LinMot C1200 User manual

July 2016
Doc. Nr. 0185-1063-E_6V6_IG_Drives_C1250
C1200 Servo Drives
Installation Guide
Please visit http://www.linmot.com to check for the latest version of this document!

© 2016 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.
NTI AG
LinMot®
Bodenaeckerstrasse 2
Tel.: [phone]
Fax: [phone]
Email: [email protected]

July 2016
Doc. Nr. 0185-1063-E_6V6_IG_Drives_C1250
CH-8957 Spreitenbach
Homepage: www.LinMot.com

Installation Guide C1200
NTI AG / LinMot
Page 5 of 31
Table of Contents
Table of Contents ..................................................................................................................................................5
1 Important Safety Instructions ...........................................................................................................................6
2 System Overview................................................................................................................................................8
3 Interfaces ............................................................................................................................................................9
4 Functionality.....................................................................................................................................................10
5 Software ............................................................................................................................................................10
6 Power Supply and Grounding.........................................................................................................................11
7 Description of the connectors / Interfaces ....................................................................................................12
7.1 PE..................................................................................................................................................................12
7.2 X1..................................................................................................................................................................12
7.3 X2..................................................................................................................................................................12
7.4 X3..................................................................................................................................................................13
7.5 X4..................................................................................................................................................................14
7.6 X13................................................................................................................................................................14
7.7 X17 –X18......................................................................................................................................................15
7.8 X19................................................................................................................................................................15
7.9 X33................................................................................................................................................................15
7.10 S1 –S2........................................................................................................................................................15
7.11 S5 ................................................................................................................................................................16
7.12 LEDs............................................................................................................................................................16
7.13 RT Bus LEDs...............................................................................................................................................16
8 LED Blink Codes ..............................................................................................................................................17
9 Safety Wiring ....................................................................................................................................................18
10 Physical Dimension .......................................................................................................................................20
11 Power Supply Requirements.........................................................................................................................21
11.1 Motor Power Supply....................................................................................................................................21
11.2 Signal Power Supply ...................................................................................................................................21
12 Regeneration ..................................................................................................................................................21
13 Safety notes for the installation according UL ...........................................................................................22
14 Ordering Information .....................................................................................................................................23
15 International Certifications............................................................................................................................24
16 Declaration of Conformity CE-Marking........................................................................................................30
Contact & Support...............................................................................................................................................31

Installation Guide C1200
Page 6 of 31
NTI AG / LinMot
1 Important Safety Instructions
For your personal safety
Disregarding the following safety measures can lead to severe injury to persons and damage to
material:
Only use the product as directed.
Never commission the product in the event of visible damage.
Never commission the product before assembly has been completed.
Do not carry out any technical changes on the product.
Only use the accessories approved for the product.
Only use original spare parts from LinMot.
Observe all regulations for the prevention of accidents, directives and laws applicable on site.
Transport, installation, commissioning and maintenance work must only be carried out by qualified
personnel.
Observe IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or
DIN VDE 0110 and all national regulations for the prevention of accidents.
According to the basic safety information, qualified, skilled personnel are persons who are familiar with
the assembly, installation, commissioning, and operation of the product and who have the
qualifications necessary for their occupation.
Observe all specifications in this documentation.
This is the condition for safe and trouble−free operation and the achievement of the specified product
features.
The procedural notes and circuit details described in this documentation are only proposals. It is up to
the user to check whether they can be transferred to the particular applications. NTI AG / LinMot does
not accept any liability for the suitability of the procedures and circuit proposals described.
LinMot servo drives and the accessory components can include live and moving parts (depending on their
type of protection) during operation. Surfaces can be hot.
Non−authorized removal of the required cover, inappropriate use, incorrect installation or operation
create the risk of severe injury to persons or damage to material assets.
For more information, please see the documentation.
High amounts of energy are produced in the drive. Therefore it is required to wear personal protective
equipment (body protection, headgear, eye protection, hand guard).
Application as directed
Drives are components, which are designed for installation in electrical systems or machines. They are
not to be used as domestic appliances, but only for industrial purposes according to EN 61000−3−2.
When drives are installed into machines, commissioning (i.e. starting of the operation as directed) is
prohibited until it is proven that the machine complies with the regulations of the EC Directive 98/37/EC
(Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting of the operation as directed) is only allowed when there is compliance with
the EMC Directive (2004/108/EC).
The technical data and supply conditions can be obtained from the nameplate and the documentation.
They must be strictly observed.
Transport, storage
Please observe the notes on transport, storage, and appropriate handling.
Observe the climatic conditions according to the technical data.

