LinMot B1100-PP User manual
inMot Installation Guide
© 2012 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.
Document version 3.16/ Ro February 2012
NTI AG / inMot®www. inMot.com Page 2/19
B1100 Installation Guide
inMot Installation Guide
Table of Content
1 Important safety notes for B1100 series controllers....................................................4
2 System Overvie .............................................................................................................5
3 B1100 Interfaces...............................................................................................................6
4 Functionality.....................................................................................................................7
5 Soft are............................................................................................................................7
6 Po er Supply and Grounding........................................................................................8
7 Description of the connectors / Interfaces....................................................................9
7.1 X1................................................................................................................................9
7.2 X2................................................................................................................................9
7.3 X3..............................................................................................................................10
7.4 X5..............................................................................................................................11
7.5 X7 - X8......................................................................................................................12
7.6 X13............................................................................................................................12
7.7 X14............................................................................................................................13
7.8 LEDs.........................................................................................................................14
7.9 S4..............................................................................................................................14
8 Physical Dimension.......................................................................................................15
9 Po er Supply Requirement..........................................................................................16
10 Ordering Information...................................................................................................17
11 International Certifications..........................................................................................17
12 Declaration of Conformity CE-Marking......................................................................18
13 Contact Addresses......................................................................................................19
NTI AG / inMot®www. inMot.com Page 3/19
B1100 Installation Guide
inMot Installation Guide
1 Important safety notes for B1100 series controllers
C A U T I O N !
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 po er cables hen
connected to LinMot controllers).
All connectors must not be connected or disconnected hile DC voltage
is applied. Do not disconnect system components until all LinMot
controllers LEDs have turned off. (Capacitors in the po er 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 s itch Po er Supply DC Voltage. All po er supply s itching and
E-Stop breaks should be done to the AC supply voltage of the po er
supply.
Do not connect or disconnect the motors from controllers hile voltage
is applied. Wait to connect or disconnect motors until all LinMot
controllers LEDs have turned off. (Capacitors may not fully discharge for
several minutes after po er has been turned off).
Failure to observe these precautions may result in severe damage to
electronic components in LinMot motors and/or controllers.
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B1100 Installation Guide
inMot Installation Guide
2 System Overvie
Typical servo system B1100-XX-YY: Servo controller motor and power supply.
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B1100 Installation Guide
inMot Installation Guide
3 B1100 Interfaces
B1100-PP-XX
B1100-VF-XX
B1100-GP-XX
Connector
X1 Motor Supply ● ● ●
X2 Motor Phases (Screw Terminals) ● ● ●
X3 Motor / Motor Signals ● ● ●
X5 Com / Config RS232 RS485 CAN ● ● ●
X7 RS485 / CAN In ● ● ●
X8 RS485 / CAN Out ● ● ●
X13 External/Simulated Position Encoder
Diff Hall Switches ● ● ●
X14 6 Digital Inputs
6 Digital Outputs
Analog In 0..10V
Analog In –10V.. +10V
Diff Step Dir zero
24V Logic Supply
● ● ●
LED State Indicator ● ● ●
S4 Bus Termination ● ● ●
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B1100 Installation Guide
inMot Installation Guide
4 Functionality
B1100-PP
B1100-PP-HC
B1100-PP-XC
B1100-VF
B1100-VF-HC
B1100-VF-XC
B1100-GP
B1100-GP-HC
B1100-GP-XC
Supply Voltage
Motor Supply 72VDC (24...85VDC) ● ● ● ● ● ● ● ● ●
Logic Supply 24VDC (22...26VDC) ● ● ● ● ● ● ● ● ●
Motor Phase Current
8A peak / 6A rms ● ● ●
15A peak / 9A rms ● ● ●
25A peak / 12A rms ● ● ●
Controllable Motors
LinMot P01-23x… ● ● ● ● ● ● ● ● ●
P01-37x… ● ● ● ● ● ● ● ● ●
P01-48x… ● ● ● ● ● ● ● ● ●
DC Motors ● ● ● ● ● ● ● ● ●
Brushless DC / EC Motors ● ● ● ● ● ● ● ● ●
Command Interface
Easy Steps Max. 6 Commands ● ● ● ● ● ● ● ● ●
+/-10V Current Command Interface ● ● ● ● ● ●
Step Direction Indexer Interface ● ● ● ● ● ●
Cmd Tab IO Interface (X14-IOs)
(with EasySteps) ● ● ● ● ● ●
RS232 up to 115.2 kBaud ● ● ●
RS485 up to 115.2 kBaud ● ● ●
CANOpen up to 1MBaud ● ● ●
DeviceNet 125 250 500 kBaud ● ● ●
External Position Sensor
Incremental RS422 up to 2 MHz ● ● ● ● ● ● ● ● ●
Position Indexer Input
Step Dir Zero/ ABZ RS422 up to 2 MHz ● ● ● ● ● ●
Position Encoder Simulation
AB RS422 up to 2.5 MHz ● ● ● ● ● ●
Configuration
RS232 Configuration ● ● ● ● ● ● ● ● ●
CAN Multi Axes Configuration ● ● ● ● ● ● ● ● ●
5 Soft are
The configuration software LinMot-Talk is free of charge and can be downloaded
from the LinMot homepage.
