LinMot Step User manual

LinMot
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User Manual Rel. 1.0
Tel.: [phone]
Fax: [phone]
Email: [email protected]om
Homepage: www.linmot.com
NTI AG
LinMot
Haerdlistrasse 15
CH-8957 Spreitenbach

© 1999 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.
Sulzer Electronics reserves itself the right to make changes at any time and without notice to reflect further technical advance or product
improvement. Please refer to the latest edition of our “General business terms”
Version 1.01/ Rev. 4 September 16th 2005

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Table of Contents
User Manual V1.01 i
1. Introduction _________________________________________ 1-1
1.1 Used symbols __________________________________________ 1-2
2. Safety notes __________________________________________ 2-1
2.1 Installation____________________________________________ 2-2
3. System Overview ______________________________________ 3-1
3.1 Drive system LinMot®___________________________________ 3-1
3.1.1 Actuator: Linear drive LinMot®P____________________________ 3-2
3.1.2 Actuator: stepper motor LinMot®Step_________________________ 3-2
3.1.3 Actuator: electromagnet LinMot®Magnet ______________________ 3-2
3.2 LinMot®P: a new construction element ____________________ 3-2
3.3 Substitution possibilities of LinMot®P _____________________ 3-3
3.4 Technical properties of LinMot®P ________________________ 3-4
3.5 Application fields of LinMot®P ___________________________ 3-4
3.6 Driving and operating modes of LinMot®___________________ 3-5
3.6.1 Driving concept __________________________________________ 3-5
3.6.2 Operation modes _________________________________________ 3-5
3.6.3 Connection to higher-level control systems _____________________ 3-8
3.7 Protection and error behavior ____________________________ 3-9
3.7.1 Internal protection functions ________________________________ 3-9
3.7.2 Monitoring functions ______________________________________ 3-9
3.7.3 Emergency stop possibilities ________________________________ 3-9
3.7.4 Emergency stop through supply interruption ____________________ 3-9
3.8 Operation and configuration ____________________________ 3-10
3.8.1 System configuration _____________________________________ 3-10
3.8.2 Curve generation ________________________________________ 3-11
3.8.3 Monitoring function (digital Oscilloscope) ____________________ 3-12
3.8.4 Error logbook___________________________________________ 3-13
3.9 Customer specific applications __________________________ 3-14
4. Design and Installation ________________________________ 4-1
4.1 Operating modes _______________________________________ 4-1
4.1.1 Analog position setting ____________________________________ 4-2
4.1.2 Analog current setting _____________________________________ 4-3
4.1.3 Two point run____________________________________________ 4-3
4.1.4 Running reference curves___________________________________ 4-4
4.1.5 Set values through the serial interface _________________________ 4-5
4.2 Operating states _______________________________________ 4-6
4.2.1 Operating state “Setup” ____________________________________ 4-7
4.2.2 Operating state “Wait for Disable” ___________________________ 4-7
4.2.3 Operating state “Disable”___________________________________ 4-7
4.2.4 Operating state “Drive Init” _________________________________ 4-7
4.2.5 Operating state “Run” _____________________________________ 4-8
4.2.6 Operating state “Stop” _____________________________________ 4-8
4.2.7 Operating state “Error” ____________________________________ 4-8
4.3 Position monitoring ____________________________________ 4-9
4.3.1 Following error monitoring _________________________________ 4-9
4.3.2 Position range monitoring _________________________________ 4-10

