Related Manuals for NTI AG LinMot E100-CO
Summary of Contents for NTI AG LinMot E100-CO
- Page 1 Documentation of the CANopen Interface of the following Controllers: - E100-CO - E200-CO - E400-CO - E1000-CO - E2000-CO - E4000-CO CANopen Interface 1.3.14 Usermanual...
- Page 2 NTI Ltd. reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement. Please refer to the latest edition of our "General business terms" Document version 1.3.14 / FM, Sept. 2005 Page 2/16 Usermanual CANopen Interface / 14.09.2005 NTI AG / LinMot...
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Page 3: Table Of Contents
Bit definitions for the error state of the motors and the system: ........12 Bit-Definitionen der Motor Warnungen:..............12 ........................13 NITS ....................13 BJECT ICTIONARY ........................15 XAMPLE NTI AG / LinMot Usermanual CANopen Interface / 14.09.2005 Page 3/16... -
Page 4: System Overview
LinMot Talk software. With these parameters, the CANopen behaviour can be configured. The software LinMot talk can be downloaded from http://www.linmot.com under the section download, software & manuals. Page 4/16 Usermanual CANopen Interface / 14.09.2005 NTI AG / LinMot... - Page 5 The Node ID, when “parameter” is selected ID high ID low Mapping TPDO1 This parameters define the mapping of the transmit PDO1. Each PDO can have 4 variables mapped (all variables are 16 bit) NTI AG / LinMot Usermanual CANopen Interface / 14.09.2005 Page 5/16...
- Page 6 4 variables mapped (all variables are 16 bit) CANopen\ Advanced \ Mapping \ RPDO2..5 Command Command Interface X (4 Words) By Address The mapping is defined by addresses Page 6/16 Usermanual CANopen Interface / 14.09.2005 NTI AG / LinMot...
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Page 7: Mapping Of The Pdo's
Error Mot C Error Mot D If the application requires, the mapping can be completely changed by the advanced parameter settings. Many applications do not require to use all resources. NTI AG / LinMot Usermanual CANopen Interface / 14.09.2005 Page 7/16... -
Page 8: Default Identifier
1011 581h – 5FFh - / - R_SDO 1100 601h – 67Fh - / - In the Pre-Operational state, this can be changed with SDO downloads by the master. Page 8/16 Usermanual CANopen Interface / 14.09.2005 NTI AG / LinMot... -
Page 9: Motor Commands
Write Memory Word (Par 1 = Address Seg, Par 2 = Segment Offset, Par 3 = Value) Read Memory Word (Par 1 = Address Seg, Par 2 = Segment Offset) NTI AG / LinMot Usermanual CANopen Interface / 14.09.2005 Page 9/16... -
Page 10: Control Word
Motor C has finished the trajectory and is within the in position window In Position Mot D Motor D has finished the trajectory and is within the in position window Page 10/16 Usermanual CANopen Interface / 14.09.2005 NTI AG / LinMot... -
Page 11: Statemachine
DISABLE, the RUN Reset STOP Request signal must be cleared from Reset FREEZE Request the active interface! Internal Signals Abbreviation 1.) From Release 1.3.9 DRIVE_INIT_NOT_DONE DIND ERROR_PENDING WARNING_PENDING NTI AG / LinMot Usermanual CANopen Interface / 14.09.2005 Page 11/16... -
Page 12: Errors And Warnings
The logic power supply voltage is too high Bit 13 Electronic too hot The Heat sink of the controller is too hot or the short circuit protection of the power stage was triggered Page 12/16 Usermanual CANopen Interface / 14.09.2005 NTI AG / LinMot... -
Page 13: Units
UI16 1000h Device Type UI32 1001h Error register 1018h Idendity Object Record Number of Entries Vendor ID UI32 0000 0156h Product Code UI32 Revision Number UI32 Serial Number UI32 NTI AG / LinMot Usermanual CANopen Interface / 14.09.2005 Page 13/16... - Page 14 LinMot CANopen Interface Page 14/16 Usermanual CANopen Interface / 14.09.2005 NTI AG / LinMot...
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Page 15: Example
For debugging purpose it’s quite useful to have a Y-Cable which splits the CAN Bus from the RS232. 7.) Configure the CANopen Master to support 2 Transmit and 2 Receive PDO’s for the LinMot Controller (The default ID of the LinMot is 2). NTI AG / LinMot Usermanual CANopen Interface / 14.09.2005 Page 15/16... - Page 16 Write the target position to Par 1 (second word in R_PDO2 = 2048 = 40mm) Write CMD ID, select Motor and Toggle (0x8801 = Command 1 on Motor A and toggle) Page 16/16 Usermanual CANopen Interface / 14.09.2005 NTI AG / LinMot...
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