LinMot E1100-CO Instruction Manual

Documentation for installing the following Controllers:
- E1100-CO (-HC, -XC)
- E1100-DN (-HC, -XC)
- E1100-RS (-HC, -XC)
- E1130-DP (-HC, -XC)
- E1100-GP (-HC, -XC)
Servo Controller Data Sheet
& Installation Guide
Document version: 1.0p / FM / June 2010

Installation Guide E1100
Page 2of 24 Installation Guide E1100 16.06.2010 NTI AG/ LinMot/
© 2009 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.
Document version 3.12 / June 2010

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100 16/06/2010 Page 3/24
Table of Content
IMPORTANT SAFETY NOTES FOR E1100 SERIES CONTROLLERS......................... 4
SYSTEM OVERVIEW............................................................................................................... 5
E1100 INTERFACES................................................................................................................ 6
FUNCTIONALITY...................................................................................................................... 7
E1130-DP(-HC, -XC) FUNCTIONS AND WIRING .............................................................. 8
E1100-GP(-HC, -XC) FUNCTIONS AND WIRING.............................................................. 9
E1100-CO(-HC, -XC), -DN(-HC, -XC), -RS(-HC, -XC) FUNCTIONS AND WIRING.... 10
POWER SUPPLY AND GROUNDING................................................................................ 11
DESCRIPTION OF THE CONNECTORS / INTERFACES .............................................. 12
ERROR CODES...................................................................................................................... 19
PHYSICAL DIMENSION........................................................................................................ 19
POWER SUPPLY REQUIREMENT..................................................................................... 20
REGENERATION OF POWER / REGENERATION RESISTOR.................................... 20
ORDERING INFORMATION................................................................................................. 21
INTERNATIONAL CERTIFICATIONS................................................................................. 21
SAFETY NOTES FOR THE INSTALLATION ACCORDING TO UL............................. 22
DECLARATION OF CONFORMITY CE-MARKING......................................................... 23
CONTACT ADDRESSES ...................................................................................................... 24

Installation Guide E1100
Page 4of 24 Installation Guide E1100, 06/09/2009 NTI AG/ LinMot/
Important safety notes for E1100 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 controller 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 not 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 these precautions may result in severe damage to
electronic components in LinMot motors and/or controllers.
© 2008 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 E1100
NTI AG, LinMot Installation Guide E1100, 16/06/2010 Page 5/24
System Overview
X1
X2
S2
X5
S1
X4
X3
COM / CONFIG
ID High
ID Low
MOTOR
X7
X8
X12
X11
X10
X9
Connectors X6-X12 are located on the lower side
1 LOGIC SUPPLY / CONTROL 12
GND
24VDC
X4.12 SVE
X4.11
X4.10
X4.9
X4.8
X4.7
X4.6
X4.5
X4.3 /Brk
X4.4
PGND
PWR+
RR
-
+
1+ U
1- V
2+ W
2- X
SCRN
ERROR
WARN
24V
OK
EN
MOT SUPPLYMOT PHASES
Power Supply nom. 72VDC
From AC Mains
RS232
Interface
to PC for
Configuration
X1: Motor Supply
X3: Motor Connector
X4: Control
Logic Supply
Digital Control Signals
and FieldBus from / to overlaid
Controller (PLC / IPC)
Logic Supply 24VDC
Linear Motor with internal Position Feedback
X2: Motor Phases
if RMS current > 5A
or Peak current > 7.5A
Typical Servo System E1100-XX: Servo Controller, Linear Motor and Power Supply.

