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Page 38 of 48

NTI AG / LinMot

 

3  Process Data Object (PDO) Configuration

The cyclic process data is configured in the master and transmitted to the slave during startup. The data
Object modules could be configured by drag and drop to the device slots 1..8.

Overview of the supported Data Objects Modules.

 

3.1  Input PDO Modules

3.1.1  Standard telegram 3

Index

Size
[Byte]

Byte
Offset

Name

Data
Type

Tlg 3

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

Int32

3.1.2  Standard telegram 5

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

Int32

Содержание C1250-PD-XC-0S/1S

Страница 1: ...August 2019 Documentation of the PROFIdrive Interface of the following Drives C1250 PD XC 0S 1S C1450 PD VS 0S 1S E1450 PD QN 0S 1S Manual PROFINET PROFIdrive Interface Doc 0185 1132 E_1V5_MA_PROFIdrive ...

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: ...19 2 3 SIMOTON SCOUT TIA Configuration 21 2 3 1 Insert axis 22 2 3 2 Configure axis 23 2 3 3 Download SIMOTION SCOUT configuration 28 2 3 4 Move the Axis with the Control panel 32 3 Process Data Object PDO Configuration 38 3 1 Input PDO Modules 38 3 1 1 Standard telegram 3 38 3 1 2 Standard telegram 5 38 3 1 3 Standard telegram 7 39 3 1 4 Standard telegram 9 39 3 1 5 Siemens telegram 105 39 3 1 6 ...

Страница 4: ...rea 44 4 2 Manufacturer specific Profile Area 44 4 3 Suported Services 44 5 PROFIdrive Parameters 45 5 1 Parameters 45 5 1 1 PROFdrive Dis Enable 45 5 1 2 PROFdrive Byte Order 45 5 1 3 PROFdrive Word Order 45 5 1 4 PROFdrive Monitoring Channels 45 5 1 5 PROFdrive Axis Configuration Axis Type 46 5 1 6 PROFdrive Axis Configuration Linear Rotative Reference Velocity 46 5 1 7 PROFdrive Axis Configurat...

Страница 5: ...1 1 References All user manuals are distributed with the LinMot Talk software the newest versions can be downloaded from the LinMot homepage in the download section Ref Title Source 1 User Manual Motion Control SW www linmot com 2 LinMot Drive Configuration over Fieldbus Interfaces SG5 www linmot com 1 2 Port assignement Attention Within the PROFINET network normally the topology is defined for ea...

Страница 6: ...ing PC is connected over X127 P1 The Linmot drive is completely wired the PROFINET is wired from the SIMOTION X150 P1 to the LinMot X17 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 LinMot Talk Motor Wizard in the drive Attention To achieve a good response of the master setpo...

Страница 7: ...Page 7 of 48 NTI AG LinMot 2 2 2 Configure a Device ...

Страница 8: ...Page 8 of 48 NTI AG LinMot 2 2 3 Add new Device ...

Страница 9: ...Page 9 of 48 NTI AG LinMot 2 2 4 Select Device 2 2 5 Configure PROFINET Add the PROFINET network PN IE_1 here assigned to X150 and choose the IP address and subnet netmask ...

Страница 10: ...Page 10 of 48 NTI AG LinMot ...

Страница 11: ...inMot GSDML device description file If not already installed install now the newest device description file of the device you want to use The device description files are distributed together with the firmware under path C Program Files x86 LinMot LinMot Talk 6 4 Build 20151112 Firmware Interfaces ProfiNet GSDML_PD ...

Страница 12: ...7 Select correct GSDML device description file 2 2 8 Add NTI drive to PROFINET network Now change to the network view and add the desired LinMot PROFIdrive device Select the correct NTI drive and drag and drop it to the PN IE1 network ...

Страница 13: ...Page 13 of 48 NTI AG LinMot Then Network looks like this 2 2 8 1 Assign NTI drive to the SIMOTION Assigne the LinMot drive to the SIMOTION master PLC_1 Select PLC_1 as IO Controller ...

Страница 14: ...Page 14 of 48 NTI AG LinMot ...

Страница 15: ... port to the C1250 PD P1 port 2 2 10 Add communication module to the NTI PROFIdrive drive Double click in the Topology view the LinMot drive then automatically the device view of the LinMot drive opens Drag and drop from the Catalog the DO with standard telegr 5 to the device Slot 1 Double click the device and define the isochronous mode ...

