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1. UInt32 1E 6 m s This command defines a new Bestehorn motion command relative move c see description of command Bestehorn VAJ Increment Demand Pos OF 1xh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 1039h 4 3 150 Encoder Cam Enable 100xh AEG Byte Description Type Unit Offset Header 0 100xh Encoder CAM Enable ege 4 3 151 Encoder Cam Disable 101xh Name Byte Description Type Unit Offset Header O 101xh Encoder CAM Disable Uinti6 4 3 152 Encoder Cam Go To Sync Pos 102xh Name Byte Description Type Unit Offset Header O 102xh Encoder CAM Go To Sync Pos Ulti6 4 3 153 Encoder Cam Set Value 104xh Name Byte Description Type Unit Offset Header O 104xh Encoder CAM Set Value UiInti6 Counter Value SInt32 4 3 154 Encoder Cam y Define Curve With Default Parameters 1yOxh At the moment two cams can be defined In the following y 1 stands for cam 1 and y 2 stands for cam 2 Name Byte Description Type Unit Offset Header 1yOxh Encoder Cam y Define
2. 600 5 3 1 1 Parameters and Output The Bestehorn Motion is defined by the following parameters Target Position SInt32 0 1um s Maximal Speed UInt32 1E 6 m s Acceleration UInt32 1E 5 m s Jerk UInt32 1E 4 m s The Bestehorn Motion generates as outputs e Position SInt32 0 1um e Velocity SInt32 1E 6 m s e Acceleration SInt32 1E 5 m s 5 4 P V Stream For masters with NC Numerical Control capabilities the software supports cyclic streaming modes of the position and velocity or position only The streaming has to be strictly cyclic in the period range 2ms to 5ms This feature is supported with all fieldbus variants like Profibus DP CAN Open POWERLINK EtherCAT Different modes are supported In the first mode Motion command 030xh the master only streams the position In the second mode Motion command 031xh the master streams position and velocity whenever possible use the PV streaming mode because the acceleration derivation is less sensitive to bus jitters than in the position only streaming mode The third mode Motion command 032xh is like the first mode but for the derivation of the velocity and the acceleration a configured period time UPID 14E6h is taken instead of the slave receive time stamp This minimizes the bad influence of the transmission jitter The position setpoint generation in these modes is delayed 1 5 times the streaming cycle time e g with 2ms streaming peri
3. n X X Predef VAI Go To Pos After Actual Command Ah X X Predef VAI Go To Pos On Rising TriggerEvent Bh_ X X Predef VAI Increment Target Pos On Rising Trigger Event Ch X X Predef VAI Go To Pos On Falling Trig ger Event Dh X X Predef VAI Increment Target Pos On Falling Trigger Event Eh X X Predef VAI Infinite Motion Positive Direction Cd EN X X Predef VAI Infinite Motion Negative Direction LD X X P Stream With Slave Generated Time Stamp th X X PV Stream With Slave Generated Time Stamp Mad dubi ees Period Time E E Period Time PVA Stream With Slave Generated Time Stamp h X X PV Stream With Slave Generated Time Stamp and Configured Period Time Time Curve With Adjustable Offset Time amp Amplitude Scale On Rising Trigger Event Time Curve With Adjustable Offset Time amp Amplitude Scale On Falling Trigger Event Modify Curve Start Address in RAM Modify Curve Info Block 16 Bit Value in RAM Modify Curve Info block 32 Bit Value in RAM Modify Curve Data Block 32 Bit in RAM Modify Curve Data Block 64 Bit in RAM Modify Curve Data Block 96 Bit in RAM Setup Encoder CAM from Actual Counts With Delay Counts Setup Encoder CAM On Rise Trigger Event With Delay Counts Setup Encoder CANM On Rise Trigger Event With Delay Counts Target Pos and Length Setup Encoder CAM On Fall Trigger Event With Delay Counts Setup Encoder CAM On Fall Trigger Event With
4. Sint32 5 Par 14 Curepointvaue Sint32 This command allows to modify in RAM three 32 bit value within the curve data block of a curve with existing curve start address and curve info header block with the given ID The offset argument defines on which position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 63 Setup Encoder Cam On Rising Trigger Event With Delay Counts 069xh Name Byte Description Type Unit Offset Header 069xh Setup Encoder Cam On Rising Trigger Ulnt16 Event With Delay Counts Ulnt16 1 100 2 Par 4 Curve Start Delay Count Ulnt32 1 Incr Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam Length UPID1527h for triggered cam motions 4 3 64 Setup Encoder Cam On Risi
5. LZ Dar 6 Maximal Velocity UInt32 1E 6 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Demand Position value relative move The command execution starts immediately when the command has been sent 4 3 142 Bestehorn VAJ Go To Pos From Actual Pos 0F4xh Name Byte Description Type Unit Offset Header O OF4xh Bestehorn VAJ Go To Pos From Actual Pos UlntG ss SInt32 3 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s 4 Par Jerk Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The command execution starts immediately when the command has been sent This command should be used if the Actual Position does not match with the current Demand Position value c but it can be assumed that the motor stands still Actual Velocity assumed to be zero c e g because the motor stands on a hard stop This can happen after a Press command c where the actual motor position is defined through external conditions and the motor cannot and had not to follow the demand position By starting this command c the former accepted difference between Actual Position and Demand Position can be eliminated 4 3 143 Bestehorn VAJ Increment Actual Pos 0F6xh Name
6. 7 4 2 1 Phase Switch On Test The parameters in the Phase Switch On Test section are used in the HW Tests State State 5 before enabling the power stage If the motor power supply is on and there is no ground path in the motor inclusive cabling the phase voltage is approx 6 5V when in power off state When moving the motor the induced voltage may lead to HW test error Parameter Name UPID Description Phase Voltage 102Ch If one of the phase voltages is below this limit before Low Level powering up an error will be generated Phase Voltage 102Dh If one of the phase voltages is above this limit before High Level powering up an error will be generated As a next motor cabling test step one single end of a phase is set to half of the motor supply voltage At this time the current into the drive has to be below the Phase Test Max Incurrent value An error will be generated otherwise Parameter Name UPID Description Phase Test Max 102Eh If the current rises above this limit if one edge of a phase is Incurrent set to a voltage en error will be generated 7 4 3 Regeneration Resistor The regeneration resister terminals on X1 can be used for energy dissipation when the motor is decelerating Parameter Name UPID Description Enable 101Dh The regeneration resistor output can be activated with this parameter e 0 Disable e 1 Enable In the configuration section the switch on and off voltage levels for the re
7. 1 Par 2 UPID UniqeParameterID j Ulnt 4 3 194 Write UPID RAM Value To Cmd Table Var 2 24Dxh Name Byte Description Type Unit Offset Header O 24Dxh Write UPID RAM value To Cmd Table Var2 Ulnt16 UPID Unique Parameter ID Ulntt6 4 3 195 IF Cmd Table Var 1 Less Than 250xh Name Byte Description Type Unit Offset Header O 250xh IF Cmd Table Var 1 Less Than Ulntt6 Condition Value Sint32 3 Par 6 Command Table ID IF TRUE UintG 1 255 3 Par 8 Command Table ID IF FALSE UintG 1 255 4 3 196 IF Cmd Table Var 1 Greater Than 251xh Name Byte Description Type Unit Offset Header O 251xh IF Cmd Table Var 1 Greater Than Ulnt46 1 Par_ 2 Condition Value i j 2 Par 6 Command Table ID IF TRUE Tune 1 255 3 Par_ 8 Command Table ID IF FALSE Uinti6 1 255 4 3 197 IF Cmd Table Var 1 Less Than 252xh NEG Byte Description Type Unit Offset Header O 252xh IF Cmd Table Var 1 Less Than Ulnti MA eS Seiki ie SSS SSS En NE 2 Par 6 Command Table ID IF TRUE Uintl 1 255 3 Par 8 Command Table ID IF FALSE jUintl 1 255 4 3 198 IF Cmd Table Var 1 Greater Than 253xh AE Byte Description Type Unit Offset Header O 253xh IF Cmd Table Var 1 Greater Than une ES Ee EE Si M NNNM 2 Par 6 Command Table ID IF TRUE
8. 22 4 3 116 VAI Dec Acc Go To Pos From Act Pos And Vel 0 With Max Curr 0C7xh 52 4 3 117 VAI Dec Acc Go To Pos After Actual Command UC ch 53 4 3 118 VAI Dec Acc Go To Pos On Rising Trigger Event 0CAxh sss 53 4 3 119 VAI Dec Acc Increment Target Pos On Rising Trigger Event OCBxh 23 4 3 120 VAI Dec Acc Go To Pos On Falling Trigger Event 0CCxh sss 53 4 3 121 VAI Dec Acc Increment Target Pos On Falling Trigger Event 0CDxh 54 4 3 122 VAI Increment Captured Pos Dich 54 4 3 123 VAI 16 Bit Dec Acc Go To Pos DIxh esee eee 54 4 3 124 VAI Go To Cmd Tab Varl Pos dich 54 43 1235 VAI Go To Cmd Tab Var2 Pos 0D3SXh Eeer e ps 55 4 3 126 VAI Go To Cmd Tab Varl Pos From Act Pos And Act Vel 0D6xh 55 4 3 127 VAI Go To Cmd Tab Var2 Pos From Act Pos And Act Vel 0D7xh 55 4 3 128 VAI Start Trig Rise Config VAI Command dDEch sss 55 4 3 129 VAI Start Trig Rise Config VAI Command 0DFxh sss 55 4 3 130 Sin VA Go To Pos EE 56 4 3 131 Sin VA Increment Demand Pos OE Ixh eese eene 56 4 3 132 Sin VA Go To Pos From Actual Pos UE Zb 56 13 133 Sin VA Increment Actual Pos UEOXR soe et ES 57 4 3 134 Sin VA Go To Pos After Actual Command OESvb sss 57 4 3 135 Sin VA Go To Analog Pos UE9Xxh iude b e ertet haunts 57 4 3 136 Sin VA Go To Pos On Rising Trigger Event OF Ach 57 4 3 137 Sin VA Incr
9. The interfacing is done with digital I Os or a serial link like Profibus DP CAN bus CANopen RS485 RS422 or RS232 LinRS protocol Ethernet POWERLINK EtherCAT Ethernet IP 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 Realtime Machine Control Monitoring Testing Simulating PLC LinMot Talk1100 with serial bus Control Panel Interface Control Motion Control Word 2 Motion Word Command Parameter Force Values Command Registers Reeisters hs rd Intf Control Word Motion Command Event Copy Mas Parameter Force Mask Interface Selector Handler Control Word Status Word Command Response D i Registers Registers State Machine Control Motion Command Interpreter Axle Control 3 State Machine The main behavior of the axles is controlled with the control word it is shown in the following state diagram Not Ready to Switch On 0 Bit 0 0 Switch On Disabled 1 Control Word XXXX XXXX xxxx x110 Ready to Sw
10. ug 1 Pa 2 xX4BitMask Cd int 2 Par 4 Condition Vaue Cd int 3 Par 6 Command Table ID IF TRUE int 16 1 255 4 Par 8 Command Table ID IF FALSE Uinti 1 255 4 3 209 IF Masked X6 Input Value Equal Than 263xh Name Byte Description Type Unit Offset Header 0 263xh IF Masked X6 Input Value Equal Than Ulnt46 1 Pa 2 X6BitMask Cd int 2 Par 4 Condition Value umpe 3 Par 6 Command Table ID IF TRUE int 1 255 4 Par 8 Command Table ID IF FALSE 1 Omg 1 255 4 3 210 IF Masked Status Word Equal Than 264xh Name Byte Description Type Unit Offset Header 0 264xh IF Masked Status Word Equal Than Ulntl 1 Par 2 jStatusWordBitMask int 2E EQ WIES SIT EDEN E 3 Par 6 Command Table ID IF TRUE int 1 255 4 Par 8 Command Table ID IF FALSE Uintt 1 255 4 3 211 IF Masked Warn Word Equal Than 265xh Name Byte Description Type Unit Offset Header O 265xh IF Masked Warn Word Equal Than Ulntl 1 Pa 2 WarnWordBitMask Cd int 2 Par_ 4 Condition Vaue Uitl 3 Par 6 Command Table ID IF TRUE Uintl 1 255 4 Par 8 Command Table ID IF FALSE Tune 1 255 4 3 212 IF CAM Counts Less Than 266xh Name Byte Description Type Unit Offset Header O 256xh IF CAM Counts Less Than Uinti6 Condition Value Sint32 2
11. Motion Control SW Documentation of the Motion Control SW E1200 Drive Series E1400 Drive Series Motion Control SW SG5 User Manual 2013 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 didactic 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 4 3 3 Whp December 2013 TABLE OF CONTENT SYSTEM OVERVIEW TD REFERENCES e ME 10 1 2 DEFINITIONS ITEMS SHORTCUTS 2 eee i ee ete ee 10 153 DASTAVPYPESTAT SCIES Eoo t cog eo e E RED MAIL AER n 10 2MOTION CONTROL INTERFACES 3STATE MACHINE 3 1 STATE 0 NOT READY To SWITCH ON 55 n eter ser KENE E Ere E ERE a 14 3 2 STATE 1 SWITCH ON DISABLED msnen eoni erii nE E AE O EATE 14 3 3 STATE 2 READY To SWITCH ON eee ee erre nennen rene o ere ENNEN ee 14 3 4 STATE 3 SETUP ERROR STATE cccssssessscceccccccsssssssnccceseccesensesssaceesseccesssssssceeaeassessseeseseess 14 3 5 STATE 42
12. O0COxh VAI Dec Acc Go ToPos UIntiG 2 Par 6 Maximal Velocity 1 1 UInt32 1E 6 m s 4 3 110 VAI Dec Acc Increment Dem Pos 0C1xh Name Byte Description Type Unit Offset Header O OC1xh VAI Dec Acc Increment Dem Pos Ulti6 Position Increment SInt32 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s Acceleration Deceleration Ulnt32 1E 5 m s 4 3 111 VAI Dec Acc Increment Target Pos 0C2xh Name Byte Description Type Unit Offset Header 0 0C2xh VAI Dec Acc Increment Target Pos Ulti6 1 Par Position Increment SInt32 2 Par 6 Maximal Velocit UInt32 1E 6 m s Acceleration Deceleration Ulnt32 1E 5 m s 4 3 112 VAI Dec Acc Go To Pos From Act Pos And Act Vel 0C3xh AEG Byte Description Type Unit Offset Bee OC3xh VAI Dec Acc Go To Pos From Act Pos And Ulnt16 Peer Act Vel SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s Acceleration Deceleration Ulnt32 1E 5 m s This command starts a new VAI setpoint generation from the actual position and actual velocity Can be used after a press command 4 3 113 VAI Dec Acc Go To Pos From Act Pos Starting With Dem Vel 0 0C4xh Name Byte Description Type Unit Offset Header OCA4xh VAI Dec Acc Go To Pos From Act Pos Ulnt16 Starting With Dem Vel 0 Target Position SInt32 3 Par 6 Maximal Velocit Ulnt32 1E 6 m s Acceleration Deceleration Ulnt32 1E 5 m s This command
13. The figure below shows the implemented temperature model for the regeneration resistor Tg Ty Ten Resistor Rousing a Housing Environment P RR KS recs C Resistor e C Liousing 7 4 4 Temperature Monitoring The E1100 drive hardware contains eight absolute temperature sensors for thermal protection On the B1100 drive is one sensor placed Parameter Name UPID Description Temp Sens Warn 1040h If the maximal board temperature rises above this level a Level warning is generated bit 6 in Warn Word is set Temp Sens Error 1041h If the maximal board temperature rises above this level the Level error is generated error codes 10h 17h The table below shows the mapped variables of the temperature monitoring Variable Name UPID Description Temp Ph1 Temp Ph1 Temp Ph2 Temp Ph2 Temp Ph2 Power Bridge 1BCAh Temperature of power drivers DC link voltage E1100 only Temp DCLV Temp RR Driver 1BCBh Temperature of Regeneration Resistor low side driver E1100 onl Connector Temp 1BCCh Temperature of motor connector X3 E1100 only X 1BCDh Temperature near microcontroller core E1100 onl Max Drive Temp 1BCEh Maximal temperature of above variables 7 5 PosCtrlStructure e LI Actual Position UPID 188Dh GN e Le M Difference Position Demand Position UPFID 1B90h UPID 188Ah Position Setpoint Del
14. Uintl 1 255 3 Par 8 Command Table ID IF FALSE jUinti 1 255 4 3 199 IF Demand Position Less Than 258xh Name Byte Description Type Unit Offset Header O 258xh IF Demand PositionLessThan Ulntt6 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE int 1 255 3 Par 8 Command Table ID IF FALSE Unt 1 255 4 3 200 IF Demand Position Greater Than 259xh Name Byte Description Type Unit Offset Header O 259xh IF Demand Position Greater Than Ulti6 Condition Value Sint22 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE UintG 1 255 4 3 201 IF Actual Position Less Than 25Axh DETHIS Byte Description Type Unit Offset Header O 25Axh IF Actual Position Less Than Ulnt 6 Condition Value Sint32 i2 Par 6 Command Table ID IF TRUE UintG 1 255 3 Par 8 Command Table ID IF FALSE Uintl6 1 255 4 3 202 IF Actual Position Greater Than 25Bxh Name Byte Description Type Unit Offset Header 0 25Bxh IF Actual Position Greater Than Ulnt46 1 Par 2 Condition Vaue Sint32 2 Par 6 Command Table ID IF TRUE Tune 1 255 3 Par 8 Command Table ID IF FALSE int 1 255 4 3 203 IF Difference Position Less Than 25Cxh Name Byte Description Type Unit Offset Heade
15. Can be used after a press command 4 3 14 VAI Increment Act Pos 015xh Name Byte Description Type Unit Offset Header 0 015xh VAlIncrementActPos Himmel 2 Par 6 X Maximal Velocity Ulnt32 1E 6 m s This command sets a new target position and defines the maximal velocity acceleration and deceleration for going there The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the actual position The actual position is the effective motor position This command can be used to perform a retraction move after a press command If the position increment argument is zero this command defines the actual motor position as new setpoint 4 3 15 VAI Increment Act Pos Starting With Dem Vel 0 016xh AEG Byte Description Type Unit Offset Weg Ee 016xh VAI Increment Act Pos Starting With Dem Ulnt16 EE Vel 0 2 Par 6 X Maximal Velocity UInt32 1E 6 m s This command starts the new VAI setpoint generation from the actual position and the start velocity is forced to zero This command defines the maximal velocity acceleration and deceleration for going to the target position The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the actual position The actual position is the effective motor position This command can be used to perform a retracti
16. If the encoder value is in the range of cam y the motor has to be at the start position of the cam y during command setup to set the position start point correctly of cam y 4 3 159 Encoder Cam y Define Curve With Amplitude Scale In Counts 1y5xh Name Byte Description Type Unit Offset EE 1y5xh Encoder CAM y Define Curve To Pos Uint16 EI 1 2 3 Par 8 Amplitude Scale 1 1 Sinti 01 The values for the amplitude scale and cam length are updated immediately for this reason this command should only used outside the cam y old and new definition For changing the amplitude scale and or length during cam y is active use the command 1y8xh instead 4 3 160 Encoder Cam y Enable 1y6xh Name Byte Description Type Unit Offset Header O 1y6xh Encoder Cam y Enable y 1 2 Uintl 4 3 161 Encoder Cam y Disable 1y7xh Name Byte Description Type Unit Offset Header O 1y7xh Encoder Cam y Disable y 1 2 Uintl 4 3 162 Encoder Cam y Change Amplitude Scale and Length 1y8xh Name Byte Description Type Unit Offset ee 1y8xh Encoder Cam y Define Curve To Pos Uint16 WEB 1 2 Amplitude Scale Sint16 CAM Length In Counts Sint32 The new values for the amplitude scale and cam length are updated at next cam y start event 4 3 163 Start Command Table Command 200xh Name Byte Description Type Unit 200xh Start Command Table Command Ulnt16 Command Table
