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LinMot C1250-PD-XC-0S/1S Manual

Profinet profidrive interface
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PROFINET PROFIdrive Interface
Manual
Documentation of the PROFIdrive Interface of the following
August 2019
Drives:
·
C1250-PD-XC-0S/1S
·
C1450-PD-VS-0S/1S
·
E1450-PD-QN-0S/1S
Doc.: 0185-1132-E_1V5_MA_PROFIdrive

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Summary of Contents for LinMot C1250-PD-XC-0S/1S

  • Page 1 PROFINET PROFIdrive Interface Manual Documentation of the PROFIdrive Interface of the following Drives: · C1250-PD-XC-0S/1S · C1450-PD-VS-0S/1S · E1450-PD-QN-0S/1S August 2019 Doc.: 0185-1132-E_1V5_MA_PROFIdrive...
  • 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

    2.2.3 Add new Device ..........................8 2.2.4 Select Device ..........................9 2.2.5 Configure PROFINET ........................9 2.2.6 Install LinMot GSDML device description file ................11 2.2.7 Select correct GSDML device description file ................12 2.2.8 Add NTI drive to PROFINET network ..................12 2.2.8.1 Assign NTI drive to the SIMOTION ..................
  • Page 4 5.1.6 PROFdrive/Axis Configuration/ Linear/Rotative Reference Velocity ........... 46 5.1.7 PROFdrive/Axis Configuration/ MDI Configuration ..............46 6 Connecting to the PROFINET Network ....................47 6.1 Pin Assignment of the Connectors X17-X18 ..................47 Page 4 of 48 NTI AG / LinMot...

  • Page 5: 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

    2 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 NTI AG / LinMot Page 7 of 48...

  • Page 8: Add New Device

    2.2.3 Add new Device Page 8 of 48 NTI AG / LinMot...

  • Page 9: 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. NTI AG / LinMot Page 9 of 48...
  • Page 10 Page 10 of 48 NTI AG / LinMot...

  • Page 11: 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 12: Select Correct Gsdml Device Description File

    2.2.7 Select correct GSDML device description file 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.

  • Page 13: Assign Nti Drive To The Simotion

    Then Network looks like this. 2.2.8.1 Assign NTI drive to the SIMOTION Assigne the LinMot drive to the SIMOTION master PLC_1. Select PLC_1 as IO Controller. NTI AG / LinMot Page 13 of 48...
  • Page 14 Page 14 of 48 NTI AG / LinMot...

  • Page 15: Define The Profinet Topology

    PD/P1 port. 2.2.10 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 16 Page 16 of 48 NTI AG / LinMot...

  • Page 17: Define The Profibus Cycle Time

    2.2.11 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. NTI AG / LinMot Page 17 of 48...
  • Page 18 Page 18 of 48 NTI AG / LinMot...

  • Page 19: Compile The Hw Configuration

    HW configuration. Select your HW devices for accessing the SIMOTION master, click search, then select the SIMOTION device and start the loading by clicking on the “Load” button. NTI AG / LinMot Page 19 of 48...
  • Page 20 After successful download you get ask for starting the devices select “Start all” check box and click the “Finish” button. Page 20 of 48 NTI AG / LinMot...

  • Page 21: Simoton Scout Tia Configuration

    2.3 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. NTI AG / LinMot Page 21 of 48...

  • Page 22: Insert Axis

    Then the SIMOTION SCOUT TIA tool opens with the configured HW PLC_1 [D445-2DP/PN] and C1250-PD drive. 2.3.1 Insert axis Open the Axes and double click on the “Insert Axis” entry. Page 22 of 48 NTI AG / LinMot...

  • Page 23: Configure Axis

    2.3.2 Configure axis The axis type could be left as suggested, click the next button. NTI AG / LinMot Page 23 of 48...
  • Page 24 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 24 of 48 NTI AG / LinMot...
  • Page 25 NTI AG / LinMot Page 25 of 48...
  • Page 26 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. Page 26 of 48 NTI AG / LinMot...
  • Page 27 To avoid axis errors due too high encoder frequencies the parameter “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. NTI AG / LinMot Page 27 of 48...

