LinMot C1250-PD-XC-0S, User Manual

Page 1: ...Documentation of the PROFIdrive Interface of the following Drives C1250 PD XC 0S 1S C1450 PD VS 0S 1S E1450 PD QN 0S 1S PROFINET PROFIdrive Interface User Manual ...

Page 2: ...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 refl...

Page 3: ... 11 Add communication module to the NTI PROFIdrive drive 12 2 2 12 Define the PROFIBUS Cycle time 14 2 2 13 Compile the HW Configuration 14 2 2 14 Download the HW Configuration 15 2 3 SIMOTON SCOUT TIA Configuration 16 2 3 1 Insert axis 17 2 3 2 Configure axis 17 2 3 3 Download SIMOTION SCOUT configuration 21 2 3 4 Move the Axis with the Control panel 24 3 Process Data Object PDO Configuration 28 ...

Page 4: ...am 9 32 3 2 5 Siemens telegram 105 33 3 2 6 Siemens telegram TDB 200 33 3 2 7 Real Time Config telegram 404 33 4 Asynchronous Configuration Protocol 34 4 1 PROFIdrive Profile Area 34 4 2 Manufacturer specific Profile Area 34 4 3 Suported Services 34 5 PROFIdrive Parameters 35 5 1 Parameters 35 5 1 1 PROFdrive Dis Enable 35 5 1 2 PROFdrive Byte Order 35 5 1 3 PROFdrive Word Order 35 5 1 4 PROFdrive...

Page 5: ... com 1 1 References All user manuals are distributed with the LinMot Talk software the newest versions can be downloaded from the LinMot homepage in the download section Ref Title Source 1 User Manual Motion Control SW www linmot com 2 LinMot Drive Configuration over Fieldbus Interfaces SG5 www linmot com 1 2 Port assignement Within the PROFINET network normally the topology is defined for easy se...

Page 6: ...et condition the programming PC is connected over X127 P1 The Linmot drive is completely wired the PROFINET is wired from the SIMOTION X150 P1 to the LinMot X17 It is supposed that the motor and the drive have PnP functionality means the motor is basically setup automatically otherwise the mtor has to be setup manually with the LinMot Talk Motor Wizard in the drive To achieve a good response of th...

Page 7: ...NTI AG LinMot User Manual PROFINET PROFIdrive Interface Page 7 38 2 2 2 Configure a Device 2 2 3 Add new Device ...

Page 8: ... 8 38 User Manual PROFINET PROFIdrive Interface NTI AG LinMot 2 2 4 Select Device 2 2 5 Configure PROFINET Add the PROFINET network PN IE_1 here assigned to X150 and choose the IP address and subnet netmask ...

Page 9: ...GSDML device description file If not already installed install now the newest device description file of the device you want to use The device description files are distributed together with the firmware under path C Program Files x86 LinMot LinMot Talk 6 4 Build 20151112 Firmware Interfaces ProfiNet GSDML_PD 2 2 7 Select correct GSDML device description file ...

Page 10: ...e Interface NTI AG LinMot 2 2 8 Add NTI drive to PROFINET network Now change to the network view and add the desired LinMot PROFIdrive device Select the correct NTI drive and drag and drop it to the PN IE1 network Then Network looks like this ...

Page 11: ...38 2 2 9 Assign NTI drive to the SIMOTION Assigne the LinMot drive to the SIMOTION master PLC_1 Select PLC_1 as IO Controller 2 2 10 Define the PROFINET Topology Change to Topology view and wire the PROFINET connection from PLC 1 X150 P1 port to the C1250 PD P1 port ...

Page 12: ...tion module to the NTI PROFIdrive drive Double click in the Topology view the LinMot drive then automatically the device view of the LinMot drive opens Drag and drop from the Catalog the DO with standard telegr 5 to the device Slot 1 Double click the device and define the isochronous mode ...

Page 13: ...NTI AG LinMot User Manual PROFINET PROFIdrive Interface Page 13 38 Double click thethe Slot 1 2 and assign the I O address to the Servo Process image ...

Page 14: ...fine the PROFIBUS Cycle time For the SIMOTION D devices the DP cycle time has to be the same as the Isochronous PROFINET IO cycle time so change it to 1ms 2 2 13 Compile the HW Configuration Select the SIMOTION device and click Compile button for compiling the HW configuration ...