17. LinMot Talk1100 V3 6 Beta 20060427 File Search Controller Services Options Window Tools Manuals Help D3 e g Ma EESGC x ugEgEgASAmmE I E Project S E My Box ID 17 on CAN ZS Control Panel B td Parameters BL Gomm on nert cycle KS N E Motion Control SW S E Links h Conditions B g Variables IF Actual Position Less Than Ez User Defined Ez OS SW Operating Hour Cou Ez OS SW Message Error EI OS SW Hw Configuration Ez OS Hash Value E 05 Sw Status E DS Sw Keys E MC SW Overview E MC SW Motor E MC Sw X12 Ext Sensor 1 GoTo50mm VAI Go To Pos Pos 50 mm Vel 0 5 m s Ace 2m s 2 Dec 1m s 2 2 Wait Motion E MC SW Current Controller 2 Wait Motion Done Waituntil Motion Finished 3 GoTo 0 mm E MC SW Contro Word 3 Bette fm VAI Go To Pos Pos Omm Vel 1 m s Acc 10m s 2 Deci m s 2 None E MC SW Status Word 4 z 5 E MC SW Warnings 5 Reset CT Varl Set Cmd Table Var 1 T Set Val 0 6 GoTo 50mm E MC SW Phase Search esel al et Lm le var o at oto inm E MC SW Motion Interface 6 GoTo 50mm VAl Go To Pos Pos 50 mm Vel 1 m s Acc 10 m s 2 Dec 10 m s 2 7 Wait In Pos E MC SW Winding 7 Wait In Pos Wait until In Target Position 8 GoTo 0 mm E MC SW Capture amp Trigger 8 GoTo 0 mm VAI Go To Pos Pos 0 mm Vel 1 m s Acc 10 m s 2 Dec 10 m s 2 3 wait Motion E MC SW Brake 3 Wait Motion Done Wait until Motion Finished 10 Inc CT Vart E MC SW VA interpolator 10 Inc CT Varl Add To Cmd Tabl
18. Offset Header O OBOxh VAI Predef Acc Go To Pos Ulntt6 Target Position SInt32 LZ Par 6 Maximal Velocity Lee 1E 6 m s 4 3 100 VAI Predef Acc Increment Dem Pos 0B1xh AEG Byte Description Type Unit Offset Header O OB1xh VAI Predef Acc Increment Dem Pos Ulti6 Position Increment SInt32 2 Par 6 Maximal Velocit UInt32 1E 6 m s 4 3 101 VAI Predef Acc Increment Target Pos 0B2xh Name Byte Description Type Unit Offset Header O 0B2xh VAlPredef Acc Increment Target Dos UIntt6 2 Par 6 MaximalVelociy UInt32 1E 6 m s 4 3 102 VAI Predef Acc Go To Pos From Act Pos And Act Vel 0B3xh Name Byte Description Type Unit Offset Header OB3xh VAI Predef Acc Go To Pos From Act Pos Ulnt16 And Act Vel Target Position SInt32 3 Par 6 Maximal Velocit Ulnt32 1E 6 m s This command starts a new VAI setpoint generation from the actual position and with actual velocity Can be used after a press command 4 3 103 VAI Predef Acc Go To Pos From Act Pos Starting With Dem Vel 0 0B4xh Name Byte Description Type Unit Offset Header OB4xh VAI Predef Acc Go To Pos From Act Pos Ulnt16 Starting With Dem Vel 0 Target Position SInt32 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s This command starts a new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press co
19. Sin VA Go To Pos From Actual Pos Sin VA Increment Actual Pos Sin VA Go To Pos After Actual Command Sin VA Go To Analog Pos Ah X Sin VA Go To Pos On Rising Trigger Event Sin VA Increment Demand Pos On Rising Trigger Event Sin VA Go To Pos On Falling Trigger Event Sin VA Increment Demand Pos On Falling Trigger Event Bestehorn VAJ Go To Pos Bestehorn VAJ Increment Demand Pos Bestehorn VAJ Go To Pos From Actual Pos Bestehorn VAJ Increment Actual Pos Bestehorn VAJ Increment Demand Pos On Falling Trigger Event Encoder CAM Enable Encoder CAM Disable Encoder CAM Go To Sync Pos Encoder CAM Set Value Encoder CAM 1 Define Curve With Default Parameters Encoder CAM 1 Define Curve From Act Pos Encoder CAM 1 Define Curve To Pos Encoder CAM 1 Define Curve From Pos To Pos In Counts Encoder CAM 1 Define Curve To Pos In Counts Encoder CAM 1 Define Curve with Amplitude Scale In Counts Encoder CAM 1 Enable Encoder CAM 1 Disable Encoder CAM 1 Change Amplitude Scale and Length Encoder CAM 2 Define Curve With Default Parameters Encoder CAM 2 Define Curve From Act Pos Encoder CAM 2 Define Curve To Pos Encoder CAM 2 Define Curve From Pos To Pos In Counts Encoder CAM 2 Define Curve To Pos In Counts Encoder CAM 2 Define Curve with Amplitude Scale In Counts Encoder CAM 2 Enable Encoder CAM 2 Disable Encoder CAM 2 Change Amplitude Scale and Length Start Command Table Command Start Command Table Command On Rising Trigger Event Start Command Table Command On
20. Ulnt G 1 100 2 Par 4 Curve Start Delay Count SInt32 I Target Position SInt32 4 Par Curve length SInt32 1 ner Setup in the event handler to start a cam curve on the falling trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Bh and the specified cam start delay is written to the RAM value of UPID 154Dh Use the infinite cam length UPID1527h for triggered cam motions 4 3 67 Setup Encoder Cam On Rising Trigger Event With Delay Counts Amplitude scale and Length 06Dxh AEG Byte Description Type Unit Offset Header 06Dxh Setup Encoder Cam On Rise Trigger Event Ulnt16 With Delay Counts Amplitude scale and Length 3 Par 8 Amplitude Scale sd Sint Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam length UPID1527h for triggered cam motions 4 3 68 Setup Encoder Cam On Falling Trigger Event With Delay Counts Amplitude scale and Length 06Exh Name Byte Description Type Unit Offset E el hl With Delay Counts Amplitude scale and Length Kit e NTC UTE 3Par 8 AmpltdeScae sm6 0
21. 056xh sss 40 4 3 63 Setup Encoder Cam On Rising Trigger Event With Delay Counts 069xh 41 4 3 64 Setup Encoder Cam On Rising Trigger Event With Delay Counts Target Pos and Lene ODE eier Eed teu nS cu tans Mana tat izes 41 4 3 65 Setup Encoder Cam On Falling Trigger Event With Delay Counts 06Bxh 41 4 3 66 Setup Encoder Cam On Falling Trigger Event With Delay Counts Target Pos GRE TTI OO CI ee c 42 4 3 67 Setup Encoder Cam On Rising Trigger Event With Delay Counts Amplitude scale WE SCOTT UODXIJ ere ge e Eege ER 4 3 68 Setup Encoder Cam On Falling Trigger Event With Delay Counts Amplitude scale UNL CMU CE II E 42 4 3 69 Start VAI Encoder Position Indexing 070xh esses 43 4 3 70 Start Predef VAI Encoder Position Indexing OU fxch l sss 43 4 3 71 Stop Position Indexing and VAI Go fofbosd Ech 43 4 3 72 Stop Position Indexing and VAI Go fofbosd kch 43 4 3 73 VAI 16 Bit Go To Pos OOM vx EE 44 4 3 74 VAI 16 Bit Increment Dem Pos O9divb 44 4 3 75 VAI 16 Bit Increment Target POS UUZXl ce zeegt tte ttes osi e omn 44 4 3 76 VAI 16 Bit Go To Pos From Act Pos And Act Vel 093xh sss 44 4 3 77 VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 094xh 44 4 3 78 VAI 16 Bit Increment Act Pos 095xh eese eene nennen tenni 45 4 3 79 VAI 16 Bit Increment Act Pos Starting With Dem Vel 0 096xh 45 2 3 60 FAT T6 BIEStODA
22. 10ms The setpoint time stamp is generated by the slave s interface when the command is received receive time stamp The first two streaming commands are used to determine the nominal period length The setpoints are Than delayed 1 5 times the period length Between the setpoints the slave performs a fine interpolation Since acceleration setpoint derivation is less sensitive to bus jitters it is recommended to use this command PVA streaming instead of the simple P streaming command whenever possible For the derivation of the velocity and the acceleration the configured streaming period time 14E6h is taken to minimize the communication time jitter 4 3 44 Stop Streaming 03Fxh Name Byte Description Type Unit Offset Header O 03Fxh Stop Streaming Ulti6 This command is used to leave the streaming mode 4 3 45 Time Curve With Default Parameters 040xh Name Byte Description Type Unit Offset Header O TI 040xh Time Curve With Default Parameters Uinti6 Ulnt6 1 100 4 3 46 Time Curve With Default Parameters From Act Pos 041xh Name Byte Description Type Unit Offset Header 41xh Time Curve With Default Parameters From Ulnt16 Act Pos 1 Par 2 Curve ID Ulnt 16 1 100 This command sets the curve offset to the actual position set point then starts the specified time curve with the default parameters curve time scaling and curve amplitude scaling 4 3 47 Time Curve To Pos With Default Spe
23. 22 Control Word With the Control Word 16Bit the main state machine of the drive can be accessed Following table shows the meaning of each bit S On 1 Voltage Enable 2 Quick Stop Enable Operation A Abort EX V A Stop gt Current 0 power switches disabled EE ready to Switch on EE GE action 1 Operation OFF3 Late Stop gt Current 0 gt H Bridges _ e 1 Operation pum UU disabled d LoiwisalEN i omaia enabled ee iR rd P EI command is cleared 1 Operation Freeze motion Quick Stop position control rests active a Target position not cleared curves motions are aborted lt ee E edge will reactivate motion command se To Position STE To Position raro meizsarsezei seg Wa to fixed parameterized Position Wait for release of signal E Acknowledge 8 Jog Move 9 Jog Move 10 Special Mode 11 Home 12 Clearance Check 13 Go To Initial Position 14 Reserved 15 Phase Search BET WEE ie Error Acknowledge Rising edge of signal acknowledges error MET EE ll ogMove S O ET EE al ogMove S O EE e 0 StopHoming os SSS SaaS O EE is finished 0 Stop Clearance Check t Clearance Check Enable Clearance Check Movements _ edge will start go to initial EIM BEREAP EE GR UMEN MEE Lr 0 Stop Phase Search 1 Phase Search a Phase Search Movements 3 23 Status Word Following table
24. 70 43 201 IF Actual Position Less Than ee 71 4 3 202 IF Actual Position Greater Tham 29BXh E 71 4 3 203 IF Difference Position Less Than 259 Gxh sie remet mde dee 71 4 3 204 IF Difference Position Greater Than C3frcb essen 71 4 3 205 IF Current Less Than EE 71 4 3 206 IF Current Greater Than LIF IM EE 71 4 3 207 IF Analog Val On X4 4 Less Than 260Xh e iet tem irte 72 4 3 208 IF Masked X4 Input Value Equal Than Ooich 72 4 3 209 IF Masked X6 Input Value Equal Than 263xh sse 72 4 3 210 IF Masked Status Word Equal Than 264xh sse 72 4 3 211 IF Masked Warn Word Equal Than Co chl sese 72 4 3 212 IF CAM Counts Less Than e EE 72 4 3 213 Encoder Winding Stop Adaptation Of Left Right Position and Disturbance iir MEER Ee 73 4 3 214 Encoder Winding Restart Adaptation Of Left Right Position and Disturbance lios ETE T EM UMEN 73 4 3 215 Encoder Curve Winding Start With Default Parameters 310xh 73 4 3 216 Encoder Curve Winding Start With Default Parameters At Revolutions 31 Ich TM LUE RN PPP MORE TRE rg eae en TN IIO UN 73 4 3 217 VAI Go To Pos With Higher Force Ctrl Limit G tch sss 73 4 3 2168 VAI Go To Pos From Act Pos And Reset Force Control 381Ixh 73 43 219 Force Ctrl Change Target Force 382xh idee ete 74 4 3 220 VAI Go To Pos With Higher Force Ctrl Limit and Target Force 383xh 74 4 3 221 VAI Go To Pos With Lower Force Ctrl Limit
25. Byte Description Type Unit Offset Header O OF6xh Bestehorn VAJ Increment Actual Pos Ult16 Position Increment SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s Ulnt32 1E 5 m s Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Actual Position value relative move The command execution starts immediately when the command has been sent 4 3 144 Bestehorn VAJ Go To Pos After Actual Command 0F8xh Name Byte Description Type Unit Offset ESTEE OF8xh Bestehorn VAJ Go To Pos After Actual Ulnt16 KSE Command 2 Par 6 Maximal Velocity n UInt32 1E 6 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed The command execution is delayed until the former command has been completed The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new VAI motion command as soon as bit 13 of the Status Word Motion Active is O After the event c the Event Handler deactivates itself 4 3 145 Bestehorn VAJ Go To Analog Pos 0F9xh Name Byte Description Type Unit Offset Header O OF9xh Bestehorn VAJ Increment Actual Pos Ulti6 Maximal Velocit Ulnt32 1E 6 m s 2 Par 6 Acceleration O UInt32 1E 5 m s Uln
26. Delay Counts Target Pos and Length Setup Encoder CAM On Rise Trigger Event With Delay Counts Amplitude scale and length Setup Encoder CAM On Fall Trigger Event With Delay Counts Amplitude scale and length Start VAI Encoder Position Indexing Start Predef VAI Encoder Position Indexing Stop Position Indexing And VAI Go To Pos Stop Position Indexing And Predefined VAI Go To Pos Transition Transition TI o O lBR O aj RIN Xp zi XD gt ope op px vi vi sp opes ppp ETE Predef VAI 16 Bit Increment Dem Pos Predef VAI 16 Bit Increment Target Pos Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event Dh X X VAI Predef Acc Go To Pos VAI Predef Acc Increment Dem Pos VAI Predef Acc Increment Target Pos VAI Predef Acc Go To Pos From Act Pos And Act Vel VAI Predef Acc Go To Pos From Act Pos Starting With Dem Vel 0 OBh DCH VAI Dec Acc Go To Pos From Act Pos Starting With Dem Vel 0 VAI Dec Acc Go To Pos From Act Pos Dem Vel 0 and With Max Curr VAI Dec Acc Go To Pos On Rising Trigger Event VAI Dec Acc Increment Target Pos On Rising Trigger Event VAI Dec Acc Go To Pos On Falling Trigger Event VAI Dec Acc Increment Target Pos On Falling Trigger Event 0Dh 7h X X VAI Go To Cmd Table Var 2 Pos From Act Pos And Act Vel Eh X X VAI Start Trig Rise Config VAI Command Fh X X VAI Start Trig Rise Config VAI Command OEh Dh X X Sin VA Go To Pos Sin VA Increment Demand Pos
27. ENCODER T 88 RE EIN TORING EE 90 74A Logie Supply EH 90 7 4 2 MOTOR Supply NEE 90 TAZA Phase SWiteh On KEE 90 Lag Regongkotion Resisto ede ia EE 9 7 4 4 Temperature EE 92 T POSCTRESTRUCTURE EE 93 8MOTOR CONFIGURATION 8 1 GENERIC MOTOR TEMPERATURE CALCULATED 2 d e ctr eret great Ee 94 9STATE MACHINE SETUP 10 ERROR CODE LIST 11CONTACT ADDRESSES System Overview This user Manual describes the Motion Control SW functionality of the LinMot E1200 E1400 drives 1 1 References Ref Title Source nstallation Guide E1200 pdf 1 Installation Guide E1200 Installation Guide E1400 pdf Usermanual LinMot Talk 4 pdf 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 VA Interpolator Max velocity limited acceleration position interpolator Pos Position o Unique Parameter ID 16 bit 1 3 Data types Type Range Format Num of bytes Bool Float TI 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 word can be used For controlling the motion functionality a memory mapped motion command interface can be used These two instances are mapped via an interface SW to an upper control system PLC IPC PC
28. ERROR STATE EEN 14 3 6 STATE 93 HW gert erg ee tuts tue set AME cei t cea pa ba 14 3 7 STATE 6 READY TO Opppamg eene nne se sen ene tenere n nnn n nitens 14 3 8 STATE 8 OPERATION ENABLED mesni oat teo e eee er Fe e deter eee re eer Pret 15 3 9 STATE O Le 15 3 10 S TATE 10 CLEARANCE CHECK 3 200 a eie Eth ro e hene teet ee a A haee A ES 15 3 11 Strate 11 GOING To INITIAL POSITION eene nennen nennen nennen 15 3 12 STATES 2 2 JANBORTING eg 16 3 13 STATE 13 GE oerte i Pi re iet e tenete tea ees ee terae ode tege E M seu exa 16 3 14 STATE 14 ERROR BEHAVIOUR QUICK E 16 3 15 STATE 15 GOING To Boemon eene eene eee nnne nennen nenne nennen eie 16 3 16 S TATE 16 JOGGING T iine eei RN ae e TB ED e CREER 16 S D STATE ATS EEN 16 34 IS STATE 182 INEARIZING 4 di e ee edel ege Eech dee ind 16 3 19 S TATE 19 PHASE SEARCHING heise ree ent E b er ee e T P EET rers 16 3 20 STATE 20 SPECIAL Mopp 16 3 21 BUILDING THE CONTROL WORD EE 16 3 22 CONTROL WORDS EEN 17 EEN 18 3 24 WARN W ORD BERR iere ted RE EE D GU Ee Ye E COE e S e dr E Ye ERE E PvE 19 4MOTION COMMAND INTERFACE 4 1 MorioN COMMAND IwvrrRraCE neris ese te E e esses sane 20 BAW COMMGANE Headelfte geed dE eege 20 4 1 1 1 Master ID eerte o tee oie ee e pr bb Ee ENG 20 4 112 S0b ER WEE 20 Mel sth SAC OM GC OUTIE EE 20 4 2 OVERVIEW MOTION CoMMANDS eee eene nennen tenen rss seen e teen rn nnne iria rite enne ene 21 4 3 DETAILED MOTION COMMAND DpscRron eene ee
29. Falling Trigger Event Modify Command Table 16 bit Parameter in RAM Modify Command Table 32 bit Parameter in RAM x o xe o x o o e oe oe x lt X Wait Until Demand Position Less Than Ah xp e o e o x e oe e s gt gt oe o gt gt gt gt gt lt gt gt gt gt lt gt gt gt gt gt gt oe oe gt gt h 5h X Wait Until Difference Position Less Than Wait Until Difference Position Unsigned Greater Than Wait Until Difference Position Unsigned Less Than Wait Until Demand Velocity Greater Than Wait Until Demand Velocity Less Than Wait Until Actual Velocity Greater Than Wait Until Actual Velocity Less Than Wait Until Current Greater Than 25h IF Cmd Table Var 1 Less Than IF Cmd Table Var 1 Greater Than 39 FERRE Pel Pe Change to Position Controlled mode F only with Force Control Key 4 3 Detailed Motion Command Description 4 3 1 No Operation 000xh Name Byte Description Type Unit Offset Header O No Operation 000xh Ulnti6 This command does nothing It can be sent in any operational state 4 3 2 Write Interface Control Word 001xh Name Byte Description Type Unit Offset EE 001xh Write Interface Control Word Ulnti6 1 Par Interface Control Word Ulnt16 This command allows writing the control word through the motion command interface The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK Eth
30. Position Increment argument and the value of the capture variable UPID Ox1E62 The command execution starts immediately when the command has been sent The setpoints Demand Position c Demand Velocity and Demand Acceleration are calculated by the internal Velocity Acceleration Interpolator VAI This command initializes the VAI with the current Demand Position and Demand Velocity value Therefore it is possible to start a new command while execution of a former command is not fully completed 4 3 124 VAI Go To Cmd Tab Var1 Pos 0D4xh Name Byte Description Type Unit Offset Header O OD4xh VAI Go To Cmd Tab Var1 Pos Ulti6 Maximal Velocit UInt32 1E 6 m s 2 Par 6 Acceleration LUS 1E 5 m s UInt32 1E 5 m s Go to the target position defined with the command table variable 1 UPID 1E72h 4 3 125 VAI Go To Cmd Tab Var2 Pos 0D5xh Name Byte Description Type Unit Offset Header O OD5xh VAIGoToCmdTabVar2Pos Ulntf6 1 Par 2 Par 6 Acceleration UInt32 1E 5 m s Go to the target position defined with the command table variable 2 UPID 1E73h 4 3 126 VAI Go To Cmd Tab Var1 Pos From Act Pos And Act Vel OD6xh Name Byte Description Type Unit Offset Header OD6xh VAI Go To Cmd Tab Var1 Pos From Act Ulnt16 Pos And Act Vel Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 Acceleration UInt32 1E 5 m s UInt32 1E 5 m s Go
31. Recommended actions check PLC program check the fieldbus by using bus monitor tools User error The PLC program has sent the stream position commands too slowly the buffer had an underflow Streaming has to be strictly cyclic Recommended actions check PLC program check the fieldbus by using bus monitor tools User error The PLC program has begun to send PVT streaming command The commands were too close to each other The drive expects new streaming commands every 2ms to 5ms Recommended actions check PLC program check the fieldbus by using bus monitor tools User error The PLC program has begun to send PVT streaming command The cycle time between the streaming commands has been too long The drive expects new streaming commands every 2ms to 5ms Recommended actions check PLC program check the fieldbus by using bus monitor tools User Err Motion Cmd In Limit Switch In High User Err Limit Switch Out High urve Amp Scale Error User Err md Tab Entry Not Def User error The PLC program has sent a motion command while the drive was not in an appropriate operational state Most of the motion commands are accepted only in operational state 8 Operation Enabled Recommended actions check the PLC User error The motor moved into the Limit Switch In while it was still in the stroke range Recommended actions check the PLC program or check homing User error The motor moved into the Limit Switch Out while it was s
