16 SInt32 Ulntl6 Ulnt16 Ulnt16 Ulnt16 SInt32 SInt32 Ulnt16 0 0001 mm 0 1 A mm 0 1 4 m s Tus 0 001 4 0 001 4 0 0001 mm 0 01 A m s 0 001 42 m 0 1 44 mm s Offset DA DA OA m D Ams 0 A m s 2 Omm 0 Amm 0 Ams Dus 0 A mm s DA DA D mm Min 154 DA 30000 A m 300 4 mes OA m s 2 214748 36 D A mm 0 Ams Dus D 4 mm s DA DA 0 mm Parameters Parameters which are marked as live can be altered while the drive s firmware is running other parameters can only be changed when the software is stopped 2 8 Variables The drive s variables which can be watched are arranged in different functional groups The MC SW overview group contains the most used variables File Search Drive Services Options Window Tools Manuals Help Bt S td S B Unas ir 10310194560 gt gt Me lt SES BoAPH E Project 4 le Unnamed IP 10 3 10 184 USER AD Control Panel 4 Eg Parameters Eos E Motion Control Sw E sercos 4 Gy Variables E User Defined E OS SW Operating Hours Time E OS SW Message Error E OS SW Monitoring E OS SW HW Configuration E OS Hash Value E OS SW Status E MC SW Overview MC SW Motor EE MC SW X13 Ext Sensor EE MC SW Current Controller lez MC SW Control Word E MC SW Status Word E MC SW Warnings
2. Documentation of LinMot Talk 5 Configuration Software a h I AT i ii ii NN 1 I Ei e LinMot Talk 5 User Manual LinMot Talk 5 2012 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 AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Document version 5 1 October 2012 Page 2 43 User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 Table of Content INTRODUCTION A tds 4 El SYSTEM GENERA MONO Orca titi 4 ZOVERVIE WO ne ne eer ee ne nr er ta ee ee A 5 A A A OS PRS O ES EO TO In 6 22S ON MRO A E II tars aeabe iterebinanembicnanstasrenutied 7 23 MESSAGE ti eo add 8 NA A AAA 8 PES MS A A 9 E A 10 TS IO 11 AP O II seaeeianeeonaeeee 11 PO KG ONMAND LADLE ap REUS Uso aS td 13 2 NO ACCESS GODES ati da 14 3 QUICK START GUIDE rae ease o de ea ca eed o on aia e 15 oy GAB WING E OO ado
3. gt Show Object Inspector displays a window in which shows help information to each selected object Page 6 43 User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot 2 2 Control Panel The Control Panel helps the user to access directly to the control and status word of the MC Software The drive can be commanded from the PC thus no PLC is necessary to be used for the first commissioning A gt General Control Word i Status Word Monitoring Monitoring E 0 Switch Qida 1 Connection Status Online 1 Safety Y Firmware Status Runnin TF stopped 2 Quick StOp 1 Motor Status Switched Off 3 Enable Operation 5 0 i 4 Abort eee 1 4 Safety Volt Enable 1 1 eee 1 5 Quick Stop 1 6 Go To Pasition 0 6 Switch On Locked 1 7 7 Error Acknowledge 0 RA 1 Tr 8 Jog Move 0 8 Event Handler Actiwe 0 i 9 Jog Move 0 3 Special Motion 4ctiwe 0 Op State Not Ready to Switch On i 10 Reserved O 10 In Target Position 0 Motor Not Homed DO A HOME 11 Home oo ccccssceececsssseeeeees 0 AS E 12 Clearance Check 0 12 Fatal Error 0 Ml 13 Go To Inital Position O 13 Motion ctiwe 0 Actual Position 0 00 mm 7 14 Linearizing O 14 Range Indicator 1 1 Demand Posit
4. EE Drive Configuration E Motor Configuration E State Machine Setup EE Motion Interface EE Position Controller EE Current Controller EE Errors amp Warnings E Protected Technology Functions E Motor Info Block El sercos ct Variables Oscilloscopes Y Messages Errors Download Window aes er 2 Upload from Drive g Download into Drive E Command Table Name ID Type Setpoint Wizard Length No of Setpoints We will now define curve going back So we start the curve wizard again and define under curve settings the following NTI AG User manual LinMot Talk 5 05 10 2012 Page 33 43 LinMot LinMot Talk 5 Curve Settings l x Curve ID 1 100 3 Curve Name Sineln Setpoint Calculation Wizard Sine Curve Length 500 m Start Point 50 mm End Paint o mm lt Back Next gt Cancel Set curve ID to 3 Curve Name to Sineln Curve Length to 500ms Start Point to 50mm and End Point to Omm Click twice Next and then Finish Now we have defined the two curve segments and will join them together Select the two curves ile Search Drive Services Options Window Tools Manuals Help 23 Unnamed IP 10 3 10 184 USER gt m E x SESESBASE O Edit Window 4 Es Unnamed IP 10 3 10 184 USER i lii Control Panel i zA a edi Name ID Type Setpoint Wizard Length No of Setpoints El E Sine0ut 2 Position vs Time Sine 1
5. Enable 1 Digital Input x4 12 E Switch On Active 4 1 1 Motor Short Time Overload 0 Firmware Status Running aramee 2 Quick Stop 1 Forced by Parameter Enable Operation 0 2 Motor Supply Voltage Low 0 Motor Status Switched Off el Variables 3 Enable Operatior 1 Forced by Parameter PEON A AA 0 3 Motor Supply Voltage High 0 Oscilloscopes TA Forced by Parameter f Enable 1 4 Position Lag Always 0 i Messages Ir ON DE Forced by Parameter EACH StoP TB Reserved cee 0 Errors 6 Go To Position 0 0 Interface f Switch On Locked 1 6 Controller Hot 0 g Curves 7 Error Acknowledge 0 Interface DIO cocinera 1 Z Motor Not Homed 1 8 Jog Move Do Interface 8 Event Handler Active 0 8 PTC Sensor 1 Hot 0 Command Table Op State Not Ready to Switch On 9 Jog Move 0 Interface 9 Special Motion ctive D 9 PTC Sensor 2Hot 0 ee 0_ Interface 10 In Target Position 0 10 RR Hot Calculated O Motor Not Homed 11 HOMme cccccsssssesseees Dd Interface A ccceccssssseeeceeoen O 1 Reserved cee 0 A 12 Clearance Check 0 Interface 12 Fatal Error O 12 Reserved 0 13 Go To Inital PositionO Interface 13 Motion ctive 0 13
6. key 5392 58306891 Mote The keys will not be activated on the controller until a reboot has been processed Press the activate button to reboot Activate Close A maximum of four keys can be set on the drive Under Active Keys all valid installed keys are listed key value and access code A new key can be set by selecting the key name and defining the value and access code With the write button the key and access code are written to the drive As soon as the drive has rebooted click the Activate button the new key will be active if the access code fits Please note Access codes are drive specific They cannot be copied from one drive to another User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot 3 Quick Start Guide This chapter helps step by step to set up a system using servo drive and the LinMot Talk configuration software 3 1 Cabling E1100 The following picture shows the connectors on the drive used for a first commissioning with PC only Motor Power Supply X1 Motor Phases X2 if present otherwise on X3 Motor Sianals X3 Signal Supply X4 Pint GND Pin2 24VDC Pini2 SVE if present RS232 to PC X5 Pin2 RS232TX Pin3 RS232RX Pin5 GND Use a 1 1 cable to the PC gt X1 Motor Supply use 48 72 VDC between PWR and PGND gt X2 Motor Phases if this connector is not present connect the motor on X3 only gt X8 Mo
7. to 24 VDC and both Ksr X33 3 and X33 7 to GND VV VvV NTI AG User manual LinMot Talk 5 05 10 2012 Page 17 43 LinMot LinMot Talk 5 3 4 Cabling B1100 The following picture shows the connectors on the drive used for a first commissioning with PC only t Motor Power Supplv X1 os 4 a a A Motor Phases X2 lo q Motor Sianals X3 RS232 to PC X5 Pin2 RS232TX Pin3 RS232RX E Pin5 GND Use a 1 1 cable to the PC Signal Supply X14 Pin13 DGND Pin25 24VDC gt X1 Motor Supply use 48 72 VDC between PWR and PGND gt X2 Motor Phases gt X3 Motor signals if motor has a DSUB 9 connector connect it directly otherwise use an adapter to DSUB 9 or wire the phase lines to X2 gt X5 RS232 The cable between the LinMot drive and PC must be DSUB 9 F F 1 1 X modem If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 gt X14 For a commissioning with the PC it is necessary to wire only the Pin13 DGND and Pin25 24VDC Page 18 43 User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot 3 5 Cabling B8050 ML The following picture shows the connectors on the drive used for a first commissioning with PC only F RT ETH Out x18 4 PT ETH In X17 4 PT Bus LED lt RT Bus ID S1 S2 State LED State LED RS232 Config to PC X23 Co
8. Curves lt Help Curve Ok Cancel It is recommended to export all For a configuration recovery it is necessary to select the parameters curves and command table In case of a support request it is very helpful to provide the complete configuration as well with variables oscilloscope shots message and error log NTI AG User manual LinMot Talk 5 05 10 2012 Page 39 43 LinMot LinMot Talk 5 3 17 Import Configuration A configuration can be imported with File gt Import or with the button l When opening a configuration to a drive a compatibility list of the parameter trees will be shown Then the selection of the importable parts will be shown Select the data to be imported E gt Import All Parameters I lt OS Mx Motion Control Sw Mx Cmd Tab lO Interface lt X Oscilloscope lx Read out X Curves Help Curve x NewCurve X Command Table x Command Table Cancel It is possible to import only some specific parts e g curves or command table 3 18 Open Offline Configuration A configuration can also be opened when no drive is present Under File gt Login Open offline Configuration Interface de R5232 CAN e OFFLINE Configuration File C Program Files LINMOTLinT alk11 Login ID USER Password OR Cancel Open Object Inspector after Login This is a very helpful feature for supporting problems Page 40 43 User manual LinMo
