LinMot E1200-GP-UC User manual

E1200 Servo Controller
Installation Guide
Eine Deutsche Version kann unter http://www.linmot.com bezogen werden!
Please visit http://www.linmot.com to check for the latest version of this document!
This document applies to the following controllers:
E1200-GP-UC E12 0-DP-UC
E1250-PL-UC E1250-EC-UC
E1250-SE-UC E1250-PN-UC
E1250-IP-UC E1250-SC-UC

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 4.4 / mk/Ro, Febr 2012
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E1200 Installation Guide

inMot Installation Guide
Table of Content
1 Important safety notes for E1200 series controllers....................................................4
2 System Overvie .............................................................................................................5
3 Functionality and Interfaces...........................................................................................6
4 IP Address Selection.......................................................................................................6
5 Po er Supply and Grounding........................................................................................7
6 Description of the connectors / Interfaces....................................................................8
6.1 X1................................................................................................................................8
6.2 X2................................................................................................................................8
6. X ................................................................................................................................9
6.4 X4 .............................................................................................................................10
6.5 X7 - X8......................................................................................................................10
6.6 X9..............................................................................................................................11
6.7 X10 - X11..................................................................................................................11
6.8 X1 ............................................................................................................................12
6.9 X15 - X16..................................................................................................................12
6.10 X17 - X18................................................................................................................1
6.11 X19..........................................................................................................................1
6.12 X20..........................................................................................................................1
6.1 S5............................................................................................................................14
6.14 LEDs.......................................................................................................................14
6.15 RT BUS LEDs.........................................................................................................14
6.16 S1 - S2....................................................................................................................14
7 Error Codes....................................................................................................................15
8 Physical Dimensions.....................................................................................................16
9 Po er Supply Requirements........................................................................................17
10 Regeneration of Po er / Regeneration Resistor......................................................18
11 Ordering Information...................................................................................................18
12 International Certifications.........................................................................................18
13 Classification of the safety functionality...................................................................19
14 Declaration of Conformity CE-Marking......................................................................19
15 Contact Addresses......................................................................................................20
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1 Important safety notes for E1200 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 Po er 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
po er cables hen connected to LinMot controllers) (see chapter
Po er Supply and Grounding).
All connectors must not be connected or disconnected hile DC
voltage is present. Do not disconnect system components until all
LinMot controller 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 ith
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 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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2 System Overvie
Typical Servo System E12x0-XX: Servo Controller, Linear Motor and Power Supply.
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3 Functionality and Interfaces
E1250-PL-UC E1250-PN-UC E1250-SC-UC E1250-IP-UC E1250-EC-UC E1250-SE-UC E1230-DP-UC E1200-GP-UC
Supply Voltage
Motor Supply 72VDC (24...85VDC) ● ● ● ● ● ● ● ●
Logic Supply 24VDC (22...26VDC) ● ● ● ● ● ● ● ●
Motor Phase Current
2A peak / 12A rms ● ● ● ● ● ● ● ●
Controllable Motors
LinMot P01-2 x… (Motor Link P)*● ● ● ● ● ● ● ●
P01- 7x… (Motor Link P)*● ● ● ● ● ● ● ●
P01-48x… (Motor Link P)*● ● ● ● ● ● ● ●
DC Motors ● ● ● ● ● ● ● ●
Brushless DC / EC Motors ● ● ● ● ● ● ● ●
Command Interface
CANopen ● ● ● ● ● ● ● ●
LinRS ● ● ● ● ● ● ● ●
POWERLINK ●
PROFINET ●
sercos ●
Sercos over EtherCAT ● ●
ETHERNET IP ●
EtherCAT ● ●
PROFIBUS-DP ●
Programmable Motion Profiles (Curves)
Up to 100 Motion Profiles ● ● ● ● ● ● ● ●
Programmable Command Table
Command Table with up to 255 entries ● ● ● ● ● ● ● ●
External Position Sensor
Incremental
(RS422 up to 25 M counts/s, quadrature ev.) ● ● ● ● ● ● ● ●
Synchronisation
Master Encoder In/Out
(RS422 up to 25 M counts/s, quadrature ev.) ● ● ● ● ● ● ● ●
Configuration Interface
RS2 2 ● ● ● ● ● ● ● ●
Ethernet 10/100 Mbit/s
(2-Port Switch integrated) ● ● ● ● ● ● ● ●
4 IP Address Selection
The default mode for acquiring an IP address is via DHCP. If no servers respond on
the connected network, the controller switches to the Ipv4 Link-Local addressing
scheme (also known as APIPA on Windows systems). This way the controller
automatically assigns itself an address within the range of 169.254.0.1 through
169.254.255.254 (Subnet Mask 255.255.0.0).
