LinMot PR02-88 Series User manual

NTI AG / LinMot Dok-Nr. 0185-0100-E_1V6_IG_Linear_Rotary_Motors_PR02-88
Installation Guide
Linear Rotary Motors
ENG
PR02-88

Installation Guide Linear Rotary Motors ENG
Page 2 / 34 PR02-88 NTI AG / LinMot
Content
1General information ................................................................................................................................. 4
1.1 Introduction........................................................................................................................................ 4
1.2 Explanation of symbols...................................................................................................................... 4
1.3 Qualified personnel............................................................................................................................ 4
1.4 Liability............................................................................................................................................... 4
1.5 Copyright............................................................................................................................................ 4
2Safety instructions ................................................................................................................................... 5
3Intended Use............................................................................................................................................. 7
3.1 Designation Code PR02 Linear Rotary Motors ................................................................................. 7
3.2 PR02-88 Linear Rotary Motor............................................................................................................ 7
3.3 Internal Mechanical Stops ................................................................................................................. 8
3.4 Max. Speed........................................................................................................................................ 8
3.5 Option Load Compensation MagSpring®.......................................................................................... 8
3.6 Option Hollow Shaft........................................................................................................................... 8
3.7 Option Pusher.................................................................................................................................... 8
3.8 Option Torque Sensor ....................................................................................................................... 8
4Installation instructions......................................................................................................................... 10
4.1 Operating Conditions....................................................................................................................... 10
4.2 Installation Options .......................................................................................................................... 10
4.2.1 Horizontal Installation .................................................................................................................. 10
4.2.2 Vertical Installation....................................................................................................................... 10
4.3 Mounting the Load on the Shaft ...................................................................................................... 11
4.4 Material Data ................................................................................................................................... 11
5Connections............................................................................................................................................ 12
5.1 Electrical Connection....................................................................................................................... 12
5.1.1 Motor Cable ................................................................................................................................. 12
5.1.2 Wiring Linear Rotary Motor.......................................................................................................... 13
5.1.3 Overview of the Connectors ........................................................................................................ 13
5.1.4 Connector Wiring Linear Rotary Motor........................................................................................ 14
5.1.5 Connector Wiring Torque Measuring Shaft ................................................................................. 14
5.2 Connection of Air ............................................................................................................................. 15
6Start-up.................................................................................................................................................... 16
6.1 Linear Motor and Rotary Motor........................................................................................................ 16
6.2 Default Values of the Coordinate System........................................................................................ 16
6.2.1 Angle of Rotation ......................................................................................................................... 16
6.2.2 Position........................................................................................................................................ 16
6.3 Torque Measuring Shaft .................................................................................................................. 17
6.3.1 Torque Operating Direction ......................................................................................................... 17
6.4 Magnetic Spring MagSpring®.......................................................................................................... 17
6.4.1 Force Direction............................................................................................................................. 17
6.5 Plug and Play Function for Linear Rotary Motors............................................................................ 17
6.6 Setting Motor Parameters................................................................................................................ 18

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6.6.1 Selection of the Motor Data Files................................................................................................. 18
6.6.2 Application-specific Parameters .................................................................................................. 18
6.6.3 Inverting the Coordinate System ................................................................................................. 19
6.6.4 Selection of the Linear and Rotary Unit System.......................................................................... 20
6.6.5 Referencing the Linear Motor ...................................................................................................... 20
6.6.6 Referencing the Rotary Motor...................................................................................................... 21
6.7 Initial Setup of Torque Measuring Shafts and Force Sensors......................................................... 21
6.7.1 Software Package „Technology Function Force Control“............................................................ 21
6.7.2 Setting Parameters for Torque / Force Control ........................................................................... 21
6.7.3 Initial Test of a Torque Measuring Shaft / Force Sensor............................................................. 22
7Accessories ............................................................................................................................................ 24
7.1 Motor Cable ..................................................................................................................................... 24
7.2 Sensor Cable................................................................................................................................... 25
7.3 Shaft-Hub Clamping ........................................................................................................................ 25
7.3.1 Dimensions and Technical Data.................................................................................................. 26
7.3.2 Mounting...................................................................................................................................... 26
8Maintenance and Test Instructions ...................................................................................................... 27
8.1 Stator Checking ............................................................................................................................... 27
8.1.1 Linear Motor PS01-48x240F-HP ................................................................................................. 27
8.1.2 Rotary Motor Stator RS02-88x76 ................................................................................................ 27
8.2 Maintenance .................................................................................................................................... 27
8.2.1 Preventive Inspection every 6'000h............................................................................................. 28
8.2.2 Inspection after each 12'000h...................................................................................................... 28
8.3 Calibration of Torque Measuring Shaft and Force Sensor.............................................................. 28
9Transport and Storage........................................................................................................................... 28
10 Dimensions......................................................................................................................................... 29
10.1 PR02-88x76-C_48x240F-HP-C-150................................................................................................ 29
10.2 PR02-88x76-C_48x240F-HP-C-300................................................................................................ 30
11 Declaration of Conformity and CE-marking.................................................................................... 31

