LinMot

Motion Control SW
L i n M o t ®
TABLE OF CONTENT
SYSTEM OVERVIEW.......................................................................................................... 10
1.1 REFERENCES ............................................................................................................. 10
1.2 DEFINITIONS, ITEMS, SHORTCUTS............................................................................. 10
1.3 DATA TYPES .............................................................................................................. 10
2 MOTION CONTROL INTERFACES......................................................................... 11
3 STATE MACHINE........................................................................................................ 12
3.1 STATE 0: NOT READY TO SWITCH ON ...................................................................... 14
3.2 STATE 1: SWITCH ON DISABLED ............................................................................... 14
3.3 STATE 2: READY TO SWITCH ON .............................................................................. 14
3.4 STATE 3: SETUP ERROR STATE.................................................................................. 14
3.5 STATE 4: ERROR STATE ............................................................................................ 14
3.6 STATE 5: HW TEST................................................................................................... 14
3.7 STATE 6: READY TO OPERATE................................................................................... 14
3.8 STATE 8: OPERATION ENABLED ................................................................................ 15
3.9 STATE 9: HOMING ..................................................................................................... 15
3.10 STATE 10: CLEARANCE CHECK ................................................................................. 15
3.11 STATE 11: GOING TO INITIAL POSITION.................................................................... 15
3.12 STATE 12: ABORTING................................................................................................ 16
3.13 STATE 13: FREEZING................................................................................................. 16
3.14 STATE 14: ERROR BEHAVIOUR QUICK STOP ............................................................. 16
3.15 STATE 15: GOING TO POSITION................................................................................. 16
3.16 STATE 16: JOGGING +................................................................................................ 16
3.17 STATE 17: JOGGING - ................................................................................................ 16
3.18 STATE 18: LINEARIZING............................................................................................ 16
3.19 STATE 19: PHASE SEARCHING................................................................................... 16
3.20 STATE 20: SPECIAL MODE ........................................................................................ 16
3.21 BUILDING THE CONTROL WORD................................................................................ 17
3.22 CONTROL WORD ....................................................................................................... 17
3.23 STATUS WORD .......................................................................................................... 19
3.24 WARN WORD ............................................................................................................ 20
4 MOTION COMMAND INTERFACE......................................................................... 21
4.1 MOTION COMMAND INTERFACE................................................................................ 21
4.1.1 Command Header ............................................................................................ 21
4.1.1.1 Master ID...................................................................................................... 21
4.1.1.2 Sub ID .......................................................................................................... 21
4.1.1.3 Command Count .......................................................................................... 21
4.2 OVERVIEW MOTION COMMANDS .............................................................................. 22
4.3 DETAILED MOTION COMMAND DESCRIPTION ........................................................... 28
4.3.1 No Operation (000xh) ...................................................................................... 28
4.3.2 Write Interface Control Word (001xh)............................................................. 28
4.3.3 Write Live Parameter (002xh).......................................................................... 28
4.3.4 Write X4 Intf Outputs with Mask (003xh) ........................................................ 28
4.3.5 Select Position Controller Set (005xh)............................................................. 29
4.3.6 Clear Event Evaluation (008xh)....................................................................... 29
4.3.7 Master Homing (009xh) ................................................................................... 29
NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 3/105