LinMot E1100 Series User Manual
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LinMot E1100 Series User Manual

Motion control sw drives
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Motion Control SW
Documentation of the Motion Control SW
- E1100 / B1100 Drive Series
Motion Control SW
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Summary of Contents for LinMot E1100 Series

  • Page 1 Motion Control SW Documentation of the Motion Control SW - E1100 / B1100 Drive Series Motion Control SW User Manual...
  • Page 2 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.

  • Page 3: Table Of Contents

    4.3.5 Write X6 Intf Outputs with Mask (004xh) ..............25 4.3.6 Clear Event Evaluation (008xh) ................26 4.3.7 Master Homing (009xh) ................... 26 4.3.8 VAI Go To Pos (010xh) ................... 26 NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 3/91...
  • Page 4 4.3.53 Modify Curve Start Address in RAM (050xh) ............35 4.3.54 Modify Curve Info Block 16 Bit Value in RAM (051xh) ........36 4.3.55 Modify Curve Info Block 32 Bit Value in RAM (052xh) ........36 Page 4/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...
  • Page 5 4.3.96 VAI Predef Acc Increment Dem Pos (0B1xh) ............46 4.3.97 VAI Predef Acc Increment Target Pos (0B2xh) ............. 46 4.3.98 VAI Predef Acc Go To Pos From Act Pos And Act Vel (0B3xh) ......47 NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 5/91...
  • Page 6 4.3.145 Modify Command Table 32 bit Parameter in RAM (209xh) ....... 56 4.3.146 Wait Time (210xh) ....................57 4.3.147 Wait Until Motion Finished (211xh) ..............57 4.3.148 Wait Until In Target Position (212xh) ..............57 Page 6/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...
  • Page 7 4.3.194 VAI Go To Pos With Higher Force Ctrl Limit (380xh) ........64 4.3.195 VAI Go To Pos From Act Pos And Reset Force Control (381xh) ....... 64 NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 7/91...
  • Page 8 8 MOTOR CONFIGURATION .................... 83 8.1 G ................ 83 ENERIC OTOR EMPERATURE ALCULATED 9 STATE MACHINE SETUP ....................84 10 ERROR CODE LIST ......................85 11 CONTACT ADDRESSES ....................92 Page 8/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 9: System Overview

    ® L i n M o t Motion Control SW System Overview This user Manual describes the Motion Control SW functionality of the LinMot E1100 / B1100 drives. 1.1 References Title Source Installation_Guide_E1100.pdf www.linmot.com Installation_Guide_B1100.pdf www.linmot.com Usermanual_LinMot-Talk_4.pdf www.linmot.com QuickStartGuide_B1100-VF.pdf www.linmot.com The documentation is distributed with the LinMot-Talk configuration software or can be downloaded from the Internet from the download section of our homepage.

  • Page 10: Motion Control Interfaces

    (PLC, IPC, PC, ..). The interfacing is done with digital I/Os or a serial link like Profibus DP, CAN bus (DeviceNet, CANopen), RS485, RS422 or RS232 (LinRS protocol). 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.

  • Page 11: State Machine

    Going To Position (15) Freezing (13) Linearizing (18) Clearance Checking (10) Jogging + (16) Phase Searching (19) Going To Initial Jogging - (17) Special Mode (20) Position (11) NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 11/91...
  • Page 12 0Fh: Jogging +Finished 17: Jogging - 01h: Moving negative 0Fh: Jogging -Finished 18: Linearizing Not yet defined 19: Phase Search Not yet defined 20: Special Mode Not yet defined Page 12/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 13: State 0: Not Ready To Switch On

    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. NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 13/91...

  • Page 14: State 8: Operation Enabled

    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.

  • Page 15: State 13: Freezing

    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...

  • Page 16: Control Word

    Go To Initial Position Go To initial Position Rising edge will start go to initial position Reserved Reserved Stop Phase Search Phase Search Phase Search Enable Phase Search Movements Page 16/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 17: Status Word

    Defined UPID is in Range 1 Not In Range 2 Defined UPID is not in Range 2 Range Indicator 2 In Range2 Defined UPID is in Range 2 NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 17/91...

  • Page 18: Warn Word

    E.g. a typical reaction on the warning ‘Motor Temperature Sensor’ stop would be a of the machine, before the drive goes into the error state and the motor goes out of control to avoid crashes. Page 18/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 19: Motion Command Interface

    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 0 can be toggled. NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 19/91...

