LinMot-Talk 6

LinMot-Talk 6
Documentation of
LinMot-Talk 6
Configuration Software
LinMot-Talk 6
User Manual
LinMot-Talk 6
© 2014 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
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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 6.3 / April 2015
LinMot-Talk 6
Table of Content
1 INTRODUCTION........................................................................................................................................... 4
1.1 SYSTEM GENERATIONS (SG)......................................................................................................................... 4
1.2 UPID (UNIQUE PARAMETER ID).................................................................................................................... 4
1.3 PNP (PLUG AND PLAY)................................................................................................................................. 5
2 OVERVIEW................................................................................................................................................... 6
2.1 TOOL BUTTON BAR........................................................................................................................................ 7
2.2 CONTROL PANEL......................................................................................................................................... 8
2.3 MESSAGES................................................................................................................................................. 9
2.4 ERRORS.................................................................................................................................................... 9
2.5 OSCILLOSCOPE.......................................................................................................................................... 10
2.6 CURVES................................................................................................................................................... 11
2.7 PARAMETERS............................................................................................................................................ 12
2.8 VARIABLES............................................................................................................................................... 13
2.9 COMMAND TABLE....................................................................................................................................... 15
2.10 ACCESS CODES....................................................................................................................................... 16
3 QUICK START GUIDE................................................................................................................................ 17
3.1 CABLING E1100....................................................................................................................................... 17
3.2 CABLING E1200....................................................................................................................................... 18
3.3 CABLING E1400....................................................................................................................................... 19
3.4 CABLING B1100....................................................................................................................................... 20
3.5 CABLING B8050-ML................................................................................................................................. 21
3.6 CABLING A1100....................................................................................................................................... 22
3.7 CABLING C1100....................................................................................................................................... 23
3.8 CABLING C1200....................................................................................................................................... 24
3.9 CABLING M8000...................................................................................................................................... 25
3.10 FIRMWARE DOWNLOAD.............................................................................................................................. 26
3.11 LOGIN................................................................................................................................................... 28
3.12 SCANNING CAN BUS............................................................................................................................... 29
3.13 SCANNING ETHERNET ............................................................................................................................... 30
3.14 MOTOR WIZARD...................................................................................................................................... 31
3.15 CONTINUOUS CURVE MODE....................................................................................................................... 40
3.16 DEFINING CURVES.................................................................................................................................... 41
3.17 CONTROL STATUS.................................................................................................................................... 46
3.18 OSCILLOSCOPE........................................................................................................................................ 47
3.19 CONTINUOUS TWO POINT MODE................................................................................................................. 48
3.20 EXPORT CONFIGURATION........................................................................................................................... 49
3.21 IMPORT CONFIGURATION............................................................................................................................ 50
3.22 OPEN OFFLINE CONFIGURATION.................................................................................................................. 50
3.23 CREATE OFFLINE CONFIGURATION............................................................................................................... 51
3.24 COMPARE PARAMETERS............................................................................................................................. 52
4 TROUBLE SHOOTING.............................................................................................................................. 53
4.1 SETTING ALL PARAMETERS TO DEFAULT VALUES............................................................................................... 53
4.2 INTERFACE DOES NOT RUN............................................................................................................................ 53
4.3 STOPPING FIRMWARE.................................................................................................................................. 53
5 CONTACT ADDRESSES............................................................................................................................ 54
LinMot-Talk 6
1 Introduction
The LinMot-Talk 6 software is a PC based tool, which helps the user in a comfortable way
installing firmware on the drive, setting up the drive’s configuration, defining and
programming motion profiles, emulating the PLC, watching variables and reading
messages and errors. The LinMot-Talk 6 works with the drive series A1100, B1100,
C1100, E1100, C1200, E1200, E1400 and B8050. It replaces the LinMot-Talk1100
software. For the rest of this document and all other documents, the more general term
“LinMot-Talk” will be used for the Linmot- PC configuration software.
1.1
System Generations (SG)
The LinMot drive families are based on different hardware platforms, which are called
system generations. The abbreviation is “SG”. Whereas differences of hardware of
software functionality exist between the system generations, the documentation is
marked with the “SG” term. The following table gives an overview of which drive family
belongs to which SG:
1.2
SG
Drives
SG1
Families E400, E4000 V1 (not supported by LinMot-Talk 6)
SG2
Families E400, E4000 V2 (not supported by LinMot-Talk 6)
SG3
Family E1100 (GP, CO, DN, DP) (LC/HC/XC)
SG4
Family B1100 (VF, PP, GP, ML) (LC/HC/XC)
SG5
Family E1200 (GP, DP, DS, EC, IP, PD, PL, PN, SC, SE)
Family E1400 (GP, DP, DS, EC, IP, PD, PL, PN, SC, SE) (0S/1S)
Family B8000-ML (GP, EC, IP, PL, PN, SC)
SG6
Family C1250 (DS, EC, IP, PD, PL, PN, SC, SE) (0S/1S)
Family E1400V2 (GP, DP, DS, EC, IP, PD, PL, PN, SC, SE) (0S/1S)
SG7
Family A1100
Family C1100 (GP, DS, EC, PD, PN, SE) (0S/1S)
UPID (Unique Parameter ID)
All parameters have an assigned identification number, which is called a UPID (Unique
Parameter ID). All parameters are accessed on the drive over this identification.
LinMot-Talk 6
1.3
PnP (Plug and Play)
The drive families A1100, C1100, C1200, E1200 and E1400 support the so called „Plug
and Play“ functionality. When a motor is connected to the drive, the motor will be
automatically detected and the parameters will be set accordingly. The drive then can
control the motor without any further configuration procedure. When starting the motor
wizard, the connected motor is already selected and all the further configuration, such as
exact slider, moving mass, friction etc can be set up.