Installation Guide C1200
NTI AG / LinMot
Page 7 of 31
Installation
The drives must be installed and cooled according to the instructions given in the corresponding
documentation.
The ambient air must not exceed degree of pollution 2 according to EN 61800−5−1.
Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and do not
change any insulation distances during transport or handling. Do not touch any electronic components
and contacts.
Drives contain electrostatic sensitive devices, which can easily be damaged by inappropriate handling.
Do not damage or destroy any electrical components since this might endanger your health!
Electrical connection
When working on live drives, observe the applicable national regulations for the prevention of
accidents.
The electrical installation must be carried out according to the appropriate regulations (e.g. cable
cross−sections, fuses, PE connection). Additional information can be obtained from the
documentation.
This product can cause high-frequency interferences in non-industrial environments, which can
require measures for interference suppression.
Operation
If necessary, systems including drives must be equipped with additional monitoring and protection
devices according to the valid safety regulations (e.g. law on technical equipment, regulations for the
prevention of accidents). The drives can be adapted to your application. Please observe the
corresponding information given in the documentation.
After the drive has been disconnected from the supply voltage, all live components and power
connections must not be touched immediately because capacitors can still be charged. Please observe
the corresponding stickers on the drive. All protection covers and doors must be shut during operation.
Protection of persons
The power terminals Ph1+, Ph1-, Ph2+, Ph2- and PWR+ remain live for at least 5 minutes after
disconnecting from the power supplies.
Before servicing, disconnect supply, wait 5 minutes and measure between PWR+ and PGND to be
sure that the capacitors have discharged below 42VDC.
The heat sink of the drive can have an operating temperature of > 80 °C: Contact with the heat sink
results in burns.

Installation Guide C1200
Page 8 of 31
NTI AG / LinMot
2 System Overview
Figure 1: Typical servo system C12x0-XX: Servo drive, motor and power supply

Installation Guide C1200
NTI AG / LinMot
Page 9 of 31
3 Interfaces
Figure 2: C1250-xx-XC-xS-xxx

Installation Guide C1200
Page 10 of 31
NTI AG / LinMot
4 Functionality
C1250-PL-XC-0S
C1250-PN-XC-0S
C1250-PD-XC-0S
C1250-SC-XC-0S
C1250-IP-XC-0S
C1250-LU-XC-0S
C1250-EC-XC-0S
C1250-DS-XC-0S
C1250-SE-XC-0S
C1250-PL-XC-1S
C1250-PN-XC-1S
C1250-PD-XC-1S
C1250-SC-XC-1S
C1250-IP-XC-1S
C1250-LU-XC-1S
C1250-EC-XC-1S
C1250-DS-XC-1S
C1250-SE-XC-1S
Supply Voltage
Motor Supply 72VDC (24..85VDC)
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Logic Supply 24VDC (22...26VDC)
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Motor Phase Current
25A peak (0-500Hz)
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Controllable Motors
LinMot P01…(Motor Link P)
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Selected motors (contact support)
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Plug and Play (PnP) Auto Configuration
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Command Interface
POWERLINK
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PROFINET
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PROFINET Profidrive
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SERCOS III
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ETHERNET IP
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LinUDP
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ETHERCAT
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ETHERCAT CiA402
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ETHERCAT SoE
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Programmable Motion Profiles (Curves)
Up to 100 Motion Profiles
Up to 16302 Curve Points
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Programmable Command Table
Command Table with up to 255 entries
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External Position Sensor
Incremental (RS422 up to 25 M counts/s)
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Absolute (SSI)
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Configuration Interface
RS232
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Integrated Safety Functions (-1S Option)
STO (2 Safety Relays)
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5 Software
The configuration software LinMot-Talk is free of charge and can be downloaded from the LinMot homepage.