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Table of Contents
User Manual V1.01 ii
4.4 Initialization _________________________________________ 4-11
4.4.1 Linear motors of the LinMotP series________________________ 4-11
4.4.2 Stepper motors __________________________________________ 4-13
4.5 Signal interfaces ______________________________________ 4-14
4.5.1 SYS1 interface __________________________________________ 4-14
4.5.2 SYS2 connector _________________________________________ 4-16
4.5.3 COM connector _________________________________________ 4-17
4.6 Actuator interfaces ____________________________________ 4-18
4.6.1 Connection of LinMotP linear motors_______________________ 4-18
4.6.2 Connecting stepper motors_________________________________ 4-19
4.6.3 Connecting inductive loads ________________________________ 4-19
4.7 Connecting the power supply____________________________ 4-20
4.7.1 E100/E200/E400 supply __________________________________ 4-20
4.7.2 E1000/E2000/E4000 supply _______________________________ 4-21
4.8 HW configuration of the electronic units __________________ 4-23
4.8.1 Signal board configuration_________________________________ 4-23
4.9 Mechanical installation ________________________________ 4-25
4.10 Constructive notes on the installation of the linear motors ___ 4-26
5. Configuration Software ________________________________ 5-1
5.1 Installation requirements________________________________ 5-1
5.2 Installation of the configuration software __________________ 5-2
5.3 Introduction___________________________________________ 5-3
5.4 Login_________________________________________________ 5-3
5.5 Commander___________________________________________ 5-4
5.6 Control Panel__________________________________________ 5-4
5.7 Parameter Inspector ____________________________________ 5-5
5.7.1 Editing the parameters _____________________________________ 5-6
5.7.2 Saving and loading parameter sets____________________________ 5-7
5.7.3 Copy and Paste___________________________________________ 5-7
5.7.4 Verifying parameter settings ________________________________ 5-8
5.7.5 Printing parameter sets_____________________________________ 5-8
5.7.6 Write-protected parameters _________________________________ 5-9
5.7.7 Online mode_____________________________________________ 5-9
5.7.8 Offline mode ____________________________________________ 5-9
5.8 Curve Inspector_______________________________________ 5-10
5.8.1 User interface of the Curve Inspector ________________________ 5-10
5.8.2 Operational elements of the Curve Inspector ___________________ 5-10
5.8.3 Curve Editor interface ____________________________________ 5-13
5.8.4 Operational elements of the Curve Editors ____________________ 5-14
5.8.5 Creating curves with the wizards ____________________________ 5-16
5.8.6 Defining reference curves in Excel __________________________ 5-17
5.9 Oscilloscope __________________________________________ 5-18
5.9.1 Setting the recording variables______________________________ 5-19
5.9.2 Setting the trigger mode___________________________________ 5-19
5.9.3 Determining the sample rate _______________________________ 5-20
5.9.4 Adjusting the display _____________________________________ 5-21
5.9.5 Starting and stopping the Oscilloscope _______________________ 5-21
5.9.6 Printing recorded curves __________________________________ 5-21

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Table of Contents
User Manual V1.01 iii
5.10 Error Inspector _______________________________________ 5-22
5.10.1 Operational elements of the Error Inspectors___________________ 5-22
5.11 Tutorial A: First Steps ________________________________ 5-24
5.11.1 Commissioning example __________________________________ 5-24
5.12 Tutorial B: Operating the Oscilloscope __________________ 5-25
5.12.1 Creating a curve_________________________________________ 5-25
5.12.2 Configuring the electronic unit _____________________________ 5-25
5.12.3 Oscilloscope configuration for the recording of the position set value 5-26
5.12.4 Oscilloscope configuration for the following error monitoring _____ 5-27
5.12.5 Final remark____________________________________________ 5-28
5.13 Tutorial C: Generating reference curves _________________ 5-29
5.13.1 "Linear Out" curve_______________________________________ 5-30
5.13.2 "Hold" curve ___________________________________________ 5-32
5.13.3 "Jump Back" curve ______________________________________ 5-33
5.13.4 Saving curves___________________________________________ 5-34
5.13.5 Merging curves _________________________________________ 5-34
5.13.6 Writing curves to the electronic unit _________________________ 5-36
5.14 Tutorial D: Defining curves with Excel __________________ 5-37
6. Parameters __________________________________________ 6-1
7. Service ______________________________________________ 7-1