Installation Guide E1100
Page 6of 24 Installation Guide E1100, 06/09/2009 NTI AG/ LinMot/
E1100 Interfaces
LED State Indicator
S1-2: Address Switches
X1: Motor Supply PWR+ / GND 24...85VDC
Regeneration Resistor RR+ / RR- nom. 72VDC
X2: Motor Phases High Current Phase 1+ U
1,2,3 Motor Phases Phase 1- V
Phase 2+ W
Phase 2-
Shield
X3: Motor Signal 1,2,3 Motor Phases Phase 1+ U
Phase 1- V
Phase 2+ W
Phase 2-
Sensor Supply +5VDC, GND
Hall Sensor In Sin, Cos Hall 1,2,3
Motor Protection Temp.
X4: Control / Supply Digital Inputs Safety Voltage Enable
Digital I/O Software configurable
Logic Supply +24VDC, GND
X5: Com Configuration Port RS232
RS485
CAN
X6: Digital I/O 8 Digital Outputs 24V, 100mA
16 Digital Inputs
X7: RS485 / CAN
X8: RS485 / CAN
X9: Profibus DP
X10: Master Enc. In Incremental A,B,Z RS422
X11: Master Enc. Out Incremental A,B,Z RS422
X12: External Encoder Incremental A,B,Z RS422
SinCos 1Vpp
S3: Bus Termination
X1
X2
S2
X5
S1
X4
X3
COM / CONFIG
ID High
ID Low
MOTOR
X7
X8
X12
X11
X10
X9
Connectors X6-X12 are located on the lower side
1 LOGIC SUPPLY / CONTROL 12
GND
24VDC
X4.12 SVE
X4.11
X4.10
X4.9
X4.8
X4.7
X4.6
X4.5
X4.3 /Brk
X4.4
PGND
PWR+
RR
-
+
1+ U
1- V
2+ W
2- X
SCRN
ERROR
WAR N
24V
OK
EN
MOT SUPPLYMOT PHASES
E1100-RS(-HC/XC) E1100-CO(-HC/XC) E1100-DN(-HC/XC) E1130-DP(-HC/XC) E1100-GP(-HC/XC)
Connector
X1 Motor Supply ●●●●●
Regeneration Resistor ●●●●●
X2 Motor Phases (Screw Terminals) ●●●●●
X3 Motor / Motor Signals ●●●●●
X4 Logic Supply / Control ●●●●●
X5 Com RS232 ●●●●●
RS485 ●●●●●
CAN ●●●●●
X6 Digital I/O ●
X7 CMD In (RS485 / CAN) ●●●●
X8 CMD Out (RS485 / CAN) ●●●●
X9 PROFIBUS DP ●
X10 Master Encoder In ●●●●●
X11 Master Encoder Out ●●●●●
X12 External Position Encoder ●●●●●
LED State Indicator ●●●●●
S1 ID Switch High ●●●●●
S2 ID Switch Low ●●●●●
S3 Bus Termination (CAN / RS485) ●●●●●

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100, 16/06/2010 Page 7/24
Functionality
E1100-RS E1100-RS-HC E1100-RS-XC E1100-CO E1100-CO-HC E1100-CO-XC E1100-DN E1100-DN-HC E1100-DN-XC E1130-DP E1130-DP-HC E1130-DP-XC E1100-GP E1100-GP-HC E1100-GP-XC
Supply Voltage
Motor Supply 72VDC (24...85VDC)
(30..85VDC for UL) ●●●●●●●●●●●●●●●
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 Step Application Layer (X4-IOs) ●●●●●●●●●●●●●●●
Cmd Tab IO Interface (X6-IOs) ●●●
RS232 up to 115.2 kBaud ●●●●●●●●●
RS485 up to 115.2 kBaud ●●●●●●●●●
CANOpen up to 1MBaud ●●●●●●●●●
DeviceNet 125, 250, 500 kBaud ●●●●●●●●●
PROFIBUS DP up to 12 MBaud ●●●
Programmable Command Table
Command Table with up to 255 entries ●●●●●●●●●●●●●●●
External Position Sensor
Incremental RS422 up to 2 MHz ●●●●●●●●●●●●●●●
Sin/Cos 1Vpp up to 10 kHz ●●●●●●●●●●●●●●●
Synchronisation
Master Encoder In/Out RS422 up to 2 MHz ●●●●●●●●●●●●●●●
Configuration
RS232 Configuration ●●●●●●●●●●●●●●●
CAN Multi Axes Configuration ●●●●●●●●●●●●●●●

