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NTI AG / LinMot

As the CPU is F-CPU (safety mode activated), there will be Safety Administration tab under the PLC_1. Double
click on "Safety Administration". Choose the "Main_Safety_RTG1" under "Main safety block".

Safety Adm inistartion configuration

6.2.8.2 Safety Parameters in LinMot Talk

The safety parameters are programmed in the LinMot talk. They are given in yellow color under Parameters.

For the proper operation of the safe bus it is required to assign the parameter "Safety > General Settings >
Safe Fieldbus Activation" to PROFIsafe.
Please check the Safety Manual for the program and validation steps of the safety parameters.

6.3 Creating Technology Objects

To configure the Positioning axis, go to PLC_1 > "Technology objects" folder in the project tree. Double click
on "Add new object".

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Содержание C1250-MI-XC-PD-1S

Страница 1: ...February 2022 Documentation of the PROFIdrive Interface of the following Drives C1251 MI XC 2S XE C1250 MI XC PD 1S Manual PROFINET PROFIdrive Interface Doc 0185 1154 E_1V1_MA_PROFIdriveMI ...

Страница 2: ... 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 Bodenaeckerstrasse ...

Страница 3: ...18 2 2 1 Par Channel 1 telegram 417 PZD 2 0 18 2 2 2 Par Channel 2 telegram 418 PZD 2 0 18 2 2 3 Par Channel 3 telegram 419 PZD 2 0 18 2 2 4 Par Channel 4 telegram 420 PZD 2 0 18 2 3 Input PDO Modules 18 2 3 1 Actual Position telegram 405 PZD 0 2 18 2 3 2 Demand Position telegram 406 PZD 0 2 18 2 3 3 WarnWord telegram 407 PZD 0 1 19 2 3 4 ErrorCode telegram 408 PZD 0 1 19 2 3 5 Demand Current 32b ...

Страница 4: ...tors X17 X18 25 6 Example Setup 26 6 1 Setup in S7 1500 System 26 6 1 1 Assumed preconditions 26 6 1 2 Adding Safety Drive to System 26 6 2 Configure the Project TIA Configuration 26 6 2 1 Create a new project 26 6 2 2 Configure a Device 27 6 2 3 Add new Device 27 6 2 4 Select PLC Controller 28 6 2 5 Configure PROFINET 28 6 2 6 Install LinMot GSDML device description file 29 6 2 7 Configure LinMot...

Страница 5: ...oaded from the LinMot homepage in the download section Ref Title Doc Reference Source 1 Safety Manual 2S Products 0185 1174 E shop linmot com 2 User Manual Motion Control SW 0185 1093 E_6V8 shop linmot com 3 LinMot Drive Configuration over Fieldbus Interfaces SG5 SG7 0185 1074 E_1V7 shop linmot com 4 Sinamics S120 Safety Integrated Function Manual 6SL3097 5AR00 0BP3 https support industry sie mens...

Страница 6: ...Page 6 of 44 NTI AG LinMot ...

Страница 7: ... subslots from 1 to 12 Overview of the supported Data Objects Modules 2 1 Bidirectional PDO Modules 2 1 1 Standard telegram 3 PZD 5 9 The telegram content has speed setpoint interface 32 bit with one sensor Output Data Index Size Byte Byte Offset Name Data Type Tlg 3 10 Variables RECORD 1 2 0 STW1 Uint16 2 3 4 2 NSOLL_B Int32 4 2 6 STW2 Uint16 5 2 8 G1_STW Uint16 Input Data Index Size Byte Byte Of...

Страница 8: ...put Data Index Size Byte Byte Offset Name Data Type Tlg 5 18 Variables RECORD 1 2 0 STW1 Uint16 2 3 4 2 NSOLL_B Int32 4 2 6 STW2 Uint16 5 2 8 G1_STW Uint16 6 7 4 10 XERR Int32 8 9 4 14 KPC Int32 Input data Index Size Byte Byte Offset Name Data Type Tlg 5 18 Variables RECORD 1 2 0 ZSW1 Uint16 2 3 4 2 NIST_B Int32 4 2 6 ZSW2 Uint16 5 2 8 G1_ZSW Uint16 6 7 4 10 G1_XIST_1 Int32 8 9 4 14 G1_XIST_2 Int3...