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Introduction
User Manual V1.01 1-1
1. Introduction
This manual is organized as follows:
Please take a moment to read and get accustomed with the safety instructions. This
information is intended for your personal safety and should help in protecting the
electronic units and linear motors from possible damage.
Gives an overview of the properties and features of the single LinMotcomponents and
their operation.
Here you will find a description of the functionality, the different operation modes and
the technical data of the electronic unit. Further, the interfaces and the installation are
described in this chapter. This information helps you optimally embed the LinMot
products in your application.
In this chapter you will get accustomed with the functionality and possibilities of the PC
software for the configuration of the LinMotelectronic unit. Further, you will find
examples that will make the first commissioning of the system easy.
This chapter gives an in-depth description of all the parameters to which you have
access during the configuration of the LinMotelectronic unit.
Explains the error messages that are displayed by the LEDs and helps you in the
troubleshooting.
Safety notes
System description
Design and
installation
Configuration
software
Parameters
Service

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Introduction
User Manual V1.01 1-2
1.1 Used symbols
Important notes or tips in this manual are marked with the following symbols:
Tips, notes
Useful information that should make operating the devices easier is given here.
Caution
Non observance of these warnings can represent a danger for health or life and lead to
damage or destruction of the devices and other objects.
Strong magnetic fields
Warning about magnetic materials that could cause damage to magnetic data mediums
like diskettes, credit cards, etc.

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Safety notes
User Manual V1.01 2-1
2. Safety notes
The LinMotlinear drives are resources meant to be built into an electrical systems or
machines. During operation these resources have moving parts and hot surfaces from
which a danger of health or material damage could arise.
The commissioning (putting the device into operation as specified in the application) of
the linear motors is prohibited, as long as the machine does not comply with the relevant
safety prescriptions.
Those responsible for the safety of the plant or machine must guarantee that only
qualified personal accustomed to working with electrical drive equipment is allowed to
work on the devices in order to prevent and avoid injuries to persons and damage to the
equipment.
Qualified personal are those who, as a result of their training, experience and instruction
as well as their knowledge of the relevant norms, regulations, accident prevention
prescriptions and service conditions have been entitled by the responsible for the safety
of the plant to execute the necessary work and thereby recognize and prevent possible
danger.
The operation manual as well as any further manuals in the documentation of the
product are to be followed consequently when executing the respective operations.
Only tested and potential separated power supplies are allowed to be used for the
voltage supply of the LinMotelectronic units and other accessories.
The electrical installation is to be done according to the relevant prescriptions. Any
further prescription contained in the documentation is to be observed.
The linear drives must be protected from loads in excess of the specifications.
Particularly during transportation great care must be taken in order to prevent excessive
load or even bending of any part.
Electronic devices are basically not fail-safe. The user is responsible for driving the
linear drive in a safe state in case of a failure.
Inside the sliders of the linear motors are strong permanent magnets. These can cause
damage or corruption to magnetical data mediums such as diskettes, credit cards, etc.
These safety notes imply no claims regarding completeness. For questions and problems
please contact Sulzer Electronics AG.

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Safety notes
User Manual V1.01 2-2
2.1 Installation
The drive systems described in this operation manual are components and not
serviceable or connection-ready devices or machines in terms of the device safety laws,
the EMC laws or the CE machinery guidelines.
The components are intended to be embedded in other machines. The ultimate mode of
action is only defined once these components have been embedded in the user’s machine
or plant. The conformity of the construction with the existing prescriptions and laws lies
under the sole responsibility of the user.
The commissioning of the components is only permitted in machines or plants that
comply with the CE machinery guidelines and/or with the relevant safety prescriptions
of the respective country.

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System Overview
User Manual V1.01 3-1
3. System Overview
3.1 Drive system LinMot®
LinMot® is a modular built servo drive system that can be operated as ‘stand-alone’ or
in connection with commercial PLCs, PCs or other higher-level control systems.
LinMot® incorporates the basic idea of the peripheral drive elements: the reference
values are given directly by the higher-level control system in form of position set
values, while the actual motion profiles and position control are calculated and executed
peripheral in the LinMot®electronic unit. MS-Windows based configuration and
commissioning programs release the engineers and draftsmen from electrotechnical
detail questions and allow for quick and function oriented work.
Among the actuators connectable to the LinMot®electronic units, the electromagnetic
direct linear drives LinMot® P take a special position, as they offer completely new
possibilities in the machine construction and mechatronic system concept.
The notions LinMot® Step and LinMot® Magnet refer to complementary drive families
consisting of the combination of commercially available stepper motors and magnets as
actuators and LinMot®electronic units. Both stepper motors and electromagnets can be
used in mixed system configurations with the LinMot® linear drives.
Figure 3-1: Mixed system configuration consisting of two linear motors LinMot® P,
a LinMot®E electronic unit as well as a stepper motor and an electromagnet.

