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LinMot C1250-PD-XC-0S User Manual

Profinet profidrive interface
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Documentation of the PROFIdrive Interface of the following
PROFINET PROFIdrive Interface
Drives:
•
C1250-PD-XC-0S/1S
•
C1450-PD-VS-0S/1S
•
E1450-PD-QN-0S/1S
User Manual

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Summary of Contents for LinMot C1250-PD-XC-0S

  • Page 1 Documentation of the PROFIdrive Interface of the following Drives: • C1250-PD-XC-0S/1S • C1450-PD-VS-0S/1S • E1450-PD-QN-0S/1S PROFINET PROFIdrive Interface User Manual...
  • Page 2 Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying, recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole 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.

  • Page 3: Table Of Contents

    Add new Device ....................7 2.2.4. Select Device ....................8 2.2.5. Configure PROFINET ..................8 2.2.6. Install LinMot GSDML device description file ............ 9 2.2.7. Select correct GSDML device description file ........... 9 2.2.8. Add NTI drive to PROFINET network ..............10 2.2.9.
  • Page 4 5.1.6. PROFdrive/Axis Configuration/ Linear/Rotative Reference Velocity ....36 5.1.7. PROFdrive/Axis Configuration/ MDI Configuration ..........36 Connecting to the PROFINET Network .................37 Pin Assignment of the Connectors X17-X18 ............37 Contact Addresses ......................38 Page 4/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...

  • Page 5: System Overview

    System overview PROFINET is the open real-time Ethernet network, in this manual the PROFIdrive profile drivs are described. The LinMot drives act as slave in this network and is implemented with the TPS1 chip from Renesas. For further information on the PROFINET and PROFIdrive fieldbus protocols please visit: http://www.profibus.com/...

  • Page 6: Setup In Simotion Motion Control System

    Setup in Simotion Motion Control System In the following steps the integration of a LinMot PROFIdrive servo drive with a LinMot linear motor into the SIMOTION motion controller is described. In the example a Siemens SIMOTION D445 and a Linmot C1250-PD-XC-0S drive is used.

  • Page 7: Configure A Device

    2.2.2. Configure a Device 2.2.3. Add new Device NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 7/38...

  • Page 8: Select Device

    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. Page 8/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...

  • Page 9: Install Linmot Gsdml Device Description File

    Define the SIMOTION controller as Sync master in the real time settings 2.2.6. Install LinMot 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...

  • Page 10: Add Nti Drive To Profinet Network

    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 Then Network looks like this. Page 10/38...

  • Page 11: Assign Nti Drive To The Simotion

    2.2.9. Assign NTI drive to the SIMOTION Assigne the LinMot drive to the SIMOTION master PLC_1. Select PLC_1 as IO Controller 2.2.10. Define the PROFINET Topology Change to Topology view, and wire the PROFINET connection from PLC-1 X150/P1 port to the C1250-PD/P1 port.

  • Page 12: 2.2.11. Add Communication Module To The Nti Profidrive Drive

    2.2.11. 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.
  • Page 13 Double click thethe Slot 1.2 and assign the I/O address to the Servo Process image. NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 13/38...

  • Page 14: 2.2.12. 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. 2.2.13. Compile the HW Configuration Select the SIMOTION device and click Compile button for compiling the HW configuration. Page 14/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...

  • Page 15: 2.2.14. Download The Hw Configuration

    “Load” button. After successful download you get ask for starting the devices select “Start all” check box and click the “Finish” button. NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 15/38...

  • Page 16: 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 Then the SIMOTION SCOUT TIA tool opens with the configured HW PLC_1 [D445-2DP/PN] and C1250-PD drive Page 16/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...

  • Page 17: Insert Axis

    2.3.1. Insert axis Open the Axes and double click on the “Insert Axis” entry. 2.3.2. Configure axis The axis type could be left as suggested, click the next button. NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 17/38...
  • Page 18 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>. Page 18/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...
  • Page 19 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. NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 19/38...
  • Page 20 “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. Page 20/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...

  • Page 21: 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 NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 21/38...
  • Page 22 Select the target system, the click OK button, and check the „After loading, copy RAM to For downloading the project, click the ROM Checkbox entry, the click the Yes button. Page 22/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...
  • Page 23 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. NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 23/38...

