7 - Servo Drives

7 - Servo Drives
Servo Drives
316
www.LinMot.com
Edition 16
subject to change
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LinMot Servo Drives
318
Servo Drives E100/E1001
325
Servo Drive E1100
349
Servo Drive E1200
373
Servo Drive C1200
389
Servo Drive B1100
405
Multi-Axes System B1150 / 8050
425
Edition 16
subject to change
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Servo Drives
Servo Drives
317
Servo Drives
LinMot
Servo Drives
LinMot linear motors, together with the associated Servo Drives, create an optimal drive system
for linear positioning tasks. The wide range of
drive products allows rapid implementation of
simple applications with two end positions, up to
complex, high-precision multi-axis applications
with synchronization to a main electronic shaft.
Simple Integration
Servo Drives
Connection to an overlaid control system can be
made via analog, digital, or serial interfaces,
fieldbusses, or ETHERNET. The wide range of
fieldbus interfaces and protocols allows simple
integration of LinMot Servo Drives in any controls concept. Regardless of the manufacturer
and type of controls, LinMot Servo Drives provide the right interface to connect to an overlaid
PLC, industrial PC, or proprietary control system.
Intelligence right in the drive
LinMot Servo Drives are highly integrated inverters with one or more power elements, for controlling
the motors, and an intelligent control element with integrated position regulation. The control element
performs all drive-related control and monitoring functions. It allows direct position set points, or travel
along internally stored motion profiles from the overlaid control, using simple analog or digital signals.
Simplest Applications
Standard Applications
High-End Applications
Because of their high dynamic capabilities, long life, and ability to travel to several positions, LinMot linear motors are
often used as a replacement for pneumatic cylinders.
With control via fieldbusses or an Ethernet
interface, standard applications can be implemented with simple point-to-point motions. Position, speed, and acceleration can
be configured freely, and are provided via
the bus.
Complex applications with synchronization
to a main or master shaft can be implemented without trouble using the integrated
master encoder interface.
Various end positions can be stored in the
drive and are invoked via digital signals,
just as with a pneumatic cylinder. Once
the end position is reached, this is reported to the overlaid control via the In-position signal on a digital output.
Speed and acceleration can be configured
freely for each motion.
318
Complicated or co-dependent motions can
be stored on the drive in the form of travel
profiles, and started via digital trigger signals or the bus connection.
www.LinMot.com
Travel along paths from an overlaid NC
drive can be implemented via the +/-10V interface, or in streaming mode (PVT, PV).
Together with a high-resolution, external
position sensor, even high-precision positioning tasks in µm range can be handled.
Edition 16
subject to change
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Servo Drives
Application Software
Using a software application, customer-specific
applications can be programmed directly in the
drive. This is mainly an advantage when very
fast sequences need to be implemented, for
which the communication speed or computing
power of the overlaid control are not sufficient.
Application
Software
Technology Functions
Technology
Functions
Winding
Basic Functions
Trigger
Events
Time
Curves
Fieldbus
Interface
VA-Interpolator
Command
Table
Master Encoder
Position
Streaming
Basic Functions
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Sta
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Monitoring and Control Functions
The basic functions include communication with
the overlaid control, generation of target values
for speed and acceleration-limited point-to-point
motions, travel along motion profiles, synchronization of drives to an electronic main or master
shaft, and synchronization in multi-axis applications.
Monitoring and Control
The basic functions of the Servo Drive, such as
position and current control; control and monitoring of the power element; and monitoring the
motor temperature, power, and position are
handled by the control, monitoring, and regulation element, which also controls the entire finite
state machine of the drive.
Modular Firmware
LinMot Servo Drives are used as pure position drives. Additionally, using the technology functions or
a customer-specific software application, complete sequences or functions can be implemented for
customerspecific applications.
Multi-axis operation
Linear and Rotary Drives
Certified Safety
In multi-axes or linked operation, the master
encoder interface can control both individually and synchronous to a main or master
shaft.
Using Series E1100 / B1100 Servo Drives,
rotary servomotors can be used as well as
linear motors, or any 1/2/3-phase actuators.
The safe impulse block on the Series E1100
Servo Drive allows safety concepts to be
implemented in machines and system with
minimum effort and additional external components.
For complex designs, several axes can be
synchronized in master-booster or mastergantry mode. This allows simple implementation of portal designs with two synchronized axes, which are controlled by the
overlaid control as a single axis.
Edition 16
subject to change
Primarily in assembly automation and feeding applications, small, light brushless DC
motors (EC motors) are often needed to rotate a gripper about the Z-axis. The flexibility of the Servo Drive allows such rotary
motors to be integrated into the existing
controls concept in the same simple manner as linear motors.
Safety Standard EN954-1
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319
Servo Drives
Force Feedback
Technology functions are generally available
functional blocks that provide a complete solution for standard applications. The technology
function can take over complete sequence control of a process. With the technology function
"winding textile yarns", only a few parameters
are provided by the overlaid control, such as the
number of windings. The complete winding process then takes place automatically.
Servo Drives
Servo Drive Series
E100/E1001
Fieldbusses and interfaces to the overlaid control
Digital
I/O´s
RS232
RS485
Servo controls from the Series E100 and E1001
are one, two, or four-axis drives with 16-bit position resolution.
Supply
The drives are suitable for simple and standard
positioning tasks in the low to medium force range, in which linear motors are operated without
optional peripherals such as reference and end
stop switches, external high-precision position
sensors, or a holding brake.
Logic
Supply
Motor
Supply
DeviceNet
Profibus
DP
Linmot
Servo Drive
Series
E100 / E1001
The compact size is a great advantage of the Series E100/E1001 Servo Drives, primarily for compound and multi-axis applications, with regard to
installation space and effort.
Prozess Inputs
TriggerInputs
Config.
Fmax = 200N
Internal stored Curves:
• Max. 64 Curves
• Up to 4´000 set
points
Fmax = 200N
AnalogInputs
RS232
Servo Drive Series E100
Servo Drive Series E1001
Single and multiple axes drives for standard positioning tasks.
•
• Analog, digital, and industrial fieldbus
interfaces
• For low forces
• For standard precision
• 16-Bit position resolution for short and
medium stroke ranges
• Point to point motions and travel along
setpoint curves
• Electronic cam disc (Option)
• Master gantry and master booster synchronization
• Control of LinMot linear motors
Single and multiple axes drive for standard
positioning tasks.
320
Fmax = 200N
Position Drive:
• 16 Bit Position Value
• Resolution 20µm
Run Modes:
• VA Interpolated
Moves
• Analog Position
• Run Curves
• Two Point Trigger
Moves
Connection to the overlaid control is done via
analog and digital signals, a serial connection,
and fieldbusses.
Servo Drives
CANopen
Fmax = 200N
Servo Drives E400 in use
• Analog, digital, and industrial
fieldbus interfaces
• For low and medium forces
• For standard precision
• 16-Bit position resolution for short and
medium stroke ranges
• Point to point motions and travel along
setpoint curves
• Master gantry and master booster synchronization
• Control of LinMot linear motors
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Edition 16
subject to change
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Servo Drives
Fieldbusses and interfaces to the overlaid control
RS232
RS485
Supply and Safety
Logic
Supply
Motor
Supply
Safety
Voltage
Enable
Regeneration
Resistor
DeviceNet
Profibus
DP
Linmot
Servo Drive
E1100/B1100
E1200/C1200
ProfiNet
Sercos
III
Limit Switch
Position Drive:
• 32 Bit Position Value
• Resolution 0.1µm
Run Modes:
• VA Interpolated
Moves
• Analog Position
• Run Curves*
• Two Point Trigger
Moves
• Master Encoder Synchronisation
• Streaming P, PV
• Step, Direction
Fast Prozess Inputs
Capture
RS232
CAN
CAN
Config.
Master
Encoder
In
Master
Encoder
Out
Synch.
Analog
Inputs
Command Table:*
• Up to 255 (E1200)
• Up to 32 (B1100)
Commands
Ethernet
IP
Ether
CAT
LinMot Servo Drives are modular axis drives with
32-bit position resolution for linear motors and rotary drives.
Home
Switch
Limit +
Switch
External
Position
Sensor
Optional Brake
Optional external Position Sensor
Servo Drive Series E1100
Single-axis drive for simplest, standard, and
high-end positioning tasks.
• Analog, digital, and industrial fieldbus interfaces, as well as industrial ETHERNET
• For low, medium, and high forces
• For standard and high-precision applications
• 32-bit position resolution for short, medium, and long stroke ranges
• Point to point motions and travel along
setpoint curves and motion profiles
• Integrated brake chopper for external
brake resistor
• Output for controlling a mechanical brake
• Inputs for external end position and reference switches
Edition 16
subject to change
The drives are suitable for simplest, standard, and
high-end positioning tasks, across the entire force
range of the LinMot product range. Flexible hardware enables control of any 1/2/3-phase motors.
Thus, low-power rotary servomotors, such as
brushless DC motors, can be integrated in the
same controls concept.
Additionally, the drives can be equipped with optional peripherals, such as reference and end stop
switches, high-precision external position sensors,
and holding brakes.
LinMot Linear
Motor or other
1/2/3 phase motor
(Brushless DC,
Voice Coil,...)
Config.
Internal stored
Curves:*
• Max. 99 Curves
• Up to 15´000
set points
Power
Link
Optional Limit and Home Switches
Synch.
Trigger
Inputs
CAN
open
LinMot Servo Drives have analog and digital inputs
and outputs, serial interfaces, fieldbusses, and
ETHERNET connections. The user is therefore not
dependent on the selection of the overlaid control.
An appropriate interface is available, with associated protocols, for any PLC or IPC solution.
With flexibility and a compact form factor, LinMot
Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators.
Servo Drive Series B1100
•
•
•
•
•
•
•
•
•
•
•
•
Fast trigger inputs
Event Capture Input
Safe pulse inhibitor
Integrated sequence controller
Position Indexing
Position Streaming
Synchronization to feeds and conveyor
belts
Electronic cam disc / Master Encoder
Master-slave synchronization for gantry
applications
Technology blocks for standard applications
Configurable via ETHERNET or fieldbus
interfaces
Control of linear and rotary motor
Single-axis drive for simplest and standard
positioning tasks.
• Analog, digital, and CAN/RS232/485 interfaces, encoder simulation
• For low, medium, and high forces
• For standard and high-precision applications
• 32bit position resolution for short, medium, and long stroke ranges
• Position Indexing
• Position Streaming
• Control of linear and rotary motors
• Output for controlling a mechanical brake
• End position and reference switches
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321
Servo Drives
Digital
I/O´s
Servo Drive Series
E1100/B1100 Series
E1200/C1200
Servo Drives
Servo Drive
Controllable Actuators
Linear Motors Series P01
Linear Motors Series P10
Linear Motors Generic (3rd Part)
DC Motors
EC Motors (Brushless DC Motors)
Torque Motors
Series E100
Series E1001
Series E1400
Series E1200

-

-










24…48VDC
24…72VDC
200...750VDC
24...85VDC
3Apk
No
8Apk
Yes
3x200…480VAC
40Apk
Yes
32Apk
Yes






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-

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-
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-
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-
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
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-


-
Motor Link C






Motor Link P















8
0
4
4 (10 Bit)
-
8
0
4
4 (10 Bit)
-
1
8
0
1 (12 Bit)
1 (12 Bit)
24V/1A
1
8
0
1 (12 Bit)
1 (12 Bit)
24V/1A

-

-

x (-1S)
x (-1S)


-
16 Bit
1.6ms
1.25kHz
2.5kHz
-
16 Bit
1.6ms
1.25kHz
2.5kHz
-
32 Bit
8kHz
4kHz
8kHz
16kHz
8kHz
32 Bit
10kHz
5kHz
10kHz
20kHz
20kHz
CE
-
CE
-
CE
UL pending
CE
UL pending
Electric Properties
Motor Supply Voltage DC
Motor Supply Voltage AC
Max. Phase Current
Internal Chopper
Interfaces
Analog Force/Torque
Analog Velocity
Analog Position
Step/Direction
RS232
RS485
CANopen
DeviceNet
Profibus DP
ETHERCAT
PROFINET
ETHERNET IP
SERCOS III
POWERLINK
Configuration Interfaces
RS232 - Single Axes
CAN - Multi Axes
Ethernet - Multi Axes
Ethernet - Remote Maintenance
Servo Drives
Motion Commands
Position Streaming P, PV, PVT
Interpolated Moves VA-limited
Interpolated Moves Bestehorn
Curves Time Based
Curves Master Encoder
Belt Synchronization
Command Table
Winding Application
Closed Loop Force Control
Customer Specific Funtionalities
Position Feedback
LinMot Encoder
SinCos (1Vpp)
Incremental Encoder A,B,Z (RS422)
Incremental Encoder A,B,Z (RS422) with U,V,W
Incremental Encoder A,B,Z (RS422) with U,V,W (RS422)
Absolute Encoder SSI
Absolute Encoder Analog
Encoder Emulation Output A,B,Z (RS2422)
Synchronisation
Master Encoder Input A,B,Z (RS422)
Master Encoder Output A,B,Z (RS422)
Digital & Analoge Interfaces
Digital Inputs 24VDC
Digital IO 24VDC
Digital Outputs 24VDC
Analog Inputs 0…10VDC
Analog Inputs -10…+10VDC
Brake Output
Safety Functions
Seperate Power Supply Input
Safety Voltage Enable SVE
Safety Relais
STO - Safe Torque Off
Resolutuion & Timings
Position Drive Resolution
Position Drive Update Rate
I/O Update Rate
I/O Update Rate Trigger and Capture Input
Current Drive Frequency
PWM Frequency
Approvals
CE
UL
322
www.LinMot.com
Edition 16
subject to change
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Servo Drives
Servo Drive
Controllable Actuators
Linear Motors Series P01
Linear Motors Series P10
Linear Motors Generic (3rd Part)
DC Motors
EC Motors (Brushless DC Motors)
Torque Motors
Series C1200
Series E1100
Series B1100















24...85VDC
-
24...85VDC
-
24...85VDC
-
25Apk
No
8 / 15 / 25Apk
Yes
8 / 15 / 25Apk
No
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





-








B1150
B1150
B1150
B1150
B1150

-


-


-






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






Motor Link P






-
Motor Link P





-
Motor Link P





-


-
4
0
5
24V/0.5A
0 / 16 (GP)
9
0 / 8 (GP)
1 (10 Bit)
0
24V/1A
6
0
6
1 (10Bit)
1 (10Bit)
24V/0.5A

(-1S)
(-1S)