9. E MC SW Phase Search EE MC SW Linearizing 3 MC SW Motion Interface ie MC SW Capture Trigger amp Mapped Inputs q MC SW VA interpolator MC SW Curve 32 MC Sw Monitoring i MC SW Errors EE MC SW Encoder CAM E MC SW Motor Data Sheet i MC SW Command Table E MC SW Force Control EE sercos Oscilloscopes Messages Errors pas Gl Curves Command T able lo ye te ei RWee s UPID 1B5Eh 1B5Fh 1B60h 1862h 1884h 1888h 1B8Ch 1B8Dh 1B8Eh 184Fh 1890h 1891h 1892h 1693h 1894h 1895h 1C84h 1C8Eh 1C8Fh 1C90h 1C91h 1C92h 1C93h 1C34h 1C95h 1C36h 1C97h 1C83h 1C85h 1CCOh 1CC1h 1C88h 1CC2h 1CC3h 1C44h 1C4 h 1C46h 1C48h RawData 00h 00h 00h 0000h 00000000h 0O0000000h 0o0000000h FFFFFFFAh FFFFFFO6h oo000000h OO000003h OO0000FAh 00000002h 00000000h 0000h 0000h 0200h Oh Oh Oh Oh Oh Oh Oh Oh Oh 1h 0000h 0200h 0000h 0000h 0000h 0000h 0000h 0004h oo000000h FFF5h 0O0000000h Name Value State Machine Main State 0 State Machine Sub State 0 State State Var Demand Position Demand Velocity Demand Acceleration Actual Position Actual Velocity Actual Velocity Filtered Difference Position Difference Velocity Demand Current Pos Ctrl Demand Current Demand Position 16 Bit Actual Position 16 Bit 10 State Word 10 State Bit 0 4 3 10 State Bit 1 4 4 10 State Bit 2 lt 4 5 10 State Bit 3 lt 4 6 10 State Bit 4 X lt 4 7 10 State Bit 5
10. MN The tool button bar is always present and consists of the following buttons from left gt Show Hide Tree shows or hides the project tree window t gt Up sets the focus in the project tree to the parent of the selection 1 gt Toggle toggles between the last two displayed tree branches gt Import Configuration imports a drive s configuration gt Export Configuration exports a drive s configuration Different parts such as parameters variables oscilloscope or curves can be selected to be exported gt Print prints items like curves parameter configurations etc gt Install Firmware Start the drive s firmware installation gt Reboot restarts the firmware on the drive m Y v Stop stops the firmware on the drive used for downloading and software configuration gt Blink sends a blink LED command to the drive which is selected gt Go Offline logs out from actual drive gt Start Motor Wizard starts the motor configuration setup wizard gt Show Control Panel switches to the control panel gt Show Parameters switches to the variables Show Variables switches to the variables gt Show Oscilloscope switches to the oscilloscope gt Show Messages switch to the message viewer gt Show Errors switches to error viewer gt Show Curves switches to the curve tool Aa Pao ld ao v gt Show Command Table switches to the command table editor
11. Read All Variables Cyclically Reads from the drive all variables of the section cyclically gt Remove Del Removes the selected variable from the list a E a El El The following buttons are only used in special cases gt Edit Properties The parameter properties can be displayed and changed E gt New Variable In a new generated variable section a new variable can be defined This is a drop down menu which supports different variable types gt New Bit Variable In a new generated variable section a variable of the type bit can be defined gt New String Variable In a new generated variable section a variable of the type string can be defined F gt New Float32 In a new generated variable section a variable of the type float32 can be defined gt New With UPID In a new generated variable section a variable can be added by using the UPID from the appropriate parameter Under User Defined any variables or parameters can be arranged together Typically the variables are selected via UPID It is also possible to drag and drop them from the parameter or variable section User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot 2 9 Command Table The drive supports the command table CT functionality which means a set of up to 255 motion commands 31 commands for B1100GP and B1100VF series drives on B1100PP CT is not supported can be stored in this table An example of is s
12. Reserved fe 0 Actual Position 0 00 mm 14 Linearizing Do No Source Specified 14 Range Indicator 1 1 14 Interface Warn PI 0 Demand Position 0 00 mm AAA a 15 Phase Search DO No Source Specified 15 Range Indicator 2 0 15 Application Warn Flpo Force Factor Motor not homed Control Word 003Fh Status Word 40F2h Warm Word 080h Motor Current 0 004 gt L Override Value Op Main State 00h Logged Error Code QO000h yia n pes agh i L Enable Manual Override Op Sub State 00h dd dio E 10 Panel Motion Command hterface po Enable Manual Override Enable Manual Override 7 RTP 77 Override Value p Actual Value L L UL TI 24 12 Input gt F E 24 11 Input Command Category Most Commonly Used Y 24 10 Input y m mu 4 9 Input Command Type No Operation 000xh rl E 248 Input Count Nibble Toggle Bits Oh Auto Increment Colnt Nibble CP x47 Input E Mood is Onr E p 24 6 Input p x45 Input 7 TT X44 Input Name Offs Description Scaled Value t Value Dec Int Value Hex PI X43 Input Header 0 O00 h No Operation 0 0000h Ser d Cor mand Project tree Motion Monitoring window IO Panel Command Window Window NTI AG User manual LinMot Talk 5 05 10 2012 Page 5 43 LinMot LinMot Talk 5 2 1 Tool button bar lt Set eaaaAre B to oe bed S BB Unnemea ip 103 10184USER __ gt
13. Value Slider Home Position Corresponds to distance 4 NTI AG User manual LinMot Talk 5 05 10 2012 Page 29 43 LinMot LinMot Talk 5 Page 30 43 With the last wizard step the user s coordinate system can be defined gt Motor Wizard x15 15 x step 9 9 Homing Ill Definition of the Application Reference System Home Position HP Fio mm 43 mM 347 mm Om HP Hove to the Initial Position at the End of the Homing Procedure Initial Position IP f Fai D 347 mm C IF You can define your application specific reference system by assigning any position value to the Home Position All Further position values are based on this systern At the end of the homing procedure the motor moves to the Initial Position Then it is ready to execute the motion commands IF the motor has to be homed on a mechanical stop then the Initial Position value should differ From the Home Position Comment Minimal Position stroke range limit 70 mm Maximal Position stroke range limit 290 mm Distance E 20 mm Distance O 133 mm Finish Cancel At the end press finish If the firmware on the drive is still running an appropriate message will be shown All parameters will now being written to the drive The motor wizard can be run several times e g to setup an external sensor to change the load setup or to change the motor type When rerunning it at the end will be shown a list of parameters which
14. channels Ed E E we v ES vV Show Hide Cursor Two time cursors can be be displayed for measuring the signals NTI AG User manual LinMot Talk 5 05 10 2012 Page 9 43 LinMot LinMot Talk 5 2 6 Curves With the curve tool motor motion profiles can be easily created joined uploaded downloaded and saved NOTE On B1100 the curve feature must be enabled with an access key LinMot Talk 5 0 o fE File Search Drive Services Options Window Tools Manuals Help D tale aa A Uonemed IP 10 310 126 USER P gt Me lt lt SESE pag EJ Project Edit Window 4 fe Unnamed IP 10 3 10 126 USER Control Panel B Parameters Name ID Type Setpoint Wizard Length No of Setpoints Wariabl nia Ea SineOut 1 Position vs Time Sine 1000ms 50 Messages E Sineln 2 Position vs Time Sine 500 ms 501 Baars E SinOutln Curve 3 Position vs Time None 1500 ms 1501 fl Curves Command Table y a Download Window amp Upload from Drive g Download into Drive AN Curves have changed Please download Name ID Type Setpoint Wizard Length No of Setpoints 0 SineOut 1 Position vs Time Sine 1000 ms 501 0 Sineln 2 Position vs Time Sine 500 ms 501 0 Sin0utln Curve 3 Position vs Time None 1500 ms 1501 The curve tool is divided into the edit and the download window The edit window is used to generate merge and modify curves with the following buttons ire al Pe gt New Curve Starts the curve wizard which
15. guides through the curve generation gt Edit Properties The properties of a selected curve like name time or stroke can be modified Edit Curve Values The curve points can be manually edited Join Curves All selected curves are joined A wizard will be started for defining the curve properties of the joined curve VV The download window is used to manage the curves which are stored on the drive or have to be downloaded Modifications in this window will show up the message Curves have changed Please download After pressing the download into Drive button the window and the drive will be synchronized g Upload from Controller gi Download into Controller gt Upload Curves from Drive All curves stored on the drive will be uploaded and displayed gt Download Curves to Drive The drive s curve sector will be synchronized with the download window gt Auto Numerate Curves The curve ID which must be unique will be set automatically The maximum number of curves and number of sample points is defined as follows Series E1100 E1200 E1400 Curves 70Bytes SamplePoints 4Bytes lt 65280Bytes Series B1100 Curves 70Bytes SamplePoints 4Bytes lt 2016Bytes 1 SamplePoints total of sample points in all curves Page 10 43 User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 2 7 Parameters The drive s parameters are displayed in a tree view Search Driv
