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LinMot B1100 Series User Manual Download Page 66

 

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Motion Control SW

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.

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5.1.1.1 Parameters and Output

The VA-Interpolator is defined by the following parameters:

•

Target Position [SInt32; 0.1um/s] 

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Maximal Speed [UInt32; 1E-6 m/s]

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Acceleration [UInt32; 1E-5 m/s

2

]

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Deceleration [UInt32; 1E-5 m/s

2

]

The VA-Interpolator generates as outputs:

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Position [SInt32; 0.1um]

•

Velocity [SInt32; 1E-6 m/s]

•

Acceleration [SInt32; 1E-5 m/s

2

]

Page 66/91

User Manual Motion Control SW / 06/12/2013

NTI AG / LinMot

Summary of Contents for B1100 Series

Page 1: ...Motion Control SW Documentation of the Motion Control SW E1100 B1100 Drive Series Motion Control SW User Manual ...

Page 2: ...e 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 Do...

Page 3: ...OING TO POSITION 15 3 16 STATE 16 JOGGING 15 3 17 STATE 17 JOGGING 15 3 18 STATE 18 LINEARIZING 15 3 19 STATE 19 PHASE SEARCHING 15 3 20 STATE 20 SPECIAL MODE 15 3 21 BUILDING THE CONTROL WORD 15 3 22 CONTROL WORD 16 3 23 STATUS WORD 17 3 24 WARN WORD 18 4 MOTION COMMAND INTERFACE 19 4 1 MOTION COMMAND INTERFACE 19 4 1 1 Command Header 19 4 1 1 1 Master ID 19 4 1 1 2 Sub ID 19 4 1 1 3 Command Coun...

Page 4: ...lling Trigger Event 02Cxh 31 4 3 34 Predef VAI Go To Pos On Falling Trigger Event 02Dxh 31 4 3 35 Predef VAI Infinite Motion Positive Direction 02Exh 32 4 3 36 Predef VAI Infinite Motion Negative Direction 02Fxh 32 4 3 37 P Stream With Slave Generated Time Stamp 030xh 32 4 3 38 PV Stream With Slave Generated Time Stamp 031xh 32 4 3 39 P Stream With Slave Generated Time Stamp and Configured Period ...

Page 5: ...s Starting With Dem Vel 0 096xh 42 4 3 76 VAI 16 Bit Stop 097xh 42 4 3 77 VAI 16 Bit Go To Pos After Actual Command 098xh 43 4 3 78 VAI 16 Bit Go To Pos On Rising Trigger Event 09Axh 43 4 3 79 VAI 16 Bit Increment Target Pos On Rising Trigger Event 09Bxh 43 4 3 80 VAI 16 Bit Go To Pos On Falling Trigger Event 09Cxh 43 4 3 81 VAI 16 Bit Increment Target Pos On Falling Trigger Event 09Dxh 44 4 3 82 ...

Page 6: ...4 3 121 VAI Go To Cmd Tab Var2 Pos 0D5xh 52 4 3 122 VAI Go To Cmd Tab Var1 Pos From Act Pos And Act Vel 0D6xh 52 4 3 123 VAI Go To Cmd Tab Var2 Pos From Act Pos And Act Vel 0D7xh 52 4 3 124 VAI Start Trig Rise Config VAI Command 0DExh 53 4 3 125 VAI Start Trig Rise Config VAI Command 0DFxh 53 4 3 126 Encoder Cam Enable 100xh 53 4 3 127 Encoder Cam Disable 101xh 53 4 3 128 Encoder Cam Go To Sync Po...

Page 7: ...To Cmd Table Var 1 24Cxh 60 4 3 172 Write UPID RAM Value To Cmd Table Var 2 24Dxh 60 4 3 173 IF Cmd Table Var 1 Less Than 250xh 61 4 3 174 IF Cmd Table Var 1 Greater Than 251xh 61 4 3 175 IF Cmd Table Var 1 Less Than 252xh 61 4 3 176 IF Cmd Table Var 1 Greater Than 253xh 61 4 3 177 IF Demand Position Less Than 258xh 61 4 3 178 IF Demand Position Greater Than 259xh 61 4 3 179 IF Actual Position Les...