(RS, CO, DN,DP)
-

-
32 Bit
10kHz
5kHz
10kHz
20kHz
20kHz
32 Bit
3kHz
1.5kHz
3kHz
6kHz
20kHz
32 Bit
5kHz
2.5kHz
5kHz
10kHz
20kHz
CE
UL pending
CE
UL
CE
-
Electronic Properties
Motor Supply Voltage DC
Motor Supply Voltage AC
Max. Phase Current
Internal Chopper
Interfaces
Analog Force/Torque
Analog Velocity
Analog Position
Step/Direction
RS232
RS485
CANopen
DeviceNet
Profibus DP
ETHERCAT
PROFINET
ETHERNET IP
SERCOS III
POWERLINK
Configuration Interfaces
RS232 - Single Axes
CAN - Multi Axes
Ethernet - Multi Axes
Ethernet - Remote Maintenance
Position Streaming P, PV, PVT
Interpolated Moves VA-limited
Interpolated Moves Bestehorn
Curves Time Based
Curves Master Encoder
Belt Synchronization
Command Table
Winding Application
Closed Loop Force Control
Customer Specific Funtionalities
Servo Drives
Motion Commands
Position Feedback
LinMot Encoder
SinCos (1Vpp)
Incremental Encoder A,B,Z (RS422)
Incremental Encoder A,B,Z (RS422) with U,V,W
Incremental Encoder A,B,Z (RS422) with U,V,W (RS422)
Absolute Encoder SSI
Absolute Encoder Analog
Encoder Emulation Output A,B,Z (RS2422)
Synchronisation
Master Encoder Input A,B,Z (RS422)
Master Encoder Output A,B,Z (RS422)
Digital & Analoge Interfaces
Digital Inputs 24VDC
Digital IO 24VDC
Digital Outputs 24VDC
Analog Inputs 0…10VDC
Analog Inputs -10…+10VDC
Brake Output
Safety Functions
Seperate Power Supply Input
Safety Voltage Enable SVE
Safety Relais
STO - Safe Torque Off
Resolutuion & Timings
Position Drive Resolution
Position Drive Update Rate
I/O Update Rate
I/O Update Rate Trigger and Capture Input
Current Drive Frequency
PWM Frequency
Approvals
CE
UL
Edition 16
subject to change
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323
Notes
324
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Edition 16
subject to change
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Servo Drives
Series E100/E1001
Servo Drive E100/E1001
Series E100/E1001-AT/MT
330
Series E100/E1001-CO/DN
332
Series E130/E1031-DP
334
Edition 16
subject to change
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325
Servo Drives
Servo Drive Series
E100/E1001
The Series E100 Servo Drive and powerful Series E1001 are compact, one, two or four-axis
position drives with 16-bit position resolution and
integrated power elements.
E100/E1001
The drives are suitable for simple and standard
positioning tasks in the low to medium force range.
Motor Interfaces
Connection to Machine Drive
Process Interfaces
Series E100 and E1001 Servo Drives allow control of up to four linear motors by
one drive.
The linear motors themselves are operated without any complicated peripherals,
such as end position monitors or reference switches.
The E100 and E1001 series Servo Drives
can be controlled through the following interfaces:
As a fast process interface for direct reading
of sensor signals, one combined analog/digital input per drive is available as an analog
position target or a trigger input.
The individual linear motors are either
completely independently controlled, or
they are synchronized with each other in
special applications, in master booster or
master gantry mode.
326
•
•
•
•
•
•
•
Digital inputs and outputs
Analog Inputs
RS232 Serial Interface
RS485 Serial Interface
CANopen
DeviceNet
Profibus DP
www.LinMot.com
Edition 16
subject to change
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Series E100/E1001
System Integration
Fieldbusses and interfaces to the overlaid control
Supply
Digital
I/O´s
RS232
RS485
Logic
Supply
Motor
Supply
CANopen
DeviceNet
Profibus
DP
Linmot
Servo Drive
Series
E100 / E1001
Process Inputs
Connection to the overlaid control is done via
analog and digital signals, a serial connection, or
fieldbusses.
Fmax = 200N
Position Drive:
• 16 Bit Position Value
• Resolution 20µm
Run Modes:
• VA Interpolated
Moves
• Analog Position
• Run Curves
• Two Point Trigger
Moves
Trigger
Inputs
Series E100/E1001 drives are suitable for controlling linear motors that are operated without
optional peripherals such as reference and end
stop switches, external high-precision position
sensors, or a holding brake.
The compact size is a great advantage of the Series E100/E1001 Servo Drives, primarily for compound and multi-axis applications, with regard to
installation space and effort.
Fmax = 200N
Internal stored Curves:
• Max. 64 Curves
• Up to 4´000 set
points
Fmax = 200N
Analog
Inputs
E100/E1001
Config.
Fmax = 200N
RS232
Logic and Power Supply
Servo Drive E400 in use
The Servo Drives have two separate power
supplies for the logic and power elements.
Parameterization and configuration of the
Servo Drive is done via the RS232 interface
on the front side.
In an E-stop and safe stop of the drive, only
the power element supply is cut off from the
drive. The logic supply and the drive continue to run.
The menu-drive Windows interface LinMot
Talk is used for configuration, with which up
to four Axis can be configured simultaneously on one drive. LinMot Talk provides extensive debugging tools, such as an
oscilloscope and an error inspector, for simple and rapid start-up of the Axis.
This has the advantage that the drive and
linear motor do not need to be reinitialized
when the machine is restarted, since all
process data, including the current position
of the linear motor, are still up to date.
Edition 16
subject to change
Configuration
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327
Operating Modes
Absolute & Relative Positioning Commands
Stroke [mm]
For direct position targets, using absolute or relative positioning, the desired position is
reached according to acceleration and velocity-limited motion profiles (VA interpolator). Positioning commands can be invoked via the serial interface, fieldbusses, ETHERNET, or the trigger input.
Goto 100mm
vmax = 2,5m/s
amax = 3,0m/s2
Time[ms]
Stroke range:
Position Resolution:
Velocity Resolution:
Acceleration:
±630mm
20µm (16 Bit)
1.0µm/s (16 Bit)
2
10.0µm/s (16 Bit)
Travel Along Time Curves
Stroke [mm]
E100/E1001
Start Curve 1
Up to 99 different time curves can be stored Series E1100 drives, with up to 16,000 individual
waypoints. The motor can thus travel along time curves of any complexity, such as those generated by CAD programs and stored in the drive (Excel CSV format). The time curves can be
invoked via the serial interface, fieldbusses, ETHERNET, or the trigger input.
Curve 1
Time[ms]
Stroke range:
Position Resolution:
Motion profiles:
Curve points:
±630mm
20µm (16 Bit)
max. 64 curve profiles
max. 4’000points
Analog Position Target
For an analog position target, the linear motor travels to a position proportional to the input
voltage. The position is continuously read. In order to prevent uncontrolled jumps in position,
the motor travels to the positions with a programmable maximum acceleration and velocity
(VA interpolator).
0V
10V
Position Position
328
Inputs:
Voltage range:
Resolution:
Scanning rate:
www.LinMot.com
1 analog input per motor
0-10VDC
10 Bit
800µsec
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series E100/E1001
Trigger 2 Point
Stroke[mm]
In the two-point trigger operating mode, two freely adjustable positions are controlled by the
overarching drive, using a trigger signal.
Pos 2
One target value for the high level, and one for the low level of the digital input signal are stored
in the drive electronics. If the signal at the drive electronics input changes, then the associated
position is moved to at the programmed acceleration and speed.
Pos 1
Trigger
Time [ms]
Stroke range:
Position Resolution:
Velocity Resolution:
Acceleration:
±630mm
20µm (16 Bit)
1.0µm/s (16 Bit)
2
10.0µm/s (16 Bit)
Using master-slave synchronization, two linear motors can be synchronized via a serial communications connection between two drives, so that the overlaid drive can control them as a
single axis.
Master Gantry Synchronization
Master gantry synchronization is used for portal designs with two parallel Axis at different locations.
y
Master Booster Synchronization
Master booster synchronization is used to double the force when two motors are mechanically
rigidly connected to each other.
Internal Command Table
Command 1
Command 2
Command 3
Command 4
Command 5
...
...
Command 64
Edition 16
subject to change
Pos 125mm
Pos 250mm
Curve 1
Pos -30mm
Pos +12,5mm
Pos -12,5mm
Multi Trigger
With the Multi-Trigger-Table, up to 64 positions or independent travel commands can be
stored on the drive and addressed directly or indirectly via 4 digital inputs.
Digital inputs:
Interface:
Scanning rate:
Max. 4
Sys2
800µsec
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329
E100/E1001
X2
X1
Master Slave Synchronization
Configuration
LinMot Talk
E100/E1001
LinMot Talk configuration software is a Windows-based interface that supports the user during start-up and configuration of the LinMot
Series E100 and E1001 Servo Drives. The software has a powerful, modular, graphical interface that covers all the tasks surrounding the
LinMot Servo Drive. Great emphasis was placed
on a high level of user-friendliness during development.
Start-up and Analysis Tools
Simple Installation
Integrated Documentation
Using the LinMot Talk PC interface, LinMot Servo Drives are configured. Additionally, the drives
can be monitored during operation with the machine running, and the current motion sequences, as well as earlier warnings and error
messages, can be analyzed in detail (monitoring).
For start-up and monitoring, the Servo Drive is
connected to a PC via the RS232 interface on
the front, using a 9-pole D-sub connector (1:1
Connection). Up to four Axis on one drive can be
configured and monitored at the same time using
LinMot Talk.
After installation of LinMot Talk on the PC is complete, all manuals and installation instructions
are available via the Windows Start Menu. The
user thus always has the current documentation
available to him.
Parameterization
Optimization
Monitoring
Using the "Parameter Inspector," the drives are parameterized in a simple manner.
The user has a wide range of adjustments
available for operating modes, error management, warning messages, and regulating parameters. Entire parameter sets can
be stored, loaded, and printed out.
drive system. Internal variables, such as
the target and actual position, can be
shown in real time on the screen, and then
printed out. The displayed data can be
stored in CSV format for further processing
in MS Excel, or stored for documentation
purposes.
Using the "Error Inspector," the user can
read out stored errors, as well as the currently active warnings and error messages
in the LinMot Servo Drive. The last 10 error
messages are stored in non-volatile memory on the Servo Drive, together with the operating hours counter.
The "Curve Editor" allows creation of travel
curves. In addition, existing curves can be
loaded, stored, edited, combined, and printed out. Further, complex motion sequences can be generated as desired in MS
Excel, and loaded into the drive.
Further, the states of the inputs and outputs
can be viewed in the "Error Inspector." This
allows rapid and uncomplicated checking of
signals from and to the overlaid control.
The integrated oscilloscope helps the user
during start-up and optimization of the
330
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Interfaces
E4001-D
N-ME
1
1 Ph1+
red
2 Ph1-
Motor A
pink
Motor A
3 Ph2+
blue
4 Ph2-
grey
5 +5VD
C
6 AGND
white
inner shield
7 SIN
yellow
8 COS
10
black
LD outer
10 SHIE
shield
1
System Interface 1
Profibus Address
VF-Interface
Motor B
Motor B
Motor A
green
9 TEMP
10
System Interface 2
Profibus Interface
State
1
S2
F012
10
System Schnittstelle 1
Sys1
Supply
Motor /Logic
1
Motor D
Motor D
5 GND
9 CAN
H
RS/CAN Bus Address
8 CAN
3 RS23 L
2 Rx
7
2 RS23
2 Tx
6
1
MOT SUPPLY
Motor Supply
4
Regeneration
Resistor
COM / CONFIG
10
System Interface 2
Profibus Interface
Sys2
Motor D
S1
789A
CDE
B
COM Interface
Profibus Address
789A
56
34
H
(hex)
ID LOW
56
34
Motor C
ID HIG
CDE
B
Motor C
Motor C
F012
Motor B
PGND
PWR+
+
RR
-
COM Interface
Logic Supply
Logic Suppl
y
24 (22..5
0) VDC
Motor Suppl
y
72 (24..8
0) VDC
PE
+24VDC
DGND
Option Master Encoder
E100-MT
E1001-MT
E100-CO
E1001-CO
E100-DN
E1001-DN








System Interface 2








E1031-DP
E1001-AT
System Interface 1
E130-DP
E100-AT
E100/E1001
Option Master Encoder I/O’s






Interface
Profibus Address




Profibus Interface
COM Interface








Supply Motor





Supply Logic





Supply Logic/Motor

Regeneration Resistor

Bus Address RS/CAN

Motor Connector DSUB-9

Motor Connector MC01-P
Edition 16
subject to change























www.LinMot.com
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com

331
E100/E1001-AT/MT
Series E100/E1001-AT/MT
E100-AT
E200-AT
E400-AT
E1001-AT
E2001-AT
E4001-AT
E100-MT
E200-MT
E400-MT
E1001-MT
E2001-MT
E4001-MT
E100, E200, E400-AT/MT
Mot A
Motor A
Sys 1
System Interface 1
Mot B
Motor B
Sys 2
System Interface 2
Mot D
Motor D
PWR
Motor/Logic Supply
Absolute & Relative
Positioning Commands
RS/CAN Bus Address
Travel Along Time Curves
Trigger Mode: Two Point
E1001, E2001, E4001-AT/MT
E4001-
AT
1 Ph1+
red
2 Ph1-
pink
3 Ph2+
Mot A
Motor A
Motor A
Trigger Mode: Curves
1
blue
4 Ph2-
grey
5 +5VD
C
6 AGND
white
inner shield
7 SIN
yellow
8 COS
10
green
9 TEMP
10 SHIE
black
LD outer
shield
Internal Multi Trigger Table (MT)
Analog Position Target
Motor B
1
Mot B
Motor B
10
State
H
789A
56
34
ID HIG
S1
789A
56
34
(hex)
ID LOW
F012
Mot C
Motor C
F012
Master-Slave Synchronization
Motor C
1
CDE
B
S2
PWR Motor
Motor Power Supply
Regeneration Resistor
Sys 1
5 GND
9 CAN
H
10
4
8 CAN
3 RS23 L
2 Rx
7
2 RS23
2 Tx
6
1
Sys 2
System Interface 2
PGND
PWR+
+
RR
Motor Suppl
y
72 (24..8
0) VDC
Logic Suppl
y
24 (22..5
0) VDC
PE
+24VDC
DGND
COM / CONFIG
Mot D
Motor D
Sys 1
System Interface 1
Motor D
Option:
Customer-Specific Functions (MT)
1
Sys 2
10
MOT SUPPLY








Com
COM Interface
CDE
B
E100/E1001-AT/MT
Mot C
Motor C
Com
COM Interface
PWR Logic
Logic Supply
Option Master Encoder
Option Master Encoder I/O’s
Analog Trigger Drive AT
Multi Trigger Drive MT
Serial Interface RS232/RS485
The target position is provided by the overlaid control (PLC, industrial PC) as analog
position signals, digital trigger signals, or
directly via a serial interface.
Multi trigger Servo Drives allow direct programming of complex motion sequences,
with up to 64 commands. The Servo Drive
is actuated by the overlaid control via digital signals.
Series E100/E1001E1001-AT and -MT
Servo Drives offfer an ASCII protocol for
serial communication over RS232 / RS484
with the overlaid control system.
End positions stored in the AT Servo Drive,
or stored travel profiles, can be invoked
using simple digital trigger signals.
The target position is provided as a voltage
at the analog input of the Servo Drive. The
position range associated with the voltage
range at the analog input can be freely configured by the user.
The commands for the individual Axis are
stored in the state table in the Servo Drive.
The individual states in the table are controlled by the overlaid control via digital signal addressing. As soon as a state is
invoked by the overlaid control, the Axis
carry out their defined motion or defined
command.
The E100/E1001 drives have two independent serial interfaces for RS232 and
RS485. If the Servo Drive communicates
with the RS485 interface with the overlaid
control, the RS232 interface may be used
the same time for configuration and debugging with configuration software LinMot
Talk.
Adjustable Baud rates: 9.6-115.2kBaud
332
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Analog- / Multi-Trigger
E100-AT/MT
E1001-AT/MT
5...24VDC
SYS1
OVERARCHING
CONTROLLER
DIGITAL SIGNALS:
5V TTL, 24VDC
ANALOG SIGNALS:
0 ... 10V
MOT A
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
WARNING
ERROR
POS. ERROR
MSG / OUT4
OUT5
OUT6
STOP+
STOPFREEZE+
FREEZEDIGIN 5/6
SYS2
TRIG/ANALOG IN 1
TRIG/ANALOG IN 2
TRIG/ANALOG IN 3
TRIG/ANALOG IN 4
RUN+
RUNINIT+
INITGND
COM
RS232 PC CONFIG.
INTERFACE
LINEAR MOTOR A
MOT B
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
LINEAR MOTOR B
RS232
RS485
RS232 / RS 485
9.6 kBaud
COMMUNICATION
MOT C
MOTOR POWER
SUPPLY
24..48VDC
PWR
E100
2-PHASE POWER
STAGE
24...48VDC 3A
PHASE CURRENT
SIGNAL POWER
SUPPLY
24..48VDC
SUPPLY E1001
MOTOR POWER
SUPPLY
48..72VDC
PWR
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
LINEAR MOTOR C
E100/E1001-AT/MT
SUPPLY E100
E1001
2-PHASE POWER
STAGE
24...80VDC 8A
PHASE CURRENT
SIGNAL POWER
SUPPLY
24..48VDC
MOT D
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
LINEAR MOTOR D
REGENERATION
RESISTOR
ID
RS/CAN BUS ADDRESS
ID LOW
ID HIGH
Item
E100-AT
E200-AT
E400-AT
E1001-AT
E2001-AT
E4001-AT
Description
AnalogTrigger Drive 1 Axis (48V/3A)
AnalogTrigger Drive 2 Axis (48V/3A)
AnalogTrigger Drive 4 Axis (48V/3A)
AnalogTrigger Drive 1 Axis (72V/8A)
AnalogTrigger Drive 2 Axis (72V/8A)
AnalogTrigger Drive 4 Axis (72V/8A)
Part Number
0150-1601
0150-1602
0150-1604
0150-2300
0150-2301
0150-2303
E100-MT
E200-MT
E400-MT
E1001-MT
E2001-MT
E4001-MT
Multi Trigger Drive 1 Axis (48V/3A)
Multi Trigger Drive 2 Axis (48V/3A)
Multi Trigger Drive 4 Axis (48V/3A)
Multi Trigger Drive 1 Axis (72V/8A)
Multi Trigger Drive 2 Axis (72V/8A)
Multi Trigger Drive 4 Axis (72V/8A)
0150-1611
0150-1612
0150-1614
0150-2304
0150-2305
0150-2307
Edition 16
subject to change
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Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
333
E100/E1001-CO/DN
Series E100/E1001-CO/DN
E100-CO
E200-CO
E400-CO
E1001-CO
E2001-CO
E4001-CO
E100-DN
E200-DN
E400-DN
E1001-DN
E2001-DN
E4001-DN
E100, E200, E400-CO/DN
CO
Mot A
Motor A
Sys 1
System Interface 1
Mot B
Motor B
Sys 2
System Interface 2
Mot C
Motor C
Mot D
Motor D
PWR
Motor/Logic Supply
Absolute & Relative
Positioning Commands
RS/CAN Bus Address
Travel Along Time Curves
Trigger Mode: Two Point
E1001, E2001, E4001-CO/DN
E4001-
CO
Trigger Mode: Curves
1
pink
blue
4 Ph2-
grey
5 +5VD
C
6 AGND
white
inner shield
7 SIN
yellow
8 COS
green
9 TEMP
10 SHIE
black
LD outer
shield
Internal Command Table
Analog Position Target
10
State
H
789A
56
34
ID HIG
S1
789A
56
34
(hex)
ID LOW
F012
Mot C
Motor C
F012
Master-Slave Synchronization
Motor C
1
CDE
B
S2
PWR Motor
Motor Power Supply
Regeneration Resistor
Sys 1
Mot D
Motor D
5 GND
9 CAN
H
10
4
8 CAN
3 RS23 L
2 Rx
7
2 RS23
2 Tx
6
1
Sys 2
System Interface 2
PGND
PWR+
+
RR
Motor Suppl
y
72 (24..8
0) VDC
Logic Suppl
y
24 (22..5
0) VDC
PE
+24VDC
DGND
COM / CONFIG
Option:
Customer-Specific Functions
Sys 1
System Interface 1
Motor D
1
Sys 2
10
MOT SUPPLY



Motor B
1
Mot B
Motor B
CDE
B
E100/E1001-CO/DN
red
3 Ph2+
Mot A
Motor A
10

1 Ph1+
2 Ph1-
Motor A




Com
COM Interface
Com
COM Interface
PWR Logic
Logic Supply
Option Master Encoder
Option Master Encoder I/O’s
CANopen
DeviceNet
LinMot CO drives, with integrated CANopen interface, support the CiA DS301 communication profile.
Series DN drives feature an integrated DeviceNet interface. With the DeviceNet interface, even complicated motion sequences
can be realized with the highest possible
flexibility.
The following CANopen resources are
available on the CO drives: 1-5 T_PDO, 15 R_PDO 1 T_SDO, 1 R_SDO
The following protocols are supported by
the CO drives:
- Node Guarding
- PDO acyclic with inhibit time
- SDO Upload and Download
- NMT (Start, Stop, Enter PreOp,
Reset Node, Reset Communication)
- Boot-Up Message
334
The drive can be actuated and monitored
via the DeviceNet connection. The following expanded fieldbus functions are
available:
- Direct target position
- Invoke motion profiles
- Read and write access to parameters
- Monitoring internal parameters
- Diagnosis
www.LinMot.com
"Explicit Messaging" The DeviceNet Servo
Drives support one "Explicit Messaging"
connection per master.
"Polled IO"
The master initiates data interchange with
a "Polled IO" command.
"Change of State IO"
With this connection, the data is transferred only if the states or values have changed.
"Cyclic IO"
With the "Cyclic IO" connection, the data is
transferred strictly cyclically.
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
CANopen / DeviceNet
E100-CO/DN
E1001-CO/DN
5...24VDC
SYS1
MOT A
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
WARNING
ERROR
POS. ERROR
MSG / OUT4
OUT5
OUT6
STOP+
STOPFREEZE+
FREEZEDIGOUT 5/6
OVERARCHING
CONTROLLER
DIGITAL SIGNALS:
5V TTL, 24VDC
ANALOG SIGNALS:
0 ... 10V
SYS2
TRIG/ANALOG IN 1
TRIG/ANALOG IN 2
TRIG/ANALOG IN 3
TRIG/ANALOG IN 4
RUN+
RUNINIT+
INITGND
COM
3
4
2
MOTOR POWER
SUPPLY
24...48VDC
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
LINEAR MOTOR B
RS232
RS485
CAN
CAN: CANOPEN
DEVICENET
max. 500kBaud
SUPPLY E100
MOT B
MOT C
PWR
E100
2-PHASE
POWER STAGE
24...48VDC
3A PHASE
CURRENT
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
LINEAR MOTOR C
E100/E1001-CO/DN
RS232 PC CONFIG.
INTERFACE
RS232 / RS 485
9.6 kBaud
COMMUNICATION
LINEAR MOTOR A
SIGNAL POWER
SUPPLY
24...48VDC
SUPPLY E1001
MOTOR POWER
SUPPLY
48...72VDC
PWR
E1001
2-PHASE
POWER STAGE
24...80VDC
8A PHASE
CURRENT
SIGNAL POWER
SUPPLY
24...48VDC
REGENERATION
RESISTOR
MOT D
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
LINEAR MOTOR D
ID
CAN BUS ADDRESS
ID LOW
ID HIGH
Item
E100-CO
E200-CO
E400-CO
E1001-CO
E2001-CO
E4001-CO
Description
CanOpen Drive 1 Axis (48V/3A)
CanOpen Drive 2 Axis (48V/3A)
CanOpen Drive 4 Axis (48V/3A)
CanOpen Drive 1 Axis (72V/8A)
CanOpen Drive 2 Axis (72V/8A)
CanOpen Drive 4 Axis (72V/8A)
Part Number
0150-1669
0150-1670
0150-1672
0150-2308
0150-2309
0150-2311
E100-DN
E200-DN
E400-DN
E1001-DN
E2001-DN
E4001-DN
DeviceNet Drive 1 Axis (48V/3A)
DeviceNet Drive 2 Axis (48V/3A)
DeviceNet Drive 4 Axis (48V/3A)
DeviceNet Drive 1 Axis (72V/8A)
DeviceNet Drive 2 Axis (72V/8A)
DeviceNet Drive 4 Axis (72V/8A)
0150-1641
0150-1642
0150-1644
0150-2312
0150-2313
0150-2315
Edition 16
subject to change
www.LinMot.com
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
335
E130/E1031-DP
Series E130/E1031-DP
E130-DP
E230-DP
E430-DP
E1031-DP
E2031-DP
E4031-DP
E4001-MT
E130, E230, E430-DP
Mot A
Motor A
ID
Profibus Bus Address
Mot B
Motor B
DP
Profibus Interface
Mot C
Motor C