32. Target Pos Ulntt6 3 Par 6 Acceleration Ulntf6 Scaled 4 Par 8 Deceleration f Ulntf6 Scaled 4 3 76 VAI 16 Bit Go To Pos From Act Pos And Act Vel 093xh Name Byte Description Type Unit Offset LESE 093xh VAI 16 Bit Go To Pos From Act Pos And Act Ulnt16 EE Vel 3 Par 6 Acceleration 1 Ulntf6 Scaled 4 Par 8 Decelraion 1 UIntf6 Scaled This command starts the new VAI setpoint generation from the actual position can be used after a press command 4 3 77 VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 094xh AEG Byte Description Type Unit Offset Header 094xh VAI 16 Bit Go To Pos From Act Pos Starting Ulnt16 With Dem Vel 0 3 Par 6 Acceleration 1 UIntf6 Scaled 4 Par 8 Deceleration Ulntf6 Scaled This command starts a the new VAI Setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 78 VAI 16 Bit Increment Act Pos 095xh Name Byte Description Type Unit Offset Header O 095xh VAI 16 Bit Increment Act Pos Ulti6 Position Increment SInt16 Maximal Velocit Ulnt16 3 Par 6 Acceleration 1 11 111 UInt16 4Par 8 Deceleration 1 1 11 111 UIntf6 4 3 79 VAI 16 Bit Increment Act Pos Starting With Dem Vel 0 096xh Name Byte Description Type Unit Offset Header O 0
33. command table entry the link ID has offset 2 the motion command header has offset 4 and the first motion command parameter has offset 6 4 3 168 Wait Time 210xh Name Byte Description Type Unit Offset Header O 1 210xh Wait Time Uintte Un Can be used in a linked command table sequence 4 3 169 Wait Until Motion Finished 211xh Name Byte Description Type Unit Offset Header O 211xh Wait Until Motion Finished Uinti6 Can be used in a linked command table sequence 4 3 170 Wait Until In Target Position 212xh Name Byte Description Type Unit Offset Header O 212xh Wait Until Motion Finished Ulnti6 Can be used in a linked command table sequence 4 3 171 Wait Until Rising Trigger Event 213xh Name Byte Description Type Unit Offset Header O 213xh Wait Until Rising Trigger Uinti Can be used in a linked command table sequence 4 3 172 Wait Until Falling Trigger Event 214xh Name Byte Description Type Unit Offset Header O 1 214xh Wait Until Falling Trigger Uinti6 Can be used in a linked command table sequence 4 3 173 Wait Until Demand Position Greater Than 220xh Name Byte Description Type Unit Offset Header O 220xh Wait Until Demand Position Greater Than Uinti6 Dem Pos Trig Level SInt32 Can be used in a linked command table sequence 4 3 174 Wait Until Demand Position Less Than 221xh Nam
34. power supply use a regeneration resistor for power dissipation add a capacitor too enforce your DC link 0005h Err A regeneration resistor is configured see parameter X1 RR Not Connected 101Dh but not connected Recommended actions connect the regeneration resistor to X1 0006h Err The PTC 1 sensor on X4 10 is hot or not connected PTC 1 Sensor Too Hot Recommended actions check the temperature check the wiring 0007h Err The motor position has been below the minimal position Min Pos Undershot see parameter 146Eh Recommended actions check the configuration check the PLC program 0008h Err The motor position has been above the maximal Max Pos Overshot position see parameter 146Fh Recommended actions check the configuration check the PLC program 0009h Err The position difference between sensor feedback on X3 Ext Int Sensor Diff Err and sensor feedback on X12 has been too big Recommended actions check sensor wiring check sensor configuration count direction etc check parameter 1266h 000Ah Fatal Err The external sensor is not connected to X12 or the X12 Signals Missing wiring is not ok Recommended actions check the wiring The motor was not able to follow the demand position Pos Lag Always Too Big The maximal allowed position difference is defined through parameter 1473h Recommended actions check the motor load check the motor stroke range for possible collisions check the position controller
35. setup check the setpoint generation unreachable speed acceleration values check the motor sizing The motor was not able to reach the target position or was not able to stay at the target position The maximal allowed position difference is defined through parameter 1475h Recommended actions check the motor load check the motor stroke range for possible collisions check the position controller setup check the motor sizing Over current on X1 detected Recommended actions check motor wiring check motor configuration for PO1 48 type motors set parameter 11F4h to value 0001h OOEh Err Drive board defective upply Dig Out Missing Recommended actions contact support for repair OOFh Err The PTC 2 sensor on X4 11 is hot or not connected PTC 2 Sensor Too Hot Recommended actions check the temperature check the wiring 0010h Drive power bridge phase 1 too hot Drive Ph1 Too Hot Recommended actions check motor wiring Drive Ph1 Too Hot Recommended actions check motor wiring Drive power bridge phase 2 too hot Drive Ph2 Too Hot Recommended actions check motor wiring Drive Ph2 Too Hot Recommended actions check motor wiring Drive Pwr Too Hot Recommended actions check wiring 0015h Er Regeneration resistor switch hot Drive RR Hot Calc Recommended actions check RR configuration Turn On level Resistance etc check RR sizing Drive X3 Too Hot Recommended actions check motor wiring Drive Core Too Hot hot 0018h Er Drive p
36. stop the motion 3 18 State 18 Linearizing The linearizing state is used to correct position feedback parameters to improve the linearity of the position feedback 3 19 State 19 Phase Searching The phase search is only defined for three phase EC motors with hall switches and ABZ sensors to find the commutation offset for to the sensor It cannot be guaranteed that this feature will work for all kinds of EC motors The found offset can be found in the variable section Calculated Commutation Offset UPID 1C1Bh and has to be set manually to he parameter Phase Angle UPID 11F2h 3 20 State 20 Special Mode The Special Mode is available only on the B1100 drives In this state the current command mode over the analog input is available For using this mode see the 4 3 21 Building the Control Word The Control Word can be accessed bit by bit from different sources with different priorities The highest priorities have the bits that are forced by parameters The second highest priority has the control panel of the LinMot Talk software if logged in with the SW The next lower priorities have the bits that are defined on the X4 IOs as control word input bits The lowest priority have bits which are set over the interface normally a serial fieldbus connection so in the Ctrl Word Interface Copy mask all bits can be selected without causing any problems but bits which should not be accessed through the interface can be masked out 3
37. to the target position defined with the command table variable 1 UPID 1E72h starting from actual position and with actual velocity 4 3 127 VAI Go To Cmd Tab Var2 Pos From Act Pos And Act Vel 0D7xh Name Byte Description Type Unit Offset Header OD7xh VAI Go To Cmd Tab Var2 Pos From Act Ulnt16 Pos And Act Vel Maximal Velocity Ulnt32 1E 6 m s 2 Par 6 JjAccelraion UInt32 1E 5 m s UInt32 1E 5 m s Go to the target position defined with the command table Variable 2 UPID 1E73h starting from actual position and with actual velocity 4 3 128 VAI Start Trig Rise Config VAI Command 0DExh Name Byte Description Type Unit Offset Header 0 ODExh VAI Start Trig Rise Config VAl Command Ulnt16 This command starts the VAI motion command defined with the parameters in Trig Rise Config of the Triggered VA Interpolator Run Mode settings 4 3 129 VAI Start Trig Rise Config VAI Command 0DFxh Name Byte Description Type Unit Offset Header O ODF xh VAI Start Trig Fall Config VAI Command Ulti6 This command starts the VAI motion command defined with the parameters in Trig Fall Config of the Triggered VA Interpolator Run Mode settings 4 3 130 Sin VA Go To Pos 0EO0xh Name Byte Description Type Unit Offset Header 0 OEOxh Sin VA Go To Pos inte Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s Hal
38. 0 short to 24V Recommended actions Power down and check PTC 1 wiring and resistance Setup error hardware is not supported by the software Recommended actions download correct firmware contact support Software key and access code for special functionality is missing Recommended actions Order the SW key with your support together with the serial number of your HW Runtime error MC SW was not able to change parameter value in ROM Recommended actions verify PLC is not configuring during this action contact support Configuration error regeneration resistor turn on off voltage parameter value is too low Recommended actions check parameters 101Eh and 101Fh Configuration error regeneration resistor turn on off voltage parameter values too close to each other Recommended actions check parameters 101Eh and 101Fh Configuration error Software tried to start a curve that is not defined yet Action to take define the curve using the curves service check if curves were downloaded to drive check the curve IDs check the configuration check the PLC program onfiguration error Invalid max current setting in control parameters Recommended actions check parameters 13A6h and 13BAh check PLC program onfiguration error No motor has been configured yet Recommended actions use the motor wizard to onfigure the motor onfiguration error Digital input X4 6 is configured for rigger input function but the trigger mode is not defined ye
39. 1221h 0022h Fatal Err Motor hall sensors cannot see magnetic field of the Motor Slider Missing slider The motor position was outside the allowed range defined through the motors ZP and Max Stroke data see data sheet Recommended actions check stroke range check slider orientation 023h Err Short time motor overload detected Motor Short Time Overload Recommended actions check if motor is blocked check motor sizing 024h Err Regeneration resistor hot calculated RR Hot Calculated Recommended actions check RR configuration Turn On level Resistance etc check RR sizing 0025h Err Sensor Alarm On X12 Occurred ensor Alarm Recommended actions Check sensor mounting band contamination or motion speed 0028h Err Short circuit between phase 1 and ground detected Ph1 Short Circuit To GND Recommended actions check motor wiring check motor 029h Err Short circuit between phase 1 and ground detected Ph1 Short Circuit To GND Recommended actions check motor wiring check motor 002Ah Err Short circuit between phase 2 and ground detected Ph2 Short Circuit To GND Recommended actions check motor wiring check motor 002Bh Err Short circuit between phase 2 and ground detected Ph2 Recommended actions check motor wiring check motor 2 Short Circuit To GND 002Ch Err Ph1 Short Circuit To Ph2 0030h Err Ph1 Wired To Ph2 0031h Err Ph1 Wired To Ph2 0032h Err Ph1 Not Wired To Ph1 033h Err P
40. 196 Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam length UPID1527h for triggered cam motions 4 3 69 Start VAI Encoder Position Indexing 070xh Name Byte Description Type Unit Offset Header O 070xh Start VAI Encoder Position Indexing Ult16 Target Position SInt32 3 Par 6 Maximal Velocit Ulnt32 1E 6 m s Ulnt32 1E 5 m s Ulnt32 1E 5 m s Changes to the VAI encoder position indexing mode the actual encoder count is to the target position To stop the indexing mode use one of the commands 008xh 07Exh or 07Fxh 4 3 70 Start Predef VAI Encoder Position Indexing 071xh Name Byte Description Type Unit Offset Header O 071xh Start Predef VAI Encoder Position Indexing Ulnt46 Target Position SInt32 Changes to the VAI encoder position indexing mode the actual encoder count is to the target position The VAI parameters maximal velocity acceleration and deceleration are ones taken at calling time from the predefined VAI parameter set UPIDs 14BEh 14BF and 14COh To stop the indexing mode use one of the commands 008xh 07Exh or 07Fxh 4 3 71 Stop Position Indexing and VAI Go To Pos 07E
41. 32 0 1um e Velocity SInt32 1E 6 m s e Acceleration SInt32 1E 5 m s 5 2 Sine VA Motion The Sine generates a position curve from one position to another due to the parameter values of target position maximal speed and acceleration A new target position can only be started when the previous motion was finished Position Velocity o O 1 0 2 0 3 0 4 O 5 Acceleration 5 2 1 1 Parameters and Output The Sine Motion is defined by the following parameters e Target Position SInt32 0 1um s e Maximal Speed UInt32 1E 6 m s e Acceleration Ulnt32 1E 5 m s The Sine Motion generates as outputs e Position SInt32 0 1um e Velocity SInt32 1E 6 m s e Acceleration SInt32 1E 5 m s 5 3 Bestehorn VAJ Motion The Bestehorn generates a position curve from one position to another due to the parameter values of target position maximal speed acceleration and jerk A new target position can only be started when the previous motion was finished Position 120 100 80 So 40 20 velocity 1 2 O 2 O 6 4 O 4 4 0 2 o 0 05 C L O 15 OH 3 Acceleration 20 15 10 5 e 5 10 15 20 Jerk 600 400 200 o 200 400
42. 384xh sss 74 4 3 222 VAI Go To Pos With Lower Force Ctrl Limit and Target Force 385xh 75 4 3 223 VAI Go To Pos From Act Pos And Reset Force Control Set I 386xh 75 4 3 224 VAI Increment Act Pos And Reset Force Control Set I 387xh ss 75 43 222 Current Command Mode E EE 75 4 3 226 Change to Position Controlled Mode GE 76 SSETPOINT GENERATION 951 uM EE 77 S 11 Parameters and HERE ee RE Age 77 5 2 SINE Ee 78 SEI ee 78 5 3 BESTEHORN VAJ LOTION EE 79 So TI Parameters ETRINGER 79 S PCV STRBANM E 80 SESA ONEN TEE 81 3 3 1 Triggered Cam Motos eod voc do e RR RR Orb afe pha des RO Ede 1 5 5 2 Repeated Cam Motions with the Modulo Com Mode 81 6COMMAND TABLE 7DRIVE CONFIGURATION Ted uod disiupeu RN 83 E ER 83 EE Sema rA me Saba Mite ur lS Nase aeu ud RE 83 7 2 1 1 X4 3 Brake Operation Enabled Bchavior 84 7 2 1 2 X4 3 Brake Operation Abort Behavior ssc e a reete Reate tne ape e annus 84 7 2 1 3 X4 3 Brake Operation Quick Stop Behavior eese 85 EE EENEG 85 3 224 Direct KE 85 1 22 2 Inhibited Eege ee EE eme 86 7 22 Delayed Trigger MO a ui todos vite rete e e ee a Codex LR e et pte er e cis 86 7 2 2 4 Inhibited amp Delayed Trigger Mode eater oer yea e quae er 87 7 2 3 X4 8 and X4 9 Limit EE oat ostia e UN RR tind 87 7 2 4 X4 10 and X4 11 PTC 1 and E 87 7 2 5 X4 12 SVE Safety Voltage Enabiel sese 88 1 3 MASTER
43. 4 3 11 VAI Increment Target Pos 012xh Name Byte Description Type Unit Offset Header O 012xh VAI Increment Target Pos Uinti6 Position Increment SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s 4 Par Deceleration UInt32 1E 5 m s This command sets a new target position and defines the maximal velocity acceleration and deceleration for going there The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the former target position The target position is the motion s end position and doesn t change during the execution of a motion command 4 3 12 VAI Go To Pos From Act Pos And Act Vel 013xh Name Byte Description Type Unit Offset Header O 013xh VAI Go To Pos From Act Pos And Act Vel UlntiG Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s Ulnt32 1E 5 m s This command starts the new VAI setpoint generation from the actual position and actual velocity Can be used after a press command 4 3 13 VAI Go To Pos From Act Pos Starting With Dem Vel 0 014xh Name Byte Description Type Unit Offset Header 014xh VAI Go To Pos From Act Pos Starting With Ulnt16 Dem Vel 0 LZ Dar 6 X Maximal Velocity 1 UInt32 1E 6 m s This command starts the new VAI setpoint generation from the actual position and the start velocity is forced to zero
44. 9 Wait until Motion Done ID 10 Increment Command Table Var 1 ID 11 If Command Table To Var 1 5 Then GoTo ID 6 Else GoTo ID 12 ID 12 No Operation End of Sequence pL e Ea qr cx The third sequence ID14 23 changes the maximal current of the position controller set A UPID 13A6 goes to 50mm wait until motion completed tests if part is present Act Pos 48 goes back to Omm sets Normal Force Current and sets CT Var 1 O if part was present else set CT Var1 1 7 Drive Configuration The parameter configuration is normally done with LinMot Talk software 3 The UPIDs over which the parameter can be accessed are the same for E1100 E1200 and E1400 drives but are different for the B1100 drives In this documentation the E1100 E1200 E1400 UPIDs are used If a UPID for a B1100 drive is needed a conversion list can be generated with the LinMot Talk software 7 1 Power Bridge The E1100 B1100 drives are divided into three different power classes The normal drives have a maximal current of 8A the high current name extension HC variant has a maximal current of 15A and the extreme current name extension XC has a maximal current of 25A The E1200 series is only available as ultra current drives name extension UC with a current maximum of 32A 7 2 X4 I O Definitions The functionality of most IOs can be programmed as a control word input bit or status word output bit or they can be used as interface IO and read out or writt
45. 96xh VAI 16 Bit Increment Act Pos Ult16 Position Increment SInt16 Maximal Velocit Ulnt16 3 Par 6 Acceleration UIntf6 4 Par 8 Deceleration 1 1 UIntf6 4 3 80 VAI 16 Bit Stop 097xh AE Byte Description Type Unit Offset Header O O97xh VAl16BitStp Ulntt6 4 3 81 VAI 16 Bit Go To Pos After Actual Command 098xh Name Byte Description Type Unit Offset Bees ES 098xh VAI 16 Bit Go To Pos After Actual Ulnt16 HEN Command 3 Par 6 Acceleration 1 1 Ulntf6 Scaled 4 Par 8 Deceleration 1 Ulntf6 Scaled This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 82 VAI 16 Bit Go To Pos On Rising Trigger Event 09Axh Name Byte Description Type Unit Offset seent 9Axh VAI 16 Bit Go To Pos On Rising Trigger Ulnt16 IDE Event 3 Par 6 Acceleration 1 1 Ulntf6 Scaled 4 Par 8 Deceleration UIntf6 Scaled 4 3 83 VAI 16 Bit Increment Target Pos On Rising Trigger Event 09Bxh Name Byte Description Type Unit Offset Header 9Bxh VAI 16 Bit Increment Target Pos On Rising Ulnt16 Trigger Event 3 Par 6 Acceleration Une Scaled 4 Par 8 Deceleration 1 Ulnti6 Scaled 4 3 84 VAI 16 Bit Go To Pos On Falling Trigger Event 09Cxh Name Byte Description Type Unit
46. Curve With Default Ulnt16 Parameters y 1 2 Ulnt6 1 100 Curve Start Count SInt32 4 3 155 Encoder Cam y Define Curve From Act Pos 1y1xh Name Byte Description Type Unit Offset E 1y1xh Encoder Cam y Define Curve From Act Pos Ulnt16 QUE 1 2 Ulnt G 1 100 Curve Start Count SInt32 If the encoder value is in the range of cam y the motor has to be at the start position of the cam y during the command setup to set the position start point of cam y correctly 4 3 156 Encoder Cam y Define Curve To Pos 1y2xh AEG Byte Description Type Unit Offset E Ee 1y2xh Encoder Cam y Define Curve To Pos Ulnt16 ES 1 2 Ulnt6 1 100 Curve Start Count SInt32 3 Par 8 Target Position SInt32 If the encoder value is in the range of cam y the motor has to be at the start position of the cam y during command setup to set the position start point correctly of cam y 4 3 157 Encoder Cam y Define Curve From Pos To Pos In Counts 1y3xh Name Byte Description Type Unit Offset ERAN 1y3xh Encoder Cam y Define Curve To Pos Ulnt16 EN 1 2 1 Par 2 Curve ID Ulnt 6 1 100 Curve Start Count SInt32 8 Start Position SInt32 Target Position SInt32 CAM Length In Counts SInt32 4 3 158 Encoder Cam y Define Curve To Pos In Counts 1y4xh Name Byte Description Type Unit Offset EE E 1y4xh Encoder Cam y Define Curve To Pos Ulnt16 em 1 2 3 Par 8 Target Position SInt32 01um