Installation Guide E1100
Page 8of 24 Installation Guide E1100, 06/09/2009 NTI AG/ LinMot/
E1130-DP(-HC, -XC) Functions and Wiring
BRR+ BRR- PWR+ GND
RS422
TTL
TTL
RS422
1 2 3 4 5
6 7 8 9
RS422
TTL
1Vpp
A/D
1, 2, 3-Phase Powerstage 72V DC (24..85VDC) 8A/15A/25A Phase Current
GND
24VDC
5VDC
24VDC
24V 5mA 1ms
12 1
1 2 3 4 5
6 7
8 9
TTL
PB-DP
1 2 3 4 5
6 7 8 9
RS232
TTL
CAN
TTL
RS485
TTL
1 2 3 4 5
6 7 8 9
0-5V
A/D
RS485
CAN
X1: Motor Supply / Regenerator X2: Motor Phases
X3: Motor Connector
X12: External Sensor
X4: Control / Logic Supply
X5: COM
X6: Digital I/O's
X10: Master Encoder IN
X7: CAN/RS485
X9: Profibus DP
X8: CAN/RS485 X11: Master Encoder OUT
1,2 or 3 Phase
Motor / Actuator
(Linear or Rotary)
Motor Internal
Hall Sensors
(TTL or
Analog
0-5V)
Motor Phases*
Hall Sensors*
* for LinMot Linear Motors use special
double shielded Motor cable (see catalogue)
for RS232 PC connection use 1:1cable
Pin 2 - Pin 2, Pin 3 - Pin 3, Pin 5 - Pin 5
shielded twisted pair cable
twist Pins 1-2, 3-6, 4-5, 7-8
only use aprooved Profibus DP
cable and connectors!
To next => CAN/RS485 Bus Member
To next => Master Encoder Input
From => PLC or IPC
From => Master Encoder
From => PLC or IPC
+24VDC
24VDC Logic Supply 0.2A (min. 0.35mm2 / AWG22) GND
+24VDC
Position
Sensor
(Incremental
RS422 or
Sin/Cos
1Vpp)
min. 0.5mm2 / AGW20 for 4A min. 1.5mm2 / AWG16 for 15A
=
3#
Gallvanically Isolated Power Supply: - Switch Mode Power Supply - Transformator with Rectifier Bridge
72VDC
AC-Mains 115VAC 230VAC 3x400VAC ....
- Circuit Breaker - Fuse
All wires to X1
min. 2.5mm2
AWG14
Regenerator see Manual
shielded twisted pair cable
twist Pins 1-2, 3-6, 4-5, 7-8
shielded twisted pair cable
twist Pins 1-2, 3-6, 4-5, 7-8
shielded twisted pair cable
twist Pins 1-2, 3-6, 4-5, 7-8
shielded twisted pair cable
twist Pins 2-6, 3-7, 4-8
Safety Voltage Enable SVE
I/O's X4.3 to X4.11: The functions can be configured individually. Special functions: see description of X4.
0.1A
24V
4.7kOhm
PE
1+ u 1- v 2+ w 2- x SCRN

