Installation Guide Controller Series E1031/E2031/E4031 V3
Contents
1. Red 7 Segment Display Power Supply Motor Wiring 2 5 mm AWG12 max length 5 Nominal Supply Voltage 72VDC 24 85VDC Absolute max Rating is 92 VDC Motor Supply PGND should NOT be externally connected to earth Power Supply Signal Wiring 1 5 mm AWG16 max length 5 m Supply Voltage 24 48VDC Absolute max Rating 48VDC 10 Caution By exceeding 53VDC Power Supply Signal the controller will go into error state voltage higher than 55 VDC will damage the controller By exceeding 92 VDC Motor Supply Signal the controller will go into error state voltage higher than 100VDC 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 Description Firmware stopped 0 WAIT FOR DISABLE State 1 DISABLE State Init not Done 2 DISABLE State Init Done 7 STOP State 8 RUN State 9 INIT State Exxxx Error State See Chapter Error Codes on page 14 for further description If a warning is active the display is blinking NTI AG Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 6 17 Controller Series E1031 2031 4031 V3 LinMot GND GND 5VDC 5VDC GND Mot A B C D 2k2 2k2 10k2. Outer shield connected A AoA 4 2 8 8 S 2 el 2 2 6 lt nj oer black rv 7 green yellow I inner shield white grey blue pink red Extension Cable A A SO DSUB 9 male ID High S1 ID Low 52 ID for DP CAN Oo Note Use only special double shielded Linear Motor Cable see datasheet extension cables Use 5V Pin 3 and AGND Pin 6 only for motor internal Hall Sensor supply max 100mA Do NOT connect AGND Pin 6 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 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 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 Depending on the environment the outer shield of the motor cable should be directly connected to the control cabinet where the controller is built in to get the b
3. 6 B Direction Orange 7 VCC ENC VCC ENC Brown White 8 GND ENC GND ENC Brown case Shield Shield Further details can be found on the Master Encoder User manual Adapter Cable from RJ45 to DSUB 9 which was used on the Master Encoder Extension Board on the E4000 series controller has article number 0150 1866 Incremental Step Direction Loop Through EIA TIA 568A colors 1 A Step Link A pin 1 Green White 2 A Step Link A pin 2 Green 3 B Direction Link A pin 3 Orange White 4 Z Zero Link A pin 4 Blue 5 Z Zero Link A pin 5 Blue White 6 B Direction Link A pin 6 Orange 7 VCC ENC VCC ENC VCC ENC Brown White 8 GND ENC GND ENC VCC ENC Brown case Shield Shield Shield Further details can be found on the Master Encoder User manual Adapter Cable from RJ45 to DSUB 9 which was used on the Master Encoder Extension Board on the E4000 series controller has article number 0150 1867 ME Control I O sz 9 5 8 SPry B SPry ME Link A ME Link B NTI AG Bottom view of the master encoder connectors Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 9 17 Controller Series E1031 2031 4031 V3 LinMot Mechanical Dimension Dimensions E1031 E2031 E4031 Single axes controller 2 axes controller 4 axes controller Width mm in 60 2 4 Height mm in 330 1
4. Request ISR Reset FREEZE Request IFR Internal Signals Abbreviation DRIVE INIT NOT DONE DIND ERROR PENDING EP WARNING PENDING WP Page 16 17 Controller Series E1031 2031 4031 V3 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration Tech Support Tech Support Skype Fax Web 41 0 56 419 91 91 office linmot com 41 0 56 544 71 00 support linmot com skype support linmot 41 0 56 419 91 92 http Awww linmot com LinMot Inc 5750 Townline Road Elkhorn WI 53121 Sales and Administration Tech Support Fax E Mail Web 877 546 3270 262 743 2555 877 804 0718 262 743 1284 800 463 8708 262 723 6688 us sales linmot com http www linmot usa com Please visit http www linmot com to find the distribution near you Smart solutions are NTI AG www LinMot com Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 17 17