47. ID Ulnt16 1 255 4 3 164 Start Command Table Command On Rising Trigger Event 201xh Byte Description Type Unit Offset Header el 201xh Start Command Table Command On Rising Ulnt16 Trigger Event Command Table ID Ulnt16 1 255 4 3 165 Start Command Table Command On Falling Trigger Event 202xh Name Byte Description Type Unit Offset Header 202xh Start Command Table Command On Falling Ulnt16 Trigger Event Command Table ID Ulnt 6 1 255 4 3 166 Modify Command Table 16 bit Parameter in RAM 208xh Name Byte Description Type Unit Offset EE ERI 208xh Modify Command Table 16 bit Parameter in Ulnt16 EE RAM Command Table ID Ulnt16 1 255 Parameter Offset Uint16 0 3Eh 3 Par 6 Parameter Value Sintio This command modifies a single 16 bit parameter of the specified command table entry with the specified offset to specified value Within the command table entry the link ID has offset 2 the motion command header has offset 4 and the first motion command parameter has offset 6 4 3 167 Modify Command Table 32 bit Parameter in RAM 209xh Name Byte Description Type Unit Offset p 209xh Modify Command Table 32 bit Parameter in Ulnt16 ES RAM Command Table ID Ulnt16 1 255 Parameter Offset Uint16 0 3Eh 3 Par 6 Parameter Value Sin32 This command modifies a single 32 bit parameter of the specified command table entry with the specified offset to specified value Within the
48. Offset Kee Kee 09Cxh VAI 16 Bit Go To Pos On Falling Trigger Ulnt16 NR Event 3 Par 6 Acceleration 1 1 Ulntf6 Scaled 4 Par 8 Deceleration Ulntf6 Scaled 4 3 85 VAI 16 Bit Increment Target Pos On Falling Trigger Event 09Dxh Name Byte Description Type Unit Offset Header 09Dxh VAI 16 Bit Increment Target Pos On Falling Ulnt16 Trigger Event 3 Par 6 Acceleration 1 Ulntf6 Scaled 4 Par 8 Deceleration 1 UIntf Scaled 4 3 86 VAI 16 Bit Change Motion Parameters On Positive Position Transition 09Exh Name Byte Description Type Unit Offset Kee Positive Position Transition 3 Par 6 Acceleration After Event 1 1 11 Ulnti6 Scaled 4 Par 8 Deceleration After Event 1 1 1 1 Ulnti6 Scaled As soon as the demand position crosses the event change position in positive direction the parameters for velocity acceleration and deceleration will be changed to the values defined in the command 4 3 87 VAI 16 Bit Change Motion Parameters On Negative Position Transition 09Fxh Name Byte Description Type Unit Offset Header al O9Exh VAI Change Motion Parameters on Ulnt16 Negative Position Transition Transition Event Position SInt16 Max Velocity After Event Ulnt16 3 Par 6 Acceleration After Event Ulnt16 A Par 8 Deceleration After Event Ulnt16 As soon as the demand position crosses the event change posit
49. Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 213 Encoder Winding Stop Adaptation Of Left Right Position and Disturbance 304xh NEUI Byte Description Type Unit Offset Header 304xh Encoder Winding Stop Adaptation Of Ulnt16 Left Right Position And Disturbance 4 3 214 Encoder Winding Restart Adaptation Of Left Right Position and Disturbance 305xh Name Byte Description Type Unit Offset Header 305xh Encoder Winding Restart Adaptation Of Ulnt16 Left Right Position And Disturbance 4 3 215 Encoder Curve Winding Start With Default Parameters 310xh NEG Byte Description Type Unit Offset Eent 310xh Encoder Curve Winding Start With Default UInt16 Parameters UInt16 1 100 4 3 216 Encoder Curve Winding Start With Default Parameters At Revolutions 311xh Name Byte Description Type Unit Offset Header 311xh Encoder Curve Winding Start With Default Ulnt16 Parameters At Revolutions SP ar 2 CuveliD fan ENGEN eee 2 Par 4 Revolution Counts To Start SInt32 4 3 217 VAI Go To Pos With Higher Force Ctrl Limit 380xh Name Byte Description Type Unit Offset Header 0 380xh VAI Go To Pos With Higher Force Ctrl Limit UlnttG 2 Par 6 X Maximal Velocity UInt32 1E 6 m s Moves to the defined target position if the measured force reaches the higher defined value the drive switches to the force control mode with target force fo
50. Par 6 Maximal Velocit Ulnt32 1E 6 m s Ulnt32 1E 5 m s This command defines a new Sin VA motion command relative move see description of command Sin VA Increment Demand Pos 0E1xh The command will be started on each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 0x1039 4 3 138 Sin VA Go To Pos On Falling Trigger Event OECxh Name Byte Description Type Unit Offset Header O OECxh Sin VA Go To Pos On Falling Trigger Event UInti6 Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s This command defines a new Sin VA motion command see description of command Sin VA Go To Pos OEOxh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configure
51. UPID 1214h The sum of all R defines the static power losses consider also Tw and Te With the capacitance the thermal time constant can be influenced The bigger the thermal capacitance the slower the temperature will rise 9 State Machine Setup In the state machine setup sections the parameters to influence the behavior of the single states can be defined 10 Error Code List Code Description TT Actions to oke 0001h Err The logic supply voltage has been too low The minimal X4 Logic Supply TooLow logic supply voltage level is defined through parameter 100Eh Recommended actions check your 24V logic power supply 0002h Err The logic supply voltage has been too high The X4 Logic Supply Too High maximal logic supply voltage level is defined through parameter 1010h Recommended actions check your 24V logic power supply 0003h Err The motor power supply voltage has been too low The X1 Pwr Voltage Too Low minimal motor supply voltage level is defined through parameter 101Ah Recommended actions check your motor power supply check the wiring check the sizing of the power supply add a capacitor too enforce your DC link 0004h Err The motor power supply voltage has been too high The X1 Pwr Voltage Too High maximal motor supply voltage level is defined through parameter 101Bh Back EMF effects may boost the DC link voltage Recommended actions check your motor power supply check the wiring check the sizing of the
52. US III tis eens e yah adi Dad o er tne POOR E os 45 4 3 81 VAI 16 Bit Go To Pos After Actual Command 096xh sss 45 4 3 82 VAI 16 Bit Go To Pos On Rising Trigger Event 09Axh sss 45 4 3 83 VAI 16 Bit Increment Target Pos On Rising Trigger Event 09Bxh 46 4 3 84 VAI 16 Bit Go To Pos On Falling Trigger Event 09Cxh sss 46 4 3 85 VAI 16 Bit Increment Target Pos On Falling Trigger Event 09Dxh 46 4 3 86 VAI 16 Bit Change Motion Parameters On Positive Position Transition 09Exh et e M P Qn 46 4 3 87 VAI 16 Bit Change Motion Parameters On Negative Position Transition 09Fxh P EE PERRO RENNES 47 4 3 88 Predef VAI 16 Bit Go To Pos 0AOxh sss 47 4 3 89 Predef VAI 16 Bit Increment Dem Pos 0A Ich 47 4 3 90 Predef VAI 16 Bit Increment Target Pos 0A2xh sss 47 4 3 91 Predef VAI 16 Bit Go To Pos From Act Pos And Act Vel 0A3xh 47 4 3 92 Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 0A4xh ees Deet ege Ae 48 4 3 93 Predef VAI 16 Bit Stop OAS MDs ue t ve RR OR Wa eek Ete Uu 48 4 3 94 Predef VAI 16 Bit Go To Pos After Actual Command U A xch 48 4 3 95 Predef VAI 16 Bit Go To Pos On Rising Trigger Event 0AAxh 48 4 3 96 Predef VAI 16 Bit Increment Target Pos On Rising Trigger Event OABxh 48 4 3 97 Predef VAI 16 Bit Go To Po
53. With Lower Force Ctrl Limit UlntG Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s Sint16 Moves to the defined target position if the measured force reaches the lower defined value the drive switches to the force control mode with target force force limit To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh 4 3 222 VAI Go To Pos With Lower Force Ctrl Limit and Target Force 385xh Name Byte Description Type Unit Offset Header 385xh VAI Go To Pos With Lower Force Ctrl Limit Ulnt16 and Target Force Target Position LZ Dar 6 Maximal Velocity UInt32 1E 6 m s Moves to the defined target position if the measured force reaches the lower force limit the drive switches to the force control mode with target force target force To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh 4 3 223 VAI Go To Pos From Act Pos And Reset Force Control Set I 386xh Name Byte Description Type Unit Offset Header 386xh VAI Go To Pos From Act Pos And Reset Ulnt16 Force Control Set I LZ Dar 6 X Maximal Velocity LU fE 6 m s Reinstalls the position control mode and moves to the defined target position The part of the position controller is set to the last force control current 4 3 224 VAI Increment Act Pos A
54. ay P Gain UPID 13A2h i KLS Actual Velocity Gain Limited Integrator UPID 1B8Eh UPID 13A4h Integrator Limit UPID 13A5h 4 cw M eva D IW 1 A Difference Velocty p Demand Velocity UPID 1B91h ES UPID 1888h Velocity Setpoint Delay D Gain UPID 1395h UPID 13A3h UPID 1394h Sign FF Friction UPID 138Dh Demand Current Maximal Current UPID 1B93h UPID 13A6h FF Damping UPID 129Fh C5 PFA Demand Acceleration a UPID 1B8Ch FF Acceleration UPID 12A0h Ge T E C7 Spring Deflecton kr Actual Position UPID 1B8Fh Le UPID 1B8Dh FF Spring Compensation UPID 139Eh Spring Zero Position UPID 13A1h FF Constant Force UPID 138Ch 8 Motor Configuration The motor usually is set up with the motor wizard which sets all needed parameters Therefore a detailed description of the parameters will follow in the future 8 1 Generic Motor Temperature Calculated For third parties motors a generic calculated motor temperature model is used to adapt the winding resistance and to detect excess temperature Tw Ti Tr Te Rwinding Housing RHousing Mounting Rmounting Environment Motor Losses otor Losses Cwin ding Chousing Cmounting C Winding UPID 120Ch R Winding Housing UPID 1210h C Housing UPID 1211h R Housing Mounting UPID 1212h C Mounting UPID 1213h R Mounting Environment
55. b E E Description ID ID 4 x lt 2 0 0 X No Operation Write Interface Control Word X Write Live Parameter Write X4 X14 Intf Outputs with Mask Select Position Controller Set X Clear Event Evaluation X Master Homing Reset On X X VAlGoToPos gt 1 0 0 In X X VAlInementDemPos 1 0 2n X X VAllnerementTargetPos 3h X X VAIGoToPosFromActPos And Act Vel x lt XX EE ele Elle Oe a lte gien eat An X X VAI Go To Pos From Act Pos Starting WithDemVel 0 5h X X VAlInerementActPos 1 0 0 0 y O LE X X VAl Increment Act Pos Starting with Dem Vel 0 EE n X X VAI Go To Pos After Actual Commande 9n X X VAlGoToAndogPos 1 1 1 0 y O Ah X X VAlGoToPosOnRisingTriggerEvent Bh X X VAl Increment Target Pos On Rising Trigger Even Ch X X VAI Go To Pos On Falling Trigger Event Dh X X VAl Increment Target Pos On Falling TriggerEvent EN X X VAI Change Motion Parameters On Positive Position Transition Fh X X VAI Change Motion Parameters On Negative Position Transition Oh_ X X Predef EE Ip X X PredefVAlInorementDemPos 11 1 y O 2n X X PredefVAlIncrement Target Pos 3h X X Predef VAI Go To Pos From Act Pos And Act Vel 4n X X Predef VAI Go To Pos From Act Pos Starting With Dem Vel 0 7h X X Predef VAI Stop With Quick Stop Deceleration
56. ce Position Unsigned Less Than 227xh Name Byte Description Type Unit Offset Header 227xh Wait Until Difference Position Unsigned Ulnt16 Less Than Diff Pos Trig Level SInt32 Can be used in a linked command table sequence 4 3 181 Wait Until Demand Velocity Greater Than 228xh Name Byte Description Type Unit Offset Header O 228xh Wait Until Demand Velocity Greater Than Uinti6 Dem Vel Trig Level SInt32 1E 6 m s Can be used in a linked command table sequence 4 3 182 Wait Until Demand Velocity Less Than 229xh NEG Byte Description Type Unit Offset Header 0 229xh Wait Until Demand Velocity Less Than ug Can be used in a linked command table sequence 4 3 183 Wait Until Actual Velocity Greater Than 22Axh Name Byte Description Type Unit Offset Header O 22Axh Wait Until Actual Velocity Greater Than Ulnt G Can be used in linked command table sequence 4 3 184 Wait Until Actual Velocity Less Than 22Bxh Name Byte Description Type Unit Offset Header 0 22Bxh Wait Until Actual Velocity Less Than UlntfG Can be used in a linked command table sequence 4 3 185 Wait Until Current Greater Than 22Exh Name Byte Description Type Unit Offset Header O 22Exh Wait Until Current Greater Than ong Can be used in linked command table sequence 4 3 186 Wait Until Current Less Than 22Fxh Name Byte Description Type Unit Offs
57. ce a startup or resynchronization to a standing master encoder is possible Move to start position of cam 1 motion e g VAI GoTo Pos 010xh Define cam 1 motion e g Encoder CAM 1 Define Curve To Pos 112xh Move to start position of cam 2 motion e g VAI GoTo Pos 010xh Define cam 2 motion e g Encoder CAM 2 Define Curve To Pos 112xh Go to synchronized cam position with 102xh After synchronized cam position is reached enable cam motion with 100xh Start turning the encoder With the following sequence a re synchronization to a moving master encoder is possible Disable cam start enable UPID 1528h and wait until cam enabled vanishes or clear also cam enabled 1BA9h Move to start position of cam 1 motion e g VAI GoTo Pos 010xh Define cam 1 motion e g Encoder CAM 1 Define Curve To Pos 112xh Define cam 2 motion e g Encoder CAM 2 Define Curve To Pos 112xh After the synchronized cam position is reached enable the cam motion with 100xh Enable cam start enable UPID 1528h 6 Command Table NOTE The command table in the B1100 drives is limited to 31 entries and is flash only for this reason it is not possible to write or modify the table over a serial interface The command table functionality can be used for programming sequences directly in the drive The following examples illustrate the possibilities of the command table The shown command table can be loaded from the defaults CT Example Imc
58. d with parameter UPID 0x1039 4 3 139 Sin VA Increment Demand Pos On Falling Trigger Event OEDxh Name Byte Description Type Unit Offset Header OEDxh Sin VA Increment Demand Pos On Falling Ulnt16 Trig ger Event 1 Par 2 Position Increment CSN hn Maximal Velocit Ulnt32 1E 6 m s 3 Par Acceleration Ulnt32 1E 5 m s This command defines a new Sin VA motion command relative move see description of command Gin VA Increment Demand Pos 0E1xh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 0x1039 4 3 140 Bestehorn VAJ Go To Pos 0FO0xh Name Byte Description Type Unit Offset Header O OFOxh Bestehorn VAJ Go To Pos Ulntt6 em Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s Ulnt32 1E 5 m s Ulnt32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed 4 3 141 Bestehorn VAJ Increment Demand Pos 0F1xh Name Byte Description Type Unit Offset Header 10 OF1xh Bestehom VAJ Increment Demand Dos Ulnt
59. def VAI 16 Bit Stop 0A7xh Name Byte Description Type Unit Offset Header OA7xh Predef VAI Stop With Quick Stop Ulnt16 Deceleration 4 3 94 Predef VAI 16 Bit Go To Pos After Actual Command 0A8xh Name Byte Description Type Unit Offset Be Ee OA8xh Predef VAI 16 Bit Go To Pos After Actual Ulnt16 Command 1 Par 2 Target Position SInt16 Scaled This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 95 Predef VAI 16 Bit Go To Pos On Rising Trigger Event 0AAxh Name Byte Description Type Unit Offset Header OAAxh Predef VAI 16 Bit Go To Pos On Rising Ulnt16 Trigger Event Target Position SInt16 4 3 96 Predef VAI 16 Bit Increment Target Pos On Rising Trigger Event OABxh Name Byte Description Type Unit Offset Header OABxh Predef VAI 16 Bit Increment Target Pos On Ulnt16 Rising Trigger Event Position Increment SInt16 4 3 97 Predef VAI 16 Bit Go To Pos On Falling Trigger Event OACxh Name Byte Description Type Unit Offset Re ed OACxh VAI 16 Bit Go To Pos On Falling Trigger Ulnt16 PEE Event Target Position SInt32 4 3 98 Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event OADxh Name Byte Description Type Unit Offset Header OADxh Predef VAI 16 Bit Increment Target Pos Ulnt16 On Falling Trigger Event Target Position SInt16 4 3 99 VAI Predef Acc Go To Pos 0BOxh Name Byte Description Type Unit
60. e Byte Description Type Unit Offset Header O 221xh Wait Until Demand Position Less Than Ulntt6 Dem Pos Trig Level SInt32 Can be used in a linked command table sequence 4 3 175 Wait Until Actual Position Greater Than 222xh Name Byte Description Type Unit Offset Header O 222xh Wait Until Actual Position Greater Than Ulnt16 Act Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 176 Wait Until Actual Position Less Than 223xh Name Byte Description Type Unit Offset Header O 223xh Wait Until Actual Position Less Than UInt16 Act Pos Trig Level 0 1 um Can be used in a linked command table sequence 4 3 177 Wait Until Difference Position Greater Than 224xh Name Byte Description Type Unit 224xh Wait Until Difference Position Greater Than Ulnt16 Diff Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 178 Wait Until Difference Position Less Than 225xh Name Byte Description Type Unit Offset Header O 1 225xh Wait Until Difference Position Less Than UlntiG Can be used in a linked command table sequence 4 3 179 Wait Until Difference Position Unsigned Greater Than 226xh Name Byte Description Type Unit Offset Header 226xh Wait Until Difference Position Unsigned Ulnt16 Greater Than Diff Pos Trig Level SInt32 Can be used in a linked command table sequence 4 3 180 Wait Until Differen
61. e Curve To Pos 1y2xh sse 63 4 3 157 Encoder Cam y Define Curve From Pos To Pos In Counts 1y3xh 64 4 3 158 Encoder Cam y Define Curve To Pos In Counts 1y4xh sss 64 4 3 159 Encoder Cam y Define Curve With Amplitude Scale In Counts 1y5xh 64 43 50 Encoder Cam y Enable CEyOXle so eie DO urbe b P ege 64 4 3 161 Encoder Cam y Disable EE 64 4 3 162 Encoder Cam y Change Amplitude Scale and Length 1y8xh 65 4 3 163 Start Command Table Command 200xh sse 65 4 3 164 Start Command Table Command On Rising Trigger Event 201xh 65 4 3 165 Start Command Table Command On Falling Trigger Event 202xh 65 4 3 166 Modify Command Table 16 bit Parameter in RAM 206xh sssssse 65 4 3 167 Modify Command Table 32 bit Parameter in RAM 209xh sssssssss 65 43 168 Wait Time EE 66 4 3 169 Wait Until Motion Finished 211xh sse 66 4 3 170 Wait Until In Target Position 212xh esses 66 4 3 171 Wait Until Rising Trigger Event CO ch 66 4 3 172 Wait Until Falling Trigger Event 214xh ettet rini 66 4 3 173 Wait Until Demand Position Greater Than CO Zb 66 4 3 174 Wait Until Demand Position Less Than O7icbi 67 4 3 175 Wait Until Actual Position Greater Than O22ichl 67 4 3 176 Wait Until Actual Position Less Than O32 vb 67 4 3 177 Wait Until Difference Positio
62. e Scale 045xh Name Byte Description Type Unit Offset Header 045xh Time Curve With Adjustable Offset Time amp Ulnt16 me Amplitude Scale 3 Pa 8 CuveTim SInt32 10us With this command all the curve parameters are defined unlike command 44xh this command defines the absolute curve time 4 3 51 Time Curve With Adjustable Offset Time amp Amplitude Scale On Rising Trigger Event 046xh Name Byte Description Type Unit Offset BEE ET Amplitude Scale On Rise Trigger Event 3 Par 8 CureTime CdS NBD Amplitude Scale 2000 2000 SInt16 On a rising trigger event start command 045xh 4 3 52 Time Curve With Adjustable Offset Time amp Amplitude Scale On Falling Trigger Event 047xh Name Byte Description Offset Header 047xh Time Curve With Adjustable Offset Time amp Ulnt16 Amplitude Scale On Falling Trigger Event ie Stee 2 SSS SSE On a falling trigger event start command 045xh 4 3 53 Time Curve To Pos With Default Speed On Rising Trigger Event 04Axh Name Byte Description Type Unit Offset Header 04Axh Time Curve To Pos With Default Speed On Ulnt16 Rising Trigger Event 1 Par 2 j CuvelD Une 1 100 2 Par 4 Target Position SInt32 On a rising trigger event start command 042xh 4 3 54 Time Curve To Pos With Default Speed On Falling Trigger Event 04Cxh Name Byte Description Type Unit Offset Header 04Cxh Time Curve To Pos With Default S