For fast results see also the quick start guides and configurations for the B1100-PP
and B1100-VF controllers:
•QuickStartGuide_B1100-PP.pdf
•QuickStartGuide_B1100-VF.pdf
This quick start guides are distributed with the LinMot-Talk software.
NTI AG / inMot®www. inMot.com Page 7/19
B1100 Installation Guide
inMot Installation Guide
6 Po er Supply and Grounding
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.)
Po er supply connectors must not be connected or disconnected hile
DC voltage is present. Do not disconnect system components until all LinMot
controllers 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 controllers.
Do not s itch Po er 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.
* Inside of the B1100 controller the PWR motor GND and PWR signal GND is connected together and to the GND of the
controller housing. It is recommended that the PWR motor GND is NOT grounded at another place than inside of the
controller to avoid circular currents.
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B1100 Installation Guide
inMot Installation Guide
7 Description of the connectors / Interfaces
7.1 X1
X1 Motor Supply
Screw Terminals Motor Supply: 72VDC nominal 24...85VDC
Absolute max. Rating: 72VDC +20%.
External Fuse: 10AT for LC (8Apeak) 16AT for HC and XC (15A/25Apeak) servos.
If motor supply voltage exceeds 90VDC the controller will go into error state.
- Tightening Torque: min 0.4Nm
- Screw Thread: M 2 5
- Use 60/75°C copper conductors only
- Conductor Cross-Section 2.5mm2 (AWG14) max Length 4m
7.2 X2
X2 Motor Phases
PH1+ /U
PH1- /V
PH2+ /W
PH2-
SCRN
LinMot Motor: 3-phase EC-Motor:
Motor Phase 1+ red Motor Phase U
Motor Phase 1- pink Motor Phase V
Motor Phase 2+ blue Motor Phase W
Motor Phase 2- grey
Shield
Screw Terminals The motor phases are present at X2 and X3. It is recommended to use X2. It is only allowed to use X3 for
connecting motor phases if RMS current is below 2A and peak current is below 4A.
Never connect motor phases on X2 and X3!
- Tightening Torque: min 0.4Nm
- Screw Thread: M 2 5
- Conductor Cross-: max. 2.5mm2 (AWG14) Length < 30m
- Use 60/75°C copper conductors only
NTI AG / inMot®www. inMot.com Page 9/19
B1100 Installation Guide
inMot Installation Guide
7.3 X3
X3 Motor
1
2
3
4
5
6
7
8
9
case
LinMot Motor: 3-phase EC-Motor:
Motor Phase 1+
Motor Phase 2+
+5VDC +5VDC (Hall Supply)
Sensor Sine Hall 1
Temp. In Hall 3
Motor Phase 1-
Motor Phase 2-
AGND AGND (Hall Supply)
Sensor Cosine Hall 2
Shield
DSUB-9 (f) Note:
Use +5V (X3.3) and AGND (X3.8) only for motor internal hall sensor supply (max. 100mA). Cable length <
30m.
Caution:
Do NOT connect AGND (X3.8) to ground or earth!
It is only allowed to use X3 for connecting the motor phases if RMS current is below 2A and peak current
below 4A.
Motor Wiring for Phase Currents above 2A RMS or 4A peak (recommended general iring)
Important:
If motor phase current exceeds 2ARMS or 4Apeak, motor phases must be ired to X2!