  • Page 20: Overview Motion Commands

    Time Curve With Default Parameters From Act Pos Time Curve To Pos With Default Speed Time Curve To Pos With Adjustable Time Time Curve With Adjustable Offset, Time Scale & Amplitude Scale Page 20/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...
  • Page 21 X X Predef VAI 16 Bit Go To Pos From Act Pos And Act Vel X X Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013...
  • Page 22 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 Page 22/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...
  • Page 23 X X IF Cmd Table Var 1 Less Than UPID Value X X IF Cmd Table Var 2 Less Than UPID Value X X IF Demand Position Less Than X X IF Demand Greater Than NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 23/91...
  • Page 24 VAI Go To Pos With Lower Force Ctrl Limit VAI Go To Pos With Lower Force Ctrl Limit and Target Force k: only with Curve Key available (B1100) f: only with Force Control Key Page 24/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 25: Detailed Motion Command Description

    To write an output, 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 Write X6 Intf Outputs with Mask (004xh) Name Byte Description Type Unit NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 25/91...

  • Page 26: Clear Event Evaluation (008Xh)

    UInt16 1. Par Target Position SInt32 0.1 um 2. Par Maximal Velocity UInt32 1E-6 m/s 3. Par Acceleration UInt32 1E-5 m/s 4. Par Deceleration UInt32 1E-5 m/s Page 26/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 27: Vai Increment Dem Pos (011Xh)

    4. Par Deceleration UInt32 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. NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 27/91...

  • Page 28: Vai Increment Act Pos (015Xh)

    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, then this command defines the actual motor position as new setpoint. Page 28/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 29: Vai Stop (017Xh)

    UInt16 - Event 1. Par Position Increment SInt32 0.1 um 2. Par Maximal Velocity UInt32 1E-6 m/s 3. Par Acceleration UInt32 1E-5 m/s 4. Par Deceleration UInt32 1E-5 m/s NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 29/91...

  • Page 30: Vai Go To Pos On Falling Trigger Event (01Cxh)

    As soon as the demand position crosses the event change position in the negative direction the VAI is changed with event values, the target position rests unchanged. Page 30/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 31: Predef Vai Go To Pos (020Xh)

    4.3.29 Predef VAI Stop (027xh) Name Byte Description Type Unit Offset Header 017xh: Predef Stop With Quick Stop UInt16 - Deceleration NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 31/91...

  • Page 32: Predef Vai Go To Pos After Actual Command (028Xh)

    02Exh: Predef VAI Infinite Motion Positive Direction UInt16 - 4.3.36 Predef VAI Infinite Motion Negative Direction (02Fxh) Name Byte Description Type Unit Offset Header 02Fxh: Predef VAI Infinite Motion Negative Direction UInt16 - Page 32/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 33: P Stream With Slave Generated Time Stamp (030Xh)

    This command is used to leave the streaming mode. 4.3.41 Time Curve With Default Parameters (040xh) Name Byte Description Type Unit Offset Header 040xh: Time Curve With Default Parameters UInt16 1. Par Curve ID UInt16 1..100 NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 33/91...

  • Page 34: Time Curve With Default Parameters From Act Pos (041Xh)

    SInt16 0.1% With this command all the curve parameters are defined. 4.3.46 Time Curve With Adjustable Offset, Time & Amplitude Scale (045xh) Name Byte Description Type Unit Page 34/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 35: Time Curve With Adjustable Offset, Time & Amplitude Scale On Rising Trigger

    0.1 um On a rising trigger event start command 042xh. 4.3.50 Time Curve To Pos With Default Speed On Falling Trigger Event (04Cxh) Name Byte Description Type Unit Offset NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 35/91...

  • Page 36: Time Curve To Pos With Adjustable Time On Rising Trigger Event (04Exh)

    Modify Curve Info Block 16 Bit Value in RAM (051xh) Name Byte Description Type Unit Offset Header 051xh: Modify Curve Info Block 16 Bit Value in UInt16 Page 36/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 37: Modify Curve Data Block 32 Bit Value In Ram (054Xh)

    4.3.57 Modify Curve Data Block 64 Bit Value in RAM (055xh) Name Byte Description Type Unit NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 37/91...

