LinMot B1100-PP User manual

Documentation for Installing the following Controllers:
- B1100-PP (-HC, -XC)
- B1100-VF (-HC, -XC)
- B1100-GP (-HC, -XC)
Servo Controller Installation Guide
Document version: 1.1 / whp 06.12.2007

Installation Guide B1100
Page 2 of 18 Installation Guide B1100 20.12.2007 NTI AG/ LinMot/
© 2007 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.
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.

Installation Guide B1100
NTI AG, LinMot Installation Guide E1100 20.12.2007 Page 3/18
Table of Content
IMPORTANT NOTES FOR B1100 SERIES CONTROLLERS ......................................... 4
SYSTEM OVERVIEW............................................................................................................... 5
B1100 INTERFACES ............................................................................................................... 6
FUNCTIONALITY...................................................................................................................... 7
SOFTWARE............................................................................................................................... 7
POWER SUPPLY AND GROUNDING.................................................................................. 8
DESCRIPTION OF THE CONNECTORS / INTERFACES ................................................ 9
PHYSICAL DIMENSION........................................................................................................ 14
POWER SUPPLY REQUIREMENT..................................................................................... 15
ORDERING INFORMATION................................................................................................. 16
INTERNATIONAL CERTIFICATIONS................................................................................. 16
DECLARATION OF CONFORMITY CE-MARKING......................................................... 17
CONTACT ADDRESSES ...................................................................................................... 18

Installation Guide B1100
Page 4 of 18 Installation Guide B1100 20.12.2007 NTI AG/ LinMot/
Important 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 (see chapter 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 controllers) (see chapter
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 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 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 controllers 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 controllers.

Installation Guide B1100
NTI AG, LinMot Installation Guide E1100 20.12.2007 Page 5/18
System Overview
24...72V DC
PGND
X1 X2 (HC)
X14 X13
X3
SUPPLY
3x400VAC
230VAC
115VAC
PH1+
PH1-
PH2+
PH2-
BRUSHLESS
DC MOTOR
LINEAR MOTOR
PH1+
PH1-
PH2+
PH2-
SIN
COS
TEMP.
+SV
GND
MOTOR SUPPLY
B1100-GP(-HC/-XC)
OPTIONAL EXTERNAL
POSITION SENSOR
A+
A-
B+
B-
Z+
Z-
U+
U-
V+
V-
W+
W-
ENC
ALARM
+5VDC
RS232 INTERFACE
CONFIGURATION
RS: 9,6-118kBaud
CAN: CANOPEN
DEVICENET
MAX: 500kBaud
RS232/RS485
RS485
CAN
3
4
X5
2
6
6
6
MACHINE
CONTROLLER PLC, IPC
LOGIC SUPPLY
STEP/DIR/ZERO
0...10V
INPUTS 1-6
10V
OUTPUTS 1-6
+24VDC
GND
2
4
2
X8
COMMUNICATION
INTERFACE
RS422/RS485
CANOPEN
DEVICENET
RS485
CAN
4
2
X7
RS485
CAN
COMMUNICATION
INTERFACE
RS422/RS485
CANOPEN
DEVICENET
Typical servo system B1100-XX-YY: Servo controller, motor and power supply.

Installation Guide B1100
Page 6 of 18 Installation Guide B1100 20.12.2007 NTI AG/ LinMot/
B1100 Interfaces
X1: MotorSupply
X2: Motor Phases
X3: Motor Connector
X13 Ext Pos Sens, Diff Hall Switches
X5: Configuration
X14: IO's, 24VDC Supply
X8: Cmd Out
X7: Cmd In
PE
S4: CAN/RS485 Termination
X1
X2
X3
MOT
SUP
MOT PHASES
MOTOREXTERNAL SENSOR
X5
COM / CONFIG
B1100-PP /-HC/-XC B1100-VF /-HC/-XC B1100-GP/-HC/-XC
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 ●●●

Installation Guide B1100
NTI AG, LinMot Installation Guide E1100 20.12.2007 Page 7/18
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 ●●●
15A
peak ●●●
25A
peak ●●●
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 ●●●●●●
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 ●●●●●●●●●
* Available from April 2008
Software
The configuration SW LinMotTalk1100 is free of charge and could be downloaded from our
home page.
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 LinMotTalk1100 SW.