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100, 16/06/2010 Page 9/24
E1100-GP(-HC, -XC) Functions and Wiring
BRR+ BRR- PWR+ GND
RS422
TTL
TTL
RS422
1 2 3 4 5
6 7 8 9
RS422
TTL
1Vpp
A/D
5 6 7 8 9
18 19 20
21
1 2 3 4
14 15 16 17
10 11 12
22 23 24
13
25
24V 5mA 1ms
1, 2, 3-Phase Powerstage 72VDC (24...80V DC) 8A/15A/25A Phase Current
GND
24VDC
5VDC
24VDC
24V 5mA 1ms
11 1
1 2 3 4 5
6 7 8 9
RS232
TTL
CAN
TTL
RS485
TTL
1 2 3 4 5
6 7 8 9
0-5V
A/D
CAN
X1: Motor Supply / Regenerator X2: High Current Motor Phases (only on -HC devices)
X3: Motor Connector
X12: External Sensor
X4: Control / Logic Supply
X5: COM
X6: Digital I/O's
X10: Master Encoder IN X11: Master Encoder OUT
1,2 or 3 Phase
Motor / Actuator
(Linear or Rotary)
Motor Internal
Hall Sensors
(TTL or
Analog
0-5V)
Motor Phases*
Hall Sensors*
* for LinMot Linear Motors use special
double shielded Motor cable (see catalogue)
for RS232 PC connection use 1:1cable
Pin 2 - Pin 2, Pin 3 - Pin 3, Pin 5 - Pin 5
shielded twisted pair cable
twist Pins 1-2, 3-6, 4-5, 7-8
To next => Master Encoder Input
From => Master Encoder
Input 1 Input 2 Input 3
Input16
+24VDC
Output 1 Output 2 Output 8
GND
GND
+24VDC
24VDC Logic Supply 0.2A (min. 0.35mm2 / AWG22) GND
Position
Sensor
(Incremental
RS422 or
Sin/Cos
1Vpp)
min. 0.5mm2 / AGW20 for 4A min. 1.5mm2 / AWG16 for 15A
=
3#
Gallvanically Isolated Power Supply: - Switch Mode Power Supply - Transformator with Rectifier Bridge
72VDC
AC-Mains 115VAC 230VAC 3x400VAC .....
- Circuit Breaker - Fuse
All wires to X1
min. 2.5mm2
AWG14
Regenerator see Manual
shielded twisted pair cable
twist Pins 1-2, 3-6, 4-5, 7-8
shielded twisted pair cable
twist Pins 2-6, 3-7, 4-8
I/O's X4.3 to X4.11: The functions can be configured individually. Special functions: see description of X4.
0.1A
24V
4.7kOhm
0.1A
24V
4.7kOhm
PE
1+ u 1- v 2+ w 2- x SCRN

Installation Guide E1100
Page 10 of 24 Installation Guide E1100, 06/09/2009 NTI AG/ LinMot/
E1100-CO(-HC, -XC), -DN(-HC, -XC), -RS(-HC, -XC) Functions and Wiring
RR+ RR- PWR+ GND
RS422
TTL
TTL
RS422
1 2 3 4 5
6 7 8 9
RS422
TTL
1Vpp
A/D
1+ u 1- v 2+ w 2- x SCRN
1, 2, 3-Phase Powerstage 72VDC (24...85V DC) 8A/15A/25A Phase Current
GND
24VDC
5VDC
24VDC
24V 5mA 1ms
12 1
1 2 3 4 5
6 7 8 9
RS232
TTL
CAN
TTL
RS485
TTL
1 2 3 4 5
6 7 8 9
0-5V
A/D
RS485
CAN
X1: Motor Supply / Regenerator X2: Motor Phases
X3: Motor Connector
X12: External Sensor
X4: Control / Logic Supply
X5: COM
X6: Digital I/O's
X10: Master Encoder IN
X7: CAN/RS485 X8: CAN/RS485
X11: Master Encoder OUT
1,2 or 3 Phase
Motor / Actuator
(Linear or Rotary)
Motor Internal
Hall Sensors
(TTL or
Analog
0-5V)
Motor Phases*
Hall Sensors*
* for LinMot Linear Motors use special
double shielded Motor cable (see catalogue)
for RS232 PC connection use 1:1cable
Pin 2 - Pin 2, Pin 3 - Pin 3, Pin 5 - Pin 5
shielded twisted pair cable
twist Pins 1-2, 3-6, 4-5, 7-8
To next => CAN/RS485 Bus Member
To next => Master Encoder Input
From => PLC or IPC
From => Master Encoder
+24VDC
24VDC Logic Supply 0.2A (min. 0.35mm2 / AWG22) GND
+24VDC
Position
Sensor
(Incremental
RS422 or
Sin/Cos
1Vpp)
min. 0.5mm2 / AGW20 for 4A min. 1.5mm2 / AWG16 for 15A
=
3#
Gallvanically Isolated Power Supply: - Switch Mode Power Supply - Transformator with Rectifier Bridge
72VDC
AC-Mains 115VAC 230VAC 3x400VAC .....
- Circuit Breaker - Fuse
All wires to X1
min. 2.5mm2
AWG14
Regenerator see Manual
shielded twisted pair cable
twist Pins 1-2, 3-6, 4-5, 7-8
shielded twisted pair cable
twist Pins 1-2, 3-6, 4-5, 7-8
shielded twisted pair cable
twist Pins 1-2, 3-6, 4-5, 7-8
shielded twisted pair cable
twist Pins 2-6, 3-7, 4-8
Safety Voltage Enable SVE
I/O's X4.3 to X4.11: The functions can be configured individually. Special functions: see description of X4.
0.1A
24V
4.7kOhm
PE

