LinMot E1100 Series User manual

Content
Important notes for E1100 series controllers 2
System Overview 3
E1100 Interfaces 4
Functionality 5
E1130-DP(-HC) Functions and Wiring 6
E1100-GP(-HC) Functions and Wiring 7
E1100-CO(-HC), -DN(-HC) and -RS(-HC) Functions and Wiring 8
Power Supply and Grounding 9
Description of the connectors / Interfaces 10
Physical Dimension 15
Power Supply Requirement 17
Regeneration of Power / Regeneration Resistor 17
Ordering Information 18
Declaration of Conformity CE-Marking 19
Contact Addresses 20
Servo Controller Installation Guide
E1100-CO(-HC), E1100-DN(-HC), E1130-DP(-HC), E1100-GP(-HC), E1100-RS(-HC)
Document version: 1.0c / FM 11.01.2006

Installation Guide E1100
Page 2 of 20 Installation Guide E1100 26.01.2006 NTI AG/ LinMot/
Important 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
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.
© 2006 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 26.01.2006 Page 3/20
System Overview
Typical Servo System E1100-XX: Servo Controller, Linear Motor and Power Supply.

Installation Guide E1100
Page 4 of 20 Installation Guide E1100 26.01.2006 NTI AG/ LinMot/
E1100 Interfaces
E1100-MP E1100-MP-HC E1100-MT E1100-MT-HC E1100-RS E1100-RS-HC E1100-CO E1100-CO-HC E1100-DN E1100-DN-HC E1130-DP E1130-DP-HC E1100-GP E1100-GP-HC
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 RS485 / CAN In ●●●●●●●●
X8 RS485 / CAN Out ●●●●●●●●
X9 PROFIBUS DP ●●
X10 Master Encoder In (●) (●) ●●●●●●●●●●
X11 Master Encoder Out (●) (●) ●●●●●●●●●●
X12 External Position Encoder ●●●●●●●●●●●●
LED State Indicator ●●●●●●●●●●●●●●
S1 Switch High ●●●●●●●●●●●●
S2 Switch Low ●●●●●●●●●●●●
S3 Bus Termination ●●●●●●●●●●●●

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100 26.01.2006 Page 5/20
Functionality
E1100-MP E1100-MP-HC E1100-MT E1100-MT-HC E1100-RS E1100-RS-HC E1100-CO E1100-CO-HC E1100-DN E1100-DN-HC E1130-DP E1130-DP-HC E1100-GP E1100-GP-HC
Supply Voltage
Motor Supply 72VDC (24...80VDC) ●●●●●●●●●●●●●●
Logic Supply 24VDC (22...26VDC) ●●●●●●●●●●●●●●
Motor Phase Current
4A
peak ●●●●●●●
15A
peak ●●●●●●●
Controllable Motors
LinMot P01-23x… ●●●●●●●●●●●●●●
P01-37x… ●●●●●●●●●●●●●●
P01-48x… ●●●●●●●●●●●●●●
DC Motors ●●●●●●●●●●
Brushless DC / EC Motors ●●●●●●●●●●
Command Interface
MPC with 8 Commands ●●●●●●
MPC with 256 Commands ●●●●
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 ●●
External Position Sensor
Incremental RS422 up to 2 MHz ●●●●●●●●●●●●
SinCos 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 6 of 20 Installation Guide E1100 26.01.2006 NTI AG/ LinMot/
E1130-DP(-HC) Functions and Wiring

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100 26.01.2006 Page 7/20
E1100-GP(-HC) Functions and Wiring

Installation Guide E1100
Page 8 of 20 Installation Guide E1100 26.01.2006 NTI AG/ LinMot/
E1100-CO(-HC), -DN(-HC), -RS(-HC) Functions and Wiring

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100 26.01.2006 Page 9/20
Power Supply and Grounding
*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 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 10 of 20 Installation Guide E1100 26.01.2006 NTI AG/ LinMot/
Description of the connectors / Interfaces
X1: Motor Supply / Regeneration Resistor
Screw Terminals External Regeneration Resistor (RR01-10/60, Art. Nr. 0150-3088)
Motor Supply 24...80VDC
Absolute max. Rating 72VDC +20%.
If motor supply voltage is exceeding 90VDC, the controller will go into error state.
Wiring: 2.5mm² (AWG14)
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 5A RMS, the phases must
be connected to X2 and not to X3. Never connect both.
Wiring: 1.5-2.5mm² (AWG16-14)
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 5Arms.

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100 26.01.2006 Page 11/20
Motor wiring for Series E1100 Controllers (low current version without –HC extension)
Important:
Motor Phases may be connected to X3 up to 5Arms or 7.5Apeak phase current.
Motor Wiring for High Current Controller E1100-xx-HC
Important:
If motor phase current exceeds 5Arms or 7.5Apeak, motor phases must be wired to X2.

