LinMot®E |
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LinMot comprises various families of servo-drives that
are primarily designed for linear motion. For their actuation, highly
integrated LinMot-E servo controllers are available. LinMot-E servo
controllers include a power section for driving the motors as well as
a control section with an integrated position controller. This allows
the direct setting of positional set-points or the calling up of stored
motion profiles from an overlaid control system by means of simple analog
or digital signals. Connection to the overlaid control system can also
be made via a serial port or a field bus. The control section looks
after all control and monitoring actions necessary for controlling the
drives.
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LinMot-E is a family
of modular servo controllers that are derived from each other. The user
can chose between units in various performance classes for up to four different,
independently controllable motors. Linear motors from various LinMot families
can be connected to the same controller as well as standard two-phase stepping
motors and solenoids.
LinMot servo controllers are normally used as drive controllers. Using signals
from an overlaid control system, the motors are driven to the positions
required. This action can be combined with the use of integrated motion
profile curve functions. This allows jumps in set points to be carried out
in a non-jerky and gentle manner. Customised functions, complete sequential
control or PLC functions can be integrated into the servo controller using
application software. |
| The configuration of the LinMot-E
servo controller is done on a menu basis using the windows-based LinMot
Talk PC-software. LinMot Talk also assists the user when commissioning the
drives: On-line measurements of motor data and movements made by the controller
can be shown in graphical form and stored on a PC. |
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Construction forms and designation
scheme |
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LinMot-E servo-controllers
are available in two performance classes: Series 100 and Series 1000 for
the control of one, two or three motors. Units of a particular performance
class with different control interfaces have the same outside dimensions,
but differ in respect to hardware and software.
The key to the designation scheme is illustrated by the following example
for the LinMot-E 400AT servo controller: |
Types of motor which
can be connected |
The LinMot-E servo controller's
hardware allows any type of single or two-phase motors (LinMot linear motors,
stepping motors, DC-motors, solenoids etc.) to be connected. Each motor
channel consists of the four connections for the two motor phases, two inputs
for the collection of positional data and one input for the monitoring of
motor temperature.
The motor cable between the servo controller and Series P01 linear motors
can be extended using LinMot motor cable up to 50m in length. Mixed system
configuration comprising LinMot® P02-23x80 and P01-23x160 linear motors,
LinMot-E 400 servo controller along with a stepping motor and a solenoid. |
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Position control
and motion profiles |
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servo controllers include a complete digital position-control system. This
means there are no drift or offset problems, such as those encountered with
analogue controllers. Further, it is possible to define motion profiles
and thus follow adapted motion profiles. Trajectory control is particularly
of great importance in connection with the highly dynamic LinMot P linear
motors. |
Simplified block diagram of the digital motor position control |
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| Depending
on the type of LinMot-E servo controller, various different modes of operation
are available. The modes of operation define the control interface, the
method for defining set points and how error reports are handled by the
overlaid control system. |
Analogue positional
set-point
For the analogue setting of positional set-points, the supervesory controller
passes down the set-point directly as an analogue signal. In the servo controller,
the working range is defined by allocating positions to the maximum and
minimum input voltage. By inputting the appropriate voltage, any position
in the working range can be reached. |
Two-point
operation
In two-point operation, two end positions can be reached by using a digital
input signal. The two end positions are configured in the servo controller
and can be chosen at will. This mode of operation allows pneumatic cylinders
to be directly replaced: instead of the valves, the servo controller is
controlled by digital control signals. |
Running motion
profiles (up to two)
In this mode, two freely defined motion profiles per drive can be called
up. The profiles, which are stored in the drive electronics, are run on
the rising and falling transitions of the digital input signals. |
Running motion
profiles (up to sixty-four)
This mode allows up to 64 various motion profiles to be defined per drive.
The profiles, which are stored in the drive electronics are started by addressing
them via the digital input signals. |
Programmed sequences
Complex motion sequences are laid down on a step-for step basis in a table.
The instructions stored in the drive electronics are worked through one
by one via digital input signals or are directly addressed individually. |
Teach-in
When configuring the servo controller, the positions targeted are laid down
in a table. In the teach-in mode, the slider of the linear motor is brought
by hand into the position required and the current position stored in the
table. The positions stored in the drive electronics are called up via the
digital input signals. |
Controlling
stepping motors
In the stepping motor mode, one motor per controller can be positioned using
two digital signals from the overlaid controller. The first signal defines
that a step should be carried out and the second defines the direction of
motion. Step values can be configured to the values required. |
RS 232 serial
operation
The overlaid controller can communicate with the servo controller via an
RS 232 interface. Using an ASCII protocol, set-point positions can be directly
defined or motion profiles that are stored in the servo controller can be
run. The serial interface makes it possible to call up current values such
as the actual position or the motor current of the linear motor. A detailed
description of the ASCII protocol and the commands available can be found
in the annexe. |
RS 485 serial
operation
Via an RS485 interface, up to 6 servo controllers can be connected to the
overlaid control system. Using the ASCII protocol the same functions ca
be activated as with the RS 232 interface. A detailed description of the
ASCII protocol and the commands available can be found in the annexe. |
PROFIBUS DP
field bus
Using the PROFIBUS DP interface, up to 125 servo controllers can be integrated
into a field bus system. The standardised PROFIBUS DP system allows the
direct definition of positional set-points, as well as the running of motion
profiles stored in the servo controller. The connection via PROFIBUS DP
makes it possible to call up current values such as the actual position
or the motor current of the linear motor. The standardised PROFIBUS DP field
bus interface guarantees trouble-free commissioning and reliable operation
with control systems from different suppliers. |
CAN field
bus
The CAN field bus allows the operation of up to 32 servo controllers in
a field bus system. As no standardised protocol for all control systems
is available, protocols are integrated on a customer-specific basis. Basically,
all the standard functions can be implemented as is possible with the with
the ASCII command described in the annexe. |
Synchronisation
with main shaft / Encoder follower
When mechanical cams are to be replaced or in applications where the linear
motor is to perform motions synchronised to a main shaft or to a master
drive, the Master Encoder Interface is necessary. The Master Encoder Interface
allows the synchronous running of motion profiles that are stored in the
servo controller. The overlaid control system only has to indicate which
profile is to be implemented. |
Synchronisation
/ PROFIBUS DP
The synchronisation with a main shaft or to a machine drive is possible
using the PROFIBUS DP interface. The synchronisation signals are provided
over the Master Encoder Interface and the required motion profile is selected
via the PROFIBUS DP interface. |
Force control
For the integration of linear drives in machines with positioning cards
from third-party suppliers, the motors can be driven in force mode (cf.
torque mode in rotary drives). In force mode the LinMot-E servo controller
is controlled using analogue force signals via the position control card.
For this application, the force control software is needed (see annexe) |
PRODUCTS