Installation Guide C1200
NTI AG / LinMot
Page 11 of 31
6 Power 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 protective earth PE. This
includes both LinMot and all other control system components on the same ground bus.
Each system component1should be tied directly to the ground bus (star pattern). Daisy chaining from
component to component is forbidden. (LinMot motors are properly grounded through their power
cables when connected to LinMot drives.)
Power supply connectors must not be connected or disconnected while DC voltage is present.
Do not disconnect system components until all LinMot drive 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 drives.
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 the drive.
1
Inside of the C1250 drive the PWR motor GND and PWR signal GND is connected together and to
the GND of the drive housing. It is recommended that the PWR motor GND is NOT grounded at
another place than inside of the drive to reduce circular currents.

Installation Guide C1200
Page 12 of 31
NTI AG / LinMot
7 Description of the connectors / Interfaces
7.1 PE
PE
Protective Earth
PE
Use min. 4mm2(AWG11)
Tightening torque: 2Nm (18 lbin)
7.2 X1
X1
Motor Supply
PWR
PGND
Connector has to
be ordered
separately: see
chapter 14)
Motor Supply: 72VDC nominal, 24...85VDC
Absolute max. Rating: 72VDC +20%.
External Fuse: 16A slow blow / min. 100VDC
If motor supply voltage exceeds 90VDC, the drive will go into error state.
Use 60/75°C copper conductors only
Conductor Cross-Section 2.5mm2(AWG14) max Length 3m
7.3 X2
X2
Motor Phases
PH1+
PH1
PH2+
PH2-
PE/SCRN
LinMot Motor:
Motor Phase 1+ red
Motor Phase 1- pink
Motor Phase 2+ blue
Motor Phase 2- grey
Shield
3-phase EC-Motor:
Motor Phase U red
Motor Phase V pink
Motor Phase W blue
Motor Phase X grey
Shield
Connector has to
be ordered
separately: see
chapter 14)
Use 60/75°C copper conductors only
Conductor cross-section: 0.5 –2.5mm2(depends on Motor current) / AWG 21 -14

Installation Guide C1200
NTI AG / LinMot
Page 13 of 31
7.4 X3
X3
Motor Sensor / Brake
1
6
2
7
3
8
4
9
5 case
LinMot Motor:
Do not connect
Brake+
Do not connect
Do not connect
+5VDC
AGND
Sensor Sine
Sensor Cosine
Temp In
Shield
EC Motor:
Do not connect
Brake+
Do not connect
KTY
+5VDC
AGND
Sensor Sine / Hall Switch U
Sensor Cosine / Hall Switch V
Hall Switch W
Shield
DSUB-9 (f)
Note:
Use +5V (X3.3) and AGND (X3.8) only for motor internal hall sensor supply (max. 100mA).
Cable length < 30m.
Brake+ (X3.6): 24V / max.500mA, Peak 1.4A (will shut down if exceeded)
Caution:
Do NOT connectAGND (X3.8) to ground or earth!
Use Y-style motor cables only (for example K15-Y/C)!
A W-style cable has a different shielding, so it cannot be modified to a Y-style cable!