  • Page 28: Download Simotion Scout Configuration

    2.3.3 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 Page 28 of 48 NTI AG / LinMot...
  • Page 29 Select the target system, the click OK For downloading the project, click the button, and check the „After loading, copy RAM to ROM Checkbox entry, the click the Yes button. NTI AG / LinMot Page 29 of 48...
  • Page 30 Page 30 of 48 NTI AG / LinMot...
  • Page 31 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 Page 31 of 48...

  • Page 32: Move The Axis With The Control Panel

    2.3.4 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 32 of 48 NTI AG / LinMot...
  • Page 33 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 Page 33 of 48...
  • Page 34 Now the axis is ready for absolute position motions. For this click on the button and select the absolute motion if possible the position could be left at 100mm if your motor have more limited position range reduce this value. Then click OK. Page 34 of 48 NTI AG / LinMot...
  • Page 35 NTI AG / LinMot Page 35 of 48...
  • Page 36 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. Page 36 of 48 NTI AG / LinMot...
  • Page 37 NTI AG / LinMot Page 37 of 48...

  • Page 38: Process Data Object (Pdo) Configuration

    3.1.2 Standard telegram 5 Index Size Byte Name Data [Byte] Offset Type Tlg 5 Variables RECORD ZSW1 Uint16 2, 3 NIST_B Int32 ZSW2 Uint16 G1_ZSW Uint16 6, 7 G1_XIST_1 Int32 8, 9 G1_XIST_2 Int32 Page 38 of 48 NTI AG / LinMot...

  • Page 39: Standard Telegram 7

    M_act Int16 3.1.7 Real Time Config telegram 404 Index Size Byte Name Data [Byte] Offset Type Tlg 404 Variables RECORD Config Status Word Uint16 Config Index/.. Uint16 4, 5 Config Value Word32 NTI AG / LinMot Page 39 of 48...

  • Page 40: Actual Position Telegram 405

    Variables RECORD 1, 2 Mon Channel 1 Word32 3.1.14 Mon Channel 2 telegram 411 Index Size Byte Name Data [Byte] Offset Type Tlg 411 Variables RECORD 1, 2 Mon Channel 2 Word32 Page 40 of 48 NTI AG / LinMot...

  • Page 41: Mon Channel 3 Telegram 412

    Actual Velocity Int32 3.2 Output PDO Modules 3.2.1 Standard telegram 3 Index Size Byte Name Data [Byte] Offset Type Tlg 3 Variables RECORD STW1 Uint16 2, 3 NSOLL_B Int32 STW2 Uint16 G1_STW Uint16 NTI AG / LinMot Page 41 of 48...

  • Page 42: Standard Telegram 5

    3.2.5 Siemens telegram 105 Index Size Byte Name Data [Byte] Offset Type Tlg 105 Variables RECORD STW1 Uint16 2, 3 NSOLL_B Int32 STW2 Uint16 TORQUERED Uint16 G1_STW Uint16 7, 8 XERR Int32 9, 10 Int32 Page 42 of 48 NTI AG / LinMot...

  • Page 43: Siemens Telegram Tdb 200

    UPID 0x13FC/0x13FD or 0x13FE/0x13FF depending on which control parameter set is active. 3.2.7 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 Page 43 of 48...

  • Page 44: Asynchronous Configuration Protocol

    Number list of defined parameter 60000 Velocity reference value(not yet implemented) LinMot PROFIdrive Object Dictionary 4.2 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 45: 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. PROFIdrive/Dis-/Enable Disable Servo Drive runs without PROFINET.

  • Page 46: Profdrive/Axis Configuration/ Axis Type

    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 46 of 48 NTI AG / LinMot...

  • Page 47: Connecting To The Profinet Network

    Wire color code Assignment 100 BASE- 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 Page 47 of 48...
  • Page 48 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... Page 48 of 48 NTI AG / LinMot...

This manual is also suitable for:

C1450-pd-vs-0s/1sE1450-pd-qn-0s/1s

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