Page 8: ...1 1 X4 3 Brake Operation Enabled Behavior 73 7 2 1 2 X4 3 Brake Operation Abort Behavior 73 7 2 1 3 X4 3 Brake Operation Quick Stop Behavior 74 7 2 2 X4 6 Trigger 74 7 2 2 1 Direct Trigger Mode 74 7 2 2 2 Inhibited Trigger Mode 75 7 2 2 3 Delayed Trigger Mode 75 7 2 2 4 Inhibited Delayed Trigger Mode 76 7 2 3 X4 8 and X4 9 Limit Switches 76 7 2 4 X4 10 and X4 11 PTC 1 and PTC 2 76 7 2 5 X4 12 SVE ...

Page 9: ...he download section of our homepage 1 2 Definitions Items Shortcuts Shortcut Meaning LM LinMot linear motor OS Operating system Software MC SW Motion Control Software Intf Interface Software Appl Application Software VAI VA Interpolator Max velocity limited acceleration position interpolator Pos Position Vel Velocity Acc Acceleration Dec Deceleration UPID Unique Parameter ID 16 bit 1 3 Data types ...

Page 10: ...rol 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 Page 10 91 User Manual Motion Cont...

Page 11: ... 6 Ready to Switch On 2 Error 4 Bit 3 1 Switch On Disabled 1 Bit 0 1 Not Ready to Switch On 0 Bit 0 0 Control Word xxxx xxxx xxxx x110 Bit 0 0 I 0 Switch Off Bit 2 0 Jogging 17 Going To Initial Position 11 Clearance Checking 10 Jogging 16 Homing 9 QuickStop Freezing 13 Special Mode 20 Phase Searching 19 Aborting 12 Bit 1 0 Going To Position 15 Linearizing 18 Bit 7 Power On Setup Error 3 Error Beha...

Page 12: ...Logged Error Code 05 HW Tests 0 Not yet defined 06 Ready To Operate 0 Not yet defined 07 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 0Fh Clearance Check Finished 11 Going To Initial Position 0Fh Going To Initial Position Finished 12 Aborting Not yet defined 13...

Page 13: ... 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 drive changes to state 6 without any user action The test takes about 300ms 3 7 State 6 Ready t...

Page 14: ...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 ...

Page 15: ...it will stop the motion 3 18State 18 Linearizing The linearizing state is used to correct position feedback parameters to improve the linearity of the position feedback 3 19State 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...

Page 16: ...d 1 Operation 5 Freeze 0 Freeze motion Quick Stop position control rests active Target position not cleared curves motions are aborted 1 Operation Rising edge will reactivate motion command 6 Go To Position 0 1 Go To Position Go to fixed parameterized Position Wait for release of signal 7 Error Acknowledge 0 1 Error Acknowledge Rising edge of signal acknowledges error 8 Jog Move 0 1 Jog Move 9 Jog...

Page 17: ...its in the Warn Word are set 8 Event Handler Active 0 Event Handler Inactive Event Handler cleared or disabled 1 Event Handler Active Event Handler setup 9 Special Motion Active 0 Normal Operation 1 Special Command runs Special motion commands Homing runs 10 In Target Position 0 Not In Pos Motion active or actual position out of window 1 In Pos Actual position after motion in window 11 Homed 0 Mot...

Page 18: ...0 Normal Operation 1 Temperature on Drive High 7 Motor Not Homed 0 Normal Operation 1 Warning Motor Not Homed Yet 8 PTC Sensor 1 Hot 0 Normal Operation 1 PTC Temperature Sensor 1 On 9 Reserved PTC 2 0 Normal Operation 1 PTC Temperature Sensor 2 On 10 RR Hot Calculated 0 Normal Operation 1 Regenerative Resistor Temperature Hot Calculated 11 Reserved 0 1 12 Reserved 0 1 13 Reserved 0 1 14 Interface ...

Page 19: ...ameter Acceleration 5 4 Command Parameter Deceleration 6 16 5 Command Parameter Not used 4 1 1 Command Header Master ID Sub ID Command Count 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The header of the Motion command is split into three parts Master ID Sub ID 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 t...