NTI AG / inMot®www. inMot.com Page 10/19
B1100 Installation Guide
inMot Installation Guide
Motor iring for Phase Currents belo 2A RMS and 4A peak
Important:
Motor phases may only be connected to X3 if RMS current is belo 2A and peak current is belo
4A!
7.4 X5
X5 COM / Config
1
2
3
4
5
6
7
8
9
case
RS485_Tx+ Y
RS232_Tx
RS232_Rx
RS485_Rx+ A
GND
RS485_Rx- B
RS485_Tx- Z
CAN_L
CAN_H
Shield
DSUB-9 (m) RS232: Configuration on all controllers: use 1:1 connection cable to PC with only pins 2 3 and 5
connected. Use LinMot RS configuration cable (Art.-No. 0150-3307). Cable length < 30m.
NTI AG / inMot®www. inMot.com Page 11/19
B1100 Installation Guide
inMot Installation Guide
7.5 X7 - X8
X7 - X8 RS485/CAN
1
2
3
4
5
6
7
8
case
RS485_Rx+ A
RS485_Rx- B
RS485_Tx+ Y
GND
GND
RS485_Tx- Z
CAN_H
CAN_L
Shield
RJ-45 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 S4.2 and S4.3.
X7 is internally connected to X8 (1:1 connection). Cable length < 30m.
7.6 X13
X13 External Position Sensor Differential Hall S itches
1
9
2
10
3
11
4
12
5
13
6
14
7
15
8
case
+5V DC
A+
A-
B+
B-
Z+
Z-
Encoder Alarm
GND
U+
U-
V+
V-
W+
W-
Shield
DSUB-15 (f) Position Encoder Inputs ( RS422):
Max Input Frequency: 2MHz 4 M counts/s with quadrature decoding 240ns 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: <1kHz
Enc. Alarm In:
5V / 1mA
Sensor Supply:
5VDC max 100mA
Cable length < 30m.
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B1100 Installation Guide
inMot Installation Guide
7.7 X14
X14 24VDC Supply and IOs
DSUB-25 (f) Logic Supply:
Switch Mode Power Supply: 24VDC (22...26VDC)
External Fuse: 2AT
All Digital Inputs:
Direct interfacing to digital 24VDC PLC outputs.
Input Current: 1mA
Logic Levels: Low Level: guaranteed: -5 to 5VDC typically < 8VDC
High Level guaranteed: 20..30VDC typically > 16VDC
Sample Rate: 400us
All Digital Outputs:
Short circuit and overload protected high side switches.
Voltage: 24VDC
Update Rate: 400us
Max. Current: 100mA / 500mA for X14.17
Peak Current: 370mA / 1100mA for X14.17
Outputs may directly drive inductive loads. Do not connect any capacity because of the peak current!
Analog Input on X14.20:
Range: 0V..+10V 10Bit ADC
Sample Rate: 400us
Differential Analog Input on X14.8 X14.21 X14.9 Shield:
Range: -10V..+10V 10Bit ADC
Sample Rate: 400us
Differential Step Dir Zero:
Indexer Inputs: RS422 Max. Input Frequency: 2MHz 4 M counts/s with quadrature decoding 240ns
edge separation
Cable length < 30m.
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B1100 Installation Guide
inMot Installation Guide
7.8 LEDs
LEDs State Display
Green
Red
24V Logic Supply OK
Error
● ~0.5Hz Green On
Red blinking
Signal Supply 24V too lo :
The error LEDs blinks slowly if the signal supply +24VDC (X14.25) is less than 18VDC.
7.9 S4
S4 Bus Termination
S4 Switch 4: Bootstrap
Switch 3: Termination CAN on/off
Switch 2: Termination RS485 on/off
Switch 1: RS232 (switch “off” / RS485 “on”). Selection for RS232 or RS485
Factory settings: Switch 3 “on” all other switches “off”
NTI AG / inMot®www. inMot.com Page 14/19
B1100 Installation Guide
inMot Installation Guide
8 Physical Dimension
B1100 Single axis controller
Width mm (in) 31 (1.3)
Height mm (in) 166 (6.6)
Height with fixings mm (in) 206 (8.1)
Depth mm (in) 106 (4.2)
Weight g (lb) 700 (1.6)
Case IP 20
Storage Temperature °C -25…40
Transport Temperature °C -25…70
Operating Temperature °C 0…40 at rated data
40…50 with power derating
Relative humidity 95% (non-condensing)
Max. Case Temperature °C 70
Max. Power Dissipation W 30
Distance between
Controllers
mm (in) 20 (0.8) horizontal
50 (2) vertical
( ) dimensions in inch
NTI AG / inMot®www. inMot.com Page 15/19
B1100 Installation Guide
inMot Installation Guide
9 Po er Supply Requirement
Motor Po er Supply
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 to 85 VDC.