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1 General information
1.1 Introduction
This manual includes instructions for the installation, maintenance, transport, and storage of linear rotary
motors. The document is intended for electricians, mechanics, service technicians, and warehouse staff.
Be sure to observe the general safety instructions as well as those in each chapter at all times.
Keep this manual accessible to the assigned staff.
1.2 Explanation of symbols
Triangular warning symbols warn against a danger.
Round command symbols tell what to do.
1.3 Qualified personnel
All work such as transport, installation, commissioning and service is only allowed to be carried out by
qualified personnel. Qualified personnel in the sense of the safety instructions in this documentation are
persons who are familiar with the transport, installation, assembly, commissioning and operation of the
product and who have the appropriate qualifications.
This manual must be read carefully before transport, installation, commissioning, service and all safety-
related information must be adhered to.
1.4 Liability
NTI AG (as manufacturer of LinMot linear motors and MagSpring products) excludes all liability for damages
and expenses caused by incorrect use of the products. This also applies to false applications, which are
caused by NTI AG's own data and notes, for example in the course of sales, support or application activities.
It is the sole responsibility of the user to check the information and information provided by NTI AG regarding
their safety-relevant correctness. In addition, the entire responsibility for safety-related product functionality
lies exclusively with the user.Product warranties are void if products are used with stators, sliders, servo
drives or cables not manufactured by NTI AG unless such use was specifically approved by NTI AG.
NTI AG’s warranty is limited to repair or replacement as stated in our standard warranty policy as described
in our "terms and conditions" previously supplied to the purchaser of our equipment (please request copy of
same if not otherwise available). Further reference is made to our general terms and conditions.
1.5 Copyright
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 training purposes, or translating, in whole or in part, without the prior written consent of NTI AG.
LinMot® is a registered trademark of NTI AG.

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2 Safety instructions
Pacemaker / Implanted heart defibrillator
Sliders could affect the functioning of pacemakers and implanted heart defibrillators. For the
duration of a strong approach to a magnetic field, these devices switch into test mode and
will not function properly.
•If you wear one of those devices keep a minimum distance of 300 mm (12ʺ) between
the pacemaker / defibrillator and the housing of the linear rotary motor.
•Inform others who wear these devices to comply with this minimum distance!
Caution - Risk of Electric Shock !
Before working, make sure that there are no high voltages.
Fast-moving machine parts
The sliders of LinMot linear motors are fast-moving machine parts. All necessary
precautions must be taken to prevent persons approaching the moving elements during
operation (provide covers, guards, etc.).
Automatic restart
The motors can start automatically under certain cricumstances!
If necessary, a corresponding warning symbol must be provided and protection against
entering the hazardous area or a suitable safe electronic disconnection must be provided!
Risk of injury due to a defect or fault
For areas where a defect or fault can result in substantial property damage or even serious
personal injury, additional external precautions must be taken or devices must be installed
to ensure safe operation even if a defect or fault occurs (eg. suitable safe electronic
disconnection, mechanical interlocks, barriers, etc.).
Magnetic field
Magnets integrated in the sliders produce a strong magnetic field. They could damage TVs,
laptops, computer hard drives, credit and ATM cards, data storage media, mechanical
watches, hearing aids, and speakers.
•Keep magnets away from devices and objects that could be damaged by strong
magnetic fields.
•For the above mentioned objects, keep a minimum distance as described in the
"Pacemaker / implanted defibrillator" section.
•For non-anti-magnetic watches, keep the double minimum distance.
Burn hazard
The shaft of LinMot linear rotary motors can reach temperatures of 80 °C, which may cause
burns upon contact.
Grounding
All metal parts that are exposed to contact during any user operation or servicing and likely
to become energized shall be reliably connected to the means for grounding.