Page 20: ...sition Transition 02h 0h X X Predef VAI Go To Pos 1h X X Predef VAI Increment Dem Pos 2h X X Predef VAI Increment Target Pos 3h X X Predef VAI Go To Pos From Act Pos And Act Vel 4h 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 8h X X Predef VAI Go To Pos After Actual Command Ah X X Predef VAI Go To Pos On Rising Trigger Event Bh X...

Page 21: ...h Delay Counts Amplitude scale and length Eh X k Setup Encoder CAM On Fall Trigger Event With Delay Counts Amplitude scale and length 07h 0h X X Start VAI Encoder Position Indexing 1h X X Start Predef VAI Encoder Position Indexing Eh X X Stop Position Indexing And VAI Go To Pos Fh X X Stop Position Indexing And Predefined VAI Go To Pos 09h 0h X X VAI 16 Bit Go To Pos 1h X X VAI 16 Bit Increment De...

Page 22: ...Act Pos And Act Vel With Max Curr 7h X X VAI Dec Acc Go To Pos From Act Pos Dem Vel 0 and With Max Curr 8h X X VAI Dec Acc Go To Pos After Actual Command Ah X X VAI Dec Acc Go To Pos On Rising Trigger Event Bh X X VAI Dec Acc Increment Target Pos On Rising Trigger Event Ch X X VAI Dec Acc Go To Pos On Falling Trigger Event Dh X X VAI Dec Acc Increment Target Pos On Falling Trigger Event Eh X X VAI...

Page 23: ...ion Less Than 2h X X Wait Until Actual Position Greater Than 3h X X Wait Until Actual Position Less Than 4h X X Wait Until Difference Position Greater Than 5h X X Wait Until Difference Position Less Than 6h X X Wait Until Difference Position Unsigned Greater Than 7h X X Wait Until Difference Position Unsigned Less Than 8h X X Wait Until Demand Velocity Greater Than 9h X X Wait Until Demand Velocit...

Page 24: ...ons 4h X X Encoder Winding Stop Adaptation Of Left Right Position And Disturbance 5h X X Encoder Winding Restart Adaptation Of Left Right Position And Disturbance 31h 0h X k Encoder Curve Winding Start With Default Parameters 1h X k Encoder Curve Winding Start With Default Parameters At Revolutions 38h 0h f f VAI Go To Pos With Force Ctrl Limit 1h f f VAI Go To Pos From Act Pos And Reset Force Con...

Page 25: ...mmand 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 DeviceNe...

Page 26: ...mains 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 Offset Description Type Unit Header 0 009xh Master Homing UInt16 1 Par 2 Home Position SInt32 0 1 um This command can be used if the master system knows the...

Page 27: ...nt Target Pos UInt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity UInt32 1E 6 m s 3 Par 10 Acceleration UInt32 1E 5 m s2 4 Par 14 Deceleration UInt32 1E 5 m s2 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 posi...

Page 28: ...l 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 14 VAI Increment Act Pos Starting With Dem Vel 0 016xh Name Byte Offset Description Type Unit Header 0 016xh VAI Increment Act Pos Starting With Dem Ve...

Page 29: ...19xh VAI Go To Analog Pos UInt16 1 Par 2 Maximal Velocity UInt32 1E 6 m s 2 Par 6 Acceleration UInt32 1E 5 m s2 3 Par 10 Deceleration UInt32 1E 5 m s2 4 3 18 VAI Go To Pos On Rising Trigger Event 01Axh Name Byte Offset Description Type Unit Header 0 01Axh VAI Go To Pos On Rising Trigger Event UInt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity UInt32 1E 6 m s 3 Par 10 Acceleratio...

Page 30: ... 1E 5 m s2 4 Par 14 Deceleration After Event UInt32 1E 5 m s2 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 unchange...

Page 31: ...escription Type Unit Header 0 023xh Predef VAI Go To Pos From Act Pos And Act Vel UInt16 1 Par 2 Target Position SInt32 0 1 um This command starts the new VAI setpoint generation from the actual position can be used after a press command 4 3 28 Predef VAI Go To Pos From Act Pos Starting With Dem Vel 0 024xh Name Byte Offset Description Type Unit Header 0 024xh Predef VAI Go To Pos From Act Pos Wit...