Com
COM Interface
Mot D
Motor D
PWR
Motor/Logic Supply
Absolute & Relative
Positioning Commands
Travel Along Time Curves
Trigger Mode: Two Point
E1031, E2031, E4031-DP
E4001-
DP
red
pink
3 Ph2+
Mot A
Motor A
blue
4 Ph2-
grey
5 +5VD
C
6 AGND
white
inner shield
7 SIN
yellow
8 COS
10

1 Ph1+
2 Ph1-
Motor A
Trigger Mode: Curves
1
green
9 TEMP
10 SHIE
black
LD outer
shield
Internal Command Table

Analog Position Target
Motor B
1
Mot B
Motor B
10
State
H
789A
56
34
Motor C
ID HIG
F012
S1
789A
56
34
(hex)
ID LOW
F012
Mot C
Motor C
CDE
B
ID
Profibus Bus Address
S2
10
PWR Motor
Motor Power Supplyen
Regeneration Resistor
4
8 CAN
3 RS23 L
2 Rx
7
2 RS23
2 Tx
6
1
PGND
PWR+
+
RR
Motor Suppl
y
72 (24..8
0) VDC
Logic Suppl
y
24 (22..5
0) VDC
PE
+24VDC
DGND
PROFIBUS DP
5 GND
9 CAN
H
10
COM / CONFIG
Mot D
Motor D
Motor D
1
Option:
Customer-Specific Functions
MOT SUPPLY


Master-Slave Synchronization
CDE
B
E100/E1001-DP
1
DP
Profibus Interface
Com
COM Interface
PWR Logic
Logic Supply
Option Master Encoder
Option Master Encoder I/O’s
Profibus DP
Series DP Servo Drives feature an integrated PROFIBUSDP interface. PROFIBUSDP provides the user with a standardized
fieldbus interface for rapid data interchange between the Servo Drive and the
overlaid control.
With cyclical provision of target positions
and other process data, the Profibus drives
are the ideal solution for applications with
motions and sequences that change frequently, such as are required, for example,
in flexible machines and systems for rapid
format changes.
336
The Profibus interface supports all Baud
rates from 9.6 Kbits/s to 12 Mbit/s. The maximum net data quantity exchanged in cyclical data traffic is 64 bytes per cycle. The
smallest achievable bus cycle time is 100
µs. The structure and scope of cyclical data
can be collected from any individual data
modules into an overall data quantity when
planning the system, whereby the data for
the individually connected motors can be
different.
A GSD device master file is provided for
open planning in conformance with the
standard.
www.LinMot.com
The front-side 9-pin DSUB bus connector
meets the PROFIBUS standard. It provides
power for an external bus termination. A
positive directional control signal is provided to control repeaters or optical fibers.
All signals on the PROFIBUS connector
are galvanically separated.
The PROFIBUS-DP address is set by two
hex code switches (ID1 and ID2). All
addresses permitted by the standard are
supported (0..125).
Edition 16
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Profibus DP
E130-DP
E1031-DP
MOT A
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
ID HIGH
ID LOW
LINEAR MOTOR A
DP
5
PROFIBUS ID
PROFIBUS DP
COMMUNICATION
max. 12MBaud
MOT B
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
COM
3
SUPPLY E130
MOTOR POWER
SUPPLY
24...48VDC
RS232
PWR
E130
-PHASE
POWER STAGE
24...48VDC
3A PHASE
CURRENT
SIGNAL POWER
SUPPLY
24...48VDC
SUPPLY E1031
MOTOR POWER
SUPPLY
48...72VDC
PWR
LINEAR MOTOR C
2-PHASE
POWER STAGE
24...80VDC
8A PHASE
CURRENT
MOT D
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
REGENERATION
RESISTOR
Edition 16
subject to change
PH1+
PH1PH2+
PH2+5V
GND
SIN
COS
TEMP
E1031
SIGNAL POWER
SUPPLY
24...48VDC
Item
E130-DP
E230-DP
E430-DP
E1031-DP
E2031-DP
E4031-DP
MOT C
E100/E1001-DP
RS232 PC CONFIG.
INTERFACE
RS232 / RS 485
9.6 kBaud
LINEAR MOTOR B
Description
Profibus DP Drive 1 Axis (48V/3A)
Profibus DP Drive 2 Axis (48V/3A)
Profibus DP Drive 4 Axis (48V/3A)
Profibus DP Drive 1 Axis (72V/8A)
Profibus DP Drive 2 Axis (72V/8A)
Profibus DP Drive 4 Axis (72V/8A)
LINEAR MOTOR D
Part Number
0150-1621
0150-1622
0150-1624
0150-2316
0150-2317
0150-2319
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337
Break Out Module
Break Out Module
The Break Out Module for the AT and MT Servo
Drives leads all input and output signal from the
SYS1 and SYS2 DSUB connectors to plug-type
screw terminals.
Break Out Modul
48 mm
Break Out Modul
126 mm
Break Out Module
Features:
The Break Out Module is available in two
versions, with a digital or analog interface.
- Plug-type screw terminals for
all inputs and outputs
The Break Out Module is snapped onto the
DIN rail directly in the electrical enclosure.
Two tabs for screw mounting are also included.
- Digital inputs, galvanically isolated,
(24V/10mA)
Cable & Connector Set
The connection cable to the Servo Drive
and the plug-type screw terminals are
available as a set.
- Digital outputs, galvanically isolated,
(24V/0.5A)
- Relay output (48V/2A, max. 60W)
- LED status indicator for
all inputs and outputs
- Analog input voltage -10…+10V
for analog module.
338
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M01-analog/-digital
M01-DIGITAL
J1
SYS1
+ 5V
15
+ 5V
SYS1
In+
Out-
STOP
FREEZE
INIT
RUN
Galvanically
Isolated
on LinMot
Servo Controller
SYS1
RUN+
9
RUN-
SYS2
OUT 6
OUT 5
OUT 4
OUT 3
OUT 2
OUT 1
J4
+ 5V
R Closer
R Opener
R In
+ 5V
+ 24V + 24V
Out1
M01-ANALOG
SYS1
+ 5V
15
+
SYS1
/2
-
-1
STOP
FREEZE
INIT
RUN
Galvanically
Isolated
on LinMot
Servo Controller
RUN+
9
RUN-
SYS2
OUT 6
OUT 5
OUT 4
OUT 3
OUT 2
OUT 1
J4
+ 5V
R Closer
R Opener
R In
+ 5V
+ 24V + 24V
Out1
Item
M01-digital
M01-analog
M01-Connector
Edition 16
subject to change
OVERARCHING
CONTROLLER
11
J2
RUN+
RUNINIT+
INITFREEZE+
FREEZESTOP+
STOP-
8
J3
GND
+24V
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
GND
R_OPENER
R_IN
R_CLOSER
11
J1
TRIG IN 4
TRIG IN 3
TRIG IN 2
TRIG IN 1
LINMOT SERVO
CONTROLLER
SYS1
AGND
GND
+24V
IN1+
IN1IN2+
IN2IN3+
IN3IN4+
IN4-
Break Out Modul
TRIG IN 4
TRIG IN 3
TRIG IN 2
TRIG IN 1
LINMOT SERVO
CONTROLLER
Description
Breakout Module digital
Breakout Module analog
Cable and Connector set
AGND
GND
+24V
IN1+
IN1IN2+
IN2IN3+
IN3IN4+
IN4-
OVERARCHING
CONTROLLER
11
J2
RUN+
RUNINIT+
INITFREEZE+
FREEZESTOP+
STOP-
8
J3
GND
+24V
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
GND
R_OPENER
R_IN
R_CLOSER
11
Part Number
0150-1932
0150-1933
0150-1934
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339
Interfaces
E100
Supply Motor/Logic
GND internally connected
to controller housing
Internal Fuse
500mAT
PWR SIGNAL +
1
2
3
1
GND
GND
2
PWR MOTOR +
24...48VDC
24...48VDC
3
Internal Fuse
10AT
Supply GND must be
be externally connected
to earth
(Ground Bus)
Power Connector
Logic/Motor
1.5 mm² (AWG16)
Supply
Supply Voltage Logic:
Supply Voltage Motor:
24...48VDC (absolute max. Rating 48VDC + 10%)
24...48VDC (absolute max. Rating 48VDC + 10%)
Motor Supply GND must be externally connected to earth
- By exceeding 52VDC supply voltage, the drive will go into error state.
- Power supply connectors must not be connected or disconnected while DC voltage is present.
E1001
Supply Motor/Logic
E100/E1001
Optional:
external Regeneration Resistor
RR01-10/60
PGND
PWR+
1
RR -
2
RR +
GND
1
2
3
+
RR
-
PWR +
4
24...80VDC
3
PGND
GND
4
GND internally connected
to controller housing
Screw Terminals
2.5 mm² (AWG14)
GND internally
connected to
controller
housing
LOGIC SUPPLY 24V
1
GND
2
Internal Fuse
3AT
1
2
22...50VDC
GND
3
Phoenix MC1,5/2-STF-3.81
0.25-1.5mm² (AWG24-16)
Supply:
Supply Voltage Logic:
Supply Voltage Motor:
24...80VDC (absolute max. Rating 92VDC)
48...72VDC (absolute max. Rating 72VDC + 5%)
Motor and Logic Supply GND must be externally connected to earth
- By exceeding 92VDC motor supply voltage, the drive will go into error state.
- By exceeding 52VDC logic supply voltage, the drive will go into error state.
- Power supply connectors must not be connected or disconnected while DC voltage is present.
- It is recommended that the motor and the logic be supplied and controlled separately.
340
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Series E100/E1001
Mot A (B, C, D)
1
2
3
4
5
Motor connector E100
6
7
8
9
DSUB-9 (f)
RED
PHASE 1+
PINK
PHASE 1-
BLUE
PHASE 2+
GREY
PHASE 2-
WHITE
+5VDC
INNER SHIELD
AGND
YELLOW
SINE
GREEN
COSINE
BLACK
TEMP.
1
6
2
7
3
GND
8
4
2k2
9
5
2k2
10k
GND
GND
+5VDC
Outer shield connected to connector housing
Motor Cable
Motor connector E1001
1
RED
PHASE 1+
2
PINK
PHASE 1-
BLUE
PHASE 2+
GREY
PHASE 2-
WHITE
+5VDC
7
INNER SHIELD
AGND
8
YELLOW
SINE
9
GREEN
COSINE
10
BLACK
TEMP.
3
4
5
6
Outer shield connected to connector housing
MC01-P/f
1
2
3
4
+5VDC
5
GND
6
7
2k2
8
2k2
9
10k
GND
GND
E100/E1001
Mot A (B, C, D)
+5VDC
10
Motor Cable
Motor Cable
- Use only special double-shielded Linear Motor Cable (see motor accesories).
- LinMot offers a wide range of preassambled motor cable in standard and custom length (tested 1.5kV):
Standard Cable K05-...
High-Flex Cable KS05-...
Robot-Cable KR05-...
- Do NOT connect AGND (Pin 6) to ground or earth!
- Inner shield (AGND) and outer shield (earth) must be isolated to each other.
- Use +5V (Pin 3) and AGND (Pin 6) only for motor internal Hall Sensor supply (max. 100mA).
- Wrong Motor wiring may damage Linear Motors and/or Servo Drive.
If you are assembling motor cables by your own, double check motor wiring carefully before power up.
- Do not connect or disconnect the motors from drives with voltage present.
Wait to connect or disconnect motors until all LinMot drive LED’s have turned off.
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341
Interfaces
SYS1
System interface 1
5...24VDC
WARN OUT
ERROR OUT
POS ERROR / DIG OUT 3
MSG / DIG OUT 4
DIG OUT 5
1
2
3
4
5
11
12
13
14
15
DIG OUT 6
EMERGENCY STOP +
EMERGENCY STOP FREEZE +
FREEZEDIG IN 5
DIG IN 6
DSUB-15 (f)
DO NOT CONNECT!
OUTPUT +5V (max 50 mA)
GND
14
13
11
12
10
6
2
1
3
7
4
100k
8
100k
9
5V
5
GND
15
E100/E1001
Control Inputs: Stop (active low) / Freeze (active high)
Optical isolated inputs (Input voltage: 0 …. 24V)
- for logical zero: input voltage < 2V
- for logical one: input volateg > 3.5V
Input current: < 20 mA (internally limited to 20 mA)
Update rate: 1.6 ms
Digital Inputs: Dig In 5 / Dig In 6
24VDC inputs, input resistance 100kOhm
- for logical zero: input voltage < 2V
- for logical one: input volateg > 3.5V
Digital Outputs: Pos Error Out / MSG / Error Out / Warn Out / Dig Out 5 / Dig Out 6
Open Collector max 24V / 50 mA
Typical pull-up Resistor R:for V+ = 5V supply: R=150 Ohm/0.25 W
for V+=24V supply: R=820 Ohm / 1W
SYS2
System interface 2
TRIG/ANLOG IN 1
1
TRIG/ANLOG IN 2
5
4
3
2
1
9
8
7
6
TRIG/ANLOG IN 3
6
2
TRIG/ANLOG IN 4
RUN +
GND
100k
GND
GND
GND
GND
3
8
4
INT -
DSUB-9 (m)
100k
100k
7
RUN INT +
100k
9
5
GND
Digital/Analog Input: Trig/Analog IN
Input can be used as analog inputs between 0 … 10V (10 bit resolution) input resistance 100kOhm
or digital inputs (max. 24V, input resistance 100kOhm) for logical zero <2V,
for logical one >3.5V
Control Inputs: RUN (active high) / INIT (active high)
Optical isolated 24V inputs
Input voltage: 0 …. 24V
for logical zero <2V
for logical one >3.5V
Input current: < 20 mA (internally limited to 20 mA)
Update rate: 1.6 ms
342
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Series E100/E1001
DP
Profibus DP interface
1
+ 5 V (ISOLATED)
1
2
3
4
5
6
7
8
9
6
2
7
RxD/TxD-P
3
RxD/TxD-N
8
CNTR-P
4
9
DSUB-9 (f)
GND (ISOLATED)
5
Isolated 5V output: max 50 mA
Com interface
RS485_TX+
5
4
3
2
1
9
8
7
6
RS232_TX
GND
RS485_TX-
7
RS232_RX
3
CAN_L
8
RS485_RX+
4
CAN_H
DSUB-9 (m)
RS232_TX
2
CAN_L
RS485_RX+
RS485_RX-
6
RS485_TXRS232_RX
RS485_TX+
1
RS485_RX-
CAN_H
9
5
100
GND
E100/E1001
COM
RS232: Configuration on all Drives: use 1:1 connection cable to PC
LED
State display E100
Green
Yellow
Stat A Yellow:
STAT A : Coding for the actual operating state
The display of the various operating states is shown on the last page of this manual.
Stat B Yelllow:
STAT B: Coding for the actual operating state
The display of the various operating states is shown on the last page of this manual.
Yellow
Red
DISPLAY
Ready Green:
READY: The system has started correctly
Fault Red:
FAULT: An error has occurred
(In the state ERROR a blink code of the STAT LEDs A and B tells what the actual error is.
The blink codes are explained in chapter ‘Service’of the user Manual.)
State display E1001
8 Segement Display
Output of operating states and error codes
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343
Accessories E100/E1001
Switched-Mode Power Supplies
CSA 22.2-60950
CSA 22.2-107
UL 60950
UL 508
SPH500-7207
SPH1013-7214
E100/E1001 Accessories
SPH500-7207
Item
S01-48/300
S01-48/600
S01-72/500
S01-72/600
S01-72/1000
SM01-300
SM01-600
Description
Switched-Mode Power Supply 48V/300W for Drive Series E100
Switched-Mode Power Supply 48V/600W for Drive Series E100
Switched-Mode Power Supply 72V/500W for Drive Serie E1001
Switched-Mode Power Supply 72V/600W for Drive Serie E1001
Switched-Mode Power Supply 72V/1000W for Drive Serie E1001
Mounting part for 300W Switched-Mode Power Supply
Mounting part for 600W Switched-Mode Power Supply
Transformer Supply T01 for E1001
Item
T01-72/420...1500-Multi
344
Part Number
0150-1941
0150-1946
0150-1874
0150-1943
0150-1872
0150-3040
0150-3041
3x230/280/400/480VAC
Description
Transformer Supply 3x230/280/400/480VAC, 50/60Hz, 420...1500W
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Part Number
see page 536
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Accessories E100/E1001
Control Box B01-04
Description
Control Box for E100/E1001-AT/MT (230VAC, incl. cable and connectors)
Control Box for E100/E1001-AT/MT (115VAC, incl. cable and connectors)
Part Number
0150-1930
0150-1931
E100/E1001 Accessories
Item
B01-04 230VAC/50Hz
B01-04 115VAC/60Hz
COM connection cables and USB-converter
Item
RS232 PC config. cabel 2m
RS232 PC config. cabel 2m
RS232 PC config. cabel 2.5m
USB-Serial Converter
Edition 16
subject to change
Description
for E100/E1001
for E100/E1001/E1100/B1100
for E1200/E1400
USB to 9-pin Serial Converter
Part Number
0150-3009
0150-3307
0150-2143
0150-3110
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345
Dimensions
178
119
330
Centers
194
Centers
315
ription:
State Descware Stopped
ble
- Firm
)
for Disa
not done
0 Wait
ble (Init
done)
1 Disa
ble (Init
2 Disa
Stop
rgency
7 Eme
8 Run
9 Init
Exxx Error
210
A
89 B
12
F0 3
ID HIG
4567
S2
Sys2 / DP
12
F0 3
ID LOW
S1
A
89 B
CDE
(hex)
CDE
H
4567
296
176
FIG
COM / CON
E100/E1001
+24VDC
DGND
Logic Supply
5 GND
9 CAN H
5 Rx+
4 RS48
8 CAN L
2 Rx
3 RS23
Tx7 RS485
2 Tx
2 RS23
Rx6 RS485
5 Tx+
1 RS48
55
70
58
Dimensions in mm
E100
E200
E400
E1001
E2001
E4001
Interfaces
Width
mm
70
58
Height
mm
210
330
Height without fixings
mm
175
296
Depth
mm
Weight
kg
Protection Class
IP
40
40
Storage Temperture
°C
-25..70
-25..70
Operating Temperature
°C
0..50
0..50
Max. Case Temperature
°C
65
Max. Power Dissipation
W
Distance between Drives
mm
346
120
1.1
22
1.2
38
50
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178
1.3
2. 5
2.6
2.7
65
70
80
50
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Item
E100-AT
E200-AT
E400-AT
E1001-AT
E2001-AT
E4001-AT
Description
AnalogTrigger Drive 1 Axis (48V/3A)
AnalogTrigger Drive 2 Axis (48V/3A)
AnalogTrigger Drive 4 Axis (48V/3A)
AnalogTrigger Drive 1 Axis (72V/8A)
AnalogTrigger Drive 2 Axis (72V/8A)
AnalogTrigger Drive 4 Axis (72V/8A)
Part Number
0150-1601
0150-1602
0150-1604
0150-2300
0150-2301
0150-2303
E100-MT
E200-MT
E400-MT
E1001-MT
E2001-MT
E4001-MT
Multi Trigger Drive 1 Axis (48V/3A)
Multi Trigger Drive 2 Axis (48V/3A)
Multi Trigger Drive 4 Axis (48V/3A)
Multi Trigger Drive 1 Axis (72V/8A)
Multi Trigger Drive 2 Axis (72V/8A)
Multi Trigger Drive 4 Axis (72V/8A)
0150-1611
0150-1612
0150-1614
0150-2304
0150-2305
0150-2307
E130-DP
E230-DP
E430-DP
E1031-DP
E2031-DP
E4031-DP
Profibus DP Drive 1 Axis (48V/3A)
Profibus DP Drive 2 Axis (48V/3A)
Profibus DP Drive 4 Axis (48V/3A)
Profibus DP Drive 1 Axis (72V/8A)
Profibus DP Drive 2 Axis (72V/8A)
Profibus DP Drive 4 Axis (72V/8A)
0150-1621
0150-1622
0150-1624
0150-2316
0150-2317
0150-2319
E100-DN
E200-DN
E400-DN
E1001-DN
E2001-DN
E4001-DN
DeviceNet Drive 1 Axis (48V/3A)
DeviceNet Drive 2 Axis (48V/3A)
DeviceNet Drive 4 Axis (48V/3A)
DeviceNet Drive 1 Axis (72V/8A)
DeviceNet Drive 2 Axis (72V/8A)
DeviceNet Drive 4 Axis (72V/8A)
0150-1641
0150-1642
0150-1644
0150-2312
0150-2313
0150-2315
E100-CO
E200-CO
E400-CO
E1001-CO
E2001-CO
E4001-CO
CanOpen Drive 1 Axis (48V/3A)
CanOpen Drive 2 Axis (48V/3A)
CanOpen Drive 4 Axis (48V/3A)
CanOpen Drive 1 Axis (72V/8A)
CanOpen Drive 2 Axis (72V/8A)
CanOpen Drive 4 Axis (72V/8A)
0150-1669
0150-1670
0150-1672
0150-2308
0150-2309
0150-2311
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E100/E1001
Ordering Information
347
E1100
348
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Servo Drives
Servo Drive E1100
356
Series E1130-DP
358
Series E1100-GP
360
E1100
Series E1100-RS/-DN/-CO
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349
Servo Drives
Servo Drive E1100
Series E1100 Servo Drives are modular axis drives, with 32-bit position resolution and an integrated power element, for linear motors and rotary
drives.
E1100
The drives are suitable for simplest, standard,
and high-end positioning tasks, across the entire
force range of the LinMot product range.
Connection to Machine Drive
Process and Safety Interfaces
Logic and Power Supply
The Series E1100 Servo Drives can be
actuated by machine controls from any
manufacturer or brand, via digital inputs
and outputs, RS232 or RS485 serial interface, CanBus CANopen and DeviceNet
interfaces, Profibus DP.
Fast process interfaces for direct processing of sensor signals are available as freely
programmable analog and digital inputs, a
fast trigger input, and a capture input.
The Servo Drives have two separate power
supplies for the logic and power elements.
For complex motion sequences that are
run in an overlaid position drive, B1100
small servo amplifiers are available, with
analog velocity or force control and encoder simulation.
350
The safe pulse inhibitor on Servo Drive with
fieldbus interfaces allows safe stoppage of
the drives via control signals, per
EN 954-1, without interrupting the power
supply.
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In an E-stop and safe stop of the drive, only
the power element supply is cut off from the
drive. The logic supply and the drive continue to run.
This has the advantage that the drive and linear motor do not need to be reinitialized
when the machine is restarted, since all process data, including the current position of
the linear motor, are still up to date.
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Series E1100
System Integration
Fieldbusses and interfaces to the overlaid control
RS232
RS485
Supply and Safety
Logic
Supply
Motor
Supply
Safety
Voltage
Enable
Trigger
Inputs
Capture
DeviceNet
Profibus
DP
Linmot
Servo Drive
Series
E1100
Limit Switch
Position Drive:
• 32 Bit Position Value
• Resolution 0.1µm
Run Modes:
• VA Interpolated
Moves
• Analog Position
• Run Curves
• Two Point Trigger
Moves
• Master Encoder Synchronisation
• Streaming P, PV
• Step, Direction
Internal stored Curves:
• Max. 99 Curves
• Up to 15´000
set points
Command Table:
• Up to 255
Commands
Analog
Inputs
Additionally, the drives can be equipped with optional peripherals, such as reference and end
stop switches, high-precision external position
sensors, or a mechanical holding brake.
Optional Limit and Home Switches
Home
Switch
Limit +
Switch
Series E1100 Servo Drives have analog and digital inputs and outputs, serial interfaces, fieldbusses. The user is therefore not dependent on the
selection of the overlaid drive. An appropriate interface is available, with associated protocols,
for any PLC or IPC solution.
With flexibility and a compact form factor, LinMot
Series E1100 Servo Drives provide a complete
solution for a flexible drive concept in single and
multiple axis applications, with linear motors and
other actuators.
LinMot Linear
Motor or other
1/2/3 phase motor
(Brushless DC,
Voice Coil,...)
External
Position
Sensor
Optional Brake
Optional external Position Sensor
Config.
RS232
CAN
CAN
Config.
Master
Encoder
In
Master
Encoder
Out
Synch.
Technology Functions
Synch.
Fast Prozess Inputs
Regeneration
Resistor
CAN
open
Technology functions are functional blocks that
provide a complete solution for standard applications and frequently encountered, customer-specific problems. Technology functions can, for
example, handled the complete sequence for
winding textile yarns or glass fiber cables, or
high-precision joining processes with force control can be implemented directly in the drive.
Option: Master Encoder Module
Motor Interfaces
Configuration
For synchronization to a mechanical master shaft, or a rotating main drive, the Axis
(linear motors and rotary motors) can be
coupled to an electronic main shaft via the
Master Encoder Interface.
E1100 Servo Drives provide all necessary
interfaces to operate linear or rotary motors
with optional external peripherals, such as
end position and reference switches, a mechanical brake, or a high-resolution external position sensor.
Parameterization and configuration of the
Servo Drive is done via the RS232 interface
on the front side, or CANBus for simultaneous configuration of several drives.
The encoder signal from the main shaft can
be passed through by the Master Encoder
Interface, so that any number of linear motors can be synchronized to the main shaft.
In special applications, two drives can be
synchronized with each other using the
synchronization interface in master booster
or master gantry mode.
LinMot Talk user-friendly PC software is
available for configuration. In addition to online documentation, LinMot Talk provides
extensive debugging tools, such as an
oscilloscope and an error inspector, for simple and rapid start-up of the Axis.
Fieldbus drives can also be configured directly by the overlaid control.
Edition 16
subject to change
www.LinMot.com
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351
E1100
Digital
I/O´s
Flexible hardware enables control of any 1/2/3phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept.
Operating Modes
Interpolated Moves
For direct position targets, using absolute or relative positioning, the desired position is
reached using acceleration and velocity-limited motion profiles or jerk optimized Bestehorn
profiles. Positioning commands can be invoked via the serial interfaces, CANopen, DeviceNet,
Profibus or a trigger input.
Stroke [mm]
Goto 100mm
vmax = 2,5m/s
amax = 3,0m/s2
Time[ms]
Stroke range:
Position Resolution:
Velocity Resolution:
Velocity Resolution:
±100m
0.1µm (32Bit)
1.0µm/s (32Bit)
2
10.0µm/s (32Bit)
Time Curves
Stroke [mm]
Start Curve 1
Up to 99 different time curves can be stored Series E1100 drives, with up to 16,000 individual
waypoints. The motor can thus travel along time curves of any complexity, such as those generated by CAD programs and stored in the drive (Excel CSV format). The time curves can be
invoked via the serial interface, fieldbusses, ETHERNET, or the trigger input.
Curve 1
E1100
Time[ms]
Stroke range:
Position Resolution:
Motion profiles:
Curve points:
±100m
0.1µm (32Bit)
Max. 99 Time Curves
Max. 16’000 points
Profiled Moves
Stroke [mm]
Goto Pos 125mm
with Profil 1
For travel to an absolute position, or shifting by a relative position, any desired motion rules
can be stored besides the VA interpolator. They are stored in the drive as motion profiles
(Excel CSV format). The positions can be approached, for example, with a sinusoidal motion to
optimize power loss, or special reverse optimized motion profiles.
Curve 1
Time[ms]
Stroke range:
Position Resolution:
Motion profiles:
Curve points:
±100m
0.1µm (32Bit)
Max. 99 Bewegungsprofile
Max. 16’000 Punkte
Setpoint Streaming
Stroke [mm]
Overlaid NC drives with fieldbus interfaces communicate with the Servo Drives via "Position
Streaming". The position and velocity calculated in the overlaid control is transmitted to the
Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.
Time[ms]
352
Position Resolution:
Velocity Resolution
Interpolator:
cycle times:
www.LinMot.com
32 Bit
32 Bit
3 kHz
2-5ms
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series E1100
Easy Steps
Input 1
Input 2
Input 3
Input 4
Input 5
Input 6
Input 7
Input 8
With the Easy Steps function, up to 8 positions or independent travel commands can be stored
on the drive, and addressed via 8 digital inputs or fieldbus interfaces/ETHERNET.
Pos 125mm
Pos 250mm
Curve 1
Pos -30mm
Pos +12,5mm
Curve 2
Pos 2mm
Pos -12,5mm
Digital inputs:
Interface:
Resolution:
Scanning rate:
max. 8
X4
10 Bit
330µsec
Command Table
Entire motion sequences with up to 256 individual motion commands can be stored in the
Command Table. This is primarily advantageous if complete motion sequences need to be
executed very quickly, without dead time from the overlaid drive. In the Command Table, the
programmer has access to all motion commands, internal parameters, and digital inputs and
outputs.
Start
Wait Input
Pos 12mm
Rule 1
Terminate A
Commands:
Cycle time:
max. 256
330µsec
E1100
Stop
Master Encoder Synchronization (MT)
Stroke [mm]
Curve 1
0°
90°
180°
270°
360°
For synchronization to an external main or master shaft, the linear motor travels along the
motion profiles stored in the drive, at the machine speed (machine angle 0…360°). Using this
function, mechanical cam discs can be replaced with highly dynamic linear motors. The motion
profiles can be freely defined, and the correct motion profile can be invoked during product
changeover with no changeover time.
Motion profiles
Max. 99 curve profiles
Curve points:
Max. 16’000 points
Encoder Counter:
32 Bit
Encoder Input:
A/B/Z (RS422)
Max. counting frequency
Max. 4.5 MHz
Time[ms]
Belt Synchronization
Synchronization to a belt speed can be done using the Master Encoder Interface or Step/Direction/Zero interface. Applications such as the "flying saw", synchronous loading or unloading,
synchronous filling or labeling of bottles or containers on a conveyor belt, and many other
applications can be implemented in this way.
v [m/s]
vBelt
counts/sec
Encoder Counter:
Encoder Input:
Time[ms]
Edition 16
subject to change
Max. counting frequency
32 Bit
A/B/Z (RS422), max. 5 MHz
STEP/DIR/ZERO
Max. 4.5 MHz
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353
Operating Modes
Position Indexing
In position indexing, the linear motor is controlled like a stepper motor, using Step/Dir/Zero, or
A/B/Z signals. The step distance is freely programmable from 1.5x10-6µm to 3.275mm./ step.
The input signal can be used directly as the target position, or it can be filtered by the VA interpolator.
STEP
DIR
ZERO
Operating Modes:
Inputs:
Step distance:
Max. counting frequency:
A
B
Z
X2
X1
Master-Booster Synchronisation
Step/Dir/Zero, A/B/Z
differential RS422 (X10)
-6
1.5x10 µm....3.275mm, 32 Bit
4.5 MHz
Master-Booster Synchronisation
Using master-slave synchronization, two linear motors can be synchronized via a serial communications connection between two drives, so that the overlaid drive can control them as a
single axis.
Master Booster Synchronization
Master booster synchronization is used to double the force when two motors are mechanically
rigidly connected to each other.
X2
Master-Gantry Synchronisation
X1
E1100
y
Master-Gantry Synchronisation
Using master-slave synchronization, two linear motors can be synchronized via a serial communications connection between two drives, so that the overlaid drive can control them as a
single axis.
Master Gantry Synchronization
Master gantry synchronization is used for portal designs with two parallel Axis at different locations.
y
Analog Position
For an analog position target, the linear motor travels to a position proportional to the input
voltage. The position is either scanned continuously, or only after a rising edge of the trigger
signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with
a programmable maximum acceleration and velocity (VA interpolator).
0V
10V
Position Position
354
Inputs:
Voltagvte range:
Resolution:
Scanning rate:
www.LinMot.com
Analog Input (X4.4)
0-10VDC
10 Bit
330µsec
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series E1100
Easy Steps Parameter Scale
Maximum Force [0...10V => 0...100%]
100%
Easy Steps provide the ability to parameterize internal parameters using two analog inputs. If,
for example, the maximum motor current is read at an analog input, then the maximum motor
force can be provided as analog for freely programmable joining processes.
Force Max
0%
Time[ms]
Inputs:
Voltage range:
Resolution:
Resolution
2 x Analog (X4.4, X4.7)
0-10VDC
10 Bit
330µsec
Winding Application
E1100
For winding textile yarns, glass fiber optics, or wires, a complete functional block is available
that controls the entire sequence of a complete winding process.
Closed Loop Force Control
FMot= 0,1...580N
0...10V Fone
Load Cell
Edition 16
subject to change
Using the Force Control technology function, precise joining processes can be implemented
reliably and reproducibly with high-precision force control. For force control, the current motor
force is measured with a load cell and controlled in the drive. Joining process or quality checks
with high requirements for applied force can be implemented.
Analog Input:
Resolution:
Min. Force Resolution:
0-10V
10 Bit
0.1N
www.LinMot.com
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
355
Configuration
LinMot Talk
LinMot Talk configuration software is a Windows-based interface that supports the user during start-up and configuration of the LinMot
Servo Drives. The software has a powerful, modular, graphical interface that covers all the tasks
surrounding the LinMot Servo Drive. Great emphasis was placed on a high level of user-friendliness during development.
E1100
In addition to start-up, LinMot Talk can also be
used for training purposes and for actuation via
serial interfaces, fieldbusses, or industrial
ETHERNET. Using the integrated Control Panel,
the user has direct access to control and status
words, as well as all commands that are invoked
for operation by the overlaid control. The user
learns the meaning of the control and status
words easily, and can get to know the individual
commands in the Motion Command Interface.
Start-up and Analysis Tools
Single or Multiple Axis Configuration
Online Help & Documentation
Using the LinMot Talk PC interface, LinMot Servo Drives are configured. Additionally, the drives
can be monitored during operation with the machine running, and the current motion sequences, as well as earlier warnings and error
messages, can be analyzed in detail (monitoring).
For start-up and monitoring, the Servo Drive is
connected to a PC via the RS232 interface on
the front or via CAN Bus. If the connection to the
PC is made via USBSCAN converter (see accessories,) then up to 16 Axis can be configured and
monitored simultaneously.
Using the multilingual Online Help, the user can
find useful information about the individual parameters and their functionality. All manuals and
installation instructions can then be called up on
the PC, after LinMot Talk is installed, via the Windows Start Menu, or they can be directly generated in HTML format.
Parameterization
Optimization
Monitoring
Using the "Parameter Inspector," the drives are parameterized in a simple manner.
The user has a wide range of adjustments
available for operating modes, error management, warning messages, and regulating parameters. Entire parameter sets can
be stored, loaded, and printed out.
The integrated 8-channel oscilloscope
helps the user during start-up and optimization of the drive system. Internal variables, such as the target and actual position,
can be shown in real time on the screen,
and then printed out. The displayed data
can be stored in CSV format for further processing in MS Excel, or stored for documentation purposes.
The user has many tools available for monitoring and analysis of the drive. Both current warnings and fault messages, and
older fault messages stored in non-volatile
memory, state changes, and many other
pieces of information can be obtained.
The "Curve Inspector" allows creation of
motion profiles. In addition, existing curves
can be loaded, stored, edited, combined,
and printed out. Further, complex motion
sequences can be generated as desired in
MS Excel, and loaded into the drive.
356
Internal variables, drive parameters, inputs, and outputs can be combined as
desired and display cyclically.
Using the oscilloscope, internal parameters can be charted when warning and fault
messages occur.
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Interfaces
E1100
MOT SUPPLY
RR
+
PWR+
PGND
X1:
Motor Supply
Regenerator Resistor
X2:
Motor Phases
X3:
Motor Connector
X4:
Control
Logic Supply
LED
State Display
X1
1+ u
MOT PHASES
1- v
2+ w
2- x
SCRN
X2
1* Ph 1+
2* Ph 2+ u
3 +5VDC w
MOTOR
4 SIN
5 TEM
P
6* Ph 1v
7* Ph 2x
8 AGND
9 COS
*=X3 rati
n
5A RM
S
X3
X4.12
SVE
Enable
=24
V
X4.11
12
X4.10
LOGIC SUPPLY / CONTROL
X4.9
X4.8
X4.7
X4.6
X4.5
X4.4
X4.3 /Br
k
+24VD
C
DGND
1
X4
ERRO
R
24V
OK
WARN
567
34
F012
567
34
CDE
B
ID LOW
EN
S1
S1-2: Bus Address
RS/CAN/Profibus
89 A
F012
1 RS485
2 RS232 Tx+
3 RS232 Tx
4 RS485 Rx
5 GND Rx+
6 RS485
7 RS485 Rx8 CAN TxL
9 CAN
H
Supply:
S2
COM / CONFIG
H
CDE
B
89 A
ID HIG
X5:
Com Interface
S3:
X6:
X9:
X7:
Bus Termination
Digital I/O
Profibus Interface
RS485 / CAN In
X8:
RS485 / CAN Out
X5
Logic:
24 (22.
.26) VDC
Motor:
72 (24.
.80) VDC
X10: Master Encoder In
X11: Master Encoder Out
E1100-CO
E1100-DN
E1100-DP
E1100-GP










