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Documentation of the EasySteps Application of the following Drive Series:
-
E1100
-
B1100
-
E1200
-
EasySteps Application
User Manual
© 2012 NTI AG
This work is protected by copyright.
Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying, recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole or in part, without the prior written consent of 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.
NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement.
Document version 3.12c/ May, 2012
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LinMot
Easy Steps Application
1. System Overview
Where the two drive families E1100/B1100 differ, in the notation this is mentioned with the “/” separator e.g. X4/X14 the two different connector identifiers on the drives. If there is no distinction indicated, the information for the E1200 drive series is the same as for E1100.
The EasySteps Application SW is an easy to use SW with the following functionality:
•
Smart Control Word behavior (Enable, Home and Error Acknowledge over one single
IO possible)
•
2 analog channel mapping to a any live Parameter (e.g. Adjust Maximal Current with analog input)
•
8/6 digital IO/Inputs mapping to different ‘Motion Commands’
All of this functionality can be wired to the X4/X14 connector that is available on all servos of the E1100/B1100 series. The MC-SW allows a free mapping of the X4/X14 inputs to the control word respective status word bits, so no additional mapping is done in the EasySteps
SW regarding this functionality. Every unused/undefined pin on the X4 connector can be used as normal general purpose IO or in special function as defined in the MC-SW parameter tree.
2. Installation on Drive
For installing the EasySteps firmware on the drive, start the LinMot-Talk software and press the install firmware button . Choose the file “Firmware_Buildxxxxxxxx.sct” and press
“Open“. The wizard will guide you through the installation. When asking for the application software choose “EasySteps”:
Press ok and follow the rest of the wizard.
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Easy Steps Application
3. 1100/E1200 X4 IO Mapping
Descriptor Special Function
X4.1
X4.2
GND
24 VDC
X4.3
X4.4
Brake (Output)
Analog In
X4.5
X4.6
X4.7
X4.8
X4.9
X4.10
X4.11
X4.12
Capture Input
Trigger (Input)
Home Switch (Input)
-
EasySteps Function
GND
24 VDC
Motion Cmd Ch1 / An UPID Scale Ch1
Motion Cmd Ch2
Motion Cmd Ch3
Motion Cmd Ch4 / An UPID Scale Ch2
Limit IN (Input)
Limit OUT (Input)
PTC 1 (Input)
PTC 2 (Input)
SVE Safety Voltage Enable (Input) -
Motion Cmd Ch5
Motion Cmd Ch6
Motion Cmd Ch7
Motion Cmd Ch8
4. B1100 Input Mapping
Descriptor
X14.13
X14.2
X14.15
X14.3
X14.16
X14.4
Special Function
GND
X14.25
24 VDC
X14.8/X14.21
Diff Analog Input -10V..+10V
X14.20
X14.14
Analog input 0V..10V
Home Switch
Trigger
EasySteps Function
Supply GND
Supply 24 VDC
Analog UPID Scale Ch1
Analog UPID Scale Ch2
Motion Cmd Ch1
Motion Cmd Ch2
Motion Cmd Ch3
Motion Cmd Ch4
Motion Cmd Ch5
Motion Cmd Ch6
NTI AG / LinMot User Manual Easy Steps Application / 15/05/2012 Page 5/14
LinMot
Easy Steps Application
5. Smart Control Word Behavior
All Control Word actions that are configured in the EasySteps SW are done to the Interface
Control Word bits. So if a Control Word bit is mapped to a X4 IO or forced by parameter this still has priority and the behaviour rests unchanged.
5.1. Intf Switch On Flag Behavior
It is strongly recommended to influence the Control Word bit 0 ‘Switch On‘ over a serial bus connection or a digital input. For a testing system it might be helpful if the systems starts up automatically of powered on, for this case the switch On can be set to autostart.
5.2. Intf Home Flag Behavior
Setting the Intf Home Flag Behavior to ‘Autohome’ starts the homing procedure automatically if the state 8 ‘Operation Enabled’ is reached and Status Word bit 11 ‘Homed‘ is not set. After the homing sequence has finished the interface Control Word bit 11 ‘Home’ is reset and the state 8 is entered again.
5.3. Intf Error Acknowledge Flag Behavior
Setting the Intf Error Acknowledge Flag Behavior to ‘/Switch On Flag’ sets the interface
Control Word bit 7 ‘Error Acknowledge’ when releasing the ‘Switch On’ Flag.
