LinMot C1400-CI-VS-0S-YYY User manual

C1400-CI-VS-0S-YYY Servo Drives
Installation Guide
Please visit http://www.linmot.com to check for the latest version of this document!
0185-1107-E_6V6_IG_C1400_CI.docm / March 2019

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© 2019 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.

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Table of Contents
Table of Contents............................................................................................................................3
1Important Safety Instructions ...................................................................................................4
1.1 List of Symbols .............................................................................................................4
1.2 List of Units Conversion................................................................................................4
1.3 For your personal safety ...............................................................................................5
1.4 Application as directed..................................................................................................5
1.5 Transport, storage ........................................................................................................5
1.6 Installation ....................................................................................................................6
1.7 Electrical connection.....................................................................................................6
1.8 Operation......................................................................................................................6
1.9 Protection of persons....................................................................................................6
2System Overview.....................................................................................................................7
3Functionality and Interfaces .....................................................................................................8
4Power Supply and Grounding ..................................................................................................9
5Description of the connectors / Interfaces ..............................................................................10
5.1 PE ..............................................................................................................................10
5.2 X2...............................................................................................................................10
5.3 X30............................................................................................................................. 11
5.4 X4............................................................................................................................... 11
5.5 X13.............................................................................................................................12
5.6 X7 - X8 .......................................................................................................................12
5.7 X19.............................................................................................................................13
5.8 LEDs...........................................................................................................................13
5.9 RT BUS LEDs.............................................................................................................13
5.10 S1 - S2 - S8................................................................................................................13
5.11 S5...............................................................................................................................13
6Error Codes ...........................................................................................................................14
7Physical Dimensions..............................................................................................................15
8Power Supply Requirements..................................................................................................16
8.1 Motor Power Supply ...................................................................................................16
8.2 Logic Power Supply ....................................................................................................16
9Regeneration of Power / Regeneration Resistor ....................................................................16
10 Ordering Information ..........................................................................................................17
11 International Certifications..................................................................................................17
12 EC Declaration of Conformity CE-Marking .........................................................................18
13 CB Test Certificate..............................................................................................................19
14 Certificate of Compliance ...................................................................................................20
15 Contact Addresses .............................................................................................................22

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1 Important Safety Instructions
1.1 List of Symbols
ISO 7000 graphical symbols for use on equipment.
ISO 7000-1641: Technical manual
Read carefully this manual before the installation of the product.
ISO 7000-0434B: Caution, general warning
ISO 7000-6042: Caution, risk of electric shock
ISO 7000-0535: Caution, transfer of heat
1.2 List of Units Conversion
Metric
Imperial
1 m
39.3701 in
1 mm
0.0397301 in
0.2 mm2
AWG 24
1.5 mm2
AWG 16
2.5 mm2
AWG 14
4 mm2
AWG 12
x °C
(1.8 * x + 32) °F
1 Nm
8.8507458 lbf in
1 kg
2.20462 lbs

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1.3 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.
•Safety of equipment may be impaired if the equipment is used in manner not specified by the
manufacturer.
•Only LinMot personnel is allowed to service 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).
1.4 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
2006/42/EG (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 (2014/30/EU).
•The technical data and supply conditions can be obtained from the nameplate and the
documentation. They must be strictly observed.
1.5 Transport, storage
•Please observe the notes on transport, storage, and appropriate handling.
•Observe the climatic conditions according to the technical data.

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1.6 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!
1.7 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.
1.8 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.
1.9 Protection of persons
Before working on the drive, check that no voltage is applied to the power terminals L,
N, U, V, W, RR+ and RR-. These power terminals remain live when the motor is
stopped and for at least 5 minutes after disconnecting from mains.
The leakage current to earth (PE) is >3.5 mA. According to EN 50178 a fixed
installation is required and a double PE connection is required.
The heat sink of the drive has an operating temperature of > 80 °C: Contact with the
heat sink results in burns.