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100, 16/06/2010 Page 11/24
Power Supply and Grounding
X1
X2
S2
X5
S1
X4
X3
COM / CONFIG
ID High
ID Low
MOTOR
X7
X8
X12
X11
X10
X9
Connectors X6-X12 are located on the lower side
1 LOGIC SUPPLY / CONTROL 12
GND
24VDC
X4.12 SVE
X4.11
X4.10
X4.9
X4.8
X4.7
X4.6
X4.5
X4.3 /Brk
X4.4
PGND
PWR+
RR
-
+
1+ U
1- V
2+ W
2- X
SCRN
ERROR
WARN
24V
OK
EN
MOT SUPPLYMOT PHASES
=
Galvanically Isolated Power Supply:
- Switch Mode Power Supply
- Transformer with Rectifier Bridge
+
24 DC
AC-Mains
- Circuit Breaker
- Fuse
All wires 2.5mm2 (AWG14)
AC-Mains
- Circuit Breaker
- Fuse
Emergency
Stop Breaker
-
=
Galvanically Isolated Power Supply:
- Switch Mode Power Supply
- Transformer with Rectifier Bridge
72VDC
-
PWR signal
Power Supply signal
Power Supply motor
PWR motor
GND
GND
*Inside of the E1100 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 reduce 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 controller 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. Failure to observe
these precautions may result in severe damage to controller.

Installation Guide E1100
Page 12 of 24 Installation Guide E1100, 06/09/2009 NTI AG/ LinMot/
Description of the connectors / Interfaces
X1: Motor Supply / Regeneration Resistor
X1
GND
72VDC (24...85VDC)
72VDC (24...85VDC)
GND
Motor Supply
GND internally
connected to
controller housing
Internal
Fuse 16AT
PGND
PWR+
Optional:
Regeneration
Resistor (external)
RR+
RR-
GND
For UL applications RR+ and RR- of terminal X1 must not be connected!
Internal Fuse (F300): 16AT (slow blow, Schurter SMD-SPT, 0001.2716.xx, UL File Number: E41599)
The fuse is directly soldered onto the PWB. Replacement is only possible by qualified personnel with
appropriate equipment.
CAUTION: For continued protection against risk of fire, replace only with same type and rating of fuse.
Screw Terminals External Regeneration Resistor (RR01-10/60, Art. Nr. 0150-3088)
For UL applications RR+ and RR- of terminal X1 must not be connected!
Motor Supply nominal 72VDC (24...85VDC) (for UL 30..85VDC)
Absolute max. Rating 72VDC +20%.
If motor supply voltage is 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: use only 2.5mm2(AWG 14)
- Max. length: 4m
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. For any application it is recommended to use X2. It is only
allowed to use X3 for connecting the motor phases if RMS current is below 5A and peak current is below
7.5A.
For UL applications the motor phases must be wired on X2.
Never connect motor phases on X2 and X3!
- Tightening torque: min 0.4Nm
- Screw thread: M 2,5
- Use 60/75°C copper conductors only
- Conductor cross-section max. 2.5mm2

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100, 16/06/2010 Page 13/24
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
For UL applications the motor phases must be wired on X2 and not on X3!
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!
It is only allowed to use X3 for connecting the motor phases if RMS current is below 5A and peak current
is below 7.5A.
Motor Wiring for Phase Currents above 5A RMS 7.5A peak (recommended general wiring)
Important:
If motor phase current exceeds 5ARMS or 7.5Apeak, motor phases must be wired to X2.
For UL applications the motor phases have to be wired on X2 and not on X3!