Страница 16: ...Page 16 of 48 NTI AG LinMot ...

Страница 17: ...lick thethe Slot 1 2 and assign the I O address to the Servo Process image 2 2 11 Define the PROFIBUS Cycle time For the SIMOTION D devices the DP cycle time has to be the same as the Isochronous PROFINET IO cycle time so change it to 1ms ...

Страница 18: ...Page 18 of 48 NTI AG LinMot ...

Страница 19: ...ile button for compiling the HW configuration 2 2 13 Download the HW Configuration By clicking the button you start the download of the HW configuration Select your HW devices for accessing the SIMOTION master click search then select the SIMOTION device and start the loading by clicking on the Load button ...

Страница 20: ...Page 20 of 48 NTI AG LinMot After successful download you get ask for starting the devices select Start all check box and click the Finish button ...

Страница 21: ...age 21 of 48 NTI AG LinMot 2 3 SIMOTON SCOUT TIA Configuration Now change to the configuration in the SIMOTION SCOUT configuration tool by double cklicking the SIMOTION configuration in the Project tree ...

Страница 22: ...Page 22 of 48 NTI AG LinMot Then the SIMOTION SCOUT TIA tool opens with the configured HW PLC_1 D445 2DP PN and C1250 PD drive 2 3 1 Insert axis Open the Axes and double click on the Insert Axis entry ...

Страница 23: ...Page 23 of 48 NTI AG LinMot 2 3 2 Configure axis The axis type could be left as suggested click the next button ...

Страница 24: ... of 48 NTI AG LinMot The drive assignment is also correct mapped to the C1250 PD drive but change the motor type to Linear motor then click Next In the Encoder assignement change the to linear then click Next ...

Страница 25: ...Page 25 of 48 NTI AG LinMot ...

Страница 26: ...Page 26 of 48 NTI AG LinMot Change the resolution to 1e 004mm because the NTI drives works with a fix resolution of 100nm Then Click next Now a summary of the configured axis appears Click Finished ...

Страница 27: ...ameter encoderFrequencylimit has to be increased in the expert list Tab Configuration data Entry TypeOfAxis NumberOfEncoders Encoder_1 FrequencyLimit encoderFrequencyLimit to 100 000 000 With this value a theoretical maximal velocity of 10m s is possible due the encoder resolution of 100nm ...

Страница 28: ...G LinMot 2 3 3 Download SIMOTION SCOUT configuration Now it is possible to save and compile the project by clicking the Toolbox button For Downloading the project first connect to the target system by clicking the button ...

Страница 29: ...Page 29 of 48 NTI AG LinMot Select the target system the click OK For downloading the project click the button and check the After loading copy RAM to ROM Checkbox entry the click the Yes button ...

Страница 30: ...Page 30 of 48 NTI AG LinMot ...

Страница 31: ...Page 31 of 48 NTI AG LinMot Now the SIMOTION tool ask for stopping the target system click Yes After the successful download the tool ask for set the RUN mode again click the Yes button ...

Страница 32: ...Page 32 of 48 NTI AG LinMot 2 3 4 Move the Axis with the Control panel Now the system is ready for motion commands over the control panel to do this double click the Control panel entry in the AXES tree ...

Страница 33: ...tep we have to get the control priority click the button then accept the safety note if you could do so In the next step you have to set the enables click the button and then Ok in the appeared popup window Now the motor is position controlled ...

Страница 34: ...ction homing you have to press the Button After the homing the green LED left from Homed glows Now the axis is ready for absolute position motions For this click on the button and select the absolute motion if possible the position could be left at 100mm if your motor have more limited position range reduce this value Then click OK ...

Страница 35: ...Page 35 of 48 NTI AG LinMot ...

Страница 36: ... again the button To move back to 0mm you could directly change the x value to 0mm then start the motion with clicking again the button The motor moves back to 0mm and the position changes also back to 0mm Before leaving the control panel click the button ...

Страница 37: ...Page 37 of 48 NTI AG LinMot ...

Страница 38: ...Objects Modules 3 1 Input PDO Modules 3 1 1 Standard telegram 3 Index Size Byte Byte Offset Name Data Type Tlg 3 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 Int32 3 1 2 Standard telegram 5 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 ...