5. 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 Failure to observe these precautions may result in severe damage to controller PPE NTI AG Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 5 17 Controller Series E1031 2031 4031 V3 LinMot Description of the connectors Interfaces Motor Supply GND 72VDC 24 85VDC GND RR RR Internal Fuse 1001 PWR GND internally 16AT E2001 E4001 connected to PGND controller housing 1 2 314 Gi t y 2 2 T Optional Regeneration Resistor external GND 72VDC 24 85VDC GON Motor Supply Tightening torque min 0 4Nm Screw thread M 2 5 Conductor cross section max 2 5mm Internal Fuse 4031 2031 16AT Schurter SMD SPT 0001 2716 xx UL File Number E41599 E1001 8AT Schurter SMD SPT 0001 2713 xx UL File Number E41599 Logic Supply Pin 2 Power Supply Signal 24VDC 22 53VDC 1 Logic GROUND 24VDC 5 Plug component Phoenix Contact 1 5 2 STF 3 81 DGND Tightening torque min 0 22Nm Screw thread M 2 Conductor cross section max 1 5mm Internal Fuse Schurter OMT125 3404 0118 xx UL File Number E41599
6. 2031 E4031 V3 series 28 07 2010 Page 1 17 Controller Series E1031 2031 4031 V3 LinMot Important notes for E1031 E2031 E4031 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 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 All connectors must not be connected or disconnected while DC voltage is present Do not disconnect system components until all LinMot controllers LED s 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 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 connect or disconnect the motors from controllers with voltage present Wait to connect or disconnect motors until all LinMot controllers LED s have turned off Capacitors may not fully discharge for several minutes after power has been turned off Failure to observe the
7. 28 07 2010 Page 12 17 Controller Series E1031 2031 4031 V3 Declaration of Conformity CE Marking Manufacturer NTI AG LinMot Haerdlistrasse 15 CH 8957 Spreitenbach Switzerland Tel 41 0 56 419 91 91 Fax 41 0 56 419 91 92 Products LinMot Controllers E1001 series Type Art No Type Art No Type Art No E1031 DP 0150 2316 E2031 DP 0150 2317 E4031 DP 0150 2319 E1031 DP ME 0150 2336 E2031 DP ME 0150 2337 E4031 DP ME 0150 2339 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 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 EMI EN 55011 Class A EN 61000 6 4 Electromagnetic EN 61000 4 2 4 kV 8kV Susceptibility 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 AG Spreitenbach July 28 2010 R Rohner CEO NTI AG NTI AG Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 13 17 Controller Series E1031 2031 4031 V3 Error codes In the Error State the controller displays the e
8. 3 Height without fixings mm in 296 11 7 Depth mm in 178 7 Weight Kg Ib 2 5 5 5 Case IP 20 Storage Temperature C 25 40 Transport Temperature C 25 70 Operating Temperature C 0 40 Max Case Temperature C 65 NTI AG Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 10 17 Controller Series E1031 2031 4031 V3 LinMot Power Supply Requirement Power Supply motor The calculation of the needed power for the motor supply depends on the application and the used motor The nominal supply voltage is 72 VDC The possible range is from 24 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 Power supply itself additional capacitors etc For the same reason the 24VDC supply for the signal shall not be connected together with the motor supply If the motor is supplied with 24 VDC this must be an additional independent power supply Recommended Power supplies Item Description Art No T01 72 420 72VDC 15A peak 420VA 3x400VAC 0150 1966 T01 72 420 US 72VDC 15A peak 420VA 3x230VAC 0150 1967 T01 72 900 72VDC 30A peak 900VA 3x400VAC 0150 1842 T01 72 900 US 72VDC 30A peak 900VA 3x230VAC 0150 1843 T01 72 1500 72VDC 2x30A peak 1500VA 3x400VAC 0150 1844 T01 72 1500 US 72VDC 2x30A peak 1500VA 3x230VAC 0150 1845 Power Supply signal The lo
