E1200 Servo Drive Installation Guide - LinMot e
Contents
1. 7 6 Description of the connectors Interfaces 8 OTP E 8 cise att sates tine gt 8 UPC E 9 sr 9 DU 10 O O 10 Ni 9 E 11 qc H 11 OP uc 12 Pul X X EE 12 Su SPEO Qr 13 SNP uo 13 O 0 sss 13 O 14 O o LEDS O E 14 OICORT BUS EPI uuu 14 14 FEO COUPS NE MEE 15 8 Physical d TUR U u u 16 9 Power Supply Requirements 17 10 Regeneration of Po2. 2 5mm depends on Motor current AWG 21 14 Stripping length 13 15mm Motor Encoder LinMot Motor 3 phase EC Motor 5VDC 5VDC Hall Supply Sensor Sine Hall 1 Temp In Hall 3 AGND AGND Hall Supply Sensor Cosine Hall 2 Shield 1 2 3 4 5 6 7 8 9 0 o D DSUB 9 f Note Use 5VDC X3 3 AGND X3 8 only for motor internal hall sensor supply max 100 Caution Do NOT connect AGND X3 8 to ground or earth Motor Wiring Caution Do not connect X3 1 2 6 7 Outer shield Phase 2 Phase 1 E 4 green yellow inner shield white red pink blue NTI AG LinMot www LinMot com Page 9 22 LinMot Installation Guide LinMot X4 12 SVE SVE Power Stage Enable HW Enable X4 11 4 11 Configurable IO PTC2 Input X4 10 X4 10 Configurable IO PTC1 Input X4 9 4 9 Configurable IO X4 8 X4 8 Configurable IO X4 7 X4 7 Configurable IO Analog Input for EasySteps Application X4 6 X4 6 Configurable IO Trigger Input X45 X4 5 Configurable IO X4 4 X4 4 Configurable IO Analog Input configurable as high imp Input X4 3 Brk X4 3 Brk Configurable IO Brake Driver 1A 424VDC Supply Logic Supply 22 26 VDC Supply Ground 12 Logic Supply Control G CO cO 1 Phoenix Inputs X4 3 X4 12 24V 5mA Low Level 0 5 to 5VDC High Level 15 to 30VDC MC1 5 12
3. E Mail Web 877 546 3270 262 743 2555 877 804 0718 262 743 1284 800 463 8708 262 723 6688 usasales linmot com http www linmotusa com Please visit http www linmot com to find the distributor closest to you Smart solutions are y LinMot com Page 22 22
4. LinMot WA Wiqi Q 2 5 fe F oOo E1200 Servo Drive Installation Guide 0185 1065 E_5V5_IG_E1200 May 2015 LinMot Installation Guide 2015 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 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 2 22 LinMot Installation Guide ff _ Table of Content 1 Important Safety Notes for E1200 Series Drives 4 2 OVOLIVIGW uu ua 5 3 Functionality and Interfaces u 6 4 IPAddress SOLO Cl Ooi acces cases DE 6 5 Power Supply and Grounding
5. 7 ETHERNET e TRIGGER INPUT CAPTURE INPUT ANALOG INPUT System Interface RS232 SVE O MACHINE SAFETY P o j GND COMMUNICATION COMMUNICATION INTERFACE INTERFACE RS485 RS485 CANOPEN CANOPEN DEVICENET DEVICENET MASTER ENCODER STEP STEP DIRECTION ZERO ZERO DIRECTION CAN_H CAN L STEP STEP DIRECTION ZERO ZERO DIRECTION CAN_H CAN_L MASTER ENCODER Typical servo system LinMot Installation Guide B 3 Functionality and Interfaces E1250 PN UC E1250 PD UC E1250 SC UC 1250 IP UC E1250 LU UC E1250 EC UC E1250 SE UC E1250 DS UC E1230 DP UC E1200 GP UC E1250 PL UC LLI Supply Voltage Motor Supply 72VDC 24 85 0 s s e e e Logic Supply 24VDC 22 26 0 s s s Motor Phase Current ELEC 32A poak 12 ms e e e o Controllable Motors LinMot P01 23x Motor Link PY P01 37x Motor Link PY P01 48x Motor Link PY DC Motors Brushless DC EC Motors Command Interface CANopen LinRS POWERLINK PROFINET PROFINET Profidrive Sercos sercos over EtherCAT ETHERNET IP LinUDP EtherCAT ETHERCAT CiA402 PROFIBUS DP Programmable Motion Profiles Curves Up to 100 Motion Profiles up to 16302 curve points Programmable Command Table Command Table with up to 255 entries External
