LinMot C1250-CM-XC-0S User Manual Download | Manualshive

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NTI AG / LinMot

This can also be monitored on the Control Panel of the LinMot-Talk software.

Setting the Control Word to 2049 (0x0801) sets also the “Home” bit (Bit 11) in the
Control Word. Wait until the input word 4 “State Var” has the value 2319 (0x090F) Main
State 9 (Homing) Sub State 0x0F (Homing finished).

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Summary of Contents for C1250-CM-XC-0S

Page 1: ...May 2019 Manual EtherNet IP Interface User Manual Doc 0185 1165 E_5V2_MA_EtherNet IP CIP Sync ...

Page 2: ...ole 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 NTI AG LinMot Bodenaecke...

Page 3: ... 3 3 2 Motion Command Interface 18 4 EtherNet IP Parameters 25 4 1 EtherNet IP Dis Enable 25 4 2 EtherNet IP Ethernet Configuration IP Configuration Mode 26 4 3 EtherNer IP EtherNet Configuration IP Configuration 26 5 Realtime IO Data Mapping 26 5 1 Exclusive Owner CIP Sync 0x78 0x64 26 5 1 1 Configuration Assembly Instance 1 27 5 1 2 O T Assembly Instance 120 0x78 27 5 1 3 T O Assembly Instance 1...

Page 4: ... and UDP IP For further information on EtherNet IP please visit http www odva org 1 1 References All user manuals are distributed with the LinMot Talk configuration software The newest version can also be downloaded from the LinMot homepage in the download section Ref Title Source 1 0185 1093 E_XXX_MA_MotionCtrlSW SG5 SG7 www linmot com 2 0185 1074 E_XXX_MA_Drive Configuration Over Fieldbus SG5 SG...

Page 5: ...eferred to as a Cat5e Cable 2 2 Default IP Address Settings The default IP address is 192 168 1 xxx where the last byte xxx is defined via the two hex switches S1 and S2 S1 sets the high and S2 the low digit S1 S2 IP Selectors S1 S2 Bus ID High 0h Fh Bus ID Low 0h Fh The switch value S1 S2 0 factory default setting is a special configuration which acquires the IP address via DHCP 2 3 RT Bus LEDs R...

Page 6: ...ley master PLC is used RSLinx tool can only be used to see if the device is on the network and under which IP address it can be accessed The whole configuration is done in the PLC which is described in chapter 3 2 3 1 RSLinx Classic In the RSLinx the LinMot device should occur under the defined IP address as Unrecognized Device LinMot Device with the IP address 192 168 1 89 in the RSLinx tool ...

Page 7: ... the LinMot with the EDS File the EDS File must be downloaded into the configuration software of the PLC In the RSLogix 5000 there is the EDS Hardware Installation Tool which is used for the installation It can be found in the menu under Tools Then you can click next until the Options window is shown In this window Register an EDS file s has to be selected ...

Page 8: ...ation window Register a directory of EDS files has to be selected The path of the directory is LinMot TalkX X BuildX Firmware Interfaces EtherNetIP_NX EDS After this selection you can click next and finish the EDS Hardware Installation ...

Page 9: ...is the Vendor NTI Limited where the drive can be selected After creating a new module on the Tab General under Module Definition using the button Change two communication types can be chosen Exclusive Owner CIPSync 0x78 0x64 Realtime IO with configuration module and CIP Sync Timestamp Default Legacy Exclusive Owner As_0x28_0x18 Realtime IO with configuration module only for retrofit without CIP Sy...

Page 10: ...perties the desired cycle time is specified in the range between 1ms and 3200ms Only Unicast Connection is supported To add more modules the EDS File registration does not need to be repeated If the setup was successful the LinMot module status will be Running ...

Page 11: ...s which EDS File is for which Drive If the full EDS folder is loaded in the configuration tool the names of the Drives are visualized File Name Art Number Drive Type C1250CMXC0S eds 0150 2900 C1250CMXC0S C1250CMXC1S eds 0150 2901 C1250CMXC1S ...

Page 12: ...d with the Watch Window In this section the basics of the LinMot device handling are explained Instead of programming the LinMot drive data can be directly set with the watch window For the next steps map the modules input data and output data in the quick watch window as shown below In the following examples it is assumed that a motor has been configured the power supply is on and the drive is co...

Page 13: ...13 33 NTI AG LinMot 3 3 1 Control Word The Control Word is mapped to the output data word 4 byte 16 17 If setting this value to 1 the Switch On bit bit 0 of the Control Word is set ...

Page 14: ... the Control Panel of the LinMot Talk software Setting the Control Word to 2049 0x0801 sets also the Home bit Bit 11 in the Control Word Wait until the input word 4 State Var has the value 2319 0x090F Main State 9 Homing Sub State 0x0F Homing finished ...

Page 15: ...15 33 NTI AG LinMot ...

Page 16: ...3 NTI AG LinMot The Control Word can then be set to 1 again the drive will change to Main State 8 Operation Enabled Sub State 0xC0 Homed and In Target Position the corresponding State Var has the value 2240 ...