Page 15: ...tton you start the download of the HW configuration Select your HW devices for accessing the SIMOTION master click search then select the SIMOTION device and start the loading by clicking on the Load button After successful download you get ask for starting the devices select Start all check box and click the Finish button ...

Page 16: ... SIMOTON SCOUT TIA Configuration Now change to the configuration in the SIMOTION SCOUT configuration tool by double cklicking the SIMOTION configuration in the Project tree Then the SIMOTION SCOUT TIA tool opens with the configured HW PLC_1 D445 2DP PN and C1250 PD drive ...

Page 17: ...ot User Manual PROFINET PROFIdrive Interface Page 17 38 2 3 1 Insert axis Open the Axes and double click on the Insert Axis entry 2 3 2 Configure axis The axis type could be left as suggested click the next button ...

Page 18: ...FINET PROFIdrive Interface NTI AG LinMot The drive assignment is also correct mapped to the C1250 PD drive but change the motor type to Linear motor then click Next In the Encoder assignement change the to linear then click Next ...

Page 19: ...r Manual PROFINET PROFIdrive Interface Page 19 38 Change the resolution to 1e 004mm because the NTI drives works with a fix resolution of 100nm Then Click next Now a summary of the configured axis appears Click Finished ...

Page 20: ... frequencies the parameter encoderFrequencylimit has to be increased in the expert list Tab Configuration data Entry TypeOfAxis NumberOfEncoders Encoder_1 FrequencyLimit encoderFrequencyLimit to 100 000 000 With this value a theoretical maximal velocity of 10m s is possible due the encoder resolution of 100nm ...

Page 21: ...FIdrive Interface Page 21 38 2 3 3 Download SIMOTION SCOUT configuration Now it is possible to save and compile the project by clicking the Toolbox button For Downloading the project first connect to the target system by clicking the button ...

Page 22: ...Manual PROFINET PROFIdrive Interface NTI AG LinMot Select the target system the click OK For downloading the project click the button and check the After loading copy RAM to ROM Checkbox entry the click the Yes button ...

Page 23: ...ot User Manual PROFINET PROFIdrive Interface Page 23 38 Now the SIMOTION tool ask for stopping the target system click Yes After the successful download the tool ask for set the RUN mode again click the Yes button ...

Page 24: ...al PROFINET PROFIdrive Interface NTI AG LinMot 2 3 4 Move the Axis with the Control panel Now the system is ready for motion commands over the control panel to do this double click the Control panel entry in the AXES tree ...

Page 25: ...25 38 In the next step we have to get the control priority click the button then accept the safety note if you could do so In the next step you have to set the enables click the button and then Ok in the appeared popup window Now the motor is position controlled ...

Page 26: ... press Ok for the action homing you have to press the Button After the homing the green LED left from Homed glows Now the axis is ready for absolute position motions For this click on the button and select the absolute motion if possible the position could be left at 100mm if your motor have more limited position range reduce this value Then click OK ...

Page 27: ...rt the motion click again the button To move back to 0mm you could directly change the x value to 0mm then start the motion with clicking again the button The motor moves back to 0mm and the position changes also back to 0mm Before leaving the control panel click the button ...

Page 28: ...ndard telegram 3 Index Size Byte Byte Offset Name Data Type Tlg 3 18 Variables RECORD 1 2 0 ZSW1 Uint16 2 3 4 2 NIST_B Int32 4 2 6 ZSW2 Uint16 5 2 8 G1_ZSW Uint16 6 7 4 10 G1_XIST_1 Int32 8 9 4 14 G1_XIST_2 Int32 3 1 2 Standard telegram 5 Index Size Byte Byte Offset Name Data Type Tlg 5 18 Variables RECORD 1 2 0 ZSW1 Uint16 2 3 4 2 NIST_B Int32 4 2 6 ZSW2 Uint16 5 2 8 G1_ZSW Uint16 6 7 4 10 G1_XIS...

Page 29: ... 10 4 16 G1_XIST_2 Int32 3 1 6 Siemens telegram TDB 200 Index Size Byte Byte Offset Name Data Type Tlg TDB 20 Variables RECORD 1 2 0 M_act Int16 3 1 7 Real Time Config telegram 404 Index Size Byte Byte Offset Name Data Type Tlg 404 8 Variables RECORD 1 2 0 Config Status Word Uint16 2 2 2 Config Index Uint16 4 5 4 4 Config Value Word32 3 1 8 Actual Position telegram 405 Index Size Byte Byte Offset ...