5.4. Intf Go To Initial Pos Flag Behavior
Setting the Intf Go to Initial Pos Flag Behavior to ‘Enter Operation Enabled’ sets the interface
Control Word bit 13 ‘Go To Initial Position’ in state ‘Ready to Operate’ (State: 6), normal operation of this behaviour is to move to the ‘Initial position’ after an enabling.
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Easy Steps Application
6. Analog Parameter Scale
On the two analog inputs X4.4/X14.20 and X4.7/X14.8&X14.21 any live parameter UPID can be mapped for analog scaling of its value.
6.1. Analog Input On X4.4/X14.20
In the following example the live parameter ‘P Gain’ of the position controller Set A with the
UPID 13A2h/6198h is scaled in the range 1..10 A/mm with the analog value on X4.4.
Parameter Name Parameter Value Parameter UPID
E1100 & E1200
UPID
0V Scale
10V Scale
13A2h/6198h
10
100
30E0h
30E1h
30E2h
Parameter UPID
B1100
6460h
F231h
F232h
The scaled value of the parameter can be monitored in the variable section of the EasySteps application SW with the variable ‘Scaled Value On X4.4’ (UPID 3A98h/F448h).
6.2. Analog Input On X4.7/X14.8&X14.21
In the following example the live parameter ‘Maximal Current’ of the position controller Set A with the UPID 13A6h/E19Ch is scaled in the range 0..8 A with the analog value on X4.7.
Parameter Name Parameter Value Parameter UPID
E1100 & E1200
UPID
0V/-10V Scale
10V Scale
13A6h/E19Ch
0
8000
30F0h
30F1h
30F2h
Parameter UPID
B1100
6461h
F233h
F234h
The scaled value of the parameter can be monitored in the variable section of the EasySteps application SW with the variable ‘Scaled Value On X4.7’ (UPID 3ACAhF449h).
NTI AG / LinMot User Manual Easy Steps Application / 15/05/2012 Page 7/14
LinMot
Easy Steps Application
7. IO Motions
The third functionality of the EasySteps application SW is to define the different motion commands evaluated on a rising edge of the inputs on X4.4 through X4.11.
With the Parameters (UPIDs 0x3381..0x3388) the logic of each input could be inverted separately.
The motion command can be selected with parameters:
Parameter Name
X4.4/X14.14 Rising Edge Function
X4.5/X14.2 Rising Edge Function
X4.6/X14.15 Rising Edge Function
X4.7/X14.3 Rising Edge Function
X4.8/X14.16 Rising Edge Function
X4.9/X14.4 Rising Edge Function
X4.10 Rising Edge Function
X4.11 Rising Edge Function
Parameter UPID
E1100 & E1200
3500h
3600h
3700h
3800h
3100h
3200h
3300h
3400h
Parameter
UPID
B1100
6408h
6418h
6428h
6438h
6448h
-
-
6458h
Linked
Output
B1100 (only)
X14.17
X14.5
X14.18
X14.6
X14.19
-
-
X14.7
The table below shows the supported motion commands. All are supported identically on all four inputs. The motion command parameters are parameters of the EasySteps-SW and may be used for different motion commands, the table in the detailed description of the motion commands shows the mapping of the EasySteps parameters to the motion command parameters.
The last evaluated motion command can be read out with the LinMot-Talk configuration software in the control panel.
The EasySteps-SW writes directly into the copied ‘Motion Command Interface’ therefore it doesn’t change the value of the motion command counter of the interface ‘Motion Command
Interface’. Of course it has to be programmed very carefully if the EasySteps Motion
Commands are used together with Motion Commands over a serial bus interface.
The linked output functionality exists only on the B1100 drive. With the linked output the “In
Target Position” or “/Motion Active” of the selected rising edge input motion can be mapped.
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LinMot
Easy Steps Application
7.1. Overview of supported Motion Commands
Motion Command Name
None
Goto Abs Position
Increment Target Position
Increment Demand Position
Goto Abs Position From Actual Position
Increment Actual Position
Goto Analog Position
Inc Actual Position Between Rise and
Falling Edge
Start Curve From Actual Position
Goto Abs Position With Max Current
Eval Command Table Command
VAI Stop
VAI Infinite Motion Positive Direction
VAI Infinite Motion Positive Direction
CAM Go To Synch Pos
CAM Enable
2
3
4
UPID (3x00h) Value
E1100 & E1200
0
1
5
6
7
8
9
12
13
14
15
16
17
Encoder Winding Start With Def Par 24
Encoder Curve Winding Start With Def Par 25
Master Homing
Teach In
26
31 (X4.9 only)
-
-
-
-
-
5
6
7
2
3
4
0
1
UPID (64x8h) Value
B1100
9
13
14
15
16
26
31 (X14.4 only)
7.1.1. None
If none is selected no action is taken on rising edge on this input. The input can be used as general purpose input and be configured therefore in the MC-SW.