9. 7 2010 Page 4 17 Controller Series E1031 2031 4031 V3 LinMot Power Supply and Groundin Power Supply signal PWR signal AC Mains Circuit Breaker Fuse 20 Galvanically Isolated Power Supply Switch Mode Power Supply for example S01 24 150 Power Supply motor Emergency Stop Breaker PWR motor AC Mains P av Circuit Breaker Fuse Ground Bus Galvanically Isolated Power Supply Switch Mode Power Supply for example S01 72 600 Transformer with Rectifier Bridge for example T01 72 900 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 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 controllers LED s 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
10. Controller Series E1031 2031 4031 V3 LinMot Installation Guide Controller Series E1031 E2031 E4031 V3 Products E1031 DP ME E2031 DP ME E4031 DP ME Content IMPORTANT NOTES FOR E1031 E2031 E4031 SERIES CONTROLLERG 2 SYSTEM OVERVIEW ss ssoso5ss ooosss0vs00s565 oss0 s00ssoos5 sso0 ssosssosssssooos v snsssssenosss ssosorsssenes sssserossss 3 E1031 SERIES FUNCTION AND WIRING ccscsssssscsesscssssscesessssessssessssssessesesseseseres 4 POWER SUPPLY AND GROUNDING esessssosesssessososcscosososessseseososcssosososessssososcseososesessss 5 DESCRIPTION OF THE CONNECTORS INTERFACES 6 MECHANICAL DIMENSION sessosessosososeseseososcscosososcssssssososcscosososessssssososcosososessssssososeseose 10 POWER SUPPLY REQUIREMENT 11 REGENERATION OF POWER REGENERATION 11 ORDERING 12 DECLARATION OF CONFORMITY 13 ERROR CODES 0os ss ssos s0ovsoos voso5s 0ss0osdssso00 s5oss0oss5s0o005550ss505 snsr ssssasos sessosssrssnssssssnrssssesese k 14 STATE MACHINE E E E 16 CONTACT ADDRESSES oossssssooossosooosssossooosororsosoronseorsonororsrsosororsenrrorsrsrssnorornssrrorsrssssnsrer0nn en 17 NTI AG Installation E1031 E
11. ce see later NTI AG Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 3 17 Controller Series E1031 2031 4031 V3 LinMot E1031 series Function and Wirin Motor Internal Linear Motor Hall Sensors Mot A addtional Motors B C D Power Supply motor i 8 AT E1031 i Emergency 16 AT else 2 Phase Powerstage s F AC Mains Stop Breaker PWR motor 3 a EAA _ Er 72VDC 24 85VDC Circuit Breaker 8A Phase Current Fuse min 0 5mm2 AGW20 for 3A signal components s ig 32 2g 8 PWR signal lt AC Mains 23 av S 38 FE 5 Fuse 23 es 8 3 mav 5 5 no a 5 2 5V isolated 0 5V 9 8 79 z I RxD TxD P RxD TxD N _ CNTR P f den 2 RS232 use only special Profibus cables and connectors GND isolated em use only shielded cables RS232 E1031 Controller Profibus ID Addresses BSN Jd ZEZSH 10 S Uld S Uld Uld Uld Z Uld Z Uld i Picture shows typical wiring of a single axes controller Multiple axes controller will have additional motor connectors NTI AG Installation E1031 E2031 E4031 V3 series 28 0
12. d Over Temperature E020B Drive B AGND or 5VDC Fuse Blown E0301 Drive C Too Hot Calculated E0302 Drive C Too Hot Sensor E0303 Drive C Following Error E0304 Drive C Slider Missing E0306 Drive C Init Failed E0307 Drive C Drive Type Mismatch E0308 Drive C Curve Error E0309 Drive C Board Over Current E030A Drive C Board Over Temperature E030B Drive C AGND or 5VDC Fuse Blown E0401 Drive D Too Hot Calculated E0402 Drive D Too Hot Sensor E0403 Drive D Following Error E0404 Drive D Slider Missing E0406 Drive D Init Failed E0407 Drive D Drive Type Mismatch E0408 Drive D Curve Error NTI AG Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 14 17 Controller Series E1031 2031 4031 V3 NTI AG Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 15 17 Controller Series E1031 2031 4031 V3 State Machine FIRMWARE STOPPED Power Down Stop Firmware WAIT FOR DISABLE 0 Input signals have to be activated in the parameter tree RUN signal is set in state SETUP For changing into the state DISABLE the RUN signal must be cleared from the active interface NTI AG Installation E1031 E2031 E4031 V3 series 28 07 2010 Power Up Start Firmware Input Signals DRIVE INIT 9 R Abbreviation Set INIT Request IR Set RUN Request RR Set STOP Request SR Set FREEZE Request FR Reset INIT Request IIR Reset RUN Request IRR Reset STOP