Installation Guide E1100
Page 14 of 24 Installation Guide E1100, 06/09/2009 NTI AG/ LinMot/
Motor wiring for Phase Currents below 5A RMS 7.5A peak
Important:
Motor phases may only be connected to X3 if RMS current is below 5A and peak current is below 7.5A.
For UL applications the motor phases have to be wired on X2 and not on X3!
X4: 12pin Control/Supply (E1130-DP(-HC,-XC), E1100-CO(-HC,-XC), E1100-DN(-HC,-XC), E1100-RS(-HC,-XC))
12
11
10
9
8
7
6
5
4
3
2
1
Input Safety Voltage Enable
I/O X4.11
I/O X4.10
I/O X4.9
I/O X4.8
I/O X4.7
I/O X4.6
I/O X4.5
I/O X4.4
I/O X4.3/Brk
+24VDC Supply
GND Supply
Power Stage Enable (HW Enable)
Configurable IO, PTC2 Input
Configurable IO, PTC1 Input
Configurable IO
Configurable IO
Configurable IO
Configurable IO, Trigger Input
Configurable IO
Configurable IO, Analog Input
Configurable IO, Brake Driver 1A
Logic Supply 22-26 VDC
Ground
Phoenix
MC1,5/12-STF-
3,5
Inputs (X4.3 .. X4.12): 24V / 5mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)
Outputs (X4.4 .. X4.11): 24V / max.100mA, Peak 370mA (will shut down if exceeds)
Brake Output (X4.3): 24V / max.1.0A
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. 400mA / max. 2.1A (if all outputs “on” with max. load.)
- Tightening torque: min 0.22Nm
- Screw thread: M2
- Use 60/75°C copper conductors only
- Conductor cross-section max. 1.5mm2
Internal Fuse (F2): 3AT (slow blow, Schurter OMT125, 3404.0118.xx, UL File Number: E41599)
The fuse is directly soldered onto the PWB. Replacement is only possible by qualified personnel with
appropriate equipment.
CAUTION: For continued protection against risk of fire, replace only with same type and rating of fuse.