63. e Unit Offset Header OC7xh VAI Dec Acc Go To Pos From Act Pos And Ulnt16 Vel 0 With Max Curr 2 Par 6 Maximal Velocity n UInt32 1E 6 m s This command can be used after the command OC5xh to set the current to the normal value At the beginning of the motion the position controller integrator is cleared This command sets the maximal current of the actual position controller set UPID 13A6h or 13BAh to the value defined with the 4 parameter 4 3 117 VAI Dec Acc Go To Pos After Actual Command 0C8xh Name Byte Description Type Unit Offset ied A OC8xh VAI Dec Acc Go To Pos After Actual Ulnt16 E Command Target Position SInt32 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s Acceleration Deceleration Ulnt32 1E 5 m s This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 118 VAI Dec Acc Go To Pos On Rising Trigger Event OCAxh Name Byte Description Type Unit Offset We EE OCAxh VAI Dec Acc Go To Pos On Rising Trigger Ulnt16 EXE Event 1 Par 2 Target Position SInt32 S Maximal Velocit Ulnt32 1E 6 m s 3 Par Acceleration Deceleration Ulnt32 1E 5 m s 4 3 119 VAI Dec Acc Increment Target Pos On Rising Trigger Event OCBxh Name Byte Description Type Unit Offset Header OCBxh VAI Dec Acc Increment Target Pos On Ulnt16 Rising Trigger Event Position Increment SInt32 2 Par 6 Maximal Velocity U
64. e Var 1 Add Val 1 11 IF Yari lt 5 E MC SW Curve 11 IF Var 5 IF Cmd Table Var 1 Less Than Val 5 True Cmd ID 6 False Cmd ID 12 None MC Sw PVT Stream 12 End Seq No peration None MC SW Monitoring 13 MC SW Errors 14 Reduce Force White Live Parameter UPID 1346h M Value 1A 15 GoTo 50mm E MC SW Encoder CAM 15 GoTo 50mm VAI Go To Pos Pos 50 mm Vel 05m s Ace 1 m s 2 Dec 1 nde 16 Wait Motion El we SL bis d s deg 16 WaitMotion Done Wait until Motion Finished 17 Test For Part B ommand Table E 7 Test For Part IF Actual Position Less Than Val 48 mm True Cmd ID 18 False Cmd ID 21 None rome cM 18 GoToOmm VAI Go To Pos Pos Omm Vet 1 m s Ace Ins Decl0m s2 19 Set Normal F E ES deco se 19 Set Normal Force Write Live Parameter UPID 1346h M Value 44 20 CT Vari 0 Ke 20 CT Varl Set Cmd Table Var 1 To Set Val 0 None Ee 21 GoToOmm V Go To Pos Pos 0 mm Vel 1 m s Acc 10 m s 2 Dec 10 m s 2 22 Set Normal F e Curves 22 Set Normal Force Write Live Parameter UPID 1346h M Value 44 23 CT Varl 1 Command Tabia 23 CT Varl 1 Set Cmd Table Var 1 To Set Val 1 None 24 25 The first sequence ID1 ID2 and ID3 shows a simple sequence GoTo 50mm wait until motion is completed and then go back to Omm The second sequence ID5 12 repeats 5 times the Sequence GoTo 50mm GoTo 0mm ID 5 Set Command Table To Var 12 0 ID 6 GoTo 50mm ID 7 Wait Until In Target Position ID 8 GoTo 0mm ID
65. e set 7 2 1 1 X4 3 Brake Operation Enabled Behavior The following figure shows the behavior when only the brake mode Status Word Operation Enabled is selected If only this switch with UPID 1717h is activated no apply or release delay time is regarded Operation Enabled Brake Out X4 3 7 2 1 2 X4 3 Brake Operation Abort Behavior When set the brake mode to Ctrl Word Abort the brake is applied in state Aborting 12 and the maximal current of the motor is set to OA If using this behavior ensure that the maximal current UPID 13A6h and 13BAh is not set over a serial bus during the state Aborting 12 Operation Enabled Apply Delay Time Abort 2 l e Brake Out X4 3 Stopping Release Delay Time Maximal Current Parameter Name UPID Description Apply Delay 171Bh Delay time after brake output goes to OV until the maximal Time current of the motor is set to OA UPID 13A6h and 13BAh Release Delay 171Ch Delay time of the Status Word bit Operation Enabled after Time the motion has stopped 7 2 1 3 X4 3 Brake Operation Quick Stop Behavior If also the Quick Stop brake behavior is selected the brake is applied X4 3 OV as soon as the motion has stopped then the reset of the Operation Enabled bit is delayed by the apply delay time which then also powers off the motor Apply Delay Time Quick Stop j Operation Enabl
66. ed Brake Out X4 3 Stopping Parameter Name UPID Description Apply Delay 171Bh Delay time of the Status Word bit Operation Enabled after Time the motion has stopped 7 2 2 X4 6 Trigger For the trigger input which is evaluated in the motion control task different evaluation modes are supported Parameter Name UPID Description Trigger Modes 170Ch Trigger mode selection e 0 None 1 Direct 2 Inhibited 3 Delayed 4 Inhibited amp Delayed 7 2 2 1 Direct Trigger Mode In the Direct Trigger Mode copies the trigger input directly copied to the trigger output which is used by the MC SW No parameter configuration is needed for this mode Trigger In Trigger Out 7 2 2 2 Inhibited Trigger Mode The Inhibit Trigger Mode can be used to debounce a jittering trigger input without delay This method doesn t increase the noise immunity Trigger In j Trigger Out Parameter Name UPID Description Rise Inhibit Time 170Dh isi Fall Inhibit Time 170Eh Inhibit time after falling edge of trigger in signal ti 7 2 2 3 Delayed Trigger Mode The Delayed Trigger Mode can be used to delay an action following the rising or falling trigger event i j TriggerIn ri C ATE Jar ATE Trigger Out dL Parameter Name UPID Description Rise Delay Time 170Fh Trigger Out dela
67. ed 042xh Name Byte Description Type Unit Offset Header O 042xh Time Curve To Pos With Default Speed BI are p aee M Uint16 1 100 2 Par Target Position SInt32 0 1 um This command sets the curve offset to the actual demand position and scales the curve the way that the target position is reached at the end the scaling range is 2000 2000 if this range is exceeded an error will be generated then starts the specified time curve with the default curve speed parameter 4 3 48 Time Curve To Pos With Adjustable Time 043xh Name Byte Description Type Unit Offset Header 0__ 043xh Time Curve To Pos With Adjustable Time Uinti6_ 3 Par 8 CurveTime LS 10us This command sets the curve offset to the demand position and scales the curve the way that the target position is reached at the end the scaling range is 2000 2000 if this range is exceeded an error will be generated The curve time is taken from the motion command 4 3 49 Time Curve With Adjustable Offset Time Scale amp Amplitude Scale 044xh Name Byte Description Type Unit Offset Header 044xh Time Curve With Adjustable Offset Time Ulnt16 za Scale amp Amplitude Scale ERZE 2 Par 4 CurveOfse SInt32 01um 3 Par 8 j TimeScale 0 200 UlIntf6 0 0120 With this command all the curve parameters are defined 4 3 50 Time Curve With Adjustable Offset Time amp Amplitud
68. elf 4 3 135 Sin VA Go To Analog Pos 0E9xh Name Byte Description Type Unit Offset Header 0 0E9xh Sin VA Go To Analog Pos Ulti6 Maximal Velocit Ulnt32 1E 6 m s 2 Par 6 Acceleration UInt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity This command sets a new Target Position Calculated from the analog input on X4 4 or X20 4 3 136 Sin VA Go To Pos On Rising Trigger Event OEAxh Name Byte Description Type Unit Offset Header O OEAxh Sin VA Go To Pos On Rising Trigger Event Ulnt16 1 Par SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s This command defines a new Cos motion command see description of command Sin VA Go To Pos OEOxh The command will be started on each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Sin VA motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 0x1039 4 3 137 Sin VA Increment Demand Pos On Rising Trigger Event OEBxh Name Byte Description Type Unit Offset Header OEBxh Sin VA Increment Demand Pos On Rising Ulnt16 Trigger Event SInt32 2
69. ement Demand Pos On Rising Trigger Event 0EBxh 58 4 3 138 Sin VA Go To Pos On Falling Trigger Event 0ECxh sss 58 4 3 139 Sin VA Increment Demand Pos On Falling Trigger Event 0EDxh 59 4 3 140 Bestehorn VAJ Go To Pos Ob 59 4 3 141 Bestehorn VAJ Increment Demand Pos OF Ixh sss 59 4 3 142 Bestehorn VAJ Go To Pos From Actual Pos OFZch 60 4 3 143 Bestehorn VAJ Increment Actual Pos 0F6xh esse 60 4 3 144 Bestehorn VAJ Go To Pos After Actual Command 0FSxh sss 60 4 3 145 Bestehorn VAJ Go To Analog Pos 0F9xh essen 61 4 3 146 Bestehorn VAJ Go To Pos On Rising Trigger Event OP Ach 61 4 3 147 Bestehorn VAJ Increment Demand Pos On Rising Trigger Event 0FBxh 61 4 3 148 Bestehorn VAJ Go To Pos On Falling Trigger Event 0FCxh 62 4 3 149 Bestehorn VAJ Increment Demand Pos On Falling Trigger Event OF Dxh 62 43 2190 Encoder Cam Enable E EE 62 4 3 151 Encoder Cam Disable C UTUI e siet tenes neu ones t e dep ta den va 63 23 132 Encoder Cam Go To Sync Pos 102xh e dim rro Re OR TREND 63 4 3 153 Encoder Cam Set Value CHMXBEs ube dreet eet bet ei rata tntrcak agencia neci iut 63 4 3 154 Encoder Cam y Define Curve With Default Parameters 1yOxh 63 4 3 155 Encoder Cam y Define Curve From Act Pos lylxh sssssssssssss 63 4 3 156 Encoder Cam y Defin
70. en over a serial bus interface Apart from this general functionality a few lOs have a special functionality Descriptor General Special Functions Purpose IO Home Switch Input Limit IN Input Limit OUT Input 24V Step Input X4 10 PTC 1 Input 24V Direction Input X4 11 PTC 2 Input X4 12 No SVE Safety Voltage Enable Input 7 2 1 X4 3 Brake X31 X32 with E1400 Drive With the E1400 drives the brake is available only on the X32 connector the X31 connector has to be used for supplying the brake driver Apart from this the functionality of the E1400 brake is identically with the brake on the X4 3 connector The output X4 3 can drive up to 1A so it can be used to control directly a valve of a pneumatic brake module For this reason this output can be configured as brake output The cases in which the brake has to be applied or released are configured over the brake mode parameters The brake output is controlled from the state machine Parameter Name UPID Description Status Word 1717h The brake is released X4 3 24V when bit 0 of the status Operation word Operation Enabled is set Otherwise the brake is Enabled applied Ctrl Word Abort 1718h The brake is applied X4 3 OV when entering the Aborting State 12 and released X4 3 24V when going to Operation Enabled State 8 in Quick Stop 1716h Special brake behavior with Quick Stop Brake Mode Status Word Operation Enabled has also to b
71. er speed is calculated Bigger values generate a smother master encoder speed but generate a bigger delay time of the speed which may be a problem if the master encoder speed varies quickly Parameter Name UPID Description Speed Filter 1293h Time over which the Master Encoder speed is generated Time 7 4 Monitoring All drive series support enhanced monitoring features of the supply voltages and the board temperatures 7 4 1 Logic Supply Voltage The logic supply voltage must be in the range from 20V to 28V when using the default parameter settings If the supply voltage goes out of this range an error will be generated If the supply voltage goes below approx 18V the servo drive shuts down Parameter Name UPID Description Logic Supply 100Eh If the logic supply voltage sinks below this limit the error 01h Voltage Too Low will be generated Parameter Name UPID Description Logic Supply 1010h If the logic supply voltage rises above this limit the error 02h Voltage Too High will be generated 7 4 2 Motor Supply Voltage The motor supply voltage can be monitored with different warn and error levels Parameter Name UPID Description Motor Supply 1018h If the motor supply voltage sinks below this limit the warn bit Voltage Low Motor Supply Voltage Low bit 2 is set Motor Supply 1019h If the logic supply voltage rises above this limit the warn bit Voltage High Motor Supply Voltage High bit 3 is set
72. erCAT offer other ways to access the control word directly Mostly a direct access is more comfortable than the way over the motion command interface 4 3 3 Write Live Parameter 002xh Name Byte Description Type Unit Offset Header O 002xh Write Live Parameter Ulntt6 UPID Unique Parameter ID Ulntt6 Parameter Value the Unit depends on Parameter This command allows writing any live parameter s ram value through the motion command interface The parameter has to be specified by its UPID Unique Parameter ID In order to keep the interface as simple as possible any parameter can be accessed as 32bit integer value The drive s operating system will filter out the relevant number of bits for parameters with smaller data size e g only the lowest bit is considered for Boolean parameters The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer other ways to read and write parameter values directly Mostly a direct access is more comfortable than the way over the motion command interface 4 3 4 Write X4 Intf Outputs with Mask 003xh Name Byte Description Type Unit Offset Header O 003xh Write X4 Intf Outputs with Mask Ulntt6 Bit Mask Bit 0 X4 3 Bit 1 X4 A4 Ulni6 Bit Value Bit 0 X4 3 Bit 1 X44 Ulti6 This command allows writing the configured X4 interface outputs with a write mask through the motion command interface To write an out
73. et Header O 22Fxh Wait Until Current Less Than Ulti6 Dem Curr Trig Level Sint16 Can be used in a linked command table sequence 4 3 187 Set Cmd Table Var 1 To 240xh Name Byte Description Type Unit Offset Header O 240xh Set Cmd Table Var 1 To Ulti6 Sint32 4 3 188 Add To Cmd Table Var 1 241xh Name Byte Description Type Unit Offset Header O 241xh Add ToCmdTableVar1 une 1 Pa 2 Addvaue Jans amp 4 3 189 Set Cmd Table Var 2 To 242xh Name Byte Description Type Unit Offset Header O 242xh SetCmdTableVar2To Ulnti6 EE 4 3 190 Add To Cmd Table Var 2 243xh Name Byte Description Type Unit Offset Header O 243xh Add To Cmd Table Var2 Ulntf 1 Par_ 2_ re 4 3 191 Write Cmd Table Var 1 To UPID RAM value 248xh Name Byte Description Type Unit Offset Header O 248xh Write Cmd Table Var 1 To UPID RAM value UInti6 1 Par 2 UPID Unique Parameter ID Ultt6 4 3 192 Write Cmd Table Var 2 To UPID RAM value 249xh Name Byte Description Type Unit Offset Header O 249xh Write Cmd Table Var 2 To UPID RAM value Ulnt G 1 Par 2 UPID Unique Parameter ID Ulnt t6 4 3 193 Write UPID RAM Value To Cmd Table Var 1 24Cxh Name Byte Description Type Unit Offset Header 0 24Cxh Write UPID RAM value To Cmd Table Var 1 Ulnt 6
74. f period sine motion profile regarding the limitations of maximal acceleration and maximal velocity 4 3 131 Sin VA Increment Demand Pos 0E1xh NEUI Byte Description Type Unit Offset Header O OE1xh Sin VA Increment Demand Pos Ulti6 Position Increment SInt32 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Demand Position value relative move The command execution starts immediately when the command has been sent 4 3 132 Sin VA Go To Pos From Actual Pos 0E4xh Name Byte Description Type Unit Offset Header O OE4xh Sin VA Go To Pos From Actual Pos Ulti6 Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s Un 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity The command execution starts immediately when the command has been sent This command should be used if the Actual Position does not match with the current Demand Position value but it can be assumed that the motor stands still Actual Velocity assumed to be zero e g because the motor stands on a hard stop This can happen after a Press command where the actual motor position is defined through external condi
75. fset Header O 01Cxh VAI Go To Pos On Falling Trigger Event Ulti6 Target Position SInt32 2 Par 6 Maximal Velocit UInt32 1E 6 m s Ulnt32 1E 5 m s UInt32 1E 5 m s 4 3 22 VAI Increment Target Pos On Falling Trigger Event 01Dxh Name Byte Description Type Unit Offset Header 01Dxh VAI Increment Target Pos On Falling Ulnt16 Trigger Event LZ Dar 6 X MaxmalVelociy UInt22 TE 6 m s 4 3 23 VAI Change Motion Parameters On Positive Position Transition 01Exh Name Byte Description Type Unit Offset Gee aaa ball Position Transition 2 Par 6 Max Velocity After Event Linz 1E 6 m s This motion command moves an event change position an event maximal speed an event acceleration and an event deceleration to the event instance and starts the event evaluation As soon as the demand position crosses the event change position in the positive direction the VAI is changed with event values the target position rests unchanged 4 3 24 VAI Change Motion Parameters On Negative Position Transition 01Fxh Name Byte Description Type Unit Offset Header ERES VAI Change Motion Parameters On Ulnt16 Negative Position Transition 2 Par 6 Max Velocity After Event Lui 1E 6 m s This motion command moves an event change position an event maximal speed an event acceleration and an event deceleration to the event instance and starts the event evaluation As soon as the de
76. g period has to be as constant as possible For the derivation of the velocity and the acceleration the configured streaming period time 14E6h is taken to minimize the communication time jitter 4 3 41 PV Stream With Slave Generated Time Stamp Stamp and Configured Period Time 033xh Name Byte Description Type Unit Offset ee e 033xh PV Stream With Slave Generated Time Ulnt16 Stamp Stamp and Configured Period Time Sint32 2 Pa 6 Velocity SInt2 This command can be used for cyclic streaming of position and velocity setpoints This is possible if master provides NC functionality The commands have to be sent strictly cyclic in order to prevent buffer underflow buffer overflow errors The period length must be in the time range of 0 4ms 10ms The setpoint time stamp is generated by the slave s interface when the command is received receive time stamp The first two streaming commands are used to determine the nominal period length The setpoints are Than delayed 1 5 times the period length Between the setpoints the slave performs a fine interpolation Since acceleration setpoint derivation is less sensitive to bus jitters it is recommended to use this command PV streaming instead of the simple P streaming command whenever possible For the derivation of the velocity and the acceleration the configured streaming period time 14E6h is taken to minimize the communication time jitter 4 3 42 PVA Stream Wi
77. generation resistor can be defined The turn on voltage has to be at minimum 0 5V higher than the turn off voltage Ensure that the idle motor supply voltage is lower than the turn off voltage Parameter Name UPID Description side switch of the regeneration output is activated side switch of the regeneration output is turned off With the RR Temp Calculated section the temperature model of the regeneration resistor is parameterized This is used for avoiding damages to the regeneration resistor if the energy dissipation rises over the resistor s capabilities Parameter Name UPID Description RR Resistance 1022h Resistance value of the regeneration resistor This value is used for calculating how much heat energy is generated in the resistor at the current DC link voltage Warning Temp 1024h If Calc Temp RR Winding UPID1CODh of the calculated temperature model rises above this value bit 10 of the Warn Word is set H Calc Temp RR Winding UPID1CODh of the calculated temperature model rises above this value the drive goes to error state with the error 15h In the Temp Model Parameters section the regeneration resistors temperature model is defined Parameter Name UPID Description 1026h Heat capacity of the resistor winding itself R Winding 1027h Thermal resistance value between resistor winding and its Housing housing 1028h Heat capacity of the resistor housing Environment environment Temperature