All components (drives and motors) which support the plug and play functionality are
marked on the type label with “PnP”.
The drive startup sequence is the following:
Load Parameters from
Drive's ROM
No
MC-SW present?
Yes
PnP = On? or
PnP = Same Motor
No
Yes
No
Communication ok?
Yes
Yes
Mode = Same Motor?
No
No Motor defined?
Yes
No
Same MotArtNum?
Yes
No
No
MotChkSum changed or MotSerNum changed?
Yes
Error (Motor Type Mismatch)
Default Parameters *)
Read Parameters from Motor
Copy Parameters
*) All parameters, which are set by the previous PnP motor, will be set to default values prior to load the new
parameters.
LinMot-Talk 6
2 Overview
The following screen shot gives an overview of the different functions integrated in the
LinMot-Talk software.
Configuration
and Setup
Tools
Project tree
window
Drive
Selection
Shortcuts to
Tools
Control/Status
Window
IO Panel
Motion
Command
Window
Monitoring
Window
LinMot-Talk 6
2.1
Tool button bar
The tool button bar is always present and consists of the following buttons (from left):
➢
Show/Hide Tree shows or hides the project tree window.
➢
Up sets the focus in the project tree to the parent of the selection.
➢ Toggle toggles between the last two displayed tree branches.
➢ Import Configuration imports a drive’s configuration.
Export Configuration exports a drive’s configuration. Different parts,
such as parameters, variables, oscilloscope or curves, can be selected
to
be exported.
➢
➢ Save All exports a drive's configuration. Only three options to save the
variables are available.
➢
➢ Print prints items like curves, parameter configurations etc.
➢
➢
Install Firmware Start the drive’s firmware installation.
➢
Reboot restarts the firmware on the drive.
➢ Stop stops the firmware on the drive, used for downloading and
configuration.
software
➢ Blink sends a blink LED command to the drive, which is selected.
➢ Go Offline logs out from actual drive.
➢ Start Motor Wizard starts the motor configuration setup wizard.
➢ Show Control Panel switches to the control panel.
➢ Show Parameters switches to the variables.
➢
Show Variables switches to the variables.
➢
Show Oscilloscope switches to the oscilloscope.
➢
Show Messages switch to the message viewer.
➢
Show Errors switches to error viewer.
➢
Show Curves switches to the curve tool.
➢
Show Command Table switches to the command table editor.
➢ Show Object Inspector displays a window in which shows help
to each selected object.
information
LinMot-Talk 6
2.2
Control Panel
The Control Panel helps the user to access directly to the control and status word of the
MC Software. The drive can be commanded from the PC, thus no PLC is necessary to be
used for the first commissioning.
Control Word
IO Panel
Status Word
General
Monitoring
Additional
Variables
Motion Command
Interface
Control Word The MC software’s control word can be directly written
from
the PC. For taking over the PC control the left check box (Enable
Manual
Override) must be selected. The state of each flag can be set with
the right check box
(Override Value). If other flags have to be
altered, the
override mask must be
configured in the parameter tree
under \Parameters\Motion
Control
SW\State
Machine Setup\Control
Word\Ctrl
Word Parameter Force Mask.
➢ Status Word The status word shows the actual state of the drive’s
MC
software status word. It is updated
automatically.
➢ General Monitoring This window displays actual motor and drive
information
➢ Additional Variables In this window variables could be chosen, then
they
are shown in the list and would updated automatically.
➢ IO Panel For commissioning. The user can take control of the X4 IOs
on
E1100 or X14 IOs on B1100 drives.
➢ Motion Command Interface The MC software’s motion command
Interface
can be directly accessed over this window. When enabled
(Enable Manual Override
switch must be set), MC commands can be selected, parametrized and sent to the
drive. Because the motion
command interface is, independent of the interface running
on the
drive, the same, the commands can be exactly tested before
programming them in the PLC.
➢
LinMot-Talk 6
2.3
Messages
This panel reads out and shows all messages, which are logged on the drive, and
displays them in chronological order. If logged in a B1100 series drive, this window does
not appear, because those drives do not support message logging.
2.4
Errors
This panel reads out and shows all errors, which are logged on the drive and displays
them in chronological order.
LinMot-Talk 6
2.5
Oscilloscope
The drive’s built in oscilloscope, which can record up to eight channels in real time, is
controlled with the oscilloscope tool.
During login the oscilloscope reads out the settings and data from the drive. If an
oscilloscope shot is running or ready to read out data, an item called “Read out” will be
displayed. Otherwise a default item will be generated.
The oscilloscope is controlled with the buttons
The functions are (from left):
➢
Start/Abort Start or abort an oscilloscope shot.
➢
Fit View Displays the recorded channels such as they fit best in the
scope window.
Fit View (same unit same fit) Displays the recorded channels such as
the channels with the same unit have the same scaling and offset.
Save Display stores the settings for zoom, scaling and offset.
➢
➢
➢ Recall Display restores the settings for zoom, scaling and offset, which are
previously stored with Save Display.
➢ Export Data: Export data and setups of the last recorded oscilloscope
shot in a csv file.
➢ Oscilloscope Settings Switch to setup mask for channels, triggers,
times and modes.
➢ Display Settings is used to set scale, offset and color for the
oscilloscope channels.
➢ Show/Hide: Show and hide the oscilloscope channels.
➢
Show/Hide Cursor: Two time cursors can be displayed for measuring
the signals.