Motor Phases





Motor Connector





E1100
E1100-RS
X12: External Encoder
Interfaces
X1
Motor Supply
Regeneration Resistor
X2
X3
X4
Control / Logic Supply
X5
COM Interface
X6
Digital I/O
X7




















RS485 / CAN In




X8
RS485 / CAN Out




X9
Profibus Interface
X10
Master Encoder In





X11
Master Encoder Out





X12
External Encoder (D-Sub 9)





X13
External Encoder (D-Sub 15)
LED
State Display





S1
Bus Address RS/CAN/ETH High





S2
Bus Address RS/CAN/ETH Low





S3
Bus Termination





Edition 16
subject to change
RS232
RS485
CAN


www.LinMot.com
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
357
E1100-RS/-DN/-CO
Series E1100-RS/-DN/-CO
E1100-RS
E1100-RS-HC
E1100-RS-XC
E1100-DN
E1100-DN-HC
E1100-DN-XC
E1100-CO
E1100-CO-HC
E1100-CO-XC
MOT SUPPLY
RR
+
PWR+
Absolute & Relative Positioning
MOT PHASES
1- v
2+ w
2- x
SCRN
Travel Along Time Curves
X1: Motor Supply
Regeneration Resistor
X2: Motor Phases
X2
Positioning using Motion Profiles
MOTOR
1* Ph 1+
2* Ph 2+ u
3 +5VDC w
4 SIN
5 TEMP
6* Ph 1v
7* Ph 2x
8 AGND
9 COS
*=X3 rat
in
5A RM
S
Internally stored Motion Commands
12
LOGIC SUPPLY / CONTROL
X4.9
Internally stored Motion Sequences
X4.8
X4.7
X4.6
X4.5
X4.4
X4.3 /Br
Master Encoder Synchronization
X3: Motor Connector
X3
X4.12
SV
Enable=2E
4V
X4.11
X4.10
+24VD
k
C
DGND
X4: Control I/O’s
Logic Supply
1
X4
ERRO
Synchronization to Belt Speed
R
24V
OK
WARN
EN
H
567
34
89 A
ID HIG
F012
567
34
ID LOW
F012
1 RS485
2 RS232 Tx+
3 RS232 Tx
4 RS485 Rx
5 GND Rx+
6 RS485
7 RS485 Rx8 CAN TxL
9 CAN
H
Position Streaming
Master-Slave Synchronization
Supply:
LED State Display
S1-2:Bus Address RS/CAN
S2
COM / CONFIG
Step and Direction Interface
S1
89 A
CDE
B