78. h2 Wired To Ph1 034h Err Ph2 Wired To Ph1 EE e 035h Err Ph2 Not Wired To Ph2 036h Err Ph1 Short Circuit To Ph2 0037h Err Ph1 Short Circuit To Ph2 0038h Err Ph2 Short Circuit To Ph1 0039h Err Ph2 Short Circuit To Ph1 e O3Ch Err Phase W Broken O3Ah Err Phase U Broken O3Bh Err Phase V Broken Short circuit between motor phase 1 and phase 2 detected Recommended actions check motor wiring check motor Motor phase 1 has contact to phase 2 Recommended actions check motor wiring check motor Motor phase 1 has contact to phase 2 Recommended actions check motor wiring check motor Motor phase 1 has no connection to phase 1 Recommended actions check motor wiring check motor Motor phase 2 has contact to phase 1 Recommended actions check motor wiring check motor Motor phase 2 has contact to phase 1 Recommended actions check motor wiring check motor Motor phase 2 has no connection to phase 2 Recommended actions check motor wiring check motor Short circuit between motor phase 1 and phase 2 detected Recommended actions check motor wiring check motor Short circuit between motor phase 1 and phase 2 detected Recommended actions check motor wiring check motor Short circuit between motor phase 2 and phase 1 detected Recommended actions check motor wiring check motor Short circuit between motor phase 2 and phase 1 detected Recommended action
79. hich position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 60 Modify Curve Data Block 32 Bit Value in RAM 054xh Name Byte Description Type Unit Offset Be eg 054xh Modify Curve Data Block 32 Bit Value in Ulnt16 HER RAM Ulnt16 1 100 Offset in Byte Uint16 ES Cy Curvepointvalue Sint32 This command allows to modify in RAM a 32 bit value within the Curve Data Block of a curve with existing curve start address and curve info header block with the given ID The offset argument defines on which position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of othe
80. ion in negative direction the parameters for velocity acceleration and deceleration will be changed to the values defined in the command 4 3 88 Predef VAI 16 Bit Go To Pos 0A0xh AEG Byte Description Type Unit Offset Header O OAOxh Predef VAI 16 Bit Go To Pos Uinti6 Target Position SInt16 4 3 89 Predef VAI 16 Bit Increment Dem Pos 0A1xh Name Byte Description Type Unit Offset Header O OA1xh Predef VAI 16 Bit Increment Dem Pos Uinti6 Position Increment SInt16 4 3 90 Predef VAI 16 Bit Increment Target Pos 0A2xh Name Byte Description Type Unit Offset Header O OA2xh Predef VAI 16 Bit Increment Target Pos Ulti6 Position Increment SInt16 4 3 91 Predef VAI 16 Bit Go To Pos From Act Pos And Act Vel OA3xh Name Byte Description Type Unit Offset Header OA3xh VAI 16 Bit Go To Pos From Act Pos And Ulnt16 Act Vel 1 Par 2 Target Position SInt16 Scaled This command starts a new VAI setpoint generation from the actual position can be used after a press command 4 3 92 Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 0A4xh Name Byte Description Type Unit Offset Header OA4xh Predef VAI 16 Bit Go To Pos From Act Pos Ulnt16 Starting With Dem Vel 0 Target Position SInt16 This command starts a new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 93 Pre
81. itch On 2 E Bit 071 HW Tests 5 Y Ready to Operate 6 HS Bit 3 1 Error Behavior I 0 Enabled 8 Quick Stop 14 Bit 0 0 Bit 1 0 x Bit 2 0 Switch Off SE Disable QuickStop Voltage Error 4 A Setup Error 3 Homing 9 Aborting 12 Going To Position 15 Freezing 13 Linearizing 18 Clearance Checking 10 Jogging 16 Phase Searching 19 Going To Initial Position 11 Jogging 17 Special Mode 20 The state machine can be followed in the PLCs with fieldbus using the the StateVar This re sponse word can be configured for any supported fieldbus State Var Main State Sub State The State Var is divided into two sections the Main State section high byte contains directly the number of the state machine the content of the Sub State low byte is state depending State Var Main State Sub State 01 Switch On Disabled Ju LI Ready ToSwith Ont OE Bee EE 08 Operation Enabled Bits 0 3 Motion Command Count Bit 4 Event Handler Active Bit 5 Motion Active Bit 6 In Target Position Bit 7 Homed 09 Homing 0Fh Homing Finished 10 Clearance Check OFh Clearance Check Finished 11 Going To Initial Position OFh Going To Initial Position Finished Not yet defined 12 Not yet defined 14 Quick Stop Er
82. lnt32 1E 6 m s Acceleration Deceleration Ulnt32 1E 5 m s 4 3 120 VAI Dec Acc Go To Pos On Falling Trigger Event OCCxh AEG Byte Description Type Unit Offset EORR EE OCCxh VAI Dec Acc Go To Pos On Falling Trigger Ulnt16 E Event Target Position SInt32 2 Par 6 Maximal Velocit UInt32 1E 6 m s Acceleration Deceleration UInt32 1E 5 m s 4 3 121 VAI Dec Acc Increment Target Pos On Falling Trigger Event OCDxh Name Byte Description Type Unit Offset Header OCDxh VAI Dec Acc Increment Target Pos On Ulnt16 Falling Trigger Event Position Increment SInt32 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s Acceleration Deceleration UInt32 1E 5 m s 4 3 122 VAI Increment Captured Pos 0DOxh Name Byte Description Type Unit Offset Header O ODOxh VAI Increment Captured Pos Ulti6 Captured Position Increment SInt32 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s Ulnt32 1E 5 m s UInt32 1E 5 m s Go to the target position Captured Pos Captured Increment Position 4 3 123 VAI 16 Bit Dec Acc Go To Pos 0D1xh Name Byte Description Type Unit Offset Header O 0D1xh VAI 16 Bit Dec Acc Go To Pos Ulti6 Target Position SInt16 Maximal Velocit Ulnt16 3 Par 6 Acceleration Deceleration Ulnt16 This command sets a new Target Position and defines the maximal velocity acceleration and deceleration for going there The Target Position is calculated by adding the
83. m is possible with any fieldbus A new motion command can be setup when the Motion Command Count has changed to the last sent and the Motion Active bit is O or the In Target Position bit is 1 if an exact positioning is required 3 9 State 9 Homing The homing state is used to define the position of the system according a mechanical reference a home switch or an index For LinMot motors the slider home position at this home position is taken to compensate edge effects In the home sequence a position check of two positions and the motion to an initial position can be added Hint If a mechanical stop homing mode is chosen the initial position should be a little apart from this mechanical stop to avoid overheating of the motor 3 10 State 10 Clearance Check Setting the Clearance Check bit in the Control Word two positions are moved to to check if the whole motion range is free Normally this action is added to the homing sequence to ensure that the homing was done correctly 3 11 State 11 Going To Initial Position Setting the Go To Initial Position bit in the control word the servo moves to the initial position normally used to move away from the mechanical stop after homing to protect the motor from overheating at the mechanical stop After an error it is also recommended to move to a defined position again 3 12 State 12 Aborting Clearing the Abort bit in the control word initiates a quick stop After the mo
84. mand position crosses the event change position in the negative direction the VAI is changed with event values the target position rests unchanged 4 3 25 Predef VAI Go To Pos 020xh Name Byte Description Type Unit Offset Header O 020xh Predef VAI Go To Pos Ulti6 Target Position SInt32 4 3 26 Predef VAI Increment Dem Pos 021xh Name Byte Description Type Unit Offset Header O 021xh Predef VAI Increment Dem Pos Ulti6 Position Increment SInt32 4 3 27 Predef VAI Increment Target Pos 022xh Name Byte Description Type Unit Offset Header O 022xh Predef VAI Increment Target Pos Opel 4 3 28 Predef VAI Go To Pos From Act Pos and Act Vel 023xh Name Byte Description Type Unit Offset EE ed 023xh Predef VAI Go To Pos From Act Pos And Ulnt16 EI Act Vel Target Position SInt32 This command starts the new VAI setpoint generation from the actual position can be used after a press command 4 3 29 Predef VAI Go To Pos From Act Pos Starting With Dem Vel 0 024xh Name Byte Description Type Unit Offset Header 024xh Predef VAI Go To Pos From Act Pos With Ulnt16 Dem Vel 0 Target Position SInt32 This command starts the new VAI Setpoint generation from the actual position and the start velocity is forced to zero can be used after a press command 4 3 30 Predef VAI Stop 027xh Name Byte Description Type Unit Offset Pa 017xh Predef VAI Stop With Quick Sto
85. mmand 4 3 104 VAI Predef Acc Go To Pos After Actual Command 0B8xh Name Byte Description Type Unit Offset Een SEN OB8xh VAI Predef Acc Go To Pos After Actual Ulnt16 EX Command Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 105 VAI Predef Acc Go To Pos On Rising Trigger Event OBAxh Name Byte Description Type Unit Offset Header OBAxh VAI Predef Acc Go To Pos On Rising Ulnt16 Trigger Event Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s 4 3 106 VAI Predef Acc Increment Target Pos On Rising Trigger Event OBBxh Name Byte Description Type Unit Offset ur c E Rising Trigger Event 2 PPa 6 Maximal Velocity UInt32 1E 6 ns 4 3 107 VAI Predef Acc Go To Pos On Falling Trigger Event OBCxh Name Byte Description Type Unit Offset ESSENT OBCxh VAI Predef Acc Go To Pos On Falling Ulnt16 Trigger Event Target Position SInt32 3 Par 6 Maximal Velocit Ulnt32 1E 6 m s 4 3 108 VAI Predef Acc Increment Target Pos On Falling Trigger Event OBDxh Name Byte Description Type Unit Offset Header OBDxh VAI Predef Acc Increment Target Pos On Ulnt16 Falling Trigger Event SInt32 3 Par 6 Maximal Velocit Ulnt32 1E 6 m s 4 3 109 VAI Dec Acc Go To Pos 0COxh Name Byte Description Type Unit Offset Header O
86. n Greater Than 224xh sss 67 4 3 178 Wait Until Difference Position Less Than 225xh sss 67 4 3 179 Wait Until Difference Position Unsigned Greater Than 226xh 67 4 3 180 Wait Until Difference Position Unsigned Less Than 227xh sss 67 4 3 181 Wait Until Demand Velocity Greater Than 2268xhy sss 68 4 3 182 Wait Until Demand Velocity Less Than OG 20vb sss 68 4 3 183 Wait Until Actual Velocity Greater Than O2Axcb sss 68 4 3 1864 Wait Until Actual Velocity Less Than 22Bxh sse 68 4 3 185 Wait Until Current Greater Than 22bExh eet tri tt e nts 68 4 3 1856 Wait Until Current Less Than CL iie due tra iit dene rns ebat 68 4 3 187 Set Cmd Table Var EE 69 4 3 188 Add To Cmd Table Var EE 69 4 3 189 Set Cmd Table e EE 69 4 3 190 Add To Cmd Table Var 2 EE 69 4 3 191 Write Cmd Table Var 1 To UPID RAM value GA ch sess 69 4 3 192 Write Cmd Table Var 2 To UPID RAM value G Z ch 69 4 3 193 Write UPID RAM Value To Cmd Table Var 1 24Cxh sss 69 4 3 194 Write UPID RAM Value To Cmd Table Var 2 24Dxhy sess 69 23 1905 IF Cmd Table Var 1 Less Than EE 70 4 3 196 IF Cmd Table Var 1 Greater Than 251xh sese 70 451907 IF Cmd Table Var 1 Less Than EE 70 4 3 198 IF Cmd Table RE E 70 4 3 199 IF Demand Position Less Than ebe egetteeut eist dE SEBES 70 4 3 200 IF Demand Position Greater Than O30vcbh sse
87. nd Reset Force Control Set 387xh Name Byte Description Type Unit Offset Header 387xh VAI Go To Pos From Act Pos And Reset Ulnt16 Force Control Set 2 Par_ 6____ Maximal Velocity n UInt32 1E 6 m s Reinstalls the position control mode and moves to the incremented target position The part of the position controller is set to the last force control current 4 3 225 Current Command Mode 390xh Name Byte Description Type Unit Offset Header O 390xh Current Command Mode Uinti6 Demand Current Sint32 0 001 A Change in Current Command mode if not yet and set demand current 4 3 226 Change to Position Controlled Mode 39Fxh Name Byte Description Type Unit Offset Header O 39Fxh Change to Position Controlled Mode Ulti6 Go back to position controlled mode 5 Setpoint Generation 5 1 VA Interpolator The VA Interpolator generates a position curve from one position to another due to the parameter values of acceleration deceleration and a maximal speed A new target position can be set even if the old target position was not reached Acceleration Velocity Position 5 1 1 1 Parameters and Output The VA Interpolator is defined by the following parameters Target Position SInt32 0 1um s Maximal Speed UInt32 1E 6 m s Acceleration UInt32 1E 5 m s Deceleration UInt32 1E 5 m s The VA Interpolator generates as outputs e Position SInt
88. ne eee nnne eene eene nnne n nnn nnna 26 4 3 1 No Operation EE 26 4 3 2 Write Interface Control Word 00 KI eiie per taie t b Hier ced 26 4 3 3 Write Live Parameter EG 26 4 3 4 Write X4 Intf Outputs with Mask OU ch sss 26 4 3 5 Select Position Controller Set E 27 4 3 6 Clear Event Evaluation Ud ch esses seen 27 4 3 7 Master Homing UO XT uoces paseo voe BEDV n e lo RU e eco die n Cr a NOL 27 LESE dC Caci PC 27 4 3 9 VALGO TOPOS dE EE 27 4 3 10 VAI Increment Dem EE 28 4 3 11 VAI Increment eelere DEE 28 4 3 12 VAI Go To Pos From Act Pos And Act Vel 013xh sse 28 4 3 13 VAI Go To Pos From Act Pos Starting With Dem Vel 0 014xh 29 4 3 14 VAI Increment Act Pos OLIN accio uode ban b Reo lU SOROR ERR 29 4 3 15 VAI Increment Act Pos Starting With Dem Vel 0 016xh sss 29 4 316 VAL MODE tete eyed iei EE 30 4 3 17 VAI Go To Pos After Actual Command 018xh sse 30 4 3 18 VAI Go To Analog Pos OTIS amp au a EE ROI ROV EE 30 4 3 19 VAI Go To Pos On Rising Trigger Event UI Ach 30 4 3 20 VAI Increment Target Pos On Rising Trigger Event 01Bxh sss 30 4 3 21 VAI Go To Pos On Falling Trigger Event 01Cxh sss 31 4 3 22 VAI Increment Target Pos On Falling Trigger Event 7 Dh 3l 4 3 23 VAI Change Motion Parameters On Positive Position Transition 01Exh 31 4 3 24 VAI Change Motion Parameters On Negative Position Transition O1F
89. ng Trigger Event With Delay Counts Target Pos and Length 06Axh Name Byte Description Type Unit Offset fe ER d RN With Delay Counts Target Pos and Length RHENO NT TTC g 3 Par 8 TaretPostin SlInt32 0 1um Setup in the event handler to start a cam curve on the rising trigger event with the specified curve ID and the specified delay counts to specified target position in specified counts The specified curve ID is written to the RAM value of UPID 154Ah and the specified cam start delay is written to the RAM value of UPID 154Ch Use the infinite cam length UPID1527h for triggered cam motions 4 3 65 Setup Encoder Cam On Falling Trigger Event With Delay Counts 06Bxh Name Byte Description Type Unit Offset lid UE lbid RN Event With Delay Counts picpar P S Gelb c 2 Pa 4 Curve Start Delay Count LUS ing Setup in the event handler to start a cam curve on the falling trigger event with the specified curve ID and the specified delay counts The specified curve ID is written to the RAM value of UPID 154Bh and the specified cam start delay is written to the RAM value of UPID 154Dh Use the infinite cam length UPID1527h for triggered cam motions 4 3 66 Setup Encoder Cam On Falling Trigger Event With Delay Counts Target Pos and Length 06Cxh Name Byte Description Type Unit Offset Header 06Cxh Setup Encoder Cam On Falling Trigger Ulnt16 Event With Delay Counts Target Pos and Length
90. od time the delay is 3ms Fine interpolation each 0 3125ms Set point calculated by master each 2 to Sms In the P streaming mode it is possible that depending on the cycle time a quiet noisy motion is generated this because of the twice derivation of the position signal to generate the acceleration value In this case it is recommended to set the position controller value FF Acceleration UPID 0x13A0 and 0x13B4 to zero 1 P V Streaming with CANOpen is only possible with transmission type 1 synchronous transmission 5 5 Cam Motions NOTE Cam motions are not available in the B1100 drives For high speed synchronization different modes of cam motions are supported The motions are defined with cam curves which can be defined with the curve tool of the LinMot Talk software 5 5 1 Triggered Cam Motions For triggered cam motions setup the master encoder and then set cam mode UPID1527h to infinite length Then use the motion commands 069xh or 06Bxh to setup the cam curves which should be started at the trigger event or use the triggered cam curve run mode 5 5 2 Repeated Cam Motions with the Modulo CamMode For repeated cam motions setup the master encoder and then set cam mode UPID1527h to modulo cam length The cam length can be defined independently from the master encoder length So with a 8000 counts ABZ master encoder also 16 000 counts or 4 000 counts cam length is possible With the following sequen
91. on Encoder Source 172Ah Defines the source of the Master Encoder e 0 None e 1 Encoder Input X10 e 2 Ext Sensor Input X12 The encoder type parameter defines the signal type of the master encoder At any rate the signals have to be differential RS422 When using a SD Z master encoder the step signal has to be connected to A A Dir signal to B B and the Zero to Z Z Parameter Name UPID Description Encoder Type 128Eh Defines the Master Encoder Type e 0 None 1 ABZ 2 AB 4 Step Dir SD 5 Step Dir Zero SDZ The decoding parameter defines how many edges of the signals are evaluated For AB Z encoder types 1x 2x 4x decoding is valid for SD Z encoder types only 1x and 2x decoding is valid If 4x decoding is selected a 2x decoding is forced without error generation Parameter Name UPID Description Decoding 128Fh Defines the Master Encoder decoding e 0 1x e 1 2x e 2 4x With the direction parameter the count direction of the encoder evaluation can be defined Parameter Name UPID Description Direction 1290h Defines the Master Encoder direction e 0 Positive e 1 Negative The Counts Revolution parameter defines the number of counts per revolution for ABZ or SDZ master encoders Parameter Name UPID Description Counts 1291h Only used for ABZ or SDZ encoders to define the counts Revolution per revolution The Speed Filter Time parameter defines the time over which the master encod
92. on move after a press command If the position increment argument is zero then this command defines the actual motor position as new setpoint 4 3 16 VAI Stop 017xh AEU Byte Description Type Unit Offset Header 0 017xh VAI Stop UmSeqe UInt32 1E 5 m s 4 3 17 VAI Go To Pos After Actual Command 018xh Name Byte Description Type Unit Offset Header O 018xh VAI Go To Pos After Actual Command Ulnt 6 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s Ulnt32 1E 5 m s UInt32 1E 5 m s This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 18 VAI Go To Analog Pos 019xh Name Byte Description Type Unit Offset Header O 019xh VAI Go To Analog Pos sd Unt 2 Par_ 6_ Acceleration LUinG2 1E 5 m s 4 3 19 VAI Go To Pos On Rising Trigger Event 01Axh Name Byte Description Type Unit Offset Header O 01Axh VAI Go To Pos On Rising Trigger Event jUlntl6 2 Par 6 Maximal Velocity LU 1E 6 m s 4 Par Deceleration UInt32 JE 5 m s 4 3 20 VAI Increment Target Pos On Rising Trigger Event 01Bxh Name Byte Description Type Unit Offset ESSERI 01Bxh VAI Increment Target Pos On Rising Trigger Ulnt16 EN Event 2 Par 6 Maximal Velocity UInt32 1E 6 m s 4 3 21 VAI Go To Pos On Falling Trigger Event 01Cxh Name Byte Description Type Unit Of