Page 17: ...17 33 NTI AG LinMot ...

Page 18: ...r is the motion command header the remaining MCSW_MotionCommandByte 0 19 are the command specific motion parameters In the next example we will set up a Predef VAI Go To Pos 020xh Motion Command First we set the target position low word MCSW_MotionCommandByte_00_01 to 0 then the target position high word MCSW_MotionCommandByte_02_03 to 2 and the motion command header MCSW_MotionCommandHeader to 51...

Page 19: ...19 33 NTI AG LinMot ...

Page 20: ...LinMot Press the Read Command button to see the sent command We will use the same command to move back to 0mm Change the target position high word to 0 Then change the count nibble in the motion command header to 0 ...

Page 21: ...21 33 NTI AG LinMot ...

Page 22: ...22 33 NTI AG LinMot In the next example we are going to use the most common motion command VAI Go To Pos 010xh In this example we define the motion command in the control panel first ...

Page 23: ...d in the watch window First the motion parameters the motion header has to be written last otherwise the movement starts before data entering is completed The data is written from low byte to high byte MotionCommandByte_00_01 16 A120 MotionCommandByte_02_03 16 0007 ...

Page 24: ... AG LinMot To move back to 0mm with the same motion command and the same parameters set the target position to 0 MotionCommandByte_00 03 then change the count nibble in the motion command header to 2 for example ...

Page 25: ...mot com under the section download software 4 1 EtherNet IP Dis Enable With the Dis Enable parameter the LinMot drive can be operated without the Ethernet IP interface Therefore the system can initially be configured and tested without any bus connection EtherNet IP Dis Enable Disable The drive runs without EtherNet IP Enable The drive runs with EtherNet IP If the EtherNet IP interface is disabled...

Page 26: ...d the default gateway is described EtherNet IP Intf Ethernet Configuration IP Confirguration IP address 1st Byte Highest byte of IP address IP address 2nd Byte Mid high byte of IP address IP address 3rd Byte Mid low byte of IP address IP address 4th Byte Lowest byte of IP address Netmask 1st Byte Highest byte of Netmask Netmask 2nd Byte Mid high byte of Netmask Netmask 3rd Byte Mid low byte of Net...

Page 27: ...f the variable which shall be returned in MonChannel_1 of T O assembly 2 18h UInt16 MonChannelUPID_2 UPID of the variable which shall be returned in MonChannel_2 of T O assembly 2 1Ah UInt16 MonChannelUPID_3 UPID of the variable which shall be returned in MonChannel_3 of T O assembly 2 1Ch UInt32 MCSW_MaximalCurrentP ositiveActive Set to 1 if the positive current limit MCSW_MaximalCurrentPositive ...

Page 28: ...assembly data set the parameters below belong to 5 3Ch UInt32 SInt32 ParChannel_0 Value which shall be written to parameter defined in config assembly ParamChannelUPID_0 5 40h UInt32 SInt32 ParChannel_1 Value which shall be written to parameter defined in config assembly ParamChannelUPID_1 5 44h UInt32 SInt32 ParChannel_2 Value which shall be written to parameter defined in config assembly ParamCh...

Page 29: ...t16 RX_Cfg_Module_Index Config module index 1 30h UInt32 SInt32 RX_Cfg_Module_Value Config module value 1 34h UInt32 RX_MonChannelConfigID ID to identify to which configuration assembly data set the following monitoring variables belong to 2 38h UInt32 SInt32 MonChannel_0 Value of the variable defined in the configuration assembly MonChannelUPID_0 2 3Ch UInt32 SInt32 MonChannel_1 Value of the vari...

Page 30: ..._MotionCommand Byte_04 07 Command specific 1 0Ch UInt32 MCSW_MotionCommand Byte_08 11 Command specific 1 10h UInt32 MCSW_MotionCommand Byte_12 15 Command specific 1 14h UInt32 MCSW_MotionCommand Byte_16 19 Command specific 1 18h UInt16 TX_Cfg_Module_Control Config module header 2 1Ah UInt16 TX_Cfg_Module_Index Config module index 2 1Ch UInt32 SInt32 TX_Cfg_Module_Value Config module value 2 1Motio...

Page 31: ...ed with the precision time protocol PTP IEEE 1588 The timing model must be set with the Configuration Assembly Instance 1 Timing model 1 expects that the target time stamp lies 2 streaming periods in the future from when the telegram is calculated Timing model 2 expects that the target time stamp lies 3 streaming periods in the future from when the telegram is calculated Limitations A streaming te...

Page 32: ...2 33 NTI AG LinMot no controller which is capable of acting as a grand master clock shall be connected to a running system even if its clock priority is lower than that of the current grand master clock ...

Page 33: ...Administration Tech Support Tech Support Skype Web 41 56 419 91 91 office linmot com http www linmot com support support linmot 41 56 544 71 00 support linmot com http www linmot com 41 56 419 91 92 N1922 State Road 120 Unit 1 Lake Geneva WI 53147 USA Phone E Mail Web usasales linmot com http www linmot usa com http www linmot com contact to find the distribution close to you ...

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