6. STF Outputs X4 4 X4 11 24V max 100mA Peak 370mA will shut down if exceeded 3 5 delivered Brake Output X4 3 24V max 1 0A with drive Input X4 12 SVE Safety Voltage Enable must be high for enabling the power stage If it goes low for more than 0 5ms the PWM generation of the power stage is disabled by hardware Supply 24V typ 1 1A max 2 1A if all outputs with max load and brake Tightening torque min 0 22Nm Screw thread M2 Use 60 75 C copper conductors only Conductor cross section max 1 5mm Internal Fuse F2 slow blow Schurter OMT 125 3404 0118 xx UL File Number E41599 CAUTION For continued protection against risk of fire replace only with same type and rating of fuse 6 6 X7 X8 RS485 CAN RS485_Rx RS485 Rx RS485 Tx GND GND RS485 Tx CAN H CAN L Shield O 0 o D Use twisted pair 1 2 3 6 4 5 7 8 cable for wiring The built in CAN and RS485 terminations can be activated by 55 2 and 55 3 XT is internally connected to X8 1 1 connection NTI AG LinMot www LinMot com Page 10 22 LinMot 6 7 X9 PROFIBUS DP only available on E1230 DP UC Not connected Not connected RxD TxD P CNTR P GND isolated 5V isolated Not connected RxD TxD N Not connected Shield O gt O f o D X10 X11 Master Encoder IN X10 Master Encoder OUT X11 Increme
7. WARN and EN are blinking together Fatal errors can only be acknowledged by a reset or power cycle e g WARN blinks 3x EN blinks 2x Error Code 32h System Error Please reinstall firmware or contact support Signal Supply 24V too low The error and warn LEDs blink alternating if the signal supply 24V X4 2 is less than 18VDC Plug amp Play Communication Active This sequence Warn on then En on then both off complete sequence of the 4 states ca 1Sec signalizes the state when the plug and play parameters are being read from the motor Waiting for Defaulting Parameters When ID S1 S2 is set to OxFF the drive starts up in a special mode and the Error and Warn LED blink alternating 4Hz When the ist set to 0x00 all parameters will be set to their default value To leave this state power down the drive and change the ID Also see in the Usermanual LinMot Talk under chapter trouble shooting Defaulting Parameters Done When the parameters have set to their default values initiated via S1 S2 on power up the Warn and En LEDs blink together at 2 Hz To leave this state power down the drive Also see in the Usermanual LinMot Talk under chapter trouble shooting error codes can be found In the Usermanual MotionCtrlSW 565 and the user manual of the installed interface software These documents are provided together with LinMot Talk configuration software and can be downloaded from www linmot com NTI AG LinM
8. 13 Declaration of Conformity CE Marking Page 18 22 LinMot Installation Guide LinMot LinMot LinMot Installation Guide Declaration of Conformity to the EtherNet IP Specification ODVA gt Hilt Camman Preteen ODVA hereby issues this Dedaration of Conformity to The EtherNet IP Specification for the product s described below The Vendor listed below the Vendor holds a valid Terms of Usage Agreement which is incorporated herein by reference for the EtherNet IP Technology from thereby agreeing that it is the Vendor s ultimate responsibility to assure that its EtherNet IP Compliant Products conform to The EtherNet IP Specification and that The EtherNet IP Specification is provided by to the Vendor on an AS IS basis without warranty NO WARRANTIES EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE ARE BEING PROVIDED BY In recognition of the below EtherNet IP Compliant 5 having been EtherNet IP Conformance Tested at ODVA authorized Test Service Provider and having received a passing result from ODVA at the Composite Test Revision Level specified below this Declaration of Conformity authorizes the Vendor to use the EtherNet IP Certification Marks in conjunction with the specific EtherNet IP Compliant Product s described below for so long as the Vendor s T