16. lt 4 8 10 State Bit 6 lt 4 9 10 State Bit 7 lt 4 10 10 State Bit 8 lt 4 11 10 State Bit 9 lt 4 12 lt 4 Intf Outputs Digital Inputs Word Digital Input Force Mask Digital Input Force Value 4 Output Mask Digital Output Force Mask Digital Output Force Value 4 4 Analog Voltage 4 4 Analog Voltage Filtered Diff Analog Voltage Diff Analog Voltage Filtered Type UlInt8 Ulnte Ulnt8 Enumerator Ulntl6 Sint32 Sint32 SInt32 SInt32 SInt32 Sint32 Sint32 Sint32 SInt32 Sint32 Sint16 Sint16 Ulntl6 Bool Bool Bool Bool Bool Bool Bool Bool Bool Bool Ulntl6 Ulntl6 Ulntl6 Ulntl6 Ulntl6 Ulntl6 Ulntl6 Ulntl6 FloatlEEE754 Sint16 FloatlEEE754 1 0 0001 mm 1E 6 m s 1E 5 m s 2 0 0001 mm 1E 6 m s 1E 6 m s 0 0001 mm 1E 6 m s 0 001 A 0 001 4 1 1 1 1 0 0027027027 Y 0 0027027027 Y 0 00537056928 Y 0 00537056928 Y Offset User manual LinMot Talk 5 05 10 2012 Page 11 43 LinMot LinMot Talk 5 Page 12 43 The variable service is controlled with the following buttons mE Ea G ei R WEG Show Hide Details Additional information for each parameter such as unique parameter ID UPID scaling min max value can be displayed on demand gt Read Variable Reads the selected variable from the drive once gt Write Variable Writes the selected variable to the drive v Read All Variables Reads from the drive all variables of the section once gt
17. shows the actual state of the drive s MC software status word It is updated automatically gt General Monitoring This window displays actual motor and drive information gt lO Panel For commissioning The user can take control of the X4 IOs on E1100 or X14 lOs on B1100 drives gt Motion Command Interface The MC software s motion command Interface can be directly accessed over this window When enabled Enable Manual Override switch must be set MC commands can be selected parametrized and sent to the drive Because the motion command interface is independent of the interface running on the drive the same the commands can be exactly tested before programming them in the PLC NTI AG User manual LinMot Talk 5 05 10 2012 Page 7 43 LinMot Talk 5 2 3 Messages This panel reads out and shows all messages which are logged on the drive and displays them in chronological order If logged in a B1100 series drive this window does not appear because those drives do not support message logging LinMot Talk 5 0 File Search Drive Services Options Window Tools Manuals Help b tale Ed gS umenes P 1031012600868 p gt e MIS SECADO E Project 4 ha Unnamed IP 10 3 10 126 USER A Control Panel Ez Parameters gt Ct Variables gt El Oscilloscopes i E Command Table ala Event Time 001604 11 32 773 001604 11 30 710 001604 11 23 897 001584 39 45 813 001584 39 44 008 001584 39 41 945 00158
18. the two positions is defined under VAI 2 Pos Cont Settings The minimal settings for this mode are shown next First the mode has to be set File Search Drive Services Options Window Toots Manuals Help D tole hl S B Unnamed iP 10 3 10 184 USER P m H lt SELBAAGD A EY Project w VAI 2 Pos Continuous R 4 la Unnamed IP 10 3 10 184 USER qn Y x E Control Panel Value Raw Data UPID Type a Parameters C Motion Command Interface Off 0001h 1450h Ulntl6 Eos C Triggered VA Interpolator Off 0002h 1450h Ulntl6 4 E Motion Control SW C Rise Triggered VAI For Backward Off 000Dh 1450h Ulntl6 E Drive Configuration C Triggered Time Curves of 0007h 1450h Ulntl6 Sl sacred cea O Command Table Mode off 0003h 1450h Ulntl6 4 E Motion Interface y Triggered Command Table DDOCh 1450h Ulntl6 4 E Run Mode Settings O Position Indexing Off O004h 1450h Unt 16 Bun Mode Selection Analog Off 0004h 1450h Ulntl6 E Triggered VA Interpolator Settings _ Triggered Analog Off OOOBh 1450h Ulntl6 E Triggered Curves Settings 5 CAM Mode Off 0006h 1450h Ulnt16 E Command Table Settings Triggered CAM Curve 0008h 1450h Ulntl6 E Triggered Command Table Settings Cc Val 2 Pos Continuous On 0009h 1450h Ulntl6 E CAM Mode Settings Continuous Curve Off 0005h 1450h Ulntt6 E Triggered CAM Curves Settings C PC Motion Command Interface 0010h 1450h Ulntl6 E Pos Indexing Settings E Analog Mode Se
19. 000ms 50 E Motion Control Sw x E sercos El Sineln 3 Position vs Time Sine 1000 ms 501 ct Variables Oscilloscopes Messages y Errors rail Curves Command Table yv x Download Window 2 Upload from Drive gi Download into Drive Name ID Type Setpoint Wizard Length No of Setpoints then press the Join Curves button ea The curve settings mask for the joined curve appears Curve Settings x Curve ID 1 100 fi Curve Marne SineO utlri Setpoint Calculation wizard None z Curve Length fi FOO me Back Next gt Cancel Page 34 43 User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot We will set the curve name to SineQutln and make sure the curve ID is 1 The curve length is proposes as the sum of the curve segment times Press Next and Finish The curve for the continuous curve mode is now defined and has according to the parameter settings the curve ID 1 As we want to download the curves to the drive we select all the curves in the edit window and move them to the download window Y voras File Search Drive Services Options Window Tools Manuals Help Ht Ils Bd S g Unnames ir 10 3 10184USER 7 gt lt B BdbAPH Project Edit Window 4 fe Unnamed IP 10 3 10 184 USER Control Panel a a nee Name ID Type Setpoint Wizard Length No of Setpoints Motion Co
20. 15 312 GABUNE E T200 atrial dial told aaa laica 16 sO ABU E AOO a do Ll de a dl ia OS 17 SACHEM E NOO A ES COP a A 18 39 CINC B8050 Ml rer been chien denon e e e dun ost cada esi 19 O FIRMWARE DOWNLOAD dai a a a e a eaus 20 E ESE i EE EA TEE A T EEA A AAE AT E E OO 20 3 00 CANNING CAN BUS rasante AAA a 21 3 9 SCANNING ETERNA dba 22 AS A A tush ataxia sencces 23 So 1 CONTINOUS Gs VE IO BE siii 31 3 12 ER INING CURVE Ss aii iaa 32 Sl SON TROLL Pd lira canal 36 WA SC OS COPE a a 37 3 15 Continuous Two Point ME a a ee lo 38 3 I6 EXPORT GONFIGURATION oeste ias 39 Sel IMPORan GON GUMA TO Necro octetos 40 3 16 OPEN OFFLINE CONFIGURA MON ia 40 3 19 CREATE OFFLINE CONFIGURA TON ici ilatina N 41 A TROUBLE SHOOTING da 42 4 1 SETTING ALL PARAMETERS TO DEFAULT VALUES ooococononcncnonencncncnanarnnnnnnorononcnrnenenencnananaracanenos 42 4 2 INTERFACE DOES NOT RUN nit naa At 42 AO TOPS A o ar aio ware 42 5 CONTACT ADDRESSES iii ad 43 NTI AG User manual LinMot Talk 5 05 10 2012 Page 3 43 LinMot LinMot Talk 5 1 Introduction The LinMot Talk 5 software is a PC based tool which helps the user in a comfortable way installing firmware on the drive setting up the drive s configuration defining and programming motion profiles emulating the PLC watching variables and reading messages and errors The LinMot Talk 5 works with the drive series B1100 E1100 E1200 E1400 and B8050 It replaces the LinMot Talk1100 software For the rest of t
21. 2 00 44 953 001581 40 15 176 001581 10 53 469 001581 10 50 487 001581 10 26 394 001581 10 01 482 001581 09 53 817 001581 09 51 754 001581 09 51 603 001581 04 01 988 001581 04 00 183 001581 03 58 120 001581 03 57 969 001581 03 41 101 001581 03 39 296 001581 03 37 233 001581 03 37 082 001581 03 28 981 001581 03 27 176 001581 03 25 113 Message MC Sw Started Software Reset MC SW Stopped Tin To Error State MC SW Started Software Reset MC SW Stopped Tin To Ready To Switch On State Tin To Operation Enabled State Tin To Ready To Switch On State Tin To Error State Tin To Ready To Switch On State MC SW Started Software Reset MC SW Stopped Tim To Error State MC SW Started Software Reset MC SW Stopped Tim To Error State MC SW Started Software Reset MC SW Stopped Tim To Error State MC SW Started Software Reset Source MC SW State Machine Os MC SW State Machine MC SW State Machine MC SW State Machine Os MC SW State Machine MC SW State Machine MC SW State Machine MC SW State Machine MC SW State Machine MC S W State Machine MC SW State Machine OS MC SW State Machine MC SW State Machine MC SW State Machine OS MC SW State Machine MC SW State Machine MC SW State Machine OS MC SW State Machine MC SW State Machine MC SW State Machine OS Actual drive Time 001604 23 08 2 4 Errors This panel reads out and shows all errors which are logged on the drive and displays them