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2 System Overview
Typical Servo System C1400-CI-VS-0S: Servo Drive, Motor, and Power Supply.

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3 Functionality and Interfaces
C1400-CI-VS-0S
Supply Voltage
Motor Supply 230 V~ (±10 %), 50/60 Hz, 10 A
●
Logic Supply 24 V⎓, 2.8 A
●
Motor Phase Current
15 Arms peak (0-599 Hz)
●
7.5 Arms continuous (0-599 Hz) 1
●
Controllable Motors
LinMot P10-70x…(Motor Link C)
Not supported
Selected motors (contact support)
●
Command Interface
CANopen (isolated)
●
Programmable Motion Profiles (Curves)
Up to 100 Motion Profiles
Up to 16302 Curve Points
●
Programmable Command Table
Command Table with up to 255 entries
●
External Position Sensor
Incremental (RS422 up to 25 M counts/s)
●
Absolute (SSI, BiSS-B2, BiSS-C2, EnDat2.13, EnDat2.23)
●
Configuration Interface
RS232
●
1 Additional cooling and/or heat sink may be required to achieve rated performance.
2 Supported from firmware version 6.6.
3 Supported from firmware version 6.7.

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4 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.
The leakage current to earth (PE) is >3.5 mA. According to EN 50178 a fixed
installation is required and a double PE connection is required.
One PE connection is on X30, the second one is an M5 bolt on top of the housing.
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 drives.)

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5 Description of the connectors / Interfaces
5.1 PE
PE
Protective Earth
PE
•Use min. 4 mm2
•Tightening torque: 2 Nm
5.2 X2
X2
Motor Phases
W: Motor Phase W
V: Motor Phase V
U: Motor Phase U
PE: Protective Earth
T+: Temperature Sensor T+
T-: Temperature Sensor T-
B+: Motor Brake+
B-: Motor Brake-
The coding and pin assignment of this connector has changed!
Please check carefully your cables!
Spring Cage Connector
Important Notices:
•The Shield of the motor cable has to be mounted with a surface as large as possible
(low ohm, low impedance).
Use an EMC shield clamp mounting (LinMot MC10-EMV/14-D / Art. Nr. 0150-3631).
•Max. cable length: 20 m (may be limited by motor)
•Screw Terminals:
- Spring-cage connector
- Use 75 °C copper conductors only
- Conductor cross-section: 0.2 – 2.5 mm2 (depends on Motor current)
- Stripping length 10 mm
Temperature sensors (thermistor) of the following types are supported:
- KTY 83/84
- PT1000
- PTC (digital)
Attention: An isolated thermistor is necessary!
•Only use the following type of connector: LinMot MC10-B/m (Art. Nr. 0150-3605)