Please note that this process can take up to a minute until a valid address is
assigned to the controller.
* LinMot Motor Communication
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5 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 on 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 controller 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 the controller.
* Inside of the E1200 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.
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6 Description of the connectors / Interfaces
6.1 X1
X1 Motor Supply / Regeneration Resistor
Screw Terminals External Regeneration Resistor (RR01-10/60, Art. Nr. 0150- 088)
External Fuse: max. 2AT (for example RK5 Class Fuse Bussmann FRN-R- 0)
Supply nominal 72VDC (24...85VDC / 0..85VDC for UL compliance)
(See chapter Power Supply Requirements for compatible power supplies.)
Absolute max. Rating 72VDC +20%.
If motor supply voltage is exceeds 90VDC, the controller will go into error state.
- Tightening torque: 0.5 - 0.6 Nm
- Screw thread: M2.5
- Use 60/75°C copper conductors only
- Conductor cross-section: use only 2.5mm2 / AWG 14
- Stripping length: 1 -15mm
- Max. length: 4m
6.2 X2
X2 Motor Phases
PH1+ /U
PH1- /V
PH2+ /W
PH2- /X
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 Motor Phase X
Shield
Screw Terminals - Tightening torque: 0.5 - 0.6 Nm
- Screw thread: M2.5
- Use 60/75°C copper conductors only
- Conductor cross-section: 0.5 – 2.5mm2 (depends on Motor current) / AWG 21 -14
- Stripping length 1 -15mm
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6.3 X3
X3 Motor Encoder
1
2
4
5
6
7
8
9
case
LinMot Motor: 3-phase EC-Motor:
- -
- -
+5VDC +5VDC (Hall Supply)
Sensor Sine Hall 1
Temp. In Hall
- -
- -
AGND AGND (Hall Supply)
Sensor Cosine Hall 2
Shield
DSUB-9 (f) Note :
Use +5VDC (X . ) and AGND (X .8) only for motor internal hall sensor supply (max. 100mA).
Caution :
Do NOT connect AGND (X .8) to ground or earth!
Motor Wiring
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6.4 X4
X4 Logic Supply / Control
12
11
10
9
8
7
6
5
4
2
1
Input SVE
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. /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 as high imp. Input)
Configurable IO, Brake Driver 1A
Logic Supply 22-26 VDC
Ground
Phoenix
MC1,5/12-STF-
,5
Inputs (X4. .. X4.12): 24V / 5mA (Low Level: –0.5 to 5VDC, High Level: 15 to 0VDC)
Outputs (X4.4 .. X4.11): 24V / max.100mA, Peak 70mA (will shut down if exceeded)
Brake Output (X4. ): 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): AT (slow blow, Schurter OMT125, 404.0118.xx, UL File Number: E41599)
CAUTION: For continued protection against risk of fire, replace only with same type and rating of fuse.
6.5 X7 - X8
X7 - X8 RS485/CAN
1
2
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, -6, 4-5, 7-8) cable for wiring.
The built in CAN and RS485 terminations can be activated by S5.2 and S5. .
X7 is internally connected to X8 (1:1 connection)
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6.6 X9
X9 PROFIBUS DP (only available on E1230-DP-UC)
1
2
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
6.7 X10 - X11
X10 - X11 Master Encoder IN (X10) / Master Encoder OUT (X11)
1
2
4
5
6
7
8
case
Incremental: Step/Direction:
A+ Step+
A- Step-
B+ Direction+
Z+ Zero+
Z- Zero-
B- Direction-
CAN_H CAN_H
CAN_L CAN_L
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, -6, 4-5, 7-8) cable for wiring.
Master Encoder Inputs: Diff. RS422, max. counting frequency 25 Mcounts/s, quadrature evaluation,
40ns edge separation
Master Encoder Outputs: Amplified RS422 differential signals from Master Encoder IN (X10)
The CAN bus can be terminated with S5.4.
All devices, which are connected to X10/X11 must be referenced to the same ground.
