LinMot E1100 Servo Controllers

LinMot E1100 Servo Controllers

A Presentation byLinMot, Inc.

LinMot E1100 Servo Controllers # 2

What Do You Want to Learn?

I’d like to write down any questions that you have at this point so that we can be sure to answer them at the proper time.


LinMot Servo Controllers


Three Families of Controllers

E100 / E1000 Series

E1100 Series Basically, they all

look alike


Three Families of Controllers

B1100 Series The latest controllers They all look alike as

well


A Word About CurrentOne of the differences between the different models of controllers is their current ratings. 3 Amps in the E100 series 8 Amps in the E1001 series 4 and 15 Amps in the E1100-MP/MT series 8, 15 and 25 Amps in the E1100/B1100

controllersMore current means more force, so current is important.


All LinMot Servo Controllers:

Have control and amplifier electronics integrated into one single unit.Have inputs for two separate power supplies:

Signal Supply Motor Supply This is so that in an emergency stop condition, the

power can be removed from the motor electronics only (Motor Supply), leaving power on the logic circuits (Signal Supply) to retain position

Need to be properly grounded per the installation instructions.


The E1100 Servo Controllers


E1100 FamilyAll of these Servo Controllers look similar.All have terminals for a regeneration resistor.All require a signal power supply voltage of 22 to 26 Vdc (48 Vdc won’t work).All require a motor power supply of 24 to 80 Vdc.Most are UL listed. If customer needs UL, check the specific model.


E1100 FamilyThere are four different current ratings: 4 Amps (no suffix)

E1100-MP and E1100-MT Only used Dsub connector

8 Amps (no suffix) E1100-RS/CO/DN/DP/GP Dsub only or terminal block for “W” cable

15 Amps, designated with the “HC” suffix E1100-GP-HC Uses terminal block for “W” cable

25 Amps, designated with the “XC” suffix E1100-GP-XC Uses terminal block for “W” cable


The MPC ControllersThere are two models in the E1100 series that are referred to as the MPC controllers. MPC stands for Multi Position Cylinder.They are: E1100-MP and E1100-MT These are the “Simple” Servo Controllers.These controllers (along with a linear motor) are meant to replace pneumatic cylinders.


Guided ActuatorsE1100-MP and -MT Servo Controllers are often paired with Guided Actuators to create a complete MPC system.The guides used are very familiar to users of pneumatic cylinders.Note that these actuators can be used with any controller.


What Can They Do That An Air Cylinder Can’t?

They can move to different positions with repeatability of ±0.1mm (0.004”)They move faster than an air cylinderThey last longer than an air cylinderThey don’t require air


Let’s Look At These Controllers:

There are two types of controllers:E1100-MPE1100-MT


E1100-MPHas 8 discreet command inputs

Meant to be triggered by a PLC output or switch Edge triggered

This means that the command “happens” when the controller sees the voltage go from low to high. The fact that the voltage is low or is high means nothing. Only the transition counts.

This allows outputs to be wired to inputsEach input triggers a moveEach move is defined using the configuration software - LinMot MPC Config

Note that this is different form LinMot Talk software


Types of MovesThere are three types of moves that can be made: Absolute Relative Press


The E1100-MTThe same as the E1100-MP except that instead of 8 moves, there are 256 moves.To accomplish this, the 8 inputs are treated like an an 8-bit binary word. An 8-bit word has 256 possible combinations Like 00000001, 00001001, and 11111111,

etc.Does everybody get it?


Keep In MindThe E1100-MP and E1100-MT are very simple controllers, they are easy to set up and easy to use – ideal for those who are used to pneumatic cylinders.Do not expect sophisticated motion control features. If you need that, choose another controller (and we have lots to choose from).The only time these controllers talk over the RS232 bus is during configuration.Commands from the master controller are via discreet inputs and outputs.

The “master controller” is the PLC, process computer, etc. It’s the device that controls the entire machine.


Any Questions?Lets move on to the smart side of the family. We call these the “Bus Controllers”.


The E1100 Bus ControllersThe remaining members of the E1100 family of Servo Controllers are all sophisticated motion controllers.The bus controllers all have the same functionality, the difference is the buses they communicate on.See the following slides for a comparison.


E1100 Communication Buses

E1100-RS / E1100-RS-HC / E1100-RS-XC RS232 to 115.2k Baud RS485 to 115.2k Baud

E1100-CO / E1100-CO-HC / E1100-CO-XC CANOpen to 1M Baud

E1100-DN / E1100-DN-HC / E1100-DN-XC DeviceNet 125, 250 and 500k Baud


Communication Buses (cont.)