22. CAM Mode Settings E Triggered CAM Curves Settings E Pos Indexing Settings EE Analog Mode Settings E Val 2 Pos Cont Settings El 16 Bit Interface Scaling E Predef VA Interpolator El PY Streaming Settings El Time Curve Settings El Master Encoder CAM El Position Controller El Current Controller El Errors amp Warnings E Protected Technology Functions E Motor Info Block E sercos Sy Variables 4 Oscilloscopes Default Messages Errors frail Curves Command Table 4 m Parameters Path Motion Control SW Motion InterfacelRun Settings Triggered VA Interpolator Settings Trig Fall Config Position This is all we have to configure The speed acceleration and deceleration can also be defined at this place in the parameter tree The motor can now be started the same way as described under 3 13 Control Status Page 38 43 User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot 3 16 Export Configuration When the drive settings are done it is strongly recommended to save the complete configuration This can be done under File gt Export or with by clicking on lel After the file name dialog the selection of the parts to be exported will be shown Select the data to be exported EW x Parameters x OS x Motion Control Siw x Cmd Tab l0 Interface bx variables x User Defined x Oscilloscope Xx Read out x Messages Mx Messages List x Errors x Errors List x
23. Control Sw Curve Amplitude Scale 100 O3E8h 14CAh Sintl6 01 E Drive Configuration CurveTime Scale 100 2710h 14CBh SInt16 0 01 E Motor Configuration E State Machine Setup 4 E Motion Interface E Run Mode Settings E 16 Bit Interface Scaling E Predef WA Interpolator E PY Streaming Settings E Time Curve Settings E Master Encoder CAM E Position Controller E Current Controller E Errors amp Wamings E Protected Technology Functions E Motor Info Block E sercos 5 Wariables El Oscilloscopes Messages E Errors fA Curves Command Table 4 TA Parameters Path Motion Control SW Motion Interface Time Curve Settings Curve ID Before running the curve it is advisable to define the curve we want to run NTI AG User manual LinMot Talk 5 05 10 2012 Page 31 43 LinMot LinMot Talk 5 3 12 Defining Curves Page 32 43 Curves can be easily defined with the curve wizard For this example we will define two sine curve forms over a stroke of 50mm out and in with different speeds which will be joined together Now step by step Open the curve tool by clicking the Show Curves button EZ in the tool button bar Then press the New Curve button la to start the curve wizard Curve Type Selection x Select Curve Type Linear Position Back Next gt Cancel As we want to define a curve in position vs time mode we can keep the defa
24. ant Force compensation FF Friction 0 049 A Current for compensation of dry Friction FF Damping 0 Amis Factor for compensation of viscous Friction FF Acceleration 0 038 A mis 2 Acceleration feed forward Factor 4 Help lt Back Next gt Finish Cancel User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot With the next and last step the position drive s parameters will be set up Jal lo x1 Step 679 PID Position Controller PID Position Controller Setting P Gain f Amen Set To Default Soft P 1 D 3 I 0 sa E Ai m s Set To Default Stiff P 3 D 8 I 0 I Gain lo Alimm s Noise Filter Dead Band 0 02 mm J Enable Noise Filter Beside the feed forward parameters see previous step the PID controller setup influences the control behavior For the most applications it is possible to achieve good results with one of the given default settings no additional loop tuning necessary The Noise Filter eliminates noise from the position feedback sensor when the motor stands still On Applications which require high positioning accuracy typically together with an external position sensor the Noise Filter should be disabled Derived Settings P Gain 1 jmm D Gain 3 Alfmis I Gain 0 Af mm s Intergrator Limit 34 Maximal Current 8A Noise Filter Dead Band 0 02 mm Help lt Back l Cancel It is recommendable to start with the default soft settings becaus
25. ce the controller canbe a controlled even without superior control system The Control Word controls the State Machine of the controller The bits of the Status Word inform about the status of the controller The operational state variable shows in which state the controller is see state machine diagram In the bottom part of the panel the last motion command that was send from the superior controller can be read out If Manual Override promo Motion Corr a ee ee Pe SS Fleosonoana222Z0 Logged Error Code T i Override Valle 7 X4 12 Input TP Xx411 Innt 3 Carnmand Patanan 4 The Object Inspector window can be dragged away or closed lt can be reopened with F1 User manual LinMot Talk 5 05 10 2012 Page 20 43 NTI AG LinMot LinMot Talk 5 LinMot 3 8 Scanning CAN Bus When one or several drives are linked with CAN bus for configuring it can be very helpful to scan the CAN bus for linked drives automatically Thus tt is not necessary to know all node IDs Under File Scanning with CANusb a list of the present drives will be displayed Login MACID Device Name User ID Password 4 34 Unnamed USER E 635 Unnamed service Login All Login Selected Abort With just one click the LinMot Talk software will log in to all drives NTI AG User manual LinMot Talk 5 05 10 2012 Page 21 43 LinMot Talk 5 3 9 Scanning Ethernet Page 22 43 When one or several drives are linke
26. cle is 1 5 s We will switch to the oscilloscope settings with an x General Trigger Advanced Acquisition Mode Single Shot z Recording Time 2071 212 m iv Channel 1 Group Variable mc SW Overview Act Pos iV Channel 2 Group Variable mc SW Overview y Dem_Pos gt iV Channel 3 Group Variable Mc SW Overview y Dift_Pos iV Channel 4 Group Variable Mc SW Overview y Dem_Current Ok Cancel Then press Ok and start the oscilloscope with Po The recorded data on will be read out from the drive and displayed which will look somehow like the following LinMot Talk 3 Ele Search Ome Sere Q ptiom Window Jools dermush Help bt ds OS 8 Uresr cama E BX EAGoage G tN ae IP 10 210 184 USER LLES a AB cm pa a oA A A Moto Conficuastios Carmrert Cacdlcece pe Past Po sibly it is necessary to press button fit view Tuning the system would be started at this point One possibility is by restarting the Motor Wizard and changing the load or control parameter another one is to change the parameters directly in the parameter tree NTI AG User manual LinMot Talk 5 05 10 2012 Page 37 43 LinMot Talk 5 3 15 Continuous Two Point Mode The easiest way to run the motor continuously is to set the VAI 2 Pos Continuous mode In this mode the motor moves between the two positions Trig Fall and Trig Rise The time the motor waits at
27. d with Ethernet for configuring it is helpful to scan the automatically for linked drives Thus it is not necessary to know all node IP addresses Under File Scanning via Ethernet first the interface has to be selected network link With the radio button Group Number could be activated a scan for a special drive group The list will only display the drives with the group number like the number in the text field In the drives this number is saved in the parameter with the name Net Group and the UPID 0078h Choose the Interface Interface Broadcom NetLink TM Gigabit Ethernet 10 3 10 87 Send To All Groups gt Group Number S 10 3 10 22 10 3 10 61 10 3 10 66 10 3 10 67 10 3 10 82 10 3 10 93 10 3 10 106 10 3 10 107 10 3 10 108 10 3 10 109 10 3 10 123 10 3 10 127 10 3 10 129 10 3 10 132 10 3 10 137 10 3 10 143 10 3 10 179 10 3 10 184 10 3 10 186 10 3 10 191 MACID 00 1A 4 00 10 5C 00 1A 4 00 1A 5C 00 1A 4E 00 0A AA 00 1A 4 00 0D 80 00 1A 4E 00 05 0C 00 1A4 4 00 02 2A 00 1A 4E 00 10 14 00 1A 4 00 22 2C 00 1A 4E 00 06 78 00 1A 4E 00 02 48 00 1A4 4E 00 10 0C 00 14 4E 00 2B 08 00 1A 4E 00 1B B8 00 1A4 4E 00 18 BA 00 1A 4 00 02 24 00 1A 4E 00 22 30 00 1A 4 00 10 0A 00 1A 4 00 03 4 00 1A 4E 00 10 24 00 14 4F 00 10 40 A E gt O O o O iz o o o O oO O HA O o Scan Again Blink Sel
28. dure is the following 1 Set the parameter with UPID 0x6085 to 0x0001 2 Power off the drive 3 Power on the drive The value of the parameter with UPID 0x6085 will be automatically cleared to Ox0000 4 2 Interface does not run If the interface software DeviceNet CANopen Profibus LinRS does not communicate there may be several reasons gt Specific Interface Software not installed gt Switch 3 4 Interface on drive s bottom side must be set to Or In case of LinRS this switch must be set to off when configuring over RS232 and set to on when running the LinRS interface gt Parameter with UPID 2008h set to disable gt Baud Rate and Node ID selection not correctly set Parameters and or ID switches on drive s front 4 3 Stopping Firmware Page 42 43 When the same link is used for configuration purposes and from the interface e g RS232 link and LinRS interface it may not be possible to login with the LinMot Talk software In some cases it should be possible to log in e g to download new firmware On E1100 drives the interface switch S3 4 can be set to off and after a power up the interface software should be deactivated and the configuration link should be free If this does not help or you are working with a B1100 drive there is a script under File gt Open gt StopFirmware sct which keeps trying to stop the drives firmware while it is powered on After a power up within the first 2 sec