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6.8 X13
X13 External Position Sensor Differential Hall S itches
1
9
2
10
11
4
12
5
1
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. counting frequency: 25 Mcounts/s with quadrature decoding, 40ns 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
6.9 X15 - X16
X15 - X16 Config Ethernet 10/100 Mbit/s
X15
X16
Internal 2-Port 10BASE-T and 100BASE-TX Ethernet Switch with Auto MDIX.
LEDs on the lower side of the device indicate “Link/Activity” per port, the upper ones
are not used.
RJ-45
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6.10 X17 - X18
X17 - X18 RealTime Ethernet 10/100 Mbit/s
X17 RT ETH In
X18 RT ETH Out
Specification depends on RT-Bus Type. Please refer to according documentation.
RJ-45
6.11 X19
X19 System
1
2
4
5
6
7
8
case
(Do not connect)
(Do not connect)
RS2 2 Rx
GND
GND
RS2 2 Tx
(Do not connect)
(Do not connect)
Shield
RJ-45 Use Adapter cable AC01-RJ45/Df-2.5-RS1 (Art.-No. 0150-2143) for Configuration over RS2 2.
6.12 X20
X20 Analog In (+-10V Differential Analog Input)
1
2
4
5
6
7
8
case
(Do not connect)
(Do not connect)
Analog In -
GND
GND
Analog In +
(Do not connect)
(Do not connect)
Shield
RJ-45
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6.13 S5
S5 Bus Termination / AnaIn2 Pull Do n
S5 Switch 1: AnIn2 Pull down (4k7 Pull down on X4.4). Set to ON, if X4.4 is used as digital Output.
Switch 2: Termination Resistor for RS485 on CMD (120R between pin 1 and 2 on X7/X8) on/off
Switch : CAN Termination on CMD (120R between pin 7 and 8 on X7/X8) on/off
Switch 4: CAN Termination on ME (120R between pin 7 and 8 on X10/X11) on/off
Factory setting: all switches “off”
6.14 LEDs
LEDs State Display
Green
Yellow
Yellow
Red
24V Logic Supply OK
Motor Enabled / Error Code Low Nibble
Warning / Error Code High Nibble
Error
6.15 RT BUS LEDs
RT Bus LEDs RT Bus State Display
Green
Red
OK
Error
The use of these LEDs depends on the type of fieldbus which is used. Please see the corresponding
manual for further information.
6.16 S1 - S2
S1 - S2 Address Selectors
E12x0 V1 E12x0 V2
S1 (5..8)
S2 (1..4)
Bus ID High (0 … F). Bit 5 is LSB, bit 8 MSB.
Bus ID Low (0 … F). Bit 1 is LSB, bit 4 MSB.
The use of these switches depends on the type of fieldbus which is used. Please see the corresponding manual for further
information.
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7 Error Codes
Error Codes
Error Warn EN Description
Off Warning Operation
Enabled
Normal Operation:
Warnings and operation enabled are displayed.
On ● ~2Hz
0..15 x
Error Code
High Nibble
● ~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 (= 4 bit).
”WARN” and “EN” are blinking together.
The error can be acknowledged.
(e.g.: WARN blinks x, EN blinks 2x; Error Code = 2h)
● ~2Hz ● ~2Hz
0..15 x
Error Code
High Nibble
● ~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.
(e.g.: WARN blinks x, EN blinks 2x; Error Code = 2h)
● ~4Hz ● ~2Hz
0..15 x
Error Code
High Nibble
● ~2Hz
0..15 x
Error Code
Low Nibble
System Error:
Please reinstall firmware or contact support.
● ~0.5Hz ● ~0.5Hz On Signal Supply 24V too lo :
The error and warn LEDs blink alternating if the signal supply +24V (X4.2) is
less than 18VDC.
The meaning of the error codes can be found in the
Usermanual_MotionCtrlSW_SG5 and the user manual of the installed interface
software. These documents are provided together with LinMot-Talk configuration
software and can be downloaded from www.linmot.com.