9. NTI AG declare that as the authorized representative the above information in relation to the supply manufacture of this product is in conformity with the stated standards and other related documents in compliance with the protection requirements of the Electromagnetic Compatibility EMC Directive 2004 108 EC Standards Complied with EN 61000 6 2 Compliance Immunity for industrial environment Criteria EN61004 2 B Electrostatic discharge immunity ESD EN600043 A Radiated electromagnetic field immunity EN i0044 B Fastansens bustimmunly EFT EN6i0045 B Slow transients immunity Surges EN600046 a Conducted radio frequency immunity D ENG1000 8 A 5 Power frequency magnetic field immunity _ EN 61000 6 4 Class Emission for industrial environment W EN 55022 B Radiated Emission Company NTI AG Spreitenbach October 13 2010 Dr Ronald Rohner CEO NTI AG T VTI AG LinMot a i x B Page 21 22 LinMot Installation Guide 14 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration 41 0 56 419 91 91 office linmot com Tech Support 41 0 56 544 71 00 support linmot com Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot USA Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration Tech Support Fax
10. Position Sensor Incremental RS422 up to 25 M counts s quadrature ev Synchronisation Master Encoder In Out RS422 up to 25 M counts s quadrature ev Configuration Interface RS232 Ethernet 10 100 Mbit s 2 Port Switch integrated 4 IP Address Selection The default mode for acquiring an IP address is via DHCP If no servers respond on the connected network the drive switches to the Ipv4 Link Local addressing scheme also known as APIPA on Windows systems This way the drive automatically assigns itself an address within the range of 169 254 0 1 through 169 254 255 254 Subnet Mask 255 255 0 0 Please note that this process can take up to a minute until a valid address is assigned to the drive LinMot Motor Communication NTIAG LinMot www LinMot com Page 6 22 LinMot Installation Guide _ 5 Power Supply Grounding AC Mains Fuse AC Mains N Circuit Breaker Fuse G N ws Stop Breaker Circuit Breaker Galvanically Isolated Power Supply See chapter Power Supply Requiremen for compatible power supplies Switch Mode Power Supply Transformer with Rectifier Bridge Fuse max 20 AT D Dl Power Supply motor Emergency PWR motor i J All wires on supply 2 5mm2 AWG14 Switch Mode Power Supply Transformer with Rectifier Bridge and capacitor gt 0 5mF Apeak ts Power Suppl
11. ate Link Activity per port the upper ones are not used NTI AG LinMot www LinMot com Page 12 22 LinMot Installation Guide B 6 11 X17 X18 6 12 J NTIAG LinMot X17 X18 RealTime Ethernet 10 100 Mbit s X17 RT ETH In Specification depends on RT Bus Type Please refer to according documentation X18 RT ETH Out X19 Do not connect Do not connect RS232 Rx GND GND RS232 Tx Do not connect Do not connect Shield 1 2 3 4 5 6 7 8 Q o D Use isolated USB RS232 converter Art No 0150 2473 for configuration over RS232 20 Analog In 10V Differential Analog Input Do not connect Do not connect Analog In GND GND Analog In Do not connect Do not connect Shield O 0 o D com 13 22 LinMot Installation Guide Bus Termination Analn2 Pull Down Switch 1 Anln2 Pull down 4k7 Pull down on X4 4 Set to ON if X4 4 is used as digital Output Switch 2 Termination Resistor for RS485 on CMD 120R between pin 1 and 2 on X7 X8 on off Switch 3 CAN Termination on CMD 120R between pin 7 and 8 on X7 X8 on off Switch 4 CAN Termination on ME 120R between pin 7 and 8 on X10 X11 on off Factory setting all switches off 6 15 LEDs State Display 24V Logic Supply OK Error 24VOK Motor Enabled Error Code Low Nibble Warn EN Warning Error Code High Nibbl