13. est EMC results 100R 4 A RS 485 Y TX RS 485 Z Tx 1 N CANL RS 485 A RX RS 485 B RX GND RS 232 TX RS 232 RX A Use 1 1 Cable to connect to PC NTI AG RS232 9 6kBaud use 1 1 connection cable to PC CAN needs external termination see manual Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 7 17 Controller Series E1031 2031 4031 V3 DSUB 9 female 5V isolated RxD TxD P RxD TxD N CNTR P GND isolated Isolated 5V output max 50 mA NTI AG Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 8 17 Controller Series E1031 2031 4031 V3 DSUB 25 female RJ45 8 RJ45 8 Pin 1 2 5V ENC OUT 3 a 4 DIG IN 2 5 DIG IN 4 6 DIG IN 6 7 DIG IN 8 8 9 DIG OUT 1 10 DIG OUT 3 11 DIG OUT 5 12 DIG OUT 7 13 GND DIG OUT 14 VCC ENC IN 15 GND ENC 16 DIG IN 1 17 DIG IN 3 18 DIG IN 5 19 DIG IN 7 20 GND DIG IN 21 VCC DIG OUT 22 DIG OUT 2 23 DIG OUT 4 24 DIG OUT 6 25 DIG OUT 8 LinMot Further details can be found the Master Encoder User manual Incremental Step Direction EIA TIA 568A colors 1 A Step Green White 2 A Step Green 3 B Direction Orange White 4 Z Zero Blue 5 Z Zero Blue White
14. gic supply needs a regulated power supply of a nominal voltage of 24 VDC The voltage must be between 22 and 48DC Power consumption 10W Regeneration of Power Regeneration Resistor There are two possibilities handle power regeneration Option A Connect an additional capacitor to the motor power supply It is recommended to use a capacitor gt 10 000 pF 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 Item Description Art No Capacitor Capacitor 10 000 uF 100 V 0150 3075 Regeneration Resistor RRO1 10 60 10 Ohm 60 W 0150 3088 Regeneration Resistor RRO1 10 150 10 Ohm 150 W 0150 3090 NTI AG Installation E1031 E2031 E4031 V3 series 28 07 2010 Page 11 17 Controller Series E1031 2031 4031 V3 Ordering Information E1031 DP Profibus DP Controller 1 Axis 72V 8A 0150 2316 E1031 DP ME Profibus DP Controller 1 Axis 72V 8A with integrated ME 0150 2336 E2031 DP Profibus DP Controller 2 Axis 72V 8A 0150 2317 E2031 DP ME Profibus DP Controller 2 Axis 72V 8A with integrated ME 0150 2337 E4031 DP Profibus DP Controller 4 Axis 72V 8A 0150 2319 E4031 DP ME Profibus DP Controller 4 Axis 72V 8A with integrated ME 0150 2339 NTI AG Installation E1031 E2031 E4031 V3 series
15. rror code by the 7 segment display Code Description o ooo E E0001 Missing or invalid parameter tree E0002 Missing or invalid application E0003 Controller type not supported E0004 MT command interface not available E0005 Timer watchdog error E0006 Trap class A error E0007 Trap class B error E0008 No master found for slave motor E0009 No external sensor defined E000A External sensor not allowed on channel D E000B The application software needs an MT Electronics E000C Noise Dead Band is not supported on this device revision must be set to 0mm E0010 DCLV Power Too Low E0011 DCLV Power Too High E0012 DCLV Signal Too Low E0013 DCLV Signal Too High E0014 Electronic Fault E0015 HW Error Internal 12V missing E0101 Drive A Too Hot Calculated E0102 Drive A Too Hot Sensor E0103 Drive A Following Error E0104 Drive A Slider Missing E0106 Drive A Init Failed E0107 Drive A Drive Type Mismatch E0108 Drive A Curve Error E0109 Drive A Board Over Current E010A Drive A Board Over Temperature E010B Drive A AGND or 5VDC Fuse Blown E0201 Drive B Too Hot Calculated E0202 Drive B Too Hot Sensor E0203 Drive B Following Error E0204 Drive B Slider Missing E0206 Drive B Init Failed E0207 Drive B Drive Type Mismatch E0208 Drive B Curve Error E0209 Drive B Board Over Current E020A Drive B Boar
16. se 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 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 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 E1031 E2031 E4031 V3 series 28 07 2010 Page 2 17 Controller Series E1031 2031 4031 V3 System Overview 4031 DP Power Supply Signal Power Supply Signal nom 24VDC Interfaces to PLC or PC Interfaces to PLC or PC T From AC Mains Power Supply Motor RS232 Interface to PC for Configuration Power Supply Motor nom 72VDC From AC Mains Linear Motor with internal Position Feedback Complete E4031 Controller based system E1031 and E2031 controllers will only drive one respectively two motors Power Supply for Signal and Motor may be the same devi
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