Страница 9: ...DI_ACC Uint16 9 2 16 MDI_DEC Uint16 10 2 18 MDI_MOD Uint16 Details Of STW1 Bit Name Significance 0 ON OFF Switched On 1 Power Down 0 1 No STO active STO active No STO 1 STO active 0 2 No Quick Stop Quick Stop No Quick Stop 1 Quick Stop 0 3 Enable Operation Disable Operation Enable Operation 1 Inhibit Operation 0 4 Abort forced by parameter No Abort 1 Abort 0 5 Freeze forced by parameter No Freeze ...

Страница 10: ...scenario Set Command Table Command 200xh is selected The Command Table Entry ID which is taken as the parameter of the Command Table Command has to be programmed in SATZANW bit 0 9 2 1 4 2 Input Data Index Size Byte Byte Offset Name Data Type Tlg 9 10 Variables RECORD 1 2 0 ZSW1 Uint16 2 2 2 AKTSATZ Uint16 3 2 4 ZSW2 Uint16 4 5 4 6 XIST_A Int32 Details of ZSW1 Bit Name Significance 0 Ready To Swit...

Страница 11: ...e The input values for the motion command will be taken from MDI_TARPOS MDI_VELOCITY MDI_ACC and MDI_DEC XIST_A is position actual value 2 1 5 Safety Standard telegram 30 This telegram is applicable only for the 2S drive C1251 MI XC 2S XE Control of the Drive Safety Process inside the DO by the Safety Application Controller The details of the safety telegram is described in Safety Manual for 2S dr...

Страница 12: ...O STO active 1 STO not active 0 1 SS1 SS1 active 1 SS1 not active 0 2 SS2 SS2 active 1 SS2 not active 0 3 SOS SOS active 1 SOS not active 0 4 SLS SLS active 1 SLS not active 0 5 Reserved 6 Reserved 7 Internal Event ACK Internal Event 1 No Internal Event 0 8 Reserved 9 Select SLS Bit 0 Selected SLS level bit 0 10 Select SLS Bit 1 Selected SLS level bit 1 11 SOS Selected SOS selected 1 SOS deselecte...

Страница 13: ...B 6 Variables RECORD 1 2 0 M_Add Int16 2 2 2 B pos torque Limit Uint16 3 2 4 B neg torque Limit Uint16 The additional torque M_Add is calculated with UPID 0x119E maximal Motor Current and written to UPID 0x139C or 0x13B0 depending on which control parameter set is active The additional torque is standardised by 4000h The unit of M_Add is N or Nm if rotary Value at UPID 0x139C 0x13B0 M_Add maximal ...

Страница 14: ... 4 4 Config Value Word32 Input Data Index Size Byte Byte Offset Name Data Type Tlg 404 8 Variables RECORD 1 2 0 Config Status Word Uint16 2 2 2 Config Index Uint16 4 5 4 4 Config Value Word32 Please refer to the document 0185 1074 E_1V7_MA_Drive Configuration Over Fieldbus SG5 SG7 pdf 3 from LinMot for more details 2 1 9 LinMot telegram 516 PZD 16 13 Default IO mapping with Config Output Data Inde...

Страница 15: ...2 for the Real Time Config Interface refer to 3 2 1 10 Supplement telegram 701 PZD 2 5 This telegram is applicable only for the 2S drive C1251 MI XC 2S XE The predefined PROFIdrive supplementary safety telegrams 700 and 701 of Siemens are available for the transfer of the Safety Info Channel SIC and Safety Control Channel SCC The Safety Info Channel enables Safety integrated functionality status i...

Страница 16: ...D 1 2 0 S_ZSW1B Uint16 2 2 2 S_ZSW2B Uint16 3 4 4 4 S_V_LIMIT_B Int32 5 2 8 S_ZSW3B Uint16 Details of S_ZSW1B Bit Name Significance 0 STO STO active 1 STO not active 0 1 SS1 SS1 active 1 SS1 not active 0 2 SS2 SS2 active 1 SS2 not active 0 3 SOS SOS active 1 SOS not active 0 4 SLS SLS active 1 SLS not active 0 5 SOS selected SOS selected 1 SOS deselected 0 6 SLS selected SLS selected 1 SLS deselec...

Страница 17: ...t16 The additional torque M_Add is calculated with UPID 0x119E maximal Motor Current and written to UPID 0x139C or 0x13B0 depending on which control parameter set is active The additional torque is standardised by 4000h The unit of M_Add is N or Nm if rotary Value at UPID 0x139C 0x13B0 M_Add maximal Motor Current 4000h The torque limits B and B are also calculated with UPID 0x119E maximal Motor Cu...