Page 32: ...rget Pos On Rising Trigger Event UInt16 1 Par 2 Position Increment SInt32 0 1 um 4 3 33 Predef VAI Go To Pos On Falling Trigger Event 02Cxh Name Byte Offset Description Type Unit Header 0 02Cxh Predef VAI Go To Pos On Falling Trigger Event UInt16 1 Par 2 Target Position SInt32 0 1 um 4 3 34 Predef VAI Go To Pos On Falling Trigger Event 02Dxh Name Byte Offset Description Type Unit Header 0 02Cxh Pr...

Page 33: ...nsitive to deviations of the streaming period 4 3 39 P Stream With Slave Generated Time Stamp and Configured Period Time 032xh Name Byte Offset Description Type Unit Header 0 032xh P Stream With Slave Generated Time Stamp and Configured Period Time UInt16 1 Par 2 Position SInt32 0 1 um Position streaming mode The time stamp is generated by the interface receive time stamp of T0 the streaming perio...

Page 34: ...efault curve speed parameter 4 3 44 Time Curve To Pos With Adjustable Time 043xh Name Byte Offset Description Type Unit Header 0 043xh Time Curve To Pos With Adjustable Time UInt16 1 Par 2 Curve ID UInt16 1 100 2 Par 4 Target Position SInt32 0 1 um 3 Par 8 Curve Time SInt32 10us This command sets the curve offset to the demand position and scales the curve the way that the target position is reach...

Page 35: ...trigger event start command 045xh 4 3 48 Time Curve With Adjustable Offset Time Amplitude Scale On Falling Trigger Event 047xh Name Byte Offset Description Type Unit Header 0 047xh Time Curve With Adjustable Offset Time Amplitude Scale On Falling Trigger Event UInt16 1 Par 2 Curve ID UInt16 1 100 2 Par 4 Curve Offset SInt32 0 1 um 3 Par 8 Curve Time SInt32 10us 4 Par 12 Amplitude Scale SInt16 0 1 ...

Page 36: ...ion SInt32 0 1 um 3 Par 8 Curve Time SInt32 10us On a falling trigger event start command 043xh 4 3 53 Modify Curve Start Address in RAM 050xh Name Byte Offset Description Type Unit Header 0 050xh Modify Curve Start Address in RAM UInt16 1 Par 2 Curve ID UInt16 1 100 2 Par 4 Curve Start Address Offset Uint16 This command allows locating the curve start address points to the start of the curve info...

Page 37: ... 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 ...

Page 38: ...t32 5 Par 14 Curve point value 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...

Page 39: ... 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 62 Setup Encoder Cam On Falling Trigger Event With Delay Counts Target Pos and Le...

Page 40: ...ar 8 Amplitude Scale Sint16 0 1 4 Par 10 Curve length in Counts SInt32 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 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 154...

Page 41: ...s UInt16 1 Par 2 Target Position SInt32 0 1 um This command clears the position indexing mode and moves to the defined target position with a Predefined VAI command 4 3 69 VAI 16 Bit Go To Pos 090xh Name Byte Offset Description Type Unit Header 0 090xh VAI 16 Bit Go To Pos UInt16 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity UInt16 Scaled 3 Par 6 Acceleration UInt16 Scaled 4 Par 8...

Page 42: ... Dem Vel 0 UInt16 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity UInt16 Scaled 3 Par 6 Acceleration UInt16 Scaled 4 Par 8 Deceleration UInt16 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 74 VAI 16 Bit Increment Act Pos 095xh Name Byte Offset Description Type Unit ...

Page 43: ...Bit Go To Pos On Rising Trigger Event UInt16 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity UInt16 Scaled 3 Par 6 Acceleration UInt16 Scaled 4 Par 8 Deceleration UInt16 Scaled 4 3 79 VAI 16 Bit Increment Target Pos On Rising Trigger Event 09Bxh Name Byte Offset Description Type Unit Header 0 9Bxh VAI 16 Bit Increment Target Pos On Rising Trigger Event UInt16 1 Par 2 Position Increm...

Page 44: ...n 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 83 VAI 16 Bit Change Motion Parameters On Negative Position Transition 09Fxh Name Byte Offset Description Type Unit Header 0 09Exh VAI Change Motion Parameters on Negative Position Transition UInt16 1 Par 2 Transition Event Pos...