E1130-DP / E1130-DP-HC / E1130-DP-XC (a good place to start) PROFIBUS DP to 12M Baud DeviceNet 125, 250 and 500k Baud CANOpen to 1M Baud RS232 to 115.2k Baud RS485 to 115.2k Baud


Communication Buses (cont.)

E1100-GP / E1100-GP-HC / E1100-GP-XC DeviceNet 125, 250 and 500k Baud CANOpen to 1M Baud RS232 to 115.2k Baud RS485 to 115.2k Baud Discreet I/O Access to Command Table Firmware change to E1100-MT (or MT-HC)


After That, They’re the Same

Other than the communication buses (and the I/O of the GP controller), all of the bus controllers have the same functionality.Lets look at what these controllers can do.


Servo Controller ModesFollowing are the modes that the Servo Controllers can run in, i.e. this is what they can do.


Triggered VA InterpolatorWhat the heck is that?! It just means Velocity and Acceleration

This is just a basic two point (trapezoidal) move. On the rising edge of the trigger input, you

configure: the position it goes to the maximum velocity the acceleration the deceleration

Same for the trailing edge.


Rise Triggered VAI For/Backward Motion

When the trigger bit goes true, the slider moves out and then back.This eliminates the need to worry about when the trigger bit goes false.Good for rejecter applications.


Two Position ContinuousThis is the same as the previous move (two point) except that the slider moves out to the first point and in to the second point continuously, until you shut it off (remove the Switch On input).


Position IndexingAlso known as “Step and Direction”. This way the system can act like a stepper motor.In this mode, the controller uses one digital input for a Step signal and a second input for a Direction signal. Note that step and direction inputs are RS422

differential line driver signals brought in on an encoder input.

Step and direction can also be 24 Vdc single ended, but frequency is lower.


Analog PositionVery simple. The master controller (computer, PLC, etc.) outputs an analog signal (0-10 Vdc) and the slider moves to a position proportional to that signal. 10 bit A to D Converter provides limited

resolution for long moves or curve following.A similar mode called Triggered Analog reads the analog input and starts the move only when the trigger goes high.


Trigger CurveWith the LinMot Talk 1100 software you can create curves (position vs. time). These curves are downloaded into the non-volatile memory of the controller.You configure the controller to run one desired curve on the leading edge of the trigger inputYou can run another curve on the trailing edge if you want to.


Continuous CurveThis is the same as the previous move (Triggered Curve) except the curve move is executed continuously, until you shut it off (remove the Switch On input).


Triggered CAM CurveThis uses a CAM curve (Position vs. Encoder counts).Once the trigger signal goes high, the slider position will move to a new position for each encoder count.This allows the motor’s movement to be synchronized with some other device like a line shaft, conveyor belt, cam, etc.This standard feature cost extra in previous controllers.


A Word About CurvesCurves are created using the LinMot Talk 1100 configuration software.The software contains a wizard to automatically create curves of different types, including: Point to point (trapezoidal) Sine Minimum jerk (S-curve) Limited jerk


Winding ModeThe Servo Controllers contain firmware that is specially designed for winding material onto spools.LinMot motors are very good at this because we can change directions very quickly at the edge of the spool, which reduces “dog boning”.


Command TableA table with 256 rows can be created and stored in the controller. Each row stores a command.Any of the rows can be executed by using 8 discreet input bits.Rows can be strung together, creating sequences.Only accessible via discreet I/O on the E1100-GP controllers. It can be accessed via the bus on other controllers and with some discreet I/O points.


Command Table (cont.)What can you do in a row? Execute a point-to-point (trapezoidal) move Run a curve (time or CAM) Start the winding mode Execute any motion command Change a parameter Wait for a condition Wait for a period of time


What Does It Look Like?Example Command Table


Motion Command Interface

This means that the controller will respond to commands given to it over the master bus, such as: RS232 RS485 DeviceNet CANOpen PROFIBUS DP

Over the bus you can do everything previously discussed plus a lot more.


Any Questions?Next we’ll discuss how this is all accomplished by looking at the I/O.


InputsThere are 9 pins that can be individually configured as inputs or outputs.There are many more than 9 functions that exist and can be assigned to these 9 pins, so we have to choose carefully.


Input FunctionsSafety Voltage Enable (non-GP controllers) Dedicated input to disable motor voltage in

hardware. This eliminates the need to open a relay in

the motor power supply during emergency stop. It works, but the circuit does not presently meet safety requirements.

Voltage Enable Connected to the above input in all but the

E1100-GP controllers.


