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C1250-EC-XC-0S
LinMot C1250-EC-XC-0S Manuals
Manuals and User Guides for LinMot C1250-EC-XC-0S. We have
2
LinMot C1250-EC-XC-0S manuals available for free PDF download: Application Note, Interface Manual
LinMot C1250-EC-XC-0S Application Note (205 pages)
How-to PLC Commissioning
Brand:
LinMot
| Category:
Servo Drives
| Size: 9.09 MB
Table of Contents
Table of Contents
3
Use of this Document
8
Version History
8
Trademarks
9
1 General
10
Abbreviations
10
Linmot Drive System Generations (SG)
10
Linmot Drive Interface Extensions
10
Available Linmot Libraries
10
Documentation / User Manuals
11
UPID (Unique Parameter ID)
12
Recent Version of Linmot-Talk and Drive Firmware
12
2 Overview
13
Linmot Profile (Commissioning Using the Linmot Libraries)
13
Drive Profiles (Direct Integration as Motion Axis Using Standardized Drive Profiles)
14
3 Linmot Profile: Beckhoff Twincat 2&3
15
Overview
15
Configuration and Connection of the Linmot Drive
16
Motor Configuration
16
XML Files
16
Ethercat Connection
16
PLC Setup Ethercat (E1450-EC-QN, E1250-EC-UC, C1X00-EC-XC-XX)
17
Insert Linmot Drive as Slave
17
Config Module
18
Links to PLC Control
19
Check Eoe Settings
20
Check with Linmot-Talk if the Fieldbus Is Running
21
4 Linmot Profile: Siemens TIA
22
Overview
22
Configuration and Connection of the Linmot Drive
23
Motor Configuration
23
GSD / GSDML Files
23
PROFIBUS Connection
23
PROFINET Connection
25
PLC Setup PROFIBUS (E1430-DP-QN, E1230-DP-UC, E1130-DP-XX)
26
PLC Setup PROFINET (E1450-PN-QN, E1250-PN-UC, C1250-PN-UC, C1150PN-UC)
28
Assigning the Device Name and IP Address
30
Check with Linmot-Talk if the Fieldbus Is Running
33
5 Linmot Profile: Rockwell Rslogix 5000 / Logix Designer
34
Overview
34
Minimum Requirements
34
Configuration and Connection of the Linmot Drive
35
Motor Configuration
35
EDS Files (Requires Rslogix 5000 V20 or Higher)
35
Ethernet/Ip Connection
35
IP Address
35
PLC Setup Ethernet/Ip
36
Rslinx Classic
36
Add a Linmot Drive Using AOP (E1250-IP-XX, C1250-IP-XX)
37
Add a Linmot Drive Using the EDS File (Recommended for Studio <V31)
41
Add a Linmot Drive as Generic Ethernet Module (ETHERNET-MODULE)
44
Check with Linmot-Talk if the Fieldbus Is Running
46
6 Drive Profile: Siemens TIA, Profidrive
47
Overview
47
Configuration and Connection of the Linmot Drive
48
Motor Configuration
48
GSDML File
49
PROFINET Connection
49
PLC Setup
50
Install GSDML File(S)
50
Insert the Linmot Drive as Device
50
Set PROFINET Name and IP Address
51
Insert and Setup a New Technology Object (Linear Axis)
53
Insert and Setup a New Technology Object (Rotary Axis)
59
Home / Set Reference
65
Home the Linear Axis
65
Home / Set Reference of the Rotary Axis
67
Active Homing for both Linear and Rotary Motors
68
Parameter Access (RAM)
70
Add Additional Parameters / Variables to the Real-Time Channel
71
Drive Configuration
71
PLC Configuration
72
Tuning the Control Loops
73
Drive Control Loop
73
PLC Control Loop
75
Check with Linmot-Talk if the Fieldbus Is Running
76
7 Drive Profile: Rockwell Motion Using PVA Streaming (CIP Sync)
77
Overview
77
8 Drive Profile: Beckhoff Twincat 2/3, Soe
78
Overview
78
Configuration and Connection of the Linmot Drive
79
Motor Configuration
79
XML File
80
Ethercat Connection
80
PLC Setup
