NTI AG LinMot B1100-VF User manual

Quick Start Guide B1100-VF
B1100-VF (-HC/-XC)
Analog Current Command Interface

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Table of Content
SYSTEM OVERVIEW ..............................................................................................................3
REFERENCES.........................................................................................................................3
CONNECTOR OVERVIEW......................................................................................................4
GETTING STARTED CURRENT COMMAND MODE..............................................................5
IO CONFIGURATION................................................................................................................7
CONTACT ADDRESSES.......................................................................................................16
© 2013 NTI AG
This work is protected by copyright.
Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including
photocopying, recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole
or in part, without the prior written consent of NTI AG.
LinMot® is a registered trademark of NTI AG.
Note
The information in this documentation reflects the stage of development at the time of press and is therefore without obligation.
NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product
improvement.
Document version: 1.3 / mk, Ro / December 2013

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System Overview
This manual gives a short step by step introduction in the functionality of the B1100-PP(-HC/-
XC) drive family.
References
Ref
Name
Source
1
Installation_Guide_B1100.pdf
www.linmot.com
2
Usermanual_LinMot-Talk.pdf
www.linmot.com
3
Usermanual_MotionCtrlSW.pdf
www.linmot.com
The documentation is distributed with the LinMot-Talk configuration software, which can be
downloaded from the LinMot homepage for free.
For more detailed information about the functionality of the software please refer to the
manuals above:
-Installation_Guide_B1100.pdf:
data sheet, wiring and connections
-Usermanual_MotionCtrlSW.pdf:
motion controller software description (state machine, motion interface)

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Connector Overview
Typical servo system B1100-XX-YY: Drive, motor and power supply.

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Getting Started Current Command Mode
Connect the motor with the drive, wire at least the motor power supply on X1 and the 24VDC
logic supply on X14.
Wire the differential analog current command input to X14.8/X14.21.
Wire the position encoder signals from the X13 connector to the superior control system.
Wire the state machine control lines according the configuration. For the quick start
configuration use the following:
Descriptor
IO type
Configured Function
X14.14
Input
Ctrl Word: Switch On
X14.2
Input
Ctrl Word: Home
X14.15
Input
Ctrl Word: Error Acknowledge
X14.3
Input
Ctrl Word: Special Mode
X14.16
Input
Ctrl Word: Go To Initial Position
X14.5
Output
Status Word: In Target Position
X14.18
Output
Status Word: Warning
X14.6
Output
Status Word: Error
X14.19
Output
Status Word: Special Motion Active
Alternatively to the digital IO control of the state machine and error
handling you can use a B1100-GP drive and do this over a serial bus
interface (CANopen, DeviceNet or LinRS). This offers deeper
integration into your superior control system.
Connect your configuration PC using a 1:1 serial RS232 cable (female/female) with the drive’s
X5.
Switch on the 24V logic supply.
Start the LinMot-Talk configuration software.
Login the drive.

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Import the B1100_CurrCmd_QuickStart_Cfg.lmc configuration file:
The following description is a short tour through the imported configuration.

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IO Configuration
In the quick start configuration the digital inputs and outputs are configured as shown:

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The differential analog voltage input is configured as a current command input:

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The scaling is done with the 10V current value and may be adapted regarding the motor’s and
drive’s maximal current:

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Also the 0V offset adjustment can be done here:
In the next step the state machine is set to the special mode “Current Command Mode”:
Now the motor can be configured with the motor wizard. The motor wizard guides you through
the configuration:

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If you use the encoder simulation you can configure it at the external position sensor system
section. As resolution you may configure a multiple of 0.1um, recommended values are 2um
5um 10um, which should be a good selection for most applications.
If the resolution value is too small, the maximal speed in operation may be
reduced! For secure operation, the maximal velocity/resolution should not be
greater than 2MHz. E.g. 4m/s/2um = 2MHz, which means 4m/s is the maximal
save operation speed for 2um sensor simulation resolution.
When the motor wizard is finished all the needed parameters are set accordingly. The system
is now ready for operation. Switch on the motor supply.

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Set the input on X14.14 high, this enables the position control of the motor:
Now set the input on X14.2 to start the homing sequence. Wait until the warning on X14.8
disappears and the in target position on X14 5 is set. This indicates that the homing sequence
has been completed.
Set the input on X14.2 low to complete the homing.
By setting the input on X14.3 the current command interface will be activated!

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Before activating the superior position control loop, make sure the position
control loop in your superior system is initialised correctly and the position
feedback direction is correct! Otherwise the motor will accelerate in any
direction and crash to a limit!
If an error occurs, the output on X14.6 will go high. It can be acknowledged by a rising edge
on the input X14.15.

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Contact Addresses
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SWITZERLAND NTI AG
Haerdlistr. 15
CH-8957 Spreitenbach
Sales and Administration: [phone]
[email protected]m
Tech. Support: [phone]
[e-mail]
Tech. Support (Skype) : skype:support.linmot
Fax: [phone]
Web: http://www.linmot.com/
-----------------------------------------------------------------------------------------------------------------------------
USA LinMot, Inc.
204 E Morrissey Dr.
Elkhorn, WI 53121
Sales and Administration: 877-546-3270
262-743-2555
Tech. Support: 877-804-0718
262-743-1284
Fax: [phone]
262-723-6688
E-Mail: us[email protected]
Web: http://www.linmot-usa.com/
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