NTI AG LinMot C1100 Series User manual

C1100 Servo Drive
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 drives:
C1100-GP-XC-xS-
C1150-EC-XC-xS-
C1150-PN-XC-xS-
ATTENTION: The connectors have to be ordered separately and are not
included with the drive!
DC01-C1X00-0S/X1/X4 Drive Connector Set for C1X00-0S 0150-3527
DC01-C1X00-1S/X1/X4/X33 Drive Connector Set for C1X00-1S 0150-3528

LinMot Installation uide C1100
© 2014 NTI AG
This work is protected by copyright.
nder 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 6.1.3/ Ro, September 2014
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Table of Content
1 I portant Safety Instructions.......................................................................................................4
2 Syste Overview............................................................................................................................6
3 Interfaces.........................................................................................................................................7
4 Functionality...................................................................................................................................8
5 Software...........................................................................................................................................8
6 Power Supply and Grounding.......................................................................................................9
7 Description of the connectors / Interfaces..................................................................................10
7.1 X1............................................................................................................................................10
7.2 X2............................................................................................................................................10
7.3 X3............................................................................................................................................11
7.4 X4 ...........................................................................................................................................12
7.5 X7 - X8...................................................................................................................................12
7.6 X13..........................................................................................................................................13
7.7 X17 - X18...............................................................................................................................13
7.8 X19..........................................................................................................................................14
7.9 X33 .........................................................................................................................................14
7.10 S1 - S2...................................................................................................................................14
7.11 S4..........................................................................................................................................15
7.12 S5..........................................................................................................................................15
7.13 LEDs.....................................................................................................................................15
7.14 RT BUS LEDs......................................................................................................................15
8 LED Blink Codes..........................................................................................................................16
9 Safety Wiring................................................................................................................................17
10 Physical Di ension.....................................................................................................................19
11 Power Supply Require ent.......................................................................................................20
12 Regeneration of Power...............................................................................................................20
13 Ordering Infor ation................................................................................................................21
14 International Certifications.......................................................................................................22
15 Safety notes for the installation according UL.........................................................................23
16 Declaration of Confor ity CE-Marking..................................................................................26
17 Contact Addresses.......................................................................................................................27
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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.
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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.
peration
•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.
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2 System verview
Typical servo system C11x0-XX: Servo drive, motor and power supply
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3 Interfaces
C11x0-xx-XC-xS-xxx
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4 Functionality
C1100-GP-XC-0S C1150-EC-XC-0S C1150-PN-XC-0S C1100-GP-XC-1S C1150-EC-XC-1S C1150-PN-XC-1S
Supply Voltage
Motor Supply 72VDC (24...85 VDC) ● ● ● ● ● ●
Logic Supply 24VDC (22...26 VDC) ● ● ● ● ● ●
Motor Phase Current
25A peak ●●●●●●
Controllable Motors
LinMot P01…(Motor Link P) ● ● ● ● ● ●
Selected motors (contact support) ● ● ● ● ● ●
Plug and Play (PnP) Auto Configuration ● ● ● ● ● ●
Command Interface
RS485 up to 115.2 kBaud ● ●
CANOpen up to 1MBaud ● ●
EHTERCAT ● ●
PROFINET ● ●
Programmable Motion Profiles (Curves)
p to 49 Motion Profiles, up to 8110 Curve Points ● ● ● ● ● ●
Programmable Command Table
Command Table with up to 255 entries ● ● ● ● ● ●
Configuration
RS232 Configuration ● ● ● ● ● ●
Integrated Safety Functions (-1S ption)
STO (2 Safety Relays) ● ● ●
5 Software
The configuration software LinMot-Talk is free of charge and can be downloaded
from the LinMot homepage.
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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 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.)
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.
* Inside of the C1100 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.
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7 Description of the connectors / Interfaces
7.1 X1
X1 Motor Phases
PWR+
PGND
Connector has to
be ordered
separately: see
chapter 13
Motor Supply: 72VDC nominal, 24...85VDC
Absolute max. Rating: 72VDC +20%.
External Fuse: 16AT (16A slow blow) / min. 100VDC
If motor supply voltage exceeds 90VDC, the drive will go into error state.
–se 60/75°C copper conductors only
–Conductor Cross-Section 2.5mm2 (AWG14) max Length 4m
7.2 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 red
Motor Phase V pink
Motor Phase W blue
Motor Phase X grey
Shield
- se 60/75°C copper conductors only
- Conductor cross-section: 0.5 – 2.5mm2 (depends on Motor current) / AWG 21 -14
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7.3 X3
X3 Motor Sensor
1
2
3
4
5
6
7
8
9
case
LinMot Motor:
Do not connect
Do not connect
+5VDC
Sensor Sine
Temp In
Brake+
Do not connect
AGND
Sensor Cosine
Shield
EC Motor:
Do not connect
Do not connect
+5VDC
Sensor Sine / Hall Switch
Hall Switch W
Brake+
KTY
AGND
Sensor Cosine / Hall Switch V
Shield
DS B-9 (f) Note:
se +5V (X3.3) and AGND (X3.8) only for motor internal hall sensor supply (max. 100mA).
Cable length < 30m.
Brake+: 24V / max.100mA, Peak 370mA (will shut down if exceeded)
Caution:
Do NOT connect AGND (X3.8) to ground or earth!
Use Y-style motor cables only (for example K15-Y/C)!