LinMot-Talk 6
2.6
Curves
With the curve tool, motor motion profiles can be easily created, joined, uploaded,
downloaded and saved. NOTE: On B1100 the curve feature must be enabled with an
access key.
The curve tool is divided into the edit and the download window.
The edit window is used to generate, merge and modify curves with the following buttons:
➢ New Curve Starts the curve wizard, which guides through the
curve
generation.
➢ Edit Properties The properties of a selected curve, like name, time
or
stroke, can be modified.
➢ Edit Curve Values The curve points can be manually edited.
➢ Join Curves All selected curves are joined. A wizard will be
started for
defining the curve properties of the joined curve.
The download window is used to manage the curves, which are stored on the drive or
have to be downloaded. Modifications in this window will show up the message “Curves
have changed! Please download.” After pressing the download into Drive button the
window and the drive will be synchronized.
➢ Upload Curves from Drive All curves stored on the drive will be uploaded and
displayed.
➢ Download Curves to Drive The drive’s curve sector will be synchronized with
the download window.
➢ Auto Numerate Curves The curve ID, which must be unique, will be set
automatically.
The maximum number of curves and number of sample points is defined as follows:
Series B1100:
Max. 15 Curves
#Curves * 70Bytes + #SamplePoints 1 * 4Bytes <= 2016Bytes
Series A1100/C1100
Max. 49 Curves
#Curves * 70Bytes + #SamplePoints * 4Bytes <= 32512Bytes
All other Series:
Max. 99 Curves
#Curves * 70Bytes + #SamplePoints * 4Bytes <= 65280Bytes
1 #SamplePoints: total of sample points in all curves.
LinMot-Talk 6
2.7
Parameters
The drive’s parameters are displayed in a tree view.
Parameters, which are marked as live ( ), can be altered while the drive’s firmware is
running; other parameters can only be changed when the software is stopped.
The parameter service is controlled with the following buttons:
Show/Hide Details: Additional information for each parameter, such as
unique parameter ID (UPID), scaling, min/max value, can be displayed
on
demand.
➢ Show UPID Browser: When parameters are edited, which represent
a
UPID, this button will be visible. With this button, the UPID browser will
be
opened for an easy selection of a parameter.
➢ OK: The input value is confirmed with this button. Pressing the enter
key has the same effect.
➢ Cancel: This button cancels the value typed in.
➢
➢
Read: All parameters will be read and refreshed from the drive.
➢
Default: Parameters can be defaulted by instances. With this button, the
default parameter procedure is started. A window will be shown where
the instances (OS, MC, INTF and APPL software) can be selected. All
parameters of the selected instances will be set to their default value.
LinMot-Talk 6
2.8
Variables
The drive’s variables, which can be watched, are arranged in different functional groups.
The MC SW overview group contains the most used variables.
The variable service is controlled with the following buttons:
Show/Hide Details Additional information for each parameter, such as
unique parameter ID (UPID), scaling, min/max value, can be displayed
on
demand.
➢ Read Variable: Reads the selected variable from the drive once.
➢
➢
Write Variable: Writes the selected variable to the drive.
➢
Read All Variables: Reads from the drive all variables of the section
once.
Read All Variables Cyclically: Reads from the drive all variables of the
section cyclically.
Remove (Del): Removes the selected variable from the list.
➢
➢
The following buttons are only used in special cases.
➢ Edit Properties The parameter properties can be displayed and
changed.
➢ New … Variable In a new generated variable section a new variable can
be
defined. This is a drop down menu, which supports different variable
types.
➢ New Bit Variable In a new generated variable section a variable of the
type bit can be defined.
➢ New String Variable In a new generated variable section a variable of
the type string can be defined.
➢ New Float32 In a new generated variable section a variable of the type
float32 can be defined.
LinMot-Talk 6
➢
New With UPID In a new generated variable section a variable can be
added by using the UPID from the appropriate parameter.
Under “User Defined” any variables or parameters can be arranged together. Typically
the variables are selected via UPID. It is also possible to drag and drop them from the
parameter or variable section.
LinMot-Talk 6
2.9
Command Table
The drive supports the command table (CT) functionality, which means a set of up to 255
motion commands (31 commands for B1100GP and B1100VF series drives, on B1100PP
CT is not supported) can be stored in this table.
An example of is shown in the following picture:
A big variety of commands can be set in this tables, such as motion commands,
conditions, sequence directives, parameter access, …
This makes the CT to very powerful functional unit. The CT entries can be accessed
(executed) via digital inputs (on X6) or via interface software.
The CT tool has the following editing elements:
➢ Entry ID indicates the CT entry, which is being edited.
➢ Entry Name is a descriptive string of max. 16 characters
➢ Motion Command Category the available commands are fitted into
groups for
keeping a better overview
➢ Motion Command Type specifies the command to be executed in this entry.
➢ Auto execute new command on next cycle when selected, on the next
cycle the entry specified under “ID of Sequenced Entry” will be executed. This
gives the possibility of defining cycles, simple logical sequences.
➢ ID of Sequenced Entry defines the CT entry executed on the next
cycle when
“Auto execute new command on next cycle” is activated.
➢ Apply writes the edited values into the entry.
➢ Upload from Drive reads and displays the entire command table from the
drive.
➢ Download to Drive writes the edited table (from the PC) to the drive.
An application example of the CT can be found in the motion control software user
manual (Usermanual_MotionCtrlSW_E1100.pdf).
LinMot-Talk 6
2.10 Access Codes
On the drive special features or customer specific applications can be protected by a
software key. This means, a key must be activated by an access code, which is drive
specific (pinned to the serial number). Under Drive\Set Access Code\ the following
window will open:
A maximum of four keys can be set on the drive. Under Active Keys all valid installed
keys are listed (key value and access code).
