Related Manuals for LinMot C1250-CM-XC-0S
Summary of Contents for LinMot C1250-CM-XC-0S
- Page 1 EtherNet/IP Interface User Manual Manual May 2019 Doc.: 0185-1165-E_5V2_MA_EtherNet-IP-CIP-Sync...
- 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.
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Page 3: Table Of Contents
Default IP Address Settings ..................5 RT Bus LEDs ......................5 Setup in the PLC ....................... 6 RSLinx Classic ......................6 LinMot Configuration in the PLC ................7 Getting started with the Watch Window ..............12 3.3.1 Control Word ..................... 13 3.3.2... -
Page 4: System Overview
TCP/IP and UDP/IP. For further information on EtherNet/IP please visit: http://www.odva.org References All user manuals are distributed with the LinMot-Talk configuration software. The newest version can also be downloaded from the LinMot homepage in the download section. Ref Title Source 0185-1093-E_XXX_MA_MotionCtrlSW- www.linmot.com... -
Page 5: Default Ip Address Settings
The switch value S1 = S2 = 0 (factory default setting) is a special configuration which acquires the IP address via DHCP. RT Bus LEDs RT Bus LEDs Function The RT Bus LEDs have no function. They are always turned off. NTI AG / LinMot 5 / 33... -
Page 6: Setup In The Plc
Setup in the PLC Use only AB PLC firmware 18.0 or higher! The following steps describe the integration of a LinMot Ethehernet/IP drive in the PLC. In the example an Allen Bradley master PLC is used. RSLinx tool can only be used to see if the device is on the network and under which IP-address it can be accessed. -
Page 7: Linmot Configuration In The Plc
The LinMot Drive must be configured in the PLC using an EDS-File. To configure the LinMot with the EDS File, the EDS-File must be downloaded into the configuration software of the PLC. In the RSLogix 5000 there is the EDS Hardware Installation Tool, which is used for the installation. - Page 8 In the "Registration" window, “Register a directory of EDS files” has to be selected. The path of the directory is: ../LinMot-TalkX.X BuildX/Firmware/Interfaces/EtherNetIP_NX/EDS After this selection you can click next and finish the EDS Hardware Installation. 8 / 33 NTI AG / LinMot...
- Page 9 When the EDS-Files are downloaded in the PLC configuration software, the LinMot can be configured in the I/O configuration section, in the Ethernet section as a new module. In the section “Module Type Vendor Filters” there is the Vendor “NTI Limited”, where the drive can be selected.
- Page 10 1ms and 3200ms. Only Unicast Connection is supported. To add more modules the EDS-File registration does not need to be repeated. If the setup was successful the LinMot module status will be "Running". 10 / 33 NTI AG / LinMot...
- Page 11 The table below shows which EDS-File is for which Drive. If the full EDS folder is loaded in the configuration tool, the names of the Drives are visualized. File Name Art.-Number Drive Type C1250CMXC0S.eds 0150-2900 C1250CMXC0S C1250CMXC1S.eds 0150-2901 C1250CMXC1S NTI AG / LinMot 11 / 33...
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Page 12: Getting Started With The Watch Window
In this section the basics of the LinMot device handling are explained. Instead of programming the LinMot drive, data can be directly set with the watch window. For the next steps, map the modules input data and output data in the quick watch window as shown below. -
Page 13: Control Word
Control Word The Control Word is mapped to the output data word 4 (byte 16/17). If setting this value to 1 the “Switch On” bit (bit 0) of the Control Word is set. NTI AG / LinMot 13 / 33... - Page 14 This can also be monitored on the Control Panel of the LinMot-Talk software. Setting the Control Word to 2049 (0x0801) sets also the “Home” bit (Bit 11) in the Control Word. Wait until the input word 4 “State Var” has the value 2319 (0x090F) Main State 9 (Homing) Sub State 0x0F (Homing finished).
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- Page 16 The Control Word can then be set to 1 again, the drive will change to Main State 8 (Operation Enabled) Sub State 0xC0 (Homed and In Target Position), the corresponding State Var has the value 2240. 16 / 33 NTI AG / LinMot...
