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LinMot Manuals
Servo Drives
C1250-SC-XC-1S
Application note
LinMot C1250-SC-XC-1S Application Note
How-to plc commissioning
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Contents
Table of Contents
Troubleshooting
Bookmarks
Table of Contents
Table of Contents
Use of this Document
Version History
Trademarks
1 General
Abbreviations
Linmot Drive System Generations (SG)
Linmot Drive Interface Extensions
Available Linmot Libraries
Documentation / User Manuals
UPID (Unique Parameter ID)
Recent Version of Linmot-Talk and Drive Firmware
2 Overview
Linmot Profile (Commissioning Using the Linmot Libraries)
Drive Profiles (Direct Integration as Motion Axis Using Standardized Drive Profiles)
3 Linmot Profile: Beckhoff Twincat 2&3
Overview
Configuration and Connection of the Linmot Drive
Motor Configuration
XML Files
Ethercat Connection
PLC Setup Ethercat (E1450-EC-QN, E1250-EC-UC, C1X00-EC-XC-XX)
Insert Linmot Drive as Slave
Config Module
Links to PLC Control
Check Eoe Settings
Check with Linmot-Talk if the Fieldbus Is Running
4 Linmot Profile: Siemens TIA
Overview
Configuration and Connection of the Linmot Drive
Motor Configuration
GSD / GSDML Files
PROFIBUS Connection
PROFINET Connection
PLC Setup PROFIBUS (E1430-DP-QN, E1230-DP-UC, E1130-DP-XX)
PLC Setup PROFINET (E1450-PN-QN, E1250-PN-UC, C1250-PN-UC, C1150PN-UC)
Assigning the Device Name and IP Address
Check with Linmot-Talk if the Fieldbus Is Running
5 Linmot Profile: Rockwell Rslogix 5000 / Logix Designer
Overview
Minimum Requirements
Configuration and Connection of the Linmot Drive
Motor Configuration
EDS Files (Requires Rslogix 5000 V20 or Higher)
Ethernet/Ip Connection
IP Address
PLC Setup Ethernet/Ip
Rslinx Classic
Add a Linmot Drive Using AOP (E1250-IP-XX, C1250-IP-XX)
Add a Linmot Drive Using the EDS File (Recommended for Studio <V31)
Add a Linmot Drive as Generic Ethernet Module (ETHERNET-MODULE)
Check with Linmot-Talk if the Fieldbus Is Running
6 Drive Profile: Siemens TIA, Profidrive
Overview
Configuration and Connection of the Linmot Drive
Motor Configuration
GSDML File
PROFINET Connection
PLC Setup
Install GSDML File(S)
Insert the Linmot Drive as Device
Set PROFINET Name and IP Address
Insert and Setup a New Technology Object (Linear Axis)
Insert and Setup a New Technology Object (Rotary Axis)
Home / Set Reference
Home the Linear Axis
Home / Set Reference of the Rotary Axis
Active Homing for both Linear and Rotary Motors
Parameter Access (RAM)
Add Additional Parameters / Variables to the Real-Time Channel
Drive Configuration
PLC Configuration
Tuning the Control Loops
Drive Control Loop
PLC Control Loop
Check with Linmot-Talk if the Fieldbus Is Running
7 Drive Profile: Rockwell Motion Using PVA Streaming (CIP Sync)
Overview
8 Drive Profile: Beckhoff Twincat 2/3, Soe
Overview
Configuration and Connection of the Linmot Drive
Motor Configuration
XML File
Ethercat Connection
PLC Setup
Ethercat Device Description File XML
Scanning the Ethercat for New Devices
Setting up the Process Data of the Linmot Drive
Check Eoe Settings
Setting up the NC Axis
Encoder Parameter Examples for Linear and Rotary Motors
Linear Motors PS01 / PS10
Rotary Motors RS01 & RS02
Rotary Motors EC02
Other Motors
Homing
Visualization
Drive Reset
Asynchronous Parameter Access
Add Additional Parameters or Variables to the Process Data (MDT 1 / at 1)
9 Drive Profile: Beckhoff Twincat 2/3, Coe DS402
Overview
Configuration and Connection of the Linmot Drive
Motor Configuration
XML File
Ethercat Connection
PLC Setup
Ethercat Device Description File XML
Scanning the Ethercat for New Devices
Setting up the Process Data of the Linmot Drive
Check Eoe Settings
Setting up the NC Axis
Encoder Parameter Examples for Linear and Rotary Motors (Axis > Enc)
Linear Motors PS01 / PS10
Rotary Motors RS01 & RS02
Rotary Motors EC02