Страница 18: ...m 419 PZD 2 0 Index Size Byte Byte Offset Name Data Type Tlg 419 4 Variables RECORD 1 2 4 0 Parameter Channel 3 Word32 2 2 4 Par Channel 4 telegram 420 PZD 2 0 Index Size Byte Byte Offset Name Data Type Tlg 420 4 Variables RECORD 1 2 4 0 Parameter Channel 4 Word32 2 3 Input PDO Modules 2 3 1 Actual Position telegram 405 PZD 0 2 Index Size Byte Byte Offset Name Data Type Tlg 405 4 Variables RECORD ...

Страница 19: ...D 0 2 Index Size Byte Byte Offset Name Data Type Tlg 409 4 Variables RECORD 1 2 4 0 Demand Current 32b Int32 2 3 6 Mon Channel 1 telegram 410 PZD 0 2 Index Size Byte Byte Offset Name Data Type Tlg 410 4 Variables RECORD 1 2 4 0 Mon Channel 1 Word32 2 3 7 Mon Channel 2 telegram 411 PZD 0 2 Index Size Byte Byte Offset Name Data Type Tlg 411 4 Variables RECORD 1 2 4 0 Mon Channel 2 Word32 2 3 8 Mon C...

Страница 20: ...rent 16b Int16 2 3 11 Actual Velocity telegram 415 PZD 0 2 Index Size Byte Byte Offset Name Data Type Tlg 415 4 Variables RECORD 1 2 4 0 Actual Velocity Int32 2 3 12 Demand Velocity telegram 416 PZD 0 2 Index Size Byte Byte Offset Name Data Type Tlg 416 4 Variables RECORD 1 2 4 0 Actual Velocity Int32 2 3 13 Supplement telegram 700 PZD 0 3 Index Size Byte Byte Offset Name Data Type Tlg 700 6 Varia...

Страница 21: ...ve Unit identification r 965 Profile identification number r 974 Base Mode Parameter Access service identification r 975 DO identification r 980 Number list of defined parameter r 60000 Velocity reference value not yet implemented r LinMot PROFIdrive Object Dictionary 3 2 Manufacturer specific Profile Area The RAM and ROM values of the drive parameters can be accessed by their parameter number UPI...

Страница 22: ...Page 22 of 44 NTI AG LinMot Request ID Description 0x42 Write ROM value of parameter only valid with the value attribute ...

Страница 23: ...abled the integrated Netx ASIC rests in reset state No messages will be sent to other devices connected to the PROFINET Network via the servo drive 4 1 2 PROFdrive Byte Order With the Byte Order parameter the used Byte order of the transmitted data can be defined PROFIdrive Byte Order reversed Byte order is reversed For S7 PLC_s select reversed not reversed Byte order is not reversed 4 1 3 PROFdri...

Страница 24: ...int values are transmitted normalized For this reason they have to be set into relation to a reference value The Parameter Linear Reference Velocity is the reference value for the NSOLL_B and NIST_B values used in telegrams 3 5 and 105 if the axis is of type linear If the axis is of type rotative the reference value is defined with the parameter Rotative Reference Velocity 4 1 8 PROFdrive Axis Con...

Страница 25: ... 105 Anti Windup Std telegram 5 105 anti windup gain higher values reduce the position error in the drive with blocked slider This parameter has only an influence if KPC is zero The PosDiff StreamedVel StreamingPeriod fa AntiWindupGain 4 1 11 PROFIdrive Axis Configuration Monitoring Life Sign Tolerance parameter of Axis 5 Connecting to the PROFINET Network 5 1 Pin Assignment of the Connectors X17 ...

Страница 26: ...nMot X17 RT ETH It is supposed that the motor and the drive have PnP functionality means the motor is basically setup automatically Otherwise the motor has to be setup manually with the Motor Wizard of LinMot Talk Attention To achieve a good response of the master set point it is important to well tune the position controller in the LinMot drive 6 1 2 Adding Safety Drive to System Please refer to ...

Страница 27: ...Page 27 of 44 NTI AG LinMot Create new project 6 2 2 Configure a Device Configure the device 6 2 3 Add new Device Select the PLC device ...

Страница 28: ...evice article number 6 2 5 Configure PROFINET Add the PROFINET network PN IE_1 here and choose the IP address and subnet netmask Configure the Profinet set the PLC network address Define the S7 1500 as Sync master in the real time settings Configuring the PLC as Sync master ...