A new key can be set by selecting the key name and defining the value and access code.
With the write button, the key and access code are written to the drive. As soon as the
drive has rebooted (click the Activate button) the new key will be active, if the access
code fits.
Please note: Access codes are drive specific. They cannot be copied from one drive to
another.
The following table shows on which drives the different functions are available:
Legend:
S: Standard Function
E1100
B1100
B1150ML
E1200
E1400V2
A1100
C1100
C1200
C1400
D1400
Force Control
Technology
Functions
Curve
TF: Technology Function, can be enabled with key
NA: Function not available
S
TF
TF
S
S
S
S
S
S
S
TF
TF
TF
TF
TF
TF
TF
TF
TF
NA
LinMot-Talk 6
3 Quick Start Guide
This chapter helps step by step to set up a system using servo drive and the LinMot-Talk
configuration software.
3.1
Cabling E1100
The following picture shows the connectors on the drive used for a first commissioning
(with PC only).
Motor Power Supply (X1)
Motor Phases (X2) (if
present, otherwise on X3)
Motor Signals (X3)
Signal Supply (X4)
Pin1: GND
Pin2: +24VDC
Pin12: SVE (if present)
RS232 to PC (X5)
Pin2: RS232TX
Pin3: RS232RX
Pin5: GND
Use a 1:1 cable to the PC
X1 Motor Supply, use 48..72 VDC (between PWR+ and PGND).
X2 Motor Phases: if this connector is not present, connect the motor on X3
only.
➢ X3 Motor signals: if motor has a DSUB-9 connector, connect it directly, otherwise
use an adapter to DSUB-9 or wire the phase lines to X2.
➢ X4 For a commissioning with the PC it is necessary to wire only the Pin1 (GND),
Pin2 (+24VDC) and, if present, Pin12 save voltage enable (SVE,
+24VDC).
➢ X5 RS232: The cable between the LinMot drive and PC must be DSUB-9
F/F,
1:1 (X modem). If the PC has no COM port available, use the USB to RS232
converter (LinMot article number 0150-3110).
➢
➢
LinMot-Talk 6
3.2
Cabling E1200
The following picture shows the connectors on the drive used for a first commissioning
(with PC only).
Motor Power Supply (X1)
Motor Phases (X2) (if
present, otherwise on X3)
Motor Signals (X3)
(DSUB 9f)
Signal Supply (X4)
Pin1: GND
Pin2: +24VDC
Pin12: SVE (if present)
Configuration Ethernet
(X15/X16)
RS232 to PC (X19)
Pin3: RS232RX
Pin5: GND
Pin6: RS232TX
X1 Motor Supply, use 48..72 VDC (between PWR+ and PGND).
X2 Motor Phases.
X3 Motor Signals. (Note: the motor phases are not present on this connector.
Thus wire the motor phases in any case to X2).
➢ X4 For a commissioning with the PC it is necessary to wire only the Pin1 (GND),
Pin2 (+24VDC) and, if present, Pin12 save voltage enable (SVE,
+24VDC).
➢ X15/X16 Ethernet: Use a standard RJ45 patch cable to wire to the LAN.
➢ X19 RS232: Use the RS232 PC configuration cable (LinMot article number
0150-2143) to connect your PC via RS232. If the PC has no COM port available,
use the USB to RS232 converter (LinMot article number 01503110).
➢
➢
➢
LinMot-Talk 6
3.3
Cabling E1400
The following picture shows the connectors on the drive used for a first commissioning
(with PC only).
Motor Phases (X2)
Motor Encoder
Signals(X3), (DSUB 15f)
RS232 to PC (X19)
Pin3: RS232RX
Pin5: GND
Pin6: RS232TX
Safety Relays (X33)
(only present on -1S
drives)
Signal Supply (X4)
Pin1: GND
Pin2: +24VDC
Configuration Ethernet
(X15/X16)
Motor Power Supply,
3phase (X30)
➢ X2 Motor Phases.
➢ X3 Motor Encoder Signals.
➢ X4 For a commissioning with the PC it is necessary to wire only the Pin1 (GND) and
Pin2 (+24VDC).
➢ X15/X16 Ethernet: Use a standard RJ45 patch cable to wire to the LAN.
➢ X19 RS232: Use the RS232 PC configuration cable (LinMot article number
0150-2143) to connect your PC via RS232. If the PC has no COM port available,
use the USB to RS232 converter (LinMot article number 01503110).
➢ X30 Motor Supply, use 3x400 / 3x480VAC 50/60 Hz
➢ X33 Safety Relays: For the safety relays use a separate +24VDC supply. For
a
commissioning it is necessary to wire both Ksr+ (X33.4 and X33.8) to +24
VDC and
both Ksr- (X33.3 and X33.7) to GND.
LinMot-Talk 6
3.4
Cabling B1100
The following picture shows the connectors on the drive used for a first commissioning
(with PC only).
Motor Power Supply (X1)
Motor Phases (X2)
Motor Signals (X3)
RS232 to PC (X5)
Pin2: RS232TX
Pin3: RS232RX
Pin5: GND
Use a 1:1 cable to the PC
Signal Supply (X14)
Pin13: DGND
Pin25: +24VDC
➢ X1 Motor Supply, use 48..72 VDC between (PWR+ and PGND).
➢ X2 Motor Phases
➢ X3 Motor signals: if motor has a DSUB-9 connector, connect it directly, otherwise
use an adapter to DSUB-9 or wire the phase lines to X2.
➢ X5 RS232: The cable between the LinMot drive and PC must be DSUB-9
F/F,
1:1 (X modem). If the PC has no COM port available, use the USB to RS232
converter (LinMot article number 0150-3110).