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100, 16/06/2010 Page 15/24
X4: 11pin Control / Supply (E1100-GP(-HC, -XC))
11
10
9
8
7
6
5
4
3
2
1
I/O X4.11
I/O X4.10
I/O X4.9
I/O X4.8
I/O X4.7
I/O X4.6
I/O X4.5
I/O X4.4
I/O X4.3/Brk
+24VDC Supply
GND Supply
Configurable IO, PTC2 Input
Configurable IO, PTC1 Input
Configurable IO
Configurable IO
Configurable IO
Configurable IO, Trigger
Configurable IO
Configurable IO, Analog Input
Configurable IO, Brake Driver 1A
Logic Supply 22-26 VDC
Ground
Phoenix
MC1,5/11-STF-
3,5
Inputs (X4.3 .. X4.11): 24V / 5mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)
Outputs (X4.4 .. X4.11): 24V / max.100mA, Peak 370mA (will shut down if exceeds)
Brake Output (X4.3): 24V / max. 1.0A
Supply 24V / typ. 400mA / max. 3.0A (if all outputs “on” with max. load.)
- Tightening torque: min 0.22Nm
- Screw thread: M2
- Use 60/75°C copper conductors only
- Conductor cross-section max. 1.5mm2
LED State Display
Green
Yellow
Yellow
Red
24V Logic Supply OK
Motor Enabled / Error Code Low Nibble
Warning / Error Code High Nibble
Error
S1, S2: Baud Rate / Address Selectors
S1
S2
Bus ID High / Baud Rate (0…F)
Bus ID Low (0…F)
The switches S1 and S2 define the baud rate and MAC ID depending on the interface and
parameter settings. The following description is only valid for default configurations, otherwise
see in the interface specific documentation for more information.
S1: Baud Rate selector for CO, DN and RS interface:
S2: MACID for CO, DN, RS interface and CANTalk1):
Position value is equal to MACID (e.g. position 7 ÆMACID 0x07h)
In case of Profibus DP the switches S1 and S2 define the node address, whereas S1 is the
high nibble and S2 the low nibble.
NOTE: The baud rate and MACID will only be set if the interface switch S3.4 is set to “on”.
In case of CO or DN interfaces, the OS (operating system) sets up the CAN bus baud rate
according to the interface settings, but only if the interface is activated (S3.4). Otherwise the
baud rate will be set to 500kBaud. The CAN-Talk ID is always taken from both switches S1
and S2.
S1 Pos CO: DN: RS:
0: undefined undefined undefined
1: 125 kBit/s 125 kBit/s 4800 Bit/s
2: 250 kBit/s 250 kBit/s 9600 Bit/s
3: 500 kBit/s 500 kBit/s 19200 Bit/s
4: 1 MBit/s undefined 38400 Bit/s
5: undefined undefined 57600 Bit/s
6: undefined undefined 115200 Bit/s
7..F: undefined undefined undefined

Installation Guide E1100
Page 16 of 24 Installation Guide E1100, 06/09/2009 NTI AG/ LinMot/
S3: Bus Termination
S3 Switch 4: Interface on/off (All field bus interfaces)
Switch 3: Termination CAN on/off
Switch 2: Termination RS485 on/off
Switch 1: RS232 (switch “off” / RS485 “on”) Select serial RS232 or RS485
Factory setting: all switches “off”
To use field bus functionality the switch S3.4 has to be set to position “on”!
In position “off” the field bus is deactivated.
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 E1100
NTI AG, LinMot Installation Guide E1100, 16/06/2010 Page 17/24
X6: Digital I/O (only available on E1100-GP (-HC, -XC))
DSUB-25 (f) All Inputs:
Direct interfacing to digital 24VDC PLC outputs.
Input Current: 1mA Sample Rate: 1ms
All Outputs:
Short circuit and overload protected high side switches
Voltage: 24VDC Update Rate 1ms
Max. Current: 100mA Peak Current: 370mA (will shut down if exceeds)
Outputs may directly drive inductive loads. Do not connect any capacity because of the peak current!
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 S3.2 and S3.3.
X7 is internally connected to X8 (1:1 connection)
X9: Profibus DP (only availabel on E1130-DP (-HC, -XC))
1
2
3
4
5
6
7
8
9
case
Not connected
Not connected
RxD/TxD-P
CNTR-P
GND (isolated)
+5V (isolated)
Not connected
RxD/TxD-N
Not connected
Shield
DSUB-9 (f) Max. Baud rate: 12Mbaud