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5.3 X30
X30
Motor Supply Mains / Regeneration
RR-Regeneration Resistor1
RR+ Regeneration Resistor1
N: Neutral (TN system with grounded Neutral)
L1: Line 1 (230 V~ (±10 %) 50/60 Hz, 10 A)2,3,4,5
PE: PE, Protective Earth
1 For regeneration resistor use only LinMot RR01-68/100 (Art. Nr. 0150-3581). No other
type of resistor is allowed
2 External fuse: T10 A H 250 V, 5x20 mm or 6.3x32 mm
3 Line filter LinMot NF01-FS34984-6-61 (Art. Nr. 0150-2747) must be used
4 Max. distance between line filter and drive is 15 cm
5 No circuit breaker is allowed between line filter and drive
Screw connector
Screw Terminals:
- Tightening torque: 0.5 - 0.6 Nm
- Screws: M3
- Use 75 °C copper conductors only
- Conductor cross-section: 2.5 mm2
- Stripping length 7 mm
Only use the following type of connector: LinMot DC01-C1400/X30 (Art. Nr. 0150-3607)
5.4 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
+24 V⎓Supply
GND Supply
Configurable Analog Input differentiell (with X4.10)
Configurable Analog Input differentiell (with X4.11)
Configurable Analog Input single ended
Configurable Input
Configurable Input
Configurable Input
Configurable Input
Configurable Output
Configurable Output
Logic Supply 22-26 V⎓
Ground
Spring cage
connector
Inputs (X4.5 .. X4.8): 24 V / 5mA (Low Level: –0.5 to 5 V, High Level: 15 to 30 V)
Outputs (X4.3 .. X4.4): 24 V / max.100 mA, peak 400 mA (will shut down if exceeded)
Analog Inputs: 12 bit A/D converted
X4.9: Single ended analog input to GND, 0..10 V, Input Resistance 51 kOhm to GND
X4.10/X4.11 Differential analog input, +/-10 V, Common mode range +/- 5 V to GND
Input resistance 11.4 kOhm for each signal to GND.
- Use 60/75°C copper conductors only
- Conductor cross-section max. 1.5 mm2
- Stripping length: 10 mm
- The 24 V⎓ supply for the control circuit (X4.2) must be protected with an external fuse (3 A, 125 V,
slow blow UL fuse)
Only use the following type of connector: LinMot DC01-Signal/X4 (Art. Nr. 0150-3447)

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5.5 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
+5 V⎓
A+
A-
B+
B-
Z+
Z-
Encoder Alarm (optional)
GND
U+
U-
V+
V-
W+
W-
Shield
SSI / BiSS-B / BiSS-C / EnDat2.1 / EnDat2.2
+5 V⎓
A+ (optional)
A- (optional)
B+ (optional)
B- (optional)
Data+
Data-
Encoder Alarm (optional)
GND
nc
nc
nc
nc
Clk+
Clk-
Shield
DSUB-15 (f)
Position Encoder Inputs (RS422):
Max Input Frequency: 25 Mcounts/s with quadrature decoding, 40 ns edge separation
Encoder Simulation Outputs (RS422):
Max Output Frequency: 4 Mcounts/s with quadrature decoding, 250 ns edge separation
Differential Hall Switch Inputs (RS422):
Input Frequency: <1 kHz
Enc. Alarm In:
5 V / 1 mA
Sensor Supply:
5 V⎓ max. 100 mA / 5 V⎓ max. 300 mA (since firmware version 6.7)
5.6 X7 - X8
X7 - X8
CMD CAN
(shielded)
1
2
3
4
5
6
7
8
Do not connect
Do not connect
Do not connect
isolated GND
isolated GND
Do not connect
isolated CAN high
isolated CAN low
Optically isolated CAN Bus
RJ45 (shilded)
Use shielded twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring. The built-in CAN terminations
can be activated by S8.9
X7 is internally connected to X8 (pins 4, 5, 7, and 8).

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5.7 X19
X19
System
(unshielded)
1
2
3
4
5
6
7
8
Do not connect
Do not connect
RS232 Rx
GND
GND
RS232 Tx
Do not connect
Do not connect
RJ-45
(unshielded)
Use isolated LinMot USB-RS232 converter (Art.-No. 0150-2473) for configuration over RS232.
5.8 LEDs
LEDs
State Display
Signal:
24VOK
EN
Warn
Error
Color:
Green
Yellow
Yellow
Red
Description:
24 V⎓ Logic Supply OK
Motor Enabled / Error Code Low Nibble
Warning / Error Code High Nibble
Error
5.9 RT BUS LEDs
RT Bus LEDs
RT Bus State Display
Signal:
OK
RT BUS ERROR
Color:
Green
Red
Description:
OK
Error
The use of these LEDs depends on the type of fieldbus which is used. Please see the corresponding
manual for further information.
5.10 S1 - S2 - S8
S1 - S2 - S8
Address Selectors
S8 (10)
S8 (9)
S1 (5..8)
S2 (1..4)
No function
CAN termination on CMD X7/X8 (120 Ohm between pin 7 and pin 8) on/off.
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.
The use of these switches depends on the type of fieldbus which is used. Please see the corresponding
manual for further information.
5.11 S5
S5
Bootstrap
This switch is used for initial programming. Make sure the switch is in position “off”. Otherwise the drive
will not start up.