Installation Guide C1200
Page 14 of 31
NTI AG / LinMot
7.5 X4
X4
Logic Supply / IO Connection
11
10
9
8
7
6
5
4
3
2
1
AnIn- X4.11
AnIn+ X4.10
AnIn X4.9
In X4.8
In X4.7
In X4.6
In X4.5
Out X4.4
Out X4.3
+24VDC Supply
GND Supply
Configurable differential analog Input (with X4.10)
Configurable differential analog Input (with X4.11)
Configurable single ended analog Input
Configurable digital Input
Configurable digital Input
Configurable digital Input
Configurable digital Input
Configurable digital Output
Configurable digital Output
Logic Supply 22-26 VDC
Ground
Spring cage
connector (has to
be ordered
separately: see
chapter 14
Inputs (X4.5 ... X4.8): 24V / 5mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)
Outputs (X4.3 & X4.4): 24V / max.500mA, Peak 1.4A(will shut down if exceeded)
Analog inputs: 12 bit A/D converted
X4.9: Single ended analog input to GND, 0..10V, Input Resistance: 51kΩto GND
X4.10/X4.11: Differential analog input, +/- 10V. Common mode range: +/- 5VDC to GND,
Input Resistance 11.4kΩfor each signal to GND.
Supply 24V / typ. 500mA/ max. 2.5A (if all outputs “on” with max. load.)
- Use 60/75°C copper conductors only
- Conductor cross-section max. 1.5mm2
- Stripping length: 10mm
- The 24VDC supply for the control circuit (X4.2) must be protected with an external fuse (3A slow blow)
7.6 X13
X13
External Position Sensor Differential Hall Switches
1 9
2 10
3 11
4 12
5 13
6 14
7 15
8
case
ABZ with Hall Switches
+5V DC
A+
A-
B+
B-
Z+
Z-
Encoder Alarm
GND
U+
U-
V+
V-
W+
W-
Shield
SSI
+5V DC
A+
A-
B+
B-
Data+
Data-
Encoder Alarm
GND
nc
nc
nc
nc
Clk+
Clk-
Shield
DSUB-15 (f)
Position Encoder Inputs (RS422):
Max. counting frequency: 25 M counts/s with quadrature decoding.
A minimum of 40ns edge separation must be guaranteed by the encoder under any circumstances!
The maximal frequency of each signal is 6.25 MHz.
Differential Hall Switch Inputs (RS422):
Input Frequency: <1kHz
Enc. Alarm In:
5V / 1mA
Sensor Supply:
5VDC max 100mA

Installation Guide C1200
NTI AG / LinMot
Page 15 of 31
7.7 X17 –X18
X17 –X18
RealTime Ethernet 10/100 Mbit/s
X17 RT ETH In
X18 RT ETH Out
Specification depends on RT Bus. Please refer to according documentation.
RJ-45
7.8 X19
X19
System
1
2
3
4
5
6
7
8
case
(Do not connect)
(Do not connect)
RS232 Rx
GND
GND
RS232 Tx
(Do not connect)
(Do not connect)
Shield
RJ-45
Use isolated USB-RS232 converter (Art.-No. 0150-2473) for configuration over RS232
7.9 X33
X33
Safety Relays (only with the -1S option)
4 / 8
3 / 7
2 / 6
1 / 5
Ksr +
Ksr -
Ksr f+
Ksr f-
Safety Relay 1 / 2 Input positive
Safety Relay 1 / 2 Input negative
Safety Relay 1 / 2 feedback positive
Safety Relay 1 / 2 feedback negative
Spring cage connector (has
to be ordered separately:
see chapter 14)
- Use 60/75°C copper conductors only
- Conductor cross-section max. 1.5mm2
- Stripping length: 10mm
- Never connect the safety relays to the logic supply of the drive!
7.10 S1 –S2
S1 –S2
Address Selectors
S1 (5..8)
S2 (1..4)
Bus ID High (0 … F). Bit 5 is the LSB, bit 8 the MSB.
Bus ID Low (0 … F). Bit 1 is the LSB, bit 4 the MSB.
Setting the ID high & low to 0xFF resets the drive to manufacturer settings!
The use of these switches depends on the type of fieldbus which is used. Please see the corresponding manual for
further information.

Installation Guide C1200
Page 16 of 31
NTI AG / LinMot
7.11 S5
S5
Bootstrap
S5
Bootstrap (Internal use only)
7.12 LEDs
LEDs
State Displays
Green
Yellow
Yellow
Red
24V Logic Supply OK
Motor Enabled / Error Code Low Nibble
Warning / Error Code High Nibble
Error
7.13 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