12. e Error 6 16 RT BUS LEDs RT Bus LEDs RT Bus State Display Green OK Red Error The use of these LEDs depends on the type of fieldbus which is used Please see the corresponding manual for further information 6 17 S1 S2 S1 S2 Address Selectors E12x0 V1 E12x0 V2 51 5 8 Bus ID High 0 F Bit 5 is LSB bit 8 MSB 52 1 4 Bus ID Low 0 F Bit 1 is LSB bit 4 MSB The use of these switches depends on the type of fieldbus which is used Please see the corresponding manual for further information _ NTIAG LinMot 22 www LinMot com 14 22 LinMot Installation Guide 7 Error Codes Error Codes Error 24VOK Warn EN EXE NN Operation Normal Operation Enabled Warnings and operation enabled are displayed e 2Hz e 2Hz Error 0 15 x 0 15 x The error code is shown by a blink code with WARN and EN Error Code High Nibble e 2Hz 0 15 x Error Code High Nibble e 2Hz 0 15 x Error Code High Nibble meaning Error Code Low Nibble e 2Hz 0 15 x Error Code Low Nibble e 2Hz 0 15 x Error Code Low Nibble of the The error byte is divided into low and high nibble 4 bit WARN and EN are blinking together The error can be acknowledged e g WARN blinks 3x EN blinks 2x Error Code 32h Fatal Error The error code is shown by a blink code with WARN and EN The error byte is divided into low and high nibble
13. e has been disconnected Failure to observe these precautions may result in severe damage to electronic components in LinMot motors and or drives Do not switch Power Supply DC Voltage All power supply switching and E Stop breaks should be done to the AC supply voltage of the power supply Do not connect or disconnect the motors from drives with voltage present Wait to connect or disconnect motors until all LinMot drives LEDs have turned off Capacitors may not fully discharge for several minutes after power has been turned off Failure to observe these precautions may result in severe damage to electronic components in LinMot motors and or drives EB _ Page 4 22 LinMot Installation Guide 2 System Overview 9 1 2 3 RESISTOR POWERSTAGE LINEAR MOTOR SUPPLY ELT 2 80 DC 3x400VAC 8A 15A 25A 230VAC PHASE CURRENT 115VAC MOTOR SUPPLY BRUSHLESS DC MOTOR m 1 I L te PROFIBUS DP w PROFIBUS DP I pog OPTIONAL EXTERNAL POSITION SENSOR I ETHERNET E ID HIGH m L O ID LOW ENC ALARM 5VDC 10 100 MBaud INDUSTRIAL ETHERNET 10 100 MBaud INDUSTRIAL ETHERNET LIMIT SWITCH LIMIT SWITCH HOME SWITCH BRAKE OUTPUT 2 BRAKE E a 10 100 10 100 1 ROTARY MOTOR amp Configuration V Configuration PTC2 e SUPPLY PROTECTION ETHERNET 6
14. erms of Usage Agreement for the EtherNet IP Technology remains EtherNet4 IP asna conformance tested Certification Logo Mark Certification Word Mark This Declaration of Conformity is issued on February 2 2015 on behalf of ODVA by Katherine Voss Executive Director Vendor Information Vendor Name NTI Limited Test Information Test Date December 11 2014 Composite Test Revision Product Information Identity Object Instance Products Covered under this Declaration of Conformity Identity Object Instance 3 xe 100 28300 e CidsOPQNOS 12 101 NotTested 2613 D14501PVR0S 2614 D1450IPQDOS 2611 C1450IPONIS 2612 C1450IPOD05 2615 D1250IPXC0S Not Tested EtherNet IP and EtherMet IP CONFORMANCE TESTED lago mark and word mark are trademarks of ODVA Inc Copyright ODVA Inc 2004 2013 PUBOQOO33R7 www odwva org Page 1 of 1 20 22 LinMot Installation Guide B LinMot 13 Declaration of Conformity CE Marking Manufacturer NTIAG LinMot 9 Haerdlistrasse 15 8957 Spreitenbach Switzerland Tel 41 0 56 419 91 91 Fax 41 0 56 419 91 92 Products LinMot Drives Type Art No Type Art No Type Art No osoa Evseepuc _ The product must be mounted and used in strict accordance with the installation instruction contained within the installation guide a copy of which may be obtained from