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System Overview
User Manual V1.01 3-2
3.1.1 Actuator: Linear drive LinMot®P
LinMot® Psare electromagnetic direct linear drives with integrated position sensing and
bearing. LinMot® Plinear motors are intrinsically free of mechanical play, gearing or
belt wear. The enormous dynamic properties and compact construction of LinMot® P
make a variety of applications and novel constructions possible.
Figure 3-2: Electromagnetic direct linear motor LinMot®P
3.1.2 Actuator: stepper motor LinMot®Step
LinMot®Step allows the open-loop operation of commercially available two-phase
stepper motors with LinMot®Eelectronic units.
3.1.3 Actuator: electromagnet LinMot®Magnet
LinMot®Magnet allows the intelligent control of electromagnets as used in short-stroke
positioning elements or valves. Compared to the conventional voltage controlled
operation of electromagnets, the pull-in and release times of such elements can be
greatly reduced with the use of LinMot® Magnet, by driving them over-excited during
the transient.
3.2 LinMot®P: a new construction element
Most commercially available servo drive systems only dispose of rotating motors, where
the speed and in some cases the angular position are controlled. However, many
applications don’t only need rotational movements, but linear movements too. The
conventional solution is to realize mechanical constructions based on levers, cam disks,
spindles, belts etc. In which the rotational movement of the servo motor is translated in a
linear movement. This way the servo drive serves basically as a ‘controlled energy
source’.
In this sense the LinMot® Plinear drives are more than just ‘controlled energy sources’:
LinMot® Pexecutes dynamic controlled and position controlled linear movements
directly, with no need for additional mechanical gearing elements. LinMot® Pfulfills the
mechatronic basic idea according to which the movement functions are executed
directly, with minimal mechanical elements and right in the place where they are needed.
The motion control, i.e. the actual machine functionality as well as the motion

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System Overview
User Manual V1.01 3-3
parameters are defined exclusively in the software and can be adjusted at any time with
no need for intervention in the mechanic.
3.3 Substitution possibilities of LinMot®P
Depending on the application, LinMot® Pcan substitute the following conventional
solutions and extend them with additional functionality due to its complete electronic
control:
Spindle drives Cam disks
Mechanical levers Belt drives
Pneumatic cylinders Rack-and-pinion drives

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System Overview
User Manual V1.01 3-4
3.4 Technical properties of LinMot®P
The linear drives LinMot® Pare characterized by the following properties:
• Connection to commercially available PLC and PC control systems
• Position controlled and curve-driven operation
• Dynamic properties of the drive adjustable ( vmax, amax)
• Extremely high dynamic specification (e.g.: continuous cyclical operation >15 Hz)
• Compact, connection-ready construction with integrated sensing and bearing
• Suitable for operation in rough industrial environments
3.5 Application fields of LinMot®P
The linear drives LinMot® Pcan be used both as stand-alone systems or in connection
with highly complex machines. The following list of application examples is therefore
not complete and gives only an insight in the variety of the possible applications:
• Textile machines
Weaving machines, knitting machines, carpet machines, winding machines
• Packaging machines
Food: pastries, coffee, tee, sweets
Consumer goods: office material, toys
Cosmetics: soap, tubes
Pharmaceutical: tablets, pills
• Printing machines
Offset and tampon printing machines
• Assembly systems
• Winding machines
• Handling machines
• Robotics
• Laboratory automation
• Folding machines
• Labeling machines
• Newspaper and paper machines
• Sorting machinery
Parcel and letter sorting systems, material sorting machines
• ….