Input Functions (cont.)Trigger Can assign a point to point move to each

edge Can assign a curve to each edge Can assign a move via the bus, then execute

it when trigger goes high. This way several Servo Controllers can be started at exactly the same time with no delay due to the bus.

Can assign a Command Table row to execute on each edge

Analog Input


Input Functions (cont.)Switch On

This is the main input used for Enabling and Disabling the drive via software.

This bit must be cycled once after power up.Home Switch

The motor can be homed either to a hard stop or to a switch.

PTC1 This is an input for a external Positive Temperature

Coefficient temperature detector. These are often imbedded in servo motors, transformers, etc. to protect from excessive temperatures.

It is not needed when using a LinMot motor because we have our own internal overtemp sensor built into the motor.


Input Functions (cont.)/Quick Stop Turns motor power off (slider can move) Switch On bit must be cycled

Enable Operation This tells the Servo Controller whether or

not to listen to the command interface (RS232, DeviceNET, PROFIBUS, etc.)

/Abort Aborts motion commands Stops slider where it is and maintains

position under power (slider won’t move)


Input Functions (cont.)/Freeze Stops slider where it is and maintains

position under power (slider won’t move) When this input goes high, movement

resumesGo To Position Causes the slider to move to a configurable

positionError Acknowledge When an error occurs, this bit must be

cycled to clear the error.


Input Functions (cont.)Jog Move + Slider moves Out (+) either a configurable

distance or Moves at a configurable velocity until the bit

goes falseJog Move – As above except it moves In (-)

Home Executes the home sequence (to hard stop

or switch) Action in configurable


Input Functions (end)Clearance Check This will cause the slider to go through a

clearance check See below to get back

Go To Initial Position Causes slider to move to initial position


On To Output FunctionsAny questions?


Output FunctionsError If this goes true, the controller is shut down Which things cause an Error is configured using

the Error MaskWarning Can tell you something’s wrong before a

shutdown Does not shut down the controller – output just

goes false when the warning condition goes away

Which things cause a Warning is configured using the Warning Mask


Output FunctionsOperation EnabledSwitch On ActiveEnable OperationVoltage Enable/Quick Stop


Output Functions (cont.)HomedIn Target PositionSwitch On Locked This tells you that you need to toggle the

Switch On input.Motion Active This indicates that the slider is moving (or

at least trying to)


Output Functions (cont.)Range Indicator 1 This indicates that the slider position is

within the first configurable bandRange Indicator 2 As above with second band

Brake Driver (1 Amp) This is a high current output (1 AMP vs 100

mA for the other outputs) that provides a means to drive a braking solenoid


Easy StepsEasy Steps is an “Application” that has to be installed in the controller when the firmware is installed.Easy Steps has three components: Smart Control Word Behavior Analog Parameter Scale I/O Motions

Let’s look at each one.


Smart Control Word Behavior

Allows the controller to automatically enable itself (Switch On bit TRUE) when it powers up.Allows the controller to automatically Home after Switch On.Allows the controller to automatically clear a fault (Error Acknowledge) when the Switch On bit goes FALSE.


Analog Parameter ScaleAllows control of just about any parameter via an analog input.Example is controlling maximum current (therefore maximum force) with a potentiometer.


I/O MotionsThis allows you to use any or all of the six input pins to control moves.


I/O Motions cont.Moves include: Go To Absolute Position Go To Absolute Position with Max Current Increment Demand Position Go To Analog Position Execute a time curve Execute a CAM curve Execute a Command Table Row Start Winding mode


Any Questions?Let’s move on to Startup and Troubleshooting Features.


Startup and Troubleshooting

The E1100 controllers contain some very helpful features for use when starting up a system or trying to solve a problem. These include: Variable monitoring Message Log Error Log Oscilloscope


Variable MonitoringThis feature allows just about any parameter in the controller to be monitored while the controller is running. These include: Position (demand and actual) Current Power supply voltage States of inputs States of outputs Many, many more


Message LogThis is a running record of what the controller has been doing.


Error LogThis is a running record of any errors that have occurred and when.


OscilloscopeThis is a VERY helpful troubleshooting tool.The oscilloscope is similar to a four channel digital storage oscilloscope. It allows you to record, display and store up to four different parameters.It includes a trigger feature to capture data only when a certain event occurs. An example would be to look at current and

power supply voltage starting when voltage goes below 60 Volts.


That’s It!!Any other questions?

The End(of this one, anyway)

Date post:	05-Feb-2016
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LinMot E1100 Servo Controllers

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