Installation Guide B1100
Page 8 of 18 Installation Guide B1100 20.12.2007 NTI AG/ LinMot/
Power Supply and Grounding
X1: Motor Supply
X14: Logic Supply / Control
=
1#
3#
Galvanically Isolated Power Supply:
- Switch Mode Power Supply
- Transformator with Rectifier Bridge
and Capacitor > 0.5mF/Apeak
24...85VDC
AC-Mains
1x115VAC
1x230VAC
3x400VAC
3x480VAC
.....
- Circuit Breaker
- Fuse
All wires to X1
min. 1.5mm2
AWG16
X1
X2
X3
MOT
SUP
MOT PHASES
MOTOREXTERNAL SENSOR
X5
COM / CONFIG
PGND
=
1#
3#
Galvanically Isolated Power Supply:
- Switch Mode Power Supply
24 VDC
AC-Mains
1x115VAC
1x230VAC
3x400VAC
3x480VAC
.....
- Circuit Breaker
- Fuse
GND
Wire to PE
min. 4mm2
AWG11
2AT
10AT/16AT
*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.
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 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 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.

Installation Guide B1100
NTI AG, LinMot Installation Guide E1100 20.12.2007 Page 9/18
Description of the connectors / Interfaces
X1: Motor Supply
PWR+
PGND
X1
GND
24...85VDC
GND internally
connected to
controller housing
which is connected
to PE
PGND
PWR+
M5 PE Screw
10AT/16AT
Screw Terminals Motor Supply: 24...85VDC; 72VDC nominal
Absolute max. Rating: 72VDC +20%.
External Fuse: 10AT for 8Apeak servos, 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 max. 2.5mm2
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. If the RMS current is higher than 2A RMS, the phases must
be connected to X2 and not to X3. Never connect both.
- Tightening Torque: min 0.4Nm
- Screw Thread: M 2,5
- Conductor Cross-Section: max. 2.5mm2
- Use 60/75°C copper conductors only

Installation Guide B1100
Page 10 of 18 Installation Guide B1100 20.12.2007 NTI AG/ LinMot/
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).
Caution:
Do NOT connect AGND (X3.8) to ground or earth!
Use X2 for motor phases controllers if RMS current exceeds 2 Arms.
Motor wiring for Phase Currents below 2A RMS 4A peak
Important:
Motor phases may be connected to X3 up to 2Arms and 4Apeak phase current.

Installation Guide B1100
NTI AG, LinMot Installation Guide E1100 20.12.2007 Page 11/18
Motor Wiring for High Phase Currents above 2A RMS 4A peak
Important:
If motor phase current exceeds 2Arms or 4Apeak, motor phases must be wired to X2.
LED: State Display
Error 24V Ok
Green
Red
24V Logic Supply OK
Error (Fatal Error blinking)
S4: Bus Termination
4
3
2
1
on off
S4
S4 Switch 4: Bootstrap
Switch 3: Termination CAN on/off
Switch 2: Termination RS485 on/off
Switch 4: RS232 (switch “off” / RS485 “on”). Selection for RS232 or RS485
Factory settings: all switches “off”
X5: COM
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

Installation Guide B1100
Page 12 of 18 Installation Guide B1100 20.12.2007 NTI AG/ LinMot/
X7 - X8 RS485/CAN
1
8
1
8
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)
X13: External Position Sensor Differential Hall Switches
1
2
3
4
5
9
10
11
12
6
7
8
13
14
15
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) Max. Input Frequency: 2MHz (incremental RS422), 240ns edge separation
Sensor Supply Current: max. 100mA
Position Encoder Inputs: RS422, Max Input Frequency: 2MHz, 4 M counts/s with quadrature decoding,
240ns edge separation
Encoder Simulated Outputs: RS422, Max Output Frequency: 2.5MHz, 5 M counts/s with quadrature
decoding, 200ns edge separation
Differential Hall Switch Inputs: RS422, Max Input Frequency: <1kHz
Enc. Alarm In: 5V / 1mA
Sensor Supply: 5VDC max 100mA