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Effects on people
According to the current level of knowledge, magnetic fields of permanent magnets do not
have a measurable positive or negative effect on people. It is unlikely that permanent
magnets constitute a health risk, but it cannot be ruled out entirely.
•For your own safety, avoid constant contact with magnets.
•Store large magnets at least one meter away from your body.
Temperature resistance
Keep motors away from unshielded flame or heat.
Temperature above 120°C will cause demagnetization.

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3 Intended Use
3.1 Designation Code PR02 Linear Rotary Motors
PR02-88x76 -C_48x240F-HP-C-150-Lxx_MSxx_TSxx_FSxx _xxx
Option mech. variant /
customized
Option force sensor
Option torque sensor
Option load compensation / MagSpring
Option hollow shaft (L01) / Pusher (L05)
Stroke range
Connector type (Linear motor)
Linear motor type
Connector type (Rotary motor)
Rotary motor type
Motor family
3.2 PR02-88 Linear Rotary Motor
LinMot linear rotary motors are direct electric drives for use in industrial and commercial installations. For
correct handling, observe the warnings listed in chap. 2.
The PR02 motor series is characterized by a slim design in which a linear and a rotary motor including
additional components are integrated in a common housing.OptionThis features a high-precision and
complex mechanical system. The optimization of the internal moving load mass, as well as the moment of
inertia, enables a dynamic movement of linear and rotating motion.
Linear Rotary
Shaft
Rotary
Motor
Torque Sensor
Pusher
Air Connection
Housing
Motor Connector
Slider
MagSpring
Linear Motor

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The PR02 linear rotary motor is designed for the simultaneous execution of linear and rotating movements.
This means that the rotary and linear movements can be executed simultaneously and completely
independently of each other. However, if the application permits, it is recommended to execute the rotary
movement with the linear rotary shaft retracted, if possible. The rotary and linear movements should also be
carried out one after the other. This reduces the bearing loads and achieves a longer service life of the linear
rotary shaft.
By combining linear and rotary motion, highly complex motion patterns, such as those required in sealing
and assembly applications, can be easily realized using LinMot linear rotary motors. In addition to the two
motors, further options such as an air feed-through, a magnetic spring "MagSpring", a torque sensor and a
force sensor can be integrated in the housing.
3.3 Internal Mechanical Stops
Do not drive into the internal mechanical stops!
It must be ensured that the linear motor does not move to the lower or upper internal stop
during operation, as otherwise the linear motor may be damaged! The internal stops may
only be used for homing purposes. The homing speed must not exceed the value of 0.01
m/s.
3.4 Max. Speed
The mechanically maximum permissible speed of 1000 rpm must not be exceeded.
3.5 Option Load Compensation MagSpring®
The MagSpring option is a passive load compensation based on a magnetic spring with constant force over
the functional stroke range that can be integrated into the module. MagSprings are available in various force
levels and can either push or pull the linear rotary shaft. The MagSpring option can be used to compensate
the load mass. With the correct design, the motor current and thus its power loss can be reduced, by using a
MagSpring. This makes higher cycle rates possible.
If the MagSpring is sized properly, it can move the linear rotary shaft including the load mass into a collision-
free zone in the event of current loss.
•Close to the stroke limit (idle state), the MagSpring has a reduced force to protect the
linear rotary motor from mechanical shocks in case of malfunction/control (self-
acceleration into mechanical stop).
•If the maximum defined stroke (see data sheet) is exceeded, the MagSpring function
can no longer be guaranteed.
3.6 Option Hollow Shaft
Linear rotary motors can optionally be equipped with a pneumatic connection. This allows pneumatic
compressed air or vacuum to be fed directly through the linear rotary shaft. This avoids the complex passage
of hoses around the linear rotary shaft. This option can be used, for example, to control pneumatic grippers
or to pick up parts with the help of vacuum. For more information, see chapter 5.2 « Connecting the air ».
•In the case of a vacuum application, it is recommended to use a unit with sufficient
power, as any air coupling points are known to produce minor losses.
•Hollow shafts are not intended for the passage of liquid media.
3.7 Option Pusher
The optional pusher, which is technically a double-acting pneumatic cylinder, can be used as a second
independent linear movement. In the initial position, the pusher is 20 mm above the linear rotary shaft and
achieves a total stroke of 25 mm. It generates a force of 400 N at 6 bar and can be used, for example, to
eject gripped elements or for the mechanical actuation of grippers.
3.8 Option Torque Sensor
The optional, integrated torque sensor enables closed-loop torque control with target torque specification.
The measurement signal is also available to the user for the cyclical recording / evaluation of sensitive