29. e No Operation 000xh m 2 z z o eae PS Count Nibble Toggle Bits Oh z Auto Increment Count Nibble 7 Inpu y E FT 4 6 Input O FT 4 5 Input O aa TT X4 4 Input Name Offs Description Scaled Value Int Value Dec Int Value Hex PIT 4 3 Input O Header 0 O00xh No Operation D D 0000h Read Command Now we will fetch the control over the Switch On and the Home flags Now turn off and turn on again the Switch On flag this is because of the auto start prevention At this time the motor will be powered and position controlled at the actual position Set the Home flag and the motor will initialize against the inner hard stop When the motor stands still clear the Home o flag and the motor will run the curve continuously Detailed information about the MC software s state diagram can be found in the MC software manual Page 36 43 User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot 3 14 Oscilloscope The oscilloscope is a very useful tool for tuning the motor The LinMot Talk software has defined a default oscilloscope which samples the actual position demand position position difference and demand current When clicking on the Show Oscilloscope button E the focus will be set to the default oscilloscope We could start the oscilloscope now with the start button Po but it is recommended to set the recording time about 2 seconds Ss curve cy
30. e Services Options Window Tools Manuals Help 4 la Unnamed IP 10 3 10 184 USER 1 s Hala Unnamed IP 10 310 184 USER y RN S a paplo m amp oer Control Panel a Es Parameters Eos 4 E Motion Control Sw E Drive Configuration 4 E Motor Configuration Motor Type E Motor Definitions E Position Feedback EE Commutation E Monitoring E Motor Identification 4 E Motor Communication i Communication Type b E State Machine Setup gt E Motion Interface 4 E Position Controller 3 Feedback Selection 83 Ctrl Par Set Selection E Control Parameter Set A E Control Parameter Set B E Advanced Settings E Current Controller E Errors amp Warnings E Protected Technology Functions E Motor Info Block E sercos q Variables 4 Oscilloscopes Default Messages Errors EN Curves Command T able Name UPID 139Ch 139Dh 139Eh 139Fh 1340h 1341h 1342h 1343h 1348h 1344h 1345h 1346h 1347h Raw Data DODO0000h 00000000h 0000h 0000h DO0Fh O0000000h OO0Fh OO1Eh 0000h 0000h D000OFAOh OO000FA0h O064h Value DA DA OA m OA m s 0 015 A m s 2 O mm 1 5 A mm 3 4 m s Dus D A mm s 44 44 0 01 mm FF Constant Force FF Friction FF Spring Compensation FF Damping FF Acceleration Spring Zero Position P Gain D Gain D Filter Time Gain Integrator Limit Maximal Current Noise Deadband Width L L L E L t 5 L ic
31. e the parameters can be changed any time later on by restarting the motor wizard or by setting in the parameter tree directly With the soft parameter setting PID values will be quite low such as the motor is low noise and the position is not controlled very stiffly The stiff parameter set tends to more noise and more power consumption of the motor but the position will be controlled harder In both settings the Gain is set to zero which means a steady state deviation from the desired position can occur When using the Gain the position controller may tend to swing The Noise Filter option is to reduce the noise from the position feedback sensor at standstill For finding the best set of PID parameters the system has to be optimized iteratively There is no general way of how to optimize the settings because different goals can be achieved such as position accuracy power minimization noise reduction NTI AG User manual LinMot Talk 5 05 10 2012 Page 27 43 LinMot LinMot Talk 5 Page 28 43 The next step is to define the homing procedure X Motor Wizard E J51 101 x Step 7 9 Homing Home Position Search Move Speed o o m s Mode Mechanical Stop Negative Search EE The motor moves in negative direction until a mechanical stop is reached This position is assumed to be the Home Position Before motion commands can be executed the motor must be homed Depending on the selected mode the
32. ected Show Help With just one click the LinMot Talk software will log in to all drives The Device Name Lagertest1 Flo s E1250 SC KMT Referenzantrieb MotEnd Flo s E1250 PL MM_E1250_EC_UC MM_E1450_SC KHS Teststand Flo s E1250 1P Ludo Desk Unnamed Unnamed Laser3 Laser_X Laser3 Laser_Z MM_E1250_PL_UC Q5_TestCtr Device Type E1400 GP QN 1RB E1250 SC UC V 1RE E1250 PL UC VIRD E1250 EC UC VIRC E1450 SC QN 1RB E1400 GP QN 1RD E1250 IP UC V1RE E1200 GP UC V1RC E1450 IP QN 1RB E1250 PN UC VIRE E1250 EC UC NViRE E1250 EC UC NIRE E1250 PL UC V1RC E1400 GP QN 1RD E1400 GP QN 1RB E1250 SC UC V1RD E1450 EC QN 1RB F1400 GP ON 1RR Release Info 4 4 Build 20120130 4 4 Build 20120130 4 3 Build 20110901 4 2 Beta 20110211 4 4 Build 20120130 5 0 Beta 20120514 5 0 Beta 20120514 5 0 Beta 20120514 4 4 Build 20120130 4 4 Build 20120130 5 0 Beta 20120514 5 0 Beta 20120702 4 4 Build 20120130 4 4 Build 20120130 4 4 Build 20120130 5 0 Beta 20120514 4 4 Build 20120130 5 0 Build 20120710 4 4 Build 20120130 4 4 Ruild 20120130 colored markings have the following meaning Green The drive is ready to log in O Grey You are already logged into this drive m Red Another instance is logged into this drive other user or I ISFR Cna ss other interface The default mode for acquiring an IP address is via DHCP If no servers on the connected network respond the drive switches to the
33. from the PC So we are interface independent Switch to the control panel with the button Y then press the start button P starting the drive s firmware and wait until the control status panel is updated and looks the following File Search Drive Services Options Window Tools Manuals Help D tolg Gd Unmaned iP 10 3 10 184 USER gt lt S ER BoAPH E Project Control lt lt Status lt lt Monitoring 4 la Unnamed IP 10 3 10 184 USER N Control Panel TT O Switch One Interface 0 Operation Enabled 0 0 Motor Hot Sensor 0 Connection Status Online tl P i 1 Safety Volt Enable 1 Digital Input lt 4 12 1 Switch On ctive 1 1 Motor Short Time Overload 0 Firmware Status Running E arameters 2 Quick Stop T ee Forced by Parame ter 2 Enable Dperation 0 2 Motor Supply Voltage Low 0 Motor Status Switched Off 3 Enable Operatior 1 Forced by Parameter A eee 0 3 Motor Supply Voltage High 0 E Motion Control Sw ESPADA oisin 1 Forced by Parameter 4 Safety Volt Enable 1 4 Position Lag Always 0 E sercos i e A Ma Forced by Parameter 5 Quick Stop eee 1 5 eseived ooomsestorssnss 0 Q Variables 6 Go To Position Do Interface 6 Switch On Locked 1 6 Dive Hotii 0 Oscilloscopes 7 Error Ac
34. h 1450h UInt 16 Command Table Settings Cc Triggered CAM Curve 0008h 1450h UlntiG E Triggered Command Table Settings amp VA 2 Pos Continuous 0009h 1450h Ulnt1G E CAM Mode Settings Continuous Curve 0005h 1450h Ulnti6 E Triggered CAM Curves Settings PC Motion Command Interface 0010h 1450h Ulntl6 E Pos Indexing Settings E Analog Mode Settings E VAI 2 Pos Cont Settings El 16 Bit Interface Scaling E Predef VA Interpolator E Time Curve Settings E Master Encoder CAM E Position Controller E Current Controller E Errors amp Warnings E Protected Technology Functions E E Motor Info Block El sercos cy Variables Oscilloscopes ie Messages 4 Errors E Curves E Command Table ma Parameters Path Motion Control SW Motion Interface Run Mode Settings Run Mode Selection Continuous Curve The second parameter to be set is to define which curve has to be run Set the parameter Curve ID to 1 under Motion Control SW Motion ___Interface Time Curve Settings E EAS File Search Drive Services Options Window Tools Manuals Help Ht ol SG g Unnamed IP 10 3 10 184 USER P gt E k YER Boas O E Project a R DEF a ME Unnamed IP 10 3 10 184 USER _ Ixe e Control Panel Name Value Raw Data UPID Type Scale 4 Ea Parameters Curve ID 1 0001h 14C8h Ulntl6 1 E os l Curve Offset O mm 00000000h 14C9h Sint32 0 0001 mm 4 E Motion
35. his document and all other documents the more general term LinMot Talk will be used for the Linmot PC configuration software 1 1 System Generations SG The LinMot drive families are based on different hardware platforms which are called system generations The abbreviation is SG Whereas differences of hardware of software functionality exist between the system generations the documentation is marked with the SG term The following table gives an overview of which drive family belongs to which SG se Drives lt gt o Family B1100 VF PP GP ML LC HC XC SG5 Family E1200 GP PL EC IP DP PN SC Family E1400 GP PL EC IP DP PN SC Family B8050 ML PL EC IP PN SC Page 4 43 User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 2 Overview The following screen shot gives an overview of the different functions integrated in the LinMot Talk software Configuration Drive Shortcuts to Control Status and Setup Selection Tools Window Tools i MA LinMot Talk File Search ve Services Options Window Tq Manuals Help ot oe S g Urnamed iP 10 310126 USER gt Me lt BRBoAPE D Project Control lt lt Status lt lt Monitoring U d IP 10 3 10 126 USER i l le S Conic Dl l 0 Switch On lo Interface 0 Operation Enabled 0 Motor Hot Sensor 0 Connection Status Online Er t 1 Safety Volt