  • Page 38: Modify Curve Data Block 96 Bit Value In Ram (056Xh)

    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. Page 38/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 39: Setup Encoder Cam On Rising Trigger Event With Delay Counts, Target Pos And Length (06Axh)

    RAM value of UPID 154Dh. Use the infinite cam length (UPID1527h) for triggered cam motions. 4.3.63 Setup Encoder Cam On Rising Trigger Event With Delay Counts, Amplitude scale and Length (06Dxh) Name Byte Description Type Unit Offset NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 39/91...

  • Page 40: Scale And Length (06Exh)

    Start Predef VAI Encoder Position Indexing (071xh) Name Byte Description Type Unit Offset Header 071xh: Start Predef VAI Encoder Position Indexing UInt16 1. Par Target Position SInt32 0.1 um Page 40/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 41: Stop Position Indexing And Vai Go To Pos (07Exh)

    4. Par Deceleration UInt16 Scaled 4.3.71 VAI 16 Bit Increment Target Pos (092xh) Name Byte Description Type Unit Offset Header 092xh: VAI 16 Bit Increment Target Pos UInt16 - NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 41/91...

  • Page 42: Vai 16 Bit Go To Pos From Act Pos And Act Vel (093Xh)

    096xh: VAI 16 Bit Increment Act Pos UInt16 - 1. Par Position Increment SInt16 Scaled 2. Par Maximal Velocity UInt16 Scaled 3. Par Acceleration UInt16 Scaled 4. Par Deceleration UInt16 Scaled Page 42/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 43: Vai 16 Bit Stop (097Xh)

    09Cxh: VAI 16 Bit Go To Pos On Falling Trigger UInt16 - Event 1. Par Target Position SInt16 Scaled 2. Par Maximal Velocity UInt16 Scaled 3. Par Acceleration UInt16 Scaled 4. Par Deceleration UInt16 Scaled NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 43/91...

  • Page 44: Vai 16 Bit Increment Target Pos On Falling Trigger Event (09Dxh)

    Predef VAI 16 Bit Go To Pos (0A0xh) Name Byte Description Type Unit Offset Header 0A0xh: Predef VAI 16 Bit Go To Pos UInt16 1. Par Target Position SInt16 Scaled Page 44/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 45: Predef Vai 16 Bit Increment Dem Pos (0A1Xh)

    0A8xh: Predef VAI 16 Bit Go To Pos After Actual UInt16 - Command 1. Par Target Position SInt16 Scaled This command waits until the actual motion setpoint generation has finished, then starts the new defined VAI motion. NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 45/91...

  • Page 46: Predef Vai 16 Bit Go To Pos On Rising Trigger Event (0Aaxh)

    Type Unit Offset Header 0B2xh: VAI Predef Acc Increment Target Pos UInt16 - 1. Par Position Increment SInt32 0.1 um 2. Par Maximal Velocity UInt32 1E-6 m/s Page 46/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 47: Vai Predef Acc Go To Pos From Act Pos And Act Vel (0B3Xh)

    Header 0BBxh: VAI Predef Acc Increment Target Pos On UInt16 - Rising Trigger Event 1. Par Position Increment SInt32 0.1 um 2. Par Maximal Velocity UInt32 1E-6 m/s NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 47/91...

  • Page 48: 103 Vai Predef Acc Go To Pos On Falling Trigger Event (0Bcxh)

    0C3xh: VAI Dec=Acc Go To Pos From Act Pos And UInt16 - Act Vel 1. Par Target Position SInt32 0.1 um 2. Par Maximal Velocity UInt32 1E-6 m/s 3. Par Acceleration = Deceleration UInt32 1E-5 m/s Page 48/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 49: 110 Vai Dec=Acc Go To Pos With Max Curr (0C5Xh)

    VAI Dec=Acc Go To Pos From Act Pos And Vel = 0 With Max Curr (0C7xh) Name Byte Description Type Unit Offset Header 0C7xh: VAI Dec=Acc Go To Pos From Act Pos And UInt16 - NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 49/91...

  • Page 50: 113 Vai Dec=Acc Go To Pos After Actual Command (0C8Xh)

    0CCxh: VAI Dec=Acc Go To Pos On Falling Trigger UInt16 - Event 1. Par Target Position SInt32 0.1 um 2. Par Maximal Velocity UInt32 1E-6 m/s 3. Par Acceleration = Deceleration UInt32 1E-5 m/s Page 50/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 51: 117 Vai Dec=Acc Increment Target Pos On Falling Trigger Event (0Cdxh)

    1E-6 m/s 2. Par Acceleration UInt32 1E-5 m/s 3. Par Deceleration UInt32 1E-5 m/s Go to the target position defined with the command table variable 2 (UPID 1E73h). NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 51/91...

