Installation Guide Controller Series E130/E230/E430
Contents
1. Mot D 4x e The slider is missing from the motor 6x e The initialization was not completed successfully 7x Incorrect motor type configured or damaged motor ex e A referenced motion profile for a motor is missing Selected motion profile not valid for actual drive type on LED is ON LED blinks shortly ca 4s off LED is OFF LED blinks longer 112s Contact Addresses NTI AG LinMot Tel 41 0 56 419 91 91 Haerdlistrasse 15 Fax 41 0 56 419 91 92 CH 8957 Spreitenbach E Mail office linmot com Schweiz Web www linmot com LinMot Inc Sales 877 546 3270 5750 Townline Road 262 743 2555 Elkhorn Tech Service 877 804 0718 WI 53121 262 743 1284 USA Fax 800 463 8708 262 723 6688 E Mail sales linmot usa com Web www linnmot usa com NTI AG Installation E130 E230 E430 series 28 07 2010 Page 12 122. Stop Breaker AC Mains w PWR motor Circuit Breaker Fuse Galvanically Isolated Power Supply Switch Mode Power Supply Transformer with Rectifier Bridge All wires 1 5mm2 AWG16 Instead of two separated power supplies it may be possible to use only one power supply if there is no need to control the signal power supply logical devices of the controller and the power supply of the powerstage for the motors independently see safety rules of the application 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 single earth or utility ground This includes both LinMot and all other control system components to 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 controllers Power supply connectors must_not be connected or disconnected while DC voltage is present Do not disconnect system components until all LinMot controller LED s have turned off Capacitors in the power supply may not fully discharge for several minutes after input voltage been disconnected Failure to observe these precautions may result in severe damage to electronic components in LinMot motors and or controllers Do not switch Power Supply D
3. 230 430 LinMot Error codes Error display When an error occurs it is displayed by means of the blinking of at least one of the four LEDs on the front of the servo controller Ready LED The Ready LED is ON as soon as the supply voltage for the processor is guaranteed and the system has started up correctly Communication with the PC over the serial interface is only possible when this LED is ON The following table summarizes the blink codes and their meaning LED Description Fault Stat A Stat B e 3Hz HW system error Hardware error in the servo controller 2x e 1Hz off off SW1 System error Software error in the servo controller The system software wasn t loaded successfully e 1Hz SW2 System error Software error in the servo controller The system software wasn t loaded successfully On e 2Hz 2Hz Generic fault The exact error message may be displayed with the error inspector 2x The supply voltage for the Power circuitry is too low 3x e The supply voltage for the Power circuitry is too high 4x e The supply voltage for the Signal circuitry is too low n 5x e The supply voltage for the Signal circuitry is too high 6x e The servo controller is too hot ex e Application Software Error see manual On 1x Mot A 1x e The motor is overloaded 2x Mot B 2x The motor is too hot Mot C 3x Following error 4x
4. AG Installation E130 E230 E430 series 28 07 2010 Page 9 12 Controller Series E130 230 430 LinMot E130 E230 E430 Single axes controller 2 axes controller 4 axes controller Width mm in 70 2 8 Height mm in 210 8 3 Height without fixings mm in 176 6 9 Depth mm in 119 4 7 Weight Kg Ib 1 1 2 4 1 2 2 7 1 3 2 9 Case IP 40 Storage Temperature C 25 70 Operating Temperature C 0 50 Max Case Temperature C 65 Power Supply Requirement Power Supply motor The calculation of the needed power for the Motor supply is depending on the application and the used motor s The following table shows a recommendation for general applications Controller Voltage Power LinMot Switched Power Supply Part Nr E100 1 motor 48 V 150W 501 48 150 0150 1940 200 Up to 2 motors 48 V 300 W 501 48 300 0150 1941 400 Up to 4 motors 48 V 300 W S01 48 300 0150 1941 Power Supply signal 24 48V 5W Regeneration of Power The Exxx controller don t use a regeneration resistor In most application the recuperated energy will not become an issue In cases where the motor power supply voltage will exceeds the voltage limits because of recuperation an additional capacitor between PWR motor and GND should be used Typical 227000 uF Ordering Information E130 DP Profibus Controller 1 Axis 48V 3A 0150 1621 E230 DP Profibus
