LinMot B1100 Series Manual de usuario
For the following LinMot Drives
B1100 series
E1100 series
LinMot Drive Configuration over
Fieldbus Interfaces
LinMot Drive Configuration over Fieldbus
© 2016 NTI AG
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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 1.1/ mk/Ro, June 2016
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LinMot Drive Configuration over Fieldbus
Table of Content
1 INT ODUCTION..................................................................................................................4
2 FI MWA E PA AMETE S................................................................................................5
2.1 OVERVIEW....................................................................................................................... 5
2.2 UNIQUE ARAMETER ID AND RAW DATA VALUE....................................................................6
2.3 ROM AND RAM VALUE....................................................................................................6
2.4 DEFAULT VALUE...............................................................................................................8
2.5 32 BIT ACCESS FOR ANY ARAMETER TY E.........................................................................8
3 FI MWA E LAYE CONCEPT........................................................................................10
4 PA AMETE CONFIGU ATION COMPATIBILITY ULES............................................12
5 CU VES............................................................................................................................ 13
5.1 CURVE OBJECT..............................................................................................................14
5.2 CURVE INFO BLOCK........................................................................................................15
Data Offset....................................................................................................................15
Object Type...................................................................................................................15
Number of Setpoints.....................................................................................................15
Data Type Size............................................................................................................. 15
Name............................................................................................................................ 16
Curve D........................................................................................................................ 16
X-Length....................................................................................................................... 16
X/Y-Dimension UU D....................................................................................................16
Wizard nformation........................................................................................................ 16
5.3 CURVE DATA BLOCK.......................................................................................................17
5.4 ERASING ALL CURVES IN THE RAM OF THE DRIVE...............................................................17
5.5 U LOADING CURVES FROM THE DRIVE...............................................................................18
5.6 DOWNLOADING CURVES INTO THE RAM OF THE DRIVE........................................................19
6 COMMAND TABLE...........................................................................................................20
6.1 COMMAND TABLE ENTRY FORMAT.....................................................................................21
7 PVL DATA FO MAT.........................................................................................................22
8 CONTACT ADD ESSES..................................................................................................25
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LinMot Drive Configuration over Fieldbus
1 Introduction
Users of LinMot drives (series E1100 and B1100) can easily setup
their drive by using the LinMot-Talk software. Beside other
functionality (firmware download, monitoring, LC emulation, etc.),
the LinMot-Talk software is used for altering the firmware
configuration parameters, for creating and up- and downloading of
curve profiles.
Most of the LinMot drives are equipped with a fieldbus interface to the
superior control system ( LC, I C). This interface is used for
controlling the drive under normal operation conditions (read/write of
control and status word, sending motion commands, etc.).
If the LinMot drive uses a fieldbus connection for the communication
to the superior control system ( LC, I C), then the same fieldbus
interface can be used for configuration purposes as well. The
following fieldbus interfaces are supported: rofibus D , CANOpen,
DeviceNet, RS232 and RS485 (using LinRS protocol).
This document describes in general the access to the configuration
parameters and the curve data over fieldbus interfaces. Detailed
information about how data access is implemented in the respective
interfaces can be found in the corresponding interface user manuals.
NOTE: The series E1100 and B1100 differ in some functions from
each other. If nothing is indicated, the behavior is the same.
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LinMot Drive Configuration over Fieldbus
2 Firmware Parameters
2.1 Overview
The LinMot drive firmware has to be configured through its
parameters in order to meet the needs of the application where the
servo system has to be integrated. Typical examples of firmware
parameters that must be set during the commissioning process are
motor definition parameters, position control parameters, etc.
The easiest way to alter parameters is to use the LinMot-Talk
software tool. The software displays the parameters in a comfortable
tree structure. Most of the parameters are displayed as a scaled
value with the corresponding physical unit.
Figure 1: Firmware parameters listed in a tree structure
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LinMot Drive Configuration over Fieldbus
2.2 Unique Parameter ID and aw Data Value
The value of any parameter is stored as an integer value (raw data) in
the memory space of the drive. The parameter is identified through its
Unique arameter ID (U ID), which is a 16 Bit integer number.
Both, U ID and raw data value of any parameter can be displayed in
the LinMot-Talk parameter tree structure (press Show/Hide Details
button).
Figure 2: Detailed view for parameters
2.3 OM and AM Value
The value of any parameter is stored in the non-volatile memory area
of the LinMot drive (ROM value). During the boot-up process the
drive’s operating system creates a copy of the non-volatile memory
block to its RAM memory space. Thus, after the drive has powered
up, each parameter has two memory locations and values: one in the
ROM, the other in the RAM.