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6 Error Codes
The meaning of the error codes can be found in the “0185-1093-E_xVx_MA_MotionCtrlSW-SG5-
SG7.pdf” 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.
Error Codes
Error
Warn
EN
Description
Off
Warning
Operation
Enabled
Normal Operation:
Warnings and operation enabled are displayed.
On
● ~2 Hz
0..15 x
Error Code
High Nibble
● ~2 Hz
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
● ~2 Hz
0..15 x
Error Code
High Nibble
● ~2 Hz
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)
● ~4 Hz
● ~2 Hz
0..15 x
Error Code
High Nibble
● ~2 Hz
0..15 x
Error Code
Low Nibble
System Error:
Please reinstall firmware or contact support.
● ~0.5 Hz
● ~0.5 Hz
On
Signal Supply 24 V⎓ too low:
The error and warn LEDs blink alternating if the signal supply +24 V⎓ (X4.2) is
less than 18 V⎓.
Off
M●●●
●M●●
Plug&Play Communication Active
This sequence (Warn on, then En on, then both off, complete sequence of the 4
states ca. 1 s) signalizes the state when the plug and play parameters are being
read from the motor.
M●
~4 Hz
●M
~4 Hz
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 ~4 Hz. When the ID is 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
M●
~2 Hz
M●
~2 Hz
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.
On
On
On
Bootstrap
If also both RT LEDs are on, the drive is in the bootstrap mode. Set S5 to off.

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7 Physical Dimensions
C1400 Series single axis drive
C1400-CI-VS-0S
Width
mm
35
Height
mm
200
Depth
mm
153
Weight
kg
1.1
Mounting
Backside 2x M4 or Bottom Side 4x M4
Case
IP
20
Storage Temperature
°C
-25…40
Transport Temperature
°C
-25…70
Operating Temperature
°C
0…40
Relative humidity (non-condesing)
%
95
Pollution degree
IEC/EN 60664-1
2
Site altitude
m amsl
2000
Max. Case Temperature
°C
90
Max. Power Dissipation
W
100
Mounting place
In the control cabinet
Mounting position
vertical1
Distance between drives
mm
≥ 200 (8) top / bottom
Overvoltage category indication
II
1 For other mounting position ask LinMot support.

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8 Power Supply Requirements
8.1 Motor Power Supply
Direct AC mains connection: 1/PE AC 230 V~ (±10 %), 50/60 Hz, 10 A, TN System
Only 1-phase supply is supported! The mains must be a symmetrical four-wire
system with grounded neutral.
DC Supply (for example 72 V⎓) for initial test setups can be supplied through the 1-phase supply connector.
Use a circuit breaker C16 and conductor cross section of 2.5 mm2 for mains connections!
The LinMot line filter NF01-FS34984-6-61 (Art. Nr. 0150-2747) must be connected close to the supply con-
nector of the drive to conform to the EMC and EMI requirements of CE. The maximum distance between drive
and filter is 15 cm. One filter for each drive must be used.
Max. motor cable length: see 5.2
8.2 Logic Power Supply
The logic control circuit needs a regulated power supply with a nominal voltage of 24 V⎓. The voltage must
be between 22 and 26 V⎓.
Current to be provided from the logic power supply:
min. 1 A (no load on the outputs)
typ. 1.2 A (both dig. outputs “on” with 100 mA load, break with no load)
max. 2.8 A (both dig. outputs “on” with 400 mA load, break with 1 A load)
The control circuit must be protected with an external fuse (3 A, 125 V, slow blow UL fuse).
9 Regeneration of Power / Regeneration Resistor
For regeneration use only the following type of resistor (no other type is allowed):
Item
Description
Art. No.
Regeneration Resistor
RR01-68/100 (68 Ohm, 100 W, 1000 V) for C1400
0150-3581