81
Ethercat Device Description File XML
81
Scanning the Ethercat for New Devices
81
Setting up the Process Data of the Linmot Drive
83
Check Eoe Settings
85
Setting up the NC Axis
86
Encoder Parameter Examples for Linear and Rotary Motors
88
Linear Motors PS01 / PS10
88
Rotary Motors RS01 & RS02
88
Rotary Motors EC02
89
Other Motors
89
Homing
90
Visualization
91
Drive Reset
91
Asynchronous Parameter Access
92
Add Additional Parameters or Variables to the Process Data (MDT 1 / at 1)
94
9 Drive Profile: Beckhoff Twincat 2/3, Coe DS402
97
Overview
97
Configuration and Connection of the Linmot Drive
98
Motor Configuration
98
XML File
99
Ethercat Connection
99
PLC Setup
100
Ethercat Device Description File XML
100
Scanning the Ethercat for New Devices
100
Setting up the Process Data of the Linmot Drive
102
Check Eoe Settings
104
Setting up the NC Axis
105
Encoder Parameter Examples for Linear and Rotary Motors (Axis > Enc)
107
Linear Motors PS01 / PS10
107
Rotary Motors RS01 & RS02
107
Rotary Motors EC02
108
Other Motors
108
Homing
109
Visualization
110
Drive Reset
110
Asynchronous Parameter Access
111
Add Positive and Negative Torque/Force Limit (0X1711) to the Process Data
113
Add Additional Parameters or Variables to the Process Data
115
10 Drive Profile: Schneider Electric Pacdrive 3, FSP_DRIVE
119
Overview
119
Configuration and Connection of the Linmot Drive
120
Motor Configuration
120
Sercos Connection
121
Sercos Address
122
PLC Setup
123
General Device Properties
123
Add the Linmot Drive to the Sercos
124
Device Configuration
125
Identification
125
Motor/Mechanic Using a Linmot Linear Motor
126
Motor/Mechanic Using a Rotary Motor
127
Realtime Channel
128
Homing (Linear Motors)
129
Homing Using the Schneider Template (Fb_Home)
129
Setup
129
Drive-Based Homing (S-0-0148)
130
Parameter Access
131
Supported UPID Functions Via IDN Access over the Sercos Service Channel
131
Read RAM Parameter Example
132
Write RAM Parameter Example
133
Enable/Disable Drive Warnings
134
11 Drive Profile: CODESYS Softmotion, Cia402
135
Overview
135
Configuration and Connection of the Linmot Drive
136
Motor Configuration
136
XML File
137
Ethercat Connection
137
PLC Setup
138
Ethercat Device Description File XML
138
Add and Setup the Linmot Drive
138
Check Eoe Settings
140
Homing
141
Visualization
142
Parameter Access
143
Add Additional Parameters or Variables to the Process Data
144
12 Drive Profile: B&R NC Motion Using the SDC Interface
147
Overview
147
Compatibility Linmot_Sdc <> ACP10 ARNC0
148
Configuration and Connection of the Linmot Drive
149
Motor Configuration
149
XDD File
150
Powerlink Connection
150
Node ID
150
Short Description of the Linmot SDC Interface Function Block
151
Principle of Operation
151
HTML Help
151
Lm_Sdcif (Interface Function Block)
152
Encalltype
152
Stconfig
152
Prerequisites
153
Automation Studio Physical View
154
Add the Linmot Drive to the Powerlink Network
154
Configuration
155
I/O Mapping
156
Powerlink Interface and PLC Configuration
157
Add a B&R Drive to Generate All NC Object Specific Requirements Automatically
158
Automation Studio Configuration View
160
Setup NC Manager and NC Mapping
160
Add New NC Object
162
Add Textsystem
163
Automation Studio Logical View: Linear Motor Example
165
Add the Example Program to the Project
165