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System Overview
User Manual V1.01 3-5
3.6 Driving and operating modes of LinMot®
3.6.1 Driving concept
The basic idea of LinMot® Pconsists in having the control tasks executed as peripheral
as possible in order to free the higher-level control systems from unnecessary and
calculation-intensive ballast. The system configuration is therefore accordingly simple,
as the higher-level control system just outputs the actual target value and monitors some
feedback information. The following sections will implicitly refer to LinMot® Plinear
motors as actuators when no specific indication is provided. In this case the target value
consists in the position set value to which the drives should move, while the feedback
information typically represents a following error message. In the case of stepper motors
and electromagnets these statements can be interpreted by analogy.
DC supply
PLC / PC / VME
System
Error message
Power circuitr
y
su
pp
l
y
Si
g
nal circuitr
y
su
pp
l
y
Ref. position
Power
Power
Position/Tem
p
.
Power
Position/Tem
p
.
Power
Filter Position-
Control
Current-
Control
Velocit
y
-
Control
Commutation
Sensor Processin
g
Power-
Am
p
l.
PW
M
Curves
Reference
Position
Position
Tem
p
eratur
Power
Position/Tem
p
.
Position/Tem
p
.
Figure 3-3: LinMot®’s peripheral position control frees the higher-level control
system from calculation intensive tasks.
3.6.2 Operation modes
Different modes of operation are available to the user. These allow optimal embedding
of the actuators in the control concept of the machine and the respective application. The
LinMot®AT software currently supports the following modes of operation:
• direct digital reference value setting
• setting two target values depending on a high/low signal
• executing two predefined curves based on a trigger signal
• continuous operation, e.g. periodical execution of a curve
In all these modes a filter can be connected in order to limit the derived signals like for
example the speed or acceleration. The following table shows typical application
examples for the different modes of operation.

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System Overview
User Manual V1.01 3-6
1. Example: Online specification of an exact reference curve
An higher-level control system
outputs a reference curve online
for the motor to follow exactly.
Solution:
Operating mode ‘analog’ without
limiting filter settings.
‘analog out’
t
s
t
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LinMot
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P
s
PC / PLC mode:
‘analog’
‘analog out’
2. Example: Online specification of any reference curve
An higher-level control system
outputs position set values online
for the motor to follow smoothly.
Solution:
Operating mode ‘analog’ with
vmax/amax filter activated.
s
t
a
amax
t
-amax
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E
LinMot
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P
s
PC / PLC mode:
‘analog’
‘analog out’
‘analog out’
t
3. Example: Digital selection between two set values
Following a digital high/low
signal from a PLC, the motor
moves between two given
positions with presettable
maximum acceleration and speed.
Solution:
Operating mode: ‘Two Point’.
Acceleration limiter and speed
limiter set to the desired maximal
values.
s
t
‘digital out’
t
high
low
v
vmax
t
-vmax
a
amax
t
-amax
LinMot
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E
LinMot
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P
s
PC / PLC mode:
‘two position’
‘digital out’

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System Overview
User Manual V1.01 3-7
4. Example: Digital selection between two reference curves
Following a trigger signal from a
PLC, the motor moves between
two given position following
predefined trajectories.
Solution:
Operating mode: ‘Trigger Curve’.
Acceleration limiter and speed
limiter set to the desired maximal
values.
‘trigger out’
t
high
low
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E
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P
s
PC / PLC mode:
‘two position’
‘trigger out’
s
t
v
vmax
t
-vmax
a
amax
t
-amax
5. Example: Periodical movement sequence
The motor executes a previously
defined curve cyclically with a
given frequency.
Solution:
Operating mode: ‘Continuous
Curve’.
Acceleration limiter and speed
limiter set to the desired maximal
values.
‘digital out’
t
high
low
s
t
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P
s
PC / PLC mode:
‘continuous’
‘digital out’
6. Example: Synchronization on a speed value
A linear movement should be
executed from a particular point
and with a previously defined
speed.
Solution:
Operating mode: ‘Analog’,’Two
Position’ or ‘Trigger Curve’.
The reference position should be
set in such a way, that the speed
limiter will be active in the
synchronization range.
t
s
ssync
t
v
vsync
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E
LinMot
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P
s
PC / PLC mode:
‘continuous’,
‘two position’
or
‘curve’
‘digital out’
‘digital out’
t
high
low