  • Page 52: 122 Vai Go To Cmd Tab Var1 Pos From Act Pos And Act Vel (0D6Xh)

    Description Type Unit Offset Header 100xh: Encoder CAM Enable UInt16 4.3.127 Encoder Cam Disable (101xh) Name Byte Description Type Unit Offset Header 101xh: Encoder CAM Disable UInt16 Page 52/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 53: 128 Encoder Cam Go To Sync Pos (102Xh)

    Encoder Cam y Define Curve From Pos To Pos In Counts (1y3xh) Name Byte Description Type Unit Offset Header 1y3xh: Encoder Cam y Define Curve To Pos UInt16 (y=1..2) NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 53/91...

  • Page 54: 134 Encoder Cam Y Define Curve To Pos In Counts (1Y4Xh)

    4.3.138 Encoder Cam y Change Amplitude Scale and Length (1y8xh) Name Byte Description Type Unit Offset Header 1y8xh: Encoder Cam y Define Curve To Pos Uint16 (y=1..2) Page 54/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 55: 139 Encoder Winding Start With Default Parameters (300Xh)

    Header 208xh: Modify Command Table 16 bit Parameter in UInt16 1. Par Command Table ID UInt16 1..255 2. Par Parameter Offset Uint16 0..3Eh 3. Par Parameter Value Sint16 NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 55/91...

  • Page 56: 145 Modify Command Table 32 Bit Parameter In Ram (209Xh)

    Can be used in a linked command table sequence. 4.3.150 Wait Until Falling Trigger Event (214xh) Name Byte Description Type Unit Offset Header 214xh: Wait Until Falling Trigger UInt16 Page 56/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 57: 151 Wait Until Demand Position Greater Than (220Xh)

    Offset Header 225xh: Wait Until Difference Position Less Than UInt16 1. Par Diff Pos Trig Level SInt32 0.1 um Can be used in a linked command table sequence. NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 57/91...

  • Page 58: 157 Wait Until Difference Position Unsigned Greater Than (226Xh)

    Header 22Bxh: Wait Until Actual Velocity Less Than UInt16 1. Par Act Vel Trig Level SInt32 1E-6 m/s Can be used in a linked command table sequence. Page 58/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 59: 163 Wait Until Current Greater Than (22Exh)

    Write Cmd Table Var 2 To UPID RAM value (249xh) Name Byte Description Type Unit Offset Header 249xh: Write Cmd Table Var 2 To UPID RAM value UInt16 - 1. Par UPID (Unique Parameter ID) UInt16 - NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 59/91...

  • Page 60: 171 Write Upid Ram Value To Cmd Table Var 1 (24Cxh)

    Byte Description Type Unit Offset Header 258xh: IF Demand Position Less Than UInt16 1. Par Condition Value Sint32 2. Par Command Table ID IF TRUE Uint16 1..255 Page 60/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 61: 178 If Demand Position Greater Than (259Xh)

    25Cxh: IF Current Less Than UInt16 1. Par Condition Value Sint32 2. Par Command Table ID IF TRUE Uint16 1..255 3. Par Command Table ID IF FALSE Uint16 1..255 NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 61/91...

  • Page 62: 184 If Current Greater Than (25Fxh)

    IF Masked Warn Word Equal Than (265xh) Name Byte Description Type Unit Offset Header 265xh IF Masked Warn Word Equal Than UInt16 1. Par Warn Word Bit Mask Uint16 Page 62/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 63: 190 Encoder Winding Stop Adaptation Of Left/Right Position And Disturbance (304Xh)

    = force limit. To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control (381xh). NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 63/91...

  • Page 64: 195 Vai Go To Pos From Act Pos And Reset Force Control (381Xh)

    = force limit. To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control (381xh). Page 64/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 65: 199 Vai Go To Pos With Lower Force Ctrl Limit And Target Force (385Xh)

    = target force. To change back to position control mode use motion command VAI Go To Pos From Act Pos And Reset Force Control (381xh). NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 65/91...