5. C 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 controller e PRP NTI AG Installation E130 E230 E430 series 28 07 2010 Page 5 12 Controller Series E130 230 430 LinMot Description of the connectors Interfaces Power Connector 24 48vDC GND 24 48VDC Internal Internal Fuse 500mAT Fuse 10AT GND internally connected to n controller housing 1 PWR Signal 213 2 GND II 4 3 PWR Motor 4 M 5 o jam 2 5 a z 0 24 48VDC 24 48VDC Supply GND must be externally connected to earth Ground Bus Supply Supply Voltage 24 48VDC Absolute max Rating 48VDC 1096 Supply voltage for PWR Signal and PWR Motor may be different Motor Supply GND must be externally connected to earth Caution By exceeding 53VDC supply voltage the controller will go into error state Voltage higher than 55 VDC will damage the controller 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 supplies Power supply connectors must not be connected or disconnected while DC voltage is present Wiring 1 5 mm AWG16 max length 5 m Ready Green READY The system has started correctly Fault ne Stat A Yellow STATA Codi
6. Controller 2 Axis 48V 3A 0150 1622 E430 DP Profibus Controller 4 Axis 48 0150 1624 NTI AG Installation 130 230 430 series 28 07 2010 Page 10 12 Controller Series E130 230 430 LinMot Declaration of Conformity CE Marking Manufacturer NTI AG LinMot Haerdlistrasse 15 8957 Spreitenbach Switzerland Tel 41 0 56 419 91 91 Fax 41 0 56 419 91 92 Products LinMot Controllers Type Art No Type Art No Type Art No E130 DP 0150 1621 E230 DP 0150 1622 E430 DP 0150 1624 The product must be mounted and used in strict accordance with the installation instruction contained within the User s Manual a copy of which may be obtained from NTI Ltd 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 EMI EN 55011 Class A EN 61000 6 4 Electromagnetic EN 61000 4 2 4 kV 8kV Suspectibility EMC EN 61000 4 4 1 kV 2kV EN 61000 6 2 EN 61000 4 3 10 V m EN 61000 4 6 10 V ENV 50204 10 V m Company NTI Ltd Spreitenbach July 28 2010 Rohner CEO NTI AG NTI AG Installation E130 E230 E430 series 28 07 2010 Page 11 12 Controller Series E130
7. Controller Series E130 230 430 LinMot Installation Guide Controller Series E130 E230 E430 Products E130 DP E230 DP E430 DP Content IMPORTANT NOTES FOR E130 E230 E430 SERIES CONTROLLERS 2 SYSTEM OVERVIEW eset cas ese dsc 3 E130 SERIES FUNCTION AND WIRING c ceeee eere eren eee enean oe en enata sene tn sta 4 POWER SUPPLY AND GROUNDING anon eacc a aoti ouam rene pa iren Cn theta apu ooa 5 DESCRIPTION OF THE CONNECTORS INTERFACES 6 POWER SUPPLY 2 gt 10 ORDERING INFORMATION oe ntancun hos tpa 10 DECLARATION OF CONFORMITY CE MARKING 11 ERROR c 12 CONTACT ADDRESSES 5 12 NTI AG Installation E130 E230 E430 series 28 07 2010 Page 1 12 Controller Series E130 230 430 LinMot Important notes for E130 E230 E430 series controllers 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 E
8. ach 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 controllers All connectors must not be connected or disconnected while DC voltage is present Do not disconnect system components until all LinMot controller LED s have turned off Capacitors in the power supply may not fully discharge for several minutes after input voltage been disconnected Failure to observe these precautions may result in severe damage to electronic components in LinMot motors and or controllers 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 controllers with voltage present Wait to connect or disconnect motors until all LinMot controller LED s 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 controllers 2010 NTI Ltd 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 didacti