7.1.2. Goto Abs Position
On a rising edge on the input a motion from any position to the defined absolute position is started. (MC-SW Motion Command 010xh).
Motion Command Parameter Names
Position (Absolute Target Position)
Max Speed
Acceleration
Deceleration
UPID
E1100 & E1200
3x10h
3x11h
3x12h
3x13h
UPID
B1100
F2x0h/F2x8h
F2x1h/F2x9h
F2x2h/F2xAh
F2x3h/F2xBh
NTI AG / LinMot User Manual Easy Steps Application / 15/05/2012 Page 9/14
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Easy Steps Application
7.1.3. Increment Target Position
On a rising edge of the input the target position of the last VAI- motion is incremented and the VAI motion is started or continued. (MC-SW Motion Command 012xh).
Motion Command Parameter Names
Position (Target Position Increment)
Max Speed
Acceleration
Deceleration
UPID
E1100 & E1200
3x10h
3x11h
3x12h
3x13h
UPID
B1100
F2x0h/F2x8h
F2x1h/F2x9h
F2x2h/F2xAh
F2x3h/F2xBh
7.1.4. Increment Demand Position
On a rising edge of the input the target position is set to (demand position + demand position increment) then the VAI motion is started or continued. (MC-SW Motion Command 011xh).
Motion Command Parameter Names
Position (Demand Position Increment)
Max Speed
Acceleration
Deceleration
7.1.5. Goto Abs Position From Actual Position
On a rising edge of the input the demand position is set to the actual position then the VAI motion is started or continued. (MC-SW Motion Command 013xh).
Motion Command Parameter Names
Position (Absolute Target Position)
Max Speed
Acceleration
Deceleration
UPID
E1100 & E1200
3x10h
3x11h
3x12h
3x13h
UPID
E1100 & E1200
3x10h
3x11h
3x12h
3x13h
UPID
B1100
F2x0h/F2x8h
F2x1h/F2x9h
F2x2h/F2xAh
F2x3h/F2xBh
UPID
B1100
F2x0h/F2x8h
F2x1h/F2x9h
F2x2h/F2xAh
F2x3h/F2xBh
7.1.6. Increment Actual Position
On a rising edge of the input the target position is set to (actual position + actual position increment) then the VAI motion is started or continued. (MC-SW Motion Command 015xh).
Motion Command Parameter Names
Position (Actual Position Increment)
Max Speed
Acceleration
Deceleration
UPID
E1100 & E1200
3x10h
3x11h
3x12h
3x13h
UPID
B1100
F2x0h/F2x8h
F2x1h/F2x9h
F2x2h/F2xAh
F2x3h/F2xBh
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Easy Steps Application
7.1.7. Goto Analog Position
On a rising edge of the input a motion from any position to the analog position defined with
X4.4, on B1100 X14.20 or X14.8/21, is started. (MC-SW Motion Command 019xh). For this reason this command is not available on input X4.4.
Motion Command Parameter Names
Max Speed
Acceleration
Deceleration
UPID
E1100 & E1200
3x11h
3x12h
3x13h
UPID
B1100
F2x1h/F2x9h
F2x2h/F2xAh
F2x3h/F2xBh
7.1.8. Inc Actual Position Between Rise and Falling Edge
This command calculates the middle position between the rising and falling edge of the selected input, then a relative motion to this middle position is performed. The captured rising and falling edge actual positions and the calculated middle position are stored and available in the variable section of the Easy Steps in the LinMot-Talk.
Motion Command Parameter Names
Position (Demand Position Increment)
Max Speed
Acceleration
Deceleration
Curve/Cmd ID
UPID
E1100 & E1200
3x10h
3x11h
3x12h
3x13h
UPID
B1100
F2x0h/F2x8h
F2x1h/F2x9h
F2x2h/F2xAh
F2x3h/F2xBh
7.1.9. Start Curve From Actual Position
On a rising edge of the input the curve offset is calculated then the specified time curve started. (MC-SW Motion Command 041xh).
Motion Command Parameter Names UPID
E1100 & E1200
3x20h
UPID
B1100
64x9h
7.1.10.
Goto Abs Position With Max Current
On a rising edge of the input a motion from any position to the defined absolute position is started. (MC-SW Motion Command 0C5xh), deceleration = acceleration and the maxmal current is limited to the maximal current value.