The firmware uses at run time exclusively the RAM values of the
parameters in its control tasks (fast data access). The drive’s
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Show/Hide
Details button
Unique
arameter ID
number
raw data value
LinMot Drive Configuration over Fieldbus
operating system and the fieldbus interfaces provide independent
access to ROM and RAM values.
When parameters are altered using the LinMot-Talk software, the
ROM and/or the RAM value are affected:
- When ‘live’ parameters are changed, then the LinMot-Talk software
writes to ROM and RAM memory.
- ‘Non-Live’ parameters are written only to ROM (and are copied to
RAM at next firmware start).
The LinMot-Talk software reads and displays the ROM values. It
reads the parameter values only once (during the login process). The
C software allows altering ‘non-live’ parameters only if the firmware
is stopped.
Over the fieldbus interface the RAM value of ‘non-live’ parameters
cannot be changed. Changing the ROM value is possible even when
the firmware is running (except for read-only parameters).
Changing the RAM value of a parameter immediately influences the
system behavior when the firmware is running (e.g. control
parameters of the position control loop).
Figure 3: Live arameters marked with a superscript 'L'
Changes to ROM values don’t affect the system behavior until the
next firmware startup (e.g. after a software reset initiated by the
superior control system or stop/start from the LinMot-Talk software).
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The RAM value of live
parameters (marked with a
superscript ‘L’) can be
altered at run time.
LinMot Drive Configuration over Fieldbus
2.4 Default Value
Beside the actual RAM and ROM value each parameter has its
default value. The default value is displayed in the detailed parameter
view of the LinMot-Talk software.
During firmware installation the ROM values are set to the default
values of the corresponding parameters.
E1100 drives provide resetting the parameters to their default values
over fieldbus interfaces. Resetting to default value is possible for
single parameters (via U ID) or for all parameters of any firmware
layer at once (see below).
NOTE: B1100 do not support this feature, because the default values
are not stored on the drive.
2.5 32 Bit Access for any Parameter Type
The whole configuration consists of parameters of different types (bit,
byte, 16bit integer, 32bit integer and string parameters). In order to
keep the interface as simple as possible any parameter can be
accessed as a 32bit integer value. The drive’s operating system will
filter out the relevant number of bits for each parameter.
Since string parameters can be longer than 4 characters (= 4 Bytes),
a single 32bit integer value is not sufficient to define a general string.
Therefore strings are handled in a special way:
-In the LinMot-Talk software to each string parameter one single
U ID is shown.
-Internally the string is split into parts (so called ‘stringlets’) of 4
characters (= 4 bytes = 32 bits).
-Each stringlet has its own U ID.
-For E1100 drives: The U ID of the first stringlet is the string U ID
plus 1, the U ID of the second stringlet is the string U ID plus 2
and so on.
-For B1100 drives: The U ID of the first stringlet is the string U ID
itself, the U ID of the second stringlet is the string U ID plus 1
and so on.
The following example shows the principle of converting strings to
raw data values.
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LinMot Drive Configuration over Fieldbus
Example:
Writing the string ‘X-Axis Left’ to the parameter ‘User Comment’:
Figure 4: String parameter example for E1100 (see U ID 03F2h)
Figure 5: String parameter example for B1100 (see UP D 7078h)
The following table shows how the stringlet UP Ds and the
corresponding 32bit integer values are determined:
Stringlet "X Ax" “is L” “eft”
arameter U ID
E1100
03F3h 03F4h 03F5h
arameter U ID
B1100
7078h 7079h 707Ah
Ordinal 1st Char: Ord(‘X’)=58h Ord(‘i’)=69h Ord(‘e’)=65h
Ordinal 2nd Char: Ord(‘ ‘)=20h Ord(‘s‘)=73h Ord(‘f‘)=66h
Ordinal 3rd Char: Ord(‘A’)=41h Ord(‘ ’)=20h Ord(‘t’)=74h
Ordinal 4th Char: Ord(‘x’)=78h Ord(‘L’)=4Ch 00h
arameter Value: 78412058h 4C207369h 00746665h
Table 1: The four firmware layers
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LinMot Drive Configuration over Fieldbus
3 Firmware Layer Concept
The firmware on the drive consists of up to four layers:
Layer Name Layer Functionality
1 Operating
System
- Resource Management
- Communication with LinMot-Talk
- Start/Stop of the other SW layers
- arameter / Variable Service
- Oscilloscope Service
- Message / Error Service
2 Motion
Control
Software
- Current Control Loop
- osition Control Loop
- Set Value Generation
- Monitoring
3 Interface
Software
- Communication to superior control system
(e.g. via rofibus, CANOpen, DeviceNet,
LinRS, etc.)
4 Application - Customized firmware extensions
Table 2: The four firmware layers
Each firmware part has its own parameters located in a separate
branch of the parameter tree.
Figure 6: arameter tree with branches for the different firmware
layers
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