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process data (e.g. tightening torque). This makes it easy to implement high-precision, reproducible and
recordable closing & assembly processes in accordance with Industry 4.0 requirements.
Torque sensors are based on the measuring principle of strain gauges and transmit the measuring signal
and the supply voltage without contact. This enables low-wear and maintenance-free continuous operation.
With this option, a suitable, galvanically isolated measuring amplifier is automatically integrated in the linear
rotary motor and provides a measuring signal of +-10 VDC suitable for the LinMot drive.
Factory calibrations of integrated torque sensors are always carried out in the installed state. This has the
advantage that the influences of the mechanics and the linear rotary motor are included.
•The torque measuring shaft is used to measure static as well as dynamic torques. The
sensor can measure both right-hand and left-hand loads. The measured variable is
suitable for control, regulation and monitoring tasks.
•Torque peaks exceeding the permissible overload (see specifications in the PR02 data
sheet) can lead to destruction of the torque measuring shaft. Where such peaks cannot
be safely excluded, they must be mitigated.
•When changing between right and left load, the torque sensor may show a small
hysteresis. This may cause the sensor to exceed the specified accuracy at the
changeover point.
•Simultaneously turning and measuring the force can falsify the measurement (e.g. due
to increased friction of the linear rotary shaft).
•The operating temperature range of the sensors is 5 - 45 °C. Above or below the limits,
there is a measurement error which influences the measurement results. It is
recommended to set the offset to zero before each measurement.
•The max. operating range is between 0 - 80 °C.
•For continuously precise measuring results, it is recommended to calibrate the torque
measuring shaft annually according to section 8.3.
•Recalibration is also strongly recommended after improper handling of the force
sensors (e.g. impacts on the linear rotary shaft or large overloads).

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4 Installation instructions
4.1 Operating Conditions
•Maximum ambient temperature limits: -10 °C…80 °C
•Internal temperature sensor error occurs at: 90 °C
•The max. installation altitude is 4'000 m above sea level.
From 1'000 m, derating of 1 °C per 100 m is to be considered for air cooling.
4.2 Installation Options
The PR02 linear motors have a centric fit (technical data in the chapter "Dimensions") on the front so that an
exact alignment of the rotary axis is possible.
The following sketches show examples of different installation options. The detailed mounting dimensions
can be found in the chapter "Dimensions".
4.2.1 Horizontal Installation
The PR02 linear rotary motor can be mounted horizontally using the
T-slots at the bottom.
T-nuts M6 can be used for fastening.
Ordering information
Item
Description
Item-No.
Nut N8/M6
Nut for 8 mm T-slots with M6 thread
0150-2558
4.2.2 Vertical Installation
The T-slots on the underside of the PR02 are used for stable
vertical mounting (see explanation above). In addition, the front of
the motor should be fixed using the 4 tapped holes. The positions of
the tapped holes can be found in the "Dimensions" section.

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4.3 Mounting the Load on the Shaft
The load mass is mounted by a shaft-hub clamping. The shaft-hub clamping is a non-positive connection
which is produced by means of two conical rings. The use of drivers or the production of grooves is
completely eliminated. The suitable shaft-hub clamping type can be ordered from LinMot. Mounting
instructions and ordering information can be found in the "Accessories" chapter.
4.4 Material Data
Component
Material
Linear Rotary Shaft
Quenched and tempered steel 1.0601 / C60
Front Flange
Stainless Steel 1.4305
Linear Ball Bearing
Steel
Wiper
NBR
Housing Linear Rotary Motor
Hard anodized aluminium 3.3206

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5 Connections
5.1 Electrical Connection
Only connect or disconnect the motor connector and sensor cable if no voltage is applied to
the servo drive!
Only original LinMot cables may be used for wiring the motor and sensor! Even assembled
cables may only be manufactured from the original LinMot accessories and must be
checked carefully before commissioning!
Incorrect motor wiring can damage the motor and/or the servo drive!
5.1.1 Motor Cable
Three types of cables are available for the linear rotary motors. The standard motor cable is intended for
stationary installation. The High-Flex cable (suitable for cable tracks) and the robot cable are used for
moving cable applications.
Wiring Linear Rotory Motor
Wiring
torque measuring
shaft
Standard cable
High-flex cable
Robot cable
High-flex cable
Cable type
K15-04/05
KS10-04/05
KR05-04/05
KSS02-08
Min. bending radius
stationary
50 mm
(1.97 in)
50 mm
(1.97 in)
50 mm
(1.97 in)
35 mm
Min. bending radius
moving
Not suitable for
applications with
moving motor
cable
100 mm
(3.94 in)
No torsion
80 mm
(3.15 in)
Max. torsion:
±270° pro 0.5 m
61 mm
Approval
Cable material
acc. UL
UL / CSA 300V
UL / CSA 300V
Cable material acc.
UL
Material wire
insulation
TPE-U
TPE-E
TPE-E
PP
Material cable sheath
PUR
PUR
PUR
PUR
Oil resistance
very good
very good
very good
good
Chemical resistance
(to acids, alkalis,
solvents, hydraulic
fluid)
good
good
good
good
moderate for acids
Outdoor durability
very good
very good
very good
good
Flammability
flame retardant
flame retardant
flame retardant
flame retardant