Страница 39: ...ens telegram 105 Index Size Byte Byte Offset Name Data Type Tlg 105 20 Variables RECORD 1 2 0 ZSW1 Uint16 2 3 4 2 NIST Int32 4 2 6 ZSW2 Uint16 5 2 8 MELDEW Uint16 6 2 10 G1_ZSW Uint16 7 8 4 12 G1_XIST_1 Int32 9 10 4 16 G1_XIST_2 Int32 3 1 6 Siemens telegram TDB 200 Index Size Byte Byte Offset Name Data Type Tlg TDB 20 Variables RECORD 1 2 0 M_act Int16 3 1 7 Real Time Config telegram 404 Index Siz...

Страница 40: ...407 2 Variables RECORD 1 2 0 WarnWord Uint16 3 1 11 ErrorCode telegram 408 Index Size Byte Byte Offset Name Data Type Tlg 408 2 Variables RECORD 1 2 0 ErrorCode Uint16 3 1 12 Demand Current 32b telegram 409 Index Size Byte Byte Offset Name Data Type Tlg 409 4 Variables RECORD 1 2 4 0 Demand Current 32b Int32 3 1 13 Mon Channel 1 telegram 410 Index Size Byte Byte Offset Name Data Type Tlg 410 4 Var...

Страница 41: ...yte Offset Name Data Type Tlg 414 2 Variables RECORD 1 2 0 Demand Current 16b Int16 3 1 18 Actual Velocity telegram 415 Index Size Byte Byte Offset Name Data Type Tlg 415 4 Variables RECORD 1 2 4 0 Actual Velocity Int32 3 1 19 Demand Velocity telegram 416 Index Size Byte Byte Offset Name Data Type Tlg 416 4 Variables RECORD 1 2 4 0 Actual Velocity Int32 3 2 Output PDO Modules 3 2 1 Standard telegr...

Страница 42: ...TW1 Uint16 2 2 2 SATZANW Uint16 3 2 4 Standard telegram 9 Index Size Byte Byte Offset Name Data Type Tlg 9 20 Variables RECORD 1 2 0 STW1 Uint16 2 4 2 SATZANW Uint16 3 2 4 STW2 Uint16 4 5 2 6 MDI_TARPOS Int32 6 7 4 10 MDI_VELOCITY Int32 8 2 14 MDI_ACC Uint16 9 2 16 MDI_DEC Uint16 10 2 18 MDI_MOD Uint16 3 2 5 Siemens telegram 105 Index Size Byte Byte Offset Name Data Type Tlg 105 20 Variables RECOR...

Страница 43: ...l 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 torque limits B and B are also calculated with UPID 0x119E maximal Motor Current and written to UPID 0x13FC 0x13FD or 0x13FE 0x13FF depending on which control parameter set is active 3 2 7 Real Time Config telegram 404 Index Size Byte Byte ...

Страница 44: ...ng parameters r 964 Drive 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 4 2 Manufacturer specific Profile Area The RAM ROM value of the drive parameters could be accessed by its pa...

Страница 45: ...1 ASIC rests in reset state No messages will be sent to other devices connected to the PROFINET Network via the servo drive 5 1 2 PROFdrive Byte Order With the Byte Order parameter the used Byte order of the transmitted data could be defined PROFIdrive Byte Order reversed Byte order is reversed For S7 PLC_s select reversed not reversed Byte order is not reversed 5 1 3 PROFdrive Word Order With the...

Страница 46: ... if the axis is of type linear if the xis is of type rotative the Reference value is defined with the parameter Rotative Reference Velocity 5 1 7 PROFdrive Axis Configuration MDI Configuration With PROFIdrive telegrams the setpoint values are transmitted normalised in the MDI mode the position and velocity is mapped directly without the use of a reference value for scaling The transmitted position...

Страница 47: ...female connector with a pin assignment as defined by EIA TIA T568B X17 X18 RealTime Ethernet Connector Pin Wire color code Assignment 100 BASE TX 1 2 3 4 5 6 7 8 case WHT ORG ORG WHT GRN BLU WHT BLU GRN WHT BRN BRN Rx Rx Tx Tx RJ 45 Use standard patch cables twisted pair S UTP AWG26 for wiring This type of cable is usually referred to as a Cat5e Cable ...

Страница 48: ...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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