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10 Ordering Information
Item
Description
Art. No.
C1400-CI-VS-0S-I03
CANopen Drive (230 V~ (±10 %), 50/60 Hz, 10 A) OEM only
0150-2637
C1400-CI-VS-0S-I04
CANopen Drive (230 V~ (±10 %), 50/60 Hz, 10 A) OEM only
0150-2980
Accessories
Description
Art. No.
USB-RS232 Converter (isolated)
for C1100, C1200, C1400, E1200, E1400 drives
0150-2473
RR01-68/100
Regeneration resistor 100W for C1400
0150-3581
NF01-FS34984-6-61
Line filter for Drives Series C1400
0150-2747
DC01-C1400/X4/X30
Drive Connector Set for C1400-0S
0150-3676
DC01-C1400/X2
Connector power C1400/X2
0150-3605
DC01-E1400/X4
Drive Connector 24VDC & Logic
0150-3447
DC01-C1400/X30
Drive Connector 230VAC Supply
0150-3607
MC10-EMV/14-D
Shield clamp for P10 motor power cable
0150-3631
Bold items are strongly recommended accessories!
The connectors must be ordered separately and are not included with the drive!
Use the isolated USB RS232 converter (Art. Nr. 0150-2473) for configuration!
11 International Certifications
Certifications
Europe
See chapter “12
EC Declaration of Conformity CE-Marking“
IECEE CB SCHEME
See chapter “13 CB Test Certificate”
Ref. Certif. No. NO104093
IEC 61010-1:2010
USA and Canada
61010
See chapter “14 Certificate of Compliance”
Certification Number: NA201810976
UL Std. No. 61010-1 3rd Edition – Safety Requirements for Electrical Equipment for
Measurement, Control, and Laboratory Use – Part 1: General Requirements
CAN/CSA-C22.2 No. 61010-1-12 Third Edition - Safety Requirements for Electrical
Equipment for Measurement, Control, and Laboratory Use – Part 1: General
Requirements

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12 EC Declaration of Conformity CE-Marking
NTI AG / LinMot ®
Bodenaeckerstrasse 2
8957 Spreitenbach
Switzerland
Tel.: [phone]
Fax: [phone]
declares under sole responsibility the compliance of the products:
Servo Drives of the Series C1400-CI-VS-0S-xxx
with the
Low Voltage Directive 2014/35/EU
Applied harmonized standard:
EN 61800-5-1: 2007
Year of affixing the CE marking in accordance with the EC Low Voltage Directive:
2014
EMC Directive 2014/30/EU
Applied harmonized standards:
EN 61000-6-2: 2005 (Immunity for industrial environments)
EN 61000-6-4: 2007 (Emission for industrial environments)
EN 61326-3-1: 2008 (Functional safety)
According to the EMC directive, the listed devices are not independently operable products.
Compliance of the directive requires the correct installation of the product, the observance of specific
installation guides and product documentation. This was tested on specific system configurations.
The safety instructions of the manuals are to be considered.
These products are intended for installation in machines. Operation is prohibited until it has been
determined that the machines in which these products are to be installed, conforms to the above
mentioned EC directive.
The product must be mounted and used in strict accordance with the installation instructions
contained within the installation guide, a copy of which may be obtained from NTI AG.
Company: NTI AG
Spreitenbach, 11.04.2016
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Dr. Ronald Rohner / CEO NTI AG Dr. Marco Hitz / Responsible for documentation

C1400-CI-VS-0S Installation Guide
NTI AG / LinMot®www.LinMot.com Page 19/22
13 CB Test Certificate

C1400-CI-VS-0S Installation Guide
Page 20/22 www.LinMot.com NTI AG / LinMot®
14 Certificate of Compliance