15. her place AG LinMot than inside of the drive to reduce circular currents 7 Page 7 22 LinMot Installation Guide B 6 Description of the connectors Interfaces Protective Earth Use min 4mm AWG11 Tightening torque 2Nm 18 Ibin Motor Supply Regeneration Resistor GND 24 85VDC GND internally connected to controller housing external Fuse max 20AT Optional Regeneration Resistor external GND 24 85VDC Motor Supply Screw Terminals External Regeneration Resistor RRO1 10 60 Art Nr 0150 3088 External Fuse max 20AT Supply nominal 72VDC 24 85VDC See chapter Power Supply Requirements for compatible power supplies Absolute max Rating 72VDC 20 If motor supply voltage is exceeds 90VDC the drive will go into error state Tightening torque 0 5 0 6 Nm 4 4 5 3 Ibin Screw thread M2 5 Use 60 75 C copper conductors only Conductor cross section use only 2 5mm AWG 14 Stripping length 13 15mm Max length 4m J NTI AG LinMot yww LinMot com 8 22 LinMot Installation Guide LinMot Motor Phases LinMot Motor 3 phase EC Motor Motor Phase 1 Motor Phase U Motor Phase 1 Motor Phase V Motor Phase 2 Motor Phase W Motor Phase 2 Motor Phase X Shield Screw Terminals Tightening torque 0 5 0 6 Nm 4 4 5 3 Ibin Screw thread M2 5 Use 60 75 C copper conductors only Conductor cross section 0 5
16. n additional capacitor to the motor power supply It is recommended to use a capacitor gt 10 000 uF install capacitor close to the power supply Option B Install a regeneration resistor to X1 RR and RR The threshold value of the voltage depends on the used motor voltage power supply The max threshold value must not exceed 88 VDC Description Art No Item Capacitor 10 000 uF 100 V 0150 3075 Regeneration Resistor IR01 10 60 10 Ohm 60 W 0150 3088 Regeneration Resistor IRR01 10 150 10 Ohm 150 W 0150 3090 11 Ordering Information Description Art No POWERLINK Servo Drive 2VDC 32A 0150 1760 PROFINET Servo Drive 72VDC 32A 0150 1762 a o 70 s c O mm N O U Z 1250 PD UC 0150 2620 0150 1763 0150 1898 0150 2410 0150 1764 P ETHERNET IP Servo Drive 72VDC 32A 0150 1761 1250 LU UC 0150 2493 DP 0150 1766 Accessories Description Art No Isolated USB Isolated USB RS232 converter with config cable 0150 2473 RS232 converter Connector for X4 Connector MC 1 5 12 STF 3 5 delivered with drive 0150 3300 RS232 PC config For C1100 C1250 E1200 E1400 M8000 0150 2143 Cable 2 5m Isolated USB serial Isolated USB RS232 422 485 converter 0150 3120 converter 12 International Certifications HE IR UHR N N N Oo mio C ee O OO mimma y He C OIC O O Certifications See chapter
17. ntal Step Direction EIA TIA 568A colors A Step Green White A Step Green B Direction Orange White 2 Zero Blue Z Zero Blue White B Direction Orange CAN_H CAN_H Brown White CAN_L CAN_L Brown Shield Shield Use twisted pair 1 2 3 6 4 5 7 8 cable for wiring Master Encoder Inputs Diff RS422 max counting frequency 25 Mcounts s quadrature evaluation 40ns edge separation Master Encoder Outputs Amplified RS422 differential signals from Master Encoder IN X10 The CAN bus can be terminated with S5 4 All devices which are connected to X10 X11 must be referenced to the same ground NTI AG LinMot www LinMot com Page 11 22 LinMot 6 9 X13 External Position Sensor Differential Hall Switches SSI HN ABZ with Hall Switches Sin Cos 1Vpp with SSI Sin Cos Data Encoder Alarm W Clock Shield Shield DSUB 15 f Position Encoder Inputs RS422 Max counting frequency 25 Mcounts s with quadrature decoding 40ns edge separation Encoder Simulation Outputs RS422 Max Output Frequency 2 5MHz 5 M counts s with quadrature decoding 200ns edge separation Differential Hall Switch Inputs RS422 Input Frequency lt 1kHz Enc Alarm In 5V 1mA Sensor Supply 5VDC max 100mA 6 10 X15 X16 X15 X16 Config Ethernet 10 100 Mbit s Internal 2 Port 1OBASE T and 100BASE TX Ethernet Switch with Auto MDIX LEDs on the lower side of the device indic