X1
1+ u
CDE
B
E1100-RS/_DN/_CO
PGND
X5: COM Interface
X5
Logic:
24 (22..26
Motor:
)
72 (24..80 VDC
) VDC
Analog Position Target
Analog Parameter Scaling
S3: Bus Termination
Winding Function Block
X8: RS485 / CAN Out
X7: RS485 / CAN In
Force Control Technology Function
X10: Master Encoder In
Customer-Specific Functions
X11: Master Encoder Out
X12: External Encoder
LinRS Serial Interface
CANopen
DeviceNet
The LinMot Series E1100-RS Servo Drives
support the LinRS serial communication
protocol. LinRS is a proprietary protocol for
actuating LinMot Servo Drives via the RS
232, RS 422, and RS 485 interfaces.
LinMot CO drives, with integrated
CANopen interface, support the CiA
DS301 communication profile.
Series E1100-DN drives feature an integrated DeviceNet interface. With the DeviceNet interface, even complicated motion
sequences can be realized with the highest
possible flexibility.
If the drive is actuated by the overlaid control via the serial interface, then this is configured from the PC via CANBus. The
USBSCAN converter (item no. 01503134), supported by LinMot Talk, is used
for this.
Adjustable Baud rates: 9.6-115.2kBaud
358
The following resources are available: 3
T_PDO, 3 R_PDO, 1 T_SDO, 1 R_SDO
The following protocols are supported by
the CO drives:
- NMT Error Control (Nodeguarding Protocol or HeartBeat Protocol)
- PDO (Transmission type 254 and 1)
- SDO Upload and Download - NMT (Start,
Stop, Enter PreOp, Reset Node, Reset
Communication)
- Boot-Up Message
www.LinMot.com
The drive can be actuated and monitored
via the DeviceNet connection.
E1100-DN are UCMM Group 3-capable
slaves, and support polled IO runtime data
transfer
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
RS/DeviceNet/CANopen
E1100-RS
E1100-CO
E1100-DN
X1
X2
REGENERATION
RESISTOR
1,2,3-PHASE
POWERSTAGE
PH1+
PH1PH2+
PH2-
SUPPLY
3x400VAC
230VAC
115VAC
24...80V DC
8A/15/25A
PHASECURRENT
LINEAR MOTOR
X3
MOTOR SUPPLY
PH1+
PH1PH2+
PH2SIN
COS
TEMP.
+SV
GND
BRUSHLESS
DC MOTOR
X12
A+ SIN+
A- SINB+ COS+
B- COSZ+ ZERO+
Z- ZEROENC
ALARM
+5VDC
OPTIONAL EXTERNAL
POSITION SENSOR
X5
RS232 PC INTERFACE
CONFIGURATION
RS232
CAN
COMMUNICATION
INTERFACE
RS232/RS485
CANOPEN
DEVICENET
3
4
2
4
2
Item
E1100-RS
E1100-RS-HC
E1100-RS-XC
E1100-CO
E1100-CO-HC
E1100-CO-XC
E1100-DN
E1100-DN-HC
E1100-DN-XC
Edition 16
subject to change
PTC1
PTC2
ROTRAY MOTOR &
SUPPLY PROTECTION
TRIGGER INPUT
CAPTURE INPUT
ANALOG INPUT
FAST PROCESS
INPUTS
SVE
MACHINE SAFETY
+24VDC
GND
LOGIC SUPPLY
RS232/RS458
RS485
CAN
X7
X8
RS485
RS485
CAN
A+
AB+
Z+
ZB-
4
2
CAN
X10
MASTER ENCODER
MOTOR
PERIPHERY
E1100-RS/_DN/_CO
X4
LIMIT SWITCH+
LIMIT SWITCHHOME SWITCH
BRAKE OUTPUT
COMMUNICATION
INTERFACE
RS232/RS485
CANOPEN
DEVICENET
X11
STEP+
STEPDIRECTION+
ZERO+
ZERODIRECTION-
A+
AB+
Z+
ZB-
STEP+
STEPDIRECTION+
ZERO+
ZERODIRECTION-
Description
RS232/485 Drive (72V/8A)
RS232/485 Drive (72V/15A)
RS232/485 Drive (72V/25A)
CANopen Drive (72V/8A)
CANopen Drive (72V/15A)
CANopen Drive (72V/25A)
DeviceNet Drive (72V/8A)
DeviceNet Drive (72V/15A)
DeviceNet Drive (72V/25A)
MASTER ENCODER
Part Number
0150-1677
0150-1678
0150-1862
0150-1681
0150-1682
0150-1683
0150-1679
0150-1680
0150-1863
www.LinMot.com
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
359
E1130-DP
Series E1130-DP
MOT SUPPLY
RR
Absolute & Relative Positioning
+
PWR+
PGND
Travel Along Time Curves
X1
1+ u
MOT PHASES
1- v
2+ w
2- x
Positioning using Motion Profiles
SCRN
X1: Motor Supply
Regeneration Resistor
X2: Motor Phases
X2
MOTOR
1* Ph 1+
2* Ph 2+ u
3 +5VDC w
4 SIN
5 TEMP
6* Ph 1v
7* Ph 2x
8 AGND
9 COS
Internally stored Motion Commands
*=X3 rat
in
5A RM
S
Internally stored Motion Sequences
Master Encoder Synchronization
12
LOGIC SUPPLY / CONTROL
X4.9
X4.8
X4.7
X4.6
X4.5
Synchronization to Belt Speed
X3: Motor Connector
X3
X4.12
SV
Enable=2E
4V
X4.11
X4.10
X4.4
X4.3 /Br
+24VD
k
C
DGND
X4: Control I/O’s
Logic Supply
1
Step and Direction Interface
X4
ERRO
R
24V
OK
WARN
F012
567
34
ID LOW
F012
Master-Slave Synchronization
1 RS485
2 RS232 Tx+
3 RS232 Tx
4 RS485 Rx
5 GND Rx+
6 RS485
7 RS485 Rx8 CAN TxL
9 CAN
H
Analog Position Target
Supply:
EN
S1
89 A
LED State Display
S1-2:Busadresse RS/CAN
S2
COM / CONFIG
H
567
34
89 A
ID HIG
Position Streaming
CDE
B















CDE
B
E1130-DP
E1130-DP
E1130-DP-HC
E1130-DP-XC
X5: Configuration
X5
Logic:
24 (22..26
Motor:
)
72 (24..80 VDC
) VDC
Analog Parameter Scaling
S3: Bus Termination
Winding Function Block
X9: Profibus Interface
Force Control Technology Function
X8: RS485 / CAN Out
Customer-Specific Functions
X7: RS485 / CAN In
X10: Master Encoder In
X11: Master Encoder Out
X12: External Encoder
Profibus DP
DP Servo Drives feature an integrated
PROFIBUS-DP interface. PROFIBUS-DP
provides the user with a standardized fieldbus interface for rapid data interchange
between the Servo Drive and the overlaid
control.
The PROFIBUS-DP interface supports all
Baud rates from 9.6 Kbits/s to 12 Mbit/s.
The maximum net data quantity exchanged in cyclical data traffic is 64 bytes
per cycle. The smallest achievable bus
cycle time is 100 µs.
With fast data transfer and command initiation, as well as simple system integration,
the Profibus drives are the ideal solution for
applications with motions and sequences
that change frequently, such as are required, for example, in flexible machines and
systems with automatic format changes.
The structure and scope of cyclical data
can be collected from any individual data
modules into an overall data quantity when
planning the system.
360
A GSD device master file is provided for
open planning in conformance with the
PROFIBUS-DP standard.
www.LinMot.com
The 9-pole Profibus connector on the front
side provides power for an external bus termination. A positive directional control signal is provided to control repeaters or
optical fibers.
All signals on the PROFIBUS connector
are galvanically separated.
The PROFIBUS-DP address is set by two
hex code switches (ID1 and ID2).
All addresses permitted by the standard
are supported (0..125).
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Profibus DP
E1100-DP
X1
X2
REGENERATION
RESISTOR
1,2,3-PHASE
POWERSTAGE
SUPPLY
3x400VAC
230VAC
115VAC
24...80V DC
8A/15/25A
PHASECURRENT
PH1+
PH1PH2+
PH2-
LINEAR MOTOR
X3
MOTOR SUPPLY
PH1+
PH1PH2+
PH2SIN
COS
TEMP.
+SV
GND
BRUSHLESS
DC MOTOR
X12
S1-S2
A+ SIN+
A- SINB+ COS+
B- COSZ+ ZERO+
Z- ZEROENC
ALARM
+5VDC
PROFIBUS ID
ID LOW
ID HIGH
OPTIONAL EXTERNAL
POSITION SENSOR
X9
X4
PROFIBUS DP
LIMIT SWITCH+
LIMIT SWITCHHOME SWITCH
BRAKE OUTPUT
ACTUATOR
PERIPHERIE
PTC1
PTC2
ROTRAY MOTOR &
SUPPLY PROTECTION
TRIGGER INPUT
CAPTURE INPUT
ANALOG INPUT
FAST PROCESS
INPUTS
SVE
MACHINE SAFETY
CAN
+24VDC
GND
LOGIC SUPPLY
X7
X8
RS485
RS485
CAN
CAN
PROFIBUS DP
COMMUNICATION
max. 12MBaud
X5
RS232 PC INTERFACE
CONFIGURATION
RS232
CAN
COMMUNICATION
INTERFACE
RS232/RS485
CANOPEN
DEVICENET
3
4
2
4
2
RS232/RS485
RS485
X10
MASTER ENCODER
Item
E1130-DP
E1130-DP-HC
E1130-DP-XC
Edition 16
subject to change
E1130-DP
5
A+
AB+
Z+
ZB-
4
2
COMMUNICATION
INTERFACE
RS232/RS485
CANOPEN
DEVICENET
X11
STEP+
STEPDIRECTION+
ZERO+
ZERODIRECTION-
A+
AB+
Z+
ZB-
STEP+
STEPDIRECTION+
ZERO+
ZERODIRECTION-
Description
Profibus DP Drive, (72V/8A)
Profibus DP Drive, (72V/15A)
Profibus DP Drive, (72V/25A)
MASTER ENCODER
Part Number
0150-1667
0150-1668
0150-1861
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Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
361
E1100-GP
Series E1100-GP
E1100-GP
E1100-GP
E1100-GP-HC
E1100-GP-XC
MOT SUPPLY
RR
Absolute & Relative Positioning
+
PWR+
PGND
Travel Along Time Curves
X1
1+ u
MOT PHASES
1- v
2+ w
2- x
Positioning using Motion Profiles
SCRN
Internally stored Motion Commands
1* Ph 1+
2* Ph 2+ u
3 +5VDC w
4 SIN
5 TEMP
6* Ph 1v
7* Ph 2x
8 AGND
9 COS
X1: Motor Supply
Regeneration Resistor
X2: Motor Phases
MOTOR
X2
*=X3 rat
in
5A RM
S
X4.11
11
X4.10
Master Encoder Synchronization
X4.9
X4.8
X4.7
X4.6
X4.5
Synchronization to Belt Speed
X3: Motor Connector
X3
X4.4
X4.3 /Br
+24VD
k
C
DGND
LOGIC SUPPLY / CONTROL
Internally stored Motion Sequences
X4: Control I/O’s
Logic Supply
1
Step and Direction Interface
X4
ERRO
R
WARN
24V
OK
EN
LED State Display
ID HIG
H
Position Streaming
ID LOW
Master-Slave Synchronization
1 RS485
2 RS232 Tx+
3 RS232 Tx
4 RS485 Rx
5 GND Rx+
6 RS485
7 RS485 Rx8 CAN TxL
9 CAN
H
Analog Position Target
Supply:
S1
S1-2:RS/CAN Bus Address
S2
COM / CONFIG