36. hown in the following picture File Search Drive Services Options Window Tools Manuals Help Hot Ile Ed S g Unmemed iP 10 310 184 USER P x SESXESASOE O EY Project z 4 ha Unnamed IP 10 3 10 184 USER Entry ID 2 Auto execute new command on next cycle Control Panel Entry Name Unnamed 3 Parameters Eos E Motion Control Sw Motion Command Category Most Commonly Used Motion Command Type Val Go To Pos Target Position O mm Maximal Velocity 1 m s Oscilloscopes Acceleration 10 m s 2 mer Deceleration 10 m s 2 ai Curves IE Command Table fe Upload from Drive gi Download to Drive e Command Table modified Please download to dive ID Name Type Par 1 Par 2 Par 3 Unnamed VAI Go To Pos Pos O mm Vel 1 m s Ace 10 m s 2 Unnamed VAI Go To Pos Pos O mm Wel 1 m s Ace 10 m s 2 Unnamed VAI Go To Pos Pos O mm Vel 1 m s Ace 10 m s 2 7 ON DO Aa 0 mn Command Table 2 255 A big variety of commands can be set in this tables such as motion commands conditions sequence directives parameter access This makes the CT to very powerful functional unit The CT entries can be accessed executed via digital inputs on X6 or via interface software The CT tool has the following editing elements gt Entry ID indicates the CT entry which is being edited gt Entry Name is a descriptive string of max 16 characters gt Motion Command Category
37. in chronological order R Linmot Talk 5 0 File Search Drive Services Options Window Tools Manuals Help D tole Hg A Unnamed ir 103 0 126 U5ER y gt lt ER Boao O Project D Unnamed IP 10 3 10 126 USER NY Control Panel Event Time Error Code Eg Parameters 001584 39 45 813 0022h LP Variables 001581 10 26 394 003Ch gt E Oscilloscopes 001581 04 01 988 0022h Messages 001581 03 41 101 0022h Errors 001581 03 28 981 0022h 001581 03 02 662 0022h 001581 01 23 733 0022h 001581 00 51 445 0022h Error Message Source Fatal Err Motor Slider Missing MC SW Error Handler Err Phase w broken MC SW Error Handler Fatal Err Motor Slider Missing MC SW Error Handler Fatal Err Motor Slider Missing MC SW Error Handler Fatal Err Motor Slider Missing MC SW Error Handler Fatal Err Motor Slider Missing MC SW Error Handler Fatal Err Motor Slider Missing MC SW Error Handler Fatal Err Motor Slider Missing MC SW Error Handler 001581 00 36 129 001581 00 26 539 001581 00 18 404 001580 59 27 847 001580 59 18 071 001580 59 09 207 001580 59 01 009 001580 58 43 159 001580 58 32 411 001580 57 34 069 001580 56 59 120 001580 55 39 374 001580 54 24 900 001580 31 55 052 001580 31 18 600 001580 24 13 443 001580 22 28 959 0022h 0022h 0022h 0022h 0022h 0022h 0022h 0022h 0022h 0022h 0022h 0022h 0022h 0022h 0022h 0022h Fatal Err Fatal Err Fatal Err Fatal Err Fatal Err Fatal Err Fatal Err Fatal Er
38. ing drawings and descriptive texts The first step is to define the stator and slider NTI AG User manual LinMot Talk 5 05 10 2012 Page 23 43 LinMot LinMot Talk 5 Page 24 43 215 10l x Step 1 9 Actuator Selection Actuator Data File PS01 37x240 adf Change Actuator a Stator pso1 37x240 Slider pLo1 20x500 420 x The slider can be identified by its length Newer sliders have the type engraved on the surface Slider Mounting Direction Regular y The sliders are not symmetric The value of ZP Zero Position depends on the mounting direction relative to the stator Therefore the available stroke range changes with the mounting direction Force s ee ae a oe 2 0 Stoke y ZP Notch Derived Settings Value Comment MOTOR PO01 37x240 160x360 Maximal Stroke 5 360 mm Shortened Stroke 55 160 mm Electromagnetic Zero Position ZP 130 mm Force Constant 40 8 N A Edge Force Fb 58 Yo STATOR P501 37x240 Article Number 0150 1203 Stator Length 347 mm Stator Mass 1385 g SLIDER PLO1 20x500 420 Article Number 0150 1328 Slider Length 500 mm Slider Mass 1064 g 4 Help lt Back Next gt Einish Cancel The derived settings show information about the complete motor type article numbers and the most important technical data The next step is to choose the flange for defining the cooling capability Motor wizard ae Step 2 9 Motor Cooling Mounting and Cooli
39. ion 0 00 mm 15 Phase Search O 15 Range Indicator 2 0 Force Factor Mator not homad Contolwor 003Fh Status Word 40F6h Motor Current 0 00 A I i L Override Value Op Main State 00h T pal E j pept t Enable Manual Override Op Sub State dok e O 10 Panel Motion Command Interface LO Enable Manual Override Enable Manual Override E e Override Value m Act POP 84 12 Input BS 4 11 Input Command Category Most Commonly Used y x4 10 Input 4 9 Input Command Type No Operation 00xh PO 4 8 Input gt Count Nibble Toggle Bits 0h x Autol t Count Nibbl i X47 Input gt ount Nibble Toggle Bits Auto Increment Count Nibble POT 4 6 Input a z a hap Name Offs Description Scaled Value Int Value Dec Int Yalue Hex ell cea Header 0 O00xh No Operati 0 0 0000h LT X43 Output eader xh No Operation 3 Read Command IO Panel Motion Command a _ aa Interface gt Control Word The MC software s control word can be directly written from the PC For taking over the PC control the left check box Enable Manual Override must be selected The state of each flag can be set with the right check box Override Value If other flags have to be altered the override mask must be configured in the parameter tree under Parameters Motion Control SW State Machine Setup Control Word Ctrl Word Parameter Force Mask gt Status Word The status word
40. ire to the LAN gt X19 RS232 Use Adapter cable ACO1 RJ45 Df 2 5 RS1 LinMot article number 0150 2143 to connect your PC via RS232 If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 Page 16 43 User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot 3 3 Cabling E1400 The following picture shows the connectors on the drive used for a first commissioning with PC only amp A lt lt Motor Phases X2 Motor Encoder Signals X3 DSUB 15f RS232 to PC X19 Pin3 RS232RX Pin5 GND Pin6 RS232TX Safety Relays X33 qa only present on 1S drives Signal Supply X4 Pini GND Pin 24VDC ar Configuration Ethernet ae X15 X16 Motor Power Supply 3phase X30 X2 Motor Phases X3 Motor Encoder Signals X4 For a commissioning with the PC it is necessary to wire only the Pini GND and Pin2 24VDC gt X15 X16 Ethernet Use a standard RJ45 patch cable to wire to the LAN gt X19 RS232 Use Adapter cable ACO1 RJ45 Df 2 5 RS1 LinMot article number 0150 2143 to connect your PC via RS232 If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 gt X30 Motor Supply use 3x400 3x480VAC 50 60 Hz gt X33 Safety Relays For the safety relays use a separate 24VDC supply For a commissioning it is necessary to wire both Ksr X33 4 and X33 8
41. knowledge 0 Interface 7 Waning sessennnnennnn 1 T Motor Not Homed 1 ED Messages H idee 3 Social Moin Ae 0 S PTE Semor2Het B OP State Not Ready to Switch On Errors T 10 Special Mode D Interface 10 In Target Position 0 10 RR Hot Calculated 0 Motor Not Homed Curves 7 11 Home eee Do Interface A ccc cceecceeeeeeees 0 11 Reserved cee 0 A Command Table 7 12 Clearance Check 0 Interface 12 Fatal Error O 12 Reserved cece 0 13 Go To Inital Position Interface 13 Motion Active 0 13 Reserved 0 Actual Position 0 00 mm 14 Linearizing er No Source Specified 14 Range Indicator 1 1 14 Interface Wam Flag 0 Demand Position 0 00 mm 7 15 Phase Search Do No Source Specified 15 Range Indicator 2 0 15 Application Warn Flag 0 Force Factor Motor not homed f Control Word 003Fh Status Word 40F2h Warn Word 0080h Motor Current 00 A 1 A i t Override Value Op Main State 00h Logged Error Code 0000h oe a er En d Y t Enable Manual Override Op Sub State 00h At E 10 Panel Motion Command Interface T Enable Manual Override Enable Manual Override a jae en ane oT Override Value r Actual Value PH X4 12 Input a TOO 4 11 Input 3 Command Category Most Commonly Used x p 4 10 Input O f MI x43 Input Comman d Typ
42. lpv4 Link Local addressing scheme also known as APIPA on Windows systems This way the drive automatically assigns itself an address within the range of 169 254 0 1 through 169 254 255 254 Subnet Mask 255 255 0 0 Please note that this process can take up to a minute until a valid address is assigned to the drive this way User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot 3 10 Motor Wizard As no motor is defined the next step is to start the motor setup wizard Press the button S and the following window will appear Look in O Motors F O LinMot Bridge Modules 5 LinMot Linear Modules My Recent LinMot Linear Motors Documents 5 Other Motors Desktop My Documents File name v D A My Network Files of type Actuator Data Files adf Places Open as read only As we want to configure a LinMot Motor we choose LinMot Linear Motors and press Open Look in B Linkot Linear Motors 4 t A E P501 235x80 adf Y E ps01 23x80 adf myRecen EEEE Documents P501 23x160F adf E P501 37x120 adf fi P501 37x120 HP adf E PS01 37x240 adf E PS01 37x240F adf E PS01 48x240 adf E PS01 48x240F adf a PS01 23x160 adt 3 My Network Files of type Actuator Data Files adf Cancel Places Open as read only Select the actuator type you have wired to the drive then press Open The following steps will show forms includ