Installation Guide E1100
Page 18 of 24 Installation Guide E1100, 06/09/2009 NTI AG/ LinMot/
X10 / X11 Master Encoder IN (X10) / Master Encoder OUT (X11)
1
8
1
8
1
2
3
4
5
6
7
8
case
Incremental: Step/Direction:
A+ Step+
A- Step-
B+ Direction+
Z+ Zero+
Z- Zero-
B- Direction-
CAN_H (GP) CAN_H (GP)
CAN_L (GP) CAN_L (GP)
Shield Shield
EIA/TIA 568A colors:
Green/White
Green
Orange/White
Blue
Blue/White
Orange
Brown/White
Brown
RJ-45 Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring.
Master Encoder Inputs: Differential RS422, max. Input Frequency 2MHz, 240ns edge separation
Master Encoder Outputs: Amplified RS422 differential signals from Master Encoder IN (X10)
CAN internally connected to X7, X8
The CAN signals on X10/X11 are only available on GP controllers. With the –DP, -RS, -DN and CO
controllers use X7/X8 for connection the CAN bus instead.
All devices, which are connected to X10/X11 must be referenced to the same ground.
X12 : External Position Sensor
1
2
3
4
5
6
7
8
9
case
Incremental: Sin/Cos:
+5V DC +5V DC
A- SIN-
B- COS-
Z- ZERO-
GND GND
A+ SIN+
B+ COS+
Z+ ZERO+
Enc. Alarm Enc. Alarm
Shield Shield
DSUB-9 (f) Max. Input Frequency: 2MHz (Incremental RS422), 240ns edge separation
10kHz (Analog 1Vpp), 10Bit AD converted
Sensor Supply (max. 100mA)
Encoder Inputs:
- Incremental: RS422
- Sin/Cos: 1Vpp
Enc. Alarm In: 5V / 1mA

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100, 16/06/2010 Page 19/24
Error Codes
Description
ERROR WARN EN
OFF Warning
Operation
Enabled Normal Operation. Warnings and Operation Enabled are
displayed
On z~ 2Hz
0..15 x
Error Code
High Nibble
z~ 2Hz
0..15 x
Error Code
Low Nibble
Error: The Error Code is shown by a blink code with “WARN”
and “EN”. The Error Byte is divided into Low and High Nibble.
”WARN” and “EN” are blinking together. The error can be
acknowledged.
(ex.: WARN blinks 3x, EN blinks 2x; Error Code = 32h
z~ 2Hz z~ 2Hz
0..15 x
Error Code
High Nibble
z~ 2Hz
0..15 x
Error Code
Low Nibble
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. ”WARN” and “EN” are blinking together. Fatal Errors
can only be acknowledged by a reset or power cycle
(ex.: WARN blinks 3x, EN blinks 2x; Error Code = 32h
z~ 4Hz z~ 2Hz
0..15 x
Error Code
High Nibble
z~ 2Hz
0..15 x
Error Code
Low Nibble
System Error. Please reinstall firmware or contact support.
The meaning of the Error Codes can be found in the Usermanual_MotionCtrl_Software_E1100 and the
user manual of the loaded interface software. These documents are provided together with LinMot-Talk
configuration software and can be downloaded from www.linmot.com.
Physical Dimension
E1100 Single axes controller
Width mm (in) 40 (1.6)
Height mm (in) 250 (9.9)
Height without fixings mm (in) 228 (9)
Depth mm (in) 180 (7.1)
Weight Kg (lb) 1.5 (3.3)
Case IP 20
Storage Temperature °C -25…40
Transport Temperature °C -25…70
Operating Temperature °C 0…40 at rated data (UL)
40…50 with power derating
Relative humidity 95% (non-condensing)
Max. Case Temperature °C 65
Max. Power Dissipation W 30
Distance between
Controllers
mm (in) 20 (0.8) left/right
50 (2) top/bottom
( ) dimensions in inch

Installation Guide E1100
Page 20 of 24 Installation Guide E1100, 06/09/2009 NTI AG/ LinMot/
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 to 85VDC, for UL from 30
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…)
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. 1.1A (all 10 outputs “on” with 100mA load and /Break with no load)
max. 2.1A (all 10 outputs “on” with 100mA load and /Break with 1A load)
Regeneration of Power / Regeneration Resistor
There are two possibilities to deal with power regeneration:
Option A: Connect an additional capacitor to the motor power supply. It is recommended to use a
capacitor >= 10’000 μF (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.
For UL applications, use option A.
Item Description Art. No.
Capacitor Capacitor 10’000 μF / 100 V 0150-3075
Regeneration Resistor RR01-10/60 (10 Ohm, 60 W) 0150-3088
Regeneration Resistor RR01-10/150 (10 Ohm, 150 W) 0150-3090