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Summary of Contents for LinMot B1100 series
- Page 1 For the following LinMot Drives B1100 series E1100 series LinMot Drive Configuration over Fieldbus Interfaces...
- Page 2 NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement. Document version 1.1/ mk/Ro, June 2016 Page 2/25 Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 NTI AG / LinMot...
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Page 3: Table Of Contents
5.6 D ............19 OWNLOADING URVES INTO THE OF THE RIVE 6 COMMAND TABLE......................20 6.1 C ..................21 OMMAND ABLE NTRY ORMAT 7 PVL DATA FORMAT......................22 8 CONTACT ADDRESSES....................25 NTI AG Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 Page 3/25... -
Page 4: Introduction
Most of the LinMot drives are equipped with a fieldbus interface to the superior control system (PLC, IPC). This interface is used for controlling the drive under normal operation conditions (read/write of control and status word, sending motion commands, etc.). -
Page 5: Firmware Parameters
The easiest way to alter parameters is to use the LinMot-Talk software tool. The software displays the parameters in a comfortable tree structure. Most of the parameters are displayed as a scaled value with the corresponding physical unit. -
Page 6: Unique Parameter Id And Raw Data Value
ROM and RAM Value The value of any parameter is stored in the non-volatile memory area of the LinMot drive (ROM value). During the boot-up process the drive’s operating system creates a copy of the non-volatile memory block to its RAM memory space. Thus, after the drive has powered up, each parameter has two memory locations and values: one in the ROM, the other in the RAM. - Page 7 When parameters are altered using the LinMot-Talk software, the ROM and/or the RAM value are affected: - When ‘live’ parameters are changed, then the LinMot-Talk software writes to ROM and RAM memory. - ‘Non-Live’ parameters are written only to ROM (and are copied to RAM at next firmware start).
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Page 8: Default Value
32bit integer value is not sufficient to define a general string. Therefore strings are handled in a special way: In the LinMot-Talk software to each string parameter one single UPID is shown. Internally the string is split into parts (so called ‘stringlets’) of 4 characters (= 4 bytes = 32 bits). - Page 9 Ord(‘ ‘)=20h Ord(‘s‘)=73h Ord(‘f‘)=66h Ordinal 3rd Char: Ord(‘A’)=41h Ord(‘ ’)=20h Ord(‘t’)=74h Ordinal 4th Char: Ord(‘x’)=78h Ord(‘L’)=4Ch Parameter Value: 78412058h 4C207369h 00746665h Table 1: The four firmware layers NTI AG Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 Page 9/25...
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Page 10: Firmware Layer Concept
Each firmware part has its own parameters located in a separate branch of the parameter tree. Figure 6: Parameter tree with branches for the different firmware layers Page 10/25 Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 NTI AG / LinMot... - Page 11 0589h / 2EA1h 0582h / 2E96h 0583h / 2E97h 4 Application 05B1h / 2DA1 05AAh / 2D96 05ABh / 2D97h Table 4: UPID value ranges for E1100 drives. NTI AG Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 Page 11/25...
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Page 12: Parameter Configuration Compatibility Rules
PVL file was created. Before complete parameter configurations are downloaded from the superior machine control system to the LinMot drive, it is recommended to perform some compatibility checks. With these checks it can be ensured, that the configuration stored in the superior control system (source file) is fully compatible with the firmware installed drive (target system). -
Page 13: Curves
Then it is necessary to have the curve objects stored in the superior machine controller. There are three ways to bring the profiles there: 1. The curves are created and downloaded to a drive with LinMot- Talk. Then the curve objects can be uploaded from the drive over the fieldbus interface (using the curve service). -
Page 14: Curve Object
UInt32 Wizard Par 6 66..69 UInt32 Wizard Par 7 Curve Data Block 0..xxx Curve Setpoints Table 6: Curve Object: Info Block and Data Block Page 14/25 Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 NTI AG / LinMot... -
Page 15: Curve Info Block
2. Data Type Size This value defines the size of one setpoint. Position values are defined in 32bit format (32bit = 4 bytes). NTI AG Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 Page 15/25... -
Page 16: Name
YDimUUID = 0005h Wizard Information The wizard information (wizard type & wizard parameters) is used only by the LinMot-Talk software. All those bytes should be set to 00h for curves which are not generated with the LinMot-Talk curve tool. Page 16/25 Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016... -
Page 17: Curve Data Block
Erasing all curves in the RAM of the Drive All curves in the RAM of the drive can be deleted by the following command: -Curve Service: Delete all Curves (RAM) NTI AG Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 Page 17/25... -
Page 18: Uploading Curves From The Drive
< - ( D a ta B lo c k D a ta [x . . y ] ) All Data Block Data read? Finished Read Curve x Figure 9: Flowchart Read Curve Page 18/25 Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 NTI AG / LinMot... -
Page 19: Downloading Curves Into The Ram Of The Drive
Add Curve Data Block: -> x (curve Number) -> (Data Block Data [x..y]) All Data Block Data written? Finished Add Curve x Figure 10: Flowchart Add Curve NTI AG Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 Page 19/25... -
Page 20: Command Table
At boot time the operating system copies the entire CT from the flash memory to the RAM. If the CT entries are generated and downloaded using the LinMot- Talk 4 software, they are always stored into RAM and flash memory (permanently saved). -
Page 21: Command Table Entry Format
For modifying a single motion command parameter during runtime, a motion command exists, with ID, write offset and data as parameters. NTI AG Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 Page 21/25... -
Page 22: Pvl Data Format
LinMot-Talk software. The configuration file can then be imported to other drives again under usage of the LinMot- Talk 4 software. Some users of the LinMot servo systems want to store the parameter setup and/or curves in their main machine controller (PLC, IPC) as a simple value list. - Page 23 @SubVersion,0 @Revision,b1 @StartData @Col1:UPID,@Col2:Value,@Col3:Caption,@Col4:ScaledValue Unit 1194,00000002,Motion Control SW\Motor Configuration\Motor Type,P01 …… …… @EndData @EndObject Figure 13: Example of a PVL data file with Parameter Data Objects NTI AG Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 Page 23/25...
- Page 24 End of Curve Data Block 000F4240h @EndData @EndObject End of Curve Object Figure 14: Example of a PVL data file with a Curve Object Page 24/25 Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 NTI AG / LinMot...
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Page 25: Contact Addresses
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 Parameterization of LinMot servo drives over fieldbus interfaces / 30.06.2016 Page 25/25...