Installation Guide B1100
NTI AG, LinMot Installation Guide E1100 20.12.2007 Page 13/18
X14: 24VDC Supply and IO’s
10k
100mA
*
100mA
*
100mA
*
50k
50k
50k
50k
GND
Dig In 1 Diff An in +
Diff An In - Analog In 0..10V
Dig Out 1
Dig In 2
X14
50k
+24VDC
Zero-
Zero +
Dir - Dir + Step - Step + Shield
+24V DC Output Supply GND
+24V Inputs
Outputs (max. 100mA)
14 3 15
216 418 5
17 619 8
20
721 923
10
22 11 24 13
25
12
* outputs with internal pull
down resistor 4k7 to GND
500mA
**
Dig In 3
Dig In 4
Dig In 5 Dig In 6
1
50k 50k
100k
100mA
*
100mA
*
Dig Out 2
Dig Out 3
Dig Out 4
Dig Out 5
Dig Out 6
GND
10k
** output with internal pull
down resistor 1k6 to GND
120 120 120
RS422 RS422 RS422
+24V
2AT
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 Sample Rate: 400us
All Digital Outputs:
Short circuit and overload protected high side switches
Voltage: 24VDC Max. Current: 100mA/500mA (X14.17)
Update Rate: 400us
Outputs may directly drive inductive loads.
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

Installation Guide B1100
Page 14 of 18 Installation Guide B1100 20.12.2007 NTI AG/ LinMot/
Physical Dimension
Fixings for
2 x M5 screws
206
Centers
195
31
106
166
Dimensions in mm
X1
X2
X3
MOT
SUP
MOT PHASES
MOTOREXTERNAL SENSOR
X5
COM / CONFIG
B1100 Single axes 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
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

Installation Guide B1100
NTI AG, LinMot Installation Guide E1100 20.12.2007 Page 15/18
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. 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.
(Additional capacitors, etc…)
To provide short circuit power limitation, it is recommended to use an external
fuse (10AT for blank labeled and 16AT for HC and XC labeled controllers).
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 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. 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 power in malfunctional behavior, it is recommended to use an external fuse
(2AT).

Installation Guide B1100
Page 16 of 18 Installation Guide B1100 20.12.2007 NTI AG/ LinMot/
Ordering Information
International Certifications
Certifications
Europe
See chapter Declaration of Conformity CE-Marking“
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

Installation Guide B1100
NTI AG, LinMot Installation Guide E1100 20.12.2007 Page 17/18
Declaration of Conformity CE-Marking
Manufacturer: NTI AG
LinMot ®
Haerdlistrasse 15
8957 Spreitenbach
Switzerland
Tel.: [phone]
Fax: [phone]
Products: LinMot ® Controllers
Type Art.-No. Type Art-No. Type Art.-No.
B1100-GP 0150-1737 B1100-VF 0150-1685
B1100-GP-HC 0150-1738 B1100-VF-HC 0150-1686
B1100-GP-XC 0150-1741
B1100-VF-XC 0150-1739
B1100-PP 0150-1735
B1100-PP-HC 0150-1736
B1100-PP-XC 0150-1740
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.
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 EMC Directive (89/336/EEC) and is
marked in accordance with the CE Marking Directive (93/68/EEC).
Standards Complied with:
EN 61000-6-2 Immunity for industrial environment
EN 61000-4-2 Class B Electrostatic discharge immunity (ESD)
EN 61000-4-3 Class A Radiated electromagnetic field immunity
EN 61000-4-4 Class B Fast transients / burst immunity (EFT)
EN 61000-4-5 Class B Slow transients immunity (Surges)
EN 61000-4-6 Class A Conducted radio frequency immunity
EN 61000-6-4 Emission for industrial environment
EN 55022 Class A Radiated Emission
Company
NTI Ltd.
Zurich, September 20, 2007
-----------------------------------------------------------
R. Rohner / CEO NTI AG

Installation Guide B1100
Page 18 of 18 Installation Guide B1100 20.12.2007 NTI AG/ LinMot/
Contact Addresses
-----------------------------------------------------------------------------------------------------------------------------
SWITZERLAND NTI AG
Haerdlistr. 15
CH-8957 Spreitenbach
Sales and Administration: [phone]
[e-mail]
Tech. Support: [phone]
[email protected]
Fax: [phone]
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: [phone]
262-723-6688
E-Mail: [e-mail]
Web: http://www.linmot-usa.com/
-----------------------------------------------------------------------------------------------------------------------------
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