Page 45: ... 4 3 88 Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 0A4xh Name Byte Offset Description Type Unit Header 0 0A4xh Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel 0 UInt16 1 Par 2 Target Position SInt16 Scaled 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 89 ...

Page 46: ...nt Target Pos On Falling Trigger Event 0ADxh Name Byte Offset Description Type Unit Header 0 0ADxh Predef VAI 16 Bit Increment Target Pos On Falling Trigger Event UInt16 1 Par 2 Target Position SInt16 Scaled 4 3 95 VAI Predef Acc Go To Pos 0B0xh Name Byte Offset Description Type Unit Header 0 0B0xh VAI Predef Acc Go To Pos UInt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity UInt3...

Page 47: ... to zero Can be used after a press command 4 3 100 VAI Predef Acc Go To Pos After Actual Command 0B8xh Name Byte Offset Description Type Unit Header 0 0B8xh VAI Predef Acc Go To Pos After Actual Command UInt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity UInt32 1E 6 m s This command waits until the actual motion setpoint generation has finished then starts the new defined VAI mot...

Page 48: ...Par 10 Acceleration Deceleration UInt32 1E 5 m s2 4 3 106 VAI Dec Acc Increment Dem Pos 0C1xh Name Byte Offset Description Type Unit Header 0 0C1xh VAI Dec Acc Increment Dem Pos UInt16 1 Par 2 Position Increment SInt32 0 1 um 2 Par 6 Maximal Velocity UInt32 1E 6 m s 3 Par 10 Acceleration Deceleration UInt32 1E 5 m s2 4 3 107 VAI Dec Acc Increment Target Pos 0C2xh Name Byte Offset Description Type ...

Page 49: ...e 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 4th parameter To reset the current to the normal value use the command 0C6xh or 0C7xh 4 3 111 VAI Dec Acc Go To Pos From Act Pos And Vel With Max Curr 0C6xh Name Byte Offset Description Type Unit Header 0 0C6xh VAI Dec Acc ...

Page 50: ...etpoint generation has finished then starts the new defined VAI motion 4 3 114 VAI Dec Acc Go To Pos On Rising Trigger Event 0CAxh Name Byte Offset Description Type Unit Header 0 0CAxh VAI Dec Acc Go To Pos On Rising Trigger Event UInt16 1 Par 2 Target Position SInt32 0 1 um 2 Par 6 Maximal Velocity UInt32 1E 6 m s 3 Par 10 Acceleration Deceleration UInt32 1E 5 m s2 4 3 115 VAI Dec Acc Increment T...

Page 51: ... To Pos 0D1xh Name Byte Offset Description Type Unit Header 0 0D1xh VAI 16 Bit Dec Acc Go To Pos UInt16 1 Par 2 Target Position SInt16 Scaled 2 Par 4 Maximal Velocity UInt16 Scaled 3 Par 6 Acceleration Deceleration UInt16 Scaled 4 3 120 VAI Go To Cmd Tab Var1 Pos 0D4xh Name Byte Offset Description Type Unit Header 0 0D4xh VAI Go To Cmd Tab Var1 Pos UInt16 1 Par 2 Maximal Velocity UInt32 1E 6 m s 2...

Page 52: ...ed with the command table Variable 2 UPID 1E73h starting from actual position and with actual velocity 4 3 124 VAI Start Trig Rise Config VAI Command 0DExh Name Byte Offset Description Type Unit Header 0 0DExh VAI Start Trig Rise Config VAI Command UInt16 This command starts the VAI motion command defined with the parameters in Trig Rise Config of the Triggered VA Interpolator Run Mode settings 4 ...

Page 53: ...y1xh Encoder Cam y Define Curve From Act Pos y 1 2 UInt16 1 Par 2 Curve ID UInt16 1 100 2 Par 4 Curve Start Count SInt32 1 Incr 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 3 132 Encoder Cam y Define Curve To Pos 1y2xh Name Byte Offset Description Type Unit Header 0...

Page 54: ...te Offset Description Type Unit Header 0 1y5xh Encoder CAM y Define Curve To Pos y 1 2 Uint16 1 Par 2 Curve ID Uint16 1 100 2 Par 4 Curve Start Count Sint32 1 Incr 3 Par 8 Amplitude Scale Sint16 0 1 4 Par 10 CAM Length In Counts Sint32 1 Incr 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 definit...