Страница 29: ... the firmware under path LinMot LinMot Talk 6 10 Build 2021xxxx Firmware Interfaces ProfiNet GSDML_PD If not installed altready install the LinMot GSDML file Choose the source path and select the GSDML file Please note that the article number of the drive 31005 is in the xml file name Click on Install After installation there will be a notification Click on Close The hardware catalog will be updat...

Страница 30: ...ow change to the network view and add the desired LinMot PROFIdrive device from the hardware catalogue Select the LinMot drive and drag and drop it to the PN IE1 network Connect to the PN IE network 6 2 7 1 Assign LinMot drive to the PLC Assign the LinMot drive to the PLC master PLC_1 ...

Страница 31: ... drive Double click on the drive and go to the Device view Assign the name to the drive if required by clicking on the existing name and editing it Edit the IP address by choosing Properties Profinet interface X1 Ethernet addresses under IP protocol enter the required IP address and choose the Subnet mask Assign the IP address ...

Страница 32: ... SERVO Double click on the item Under the section Submodules double click on PROFIsafe telegram 30 Safety telegram 30 will be added to subslot 2 The input and the output addresses are automatically assigned Double click the PROFIsafe telegram and open the PROFIsafe tab under General Choose the correct address under F_Dest_Add To know the right address check the C1251 device drive safe address S12 ...

Страница 33: ...am 30 The LinMot drive C1251 supports the following safety functions STO SOS SS1 SS2 SLS0 SLS1 SLS2 SLS3 For details of the functionality refer to the User Safety Manual The functional block for safety functions are added to PLC_1 This block is compatible or reusable with the functional block used for Siemens safety drive S120 Double click on PLC_1 Program blocks Main_Safety_RTG1 Add each function...

Страница 34: ... The safety parameters are programmed in the LinMot talk They are given in yellow color under Parameters For the proper operation of the safe bus it is required to assign the parameter Safety General Settings Safe Fieldbus Activation to PROFIsafe Please check the Safety Manual for the program and validation steps of the safety parameters 6 3 Creating Technology Objects To configure the Positioning...

Страница 35: ... box opens select the TO_PositioningAxis Also give the name of the technology object Click on OK Select the postiioning axis 6 3 1 Configure axis Open the Configuration window Choose axis type as linear if linear motor is used The basic parameters could be left as suggested ...

Страница 36: ...Page 36 of 44 NTI AG LinMot Basic parameter in TO ...

Страница 37: ... DO SERVO_1 and click on the tick mark Drive configuration in TO After assigning the process image of the drive all the below fields will be automatically filled Drive configuration in TO In the Data exchange with drive session choose the reference speed as 12000 0 1 min and maximum speed as 24000 0 1 min Data exchange with the drive configuration ...

Страница 38: ...etween increments because the LinMot drive works with a fix resolution of 100nm Set the Bits in Gx_XIST1 in fine resolution to 0 Data exchange with the encoder 6 4 Compile and Download PLC_1 configuration Compilation of the project is done by clicking the Toolbox button For downloading the project first connect to the target system by clicking the button ...

Страница 39: ...ts 6 5 Move the Axis with the Commissioning panel The safety mode activation can be confirmed from the Safety Administration window Safety administaration window After the program is loaded the drive is in Switch On Disabled state Safety panel has Safety Fn State STO and Safety Fn State Int Event active LinMot talk status In the next step you have to acknowledge the safety internal event before en...

Страница 40: ...gning the signal Now the system is ready for motion commands over the control panel to do this click on the Technology objects Choose Commissioning under the positioning axes name Double click on Commissioning The axis control panel is shown as below Axis control panel for commissioning We have to get the master control by clicking on activate After clicking the system will go online automatically...

Страница 41: ...have to set the enables click the Enable button Axis control panel for commissioning The LinMot talk shows the Operation Enabled state in the monitoring panel Set the home position by choosing the Set home position command from the drop down list under Operating mode Then click on Start ...

Страница 42: ...oves Go to operation mode and choose Positioning absolute from the drop down menu Select the absolute motion The position can be left at 100mm if your motor has enough position range Otherwise reduce this value Then click Start Axis control panel for commissioning Check the position in the current value of position in the axis control panel Axis control panel for commissioning ...

Страница 43: ... backward or forward as required Axis control panel for commissioning In this example the axis is moved backward and reached the position 80 0 mm Axis control panel for commissioning Before leaving the control panel click the Axis Disable button Then click on Master control Deactivate Now the LinMot Talk is in Ready to Switch On state LinMot talk status after deactivation ...

Страница 44: ...and 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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