➢ X14 For a commissioning with the PC it is necessary to wire only the Pin13
(DGND) and Pin25 (+24VDC).
LinMot-Talk 6
3.5
Cabling B8050-ML
The following picture shows the connectors on the drive used for a first commissioning
(with PC only).
RT ETH Out (X18)
RT ETH In (X17)
RT Bus LED
RT Bus ID (S1, S2)
State LED
RS232 Config to PC (X23)
Pin2: RS232TX
Pin3: RS232RX
Pin5: GND
Use a 1:1 cable to the PC
Supply +24VDC (X24)
MC Link 1 (X25)
MC Link 2 (X26)
MC Link 3 (X27)
MC Link 4 (X28)
➢
➢
X23 RS232: The cable between the LinMot drive and PC must be DSUB-9
F/F, 1:1 (X modem). If the PC has no COM port available, use the USB to
RS232 converter (LinMot article number 0150-3110).
X24 Use a 24V switched power supply.
LinMot-Talk 6
3.6
Cabling A1100
X2 Motor Phases.
X3 Motor Signals.
X19 RS232: Use the RS232 PC configuration cable (LinMot article number
0150-3544) to connect your PC via RS232. If the PC has no COM port available,
use the USB to RS232 converter (LinMot article number 01503110).
➢ X40 Wire Pin1 (GND) and Pin2 (+24VDC) for signal supply, and for motor
supply, use 48..72 VDC for PWR+ on Pin4 and PGND is on Pin3. (Linmot
provides a connector with the crimped 1.5m long wires as a product under the
article number 0150-3545.)
➢
➢
➢
LinMot-Talk 6
3.7
Cabling C1100
X1 Motor Supply, use 48..72 VDC (between PWR+ and PGND).
X2 Motor Phases.
X3 Motor Signals. (Note: the motor phases are not present on this connector.
Thus wire the motor phases in any case to X2).
➢ X4 For a commissioning with the PC it is necessary to wire only the Pin1 (GND) and
Pin2 (+24VDC).
➢ X19 RS232: Use the RS232 PC configuration cable (LinMot article number
0150-2143) to connect your PC via RS232. If the PC has no COM port available,
use the USB to RS232 converter (LinMot article number 01503110).
➢ X33 Safety Relays: The connector X33 is only present for 1S safety
functionality. For the safety relays use a separate +24VDC supply. For a
commissioning it is necessary to wire both Ksr+ (X33.4 and X33.8) to +24
VDC and both Ksr- (X33.3 and X33.7) to GND.
➢
➢
➢
LinMot-Talk 6
3.8
Cabling C1200
X1 Motor Supply, use 48..72 VDC (between PWR+ and PGND).
X2 Motor Phases.
X3 Motor Signals. (Note: the motor phases are not present on this connector.
Thus wire the motor phases in any case to X2).
➢ X4 For a commissioning with the PC it is necessary to wire only the Pin1 (GND) and
Pin2 (+24VDC).
➢ X19 RS232: Use the RS232 PC configuration cable (LinMot article number
0150-2143) to connect your PC via RS232. If the PC has no COM port available,
use the USB to RS232 converter (LinMot article number 01503110).
➢ X33 Safety Relays: The connector X33 is only present for 1S safety
functionality. For the safety relays use a separate +24VDC supply. For a
commissioning it is necessary to wire both Ksr+ (X33.4 and X33.8) to +24
VDC and both Ksr- (X33.3 and X33.7) to GND.
➢
➢
➢
LinMot-Talk 6
3.9
Cabling M8000
MS8000
MB1150
MB8050
MB1150
MF8000
X3: Motor
X34: 72VDC
RT LEDs
S1-S2
X36: 24VDC IN
X19: Config RS232
X33: Safety
State LEDs
State LEDs
X17/X18: RealTime
ETHERNET
MP8000
X3 Motor: This is the only connector to the motor, it includes the phases and
signals.
➢ X19 RS232: Use the RS232 PC configuration cable (LinMot article number
0150-2143) to connect your PC via RS232. If the PC has no COM port available,
use the USB to RS232 converter (LinMot article number 01503110).
➢ X33 Safety Relays: The connector X33 is only present for 1S safety
functionality. For the safety relays use a separate +24VDC supply. For a
commissioning it is necessary to wire both Ksr+ (X33.4 and X33.8) to +24
VDC and both Ksr- (X33.3 and X33.7) to GND.
➢ X34 Motor Supply, use 48..72 VDC (between PWR+ and PGND).
The Axis 1-4 and 5-8 are supplied separately.
➢ X36: For a commissioning with the PC it is necessary to wire only the
Pin1 (GND) and Pin2 (+24VDC).
➢
LinMot-Talk 6
3.10 Firmware Download
As the cabling is done correctly now, turn on the drive’s power and start up the LinMotTalk software. Before using the drive the first time, the firmware has to be downloaded.
Therefore press install firmware button
to start the wizard. Choose the file
“Firmware_Build20101126.sct” (or similar) and press “Open”. Then the wizard will start
and guide through the installation.
In case of installing the firmware over ETHERNET, the service password is required. This
is for safety reasons. Especially if there are a lot of drives accessible in the network, it can
easily happen to confound them. Thus it is strongly recommended to set a password. By
default no password is set. If the password is unknown, the parameters can be set to
default by hex switches, see 4.1”Setting all Parameters to Default Values”.
According to the drive type, different interfaces and application software can be selected.
The following tables show the compatibility of drive type, interfaces and applications.