93. only used for homing e 1 Power Off e 2 Quick Stop 7 2 4 X4 10 and X4 11 PTC 1 and PTC2 On IO pins X4 10 and X4 11 PTC sensors can be connected to supervise an over temperature of a motor and or the transformer supply The other side of the PTC has to be connected to 24V If the resistance is below 2kOhm the input is high If it rises above 15kOhm the output is regarded as low Typically the transition low to high is between 5kOhm and 7kOhm If the input rises the corresponding bit in the warn word will be set after the PTC Warn Time After the PTC error time the corresponding error is set The error only can be acknowledged if the corresponding PTC warn bit has vanished 7 2 5 X4 12 SVE Safety Voltage Enable X4 12 is a special input input only If it goes low for more than 0 5ms the PWM generation of the power stage is disabled by hardware Additionally this bit is mapped directly to the Control Word bit 1 To disable this feature the input must be wired to 24V logic supply 7 3 Master Encoder The master encoder can be used for applications where high speed synchronization is needed such as winding application indexing positioning mode etc The parameter Encoder Source defines whether the master encoder is connected to the X10 RJ45 or the X12 DSUB 9 connector X10 is looped through to the master encoder connector X11 RJ45 This simplifies the loop through cabling of the encoder signals Parameter Name UPID Descripti
94. op Streaming E 35 4 3 45 Time Curve With Default Parameters 040xh csset 36 4 3 46 Time Curve With Default Parameters From Act Pos 04 Ich 36 4 3 47 Time Curve To Pos With Default Speed 042xh sss 36 4 3 48 Time Curve To Pos With Adjustable Time ich 36 4 3 49 Time Curve With Adjustable Offset Time Scale amp Amplitude Scale 044xh 36 4 3 50 Time Curve With Adjustable Offset Time amp Amplitude Scale 045xh 37 4 3 51 Time Curve With Adjustable Offset Time amp Amplitude Scale On Rising Trigger 22577 023 EE 37 4 3 52 Time Curve With Adjustable Offset Time amp Amplitude Scale On Falling Trigger TEV ENE IT E 37 4 3 53 Time Curve To Pos With Default Speed On Rising Trigger Event 04Axh 38 4 3 54 Time Curve To Pos With Default Speed On Falling Trigger Event 04 Cxh 38 4 3 55 Time Curve To Pos With Adjustable Time On Rising Trigger Event 04Exh 38 4 3 56 Time Curve To Pos With Adjustable Time On Falling Trigger Event 04Fxh 38 4 3 57 Modify Curve Start Address in RAM 050xh sss 38 4 3 58 Modify Curve Info Block 16 Bit Value in RAM OS Ixh sss 39 4 3 59 Modify Curve Info Block 32 Bit Value in RAM 052xh sss 39 4 3 60 Modify Curve Data Block 32 Bit Value in RAM U3 vb sss 40 4 3 61 Modify Curve Data Block 64 Bit Value in RAM 055xh sss 40 4 3 62 Modify Curve Data Block 96 Bit Value in RAM
95. out 300ms 3 7 State 6 Ready to Operate In this state the motor is either position controlled or with demand current 0 and under voltage but no motion commands are accepted The mode is configurable with UPID 6300h Sending motion commands in this state will generate the error Motion command sent in wrong state and a state change to the error state will be performed Clearing the control word bit 3 Enable Operation in state 8 or higher will stop immediately the set point generation and a state transition to 6 is performed Clearing the bit while a motion is in execution a following error might be generated 3 8 State 8 Operation Enabled This is the state of the normal operation in which the motion commands are executed It is strongly recommended to use the State Var for the motion command synchronization with any fieldbus system State Var Main State 8 H Motion Command Count O cto s3odcoz n T a r g e t P o S it o n SE In the high byte stands the number of the main state 8 In the low byte stands in the lowest 4 bits the actual interpreted Motion Command Count bit 4 indicates if the event handler is active in bit 5 stands the status word bit Motion Active in bit 6 the status word bit In Target Position and in bit 7 the status word bit Homed Because the Motion Command Count echo and this status word bits are located in the same byte no data consistency proble
96. ower bridge phase 1 may be defective Power Bridge Phi Recommended actions contact support Defective Power Bridge Ph1 Defective Recommended actions contact support ill Drive power bridge phase 2 may be defective Power Bridge Ph2 Recommended actions contact support Defective Drive power bridge phase 2 may be defective Power Bridge Ph2 Defective Recommended actions contact support Supply fuse for digital outputs on X6 blown upply DigOut X6 Fuse Recommended actions check X6 wiring contact Blown support for repair 0 0 01Dh Err Supply X3 3 5V fuse blown Motor or and or wiring upply X3 3 5V Fuse Blown defective Recommended actions contact support for drive repair check motor and wiring replace motor and motor cables O1Eh Err Supply X3 8 analog ground fuse blown upply X3 8 AGND Fuse Recommended actions contact support for drive repair Blown check motor and wiring replace motor and motor cables 0020h Err Temp sensor reports hot motor Motor Hot Sensor Recommended actions wait until motor has cooled down until corresponding warning disappears check load check the motor configuration check the setpoint generation unreachable speed acceleration values check the motor sizing 0021h Fatal Err Motor hall signals not connected to X3 or motor X3 Hall Sig Missing defective Recommended actions Power down the drive and all power supplies then reconnect motor check motor and wiring check parameter
97. p Ulnt16 Deceleration 4 3 31 Predef VAI Go To Pos After Actual Command 028xh INE Taare Byte Description Type Unit Offset ca al 028xh Predef VAI Go To Pos After Actual Ulnt16 EI Command Target Position SInt32 This command waits until the actual motion setpoint generation has finished then starts the new defined VAI motion 4 3 32 Predef VAI Go To Pos On Rising Trigger Event 02Axh NEU Byte Description Type Unit Offset Ee 02Axh Predef VAI Go To Pos On Rising Trigger Ulnt16 E Event 1 Par 2 Target Position SInt32 0 1 um 4 3 33 Predef VAI Increment Target Pos On Rising Trigger Event 02Bxh Name Byte Description Type Unit Offset Header 02Bxh Predef VAI Increment Target Pos On Rising Ulnt16 Trigger Event 1 Par 2 Position Increment SInt32 0 1 um 4 3 34 Predef VAI Go To Pos On Falling Trigger Event 02Cxh Name Byte Description Type Unit Offset EET IERI 02Cxh Predef VAI Go To Pos On Falling Trigger Ulnt16 EE Event Target Position SInt32 4 3 35 Predef VAI Go To Pos On Falling Trigger Event 02Dxh Name Byte Description Type Unit Offset E 02Cxh Predef VAI Go To Pos On Falling Trigger Ulnt16 ESI Event Target Position SInt32 4 3 36 Predef VAI Infinite Motion Positive Direction 02Exh Name Byte Description Type Unit Offset Header O 02Exh Predef VAI Infinite Motion Positive Direction Ulnt6 4 3 37 Predef VAI Infinite Motion Negative Direc
98. peed On Ulnt16 Falling Trigger Event Uer 1 100 SInt32 On a falling trigger event start command 042xh 4 3 55 Time Curve To Pos With Adjustable Time On Rising Trigger Event 04Exh Name Byte Description Offset Header O4Exh Time Curve Go To Absolute Position With Ulnt16 Adjustable Time On Rising Trigger Event Ulnt6 1 100 Target Position Sint32 3 Par_ 8 j CuveTm L im On arising trigger event start command 043xh 4 3 56 Time Curve To Pos With Adjustable Time On Falling Trigger Event 04Fxh Name Byte Description Type Unit Offset Header 04Fxh Time Curve To Pos With Adjustable Time Ulnt16 On Falling Trigger Event Ulnt 6 1 100 Target Position SInt32 3 Par 8 j CuveTim SInt32 On a falling trigger event start command 043xh 4 3 57 Modify Curve Start Address in RAM 050xh Name Byte Description Type Unit Offset Header O 050xh Modify Curve Start Address in RAM Uinti6 Ulnt6 1 100 Curve Start Address Offset Uintl This command allows locating the curve start address points to the start of the curve info header A value of OFFFh means no curve has been defined can be used to clear a curve When using this command the whole memory management of the curve data has to be done by the superior system A curve can only be defined with a valid start address If a start address is defined the curve curve info header and curve data points has to be comple
99. peration Reserved PTC 2 10 BER RR Hot Calculated 11 Reserved 12 Reserved 13 Reserved EEN 14 0 Normal Operation Interface Warn Flag Warn Flag Of Interface SW layer 15 zx Normal Operation Application Warn Flag Warn Flag Of Application SW layer Normally the warn word bits are used to react in conditions before the drive goes into the error state E g a typical reaction on the warning Motor Temperature Sensor would be a stop of the machine before the drive goes into the error state and the motor goes out of control to avoid crashes Reserved 4 Motion Command Interface 4 1 Motion Command Interface The motion command interface consists of one word that contains the command ID and up to 16 command parameter words Example VA Interpolator 16 bit Go To Absolute Position Word Description Example of command 3 Command Parameter 4 Command Parameter 5 Command Parameter 4 1 1 Command Header Master ID Sub ID Command Count AAAA ES ee SAS EE a a The header of the Motion command is split into three parts e Master ID e SubID e Command Count 4 1 1 1 Master ID The master ID specifies the command group 4 1 1 2 Sub ID The sub ID is used to identify different commands from the same command group 4 1 1 3 Command Count A new command will only be executed if the value of the command count has changed In the easiest way bit O can be toggled 4 2 Overview Motion Commands Master Su
100. put the corresponding bit in the mask must be set Bit 0 is mapped to output X4 3 bit 1 to output X4 4 etc 4 3 5 Select Position Controller Set 005xh Name Byte Description Type Unit Offset Header O 005xh Select Position Controller Set Uinti6 Controller Set Selection 0 Set A 1 Set B Ulti6 This command selects the active position controller set A B UPID 0x1393 For set A the ID is 0 and for Set B the ID is 1 4 3 6 Clear Event Evaluation 008xh Name Byte Description Type Unit Offset Header O 008xh Clear Event Evaluation Ulntt6 This command resets the event handler The event handler becomes active if a motion command has been sent that does not immediately start but waits with its execution until other conditions are fulfilled e g command VAI Go To Pos On Rising Trigger Event The bit 8 of the status word shows if the event handler is active Once the event handler becomes active it remains active until it is deactivated with this clear command As long the event handler is active the command to be executed on the event situation will be restarted each time the event condition is fulfilled 4 3 7 Master Homing 009xh Name Byte Description Type Unit Offset Header O 009xh Master Homing Ulnt16 SInt32 0 1 um This command can be used if the master system knows the home position without going to the home state in the state machine The passed value of the home po
101. r O 25Cxh IF Difference Position Less Than Uinti6 Condition Value Sint32 3 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 204 IF Difference Position Greater Than 25Dxh Name Byte Description Type Unit Offset Header O 25Dxh IF Difference Position Greater Than Uinti6 1 Par Condition Value Sint32 3 Par 6 Command Table ID IF TRUE UintG 1 255 3 Par 8 Command Table ID IF FALSE UintG 1 255 4 3 205 IF Current Less Than 25Exh Name Byte Description Type Unit Offset Header O 25Cxh IF Current Less Than Ulnt 6 Condition Value Sint32 3 Par 6 Command Table ID IF TRUE UintG 1 255 3 Par 8 Command Table ID IF FALSE Uint1G 1 255 4 3 206 IF Current Greater Than 25Fxh Name Byte Description Type Unit Offset Header O 25Fxh IF Current Greater Than Ulti6 Condition Value Sint32 3 Par 6 Command Table ID IF TRUE Uint16 255 3 Par 8 Command Table ID IF FALSE Uint16 255 4 3 207 IF Analog Val On X4 4 Less Than 260xh Name Byte Description Type Unit Offset Header O 260xh IF Analog Val On X4 4 Less Than Ulni Condition Value Sint32 3 Par 6 Command Table ID IF TRUE UintG 1 255 3 Par 8 Command Table ID IF FALSE UintG 1 255 4 3 208 IF Masked X4 Input Value Equal Than 262xh Name Byte Description Type Unit Offset Header O 262xh IF Masked X4 Input Value Equal Than
102. r curves and may lead to unpredictable behavior 4 3 61 Modify Curve Data Block 64 Bit Value in RAM 055xh Name Byte Description Type Unit Offset a d 055xh Modify Curve Data Block 64 Bit Value in Ulnt16 EE RAM 2 Par 4 X jOffstinBye Uini 0 3 Par 6 Curvepointvalue Sint32 4 Par 10 Curepointvaue amp Sint32 This command allows to modify in RAM two 32 bit value within the curve data block of a curve with existing curve start address and curve info header block with the given ID The offset argument defines on which position within the curve data block the modification takes place byte offset In order to modify for instance the first position setpoint value SInt32 you have to set the new position with offset 0 The second setpoint has offset 4 and so on The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 62 Modify Curve Data Block 96 Bit Value in RAM 056xh Name Byte Description Type Unit Offset Fea Ke 056xh Modify Curve Data Block 96 Bit Value in Uint16 EC RAM Ulnt 1 100 2 Par 4 X jOffsetinBye Uinti jo 3 Par 6 Curvepointvalue 1 Sint32 4 Par 10 Curvepoitvalue
103. rce limit To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh 4 3 218 VAI Go To Pos From Act Pos And Reset Force Control 381xh Name Byte Description Type Unit Offset Header 381xh VAI Go To Pos From Act Pos And Reset Ulnt16 Force Control Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s UInt32 1E 5 m s UInt32 1E 5 m s Reinstalls the position control mode and moves to the defined target position 4 3 219 Force Ctrl Change Target Force 382xh AEG Byte Description Type Unit Offset Header O 382xh Force Ctrl Change Target Force Ult16 Sint16 This command can be used to change the target force during the force control mode 4 3 220 VAI Go To Pos With Higher Force Ctrl Limit and Target Force 383xh Name Byte Description Type Unit Offset Header 383xh VAI Go To Pos With Higher Force Ctrl Limit UInt16 and Target Force erar he eec deus pe 5 Par Target Force Sint16 0 1 N Moves to the defined target position if the measured force reaches the higher force limit the drive switches to the force control mode with target force target force To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control 381xh 4 3 221 VAI Go To Pos With Lower Force Ctrl Limit 384xh Name Byte Description Type Unit Offset Header 0 384xh VAI Go To Pos
104. ror Behaviour Not yet defined 15 Going To Position O0Fh Going To Position Finished OFh Jogging Finished OFh Jogging Finished Not yet defined T 19 Phase Search Not yet defined 20 Special Mode Not yet defined 3 1 State 0 Not Ready To Switch On In this state the release of control word bit 0 switch on is awaited As soon as this bit is cleared a change to state 1 is performed This behavior avoids self starting if all necessary bits for a start are set correctly in the control word 3 2 State 1 Switch On Disabled The state machine rests in this state as long as the bits 1 or 2 of the control word are cleared 3 3 State 2 Ready To Switch On The state machine rests in this state as long as the bit 0 is cleared 3 4 State 3 Setup Error State The state machine rests in this state as long the bits O is cleared 3 5 State 4 Error State The error state can be acknowledged with a rising edge of the control word bit 7 Error Acknowledge If the error is fatal bit 12 Fatal Error in the status word is set no error acknowledgment is possible In the case of a fatal error the error has to be checked and the problem has to be solved before a reset or power cycle is done for resetting the error 3 6 State 5 HW Test The HW Test state is an intermediate state before turning on the power stage of the drive If everything seems to be ok the servo changes to state 6 without any user action The test takes ab
105. s check motor wiring check motor Motor phase U broken Recommended actions check motor wiring check motor Motor phase V broken Recommended actions check motor wiring check motor Motor phase W broken Recommended actions check motor wiring check motor 040h Err X4 3 brake driver reports error X4 3 Brake Driver Error Recommended actions check for short circuit on X4 3 0041h Err Dig Out X4 4 X4 11 Status 0042h Err Dig Out X6 Status X4 3 X4 11 output driver reports error Recommended actions check for short circuit on outputs X4 4 X4 11 or output configurations X6 output driver reports error Recommended actions check for short circuit on outputs X6 0044h Er Ground fuse for digital outputs on X4 blown X4 Dig Out GND Fuse Blown Recommended actions check X4 wiring contact support for repair 0045h Fatal Err Motor Comm Lost 046h Err PTC 1 Broken 047h Err PTC 1 Short To 24V 050h Setup Err HW Not Supported 0060h Cfg Err RR Voltage Set Too Low 0061h Cfg Err RR Hysteresis lt 0 5V 0 li Not Defined 0063h Cfg Err Pos Ctrl Max Curr High 064h Cfg Err Fatal No Motor Defined 065h fg Err Fatal No Trigger Mode Defined Motor communication lost Recommended actions Power down and check motor wiring and motor replace cable and or motor PTC 1 on X4 10 broken or not connected Recommended actions Power down and check PTC 1 wiring and resistance PTC 1 on X4 1
106. s On Falling Trigger Event 0ACxh 48 4 3 98 Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event 0ADxh 49 4 3 99 VAI Predef EE 49 4 3 100 VAI Predef Acc Increment Dem Pos 0B Ixh sss 49 4 3 101 VAI Predef Acc Increment Target Pos OP Zb 49 4 3 102 VAI Predef Acc Go To Pos From Act Pos And Act Vel 0B3xh s 49 4 3 103 VAI Predef Acc Go To Pos From Act Pos Starting With Dem Vel 0 0B4xh 49 4 3 104 VAI Predef Acc Go To Pos After Actual Command 0B6 amp xh sss 50 4 3 105 VAI Predef Acc Go To Pos On Rising Trigger Event 0BAxh s 50 4 3 106 VAI Predef Acc Increment Target Pos On Rising Trigger Event OBBxh 50 4 3 107 VAI Predef Acc Go To Pos On Falling Trigger Event 0BCxh 50 4 3 108 VAI Predef Acc Increment Target Pos On Falling Trigger Event 0BDxh 50 4 3 109 VAI Dec Acc Go To Pos COxh s ee esten teinte rre Ce quee 2d 4 3 110 VAI Dec Acc Increment Dem Pos 0C Ixh sss 51 4 3 111 VAI Dec Acc Increment Target Pos C2xh sss 51 4 3 112 VAI Dec Acc Go To Pos From Act Pos And Act Vel 0C3xh ssssse 2d 4 3 113 VAI Dec Acc Go To Pos From Act Pos Starting With Dem Vel 0 0C4xh 51 4 3 114 VAI Dec Acc Go To Pos With Max Curr 0CS5xh sss 52 4 3 115 VAI Dec Acc Go To Pos From Act Pos And Vel With Max Curr OC6xh