Page 55: ...ion Type Unit Header 0 200xh Start Command Table Command UInt16 1 Par 2 Command Table ID UInt16 1 255 4 3 142 Start Command Table Command On Rising Trigger Event 201xh Name Byte Offset Description Type Unit Header 0 201xh Start Command Table Command On Rising Trigger Event UInt16 1 Par 2 Command Table ID UInt16 1 255 4 3 143 Start Command Table Command On Falling Trigger Event 202xh Name Byte Offs...

Page 56: ...nd header has offset 4 and the first motion command parameter has offset 6 4 3 146 Wait Time 210xh Name Byte Offset Description Type Unit Header 0 210xh Wait Time UInt16 1 Par 2 Time UInt32 100us Can be used in a linked command table sequence 4 3 147 Wait Until Motion Finished 211xh Name Byte Offset Description Type Unit Header 0 211xh Wait Until Motion Finished UInt16 Can be used in a linked comm...

Page 57: ...an UInt16 1 Par 2 Act Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 154 Wait Until Actual Position Less Than 223xh Name Byte Offset Description Type Unit Header 0 223xh Wait Until Actual Position Less Than UInt16 1 Par 2 Act Pos Trig Level SInt32 0 1 um Can be used in a linked command table sequence 4 3 155 Wait Until Difference Position Greater Than 224xh Name By...

Page 58: ...Greater Than UInt16 1 Par 2 Dem Vel Trig Level SInt32 1E 6 m s Can be used in a linked command table sequence 4 3 160 Wait Until Demand Velocity Less Than 229xh Name Byte Offset Description Type Unit Header 0 229xh Wait Until Demand Velocity Less Than UInt16 1 Par 2 Dem Vel Trig Level SInt32 1E 6 m s Can be used in a linked command table sequence 4 3 161 Wait Until Actual Velocity Greater Than 22A...

Page 59: ...Name Byte Offset Description Type Unit Header 0 241xh Add To Cmd Table Var 1 UInt16 1 Par 2 Add value Sint32 4 3 167 Set Cmd Table Var 2 To 242xh Name Byte Offset Description Type Unit Header 0 242xh Set Cmd Table Var 2 To UInt16 1 Par 2 Set value Sint32 4 3 168 Add To Cmd Table Var 2 243xh Name Byte Offset Description Type Unit Header 0 243xh Add To Cmd Table Var 2 UInt16 1 Par 2 Add value Sint32...

Page 60: ...0 251xh IF Cmd Table Var 1 Greater Than UInt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 175 IF Cmd Table Var 1 Less Than 252xh Name Byte Offset Description Type Unit Header 0 252xh IF Cmd Table Var 1 Less Than UInt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Tab...

Page 61: ... Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 181 IF Difference Position Less Than 25Cxh Name Byte Offset Description Type Unit Header 0 25Cxh IF Difference Position Less Than UInt16 1 Par 2 Condition Value Sint32 2 Par 6 Command Table ID IF TRUE Uint16 1 255 3 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 182 IF Difference Positi...

Page 62: ...Uint16 3 Par 6 Command Table ID IF TRUE Uint16 1 255 4 Par 8 Command Table ID IF FALSE Uint16 1 255 4 3 187 IF Masked X6 Input Value Equal Than 263xh Name Byte Offset Description Type Unit Header 0 263xh IF Masked X6 Input Value Equal Than UInt16 1 Par 2 X6 Bit Mask Uint16 2 Par 4 Condition Value Uint16 3 Par 6 Command Table ID IF TRUE Uint16 1 255 4 Par 8 Command Table ID IF FALSE Uint16 1 255 4 ...

Page 63: ...r 2 Curve ID UInt16 1 100 4 3 193 Encoder Curve Winding Start With Default Parameters At Revolutions 311xh Name Byte Offset Description Type Unit Header 0 311xh Encoder Curve Winding Start With Default Parameters At Revolutions UInt16 1 Par 2 Curve ID UInt16 1 100 2 Par 4 Revolution Counts To Start SInt32 1 Rev 4 3 194 VAI Go To Pos With Higher Force Ctrl Limit 380xh Name Byte Offset Description T...