9. by your own double check motor wiring carefully before power up Do not connect or disconnect the motors from controllers with voltage present Wait to connect or dis connect motors until all LinMot controller LED s 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 se vere damage to electronic components in LinMot motors and or controllers GND 1k0 GND RS 232 TX 5 232 RX NTI AG RS232 9 6kBaud use 1 1 connection cable to PC Installation E130 E230 E430 series 28 07 2010 Page 7 12 Controller Series E130 230 430 LinMot DSUB 9 female 5V isolated GND isolated RxD TxD P RxD TxD N CNTR P Isolated 5V output max 50 mA ID High ID Low ID 1 Profibus address high ID 2 Profibus address low NTI AG Installation E130 E230 E430 series 28 07 2010 Page 8 12 Controller Series E130 230 430 LinMot Mechanical Dimension Dimensions Fixings for 2 x M5 screws Centers 194 Dimensions in mm Recommended mounting for multiple controller installation Fixings for 2 x M5 screws 100 50 L 50 100 NTI
10. cal use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG Note 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 NTI AG Installation E130 E230 E430 series 28 07 2010 Page 2 12 Controller Series E130 230 430 LinMot System Overview Power Supply Signal Profibus DP Power Suppl bs Address Signal PPly Profibus 24 48V gt gt lt Profibus DP Interface Power Supply Motor From AC Mains 1x115V AC di 1x230V AC RS232 Interface to PC for Configuration Power Supply Motor Vu 24 48 V From AC Mains 1x115V AC 1x230V AC ED Linear Motor with internal Position Feedback _ EE Complete E430 Controller based system E130 and E230 controllers will only drive one respectively two motors Power Supply for Signal and Motor may be the same device see later NTI AG Installation E130 E230 E430 series 28 07 2010 Page 3 12 Controller Series E130 230 430 LinMot E130 series Function and Wirin Motor Internal Hall Sensors Linear Motor Mot A addtional Motors B C D Power Supply motor Motor Phases Emergency Stop Break
11. er PWR motor AC Mains GND Clrcult Breaker Fuse 2 Phase Powerstage 24 48V DC 3A Phase Current Ground Bus 0 5mm2 AGW20 for Power Supply signal PWR signal Circuit Breaker Fuse signal components 5V isolated o ei N ee lo RxD TxD P 34 w 20 o RxD TxD N 34 oo w amp Use only special Profbus ad Com RS232 cables and connectors GND isolated o use only shielded cables use special double shielded Linear Motor cable see catalogue Hall Sensors Temp Sensor pes Profibus ID Addresses S Uld S Uld Uld Uld Z Uld Z ajqeo esn uopoeuuo2 Jd ZEZSH 10 ID Low Picture shows typical wiring of a single axes controller Multiple axes controller will have additional motor connectors NTI AG Installation E130 E230 E430 series 28 07 2010 Page 4 12 Controller Series E130 230 430 LinMot Power Supply and Groundin Power Supply signal Fault Ready PWR signal lat B 25 ID High AC Mains Circuit Breaker Fuse Galvanically Isolated Power Supply Switch Mode Power Supply Transformer with Rectifier Bridge Ground Bus Power Supply motor Emergency
12. ng for the actual operating state Stat B Yelllow STAT B_ Coding for the actual operating state The display of the various operating states is shown on the last page of this manual FAULT error has occurred Fault red In the state ERROR a blink code of the STAT LEDs A and B tells what the actual error is The blink codes are explained in chapter Service of the user Manual NTI AG Installation E130 E230 E430 series 28 07 2010 Page 6 12 Controller Series E130 230 430 LinMot DSUB 9 female Mot A B C D GND GND 5VDC 5VDC GND S gs N N Outer shield connected A to connector housing ay ol o o 9 o 2 g 8 a Sz ela g c c Bb O amp 5 a lt 0 O A black Y 7 green yellow inner shield white grey blue pink Extension Cable gt gt o DSUB 9 male Note Use only special double shielded Linear Motor Cable see datasheet extension cables Use 5V Pin 3 and AGND Pin 8 only for motor internal Hall Sensor supply max 100mA Do NOT connect AGND Pin 8 to ground or earth Inner shield AGND and outer shield earth must be isolated to each other Wrong Motor wiring may damage Linear Motors and or Servo Controller If you are assembling motor cables
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