  • Page 24: Move The Axis With The Control Panel

    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. Page 24/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...
  • Page 25 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. NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 25/38...
  • Page 26 100mm if your motor have more limited position range reduce this value. Then click OK. Page 26/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...
  • Page 27 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. NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 27/38...

  • Page 28: Process Data Object (Pdo) Configuration

    Uint16 6, 7 G1_XIST_1 Int32 8, 9 G1_XIST_2 Int32 3.1.3. Standard telegram 7 Index Size Byte Name Data [Byte] Offset Type Tlg 7 Variables RECORD ZSW1 Uint16 AKTSATZ Uint16 Page 28/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...

  • Page 29: Standard Telegram 9

    Demand Position telegram 406 Index Size Byte Name Data [Byte] Offset Type Tlg 406 Variables RECORD 1, 2 Demand Position Int32 3.1.10. WarnWord telegram 407 Index Size Byte Name Data NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 29/38...

  • Page 30: Demand Current 32B Telegram 409

    Tlg 414 Variables RECORD Demand Current 16b Int16 3.1.18. Actual Velocity telegram 415 Index Size Byte Name Data [Byte] Offset Type Tlg 415 Variables RECORD 1, 2 Actual Velocity Int32 Page 30/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...

  • Page 31: Demand Velocity Telegram 416

    3.1.19. Demand Velocity telegram 416 Index Size Byte Name Data [Byte] Offset Type Tlg 416 Variables RECORD 1, 2 Actual Velocity Int32 NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 31/38...

  • Page 32: Output Pdo Modules

    Name Data [Byte] Offset Type Tlg 9 Variables RECORD STW1 Uint16 SATZANW Uint16 STW2 Uint16 4, 5 MDI_TARPOS Int32 6, 7 MDI_VELOCITY Int32 MDI_ACC Uint16 MDI_DEC Uint16 MDI_MOD Uint16 Page 32/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...

  • Page 33: Siemens Telegram 105

    Real Time Config telegram 404 Index Size Byte Name Data [Byte] Offset Type Tlg 404 Variables RECORD Config Control Word Uint16 Config Index/.. Uint16 4, 5 Config Value Word32 NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 33/38...

  • Page 34: Asynchronous Configuration Protocol

    Number list of defined parameter 60000 Velocity reference value(not yet implemented) LinMot PROFIdrive Object Dictionary Manufacturer specific Profile Area The RAM/ROM value of the drive parameters could be accessed by its parameter number (UPID) added with an offset of 0x2000 (UPID+0x2000).

  • Page 35: Profidrive Parameters

    & manuals. 5.1.1. PROFdrive/Dis-/Enable With the Dis-/Enable parameter the LinMot Servo Drive can be run without the Ethernet PROFIdrive Interface going online. So in a first step the system can be configured and run without any bus connection.

  • Page 36: Profdrive/Monitoring Channels

    MC-SW motion command. With the default value of 1’000 the transmitted acceleration values have the resolution [0.01m/s^3]. With a value of 100’000 they will have the resolution [1m/s^3]. Page 36/38 User Manual PROFINET PROFIdrive Interface NTI AG / LinMot...

  • Page 37: Connecting To The Profinet Network

    Assignment 100BASE-TX WHT/ORG WHT/GRN WHT/BLU WHT/BRN case 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”. NTI AG / LinMot User Manual PROFINET PROFIdrive Interface Page 37/38...

  • Page 38: Contact Addresses

    Contact Addresses --------------------------------------------------------------------------------------------------------------------------- SWITZERLAND NTI AG / LinMot Bodenaeckerstrasse 2 CH-8957 Spreitenbach Sales and Administration: +41-(0)56-419 91 91 office@linmot.com Tech. Support: +41-(0)56-544 71 00 support@linmot.com Tech. Support (Skype) : skype:support.linmot Fax: +41-(0)56-419 91 92 Web: http://www.linmot.com -------------------------------------------------------------------------------------------------------------------------- LinMot USA Inc.

This manual is also suitable for:

C1250-pd-xc-1sE1450-pd-qn-0sE1450-pd-qn-1sC1450-pd-vs-0sC1450-pd-vs-1s

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