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System Overview
User Manual V1.01 3-8
7. Example: Movement with constant speed
A constant, linear movement
should be triggered by means of a
simple digital signal.
Solution:
operating mode: ‘Two Position’
with filter. Set the end positions
to the boundaries of the stroke
range and the vmax parameter to
the desired maximum speed.
Hint: The movement can be
stopped at any time with the
FREEZE signal.
t
‘digital out’
high
low
t
s
smax
smin
v
vmax
t
-vmax
LinMot
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E
LinMot
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P
s
PC / PLC mode:
‘two position’
‘digital out’
3.6.3 Connection to higher-level control systems
The electronic units LinMot®Ecan be controlled by higher-level control systems
directly by means of analog or digital input/output signal lines. The necessary
parameterisation is done with the LinMot® Talk software via an RS-232 connection.
Networking via CAN-bus or RS-232 is also possible on specific customer request.
PLC System
Analog / Digital IO's
VME System
Analog / Digital IO's
PC
Extension Card
Analog / Digital IO's
up to 10m
up to 10m
up to 10m
up to 10m
Figure 3-4: Connecting LinMot®to an higher-level control system

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User Manual V1.01 3-9
3.7 Protection and error behavior
3.7.1 Internal protection functions
The integrated sensors and complex monitoring programs allow the detection and
handling of thermal overloading of the LinMot®Eand Pcomponents by means of
warning and/or error messages. There is further the possibility to monitor the voltage
supply of the LinMot®Eelectronic units for overvoltage and undervoltage. If the higher-
level control system does not respond to the warning and error messages, the actuators
will be shut down for safety reasons.
3.7.2 Monitoring functions
The so-called following error monitoring and the position range monitoring offer two
powerful functions for the monitoring of the actual movement processes.
Following error monitoring
Position range monitoring
3.7.3 Emergency stop possibilities
From the point of view of the higher-level control system there are two ways to handle
the LinMot® actuators in case of an emergency stop:
• With the so-called FREEZE signal the drives can be stopped and maintained in their
current position. The movement is resumed when the FREEZE signal becomes
inactive again.
• By means of the STOP signal the drives can be driven to a predefined emergency
stop position or shut down.
3.7.4 Emergency stop through supply interruption
As the LinMot® electronic units feature separate supplies for the signal circuitry and the
power circuitry, an emergency stop can also be forced by directly interrupting the power
supply to the power circuits. As long as the signal circuitry remains powered, the
initialization and actual position of the LinMot® Pactuators are not lost. Therefore it is
possible to resume operation without needing to re-initialize the drives.

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System Overview
User Manual V1.01 3-10
3.8 Operation and configuration
3.8.1 System configuration
The configuration and commissioning of the LinMot® systems is done by means of the
MS-Windows based software LinMot®Talk. All the parameters can be displayed clearly,
selected and edited with LinMot® Talk by simple clicking with the mouse. As all the
parameters are stored in the electronic unit, they can be recalled, analyzed and changed
at any time. Creating duplicates of parameters and parameter files to be archived is
equally easy. Password protection protects the data from illegitimate access.
Figure 3-5: Parameter Inspector window
Import
Export
Check
Print
Levels
Path Actual
parameter
Value of the
parameter
Update
button

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System Overview
User Manual V1.01 3-11
3.8.2 Curve generation
Predefined reference curves can be executed on trigger signals in different operating
modes. The shapes of these curves can be generated automatically by means of the
Curve Creator, or can be edited manually point by point as Excel tables.
Figure 3-6: Reference curves can be generated semi-automatically
Curve definitions GraphCurve parameters
Edit buttons Close buttons Graph buttons