107. shows the meaning of the single bits Eo Seres Operation Enabled Operation Enabled State Nr 8 or higher copied to drive EN LED 1 o Switch On Disabled Control Word Bit 0 Switch On Active Switch On Enabled 2 Fo Operation Disabled Control Word Bit 3 onge peration FX NE S S S S Acknowledge with Control word Bit 7 Reset Error 4 IER Power Bridge Off Control Word Bit 1 uidens peration 0 Ade Conto Word B2 rub 6 Co Net ose Switch On Locked 7 o Warina rotacne No biis setin te Wamo warning Cw Event Handler nave Event Herder Geared or daed Event Handler Act 5 o omeen G Special Motion Active Special motion commands Homing runs i LX Ware Waton ave or actual poston ut o window 1n Target Peston 7 nos Au poston afer moton in window eiweg mermentasensornorhomed ferenoed Home i EE Fatal Eror i o homin Seipoint generation nacive a o Notte Range i Datned UPD isnon Ree Range Indicator i o Not n Range 2 Defined UPID is natin Range 3 24Warn Word Following table shows the meaning of the single bits of the Warn Word L9 nomaron e ES o NomaOpeon E EE o NomaOpeon E a o NomaOpeon E p E Fo Normal Operation Drive Hot Temperature on Drive High 7 o Normal Operation Motor Not Homed Warning Motor Not Homed Yet e CR PTC Sensor 1 Hot 9 Normal O
108. sition is stored in the RAM value of the parameter Home Position UPID 13C7h then the corresponding value of the parameter Slider Home Position UPID 13CAh is calculated and stored in the RAM value Then a homing at actual position is done without going into the homing state 4 3 8 Reset 00Fxh Name Byte Description Type Unit Offset Header O 00Fxh Reset Ulnni6 This command resets the all firmware instances of the drive Use this command with count 0 otherwise the drive reboots cyclic 4 3 9 VAI Go To Pos 010xh Name Byte Description Type Unit Offset Header O 010xh VAI Go To Pos Ulti6 Target Position SInt32 2 Par 6 Maximal Velocit Ulnt32 1E 6 m s Ulnt32 1E 5 m s Ulnt32 1E 5 m s 4 3 10 VAI Increment Dem Pos 011xh Name Byte Description Type Unit Offset Header O 011xh VAI Increment Dem Pos Ulti6 Position Increment SInt32 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s Ulnt32 1E 5 m s UInt32 1E 5 m s This command sets a new target position and defines the maximal velocity acceleration and deceleration for going there The new target position value will be determined by the firmware It is calculated by adding the position increment argument to the demand position value The demand position is the actual position setpoint on which the motor is controlled The demand position value moves towards the target position value while a motion command is in execution
109. starts a new VAI setpoint generation from the actual position and the start velocity is forced to zero Can be used after a press command 4 3 114 VAI Dec Acc Go To Pos With Max Curr 0C5xh Name Byte Description Type Unit Offset Header 0__ 0C5xh VAI Dec Acc Go To Pos With Max Curr Ulnti 2 Par 6 X Maximal Velocity UInt32 1E 6 m s 3 Par 10 Acceleration Deceleration UInt32 1 5 m s 10 4 Par 14 Demand Curr Limit Uint16 1mA This command can be used as press command with limited current force This command sets the maximal current of the actual position controller set UPID 13A6h or 13Bah to the value defined with the 4 parameter To reset the current to the normal value use the command OC6xh or OC7xh 4 3 115 VAI Dec Acc Go To Pos From Act Pos And Vel With Max Curr 0C6xh Name Byte Description Type Unit Offset Header OC6xh VAI Dec Acc Go To Pos From Act Pos And Ulnt16 Vel With Max Curr 2 Par 6 Maximal Velocity Ulm 1E 6 m s This command can be used after the command OC5xh to set the current to the normal value At the beginning of the motion the position controller integrator is cleared This command sets the maximal current of the actual position controller set UPID 13A6h or 13BAh to the value defined with the 4 parameter 4 3 116 VAI Dec Acc Go To Pos From Act Pos And Vel 0 With Max Curr 0C7xh Name Byte Description Typ
110. t Cfg Err Fatal No Motor Communication Lin Not Homed User Err Unknown Motion Cmd User Err PVT Buffer Overflow User Err PVT Buffer Underflow User Err PVT Master Too Fast User Err PVT Master Too Slow Becommended actions configure parameter 170Ch 0067h Cfg Err Fatal onfiguration error The configured motor type does not match with the connected motor Recommended actions configure correct motor type by the motor wizard connect an appropriate motor Configuration error The drive was not able to establish the communication to the microcontroller on the motor Older P01 motors don t support motor communication Recommended actions check motor wiring check motor check the motor configuration disable communication by using parameter 11FBh if you have an old P01 motor Configuration error A wrong slider has been configured or slider home position has an invalid value Recommended actions reconfigure the motor by using the motor wizard User error The PLC program tried to start an action that requires the motor to be already homed but the motor was not homed Recommended actions check the PLC program do a homing of the motor first User error The PLC program sent an unknown motion command ID Recommended actions check PLC program check firmware version User error The PLC program has sent the stream position commands too fast the buffer had an overflow Streaming has to be strictly cyclic
111. t32 1E 4 m s Bestehorn Motion Profile regarding the limitations maximal jerk acceleration and maximal speed This command sets a new Target Position Calculated from the analog input on X4 4 or X20 4 3 146 Bestehorn VAJ Go To Pos On Rising Trigger Event OFAxh Name Byte Description Type Unit Offset Header OFAxh Bestehorn VAJ Go To Pos On Rising Ulnt16 Trigger Event 2 Par 6 Maximal Velocity LU fE 6 m s This command defines a new Bestehorn motion command see description of command Bestehorn VAJ Go To Pos OFOxh The command will be started on each rising edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 1039h 4 3 147 Bestehorn VAJ Increment Demand Pos On Rising Trigger Event OFBxh Name Byte Description Type Unit Offset EE EE Rising Trigger Event 2 Par 6 Maximal Velocity LUS 1E 6 m s This command defines a new Bestehorn motion command relative move c see description of command Bestehorn VAJ Increment Demand Pos OF 1xh The command will be started on each rising edge on the Trigger signal This command is used to synchroni
112. tely defined otherwise this will lead to an unpredictable behavior 4 3 58 Modify Curve Info Block 16 Bit Value in RAM 051xh NEIG Byte Description Type Unit Offset Ke aed 051xh Modify Curve Info Block 16 Bit Value in Ulnt16 E RAM Ulnt16 1 100 2 Pa 4 OffsetinByte 1 Ume o EE Ee EES El This command allows to modify a 16 bit value or half of a 32 bit value in RAM within the curve info block of an existing curve profile with the given ID The offset argument defines on which position within the curve info block the modification takes place byte offset In order to modify for instance the value of x Length you first have to set the low word of the new curve length with Offset 32 and then the high word with offset 34 The fieldbus interfaces CANOpen DeviceNet Profibus LinRS POWERLINK EtherCAT offer a safer way to download and modify curve profiles Curve Service Writing with wrong offsets may overwrite and destroy data of other curves and may lead to unpredictable behavior 4 3 59 Modify Curve Info Block 32 Bit Value in RAM 052xh Name Byte Description Type Unit Offset ESTEE 052xh Modify Curve Info Block 32 Bit Value in Ulnt16 EE RAM Ulnt 1 100 Une Io 3PPa Je Vaue 3 3 3 35 Sit32 This command allows to modify a 32 bit value in RAM within the curve data block of an already existing curve profile with the given ID The offset argument defines on w
113. th Slave Generated Time Stamp 034xh Name Byte Description Type Unit Offset Ke aed 034xh PVA Stream With Slave Generated Time Ulnt16 E Stamp 2 Pa 6 Velocity SI82 1ums This command can be used for cyclic position velocity and acceleration setpoint streaming This is possible if master provides NC functionality The commands have to be sent strictly cyclic in order to prevent buffer underflow buffer overflow errors The period length should be in the time range of 0 4ms 10ms The setpoint time stamp is generated by the slave s interface when the command is received receive time stamp The first two streaming commands are used to determine the nominal period length The setpoints are Than delayed 1 5 times the period length Between the setpoints the slave performs a fine interpolation For good results the streaming period has to be as constant as possible 4 3 43 PVA Stream With Slave Generated Time Stamp and Configured Period Time 035xh Name Byte Description Type Unit Offset Header 035xh PVA Stream With Slave Generated Time Ulnt16 Stamp and Configured Period Time 2 Par 6 Velocity sd St tums This command can be used for cyclic streaming of position velocity and acceleration setpoints This is possible if master provides NC functionality The commands have to be sent strictly cyclic in order to prevent buffer underflow buffer overflow errors The period length must be in the time range of 0 4ms
114. till in the stroke range Recommended actions check the PLC program or check homing User error The automatic calculated amplitude scale is out of range 2000percent to 2000percent Recommended actions check the PLC program or use other curve Called command Table entry is not defined Recommended actions check the PLC program or define Command Table Entry 11 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration Tech Support Tech Support Skype Fax Web 41 0 56 419 91 91 office linmot com 41 0 56 544 71 00 support linmot com skype support linmot 41 0 56 419 91 92 http www linmot com LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration Tech Support Fax E Mail Web usa com 877 546 3270 262 743 2555 877 804 0718 262 743 1284 800 463 8708 262 723 6688 us sales linmot com http www linmot Please visit http www linmot com to find the distribution near you Smart solutions are www LinMot com
115. tion 02Fxh AEG Byte Description Type Unit Offset Header O 02Fxh Predef VAI Infinite Motion Negative Direction UInti6 4 3 38 P Stream With Slave Generated Time Stamp 030xh Name Byte Description Type Unit Offset Header O 030xh P Stream With Slave Generated Time Stamp UInti6 SInt32 Position streaming mode The time stamp is generated by the interface receive time stamp of TO the streaming period has to be in the time range 2 5ms For good results the streaming period has to be as constant as possible 4 3 39 PV Stream With Slave Generated Time Stamp 031xh Name Byte Description Type Unit Offset eg 031xh PV Stream With Slave Generated Time Ulnt16 EE Stamp SInt32 2 Par 6 Velocity 1 1 SInt22 Position and velocity streaming mode Preferred streaming mode The time stamp is generated by the interface receive time stamp of TO the streaming period has to be in the time range 2 5ms Less sensitive to deviations of the streaming period 4 3 40 P Stream With Slave Generated Time Stamp and Configured Period Time 032xh Name Byte Description Type Unit Offset Header 032xh P Stream With Slave Generated Time Stamp Ulnt16 and Configured Period Time SInt32 Position streaming mode The time stamp is generated by the interface receive time stamp of TO the streaming period has to be in the time range 2 5ms For good results the streamin
116. tion has stopped the servo rests position controlled Setting the bit again the drive rests in position until a new motion command is executed 3 13 State 13 Freezing Clearing the Freeze bit in the control word initiates a quick stop After the motion is stopped the servo rests position controlled Setting the bit again the drive will finish the frozen motion e g if it was a VAI command Curve motion can be frozen but not restarted by releasing this bit setting the bit again the motor moves at the target position of the last VAI command if never used a VAI command it will go to the initial position 3 14 State 14 Error Behaviour Quick Stop Most of the errors which can occur during an active motion cause a quick stop behavior to stop the motion After the quick stop is finished the motor is no longer position controlled 3 15 State 15 Going To Position Setting the Go To Position bit in the control word the serveo moves to the defined position recommendable for example after an error to move to a defined position again 3 16 State 16 Jogging Setting the Jog Move bit in the control word the servo moves either a defined position increment or to the maximal position with a limited speed Releasing the bit will stop the motion 3 17 State 17 Jogging Setting the Jog Move bit in the control word the servo moves either a defined position decrement or to the minimal position with a limited speed Releasing the bit will
117. tions and the motor can not and had not to follow the demand position By starting this command the former accepted difference between Actual Position and Demand Position can be eliminated 4 3 133 Sin VA Increment Actual Pos 0E6xh Name Byte Description Type Unit Offset Header O 0E6xh Sin VA Increment Actual Pos Ulti6 Position Increment SInt32 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s Ulnt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity The new Target Position value will be determined by the firmware It is calculated by adding the Position Increment argument to the Actual Position value relative move The command execution starts immediately when the command has been sent 4 3 134 Sin VA Go To Pos After Actual Command 0E8xh Name Byte Description Type Unit Offset Header O OE8xh Sin VA Go To Pos After Actual Command Ulnt16 Target Position SInt32 2 Par 6 Maximal Velocity Ulnt32 1E 6 m s UInt32 1E 5 m s Half period sine motion profile regarding the limitations of maximal acceleration and maximal velocity The command execution is delayed until the former command has been completed The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new VAI motion command as soon as bit 13 of the Status Word Motion Active is O After the event the Event Handler deactivates its
118. xh 31 4 3 25 Predef EE EE 32 4 3 26 Predef VAI Increment Dem Pos EE E 32 4 3 27 Predef VAI Increment Tareet Pas 022Xxh EE 32 4 3 28 Predef VAI Go To Pos From Act Pos and Act Vel U2 ch sss 32 4 3 29 Predef VAI Go To Pos From Act Pos Starting With Dem Vel 0 024xh 22 4 3 30 Pr def VAT SLOP UID a ct n REO vi dx EUR NEA doe iine 32 4 3 31 Predef VAI Go To Pos After Actual Command U2Rch sss 33 4 3 32 Predef VAI Go To Pos On Rising Trigger Event U2 Ach sss 33 4 3 33 Predef VAI Increment Target Pos On Rising Trigger Event 02Bxh 33 4 3 34 Predef VAI Go To Pos On Falling Trigger Event 02Cxh sss 33 4 3 35 Predef VAI Go To Pos On Falling Trigger Event d2Dch sss ad 4 3 36 Predef VAI Infinite Motion Positive Direction 02Exh sss 33 4 3 37 Predef VAI Infinite Motion Negative Direction 02Fxh sss 33 4 3 38 P Stream With Slave Generated Time Stamp U20vb sss 34 4 3 39 PV Stream With Slave Generated Time Stamp 03 Th 34 4 3 40 P Stream With Slave Generated Time Stamp and Configured Period Time 032xh ENE A MASSA ERR ROSE DNE INTRO each aoa tata TR CR EET MAE E NE E 34 4 3 41 PV Stream With Slave Generated Time Stamp Stamp and Configured Period Time COS BMI eU C E 34 4 3 42 PVA Stream With Slave Generated Time Stamp O3 Zch sss 35 4 3 43 PVA Stream With Slave Generated Time Stamp and Configured Period Time OS DAU p AAT MN M Metier eene 35 4 3 44 St
119. xh AE Byte Description Type Unit Offset Header 0 07Exh Stop Position Indexing And VAI Go To Pos Ulntf6 1 Par 2 Par 6 Maximal Velocity n UInt32 TE 6 m s This command stops the position indexing mode and moves to the defined target position with a VAI command 4 3 72 Stop Position Indexing and VAI Go To Pos 07Fxh Name Byte Description Type Unit Offset Header O 07Vxh Stop Position Indexing And VAI Go To Pos Ulnt16 Target Position SInt32 This command clears the position indexing mode and moves to the defined target position with a Predefined VAI command 4 3 73 VAI 16 Bit Go To Pos 090xh Name Byte Description Type Unit Offset Header O O90xh VAI 16 Bit GoTo Pos Ulnt 6 Maximal Velocit 3 Par 6 Acceleration Uint16 ree Deceleration Ulnt16 This command is similar to the 010xh command but the parameters are only 16 bit and scaled The scaling is according to the parameter settings under Motion Control SW Motion Interface 16 Bit Interface Scaling 4 3 74 VAI 16 Bit Increment Dem Pos 091xh Name Byte Description Type Unit Offset Header O 091xh VAI 16 Bit Go To Relative Position Ulnti6 Position Increment SInt16 2 Par 4 Maximal Velocit Ulnt16 E Ulnt16 4 Par Deceleration Ulnt16 Scaled 4 3 75 VAI 16 Bit Increment Target Pos 092xh Name Byte Description Type Unit Offset Header O O92xh VAI 16 Bit Increment
120. y time after rising edge of Trigger In signal tar Fall Delay Time 1710h Trigger Out delay time after falling edge of Trigger In signal lar 7 2 2 4 Inhibited amp Delayed Trigger Mode The Inhibited amp Delayed Trigger Mode first debounces the trigger input signal with the inhibit time The inhibited trigger signal is then delayed with the rise fall delay time and then copied to the trigger out signal Trigger In tir tig tir Inhibited Trigger 7 P Pe Pai lar Trigger Out 2 Parameter Name UPID Description Rise Inhibit Time 170Dh Inhibit time after rising i i i Fall Inhibit Time 170Eh Inhibit time after falling edge of Trigger In signal ti Rise Delay Time 170Fh Trigger Out Delay time after rising edge of Trigger In signal tar Fall Delay Time 1710h Trigger Out Delay time after falling edge of Trigger In signal tar 7 2 3 X4 8 and X4 9 Limit Switches If on IO pin X4 8 and or on X4 9 a limit switch is defined the error behavior in case of an active limit switch can be configured The error is only generated on a powered motor which is homed so it is possible to exit the error state with a new homing request For that reason also the homed bit in the status word is cleared if moving into a limit switch Parameter Name UPID Description Error Behavior Error behavior of the configured limit switches e 0 No Error maybe
121. ze the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the rising trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 1039h 4 3 148 Bestehorn VAJ Go To Pos On Falling Trigger Event OFCxh Name Byte Description Type Unit Offset Header OFCxh Bestehorn VAJ Go To Pos On Falling Ulnt16 Trigger Event 2 Par 6 Maximal Velocity UIM32 fE 6 m s This command defines a new Bestehorn motion command see description of command Bestehorn VAJ Go To Pos OFOxh The command will be started on each falling edge on the Trigger signal This command is used to synchronize the execution of the motion command to a hardware signal The command activates the Event Handler see Status Word bit 8 The Event Handler starts the new Bestehorn motion on the falling trigger event The Event Handler can be deactivated by using the command Clear Event Evaluation 008xh The trigger input must be configured with parameter UPID 1039h 4 3 149 Bestehorn VAJ Increment Demand Pos On Falling Trigger Event OFDxh Name Byte Description Type Unit Offset Header OFDxh Bestehorn VAJ Increment Demand Pos On Ulnt16 Falling Trigger Event 2 Posi O 1um 2 0 1 um LZ Dar 6 Maximal Velocity

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