43. motor searches a mechanical stop and or an electrical switch Derived Settings Value 4 Help lt Back Next gt Finish Cancel The most frequently used homing mode is Mechanical Stop Negative Search In this case the slider will move with the notch towards the stator s front end where no cable s Other modes support homing on home switches limit switches indexer inputs or some combinations of those User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot Step 8 is to define the slider home position This is for the motor and drive the most important value It defines at the home position where the slider is positioned relative to the stator This defines how far the motor can move in each direction 2 Motor Wizard step 8 9 Homing Il Distance from Stator End to Slider End at the Home Position B S47 mm pa Sad mm Distance 4 fto mm Distance B 145 mm The controller needs to know the physical position of the slider relative to the stator Please determine either distance 4 or distance B when the motor stands at the Home Position mechanical stop or switch Hence vou can move the motor manually to the Home Position Then you can measure 4 or B stator end to slider end and enter the corresponding value The other value is calculated by the software IF the slider end is inside the stator tube then you have to give your entry a negative sign Derived Settings
44. nfig to PC X23 Pin2 RS232TX Pin3 RS232RX Pin5 GND Use a 1 1 cable to the PC a 1 1 cable to the PC Supply 24VDC X24 Supply 24VDC X24 MC Link 1 X25 MC Link 2 X26 MC Link 3 X27 MC Link 4 X28 gt X23 RS232 The cable between the LinMot drive and PC must be DSUB 9 F F 1 1 X modem If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 gt X24 Use a 24V switched power supply NTI AG User manual LinMot Talk 5 05 10 2012 Page 19 43 LinMot Talk 5 3 6 Firmware Download 3 7 Login As the cabling is done correctly now turn on the drive s power and start up the LinMot Talk software Before using the drive the first time the firmware has to be downloaded Therefore press install firmware button p to start the wizard Choose the file Firmware_Build20101126 sct or similar and press Open Then the wizard will start and guide through the installation In case of installing the firmware over ETHERNET the service password is required This is for safety reasons Especially if there are a lot of drives accessible in the network it can easily happen to confound them Thus it is strongly recommended to set a password By default no password is set If the password is unknown the parameters can be set to default by hex switches see 4 1 Setting all Parameters to Default Values According to the drive type different interface and a
45. ng Flange Standard Flange Type candi ange e g PFOx 37x200 The bulk of power loss is deduced over the flange The flange selection affects the firmware temperature model calculation which is used for monitoring purposes Derived Settings Value Comment 4 Help lt Back Next gt Einish Cancel User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot Longer extension cables will have an effect to the motors phase resistance In step 3 can be defined two cable segments Motor wizard aE Step 3 9 Extension Cable Setup First Extension Cable Segment Type KOS he Length k m Second Extension Cable Segment Type no Extension Cable v The ohmic resistance of extension cables can be quite high in relation to the motor s phase resistance If the firmware knows the total ohmic resistance it can optimize the current control loop to the load If there are extension cables used in the application then that these segment s should be defined here The cable piece that comes directly out of the motor is negligible Derived Settings Value Comment Motor Phase Resistance 11 5 Ohm Cable Resistance 0 16 Ohm Total Resistance 11 66 Ohm 4 gt f Next gt Einish Cancel The next hardware setup step is to define an external position sensor system if present For E1100 drives can be chosen between none incremental AB Z and analog sine cosine 1Vpp Fo
46. ntrol Sw SineOut 2 Position vs Time Sine 1000 ms 501 E sercos E Sineln 3 Position vs Time Sine 1000 ms 501 A Variables SineQutln 1 Position vs Time None 2000 ms 1001 Oscilloscopes Messages Errors E Curves Command Table A Download Window 2 Upload from Drive g Download into Drive AN Curves have changed Please download Name ID Type Setpoint Wizard Length No of Setpoints 0 SineDut 2 Position vs Time Sine 1000 ms O Sineln 3 Position vs Time Sine 1000 ms 0 Sine0utin 1 Position vs Time None 2000 ms When double click the SineOutIn Curve the joined curve is shown Linear Position mm Linear Position mm 61 00 61 00 54 00 54 00 47 00 47 00 40 00 40 00 33 00 33 00 26 00 26 00 13 00 13 00 12 00 12 00 5 00 5 00 2 00 2 00 0 00 18750 375 00 56250 750 00 937 50 1125 00 131250 1500 00 Time ms Now the curves must be downloaded to the drive Therefore press the Show Curves button mil and then the Download Curves into Drive button 20 Download into Controller Then a warning comes up which has to be confirmed and the progress window will display the actions taken to download the curves NTI AG User manual LinMot Talk 5 05 10 2012 Page 35 43 LinMot LinMot Talk 5 3 13 Control Status As we have defined now all parameters and curves we will let the motor running For this time we will take over the interface control
47. onds the interface can be prevented from starting User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 5 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration 41 0 56 419 91 91 office linmot com Tech Support 41 0 56 544 71 00 support linmot com Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot Inc 5750 Townline Road Elkhorn WI 53121 Sales and Administration 877 546 3270 262 743 2555 Tech Support 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www linmot usa com Please visit http www linmot com to find the distribution near you NTI AG User manual LinMot Talk 5 05 10 2012 Page 43 43
48. pplication software can be selected When successfully finished downloading the firmware login with File Login then select the appropriate port and press ok A login info window will appear showing the login progress When logged in you will find the following window al LinMot Talk 5 0 lc ol bo So File Search Drive Services Options Window Tools Manuals Dtol e a EJ Project Help 2 Unnamed IP 10 3 10 184 USER gt m E x SESNESASDE O Control lt lt Status 4 Es Unnamed IP 10 3 10 184 USER ES Control Panel a Eg Parameters E os E Motion Control Sw EE sercos ct Variables Oscilloscopes Messages Errors E Curves Command Table 0 Switch DOr Dura Interface D Operation Enabled 0 Motor Hot Sensor 1 Safety Volt Enable 1 Digital Input 4 12 1 Switch On Active 1 Motor Short Time Ov 2 Quick Stop 1 Forced by Parameter 2 Enable Operation 2 Motor Supply Voltage 3 Enable LG Error 3 Motor Supply Voltage 4 Abort Object Inspector lm ES 4 Position Lag Always 5 Reserved 6 Drive Hot 7 Motor Not Homed 8 PTC Sensor 1 Hot 9 PTC Sensor 2 Hot 10 RR Hot Calculated 11 Reserved 12 Reserved 13 Reserved 14 Interface Warn Flac 15 Application Warn Fl Warn Word Object Description What is the Object Inspector Object Type Service Name Control Panel Description With the Control Panel Servi
49. r Fatal Err Fatal Err Fatal Err Fatal Err Fatal Err Fatal Err Fatal Err Fatal Err Fatal Err Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing Motor Slider Missing gt Motor Slider Missing Motor Slider Missing gt Motor Slider Missing WW MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler MC SW Error Handler Actual Drive Time 001604 24 13 Page 8 43 User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot 2 5 Oscilloscope The drive s built in oscilloscope which can record up to four channels in real time is controlled with the oscilloscope tool During login the oscilloscope reads out the settings and data from the drive lf an oscilloscope shot is running or ready to read out data an item called Read out will be displayed Otherwise a default item will be generated es LinMot Talk 5 0 e 538 File Search Drive Se
50. r B1100 drives can be chosen between none incremental AB Z and AB encoder simulation AE Step 4 9 External Position Sensor System External Position Sensor Type Analog Sine Cosine 1Ypp y Count Direction Positive bes Resolution r 1 4 Period Length 250 um i NST With an additional external position measuring system the positioning accuracy and the linearity can be improved The optional position sensor has to be connected to X12 on the controller Derived Settings Value 4 Help lt Back Next gt Finish Cancel NTI AG User manual LinMot Talk 5 05 10 2012 Page 25 43 LinMot LinMot Talk 5 Page 26 43 With step 5 the feed forward parameters are set up Depending on the moving mass additional load mass friction and orientation Under the derived settings the influence can be watched X Motor Wizard 4 E 451 101 x Step 5 9 Feed Forward Parameters Mechanical Layout Moving Part of Motor Slider r Orientation Angle 90 90 fo gt Jia _ A Slider 1064 g Additional Load Mass 500 g Friction Forces Dry Friction Bo N viscous Friction fo Nimis MagSpring or other constant force External Constant Force fo N Force Direction Negative gt Value Comment Total Moving Mass 1564 g Gravitation force in motor direction ON External Constant Force ON Sum of Constant Effective Forces ON FF Constant Force DA Current For const