Other Motors
Homing
Visualization
Drive Reset
Asynchronous Parameter Access
Add Positive and Negative Torque/Force Limit (0X1711) to the Process Data
Add Additional Parameters or Variables to the Process Data
10 Drive Profile: Schneider Electric Pacdrive 3, FSP_DRIVE
Overview
Configuration and Connection of the Linmot Drive
Motor Configuration
Sercos Connection
Sercos Address
PLC Setup
General Device Properties
Add the Linmot Drive to the Sercos
Device Configuration
Identification
Motor/Mechanic Using a Linmot Linear Motor
Motor/Mechanic Using a Rotary Motor
Realtime Channel
Homing (Linear Motors)
Homing Using the Schneider Template (Fb_Home)
Setup
Drive-Based Homing (S-0-0148)
Parameter Access
Supported UPID Functions Via IDN Access over the Sercos Service Channel
Read RAM Parameter Example
Write RAM Parameter Example
Enable/Disable Drive Warnings
11 Drive Profile: CODESYS Softmotion, Cia402
Overview
Configuration and Connection of the Linmot Drive
Motor Configuration
XML File
Ethercat Connection
PLC Setup
Ethercat Device Description File XML
Add and Setup the Linmot Drive
Check Eoe Settings
Homing
Visualization
Parameter Access
Add Additional Parameters or Variables to the Process Data
12 Drive Profile: B&R NC Motion Using the SDC Interface
Overview
Compatibility Linmot_Sdc <> ACP10 ARNC0
Configuration and Connection of the Linmot Drive
Motor Configuration
XDD File
Powerlink Connection
Node ID
Short Description of the Linmot SDC Interface Function Block
Principle of Operation
HTML Help
Lm_Sdcif (Interface Function Block)
Encalltype
Stconfig
Prerequisites
Automation Studio Physical View
Add the Linmot Drive to the Powerlink Network
Configuration
I/O Mapping
Powerlink Interface and PLC Configuration
Add a B&R Drive to Generate All NC Object Specific Requirements Automatically
Automation Studio Configuration View
Setup NC Manager and NC Mapping
Add New NC Object
Add Textsystem
Automation Studio Logical View: Linear Motor Example
Add the Example Program to the Project
ACOPOS Parameter Table
Init Parameter Table
Check Init Parameters of the SDC Function Block
Assign the Example Program to Cyclic #1
Automation Studio Logical View: Rotary Motor Example
Add the Example Program to the Project
ACOPOS Parameter Table
Init Parameter Table
Check Init Parameters of the SDC Function Block
Assign the Example Program to Cyclic #1
Homing
Linear Motor
Rotary Motor
Reference Switch (Mchome_Abs_Switch)
Test
Switch on
Homing
Error Acknowledge
Parameter Access
Parameter Access by Lmcf_Paraaccess Function Block
Parameter Access by SDO Commands
Add Additional Parameters or Variables to the Process Data
Errors (Lm_Sdcif Outputs)
Berror
Distatusid
Uierrorcode
13 Drive Profile: OMRON Sysmac Studio, Coe DS402
Overview
Configuration and Connection of the Linmot Drive
Motor Configuration
XML File
Ethercat Connection
PLC Setup
Ethercat Device Description File XML
Define Ethercat Node Address on Linmot-Device
Set Node Address by Address Selector on Device
Set Node Address by Parameter on Device
Set Node Address by Ethercat Master
Scanning the Ethercat for New Devices
Create a Motion Axis and Link It to Your Physical Linmot Axis
Setting up the Motion Axis
Drive Based Homing
Settings on Linmot Drive
Function Blocks Required on Sysmac
Ec_Coesdowrite
Mc_Resetfollowingerror
Mc_Homewithparameter
Homing Procedure on Sysmac
Drive Reset
Parameter Access
Add Additional Parameters or Variables to the Process Data (PDO Map)
14 Troubleshooting
Appendix I: Basic Position Control Loop Tuning
Notes
Contact & Support
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Quick Links
1
Errors (Lm_Sdcif Outputs)
2
Troubleshooting
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PLC Commissioning of LinMot Servo Drives
Application Note / How-to
March 2020
0185-1120-E_1V5_AN_PLC_Commissioning
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