A1100-GP
C1100-GP
C1150-DS
C1150-EC
C1150-PD
C1150-PN
C1150-SE
C1250-DS
C1250-EC
C1250-IP
C1250-LU
C1250-PD
C1250-PL
C1250-PN
C1250-SC
C1250-SE
E1200-GP
E1230-DP
E1250-DS
E1250-EC
E1250-IP
E1250-LU
E1250-PD
E1250-PL
E1250-PN
E1250-SC
X
X
D
X D
D
D
D
D
D
D
D
D 6.3
D
D
D
D
D
D
X
X D
D
D
D
D 6.3
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
EasyStepsX6
MasterSlave
AutoStart
Sinoide
EasySteps
None
LinUDP V2
LinUDP V1
CiA402
PN
PD
PL
SC
IP
SoE
EtherCAT
DP
CO
DN
Drivetypes /
Interfaces /
Applications
None
MC Link
CT Interface
LinRS
Legend:
D: Programmed as default
X: Can be selected
GW: Gateway Software
6.3: Until Software Build 6.3
ML: Motion Link Version
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
E1400-GP V2
E1430-DP V2
E1450-DS V2
E1450-EC V2
E1450-IP V2
E1450-LU V2
E1450-PD V2
E1450-PL V2
E1450-PN V2
E1450-SC V2
E1450-SE V2
E1400-GP V1
E1430-DP V1
E1450-EC V1
E1450-IP V1
E1450-PL V1
E1450-PN V1
E1450-SC V1
E1450-SE V1
E1100-GP
E1100-CO
E1100-DN
E1100-RS
E1130-DP
B1100-GP
B1100-VF
B1100-PP
B1100-ML
MB1100-ML
B8000-ML-GP
(M)B8050-ML-PL
(M)B8050-ML-SC
(M)B8050-ML-EC
(M)B8050-ML-IP
(M)B8050-ML-PN
X
X D
D
D
D
D
D
D
D
D
D
X
X
X
X
X
X
X
X
X
X
X
X
X
X
D
D
X
X
X
X
X
X
X
X
D X
X
X
D
X X
X
D
X
X
X
X
X
X
X
X X
D
X D
X
D X
D
D
X
D
D
D
D
X
D
D
D
D
GW
ML
ML
EC
ML
ML
X
None
EasySteps
EasyStepsX6
MasterSlave
AutoStart
Sinoide
SoE
CiA402
PN
PD
PL
SC
IP
LinUDP V1
LinUDP V2
EtherCAT
DP
Drivetypes /
Interfaces /
Applications
None
MC Link
CT Interface
LinRS
CO
DN
LinMot-Talk 6
D
D
D
D
D
D D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
X
P
X
P
X
P
X
P
X
P
X
P
X
P
X
P
X
P
X
P
X
P
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X X X X X
X
X X X
X
X X X
X
X X X
X
X X X
X
X
X
D
D X
X
D X
X
D
D
D
D
D
D
LinMot-Talk 6
3.11 Login
When successfully finished downloading the firmware, login with \File\Login…, then select
the appropriate port and press ok. A login info window will appear showing the login
progress.
When logged in you will find the following window:
The Object Inspector window can be dragged away or closed. It can be reopened with
F1.
LinMot-Talk 6
3.12 Scanning CAN Bus
When one or several drives are linked with CAN bus for configuring, it can be very helpful
to scan the CAN bus for linked drives automatically. Thus, it is not necessary to know all
node IDs. Under \File\Scanning (with CANusb) a list of the present drives will be
displayed:
With just one click the LinMot-Talk software will log in to all drives.
LinMot-Talk 6
3.13 Scanning Ethernet
When one or several drives are linked with Ethernet for configuring, it is helpful to scan
automatically for linked drives. Thus, it is not necessary to know all node IP addresses.
Under \File\Scanning (via Ethernet) first the interface has to be selected (network link)
With the radio button Group Number could be activated a scan for a special drive group.
The list will only display the drives with the group number, like the number in the text field.
In the drives this number is saved in the parameter with the name Net Group and the
UPID 0078h.
A list of the present drives will be displayed:
With just one click the LinMot-Talk software will log in to all drives. The colored markings
have the following meaning:
Green: The drive is ready to log in.
Grey: You are already logged into this drive.
Red: Another instance is logged into this drive (other user or other interface).
The default mode for acquiring an IP address is via DHCP. If no servers on the connected
network respond, the drive switches to the Ipv4 Link-Local addressing scheme (also
known as APIPA on Windows systems). This way the drive automatically assigns itself an
address within the range of 169.254.0.1 through 169.254.255.254 (Subnet Mask
255.255.0.0).
Please note that this process can take up to a minute until a valid address is assigned to
the drive this way.
LinMot-Talk 6
3.14 Motor Wizard
As no motor is defined, the next step is to start the motor setup wizard.
Press the button
and the following window will appear:
As we want to configure a LinMot Motor we choose “LinMot Linear Motors” and press
Open.
LinMot-Talk 6
Select the actuator type you have wired to the drive, then press Open.
The following steps will show forms including drawings and descriptive texts.
The first step is to define the stator and slider.
The derived settings show information about the complete motor type, article numbers
and the most important technical data.
LinMot-Talk 6
The next step is to choose the flange for defining the cooling capability.
Longer extension cables will have an effect to the motor’s phase resistance. In step 3 can
be defined two cable segments.
LinMot-Talk 6
The next hardware setup step is to define an external position sensor system (if present).
For E1100 drives can be chosen between none, incremental AB(Z) and analog
sine/cosine 1Vpp. For B1100 drives can be chosen between none, incremental AB(Z) and
AB encoder simulation.