51. rvices Options Window Tools Manuals Help D t Ile a S g Unnamed iP 10310126 USER p gt Me fH lt SESLESASDOE O E Project gt sp BS rar A1 E CH4 CHE CH3 CHY 4 fe Unnamed IP 10 3 10 126 USER E S Control Panel sae mm Parameters ct Variables 60 0 2 4 Oscilloscopes E paai 52 5 0 15 Default E Messages 45 0 1 Errors 37 5 0 05 al Curves Command Table 30 0 22 5 0 05 15 0 1 75 0 15 0 0 2 75 7 5 0 25 0 102 2 204 4 306 6 4088 511 6132 715 4 8176 919 8 ms Channel 1 MC SW Overview Actual Position Channel 2 MC SW Overview Demand Position Channel 3 MC SW Overview Difference Position Channel 4 MC SW Overview Demand Current Comment Oscilloscope Ready The oscilloscope is controlled with the buttons A The functions are from left gt Start Abort Start or abort an oscilloscope shot a 7 gt Fit View Displays the recorded channels such as they fit best in the scope window Save Display stores the settings for zoom scaling and offset V gt Recall Display restores the settings for zoom scaling and offset which are previously stored with Save Display gt Export Data Export data and setups of the last recorded oscilloscope shot in a csv file Oscilloscope Settings Switch to setup mask for channels triggers times and modes gt Display Settings is used to set scale offset and color for the oscilloscope channels gt Show Hide Show and hide the oscilloscope
52. t Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 LinMot 3 19 Create Offline Configuration For any supported drive a configuration can be created offline Choose the menu item File Create Offline Create Configuration Offline Controller El 100 GP Interface ET 10 Interface T Application Mone E x Ce The above window will be shown Select the drive first then choose the interface and application software The software parts which can be selected are the same as when installing firmware to the drive When created the configuration the parameters will have their default values The configuration can then be altered and saved the normal way NTI AG User manual LinMot Talk 5 05 10 2012 Page 41 43 LinMot LinMot Talk 5 4 Trouble shooting 4 1 Setting all Parameters to Default Values E1100 E1200 E1400 and B8050 B1100 All parameters of the SG3 and SG5 drives can be set to their default values without the use of the LinMot Talk This can be done according these steps 1 Power off the drive 2 Set the two ID switches to OxFF 3 Power on the drive the ERROR and WARN LEDs will blink alternately 4 Set the two ID switches to 0x00 5 Wait until the WARN and EN LEDs will flash together 6 Power off and on again On SG4 drives an image of the default parameters will be stored during the software installation This image can be reloaded to the operating parameters The proce
53. the available commands are fitted into groups for keeping a better overview gt Motion Command Type specifies the command to be executed in this entry gt Auto execute new command on next cycle when selected on the next cycle the entry specified under ID of Sequenced Eniry will be executed This gives the possibility of defining cycles simple logical sequences gt ID of Sequenced Entry defines the CT entry executed on the next cycle when Auto execute new command on next cycle is activated gt Apply writes the edited values into the entry gt Upload from Drive reads and displays the entire command table from the drive gt Download to Drive writes the edited table from the PC to the drive An application example of the CT can be found in the motion control software user manual Usermanual_MotionCtrISW_E1100 paf NTI AG User manual LinMot Talk 5 05 10 2012 Page 13 43 LinMot LinMot Talk 5 2 10 Access Codes Page 14 43 On the drive special features or customer specific applications can be protected by a software key This means a key must be activated by an access code which is drive specific pinned to the serial number Under Drive Set Access Code the following window will open Set Access Code xX Active Keys Force Closed Loop Control 58328193h Keyz 0000h Mo Key Keys OOOOH Mo Key Key4 OOOOH Mo Key Set Key Access Code Mame Value HES Access Code HEM
54. tor signals if motor has a DSUB 9 connector connect it directly otherwise use an adapter to DSUB 9 or wire the phase lines to X2 gt X4 For a commissioning with the PC it is necessary to wire only the Pint GND Pin2 24VDC and if present Pin12 save voltage enable SVE 24VDC gt X5 RS232 The cable between the LinMot drive and PC must be DSUB 9 F F 1 1 X modem If the PC has no COM port available use the USB to RS232 converter LinMot article number 0150 3110 NTI AG User manual LinMot Talk 5 05 10 2012 Page 15 43 LinMot LinMot Talk 5 3 2 Cabling E1200 The following picture shows the connectors on the drive used for a first commissioning with PC only d Motor Power Supply X1 Motor Phases X2 if present otherwise on X3 Motor Signals X3 DSUB 9f Signal Supply X4 lt q Pin1 GND Pin2 24VDC Pin12 SVE if present X15 X16 ee RS232 to PC X19 Pin3 RS232RX Pin5 GND Pin6 RS232TX lt Configuration Ethernet gt X1 Motor Supply use 48 72 VDC between PWR and PGND gt X2 Motor Phases gt X3 Motor Signals Note the motor phases are not present on this connector Thus wire the motor phases in any case to X2 gt X4 For a commissioning with the PC it is necessary to wire only the Pint GND Pin2 24VDC and if present Pin12 save voltage enable SVE 24VDC gt X15 X16 Ethernet Use a standard RJ45 patch cable to w
55. ttings E Val 2 Pos Cont Settings El 16 Bit Interface Scaling El Predef VA Interpolator El PY Streaming Settings E Time Curve Settings El Master Encoder CAM EE Position Controller El Current Controller El Errors amp Warnings El Protected Technology Functions El Motor Info Block El sercos q Wariables 4 Oscilloscopes Default Messages Errors E Curves Command Table 4 m Parameters Path Motion Control SW Motion Interface Run Mode Settings Run Mode Selection VAI 2 Pos Continuous And then the positions have to be set under Trig Fall Config Position and Trig Rise Config Position LinMot Talk 5 0 x File Search Drive Services Options Window Tools Manuals Help D tole Eg A Umaned IP 103 10184 USER _ Me lt SEGLEBASOE O E Project 10mm R3 DEF a ME Unnamed IP 10 3 10 184 USER EJ AXE Control Panel Name Raw Data UPID Type 4 Parameters r Bosiion Om ODIA bh Sintd2 OOT mm Eos Max Speed m s O0018640h TAB SIin32 IEE ms 4 E Motion Control Sw Acceleration 00018640h E Drive Configuration Deceleration 00018640h 145Dh SInt32 1E 5 m s 2 E Motor Configuration El State Machine Setup 4 E Motion Interface 4 E Run Mode Settings Run Mode Selection 4 E Triggered VA Interpolator Settings E Trig Fall Config El Trig Rise Config E Triggered Curves Settings E Command Table Settings E Triggered Command Table Settings E
56. ult selection and press the next button xi Curve ID 1 1001 E Curve Name SineO ut Setpoint Calculation Wizard Sine Curve Length fi 000 m Start Point o mm End Point 50 mm Back Next gt Cancel In this mask we will set the curve ID to 2 we will have the merged curve with ID 1 at the end and as name we set e g SineOut The end point is placed at 50mm With Next the wizard will show some curve data User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 Calculated Curve Data 3 x Based on the Curve Settings Data the wizard has calculated additional curve Information Stroke AO mm Peak Velocity 0 07854 m s Peak Acceleration 0 24674 mis 2 Cancel The next and last mask proposes a number curve setpoints lt is advisable to accept this proposal Number of Setpoints x The proposed number of setpoints i 501 Number of setpoints 501 E Cancel With Finish the first curve is defined The curve will be displayed as follows q LinMot Talk 5 0 o j Manuals Help 8 Unnamed IP 10 310 184 USER y gt E x SELBAASE O Edit Window File Search Drive Services Options Window Tools 4 Es Unnamed IP 10 3 10 184 USER Control Panel a 1 E JE die E i 7 Parameters Name ID Type Setpoint wizard Length No of Setpoints a ia Control SW SineDut 2 Position vs Time Sine 1000 ms 501
57. will be changed User manual LinMot Talk 5 05 10 2012 NTI AG LinMot LinMot Talk 5 3 11 Continuous Curve Mode We want the motor to run a curve cyclically The easiest but not so informative way to run the motor would be the VAI 2 Pos Continuous mode The drive is set to continuous curve mode by selecting Continuous Curve under Motion Control SW Motion Interface Run Mode Settings RunMode Selection in the parameter tree NOTE For enabling the curve feature on B1100 drives it is necessary to set an access key File Search Drive Services Options Window Tools Manuals Help Dp t oe Gl S B Unnamed iP 10 310 184 USER gt m Elk SESEAASFE O EB Project Continuous Curve Ra DEF 4 fe Unnamed IP 10 3 10 184 USER da Y x e Control Panel Name Raw Data UPID Type a Ej Parameters C Motion Command Interface 0001h 1450h Ulntl6 Ejos C Triggered VA Interpolator 0002h 1450h Ulntl6 os El Motion Control Sw C Rise Triggered VAI For Backward 000Dh 1450h Ulntl6 gt El Drive Configuration C Triggered Time Curves 0007h 1450h Ulntl6 El T ones C Command Table Mode 0003h 1450h Ulnti6 de An Triggered Command Table 000Ch 1450h Ulntl6 4 Run Mode Settings C Position Indexing D0D4h 1450h Ulntl6 Eg Aun Mode Selecion C Analog 0004h 1450h Ulnti6 EE Triggered VA Interpolator Settings Triggered Analog 000Bh 1450h Ulntl6 E Triggered Curves Settings e CAM Mode O006

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