ACOPOS Parameter Table
165
Init Parameter Table
166
Check Init Parameters of the SDC Function Block
167
Assign the Example Program to Cyclic #1
167
Automation Studio Logical View: Rotary Motor Example
168
Add the Example Program to the Project
168
ACOPOS Parameter Table
169
Init Parameter Table
171
Check Init Parameters of the SDC Function Block
172
Assign the Example Program to Cyclic #1
172
Homing
173
Linear Motor
173
Rotary Motor
173
Reference Switch (Mchome_Abs_Switch)
174
Test
176
Switch on
176
Homing
177
Error Acknowledge
177
Parameter Access
178
Parameter Access by Lmcf_Paraaccess Function Block
178
Parameter Access by SDO Commands
179
Add Additional Parameters or Variables to the Process Data
181
Errors (Lm_Sdcif Outputs)
182
Berror
182
Distatusid
182
Uierrorcode
182
13 Drive Profile: OMRON Sysmac Studio, Coe DS402
183
Overview
183
Configuration and Connection of the Linmot Drive
184
Motor Configuration
184
XML File
185
Ethercat Connection
185
PLC Setup
186
Ethercat Device Description File XML
186
Define Ethercat Node Address on Linmot-Device
186
Set Node Address by Address Selector on Device
187
Set Node Address by Parameter on Device
188
Set Node Address by Ethercat Master
189
Scanning the Ethercat for New Devices
190
Create a Motion Axis and Link It to Your Physical Linmot Axis
191
Setting up the Motion Axis
193
Drive Based Homing
194
Settings on Linmot Drive
194
Function Blocks Required on Sysmac
195
Ec_Coesdowrite
195
Mc_Resetfollowingerror
195
Mc_Homewithparameter
195
Homing Procedure on Sysmac
196
Drive Reset
197
Parameter Access
198
Add Additional Parameters or Variables to the Process Data (PDO Map)
199
14 Troubleshooting
200
Appendix I: Basic Position Control Loop Tuning
202
Notes
204
Contact & Support
205
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LinMot C1250-EC-XC-0S Interface Manual (60 pages)
EtherCAT LinMot Profile Interface
Brand:
LinMot
| Category:
DC Drives
| Size: 2.75 MB
Table of Contents
Table of Contents
3
1 System Overview
7
References
7
Connecting in and out
7
2 Setup in the PLC
8
Copy Device Description File
8
Scan the Ethercat Slave Devices
9
3 Process Data Object (PDO) Configuration
11
Input PDO Modules
11
Cyclic Mode Inputs 0X1A02
12
User Defined Inputs 0X1A20
12
Default Inputs 0X1B00
12
NC Inputs 0X1B01
12
Statevar 0X1B03
13
Statusword 0X1B04
13
Warnword 0X1B05
13
Config Module 0X1B08
13
Input Demvel 0X1B10
13
Input Actvel 0X1B11
13
Input Actvelfilt 0X1B12
14
Input Demandposition 0X1B13
14
Input Actualposition 0X1B14
14
Input Demandcurrent 0X1B15
14
Input Demcurrfilt 0X1B16
14
CAM Counts 0X1B18
14
Input Command Table Var 1 0X1B20
14
Input Command Table Var 2 0X1B21
15
Output PDO Modules
15
Cyclic Position Mode 0X1602
15
Cyclic Position Velocity Mode 0X1603
16
Cyclic Position Velocity Torque Mode 0X1604
16
Cyclic Torque Mode 0X1606
16
User Defined Outputs 0X1620
16
Default Outputs 0X1700
17
NC Outputs 0X1701
17
Config Module 0X1708
17
Max Current Set a 0X1710
17
CAM Start Enable 0X1718
18
Typical Startup Telegrams
18
4 Asynchronous Configuration Protocol Aoe
19
ADS Services Overview
20
ADS Parameter Services
21
Parameter UPID Read RAM Value
21
Parameter UPID Write RAM Value
22
Parameter UPID Read ROM Value
22
Parameter UPID Write ROM Value
23
Parameter Start Read UPID List
23
Parameter Get Next UPID List Item