Installation Guide C1200
NTI AG / LinMot
Page 17 of 31
8 LED Blink Codes
LED Blink 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 3x, EN blinks 2x; Error Code = 32h)
● ~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 3x, EN blinks 2x; Error Code = 32h)
● ~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 low:
The error and warn LEDs blink alternating if the signal supply +24V (X4.2) is less than
18VDC.
Off
○●●●
●○●●
Plug&Play Communication Active:
This sequence (Warn on, then En on, then both off, complete sequence of the 4 states
ca. 1Sec) signalizes the state when the plug and play parameters are being read from
the motor.
○●
~4Hz
●○
~4Hz
Off
Waiting for Defaulting Parameters:
When ID (S1, S2) is set to 0xFF, the drive starts up in a special mode and the Error
and Warn LED blink alternating ~4Hz. When the ID ist set to 0x00, all parameters will
be set to their default value. To leave this state, power down the drive and change the
ID. Also see in the Usermanual_LinMot-Talk under chapter trouble shooting.
Off
○●
~2Hz
○●
~2Hz
Defaulting Parameters Done:
When the parameters have set to their default values (initiated via S1/S2 on power up)
the Warn and En LEDs blink together at 2 Hz. To leave this state, power down the
drive.Also see in the Usermanual_LinMot-Talk under chapter trouble shooting.
The meaning of the error codes can be found in the Usermanual_MotionCtrl_Software_SG5-SG7 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.

Installation Guide C1200
Page 18 of 31
NTI AG / LinMot
9 Safety Wiring
The C1250 drives with the -1S option have internal safety functions:
Two Safety relays Ksr in series, which support the supply voltage for the motor drivers. There are also two
feedback contacts for each relay.
To enable the -1S drives both relays have to be switched on.
Minimal wiring:
Connect X33.8 and X33.4 to 24VDC (from safety)
Connect X33.7 and X33.3 to GND (from safety)
Never connect X33.8 and X33.4 to the logic supply of X4!
The overvoltage protection must be provided externally and sized according the safety circuit
of the machine!
The drop out time of the relays is depending on the external circuitry!
Safety Relay Ksr
Nominal voltage
24 VDC
Min. pick-up voltage at 20°C
≤16.8V
Drop-out voltage at 20°C
≥2.4 V
Drop-out time (no protection circuit)
Typ. 3ms
Coil resistance at 20°C
2'100 Ω± 10%
Type
EN 50205, type A
Contact lifetime
> 10'000'000
Manufacturer and type
Elesta relays / SIS112 24VDC
Drive Classification according EN ISO 13849-1 (safety of machinery) (preliminary)
Category
cat = 3
Performance Level
PL = d
Diagnostic Coverage
DC = high (99%)
Mean Time to hazardous failure of one channel
MTTFd= high (100 years typically, see calculation example
below)

Installation Guide C1200
NTI AG / LinMot
Page 19 of 31
DC (Diagnostic Coverage) is high (99%) assuming that the state of the feedback contacts is checked after each
change of the state of the control contacts.
The MTTFdmainly depends on the number of operations of the safety relays.
Example calculation of MTTFd:
Assuming that the safety function is requested every 20s on a machine running 24h per day and 7 days per
week.
B10 = 10'000'000
B10d = 20'000'000 (according EN ISO 13849-1:2008 table C.1)
nop = (24h/Tag*365.25Tage/Jahr*3600s/h) / 20s = 1'577'880 operations per year
MTTFd = B10d / (0.1 x nop) = 126.75 years
(This has to be limited to 100years according the standard for further calculations)
= high (100 years)

Installation Guide C1200
Page 20 of 31
NTI AG / LinMot
10 Physical Dimension
C1250 Series single axis drive
C12xx-xx-XC-0S
C12xx-xx-XC-1S
Width
mm (in)
25.3 (1.0)
Height
mm (in)
166 (6.54)
176 (6.93)
Height with fixings
mm (in)
176 (6.93)
216 (8.5)
Depth
mm (in)
106 (4.2)
Weight
g (lb)
630 (1.4)
700 (1.54)
Mounting Screws
Mounting Distance
mm (in)
2 x M5
168 (6.61)
2 x M5
188 (7.4)
Case, Degree of Protection
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)
Pollution
IEC/EN 60664-1
Pollution degree 2
Shock resistance (16ms)
-1S option
3.5g
Vibration resistance (10-200Hz)
-1S option
1g
Max. Case Temperature
°C
70
Max. Power Dissipation
W
30
Mounting place
In the control cabinet
Mounting position
vertical
Distance between Drives
mm (in)
Without Power Derating:
20 (0.8) horizontal / 50 (2) vertical
With Power Derating:
5 (0.2) horizontal / 20 (0.8) vertical