Page 64: ...ion Sint32 0 1 um 2 Par 6 Maximal Velocity UInt32 1E 6 m s 3 Par 10 Acceleration UInt32 1E 5 m s2 4 Par 14 Force Limit Sint16 0 1 N 5 Par 16 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 T...

Page 65: ...ocity UInt32 1E 6 m s 3 Par 10 Acceleration UInt32 1E 5 m s2 4 Par 14 Force Limit Sint16 0 1 N 5 Par 16 Target Force Sint16 0 1 N 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 Con...

Page 66: ... c c e l e r a t i o n 0 0 0 2 0 0 4 0 0 6 0 0 8 0 1 0 1 2 0 1 4 0 1 6 0 1 2 V e l o c i t y 0 0 0 2 0 0 4 0 0 6 0 0 8 0 1 0 1 2 0 1 4 0 1 6 0 0 1 0 2 P o s i t i o n T im e 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 s2 Deceleration UInt32 1E 5 m s2 The VA Interpola...

Page 67: ...ode 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 period time the...

Page 68: ...length is possible With the following sequence 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 positi...

Page 69: ...lemented yet 5 4 1 Winding disturbance To avoid dog bones on bobbins an additional disturbance can be added The left and right end position of the stroke will be distributed within a definable range and pattern NTI AG LinMot User Manual Motion Control SW 06 12 2013 Page 69 91 Start Position Left Start Position Right End Position Left End Position Right Revolutions at End Ratio Start Ratio incr str...

Page 70: ...ion is completed and then go back to 0mm The second sequence ID5 12 repeats 5 times the Sequence GoTo 50mm GoTo 0mm 1 ID 5 Set Command Table To Var 1 0 2 ID 6 GoTo 50mm 3 ID 7 Wait Until In Target Position 4 ID 8 GoTo 0mm 5 ID 9 Wait until Motion Done 6 ID 10 Increment Command Table Var 1 7 ID 11 If Command Table To Var 1 5 Then GoTo ID 6 Else GoTo ID 12 8 ID 12 No Operation End of Sequence The th...

Page 71: ...ions X4 3 Yes Brake Output X4 4 Yes Analog In X4 5 Yes Capture Input X4 6 Yes Trigger Input X4 7 Yes Home Switch Input X4 8 Yes Limit IN Input X4 9 Yes Limit OUT Input 24V Step Input X4 10 Yes PTC 1 Input 24V Direction Input X4 11 Yes PTC 2 Input X4 12 No SVE Safety Voltage Enable Input 7 2 1 X4 3 Brake The output X4 3 can drive up to 1A so it can be used to control directly a valve of a pneumatic...

Page 72: ...he motor is set to 0A 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 Parameter Name UPID Description Apply Delay Time 171Bh Delay time after brake output goes to 0V until the maximal current of the motor is set to 0A UPID 13A6h and 13BAh Release Delay Time 171Ch Delay time of the Status Word bit Operation Enable...

Page 73: ... 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 0 None 1 Direct 2 Inhibited 3 Delayed 4 Inhibited 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...

Page 74: ...ibit time after falling edge of trigger in signal tif 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 Parameter Name UPID Description Rise Delay Time 170Fh Trigger Out delay time after rising edge of Trigger In signal tdr Fall Delay Time 1710h Trigger Out delay time after falling edge of Trigger In signal tdf Page 7...

Page 75: ...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 121Bh Error behavior of the configured limit switches 0 No Error maybe only used for homing 1 Power Off 2 Quick Stop 7 2 4 X4 10 and X4 11 PTC 1 and PTC 2 On IO pins X4 10 and X4 11 PTC sensors...

Page 76: ...0 None 1 Encoder Input X10 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 0 None 1 ABZ 2 AB 4 Step D...

Page 77: ...evolution The Speed Filter Time parameter defines the time over which the master encoder 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 Time 1293h Time over which the Master Encoder speed is generated NTI AG LinMot U...

Page 78: ... Supply Voltage Low bit 2 is set Motor Supply Voltage High 1019h If the logic supply voltage rises above this limit the warn bit Motor Supply Voltage High bit 3 is set Parameter Name UPID Description Motor Supply Voltage Too Low 101Ah If the logic supply voltage sinks below this limit the error 03h will be generated Motor Supply Voltage Too High 101Bh If the logic supply voltage rises above this l...