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5.1.2 Wiring Linear Rotary Motor
The following schema shows the connection of the linear actuator and the torque measuring shaft with the
LinMot Drive.
5.1.3 Overview of the Connectors
Pos. 1: Torque sensor
Pos. 2: Rotary motor
Pos. 3: Linear motor

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5.1.4 Connector Wiring Linear Rotary Motor
View: Motor connector, plug side
Connector wiring
Linear Motor:
C-Stecker
Rotary Motor:
C-Stecker
Wire color
Motor cable
Ph 1+ / Ph A
A
A
red
Ph 1- / Ph B
B
B
pink
Ph 2+ / Ph C
C
C
blue
Ph 2- / (-)
D
D (not connected)
grey
+5VDC
E
E
white
GND
F
F
Inner shield
Sin
G
G
yellow
Cos
H
H
green
Temp.
L
L
black
Shield
Housing
Housing
Outer shield
Extension cables are double shielded. The two shields of the extension cables must not be
connected together: the inner shield of the extension cables is used as GROUND and must
be connected to GROUND*; only the outer shield must be connected to SHIELD* of the
connector.
5.1.5 Connector Wiring Torque Measuring Shaft
View: Motor connector, plug side
Connector wiring
Torque Sensor:
M12 Connector (A-coded)
Wire color
Sensor cable
Supply GND
1
white
Supply 24V (approx. 80 mA @ 24VDC)
2
brown
Do not connect
3
green
Torque -
4
yellow
Torque +
5
grey
Do not connect
6
pink
Do not connect
7
blue
Do not connect
8
red
•PIN 4 (torque -) and PIN 1 (ground supply) are internally galvanically isolated; bridging
at the power source (not at the transducer) if required.
•External EMC circuitry
A ceramic capacitor 100nF / 50V can be soldered between pins 4 - 5 on the evaluation
to avoid wirebound interference.

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5.2 Connection of Air
Configuration of air connection
Pos. 1: Pusher
Pos. 2: Standard
Pos. 3: Pusher
The PR02-88 is optionally equipped with an air connection. At the rear of the motor, above the electrical
connectors, there is a pneumatic push-in fitting (external hexagon M5) for a Ø 4 mm hose. Inside the motor,
a Ø 4 mm air hose is laid along the rotating shaft. This enables the user to implement pneumatic applications
with an operating pressure of max. 6 bar.
Depending on the ordering situation (pneumatic connection or "pusher" application), 1 or 2 plug-in
connections can be pre-assembled. The user also has the option of mounting a pneumatic push-in fitting at
the front of the shaft. A G1/4 (10 mm deep) and a M5 (4 mm deep) are available to the user in axial direction.
The through bore-hole in the rotating shaft is Ø 4 mm.
In the case of vacuum application, it is recommended to use a unit with sufficient power, as experience has
shown that all air coupling points generate small losses.
Push-in fitting
External hexagon M5
for a Ø 4 mm hose

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6 Start-up
Please note that motors of the PR02-88 family are only fully supported from LinMot-Talk
version 6.8 onwards. It is therefore strongly recommended not to use an older LinMot-Talk
version.
6.1 Linear Motor and Rotary Motor
Linear motor and rotary motor are electrically independent units. The linear rotary motor can therefore be
commissioned sequentially. It does not matter which motor (linear motor or rotary motor) is commissioned
first.
The various parameters for the linear motor and the rotary motor are set on the drive side using the
corresponding wizard in the LinMot Talk configuration program.
Do not drive into the internal mechanical stops!
It must always be ensured that the linear motor never moves into the lower or upper internal
stop during operation, as otherwise the linear rotary motor may be damaged! The inner
stops may be used for homing purposes; the homing speed must not exceed 0.01 m/s.
6.2 Default Values of the Coordinate System
6.2.1 Angle of Rotation
Looking into the shaft, the counterclockwise
counting direction of the rotation angle is defined as
positive.
6.2.2 Position
With regard to the motor, the positive counting
direction of the position is defined by retracting the
linear rotary shaft.