Page 30: ...1 2 4 0 Mon Channel 1 Word32 3 1 14 Mon Channel 2 telegram 411 Index Size Byte Byte Offset Name Data Type Tlg 411 4 Variables RECORD 1 2 4 0 Mon Channel 2 Word32 3 1 15 Mon Channel 3 telegram 412 Index Size Byte Byte Offset Name Data Type Tlg 412 4 Variables RECORD 1 2 4 0 Mon Channel 3 Word32 3 1 16 Mon Channel 4 telegram 413 Index Size Byte Byte Offset Name Data Type Tlg 413 4 Variables RECORD 1...

Page 31: ...NTI AG LinMot User Manual PROFINET PROFIdrive Interface Page 31 38 3 1 19 Demand Velocity telegram 416 Index Size Byte Byte Offset Name Data Type Tlg 416 4 Variables RECORD 1 2 4 0 Actual Velocity Int32 ...

Page 32: ...8 Variables RECORD 1 2 0 STW1 Uint16 2 3 4 2 NSOLL_B Int32 4 2 6 STW2 Uint16 5 2 8 G1_STW Uint16 6 7 4 10 XERR Int32 8 9 4 14 KPC Int32 3 2 3 Standard telegram 7 Index Size Byte Byte Offset Name Data Type Tlg 7 4 Variables RECORD 1 2 0 STW1 Uint16 2 2 2 SATZANW Uint16 3 2 4 Standard telegram 9 Index Size Byte Byte Offset Name Data Type Tlg 9 20 Variables RECORD 1 2 0 STW1 Uint16 2 4 2 SATZANW Uint...

Page 33: ...t Name Data Type Tlg TDB 6 Variables RECORD 1 2 0 M_Add Int16 2 2 2 B pos torque Limit Uint16 3 2 4 B neg torque Limit Uint16 The additional torque M_Add is calculated with UPID 0x119E maximal Motor Current and written to UPID 0x139C or 0x13B0 depending on which control parameter set is active The torque limits B and B are also calculated with UPID 0x119E maximal Motor Current and written to UPID ...

Page 34: ... counter r 953 Warning parameters r 964 Drive Unit identification r 965 Profile identification number r 974 Base Mode Parameter Access service identification r 975 DO identification r 980 Number list of defined parameter r 60000 Velocity reference value not yet implemented r LinMot PROFIdrive Object Dictionary 4 2 Manufacturer specific Profile Area The RAM ROM value of the drive parameters could b...

Page 35: ...stem can be configured and run without any bus connection PROFIdrive Dis Enable Disable Servo Drive runs without PROFINET Enable Servo Drive runs with PROFINET connection IMPORTANT If the PROFIdrive Interface is disabled the integrated TPS1 ASIC rests in reset state No messages will be sent to other devices connected to the PROFINET Network via the servo drive 5 1 2 PROFdrive Byte Order With the B...

Page 36: ... for this reason they have to be set into relation to a reference value The Parameter Linear Reference Velocity is the refrence value for the NSOLL_B and NIST_B values used the the telegrams 3 5 and 105 if the axis is of type linear if the xis is of type rotative the Reference value is defined with the parameter Rotative Reference Velocity 5 1 7 PROFdrive Axis Configuration MDI Configuration With ...

Page 37: ...ector is a standard RJ45 female connector with a pin assignment as defined by EIA TIA T568B X17 X18 PROFINET Connector Pin Wire color code Assignment 100BASE TX 1 2 3 4 5 6 7 8 case WHT ORG ORG WHT GRN BLU WHT BLU GRN WHT BRN BRN Rx Rx Tx Tx RJ 45 Use standard patch cables twisted pair S UTP AWG26 for wiring This type of cable is usually referred to as a Cat5e Cable ...

Page 38: ... 91 91 office linmot com Tech Support 41 0 56 544 71 00 support linmot com Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot USA Inc N1922 State Road 120 Unit 1 Lake Geneva WI 53147 Phone 262 743 2555 E Mail usasales linmot com Web http www linmotusa com Please visit http www linmot com to find the distributor nearest to you Smart solutions are ...