LinMot

Motion Control SW
L i n M o t ®
7 Controller Configuration
The parameter configuration is normally done with LinMot-Talk software [3]. The UPIDs, over
which the parameter can be accessed, are the same for E1100, E1200 and E1400
controllers, but are different for the B1100 controllers. In this documentation the
E1100/E1200/E1400 UPIDs are used. If a UPID for a B1100 servo controller is needed, a
conversion list can be generated with the LinMot-Talk software.
7.1 Power Bridge
The E1100/B1100 servo controllers are divided into three different power classes. The
normal controllers have a maximal current of 8A, the high current (name extension HC)
variant has a maximal current of 15A and the extreme current (name extension XC) has a
maximal current of 25A. The E1200 series is only available as ultra current controllers (name
extension UC), with a current maximum of 32A.
7.2 X4 I/O Definitions
The functionality of most IOs can be programmed as a control word input bit or status word
output bit, or they can be used as interface IO and read out or written over a serial bus
interface. Apart from this general functionality a few IOs have a special functionality.
Descriptor General Special Functions
Purpose IO
X4.3 Yes Brake (Output)
X4.4 Yes Analog In
X4.5 Yes Capture Input
X4.6 Yes Trigger (Input)
X4.7 Yes Home Switch (Input)
X4.8 Yes Limit IN (Input)
X4.9 Yes Limit OUT (Input) / 24V Step (Input)
X4.10 Yes PTC 1 (Input) / 24V Direction (Input)
X4.11 Yes PTC 2 (Input)
X4.12 No SVE Safety Voltage Enable (Input)
7.2.1 X4.3 Brake
The output X4.3 can drive up to 1A, so it can be used to control directly a valve of a
pneumatic brake module. For this reason this output can be configured as brake output. The
cases in which the brake has to be applied or released are configured over the brake mode
parameters. The brake output is controlled from the state machine.
Parameter Name UPID Description
Status Word: 1717h The brake is released (X4.3 = 24V), when bit 0 of the status
Operation
Enabled
word (Operation Enabled) is set. Otherwise the brake is
applied.
Ctrl Word: /Abort 1718h The brake is applied (X4.3 = 0V) when entering the Aborting
State (12) and released (X4.3 = 24V) when going to
Operation Enabled State (8) again.
Quick Stop 1716h Special brake behavior with Quick Stop (Brake Mode Status
Word: Operation Enabled has also to be set)
NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 85/105