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8 Physical Dimensions
E1200 Series single axis controller
Width mm (in) 40 (1.6)
Height mm (in) 2 (9.2)
Height with fixings mm (in) 270 (10.7)
Depth mm (in) 180 (7.1)
Weight kg (lb) 1.5 ( . )
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 65
Max. Power Dissipation W 0
Clearance around
Controllers
mm (in) 20 (0.8) left/right
50 (2) top / bottom
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E1200 Installation Guide

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9 Po er Supply Requirements
Motor Po er Supply
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- 80 VDC. The
possible range is from 24 to 85VDC, for UL from 0 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…). Due to high
braking voltage and sudden load variations of linear motor
applications, only specially designed po er supplies can be used.
Compatible Po er supplies:
Item Description Art. No.
T01-72/420 72VDC, 15A peak, 420VA, x400VAC 0150-1966
T01-72/420-US 72VDC, 15A peak, 420VA, x2 0VAC 0150-1967
T01-72/900 72VDC, 0A peak, 900VA, x400VAC 0150-1842
T01-72/900-US 72VDC, 0A peak, 900VA, x2 0VAC 0150-184
T01-72/1500 72VDC, 2x 0A peak, 1500VA, x400VAC 0150-1844
T01-72/1500-US 72VDC, 2x 0A peak, 1500VA, x2 0VAC 0150-1845
S01-72/500 72VDC, 500W, 750W peak, 1x100..120VAC/200..240VAC 0150-1874
S01-72/1000 72VDC, 1000W, 2000W peak, x 80..500VAC 0150-1872
For compatibility ith other po er supplies, contact s[email protected]
Signal Po er Supply
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)
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10 Regeneration of Po er / 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- 075
Regeneration Resistor R01-10/60 (10 Ohm, 60 W) 0150- 088
Regeneration Resistor RR01-10/150 (10 Ohm, 150 W) 0150- 090
11 Ordering Information
Item Description Art. No.
E1250-PL-UC POWERLINK Servo Controller 72VDC/ 2A 0150-1760
E1250-PN-UC PROFINET Servo Controller 72VDC/ 2A 0150-1762
E1250-EC-UC EtherCAT Servo Controller 72VDC/ 2A 0150-176
E1250-SE-UC sercos over EtherCAT Servo Controller 72VDC/ 2A 0150-1898
E1250-SC-UC sercos Servo Controller 72VDC/ 2A 0150-1764
E1250-IP-UC ETHERNET IP Servo Controller 72VDC/ 2A 0150-1761
E12 0-DP-UC PROFIBUS-DP Servo Controller 72VDC/ 2A 0150-1766
E1200-GP-UC GENERAL PURPOSE Servo Controller 72VDC/ 2A 0150-1771
RS2 2
configuration cable
AC01-RJ45/Df-2.5-RS1 0150-214
12 International Certifications
Certifications
Europe See chapter “14 Declaration of Conformity CE-Marking“
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13 Classification of the safety functionality
Controller Classification Accordance with the newMachinery Directive EN ISO 1 849-1:
The safety function SVE (“Safety Voltage Enable”) on the LinMot controller series E1200, which is to
provide the safe stop, fulfills the following criteria of the new machinery directive EN ISO 1 849-1:
Category cat =
Performance Level PL = d
Diagnostic Coverage CD = medium
Mean time to hazardous failure of one channel MTTFd = 49.8 Years
14 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.
E1250-PL-UC 0150-1760 E1250-EC-UC 0150-176 E1200-GP-UC 0150-1771
E1250-IP-UC 0150-1761 E1250-SC-UC 0150-1764 E1250-SE-UC 0150-1898
E1250-PN-UC 0150-1762 E12 0-DP-UC 0150-1766
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- A Radiated electromagnetic field immunity
EN 61000-4-4 B Fast transients / burst immunity (EFT)
EN 61000-4-5 B Slow transients immunity (Surges)
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 55022 B Radiated Emission
Company: NTI Ltd. / Spreitenbach / October 1 , 2010
--------------------------------------------
R. Rohner / CEO NTI AG
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15 Contact Addresses
SWITZERLAND NTI AG
Haerdlistr. 15
CH-8957 Spreitenbach
Sales and Administration: [phone]
[e-mail]
Tech. Support: [phone]
[email protected]
Tech. Support (Skype) : skype:support.linmot
Fax: [phone]
Web: http://www.linmot.com/
USA LinMot, Inc.
5750 Townline Road
Elkhorn, WI 5 121
Sales and Administration: 877-546- 270
262-74 -2555
Tech. Support: 877-804-0718
262-74 -1284
Fax: [phone]
262-72 -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…
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E1200 Installation Guide