LinMot-Talk 6
With step 5 the feed forward parameters are set up. Depending on the moving mass,
additional load mass, friction and orientation. Under the derived settings the influence can
be watched.
LinMot-Talk 6
With the next and last step the position drive’s parameters will be set up:
It is recommendable to start with the default soft settings, because the parameters can be
changed any time later on (by restarting the motor wizard or by setting in the parameter
tree directly).
With the soft parameter setting, PID values will be quite low such as the motor is low
noise and the position is not controlled very stiffly.
The stiff parameter set tends to more noise and more power consumption of the motor,
but the position will be controlled harder.
In both settings, the I Gain is set to zero, which means a steady-state deviation from the
desired position can occur. When using the I Gain, the position controller may tend to
swing.
The Noise Filter option is to reduce the noise from the position feedback sensor at
standstill.
For finding the best set of PID parameters, the system has to be optimized iteratively.
There is no general way of how to optimize the settings, because different goals can be
achieved such as position accuracy, power minimization, noise reduction, …
LinMot-Talk 6
The next step is to define the homing procedure.
The most frequently used homing mode is “Mechanical Stop Negative Search”. In this
case the slider will move with the notch towards the stator’s front end (where no cable is).
Other modes support homing on home switches, limit switches, indexer inputs or some
combinations of those.
LinMot-Talk 6
Step 8 is to define the slider home position. This is for the motor and drive the most
important value. It defines at the home position, where the slider is positioned relative to
the stator. This defines how far the motor can move in each direction.
LinMot-Talk 6
With the last wizard step the user’s coordinate system can be defined.
At the end, press finish. If the firmware on the drive is still running, an appropriate
message will be shown. All parameters will now being written to the drive.
The motor wizard can be run several times, e.g. to setup an external sensor, to change
the load setup or to change the motor type. When rerunning it, at the end will be shown a
list of parameters, which will be changed.
LinMot-Talk 6
3.15 Continuous Curve Mode
We want the motor to run a curve cyclically. (The easiest, but not so informative way to
run the motor would be the VAI 2 Pos Continuous mode)
The drive is set to continuous curve mode by selecting “Continuous Curve” under \Motion
Control SW\Motion Interface\Run Mode Settings\RunMode Selection\ in the parameter
tree.
NOTE: For enabling the curve feature on B1100 drives, it is necessary to set an access
key.
The second parameter to be set is to define which curve has to be run. Set the parameter
“Curve ID” to 1 under \Motion Control SW\Motion Interface\Time Curve Settings\.
Before running the curve, it is advisable to define the curve we want to run.
LinMot-Talk 6
3.16 Defining Curves
Curves can be easily defined with the curve wizard. For this example we will define two
sine curve forms over a stroke of 50mm out and in with different speeds, which will be
joined together.
Now, step by step: Open the curve tool by clicking the “Show Curves” button
tool button bar. Then press the “New Curve” button
in the
to start the curve wizard.
As we want to define a curve in position vs. time mode we can keep the default selection
and press the next button.
In this mask, we will set the curve ID to 2 (we will have the merged curve with ID 1 at the
end) and as name we set e.g. “SineOut”. The end point is placed at 50mm. With “Next”
the wizard will show some curve data:
LinMot-Talk 6
The next and last mask proposes a number curve setpoints. It is advisable to accept this
proposal.
With “Finish” the first curve is defined. The curve will be displayed as follows:
We will now define curve going back. So we start the curve wizard again and define
under curve settings the following:
LinMot-Talk 6
Set curve ID to 3, Curve Name to “SineIn”, Curve Length to 500ms, Start Point to 50mm
and End Point to 0mm. Click twice “Next” and then “Finish”.
Now we have defined the two curve segments and will join them together. Select the two
curves
then press the “Join Curves” button
appears:
. The curve settings mask for the joined curve
LinMot-Talk 6
We will set the curve name to “SineOutIn” and make sure the curve ID is 1.
The curve length is proposes as the sum of the curve segment times.
Press “Next” and “Finish”. The curve for the continuous curve mode is now defined and
has, according to the parameter settings, the curve ID 1. As we want to download the
curves to the drive we select all the curves in the edit window and move them to the
download window.
When double click the “SineOutIn” Curve the joined curve is shown:
LinMot-Talk 6
Now the curves must be downloaded to the drive. Therefore press the “Show Curves”
button
and then the “Download Curves into Drive” button
.
Then a warning comes up which has to be confirmed and the progress window will
display the actions taken to download the curves.
LinMot-Talk 6
3.17 Control Status
As we have defined now all parameters and curves, we will let the motor running. For this
time, we will take over the interface control from the PC. So we are interfaceindependent.
Switch to the control panel with the button
, then press the start button
(starting the
drive’s firmware) and wait until the control status panel is updated and looks the following:
Now we will fetch the control over the “Switch On” and the “Home” flags.
Now turn off and turn on again the “Switch On” flag, this is
because of the auto start prevention. At this time, the motor
will be powered and position controlled at the actual position.
Set the “Home” flag and the motor will initialize against the
inner hard stop.
When the motor stands still, clear the “Home” flag and the
motor will run the curve continuously.
Detailed information about the MC software’s state diagram
can be found in the MC software manual.
LinMot-Talk 6
3.18 Oscilloscope
The oscilloscope is a very useful tool for tuning the motor. The LinMot-Talk software has
defined a default oscilloscope, which samples the actual position, demand position,
position difference and demand current. When clicking on the “Show Oscilloscope” button
, the focus will be set to the default oscilloscope. We could start the oscilloscope now
with the start button
, but it is recommended to set the recording time about 2 seconds
(one curve cycle is 1.5 s). We will switch to the oscilloscope settings with
Then press Ok and start the oscilloscope with
. The recorded data on will be read out
from the drive and displayed, which will look somehow like the following.