X5: Configuration
X5
Logic:
24 (22..26
Motor:
)
72 (24..80 VDC
) VDC
Analog Parameter Scaling
Winding Function Block
S3: Bus Termination
Force Control Technology Function
X6: Digital I/O
X10: Master Encoder In
Customer-Specific Functions
X11: Master Encoder Out
X12: External Encoder
General Purpose Drive
Series E1100-GP drives are multifunctional Servo Drives, on which the firmware
from the following drives can be installed:
For actuation by an overlaid drive, the following digital, serial, and fieldbus interfaces are available:
- Series E1100-RS
- Series E1100-CO
- Series E1100-DN
- LinRS via RS232, RS485 and RS422
- CANopen - DeviceNet
Even complex drive tasks and complete,
automated sequences can be controlled
using simple digital signals.
All functions of the drives listed above, except for safe pulse inhibitors (X4.12) are
available in the Series E1100-GP Servo
Drives.
362
In addition to actuation via serial interfaces
and fieldbusses, Series E1100-GP drives
can use direct addressing of up to 256
commands in the Command Table, via 8
digital inputs (X6).
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
General Purpose
E1100-GP
X1
X2
REGNERATION
RESISTOR
1,2,3-PHASE
POWERSTAGE
PH1+
PH1PH2+
PH2-
SUPPLY
3x400VAC
230VAC
115VAC
24...80V DC
8A/15A/25A
PHASECURRENT
LINEAR MOTOR
X3
MOTOR SUPPLY
PH1+
PH1PH2+
PH2SIN
COS
TEMP.
+SV
GND
MACHINE
CONTROLLER
PLC, IPC
8
X6
X12
GOTO POSITION
INPUTS 1-8
A+ SIN+
A- SINB+ COS+
B- COSZ+ ZERO+
Z- ZEROENC
ALARM
+5VDC
TRIGGER INPUT
5
8
CMD GROUP
SELECT
IN POSITION
OUTPUTS 1-8
BRUSHLESS
DC MOTOR
OPTIONAL EXTERNAL
POSITION SENSOR
BRAKE
PTC1
PTC2
ROTRAY MOTOR &
SUPPLY PROTECTION
TRIGGER INPUT
CAPTURE INPUT
ANALOG INPUT
FAST PROCESS
INPUTS
CAN
+24VDC
GND
LOGIC SUPPLY
X10
X11
A+ STEP+
ASTEPB+ DIRECTION+
Z+ ZERO+
ZZEROBDIRECTIONCAN_H
CAN_L
A+ STEP+
ASTEPB+ DIRECTION+
Z+ ZERO+
ZZEROBDIRECTIONCAN_H
CAN_L
E1100-GP
X4
LIMIT SWITCH+
LIMIT SWITCHHOME SWITCH
BRAKE OUTPUT
X5
RS232 PC INTERFACE
CONFIGURATION
RS232
CAN
MASTER ENCODER
Item
E1100-GP
E1100-GP-HC
E1100-GP-XC
Edition 16
subject to change
3
4
2
RS232/RS485
RS485
Description
General Pupose (72V/8A)
General Pupose (72V/15A)
General Pupose (72V/25A)
MASTER ENCODER
Part Number
0150-1665
0150-1666
0150-1864
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363
Interfaces
X1
Motor Supply / Regeneration Resistor
Optional:
Regeneration
Resistor (external)
-
RR -
1
RR
2
+
PWR+
3
PGND
4
GND
1
RR +
2
PWR +
*
PGND
Internal
Fuse
16AT
24...80VDC
3
GND
4
GND internally
connected to
controller housing
Screw Terminals
2.5 mm² (AWG14)
* for UL, see installation guide
Motor Supply:
Motor Supply Voltage 24...80VDC.
Absolute max. Rating 72VDC + 20%
If motor supply voltage is exceeding 90VDC, the drive will go into error state
X2
Motor Phases
1
1- v
2
2+ w
3
2- x
4
SCRN
5
E1100
1+ u
Nr.
1
2
3
4
5
Designation
PH1+ /U
PH1- /V
PH2+ /W
PH2SCRN
LinMot Linear Motor
Motor Phase 1+
Motor Phase 1Motor Phase 2+
Motor Phase 2Shield
Color
red
pink
blue
grey
3-Phase-Motor
Motor Phase U
Motor Phase V
Motor Phase W
Screw Terminals
1.5-2.5mm²
(AWG16-14)
- If the RMS current is not higher than 5Arms, respectively 7.5 Apeak, the phases can be connected to X3.
- Do NOT connect X2 and X3.
X3
Motor
1
2
3
4
5
6
7
8
9
DSUB-9
Nr
1
2
3
4
5
6
7
8
9
Case
LinMot Linear Motor
Motor Phase 1+
Motor Phase 2+
+5VDC
Sine
Temperature
Motor Phase 1Motor Phase 2AGND
Cosine
Shield
3-Phase-Motor
Motor Phase U
Motor Phase W
Hall U
Hall W
Motor Phase V
Hall V
- Use X2 for motor phase wiring if phase current exceeds 5Arms or 7.5Apeak
- Use +5V (X3.3) and AGND (X3.8) only for motor internal Hall Sensor supply (max. 100mA)
- Do NOT connect AGND (X3.8) to ground or earth!
364
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series E1100
Motor
Motor wiring
1+ u
1
1- v
2
2+ w
3
2- x
4
OUTER SHIELD
PHASE 1-
5
GREY
PHASE 1+
SCRN
5
PHASE 2PHASE 2+
4
3
X2
2
1
BLUE
PINK
X2: Screw Terminals
RED
1
WHITE
6
INNER SHIELD
1
2
3
4
5
6
7
8
9
2
YELLOW
7
GREEN
+5VDC
BLACK
AGND
SINE
X3: DSUB-9 (f)
4
2k2
9
5
2k2
10k
GND
GND
+5VDC
Motor wiring for phase current below 5Arms and below 7.5Apeak
1
2
3
4
5
6
7
8
9
X3: DSUB-9 (f)
RED
PHASE 1+
PINK
PHASE 1-
BLUE
PHASE 2+
GREY
PHASE 2-
WHITE
+5VDC
INNER SHIELD
AGND
YELLOW
SINE
GREEN
COSINE
BLACK
TEMP.
1
6
E1100
Motor
TEMP
GND
8
COSINE
For LinMot Linear Motors only use original LinMot double shielded motor
cable K, KS, or KR
X3
3
2
7
3
GND
8
4
2k2
9
5
2k2
10k
GND
GND
+5VDC
Outer shield connected to connector housing
For LinMot Linear Motors only use original LinMot
double shielded motor cable K, KS, or KR
S1-3
4567
CDE
89 AB
ID HIGH
F0123
4567
ID LOW
CDE
89 AB
Address Selectors / Bus Termination
Switch
S1
S1
Bus ID High (0…F)
S2
S2
Bus ID Low(0…F)
F0123
3 4
Switch
1 2
S3
on off
Edition 16
subject to change
S3
E1100
Switch 1: RS232 “off” / RS485 “on”
Switch 2: RS485 Terminatio on/off
Switch 3: CAN Termination on/off
Switch 4: Bus Interface on/off
HEX-Switches for Bus ID
address range 0.255
Select serial RS23 or RS485
Factory settings: all switches “off”
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365
Interfaces
X4: 12pin
Control / Supply E1130-DP, E1100-CO, E1100-DN, E1100-RS
POWER STAGE ENABLE (HW ENABLE)
X4.12 SVE
Enable=24V
12
CONFIGURABLE IO, PTC 2
X4.11
11
CONFIGURABLE IO, PTC 1
X4.9
X4.8
X4.7
X4.6
X4.5
X4.4
X4.3 /Brk
+24VDC
9
CONFIGURABLE IO
8
CONFIGURABLE IO, HOME SWITCH
7
CONFIGURABLE IO, TRIGGER
6
CONFIGURABLE IO
5
CONFIGURABLE IO, ANALOG INPUT
4
CONFIGURABLE IO, BRAKE DRIVER 1A
LOGIC SUPPLY 22-26 VDC
1
DGND
10
CONFIGURABLE IO
LOGIC SUPPLY / CONTROL
X4.10
12
3
4,7k
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 1.0A
Internal Fuse 3AT
2
GND
1
* ALL OUTPUTS WITH INTERNAL PULL
DOWN RESISTOR 4K7 TO GND
Phoenix MC1,5/12-STF-3,5
0.25-1.5mm² (AWG24-16)
X4: 11pin
Control / Supply E1100-GP
CONFIGURABLE IO, PTC 2
X4.10
X4.9
X4.8
X4.7
X4.6
E1100
X4.5
X4.4
X4.3 /Brk
+24VDC
GND
11
11
CONFIGURABLE IO, PTC 1
10
CONFIGURABLE IO
LOGIC SUPPLY / CONTROL
X4.11
9
CONFIGURABLE IO
8
CONFIGURABLE IO, HOME SWITCH
7
CONFIGURABLE IO, TRIGGER
6
CONFIGURABLE IO
5
CONFIGURABLE IO, ANALOG INPUT
4
CONFIGURABLE IO, BRAKE DRIVER 1A
LOGIC SUPPLY 22-26 VDC
1
3
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 1.0A
Internal Fuse 3AT
2
GND
1
* ALL OUTPUTS WITH INTERNAL PULL
DOWN RESISTOR 4K7 TO GND
Phoenix MC1,5/11-STF-3,5
0.25-1.5mm² (AWG24-16)
No
12
11
10
9
8
7
6
5
4
3
2
1
Input
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
+24VDC
GND
Inputs
Outputs
Brake Output (X4.3)
Sample Rate
Supply
Wiring
366
Description
Safety Voltage Enable
X4.11
X4.10
X4.9
X4.8
X4.7
X4.6
X4.5
X4.4
X4./Brk
Supply
Supply
Power Stage Enable (HW Enable)
Configurable IO, PTC 2
Configurable IO, PTC 1
Configurable IO
Configurable IO
Configurable IO, Home Switch
Configurable IO, Trigger
Configurable IO
Configurable IO, Analog Input
Configurable IO, Brake Driver 1A
Logic Supply 22-26 VDC
Ground
24V / 1mA
24V / max.100mA
24V / max.1.0A
Inputs/Outputs 1ms, Trigger Input 0.315msec
24VDC / typ. 400mA / max. 2.1A (if all outputs “on” with max. load.)
0.25-1.5mm² (AWG24-16)
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Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series E1100
Digital I/O E1100-GP
INPUT X6.1
INPUT X6.14
INPUTS
INPUT X6.2
INPUT X6.15
INPUT X6.3
INPUT X6.16
14
15
16
17
18
19
20
21
22
23
24
25
INPUT X6.17
+24V
INPUT X6.5
INPUT X6.18
INPUT X6.6
INPUT X6.19
INPUTS
1
2
3
4
5
6
7
8
9
10
11
12
13
INPUT X6.4
INPUT X6.7
INPUT X6.20
INPUT X6.8
INPUT X6.21
X6: DSUB-25 (f)
OUTPUTS (MAX. 100mA)
OUTPUT X6.9
OUTPUT X6.22
OUTPUT X6.10
OUTPUT X6.23
OUTPUT X6.11
OUTPUT X6.24
OUTPUT X6.12
OUTPUT X6.25
GND
1
50k
14
50k
2
50k
15
50k
3
50k
16
50k
4
50k
17
50k
5
50k
18
50k
6
50k
19
50k
7
50k
20
50k
8
50k
21
9
22
10
23
11
24
12
25
13
50k
*
100mA
*
100mA
*
100mA
*
100mA
*
100mA
*
100mA
*
100mA
*
100mA
+24V DC
* OUTPUTS WITH INTERNAL PULL
E1100
X6
DOWN RESISTOR 4K7 TO GND
All Inputs:
Direct interfacing to digital 24VDC PLC outputs.
Input current:
1mA
low level:
-0.5…5VDC
high level:
15…30VDC
Sample rate:
625µs
All Outputs: Short circuit and overload protected high side switches
Voltage:
24VDC
Max. current:
100mA
High Level:
15…30VDC
Update rate:
625µs
Outputs may directly drive inductive loads
Edition 16
subject to change
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Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
367
Interfaces
COM
COM Interface
RS485_TX+
1
RS485_RX-
5
4
3
2
1
9
8
7
6
S3.2
2
RS485_TX-
7
RS232_RX
RS485_RX+
3
CAN_L
CAN_L
8
RS485_RX+
4
CAN_H
X5: DSUB-9 (m)
RS485_RX-
6
RS232_TX
120
X5
S3.3
120
CAN_H
9
GND
5
100
GND
RS232: Configuration on all Drives: use 1:1 connection cable to PC
LED
State Display
Green:
Green
24VDC Logic Supply OK
Stat A Yellow:
Yellow
Motor Enabled
E1100
Stat B Yelllow:
Warning
Yellow
Red:
Red
X7-X8
Error
RS485/CAN
8
7
6
5
4
3
2
1
RJ-45
Nr
1
2
3
4
5
6
7
8
Case
RS485_Rx+
RS485_RxRS485_Tx+
GND
GND
RS485_TxCAN_H
CAN_L
Shield
A
B
Y
Z
- X7 internally connected to X8 (1:1 connection)
- Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring.
- The built in CAN and RS485 terminations can be activated by S3.2 and S3.3.
368
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series E1100
X9
Profibus DP
1
2
3
4
5
Nr
1
2
3
4
5
6
7
8
9
Case
6
7
8
9
DSUB-9
RxD/TxD-P
CNTR-P
GND
+5V
RxD/TxD-N
Shield
(galvanically seperated)
(galvanically seperated)
Max. Baud rate: 12 Mbaud
Master Encoder IN (X10) / Master Encoder OUT (X11)
8
7
6
5
4
3
2
1
RJ-45
Nr
1
2
3
4
5
6
7
8
Case
Incremental
A+
AB+
Z+
ZBCAN_H*
CAN_L*
Shield
Step/Direction
Step+
StepDirection+
Zero+
ZeroDirectionCAN_H*
CAN_L*
Shield
EIA/TIA 568A colors
Green/White
Green
Orange/White
Blue
Blue/White
Orange
Brown/White
Brown
*only on E1100-GP
E1100
X10-X11
- CAN internally connected to X7, X8
- CAN und RS485 Termination can be turned on by S3.2 alt. S3.3.
- X10 an X11: Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring.
- X10 Master Encoder Inputs:Differential RS422, max. Input Frequency 4.5MHz
- X11Master Encoder Outputs:Amplified RS422 differential signals from Master Encoder IN (X10)
X12
External Positions Sensor
1
2
3
4
5
6
7
8
9
DSUB-9
Edition 16
subject to change
Nr
1
2
3
4
5
6
7
8
9
Case
Incremental:
+5V DDC
ABZGND
A+
B+
Z+
Enc. Alarm
Shield
Sin/Cos
+5V DC
SINCOSZEROGND
SIN+
COS+
ZERO+
Enc. Alarm
Shield
Encoder Inputs:
- Incremental:RS422
- Sin/Cos:1Vpp
Maximal Input Frequency:
4.5 Mio. Incr./sec (incremental RS422), minimal pulsewidth > 220nsec
10kHz (analog 1Vpp), 10Bit AD
Sensor Supply:
5VDC (max. 100mA)
Sensor Alarm Input:
5V / 1mA
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369
Ordering Information
180
255 Centers
237
218
Max. case temperature
Max. power dissipation
Min. distance between
drives
E1100
E1100
Dimensions in mm
Servo Drives Series
Width
Height
Height without fixings
Depth
Weight
IP Protection class
Storage temperature
Transport temperature
Operating temperture
mm (in)
mm (in)
mm (in)
mm (in)
kg (lb)
IP
°C
°C
°C
°C
W
mm (in)
E1100
38
(1.5)
255 (10.0)
218 (8.6)
180 (7.1)
1.5 (3.3)
20
-25...40
-25...70
0...40 at rated date
40...50 with power
derating
65
30
20 (0.8) left/right
50
(2)
top/bottom
38
Artikel
Beschreibung
Artikelnummer
E1100-RS
E1100-RS-HC
E1100-RS-XC
E1100-CO
E1100-CO-HC
E1100-CO-XC
E1100-DN
E1100-DN-HC
E1100-DN-XC
E1100-GP
E1100-GP-HC
E1100-GP-XC
E1130-DP
E1130-DP-HC
E1130-DP-XC
RS232/485 Drive (72V/8A)
RS232/485 Drive (72V/15A)
RS232/485 Drive (72V/25A)
CANopen Drive (72V/8A)
CANopen Drive (72V/15A)
CANopen Drive (72V/25A)
DeviceNet Drive (72V/8A)
DeviceNet Drive (72V/15A)
DeviceNet Drive (72V/25A)
General Pupose (72V/8A)
General Pupose Drive (72V/15A)
General Pupose Drive (72V/25A)
Profibus DP Drive, (72V/8A)
Profibus DP Drive, (72V/15A)
Profibus DP Drive, (72V/25A)
0150-1677
0150-1678
0150-1862
0150-1681
0150-1682
0150-1683
0150-1679
0150-1680
0150-1863
0150-1665
0150-1666
0150-1864
0150-1667
0150-1668
0150-1861
370
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Edition 16
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Accessories E1100
Switched-Mode Power Supplies
115VAC / 230VAC
SPH500-7207
CSA 22.2-60950
CSA 22.2-107
UL 60950
UL 508
SPH1013-7214
SPH500-7207
Item
S01-72/500
S01-72/1000
Description
Switched-Mode Power Supply 72V/500W
Switched-Mode Power Supply 72V/1000W
3x230/280/400/480VAC
E1100/B1100 Accessories
Transformer Supply T01
Part Number
0150-1874
0150-1872
Item
T01-72/420...1500-Multi
Description
Transformer Supply 3x230/280/400/480VAC, 50/60Hz, 420...1500W
Part Number
see page 536
Description
Control Box for E1100 (incl. cable and connectors)
Part Number
0150-1970
Control Box B01-E1100
Item
B01-E1100
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371
Accessories E1100
Connector Cable and USB-Converter
0150-3009
0150-3110
Item
RS232 PC config. cabel 2m
RS232 PC config. cabel 2m
RS232 PC config. cabel 2.5m
USB-Serial Converter
USB-CAN Converter
RJ45-08/0.3
RJ45-08/0.6
RJ45/RJ45-0,2-ML1
0150-3134
0150-2143
Description
for E100/E1001
for E100/E1001/E1100/B1100
for E1200/E1400
USB to 9-pin Serial Converter
USB to CAN Converter for E1100
RJ45 patch cable 0.3m for E1100
RJ45 crossover patch cable 0.6m
MC-Link cable 0,2m
0150-1852
0150-1853
Part Number
0150-3009
0150-3307
0150-2143
0150-3110
0150-3134
0150-1852
0150-1853
0150-3308
E1100/B1100 Accessories
E1100/B1100 Accessories
Option: External High Resolution Encoder
Item
MS01-1/D
MB01-1000
372
Description
Linear Encoder 1um, A/B (for 1mm magnetic band)
Magnetic Band 1mm pitch, per cm
www.LinMot.com
Part Number
0150-1840
0150-1963
Edition 16
subject to change
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Series E1200
Servo Drive Series E1200
Edition 16
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373
Servo Drives
Servo Drive E1200
Series E1200 Servo Drives are modular axis drives, with 32-bit position resolution and an integrated power stage, for linear motors and rotary
drives.
The drives are suitable for simplest, standard,
and high-end positioning tasks, across the entire
force range of the LinMot product range.
Connection to Machine Drive
Process and Safety Interfaces
Logic and Power Supply
The Series E1200 Servo Drives can be
actuated by machine controls from any
manufacturer or brand, via digital inputs
and outputs, RS232 or RS485 serial interface, CanBus CANopen and DeviceNet
interfaces, Profibus DP, or industrial
ETHERNET.
Fast process interfaces for direct processing of sensor signals are available as freely
programmable analog and digital inputs, a
fast trigger input, and a capture input.
The Servo Drives have two separate power
supply inputs for the logic and power elements.
374
The safe pulse inhibitor on Servo Drive with
fieldbus interfaces or industrial ETHERNET
allows safe stop of the drives via control signals, per EN 954-1, without interrupting
the power supply.
www.LinMot.com
In an E-stop and safe stop of the drive, only
the power element supply is cut off from the
drive. The logic supply and the drive continue to run.
This has the advantage that the drive and linear motor do not need to be reinitialized
when the machine is restarted, since all process data, including the current position of
the linear motor, are still up to date.
Edition 16
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Series E1200
System Integration
Fieldbusses and interfaces to the overlaid control
Digital
I/O´s
RS232
RS485
Supply and Safety
Logic
Supply
Motor
Supply
Safety
Voltage
Enable
Trigger
Inputs
Capture
DeviceNet
Profibus
DP
Linmot
Servo Drive
Series
E1200
ProfiNet
Sercos
III
Limit Switch
Position Drive:
• 32 Bit Position Value
• Resolution 0.1µm
Run Modes:
• VA Interpolated
Moves
• Analog Position
• Run Curves
• Two Point Trigger
Moves
• Master Encoder Synchronisation
• Streaming P, PV
• Step, Direction
Internal stored Curves:
• Max. 99 Curves
• Up to 15´000
set points
Command Table:
• Up to 255
Commands
Analog
Inputs
Power
Link
Ethernet
IP
Ether
CAT
Additionally, the drives can be equipped with optional peripherals, such as reference and end
stop switches, high-precision external position
sensors, or a mechanical holding brake.
Optional Limit and Home Switches
Home
Switch
Limit +
Switch
Series E1200 Servo Drives have analog and digital inputs and outputs, serial interfaces, fieldbusses, and ETHERNET connections. The user is
therefore not dependent on the selection of the
overlaid drive. An appropriate interface is available, with associated protocols, for any PLC or
IPC solution.
With flexibility and a compact form factor, LinMot
Series E1200 Servo Drives provide a complete
solution for a flexible drive concept in single and
multiple axis applications, with linear motors and
other actuators.
LinMot Linear
Motor or other
1/2/3 phase motor
(Brushless DC,
Voice Coil,...)
External
Position
Sensor
Optional Brake
Optional external Position Sensor
Config.
ETHERNET
(RS232)
ETHERNET
Config.
Master
Encoder
In
Master
Encoder
Out
Synch.
Technology Functions
Synch.
Fast Prozess Inputs
Regeneration
Resistor
CAN
open
Flexible hardware enables control of any 1/2/3phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept.
Technology functions are functional blocks that
provide a complete solution for standard applications and frequently encountered, customer-specific problems. Technology functions can, for
example, handled the complete sequence for
winding textile yarns or glass fiber cables, or
high-precision joining processes with force control can be implemented directly in the drive.
Option: Master Encoder Module
Motor Interfaces
Configuration
For synchronization to a mechanical master shaft, or a rotating main drive, the Axis
(linear motors and rotary motors) can be
coupled to an electronic main shaft via the
Master Encoder Interface.
E1200 Servo Drives provide all necessary
interfaces to operate linear or rotary motors
with optional external peripherals, such as
end position and reference switches, a mechanical brake, or a high-resolution external position sensor.
Parameterization and configuration of the
Servo Drive is done via the Ethernet interface on the front side for simultaneous configuration of several drives.
The encoder signal from the main shaft can
be passed through by the Master Encoder
Interface, so that any number of linear motors can be synchronized to the main shaft.
In special applications, two drives can be
synchronized with each other using the
synchronization interface in master
booster mode.
LinMot Talk user-friendly PC software is
available for configuration. In addition to online documentation, LinMot Talk provides
extensive debugging tools, such as an
oscilloscope and an error inspector, for simple and rapid start-up of the Axis.
Fieldbus and ETHERNET drives can also
be configured directly by the overlaid control.
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subject to change
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375
Operating Modes
Interpolated Moves
For direct position targets, using absolute or relative positioning, the desired position is
reached using acceleration and velocity-limited motion profiles or jerk optimized profiles (jerk
limited and Bestehorn). Positioning commands can be invoked via the serial interfaces, CANopen, DeviceNet, Profibus, Ethernet or a trigger input
Stroke [mm]
Goto 100mm
vmax = 2,5m/s
amax = 3,0m/s2
Time[ms]
Stroke range:
Position Resolution:
Velocity Resolution:
Velocity Resolution:
±100m
0.1µm (32Bit)
1.0µm/s (32Bit)
2
10.0µm/s (32Bit)
Time Curves
Stroke [mm]
Start Curve 1
Up to 100 different time curves can be stored Series E1200 drives, with up to 16,000 individual
waypoints. The motor can thus travel along time curves of any complexity, such as those generated by CAD programs and stored in the drive (Excel CSV format). The time curves can be
invoked via the serial interface, fieldbusses, ETHERNET, or the trigger input.
Curve 1
Time[ms]
Stroke range:
Position Resolution:
Motion profiles:
Curve points:
±100m
0.1µm (32Bit)
Max. 100 Time Curves
Max. 16’000 points
Profiled Moves
Stroke [mm]
Goto Pos 125mm
with Profil 1
For travel to an absolute position, or shifting by a relative position, any desired motion rules
can be stored besides the VA interpolator. They are stored in the drive as motion profiles
(Excel CSV format). The positions can be approached, for example, with a sinusoidal motion to
optimize power loss, or special reverse optimized motion profiles.
Curve 1
Time[ms]
Stroke range:
Position Resolution:
Motion profiles:
Curve points:
±100m
0.1µm (32Bit)
Max. 100 Time Curves
Max. 16’000 points
Setpoint Streaming
Stroke [mm]
Overlaid NC drives with fieldbus or ETHERNET interfaces communicate with the Servo Drives
via "Position Streaming". The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.
Time[ms]
376
Position Resolution:
Velocity Resolution
Interpolator:
cycle times:
www.LinMot.com
32 Bit
32 Bit
10 kHz
0.4-5ms
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Series E1200
Easy Steps
Input 1
Input 2
Input 3
Input 4
Input 5
Input 6
Input 7
Input 8
With the Easy Steps function, up to 8 positions or independent travel commands can be stored
on the drive, and addressed via 8 digital inputs or fieldbus interfaces/ETHERNET.
Pos 125mm
Pos 250mm
Curve 1
Pos -30mm
Pos +12,5mm
Curve 2
Pos 2mm
Pos -12,5mm
Digital inputs:
Interface:
Scanning rate:
max. 8
X4
200µsec
Command Table
Entire motion sequences with up to 255 individual motion commands can be stored in the
Command Table. This is primarily advantageous if complete motion sequences need to be
executed very quickly, without dead time from the overlaid drive. In the Command Table, the
programmer has access to all motion commands, internal parameters, and digital inputs and
outputs.
Start
Wait Input
Pos 12mm
Rule 1
Terminate A
Commands:
Cycle time:
max. 255
100µsec
Stop
Master Encoder Synchronization (MT)
Stroke [mm]
Curve 1
0°
90°
180°
270°
360°
For synchronization to an external main or master shaft, the linear motor travels along the
motion profiles stored in the drive, at the machine speed (machine angle 0…360°). Using this
function, mechanical cam discs can be replaced with highly dynamic linear motors. The motion
profiles can be freely defined, and the correct motion profile can be invoked during product
changeover with no changeover time.
Motion profiles
Max. 100 curve profiles
Curve points:
Max. 16’000 points
Encoder Counter:
32 Bit
Encoder Input:
A/B/Z (RS422)
Max. counting frequency
Max. 4.5 MHz
Time[ms]
Belt Synchronization
Synchronization to a belt speed can be done using the Master Encoder Interface or Step/Direction/Zero interface. Applications such as the "flying saw", synchronous loading or unloading,
synchronous filling or labeling of bottles or containers on a conveyor belt, and many other
applications can be implemented in this way.
v [m/s]
vBelt
counts/sec
Encoder Counter:
Encoder Input:
Time[ms]
Edition 16
subject to change
Max. counting frequency
32 Bit
A/B/Z (RS422), max. 5 MHz
STEP/DIR/ZERO
Max. 4.5 MHz
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377
Series E1200
Analog Position
For an analog position target, the linear motor travels to a position proportional to the input
voltage. The position is either scanned continuously, or only after a rising edge of the trigger
signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with
a programmable maximum acceleration and velocity (VA interpolator).
Inputs:
Voltagvte range:
Resolution:
Scanning rate:
0V
10V
Position Position
Analog Input X4 or X20
0-10VDC or ±10V
12 Bit
>=100µsec (adjustable)
Easy Steps Parameter Scale
Maximum Force [0...10V => 0...100%]
100%
Easy Steps provide the ability to parameterize internal parameters using two analog inputs. If,
for example, the maximum motor current is read at an analog input, then the maximum motor
force can be provided as analog for freely programmable joining processes.
Force Max
0%
Time[ms]
Inputs:
Voltage range:
Resolution:
Resolution
2 x Analog (X4.4, X4.7)
0-10VDC
12 Bit
200µsec
Closed Loop Force Control
FMot= 0,1...580N
0...10V Fone
Load Cell
Using the force control technology function, precise joining processes can be implemented reliably and reproducibly with high-precision force control. For force control, the current motor
force is measured with a load cell and controlled in the drive. Joining process or quality checks
with high requirements for applied force can be implemented.
Analog Input:
Resolution:
Min. Force Resolution:
0-10V or ±10V
12 Bit
0.1N
Winding Application
For winding textile yarns, glass fiber optics, or wires, a complete functional block is available
that controls the entire sequence of a complete winding process.
378
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Interfaces
MOT SUPPLY
X1: Motor Supply
Regenerator Resistor
MOT PHASES
X1
X2: Motor Phases
X3
X4.11
IO
X4.10
IO
X4.9
IO
X4.8
IO
X4.7
IO
X4.6
IO
X4.5
IO
X4.4
IO
X4.3
IO
+24VD
C
DGND
PTC2
12
PTC1
LIM+
LIMHSW
TRIG
CAP
AN
/BRK
X3: Motor Signal
X13: External Positionssensor
X13
LOGIC SUPPLY / CONTROL
X4.12
SV
Enable= E
24V
EXT POS SEN / DIFF HALL SW
MOTOR SENSOR
X2
X4: Control Logic Supply
1
ERRO
R
WARN
ING
ID HIG
H
ID LOW
LED State Display
S1-2:Busadress
ED State Display
S1
S2
OK
X15/X16 CFG X17/X18 RT
RT BU
S
ERRO
R
X4
24V
OK
EN
X15-:ETHERNET Configuration
X16
X17-:RealTime ETHERNET
X18
S5: Bus Termination
X19: System Configuration RS232
X20: Analog In (± 10V)
X8: RS485 / CAN Out
X7: RS485 / CAN In
X11: Master Encoder Out
X9: Profibus (only -DP)
E1200-GP-UC
E1230-DP-UC
E1250-DS-UC
E1250-SE-UC
E1250-EC-UC
E1250-LU-UC
E1250-IP-UC
E1250-SC-UC
E1250-DP-UC
E1250-PN-UC
E1250-PL-UC
X10: Master Encoder In
Interfaces
CANopen