Motion Command Parameter Names
Position (Absolute Target Position)
Max Speed
Acceleration = Deceleration
Maximal Current
UPID
E1100 & E1200
3x10h
3x11h
3x12h
3x21h
UPID
B1100
F2x0h/F2x8h
F2x1h/F2x9h
F2x2h/F2xAh
64xAh
NTI AG / LinMot User Manual Easy Steps Application / 15/05/2012 Page 11/14
LinMot
Easy Steps Application
7.1.11.
Eval Command Table Command
On a rising edge of the input the specified Command Table Command is evaluated. (MC-SW
Motion Command 200xh).
Motion Command Parameter Names
Curve/Cmd ID
UPID
E1100 & E1200
3x20h
UPID
B1100
64x9h
7.1.12.
VAI Stop
On a rising edge of the input a running motion can be stopped (ramped down). (MC-SW
Motion Command 017xh).
Motion Command Parameter Names
Deceleration
UPID
E1100 & E1200
3x13h
UPID
B1100
F2x3h/F2xBh
7.1.13.
VAI Infinite Motion Positive Direction
On a rising edge of the input an infinite motion in positive direction is started (MC-SW Motion
Command 0CExh).
Motion Command Parameter Names UPID
E1100 & E1200
UPID
B1100
Max Speed
Acceleration = Deceleration
3x11h
3x12h
F2x1h/F2x9h
F2x2h/F2xAh
7.1.14.
VAI Infinite Motion Negative Direction
On a rising edge of the input an infinite motion in negative direction is started (MC-SW
Motion Command 0CFxh).
Motion Command Parameter Names
Max Speed
Acceleration = Deceleration
UPID
E1100 & E1200
3x11h
3x12h
UPID
B1100
F2x1h/F2x9h
F2x2h/F2xAh
7.1.15.
CAM Go To Synch Pos
On a rising edge of the input a motion to the CAM synchronous position is started (MC-SW
Motion Command 102xh).
7.1.16.
CAM Enable
On a rising edge of the input the encoder CAM is enabled (MC-SW Motion Command
100xh).
7.1.17.
Encoder Winding Start With Def Par
On a rising edge of the input the encoder winding without curve is started (MC-SW Motion
Command 300xh).
To stop the winding use another motion command on another input e.g. Goto Abs Position.
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Easy Steps Application
7.1.18.
Encoder Curve Winding Start With Def Par
On a rising edge of the input the encoder winding with curve is started (MC-SW Motion
Command 310xh).
To stop the winding use another motion command on an other input e.g. Goto Abs Position.
Motion Command Parameter Names
Curve/Cmd ID
UPID
E1100 & E1200
3x20h
UPID
B1100
64x9h
7.1.19.
Master Homing
On a rising edge of the input the motion command ‘Master Homing’ is setup (MC-SW Motion
Command 009xh).
Motion Command Parameter Names
Position (Home Position)
UPID
E1100 & E1200
3x10h
UPID
B1100
F2x0h/F2x8h
7.1.20.
Teach In IO Motion
Used to teach change the position parameter of a IO motion (UPID 31x0h/F2x0h or F2x8h).
For this reason teach in can also be used to change the target position increment of the
“Increment Target Position” IO motion command, with stacking, de-stacking applications.
Teach In sequence:
1. Select the IO motion to teach in, by setting the corresponding input high
2. Set the Teach In input X4.9/X14.4 high, this makes the motor currentless
3. Move the currentless motor manually to the new wanted position
4. On the falling edge the new position is stored remanent (is still available after a power cycle) and the motor is powered and position controlled again.
NTI AG / LinMot User Manual Easy Steps Application / 15/05/2012 Page 13/14
LinMot
Easy Steps Application
8. Contact Addresses
-----------------------------------------------------------------------------------------------------------------------------
SWITZERLAND NTI AG
Haerdlistr. 15
CH-8957 Spreitenbach
Sales and Administration:
Tech. Support:
+41-(0)56-419 91 91 [email protected]
+41-(0)56-544 71 00 [email protected]
skype:support.linmot
Tech. Support (Skype) :
Fax:
Web:
+41-(0)56-419 91 92 http://www.linmot.com/
-----------------------------------------------------------------------------------------------------------------------------
USA LinMot, Inc.
5750 Townline Road
Elkhorn, WI 53121
Sales and Administration: 877-546-3270
262-743-2555
Tech. Support: 877-804-0718
262-743-1284
Fax: 800-463-8708
262-723-6688
E-Mail:
Web: [email protected]
http://www.linmot-usa.com/
-----------------------------------------------------------------------------------------------------------------------------
Please visit http://www.linmot.com/ to find the distribution near you.
Smart solutions are…
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