Possibly it is necessary to press button
(fit view).
Tuning the system would be started at this point. One possibility is by restarting the Motor
Wizard and changing the load or control parameter, another one is to change the
parameters directly in the parameter tree.
LinMot-Talk 6
3.19 Continuous Two Point Mode
The easiest way to run the motor continuously is to set the VAI 2 Pos Continuous mode.
In this mode the motor moves between the two positions Trig Fall and Trig Rise. The time
the motor waits at the two positions is defined under “VAI 2 Pos Cont Settings”.
The minimal settings for this mode are shown next. First the mode has to be set:
And then the positions have to be set under “Trig Fall Config\Position” and “Trig Rise
Config\Position”:
This is all we have to configure. The speed, acceleration and deceleration can also be
defined at this place in the parameter tree. The motor can now be started the same way
as described under 3.17 Control Status.
LinMot-Talk 6
3.20 Export Configuration
When the drive settings are done it is strongly recommended to save the complete
configuration. This can be done under File  Export… or with by clicking on
file name dialog the selection of the parts to be exported will be shown:
. After the
It is recommended to export all. For a configuration recovery it is necessary to select the
parameters, curves and command table.
In case of a support request it is very helpful to provide the complete configuration as well
(with variables, oscilloscope shots, message and error log).
LinMot-Talk 6
3.21 Import Configuration
A configuration can be imported with File  Import… or with the button
. When
opening a configuration to a drive, a compatibility list of the parameter trees will be
shown. Then the selection of the importable parts will be shown:
It is possible to import only some specific parts (e.g. curves or command table).
3.22 Open Offline Configuration
A configuration can also be opened when no drive is present. Under File  Login/Open
offline…
This is a very helpful feature for supporting problems.
LinMot-Talk 6
3.23 Create Offline Configuration
For any supported drive a configuration can be created offline. Choose the menu item
File\Create Offline…
The above window will be shown. Select the drive first, then choose the interface and
application software. The software parts, which can be selected, are the same as when
installing firmware to the drive. When created the configuration, the parameters will have
their default values. The configuration can then be altered and saved the normal way.
LinMot-Talk 6
3.24 Compare Parameters
Under Drive → Compare Parameters, there is a function, which allows to compare the
settings between different drives.
This useful function works with online and offline configurations. There are different
setups available, such as firmware instances (OS, MC, INTF and APPL) or parameter
types (read only or writable). The parameter list can be saved as a *.pvl file (comma
separated text file).
LinMot-Talk 6
4 Trouble shooting
4.1
Setting all Parameters to Default Values
E1100, E1200, E1400, B8050, MB8050, C1100-GP and C1250
All parameters of the SG3 and SG5 drives can be set to their default values without the
use of the LinMot-Talk. This can be done according these steps:
1. Power off the drive
2. Set the two ID switches to 0xFF
3. Power on the drive, the Error and Warn LEDs will blink alternately at ~4Hz.
4. Set the two ID switches to 0x00
5. Wait until the Warn and EN LEDs will flash together at ~2Hz.
6. Power off and on again.
B1100
On SG4 drives an image of the default parameters will be stored during the software
installation. This image can be reloaded to the operating parameters. The procedure is
the following:
1. Set the parameter with UPID 0x6085 to 0x0001.
2. Power off the drive.
3. Power on the drive.
The value of the parameter with UPID 0x6085 will be automatically cleared to 0x0000.
A1100
All parameters set to their default values without the use of the LinMot-Talk. This can be
done according these steps:
1. Power off the drive
2.
Set the DIP switch S5.2 to on
3. Power on the drive, the Error and Warn LEDs will blink alternately at ~4Hz.
4. Set the DIP switch S5.2 to off
5. Wait until the Warn and EN LEDs will flash together at ~2Hz.
6. Power off and on again
4.2
Interface does not run
If the interface software (DeviceNet, CANopen, Profibus, LinRS) does not communicate
there may be several reasons:
➢ Specific Interface Software not installed
➢ Switch S3.4 “Interface” on drive’s bottom side must be set to “On”. (In case of
LinRS, this switch must be set to off when configuring over RS232, and set to on
when running the LinRS interface).
➢ Parameter with UPID 2008h set to disable.
➢ Baud Rate and Node ID selection not correctly set (Parameters and/or ID switches
on drive’s front).
4.3
Stopping Firmware
When the same link is used for configuration purposes and from the interface (e.g. RS232
link and LinRS interface) it may not be possible to login with the LinMot-Talk software. In
some cases, it should be possible to log in, e.g. to download new firmware.
On E1100 drives, the interface switch S3.4 can be set to off and after a power up the
interface software should be deactivated and the configuration link should be free. If this
does not help, or you are working with a B1100 drive, there is a script under File -> Open
-> StopFirmware.sct, which keeps trying to stop the drives firmware while it is powered
on. After a power up, within the first 2 seconds the interface can be prevented from
starting.
LinMot-Talk 6
5 Contact Addresses
----------------------------------------------------------------------------------------------------------------------------SWITZERLAND
NTI AG
Haerdlistr. 15
CH-8957 Spreitenbach
Sales and Administration:
+41-(0)56-419 91 91
[email protected]
Tech. Support:
+41-(0)56-544 71 00
[email protected]
Tech. Support (Skype) :
skype:support.linmot
Fax:
Web:
+41-(0)56-419 91 92
http://www.linmot.com/
----------------------------------------------------------------------------------------------------------------------------USA
LinMot, Inc.
204 E Morrisey Dr.
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.
LinMot-Talk 6
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