18. ot www LinMot com Page 15 22 LinMot Installation Guide Backside Dimensions mm for mounting EI 2XO XX UC EI2XO XX UC Top Side E1200 Series single axis drive 9 Power Supply Requirements Motor Power Supply The calculation of the needed power for the Motor supply is depending on the application and the used motor The nominal supply voltage is 72 80 VDC The possible range is from 24 to 85VDC ATTENTION The motor supply can rise up to 95 VDC when braking This means that everything connected to that power supply needs a voltage rating of 100 VDC Additional capacitors etc Due to high braking voltage and sudden load variations of linear motor applications only specially designed power supplies can be used Compatible Power supplies Description For compatibility with other power supplies contact support linmot com Signal Power Supply The logic supply needs a regulated power supply of a nominal voltage of 24 VDC The voltage must be between 22 and 26 VDC Current consumption min 200mA no load on the outputs typ 1 1A all 10 outputs on with 100mA load and Brake with no load max 2 1A all 10 outputs on with 100mA load and Brake with 1A load 10 Regeneration of Power Regeneration Resistor There are two possibilities to deal with power regeneration LinMot Installation Guide EB Option A Connect a
19. wer Regeneration Resistor 18 11 Ordermg 18 12 International Certifications u 18 13 Declaration of Conformity CE Marking 20 14 Contact Addresses 21 LinMot f Page 3 22 LinMot Installation Guide EB 1 Important Safety Notes for E1200 Series Drives II AG LinMot E P P P P P CAUTION In order to assure a safe and error free operation and to avoid severe damage to system components all system components must be directly attached to a single ground bus that is earth or utility grounded see chapter 5 Power Supply and Grounding Each system component should be tied directly to the ground bus star pattern rather than daisy chaining from component to component LinMot motors are properly grounded through their power cables when connected to LinMot drives see chapter 5 Power Supply and Grounding All connectors must not be connected or disconnected while DC voltage is present Do not disconnect system components until all LinMot drive LEDs have turned off Capacitors in the power supply may not fully discharge for several minutes after input voltag
20. y signal PWR signal I alvanically Isolated Power Supply Min 4mm2 AWG12 A A A nside of the In order to assure a safe and error free operation and to avoid severe damage to system components all system components must be well grounded to either a single earth or utility ground This includes both LinMot and all other control system components on the same ground bus Each system component should be tied directly to the ground bus star pattern rather than daisy chaining from component to component LinMot motors are properly grounded through their power cables when connected to LinMot drives Power supply connectors must not be connected or disconnected while DC voltage is present Do not disconnect system components until all LinMot drive LEDs have turned off Capacitors in the power supply may not fully discharge for several minutes after input voltage has been disconnected Failure to observe these precautions may result in severe damage to electronic components in LinMot motors and or drives Do not switch Power Supply DC Voltage All power supply switching and E Stop breaks should be done to the AC supply voltage of the power supply Failure to observe these precautions may result in severe damage to the drive E1200 drive the PWR motor GND and PWR signal GND is connected together and to the GND of the drive housing It is recommended that the PWR motor GND is NOT grounded at anot
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