  • Page 66: Setpoint Generation

    Acceleration [UInt32; 1E-5 m/s • Deceleration [UInt32; 1E-5 m/s The VA-Interpolator generates as outputs: • Position [SInt32; 0.1um] • Velocity [SInt32; 1E-6 m/s] • Acceleration [SInt32; 1E-5 m/s Page 66/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 67: P(V)-Stream

    In this case, it is recommended to set the position controller value “FF Acceleration” (UPID 0x13A0 and 0x13B4) to zero. P(V)-Streaming with CANOpen is only possible with transmission type 1 (synchronous transmission) NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 67/91...

  • Page 68: 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.

  • Page 69: Winding

    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. Disturbance Stroke Parallel Disturbance Disturbance Length Disturbance Stroke Antiparallel Disturbace Disturbance Length NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 69/91...

  • Page 70: Command Table

    (UPID 13A6), goes to 50mm wait until motion completed, tests if part is present (Act Pos < 48), goes back to 0mm, sets Normal Force (Current) and sets CT Var 1 = 0 if part was present else set CT Var1 = 1. Page 70/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 71: Drive Configuration

    State (12) and released (X4.3 = 24V) when going to Operation Enabled State (8) again. Quick Stop 1716h Special brake behavior with Quick Stop (Brake Mode Status Word: Operation Enabled has also to be set) NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 71/91...

  • Page 72: X4.3 Brake Operation Enabled Behavior

    0A (UPID 13A6h and 13BAh). Release Delay 171Ch Delay time of the Status Word bit: Operation Enabled after Time the motion has stopped. Page 72/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 73: X4.3 Brake Operation Quick Stop Behavior

    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 NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 73/91...

  • Page 74: Inhibited Trigger Mode

    170Fh Trigger Out delay time after rising edge of Trigger In signal Fall Delay Time 1710h Trigger Out delay time after falling edge of Trigger In signal Page 74/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 75: Inhibited & Delayed Trigger Mode

    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. NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 75/91...

  • Page 76: X4.12 Sve (Safety Voltage Enable)

    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: • 0: Positive • 1: Negative Page 76/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...
  • Page 77 Parameter Name UPID Description Speed Filter 1293h Time over which the Master Encoder speed is generated. Time NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 77/91...

  • Page 78: Monitoring

    Phase Voltage 102Dh If one of the phase voltages is above this limit before High Level powering up an error will be generated. Page 78/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 79: Regeneration Resistor

    Error Temp 1025h If Calc Temp RR Winding (UPID1C0Dh) of the calculated temperature model rises above this value, the drive goes to error state with the error 15h. NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 79/91...

  • Page 80: Temperature Monitoring

    Temp Ph2+ Power Bridge 1BC9h Temperature of power driver Phase 2- (E1100 only) Temp Ph2- Power Bridge 1BC9h Temperature of power driver Phase 2+ (E1100 only) Temp Ph2+ Page 80/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 81: Posctrlstructure

    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: Motor Configuration

    The sum of all R defines the static power losses (consider also T and T ). With the capacitance the thermal time constant can be influenced. The bigger the thermal capacitance the slower the temperature will rise. Page 82/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 83: State Machine Setup

    L i n M o t Motion Control SW 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: Error Code List

    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 Page 84/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...
  • Page 85 The drive power bridge phase 1- may be defective. Power Bridge Ph1- Recommended actions: contact support Defective 001Ah Err: The drive power bridge phase 2+ may be defective. Power Bridge Ph2+ Recommended actions: contact support Defective NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 85/91...
  • Page 86 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 Page 86/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...
  • Page 87 Motor phase V broken. Phase V Broken Recommended actions: check motor wiring, check motor 003Ch Err: Motor phase W broken. Phase W Broken Recommended actions: check motor wiring, check motor NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 87/91...
  • Page 88 Configuration error: No motor has been configured yet. No Motor Defined Recommended actions: use the motor wizard to configure the motor 0065h Cfg Err (Fatal): Configuration error: Digital input X4.6 is configured for Page 88/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...
  • Page 89 The drive 0085h PVT Master Too Slow expects new streaming commands every 2ms to 5ms. Recommended actions: check PLC program, check the fieldbus by using bus monitor tools NTI AG / LinMot User Manual Motion Control SW/ 06/12/2013 Page 89/91...
  • Page 90 Called command Table entry is not defined. User Err: 008Ah Recommended actions: check the PLC program or Cmd Tab Entry Not Def define Command Table Entry. Page 90/91 User Manual Motion Control SW / 06/12/2013 NTI AG / LinMot...

  • Page 91: Contact Addresses

    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 Motion Control SW/ 06/12/2013 Page 91/91...

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