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…)
To provide short circuit power limitation it is required to use an external fuse
(10AT for blank labeled (LC) and 16AT for HC and XC labeled controllers).
Recommended Po er 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
S01-72/500 72VDC 500W 750W peak 1x100..120VAC/200..240VAC 0150-1874
S01-72/1000 72VDC 1000W 2000W peak 3x380..500VAC 0150-1872
Signal Po er Supply
The logic supply needs a regulated power supply with 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. 0.5A (all 6 outputs “on” with 50mA load and /Break with no load)
Max. 1.2A (all 6 outputs “on” with 100mA load and /Break with 0.5A load)
To limit the po er in case of malfunction,
it is required to use an external fuse (2AT)!
NTI AG / inMot®www. inMot.com Page 16/19
B1100 Installation Guide
inMot Installation Guide
10 Ordering Information
Servo Controller Description Art. No.
B1100-GP General Purpose Controller 72VDC/8A 0150-1737
B1100-GP-HC General Purpose Controller 72VDC/15A 0150-1738
B1100-GP-XC General Purpose Controller 72VDC/25A 0150-1741
B1100-PP Point to Point Controller 72VDC/8A 0150-1735
B1100-PP-HC Point to Point Controller 72VDC/15A 0150-1736
B1100-PP-XC Point to Point Controller 72VDC/25A 0150-1740
B1100-VF Current Command Controller 72VDC/8A 0150-1685
B1100-VF-HC Current Command Controller 72VDC/15A 0150-1686
B1100-VF-XC Current Command Controller 72VDC/25A 0150-1739
Accessories Description Art. No.
RS232 Config
Cable
AC01-Df/Df-2-RS1
RS232 Config Cable DSUB9 f/f 2m (2-2/3-3/5-5)
0150-3307
11 International Certifications
Certifications
Europe See chapter “Declaration of Conformity CE-Marking“
NTI AG / inMot®www. inMot.com Page 17/19
B1100 Installation Guide
inMot Installation Guide
12 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.
B1100-GP 0150-1737 B1100-VF 0150-1685 B1100-PP 0150-1735
B1100-GP-HC 0150-1738 B1100-VF-HC 0150-1686 B1100-PP-HC 0150-1736
B1100-GP-XC 0150-1741 B1100-VF-XC 0150-1739 B1100-PP-XC 0150-1740
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 NTI Ltd.
I 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
Criteria
Immunity for industrial environment
EN 61000-4-2 B Electrostatic discharge immunity (ESD)
EN 61000-4-3 A Radiated electromagnetic field immunity
EN 61000-4-4 B Fast transients / burst immunity (EFT)
EN 61000-4-6 A Conducted radio frequency immunity
EN 61000-4-8 A Power frequency magnetic field immunity
EN 61000-6-4 Class Emission for industrial environment
EN 55011 Table 3b Radiated Emission
EN 55022 Class A Radiated Emission
CISPR 22 Am 1 table 9 Radiated Emission
Company
NTI Ltd.
Spreitenbach September 07 2010
-----------------------------------------------------------
R. Rohner / CEO NTI AG
NTI AG / inMot®www. inMot.com Page 18/19
B1100 Installation Guide
inMot Installation Guide
13 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
Tech. Support (Skype): skype:support.linmot
Fax: +41-(0)56-419 91 92
Web: http://www.linmot.com/
USA LinMot, Inc.
5750 Townline Road
Elkhorn WI 53121
Sales and Administration: 877-546-3270
262-743-2555
Tech. Support: 877-804-0718
262-743-1284
Fax: 800-463-8708
262-723-6688
E-Mail: [email protected]
Web: http://www.linmot-usa.com/
Please visit http://www.linmot.com/ to find the distributor closest to you.
Smart solutions are…
NTI AG / inMot®www. inMot.com Page 19/19
B1100 Installation Guide
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