LinRS

POWERLINK
PROFINET
PROFINET Profidrive
sercos




sercos over EtherCAT

ETHERNET IP

LinUDP

EtherCAT

ETHERCAT CiA402

PROFIBUS-DP
Edition 16
subject to change

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379
Series E1200
MOT SUPPLY
E1250-PL-UC
E1250-PN-UC
E1250-PD-UC
E1250-SC-UC
E1250-IP-UC
E1250-LU-UC
E1250-EC-UC
E1250-SE-UC
E1250-DS-UC
E1230-DP-UC
E1200-GP-UC
MOT PHASES
X1
X2: Motor Phases
Travel Along Time Curves
X3
Positioning using Motion Profiles
X4.12
SV
Enable= E
24V
X4.11
X4.10
X4.9
Internally stored Motion Commands
X4.8
X4.7
X4.6
X4.5
X4.4
X4.3
Internally stored Motion Sequences
IO PTC2
IO PTC1
IO LIM
+
IO LIM
IO HS
W
IO TR
IG
IO CA
P
IO AN
IO /BR
K
+24VD
C
DGND
X3: Motor Signal
X13: External Positionssensor
X13
12
LOGIC SUPPLY / CONTROL
Absolute & Relative Positioning
EXT POS SEN / DIFF HALL SW
X2
MOTOR SENSOR
X4: Control Logic Supply
1
ERRO
R
WARN
ING
Master Encoder Synchronization
ID HIG
H
ID LOW
RT BU
S
ERRO
R
Synchronization to Belt Speed
X4
24V
OK
EN
S1
S2
OK
X15/X16 CFG X17/X18 RT













X1: Motor Supply
Regenerator Resistor
Position Streaming
Analog Position Target
Analog Parameter Scaling
LED State Display
S1-2:Busadress
ED State Display
X15-:ETHERNET Configuration
X16
X17-:RealTime ETHERNET
X18
S5: Bus Termination
X19: System Configuration RS232
Winding Function Block
X20: Analog In
Force Control Technology Function
X8: RS485 / CAN Out
X7: RS485 / CAN In
Customer-Specific Functions
X11: Master Encoder Out
X9: Profibus (only -DP)
X10: Master Encoder In
Industrial ETHERNET
Series E1200 drives allow integration of
LinMot linear motors in controls concepts
with industrial ETHERNET interfaces. The
user can integrate Series E1200 drives regardless of the provider of the overlaid control.
LinMot drives are available with common
industrial ETHERNET protocols. Since all
ETHERNET drives have the same motion
command interface, and the control and
status word are identical, software blocks
that have been implemented once can be
transferred to other drives without a problem.
380
Technical Data
Series 1200 Servo Drives support the following industrial ETHERNET protocols:
- Profinet
- Industrial IP
- PowerLink
- EtherCat
- Sercos III
Type:
Realtime ETHERNET
Switch/Hub:
Integrated 2-Port
Hub/Switch
Transfer rate:
10/100MBit/sec
The appropriate drive is available for each
protocol.
www.LinMot.com
Edition 16
subject to change
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Series E1200
E12x0-Series
X1
X2
REGENERATION
RESISTOR
1,2,3-PHASE
POWERSTAGE
PH1+
PH1PH2+
PH2-
SUPPLY
3x400VAC
230VAC
115VAC
24...80V DC
8A/15A/25A
PHASE CURRENT
LINEAR MOTOR
X3
MOTOR SUPPLY
BRUSHLESS
DC MOTOR
SIN
COS
TEMP.
+5V
GND
PROFIBUS DP
X9 (only on -DP)
X13
PROFIBUS DP
A+ SIN+
A- SINB+ COS+
B- COSZ+ ZERO+
Z- ZEROU+
UV+
VW+
WENC ALARM
+5VDC
GND
S1-S2
ETHERNET
ID LOW (S2)
ID HIGH (S1)
OPTIONAL
EXTERNAL
POSITIONS SENSOR
X17 / X18
X4
10/100 MBaud
INDUSTRIAL
ETHERNET
LIMIT SWITCH+
LIMIT SWITCHHOME SWITCH
BRAKE OUTPUT
BRAKE
X15 / X16
PTC1
PTC2
ROTRAY MOTOR &
SUPPLY PROTECTION
TRIGGER INPUT
CAPTURE INPUT
ANALOG INPUT
FAST PROCESS
INPUTS
SVE
SAVE PULSE
INHIBITOR
6
10/100 MBaud
INDUSTRIAL
ETHERNET
6
6
10/100 MBaud
Configuration
ETHERNET
6
10/100 MBaud
Configuration
ETHERNET
X19
SYSTEM
INTERFACE:
RS232
COMMUNICATION
INTERFACE
RS485
CANOPEN
DEVICENET
MASTER ENCODER
Edition 16
subject to change
3
RS232
+24VDC
GND
4
2
X7
X8
RS485
RS485
CAN
CAN
X10
X11
A+ STEP+
ASTEPB+ DIRECTION+
Z+ ZERO+
ZZEROBDIRECTIONCAN_H
CAN_L
A+ STEP+
ASTEPB+ DIRECTION+
Z+ ZERO+
ZZEROBDIRECTIONCAN_H
CAN_L
LOGIK SUPPLY
4
2
COMMUNICATION
INTERFACE
RS485
CANOPEN
DEVICENET
MASTER ENCODER
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381
Interfaces
X1
Motor Supply / Regeneration Resistor
-
4
RR
3
+
PWR+
2
PGND
1
GND internally
connected to
controller housing
PGND
Optional:
Regeneration
Resistor (external)
1
PWR +
GND
24...85VDC
2
external Fuse
max. 20AT
RR +
3
RR -
GND
4
Screw Terminals
2.5 mm² (AWG14)
Screw Terminals:
External Regeneration Resistor (RR01-10/60, Art. Nr. 0150-3088)
External Fuse: max. 20AT
Supply nominal 72VDC (24...85VDC)
(See chapter Power Supply Requirements for compatible power supplies.)
Absolute max. Rating 72VDC +20%.
If motor supply voltage is exceeds 90VDC, the drive will go into error state.
- Tightening torque: 0.5 - 0.6 Nm (4.4 – 5.3 lbin)
- Screw thread: M2.5
- Use 60/75°C copper conductors only
- Conductor cross-section: use only 2.5mm2 / AWG 14
- Stripping length: 13-15mm
- Max. length: 4m
X2
Motor Phases
1+ u
1
1- v
2
2+ w
3
2- x
4
SCRN
5
Screw Terminals
1.5-4mm²
(AWG16-14)
X3
Nr.
1
2
3
4
5
Designation
PH1+ /U
PH1- /V
PH2+ /W
PH2- /X
SCRN
LinMot Linear Motor
Motor Phase 1+
Motor Phase 1Motor Phase 2+
Motor Phase 2Shield
Color
red
pink
blue
grey
3-Phase-Motor
Motor Phase U
Motor Phase V
Motor Phase W
Screw Terminals:
- Tightening torque: 0.5 - 0.6 Nm (4.4 – 5.3 lbin)
- Screw thread: M2.5
- Use 60/75°C copper conductors only
- Conductor cross-section: 0.5 – 2.5mm2 (depends on Motor current) / AWG 21 -14
- Stripping length 13-15mm
Motor Encoder
1
2
3
4
5
6
7
8
9
DSUB-9 (f)
Nr
1
2
3
4
5
6
7
8
9
Case
LinMot Linear Motor
3-Phase-Motor
+5VDC
Sensor Sine
Temperature In
+5VDC (Hall Supply)
Hall 1
Hall 2
AGND
Sensor Cosine
Shield
AGND (Hall Supply)
Hall 2
Note :
Use +5VDC (X3.3) and AGND (X3.8) only for motor internal hall sensor supply (max. 100mA).
Caution :
Do NOT connect AGND (X3.8) to ground or earth!
382
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Edition 16
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Series E1200
Motor
Motor wiring
1+ u
1
1- v
2
2+ w
3
2- x
4
SCRN
5
X2
5
PHASE 2-
4
PHASE 2+
3
OUTER SHIELD
PHASE 1-
2
PHASE 2-
PHASE 1+
1
Caution:
do not
connect
X3.1 / 2 / 6 / 7
1
COSINE
+5VDC
3
TEMP
AGND
PHASE 2+
X2: Screw Terminals
PHASE 1PHASE 1+
+5VDC
AGND
1
2
3
4
5
6
7
8
9
X3
6
2
SINE
7
8
SINE
4
COSINE
9
TEMP
5
X3: DSUB-9 (f)
X4: 12pin
X4.12 SVE
Enable=24V
Logic Control / Supply
POWER STAGE ENABLE (HW ENABLE)
12
CONFIGURABLE IO, PTC 2 INPUT
CONFIGURABLE IO, PTC 1 INPUT
X4.10
CONFIGURABLE IO
X4.9
X4.8
X4.7
X4.6
X4.5
X4.4
X4.3 /Brk
+24VDC
DGND
LOGIC SUPPLY / CONTROL
X4.11
1
CONFIGURABLE IO
CONFIGURABLE IO, ANALOG INPUT
CONFIGURABLE IO, TRIGGER INPUT
CONFIGURABLE IO
CONFIGURABLE IO, ANALOG INPUT
CONFIGURABLE IO, BRAKE DRIVER 1A
LOGIC SUPPLY 22-26 VDC
GND
12
11
10
9
8
7
6
5
4
3
2
*
4,7k
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 100mA
*
MAX. 1.0A
Internal Fuse 3AT
1
* ALL OUTPUTS WITH INTERNAL PULL
DOWN RESISTOR 4K7 TO GND
Phoenix MC1,5/12-STF-3,5
(delivered with drive)
Inputs (X4.3 .. X4.12): 24V / 5mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)
Outputs (X4.4 .. X4.11): 24V / max.100mA, Peak 370mA (will shut down if exceeded)
Brake Output (X4.3): 24V / max.1.0A
Input X4.12: SVE (Safety Voltage Enable) must be high for enabling the power stage. ). If it goes low for
more than 0.5ms the PWM generation of the power stage is disabled by hardware.
Supply 24V / typ. 1.1A / max. 2.1A (if all outputs “on” with max. load and brake.)
- Tightening torque: min 0.22Nm
- Screw thread: M2
- Use 60/75°C copper conductors only
- Conductor cross-section max. 1.5mm2
- Internal Fuse (F2): 3AT (slow blow, Schurter OMT125, 3404.0118.xx, UL File Number: E41599)
CAUTION: For continued protection against risk of fire, replace only with same type and rating of fuse.
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383
Interfaces
X7-X8
RS485/CAN
8
7
6
5
4
3
2
1
RJ-45
Nr
1
2
3
4
5
6
7
8
Case
RS485_Rx+
RS485_RxRS485_Tx+
GND
GND
RS485_TxCAN_H
CAN_L
Shield
A
B
Y
Z
Use 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)
X9
Profibus DP (only available on E1230-DP-UC)
1
2
3
4
5
Nr
1
2
3
4
5
6
7
8
9
Case
6
7
8
9
DSUB-9 (f)
RxD/TxD-P
CNTR-P
GND
+5V
RxD/TxD-N
Shield
(isolated)
(isolated)
Max. Baud rate: 12 Mbaud
X10-X11
Master Encoder IN (X10) / Master Encoder OUT (X11)
8
7
6
5
4
3
2
1
RJ-45
Nr
1
2
3
4
5
6
7
8
Case
Incremental
A+
AB+
Z+
ZBCAN_H
CAN_L
Shield
Step/Direction
Step+
StepDirection+
Zero+
ZeroDirectionCAN_H
CAN_L
Shield
EIA/TIA 568A colors
Green/White
Green
Orange/White
Blue
Blue/White
Orange
Brown/White
Brown
Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring.
Master Encoder Inputs: Diff. RS422, max. counting frequency 25 Mcounts/s, quadrature evaluation,
40ns edge separation
Master Encoder Outputs: Amplified RS422 differential signals from Master Encoder IN (X10)
The CAN bus can be terminated with S5.4.
All devices, which are connected to X10/X11 must be referenced to the same ground.
384
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Series E1200
S1-3
E12x0 V1
E12x0 V2
F012
Bus ID High (0…F). Bit 5 is LSB, bit 8 MSB
Bus ID Low(0…F). Bit 1 is LSB, bit 4 MSB
1 2
CDE
3 4
89 AB
Switch
S1
S2
5 6 7 8
CDE
6
345 7
89 AB
6
345 7
Address Selectors / Bus Termination
F012
The use of these switches depends on the type of fieldbus which is used.
Please see the corresponding manual for further information.
S5
Bus Termination
3 4
Switch
1 2
on off
E1200
Switch 1: AnIn2 Pulldown (4k7 Pulldown on X4.4). Set to ON, if X4.4 is used as digital Output.
Switch 2: Termination Resistor for RS485 on CMD (120R between pin 1 and 2 on X7/X8) on/off
Switch 3: CAN Termination on CMD (120R between pin 7 and 8 on X7/X8) on/off
Switch 4: CAN Termination on ME (120R between pin 7 and 8 on X10/X11) on/off
Factory settings: all switches “off”
S5
S5
X13
External Position Sensor Differential Hall Switches / SSI
Nr
1
9
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
2
10
3
11
4
12
5
13
6
DSUB-15 (f)
14
7
15
8
case
ABZ with Hall Switches
+5V DC
A+
AB+
BZ+
ZEncoder Alarm
GND
U+
UV+
VW+
WShield
Sin/Cos 1Vpp with SSI
+5V DC
Sin+
SinCos+
CosData+
DataEncoder Alarm
GND
Clock+
ClockShield
Position Encoder Inputs ( RS422) :
Max. counting frequency: 25 Mcounts/s with quadrature decoding, 40ns edge separation
Encoder Simulation Outputs (RS422):
Max Output Frequency: 2.5MHz, 5 M counts/s with quadrature decoding, 200ns edge separation
Differential Hall Switch Inputs (RS422):
Input Frequency: <1kHz
Enc. Alarm In:
5V / 1mA
Sensor Supply:
5VDC max 100mA
Edition 16
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385
Series E1200
X15-X16
Ethernet Configuration 10/100Mbit/s
Nr
X15
X16
RJ-45
X17-X18
Bez.
Internal 2-Port 10BASE-T and 100BASE-TX Ethernet Switch
HP Auto MDIX
LEDs on the lower side of the device indicate “Link/Activity” per port, the upper ones
are not used.
Ethernet RealTime
Nr
X17 RT ETH In
X18 RT ETH Out
Bez.
Specification depends on RT-Bus Type. Please refer to according documentation.
RJ-45
X19
RS232 Configuration
8
7
6
5
4
3
2
1
RJ-45
Nr
1
2
3
4
5
6
7
8
case
Bez.
Reserved, do not connect
Reserved, do not connect
RS232 RX
GND
GND
RS232 TX
Reserved, do not connect
Reserved, do not connect
Shield
Use isolated USB-RS232 converter (Art.-No. 0150-2473) for configuration over RS232.
X20
Analog In (+-10V Differential Analog Input)
8
7
6
5
4
3
2
1
RJ-45
LEDs
Nr
1
2
3
4
5
6
7
8
case
Bez.
n.c.
n.c.
Analog InGND
GND
Analog In+
n.c.
n.c.
Shield
State Display
Error
24VOK
Warn
EN
Green
Yellow
Yellow
Red
24V Logic Supply OK
Motor Enabled / Error Code Low Nibble
Warning / Error Code High Nibble
Error
Green
Red
OK
Error
RT BUS LEDs
BUS
Error
386
BUS
OK
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Ordering Information
MOT SUPPLY
180
MOT PHASES
X1
270 Centers
252
MOTOR SENSOR
EXT POS SEN / DIFF HALL SW
X2
X13
E
X4.12 SV V
Enable=24
12
IO
X4.11
IO
X4.10
IO
X4.9
IO
X4.8
IO
X4.7
IO
X4.6
IO
X4.5
IO
X4.4
IO
X4.3
C
+24VD
ND
DG
PTC2
PTC1
LIM+
LIMHSW
TRIG
CAP
AN
/BRK
233
LOGIC SUPPLY / CONTROL
X3
1
X4
R
ERRO
ING
WARN
24V
OK
EN
S1
H
ID HIG
S2
ID LOW
S
RT BU
R
ERRO
X15/X16 CFG X17/X18 RT
OK
Dimensions in mm
40
Servo Drives Series
Width
Height
Height without fixings
Depth
Weight
Case
Mounting Screws
Mounting Distance
Storage temperature
Transport temperature
Operating temperature
Relative humidity
Max. case temperature
Max. power dissipation
Clearance around drives
Item
E1250-PL-UC
E1250-PN-UC
E1250-PD-UC
E1250-EC-UC
E1250-SE-UC
E1250-DS-UC
E1250-SC-UC
E1250-IP-UC
E1250-LU-UC
E1230-DP-UC
E1200-GP-UC
Edition 16
subject to change
mm (in)
mm (in)
mm (in)
mm (in)
kg (lb)
IP
mm (in)
°C
°C
°C
°C
W
mm (in)
E1200
40
(1.6)
270 (10.6)
233 (9.2)
180 (7.1)
1.5 (3.3)
20
2 x M5
252 (9.92)
-25...40
-25...70
0...40 at rated date
40...50 with power derating
95% (non-condensing)
65
30
20 (0.8) left/right
50
(2)
top/bottom
Description
POWERLINK Servo Drive 72VDC/32A
PROFINET Servo Drive 72VDC/32A
ProfiDrive Servo Drive 72VDC/32A
EtherCAT Servo Drive 72VDC/32A
sercos over EtherCAT Servo Drive 72VDC/32A
EtherCAT CoE Servo Drive 72VDC/32A
sercos Servo Drive 72VDC/32A
ETHERNET IP Servo Drive 72VDC/32A
LinUDP Servo Drive 72VDC/32A
PROFIBUS-DP Servo Drive 72VDC/32A
GENERAL PURPOSE Servo Drive 72VDC/32A
Part Nummber
0150-1760
0150-1762
0150-2620
0150-1763
0150-1898
0150-2410
0150-1764
0150-1761
0150-2493
0150-1766
0150-1771
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387
Accessories
Item
Capacitor
Regeneration Resistor
Regeneration Resistor
Description
Capacitor 10’000 mF / 100 V
R01-10/60 (10 Ohm, 60 W)
RR01-10/150 (10 Ohm, 150 W)
Part Nummber
0150-3075
0150-3088
0150-3090
Item
T01-72/420
T01-72/420-US
T01-72/900
T01-72/900-US
T01-72/1500
T01-72/1500-US
S01-72/500
S01-72/1000
Description
72VDC, 15A peak, 420VA, 3x400VAC
72VDC, 15A peak, 420VA, 3x230VAC
72VDC, 30A peak, 900VA, 3x400VAC
72VDC, 30A peak, 900VA, 3x230VAC
72VDC, 2x30A peak, 1500VA, 3x400VAC
72VDC, 2x30A peak, 1500VA, 3x230VAC
72VDC, 500W, 750W peak, 1x100..120VAC/200..240VAC
72VDC, 1000W, 2000W peak, 3x380..500VAC
Part Nummber
Item
Isolated USBRS232converter
Connector for X4
RS232 PC config. Cable 2.5m
Isolated USB-serial converter
Description
Isolated USB RS232 converter with config. cable
Connector MC 1,5/12-STF-3,5, delivered with drive
For C1100/C1250/E1200/E1400/M8000
Isolated USB RS232/422/485 converter
Part Nummber
0150-2473
0150-3300
0150-2143
0150-3120
388
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Series C1200
Servo Drive Series C1200
Edition 16
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389
Servo Drives
Servo Drive C1200
Series C1200 Servo Drives are modular axis
controllers, with 32-bit position resolution and an
integrated power stage, for linear motors and rotary drives.
The controllers are suitable for simplest, standard, and high-end positioning tasks, across the
entire force range of the LinMot product range.
Connection to Machine Drive
Process and Safety Interfaces
Logic and Power Supply
The Series C1200 Servo Drives can be
actuated by machine controls from any
manufacturer or brand, via digital inputs
and outputs, RS232 or RS485 serial interface, CanBus CANopen and DeviceNet
interfaces, Profibus DP, or industrial
ETHERNET.
Fast process interfaces for direct processing of sensor signals are available as freely
programmable analog and digital inputs, a
fast trigger input, and a capture input.
The Servo Drives have two separate power
supply inputs for the logic and power elements.
In an E-stop and safe stop of the drive, only
the power element supply is cut off from the
drive. The logic supply and the drive continue to run.
This has the advantage that the drive and linear motor do not need to be reinitialized
when the machine is restarted, since all process data, including the current position of
the linear motor, are still up to date.
390
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Series C1200
System Integration
Fieldbusses and interfaces to the overlaid control
Digital
I/O´s
RS232
RS485
Config.
Fast Process Inputs
Supply and Safety
Logic
Supply
Motor
Supply
Safety
Trigger
Inputs
Capture
Analog
Inputs
CAN
open
DeviceNet
Linmot
Servo Drive
Series
C1200
Profibus
DP
ProfiNet
Sercos
III
Internal stored Curves:
• Max. 99 Curves
• Up to 15´000
set points
Command Table:
• Up to 255
Commands
Ethernet
IP
Ether
CAT
Additionally, the drives can be equipped with optional peripherals, such as reference and end
stop switches, high-precision external position
sensors, or a mechanical holding brake.
Optional Limit and Home Switches
Limit Switch
Position Drive:
• 32 Bit Position Value
• Resolution 0.1µm
Run Modes:
• VA Interpolated
Moves
• Analog Position
• Run Curves
• Two Point Trigger
Moves
• Master Encoder Synchronisation
• Streaming P, PV
• Step, Direction
Power
Link
Home
Switch
Limit +
Switch
Edition 16
subject to change
Series C1200 Servo Drives have analog and digital inputs and outputs, serial interfaces, fieldbusses, and ETHERNET connections. The user is
therefore not dependent on the selection of the
overlaid controller. An appropriate interface is
available, with associated protocols, for any PLC
or IPC solution.
With flexibility and a compact form factor, LinMot
Series C1200 Servo Drives provide a complete
solution for a flexible drive concept in single and
multiple axis applications, with linear motors and
other actuators.
LinMot Linear
Motor or other
1/2/3 phase motor
(Brushless DC,
Voice Coil,...)
External
Position
Sensor
Optional Brake
Optional external Position Sensor
Technology Functions
Technology functions are functional blocks that
provide a complete solution for standard applications and frequently encountered, customer-specific problems. Technology functions can, for
example, handled the complete sequence for
winding textile yarns or glass fiber cables, or
high-precision joining processes with force control can be implemented directly in the drive.
RS232
.
Flexible hardware enables control of any 1/2/3phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept.
Motor Interfaces
Configuration
C1200 Servo Drives provide all necessary
interfaces to operate linear or rotary motors
with optional external peripherals, such as
end position and reference switches, a mechanical brake, or a high-resolution external position sensor.
LinMot Talk user-friendly PC software is
available for configuration. In addition to online documentation, LinMot Talk provides
extensive debugging tools, such as an
oscilloscope and an error inspector, for simple and rapid start-up of the Axis.
In special applications, two drives can be
synchronized with each other using the
synchronization interface in master
booster mode.
Fieldbus and ETHERNET drives can also
be configured directly by the overlaid control.
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391
Operating Modes
Interpolated Moves
For direct position targets, using absolute or relative positioning, the desired position is
reached using acceleration and velocity-limited motion profiles or jerk optimized profiles (jerk
limited and Bestehorn). Positioning commands can be invoked via the serial interfaces, CANopen, DeviceNet, Profibus, Ethernet or a trigger input.
Stroke [mm]
Goto 100mm
vmax = 2,5m/s
amax = 3,0m/s2
Time[ms]
Stroke range:
Position Resolution:
Velocity Resolution:
Velocity Resolution:
±100m
0.1µm (32Bit)
1.0µm/s (32Bit)
2
10.0µm/s (32Bit)
Time Curves
Stroke [mm]
Start Curve 1
Up to 100 different time curves can be stored Series C1200 drives, with up to 16,000 individual
waypoints. The motor can thus travel along time curves of any complexity, such as those generated by CAD programs and stored in the drive (Excel CSV format). The time curves can be
invoked via the serial interface, fieldbusses, ETHERNET, or the trigger input.
Curve 1
Time[ms]
Stroke range:
Position Resolution:
Motion profiles:
Curve points:
±100m
0.1µm (32Bit)
Max. 100 Time Curves
Max. 16’000 points
Profiled Moves
Stroke [mm]
Goto Pos 125mm
with Profil 1
For travel to an absolute position, or shifting by a relative position, any desired motion rules
can be stored besides the VA interpolator. They are stored in the drive as motion profiles
(Excel CSV format). The positions can be approached, for example, with a sinusoidal motion to
optimize power loss, or special reverse optimized motion profiles.
Curve 1
Time[ms]
Stroke range:
Position Resolution:
Motion profiles:
Curve points:
±100m
0.1µm (32Bit)
Max. 100 Time Curves
Max. 16’000 points
Setpoint Streaming
Stroke [mm]
Overlaid NC drives with fieldbus or ETHERNET interfaces communicate with the Servo Drives
via "Position Streaming". The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.
Time[ms]
392
Position Resolution:
Velocity Resolution
Interpolator:
cycle times:
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32 Bit
32 Bit
10 kHz
0.4-5ms
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Series C1200
Easy Steps
Input 1
Input 2
Input 3
Input 4
Input 5
Input 6
Input 7
Input 8
Pos 125mm
Pos 250mm
Curve 1
Pos -30mm
Pos +12,5mm
Curve 2
Pos 2mm
Pos -12,5mm
With the Easy Steps function, up to 8 positions or independent travel commands can be stored
on the drive, and addressed via 8 digital inputs or fieldbus interfaces/ETHERNET.
Digital inputs:
Interface:
Scanning rate:
max. 8
X4
200µsec
Command Table
Entire motion sequences with up to 255 individual motion commands can be stored in the
Command Table. This is primarily advantageous if complete motion sequences need to be
executed very quickly, without dead time from the overlaid drive. In the Command Table, the
programmer has access to all motion commands, internal parameters, and digital inputs and
outputs.
Start
Wait Input
Pos 12mm
Rule 1
Terminate A
Commands:
Cycle time:
max. 255
100µsec
Stop
Analog Position
For an analog position target, the linear motor travels to a position proportional to the input
voltage. The position is either scanned continuously, or only after a rising edge of the trigger
signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with
a programmable maximum acceleration and velocity (VA interpolator).
Inputs:
Voltagvte range:
Resolution:
Scanning rate:
0V
10V
Position Position
Analog Input X4 or X20
0-10VDC or ±10V
12 Bit
>=100µsec (adjustable)
Easy Steps Parameter Scale
Maximum Force [0...10V => 0...100%]
100%
Easy Steps provide the ability to parameterize internal parameters using two analog inputs. If,
for example, the maximum motor current is read at an analog input, then the maximum motor
force can be provided as analog for freely programmable joining processes.
Force Max
0%
Edition 16
subject to change
Time[ms]
Inputs:
Voltage range:
Resolution:
Resolution
2 x Analog (X4.4, X4.7)
0-10VDC
12 Bit
200µsec
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393
Series C1200
Closed Loop Force Control
FMot= 0,1...580N
0...10V Fone
Load Cell
Using the force control technology function, precise joining processes can be implemented reliably and reproducibly with high-precision force control. For force control, the current motor
force is measured with a load cell and controlled in the drive. Joining process or quality checks
with high requirements for applied force can be implemented.
Analog Input:
Resolution:
Min. Force Resolution:
0-10V or ±10V
12 Bit
0.1N
Winding Application
For winding textile yarns, glass fiber optics, or wires, a complete functional block is available
that controls the entire sequence of a complete winding process.
394
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Konfig RS232
Edition 16
subject to change
C1230-DP-XC
C1250-PL-XC
C1250-EC-XC
C1250-PN-XC
C1250-IP-XC
C1250-SC-XC
C1250-SE-XC
Interfaces
C1200-GP-XC
X7 IN
CMD
X8 UT
O
CMD
PROFIBUS-DP