Installation Guide E1100
Page 12 of 20 Installation Guide E1100 26.01.2006 NTI AG/ LinMot/
X4: 12pin Control / Supply (E1130-DP(-HC), E1100-CO(-HC), E1100-DN(-HC), E1100-RS(-HC))
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 24V / 1mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)
Outputs 24V / max.100mA
Brake Output 24V / max.1.0A
Supply 24V / typ. 400mA / max. 2.1A (if all outputs “on” with max. load.)
Wiring: 0.25-1.5mm² (AWG24-16)
X4: 11pin Control / Supply (E1100-GP(-HC))
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 24V / 1mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)
Outputs 24V / max.100mA
Brake Output 24V / max.1.0A
Supply 24V / typ. 400mA / max. 3.0A (if all outputs “on” with max. load.)
Wiring: 0.25-1.5mm² (AWG24-16)
LED State Display
Green
Yellow
Yellow
Red
24V Logic Supply OK
Motor Enabled
Warning
Error
S1-3: Address Selectors / Bus Termination
S2
S1
High
Low
4
3
2
1
on off
S3
S1
S2
S3
Bus ID High (0…F)
Bus ID Low (0…F)
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”)
HEX-Switches for Bus ID (Address
range 0…255)
Factory setting: all switches “off”
Select serial RS232 or RS485
To use field bus functionality the switch S3.4 has to be set to position “on”!
In position “off” the field bus is deactivated.

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100 26.01.2006 Page 13/20
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
X6: Digital I/O
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 Max. current: 100mA
Update rate: 1ms
Outputs may directly drive inductive loads.

Installation Guide E1100
Page 14 of 20 Installation Guide E1100 26.01.2006 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 S3.2 and S3.3.
X7 internally connected to X8
(1:1 connection)
X9: Profibus DP
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
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.

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100 26.01.2006 Page 15/20
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
Error Codes:
Description
ERROR WARN EN
OFF Warning
Operation
Enabled Normal Operation. Warnings and Operation Enabled are
displayed
On z~ 2Hz
0..7 x
Error Code
Low Nibble
z~ 2Hz
0..7 x
Error Code
High 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..7 x
Error Code
Low Nibble
z~ 2Hz
0..7 x
Error Code
High 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..7 x
Error Code
Low Nibble
z~ 2Hz
0..7 x
Error Code
High 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. This documents are provided together
with LinMot-Talk 1100 and can be downloaded from www.linmot.com.

Installation Guide E1100
Page 16 of 20 Installation Guide E1100 26.01.2006 NTI AG/ LinMot/
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
40…50 with power derating
Max. Case Temperature °C 65
Distance between Controllers mm (in) 20 (0.8) left/right
50 (2) top/bottom
( ) dimensions in inch

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100 26.01.2006 Page 17/20
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…80VDC.
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…)
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 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.
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

Installation Guide E1100
Page 18 of 20 Installation Guide E1100 26.01.2006 NTI AG/ LinMot/
Ordering Information
Servo Controller Description Art. No.
E1130-DP Profibus Servo Controller 72VDC/4A 0150-1667
E1130-DP-HC Profibus Servo Controller 72VDC/15A 0150-1668
E1100-RS RS232/485 Controller 72VDC/4A 0150-1677
E1100-RS-HC RS232/485 Controller 72VDC/15A 0150-1678
E1100-CO CANopen Controller 72VDC/4A 0150-1681
E1100-CO-HC CANopen Controller 72VDC/15A 0150-1682
E1100-DN DeviceNet Controller 72VDC/4A 0150-1679
E1100-DN-HC DeviceNet Controller 72VDC/15A 0150-1680
E1100-GP General Purpose 72VDC/4A 0150-1665
E1100-GP-HC General Purpose 72VDC/15A 0150-1666

Installation Guide E1100
NTI AG, LinMot Installation Guide E1100 26.01.2006 Page 19/20
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.
E1130-DP 0150-1667 E1100-DN 0150-1679
E1130-DP-HC 0150-1668 E1100-DN-HC 0150-1680
E1100-GP 0150-1665
E1100-GP-HC 0150-1666
E1100-RS 0150-1677
E1100-RS-HC 0150-1678
E1100-CO 0150-1681
E1100-CO-HC 0150-1682
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 A Electrostatic discharge immunity (ESD)
EN 61000-4-3 Class A Radiated electromagnetic field immunity
EN 61000-4-4 Class A Fast transients / burst immunity (EFT)
EN 61000-4-5 Class A 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, December 16, 2004
-----------------------------------------------------------
R. Rohner / CEO NTI AG

Installation Guide E1100
Page 20 of 20 Installation Guide E1100 26.01.2006 NTI AG/ LinMot/
Contact Addresses
NTIAG
LinMot Tel. [phone]
Haerdlistrasse 15 Fax. [phone]
CH-8957 Spreitenbach email: [email protected]
Switzerland Web: www.LinMot.com
LinMot Inc.
N2444 Broad Street Phone [phone] or 262-728-2699
Delavan Fax: [phone] or 262-740-0141
WI 53115 email: [email protected]
USA Web: www.LinMot.com
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