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7.4 X4
X4 Logic Supply / I 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 Analog Input differential (with X4.10)
Configurable Analog Input differential (with X4.11)
Configurable Analog Input single ended
Configurable Input
Configurable Input
Configurable Input
Configurable Input
Configurable Output
Configurable Output
Logic Supply 22-26 VDC
Ground
Spring cage
connector (has to
be ordered
separately: see
chapter 13)
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.100mA, Peak 370mA (will shut down if exceeded)
Analog inputs: 12 bit A/D converted.
X4.9: Single ended analog input to GND, 0..10V
X4.10/X4.11: Differential analog input, +/- 10V. Common mode range: +/- 5VDC to GND.
Supply 24V / type. 500mA / max. 2.5A (if all outputs “on” with max. load.)
- se 60/75°C copper conductors only
- Conductor cross-section max. 1.5mm2
- Stripping length: 10mm
7.5 X7 - X8
X7 - X8 RS485/CAN (on GP drives only)
1
2
3
4
5
6
7
8
case
RS485_Rx+ A
RS485_Rx- B
RS485_Tx+ Y
GND
GND
RS485_Tx- Z
CAN_H
CAN_L
Shield
RJ-45 se twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring.
The built in CAN and RS485 terminations can be activated by S5.2 and S5.3.
X7 is internally connected to X8 (1:1 connection)
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7.6 X13
X13 External Position Sensor Differential Hall Switches
ABZ with Hall Switches
1
9
2
10
3
11
4
12
5
13
6
14
7
15
8
case
+5V DC
A+
A-
B+
B-
Z+
Z-
Encoder Alarm
GND
+
-
V+
V-
W+
W-
Shield
DS B-15 (f) Position Encoder Inputs ( RS422):
Max. counting frequency: 10 Mcounts/s with quadrature decoding, 100ns edge separation
Differential Hall Switch Inputs (RS422):
Input Frequency: <1kHz
Enc. Alarm In:
5V / 1mA
Sensor Supply:
5VDC max 100mA
7.7 X17 - X18
X17 - X18 RealTime Ethernet 10/100 Mbit/s (on EC and PN drives only)
X17 RT ETH In
X18 RT ETH Out
Specification depends on RT-Bus Type. Please refer to according documentation.
RJ-45
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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 se Adapter cable AC01-RJ45/Df-2.5-RS1 (Art.-No. 0150-2143) 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
13)
- se 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 (on GP drives only)
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.
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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7.11 S4
S4 Bus Termination (on GP drives only)
S4 Switch 4: Bootstrap
Switch 3: Termination CAN on/off
Switch 2: Termination RS485 on/off
Switch 1: No Function, for future use
Factory settings: Switch 3 “on”, all other switches “off”
7.12 S5
S5 Bus Termination (on EC and PN drives only)
S5 Bootstrap
7.13 LEDs
LEDs State Display
Green
Yellow
Yellow
Red
24V Logic Supply OK
Motor Enabled / Error Code Low Nibble
Warning / Error Code High Nibble
Error
7.14 RT BUS LEDs
RT Bus LEDs RT Bus State Display (only on EC or PN drives)
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.
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8 LED Blink Codes
LED Blink Codes
Error Warn EN Description
Off Warning Operation
Enabled
Normal peration:
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 M●●● ●M●● 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.
M●
~4Hz
●M
~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 sermanual_LinMot-Talk under
chapter trouble shooting.
Off M●
~2Hz
M●
~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 thedrive. Also see in the sermanual_LinMot-Talk under chapter
trouble shooting.
The meaning of the error codes can be found in the
sermanual_MotionCtrl_Software_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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9 Safety Wiring
The C1100 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)
Attention: Never connect X33.8 and X33.4 to the logic supply of X4!
Overvoltage protection must be provided externally and sized according
the safety circuit of the machine!
Attention: 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 IS 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)
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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.
MTTFd mainl depends on the number of operations of the safet rela s.
Exa ple calculation of MTTFd:
Assuming that the safet function is requested ever 20s on a machine running 24h per da
and 7 da s 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)
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10 Physical Dimension
C1100 Series single axis drive C11xx-xx-XC-0S C11xx-xx-XC-1S
Width mm (in) 26.6 (1.05)
Height mm (in) 146 (5.75) 166 (6.54)
Height with fixings mm (in) 186 (7.3) 206 (8.1)
Depth mm (in) 106 (4.2)
Weight g (lb) 550 650
Mounting Screws
Mounting Distance mm (in)
2 x M5
168 (6.61)
2 x M5
188 (7.4)
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)
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 90
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
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11 Power Supply Requirement
Motor Power 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 72VDC.
The possible range is from 24 to 85VDC.
ATTENTI N:
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 compatible power supplies can be used (see ordering
information).
Signal Power 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. 0.3A (no load on the outputs)
typ. 0.5A (all 2 outputs “on” with 100mA load and /Break with no load)
max. 1.5A (all 2 outputs “on” with 370mA peak load and /Break with
370mA peak load)
Do not connect the safety relays to the 24VDC Signal Supply!
Use a separate power supply for the safety circuit!
12 Regeneration of Power
If the power supply rises too high when breaking, connect an additional capacitor to
the motor power supply. It is recommended to use a capacitor >= 10’000 μF
(install capacitor close to the drive supply!)
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C1100 Installation Guide