Page 79: ...than the turn off voltage Parameter Name UPID Description Turn On Voltage 101Eh If the Motor Supply Voltage rises above this limit the low side switch of the regeneration output is activated Turn Off Voltage 101Fh If the Motor Supply Voltage sinks below this limit the low side switch of the regeneration output is turned off With the RR Temp Calculated section the temperature model of the regenerat...

Page 80: ...n the B1100 drive is one sensor placed Parameter Name UPID Description Temp Sens Warn Level 1040h If the maximal board temperature rises above this level a warning is generated bit 6 in Warn Word is set Temp Sens Error Level 1041h If the maximal board temperature rises above this level the error is generated error codes 10h 17h The table below shows the mapped variables of the temperature monitori...

Page 81: ...ature of Regeneration Resistor low side driver E1100 only Connector Temp X3 1BCCh Temperature of motor connector X3 E1100 only Temp Core 1BCDh Temperature near microcontroller core E1100 only Max Drive Temp 1BCEh Maximal temperature of above variables 7 5 PosCtrlStructure NTI AG LinMot User Manual Motion Control SW 06 12 2013 Page 81 91 ...

Page 82: ...etect excess temperature 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 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 Page 82 ...

Page 83: ...ol SW LinMot 9 State Machine Setup In the state machine setup sections the parameters to influence the behavior of the single states can be defined NTI AG LinMot User Manual Motion Control SW 06 12 2013 Page 83 91 ...

Page 84: ...r motor power supply check the wiring check the sizing of the power supply use a regeneration resistor for power dissipation add a capacitor too enforce your DC link 0005h Err X1 RR Not Connected A regeneration resistor is configured see parameter 101Dh but not connected Recommended actions connect the regeneration resistor to X1 0006h Err PTC 1 Sensor Too Hot The PTC 1 sensor on X4 10 is hot or n...

Page 85: ... actions check the temperature check the wiring 0010h Err Drive Ph1 Too Hot The drive power bridge phase 1 is too hot Recommended actions check motor wiring 0011h Err Drive Ph1 Too Hot The drive power bridge phase 1 is too hot Recommended actions check motor wiring 0012h Err Drive Ph2 Too Hot The drive power bridge phase 2 is too hot Recommended actions check motor wiring 0013h Err Drive Ph2 Too H...

Page 86: ...wer down the drive and all power supplies then reconnect motor check motor and wiring check parameter 1221h 0022h Fatal Err Motor Slider Missing Motor hall sensors cannot see magnetic field of the 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 0023h Err Motor Sh...

Page 87: ...wiring check motor 0035h Err Ph2 Not Wired To Ph2 Motor phase 2 has no connection to phase 2 Recommended actions check motor wiring check motor 0036h Err Ph1 Short Circuit To Ph2 Short circuit between motor phase 1 and phase 2 detected Recommended actions check motor wiring check motor 0037h Err Ph1 Short Circuit To Ph2 Short circuit between motor phase 1 and phase 2 detected Recommended actions c...

Page 88: ...ing Recommended actions Order the SW key with your support together with the serial number of your HW 0058h Runtime Err ROM write error 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 0060h Cfg Err RR Voltage Set Too Low Configuration error regeneration resistor turn on off voltage parameter valu...

Page 89: ...of the motor first 0081h User Err Unknown Motion Cmd User error The PLC program sent an unknown motion command ID Recommended actions check PLC program check firmware version 0082h User Err PVT Buffer Overflow User error The PLC program has sent the stream position commands too fast the buffer had an overflow Streaming has to be strictly cyclic Recommended actions check PLC program check the field...

Page 90: ...d actions check the PLC program or check homing 0088h User Err Limit Switch Out High User error The motor moved into the Limit Switch Out while it was still in the stroke range Recommended actions check the PLC program or check homing 0089h User Err Curve Amp Scale Error User error The automatic calculated amplitude scale is out of range 2000percent to 2000percent Recommended actions check the PLC...

Page 91: ...upport linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration 877 546 3270 262 743 2555 Tech Support 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www linmot usa com Please visit http www linmot com to find the distribution near you Smart solutions are NTI AG LinMot User Manual M...

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