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6.3 Torque Measuring Shaft
Stroke rotary modules of the LinMot PR02 motor family can optionally have a torque
measuring shaft built into the module. Please make sure that the option „Torque measuring
shaft“ is selected during the ordering process. Fitting of the torque measuring shaft
afterwards is not possible.
6.3.1 Torque Operating Direction
Looking into the shaft, the anti-clockwise direction is defined as
positive.
The direction of rotation can be changed from LinMot-Talk version 6.8 onwards. This has an
influence on the parameterization of the torque measuring shaft.
6.4 Magnetic Spring MagSpring®
LinMot PR02 linear rotary motors can optionally be equipped with a MagSpring. Please
ensure that the "MagSpring" option is selected during the ordering process. The MagSpring
cannot be retrofitted.
6.4.1 Force Direction
Extended Stroke
The built-in MagSpring is offered in 2 operating directions. With the
positive acting MagSpring, the linear rotary shaft is pulled in and
with the negative acting MagSpring, the shaft is ejected.
The order suffix is given in the following table.
Positive force direction
Negative force direction
MagSpring 60 N
MS04
MS54
MagSpring 120 N
MS08
MS58
6.5 Plug and Play Function for Linear Rotary Motors
LinMot linear rotary motors of the latest generation are Plug and Play capable (see motor label "PnP"). This
means that they register with the drive independently. The module- and motor-specific parameters are
automatically stored in the drive and the motor is ready for operation.
Application-specific parameters, such as cable length, load mass, PID control settings etc. can be entered by
the user using the Motor Wizard.

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To do this, click on the Motor Wizard symbol in the task bar of the LinMot-Talk software.
Then follow the sequence of steps from chapter 6.7.2.
6.6 Setting Motor Parameters
The various parameters for the linear motor and the rotary motor are set via the corresponding motor wizard
in the LinMot Talk configuration program. To open the wizard, select the "Motor Wizard" icon in the task bar.
6.6.1 Selection of the Motor Data Files
If the connected motor is a module with plug and play functionality, the following step can be skipped.
If no "PnP" symbol is printed on the motor nameplate, the module and motor-specific parameters must be
loaded manually via the Motor Wizard. So-called motor data files are available for this purpose. The motor
data file corresponding to the module (*.adf or *.adp) must be selected in the first step of the Motor Wizard.
The linear rotary motors are located in the installation directory of the LinMot-Talk software (download at
www.linmot.com) in the folder "Motors\LinMot Linear Rotary Motors\...".
Please contact support if the motor data files are not available.
If the motor data files are not available, they can be downloaded using the function "Search for new motor
files". The function is stored in the LinMot-Talk software under "Help\Update functions".
6.6.2 Application-specific Parameters
Application-specific parameters, such as cable length, load mass, PID control settings, etc. can be entered
by the user using the Motor Wizard. The Motor Wizard must be started for this purpose. Once the Motor
Datafile has been selected (according to the previous chapter), the Motor Wizard guides you through the
menu step by step.
Application parameters should be entered as accurately as possible to ensure the best possible motor
control.

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6.6.3 Inverting the Coordinate System
Starting with LinMot-Talk version 6.8 the direction of the coordinate system can be selected.
Default value for rotary motors: Positive counting direction = counterclockwise (see figure chapter 6.2.1)
Default value for linear motors: Positive direction of movement = Regular (see figure in chapter 6.2.2)
If the coordinate system is reversed, this has an influence on the current and the
force/torque of the motor. In case of any uncertainties, the LinMot support should definitely
be contacted.
Figure: Selection of the positive counting direction (rotary motor)
Figure: Selection of the positive direction of movement (linear motor)

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6.6.4 Selection of the Linear and Rotary Unit System
In step 4 of the Motor Wizard the GUI (Graphical User Interface) of the LinMot-Talk software can be set. This
setting only affects the display of the LinMot-Talk software. The resolution and scaling of the transmission
data (raw data) to the higher-level PLC are retained.
Figure: Selection of the units to be displayed in the LinMot-Talk software
6.6.5 Referencing the Linear Motor
The built-in linear motor has a position detection system which must be referenced. Various modes are
available to the user for this purpose. Depending on the selected mode, the linear motor searches for a
mechanical stop and/or an electronic switch, for example.
Figure: Selection of reference run linear motor