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Page 18: Motion Command Interface
In the next example we will set up a “Predef VAI Go To Pos (020xh)” Motion Command. First we set the target position low word (MCSW_MotionCommandByte_00_01) to 0 then the target position high word (MCSW_MotionCommandByte_02_03) to 2 and the motion command header (MCSW_MotionCommandHeader) to 513 (0x0201). 18 / 33 NTI AG / LinMot... - Page 19 NTI AG / LinMot 19 / 33...
- Page 20 Press the “Read Command” button to see the sent command. We will use the same command to move back to 0mm. Change the target position high word to 0. Then change the count nibble in the motion command header to 0. 20 / 33 NTI AG / LinMot...
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- Page 22 In the next example we are going to use the most common motion command “VAI Go To Pos (010xh)”. In this example we define the motion command in the control panel first. 22 / 33 NTI AG / LinMot...
- Page 23 - the motion header has to be written last, otherwise the movement starts before data entering is completed. The data is written from low byte to high byte. (MotionCommandByte_00_01 = 16#A120, MotionCommandByte_02_03 = 16#0007, ...) NTI AG / LinMot 23 / 33...
- Page 24 To move back to 0mm with the same motion command and the same parameters, set the target position to 0 (MotionCommandByte_00 .. 03), then change the count nibble in the motion command header to 2 for example. 24 / 33 NTI AG / LinMot...
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Page 25: Ethernet/Ip Parameters
The LinMot-Talk software can be downloaded from http://www.linmot.com under the section download, software. EtherNet/IP Dis-/Enable With the Dis-/Enable parameter the LinMot drive can be operated without the Ethernet/IP interface. Therefore, the system can initially be configured and tested without any bus connection. EtherNet/IP Dis-/Enable Disable The drive runs without EtherNet/IP. -
Page 26: Ethernet/Ip \ Ethernet Configuration \ Ip Configuration Mode
Legacy: Exclusive Owner, As_0x28_0x18 may be used. Exclusive Owner, CIP Sync, 0x78/0x64 This IO data mapping shall be used for all IO data exchange, except if backward compatibility is explicitly needed. 26 / 33 NTI AG / LinMot... -
Page 27: Configuration Assembly Instance 1
5.1.2 O->T Assembly Instance 120 (0x78) This output data mapping contains the real time data sent to the LinMot drive. The size is 76 bytes. The AB generic Ethernet module adds 6 bytes (status and sequence count) so the real exchanged size is 82 bytes. - Page 28 Fields only take effect if the corresponding field in the configuration assembly is set to active. The parameter channel values are only written to the corresponding UPIDs if the TX_ParChannelConfigID is equal to the CFG_ParMonChannelConfigID of the last configuration assembly. 28 / 33 NTI AG / LinMot...
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Page 29: T->O Assembly Instance 100 (0X64)
5.1.3 T->O Assembly Instance 100 (0x64) This input data mapping contains the real time data sent by the LinMot drive. The size is 72 bytes. For the AB generic Ethernet module another 2 bytes (status and sequence count) are added, so the real exchanged size is 74 bytes. -
Page 30: O->T Assembly Instance 40
The size of this mapping is 26 bytes or 13 words. For the AB generic Ethernet module another 2 bytes (status and sequence count) are added, so the real exchanged size is 28 bytes. 30 / 33 NTI AG / LinMot... -
Page 31: Cip Sync Streaming
Therefore, the time of the LinMot drive and the controller need to be synchronized. This is achieved with the precision time protocol PTP (IEEE 1588). - Page 32 32 / 33 NTI AG / LinMot...
- Page 33 LinMot USA Inc. N1922 State Road 120, Unit 1 Lake Geneva, WI 53147 Phone: 262-743-2555 E-Mail: usasales@linmot.com Web: http://www.linmot-usa.com/ Please visit http://www.linmot.com/contact to find the distribution close to you. Smart solutions are... NTI AG / LinMot 33 / 33...