24
Parameter Start Read Modified UPID List
24
Parameter Get Next Modified UPID List Item
25
Parameter Default SW Instance
25
ADS Curves Services
26
Curves Delete All in RAM
26
Curves Delete Single Curve in RAM
26
Curves Read Info and Data Size
27
Curves Read Info Block Data
27
Curves Read Setpoint Data
28
Curves Start Modify Curve in RAM
28
Curves Modify Curve Info Block Data in RAM
29
Curves Modify Curve Setpoint Data in RAM
29
Curves Start Write Curve to RAM
30
Curves Write Curve Info Block Data to RAM
30
Curves Write Curve Setpoint Data to RAM
31
Curves Read Presence List
31
Curves Start Write Curves from RAM to FLASH
32
ADS Command Table Services
32
Command Table Delete All Entries from RAM
32
Command Table Delete Single Entry from RAM
33
Command Table Read Data Size
33
Command Table Read Data
34
Command Table Start Write Entry in RAM
34
Command Table Write Entry Data in RAM
35
Command Table Read Presence List
35
Command Table Start Write Entries from RAM to FLASH
36
ADS Program Handling
36
Reset Device
36
Stop SW Instances
37
Start SW Instances
37
5 Asynchronous Configuration Protocol Coe
38
Communication Profile Area(1000H-1Fffh)
38
Manufacturer Specific Profile Area(2000H-5Fffh)
39
Parameter UPID Read RAM Value
40
Parameter UPID Write RAM Value
40
Parameter UPID Read ROM Value
41
Parameter UPID Write ROM Value
41
Parameter UPID Read Minimal Value
41
Parameter UPID Read Maximal Value
42
Parameter UPID Read Default Value
42
Parameter UPID Write RAM & ROM Value
43
Parameter Default os SW Instance
43
Parameter Default MC SW Instance
43
Parameter Default Intf SW Instance
44
Parameter Default Appl SW Instance
44
Reset Device
45
Start Read UPID List
45
Read Next UPID List Entry
45
Start Read Modified UPID List
46
Read Next Modified UPID List Entry
46
Stop MC and Application SW Instances
47
Start MC and Application SW Instances
47
Curves Copy Curves from RAM to FLASH
48
Curves Delete All Curves in RAM
48
Curves Start Write Curve in RAM
49
Curves Write Curve Info Block Data in RAM
49
Curves Write Curve Set Point Data in RAM
49
Curves Read Info and Setpoint Data Block Size in RAM
50
Curves Read Info Block Data in RAM
50
Curves Read Set Point Data in RAM
51
Read Error Counters
51
Read Logged Error Item Code and Instance
52
Read Logged Error Item Time Low
52
Read Logged Error Item Time High
52
Read Error Short Text
53
Command Table Copy Entries from RAM to FLASH
53
Command Table Delete All Entries in RAM
54
Command Table Delete Entry in RAM
54
Command Table Start Write Entry in RAM
55
Command Table Write Entry Data in RAM
55
Command Table Entry Data Size in RAM
55
Command Table Read Entry Data in RAM
56
Command Table Read Presence List
56
6 Ethercat Parameters
57
Parameters
57
Ethercat/Dis-/Enable
57
Ethercat/Station Alias/Alias Address Source
57
Ethercat/Station Alias/Alias Address Parameter
58
Ethercat/Station Alias/Alias Address Parameter Mask
58
Ethercat/Nc Configuration/Position Scale
58
Ethercat/Nc Configuration/Velocity Scale
58
Ethercat/Nc Configuration/Acceleration Scale
58
Ethercat/Nc Configuration/Velocity Scale Numerator /Denominator
58
Ethercat/Connection Timeout/Timeout Behavior
58
7 Connecting to the Ethercat Network
59
Pin Assignment of the Connectors X17-X18
59
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