Automation Studio Logical View: Linear Motor Example; Add The Example Program To The Project; Acopos Parameter Table - LinMot C1250-IP Series Application Note

PLC Commissioning

12.8 Automation Studio Logical View: Linear Motor Example

This chapter shows the integration of a LinMot linear motor.
By default, a LinMot linear drive has a maximum resolution of 0.1um of the actual and demand positions.
The SDC encoder interface has the limitation that it must be able to check two times per task/Powerlink cycle
the actual encoder value of the motor. With 10'000 Units per motor revolution (=1mm) and a task/Powerlink
cycle time of 800us this limits the maximum reachable velocity to around 400mm/s which is slow for a LinMot
linear motor.
Therefore, the resolution is changed to 1um by setting the SCALE_ENC_INCR and the parameter
diEncReductionFactor of the LinMot SDC interface function block accordingly. This allows maximum velocities
of up to 4'000 mm/s which is enough for most applications.

12.8.1 Add the example program to the project

Copy the sample program Sample_Linear_ST from the demo project (see chapter 12.1) and past it to the
Logical View, e.g. to the package LinMot_SDC_Demo:

12.8.2 ACOPOS Parameter Table

For a LinMot linear motor the parameters must be set exactly as shown below. This will result in a resolution of
1um per Unit.
NTI AG / LinMot Page 165 of 205