S3
10 In
9 In
8 In
7 Out
6 Out
5 Out
4 Out
3 Out
24VDC
POWERLINK

11
EN
24V
OK
8
X17 RT IN
1
X18 RT OUT
8
1
1
OK
S1
ID HIGH
12345678
S2
ID LOW
O
N
RT BUS
ERROR
n.c.
n.c.
n.c.
n.c.
+5VDC
8 AGND
4
SIN
9 COS
5
TEMP
7
3
6
2
X3
SES
SCR
2-
2+
X3 M
X4 LOGIC SUPPLY / CONTROL
WARN ERROR
Attention haute tension!
Avant tout operation de maintenance
deconnecter lalimentation, attendre 5 minute
et mesurer la tension entre PWR+ et PGND
pour verifier si les condensaterus sont
decharges inferieure a 42 VDC
Risk of Electric Shock!
Before servicing, disconnect supply, wait
5 minutes and measure between PWR+ and
PGND to be sure that the capacitors have
discharged below 42 VDC
Vor dem Arbeiten Versorgung abklemmen,
5 Minugen warton und zwischen PWR+ und
PGND messen, ob die Kondensatoren auf
unter 42 VDC entladen sind
1-
1+
PE
Gefährliche hohe Spannung!
PLY
PHA
1
!
R
OTO
X19 SYSTEM
8
1
See Installation
Guide for Wiring
OT
1 Do not connect
2 Do not connect
3 RS232 RX
4 GND
S3
5 GND
1 CMD RS485 Term
6 RS232 TX
2 CMD CAN Term
7 Do not connect
8 Do not connect
3 Bootstrap
X19 SYSTEM
!
X2 M
http://www.linmot.com
SUP
8 Hall Sw /W
15 Hall Sw W
7 Hall Sw /V
14 Hall Sw V
6 Hall Sw /U
13 Hall Sw U
5 GND
12 Sens Alarm
4 Sens /Z
11 Sens Z
3 Sens /B
10 Sens B
2 Sens /A
9
Sens A
1 +5VDC
OT
PGND
PWR+
X1 M
X13
1 RS485 Rx+
2 RS485 Rx3 RS485 Tx+
4 GND
5 GND
6 RS485 Tx7 CAN H
8 CAN L
X7 / X8
Interfaces
X1: Motor Supply
X2: Motor Phases
X3: Motor Signal
SEN
SOR
S1-2:Busadress
LED State Display
X17: RealTime ETHERNET Out
X18: RealTime ETHERNET In
11 In
LED State Display
X4: Control Logic Supply
DGND
X19: System Configuration RS232
SEN
POS SW
EXT ALL
X13DIFF H
S/
C1250
S3: Bus Termination
X13: External Positionssensor
X8: RS485 / CAN Out
X7: RS485 / CAN In
CANopen








DeviceNet








LinRS









ETHERCAT


PROFINET
SERCOS over EtherCAT



ETHERNET IP


SERCOS III






www.LinMot.com
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
395
Series C1200
C1200-GP-XC
C1230-DP-XC
C1250-PL-XC
C1250-EC-XC
C1250-PN-XC
C1250-IP-XC
C1250-SC-XC
X1: Motor Supply
X2: Motor Phases
X3: Motor Signal
SOR
12345678
O
N
S2
ID LOW
LED State Display
OK
7
3
6
2
S1-2:Busadress
X18 RT OUT
8
1
1
RT BUS
ERROR
n.c.
n.c.
n.c.
n.c.
+5VDC
8 AGND
4
SIN
9 COS
5
TEMP
2-
SCR
1-
1+
PE
X3
Positioning using Motion Profiles
PLY
SUP
PWR+
OT
X1 M
PGND
Travel Along Time Curves
SES
PHA
2+
OT
X2 M
S1
ID HIGH
SEN
X3 M
8 Hall Sw /W
15 Hall Sw W
7 Hall Sw /V
14 Hall Sw V
6 Hall Sw /U
13 Hall Sw U
5 GND
12 Sens Alarm
4 Sens /Z
11 Sens Z
3 Sens /B
10 Sens B
2 Sens /A
9
Sens A
1 +5VDC
1
X17 RT IN
4 Out
3 Out
24VDC
X4: Control Logic Supply
1
DGND
X19 SYSTEM
8
1
1 Do not connect
2 Do not connect
3 RS232 RX
4 GND
S3
5 GND
1 CMD RS485 Term
6 RS232 TX
2 CMD CAN Term
7 Do not connect
8 Do not connect
3 Bootstrap
X19 SYSTEM
X8 UT
O
CMD
X13
X7 / X8
X7 IN
CMD
S3
24V
OK
8
7 Out
X4 LOGIC SUPPLY / CONTROL
9 In
5 Out
Customer-Specific Functions
LED State Display
11
10 In
6 Out
Force Control Technology Function
X18: RealTime ETHERNET In
11 In
8 In
Analog Parameter Scaling
X17: RealTime ETHERNET Out
EN
WARN ERROR
Attention haute tension!
Avant tout operation de maintenance
deconnecter lalimentation, attendre 5 minute
et mesurer la tension entre PWR+ et PGND
pour verifier si les condensaterus sont
decharges inferieure a 42 VDC
Vor dem Arbeiten Versorgung abklemmen,
5 Minugen warton und zwischen PWR+ und
PGND messen, ob die Kondensatoren auf
unter 42 VDC entladen sind
!
Analog Position Target
Gefährliche hohe Spannung!
See Installation
Guide for Wiring
!
Position Streaming
http://www.linmot.com
Internally stored Motion Sequences
Risk of Electric Shock!
Before servicing, disconnect supply, wait
5 minutes and measure between PWR+ and
PGND to be sure that the capacitors have
discharged below 42 VDC
Internally stored Motion Commands
1 RS485 Rx+
2 RS485 Rx3 RS485 Tx+
4 GND
5 GND
6 RS485 Tx7 CAN H
8 CAN L










R
OTO
Absolute & Relative Positioning
X19: System Configuration RS232
C1250
S/
SEN
POS SW
EXT ALL
X13DIFF H
S3: Bus Termination
X13: External Positionssensor
X8: RS485 / CAN Out
X7: RS485 / CAN In
Industrial ETHERNET
Series C1200 drives allow integration of
LinMot linear motors in controls concepts
with industrial ETHERNET interfaces. The
user can integrate Series C1200 drives regardless of the provider of the overlaid control.
LinMot drives are available with common
industrial ETHERNET protocols. Since all
ETHERNET drives have the same motion
command interface, and the control and
status word are identical, software blocks
that have been implemented once can be
transferred to other drives without a problem.
396
Technical Data
Series 1200 Servo Drives support the following industrial ETHERNET protocols:
- Profinet
- Industrial IP
- PowerLink
- EtherCat
- Sercos III
Type:
Realtime ETHERNET
Switch/Hub:
Integrated 2-Port
Hub/Switch
Transfer rate:
10/100MBit/sec
The appropriate drive is available for each
protocol.
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series C1200
C12x0-Series
SUPPLY
3X400VAC
230VAC
115VAC
X1
X2
24...85V DC
32A
PHASE CURRENT
PH1+
PH1PH2+
PH2-
LINEAR MOTOR
MOTOR SUPPLY
X3
BRUSHLESS
DC MOTOR
SIN
COS
TEMP.
+SV
GND
X9 (only on -DP)
X13
PROFIBUS DP
A+ SIN+
A- SINB+ COS+
B- COSZ+ ZERO+
Z- ZEROU+
UV+
VW+
WENC ALARM
+5VDC
GND
5
PROFIBUS DP
COMUNICATION
max. 12MBaud
S1-S2
ID LOW (S2)
ID HIGH (S1)
OPTIONAL
EXTERNAL
POSITIONS SENSOR
X17 / X18
X4
10/100 MBaud
INDUSTRIAL
ETHERNET
LIMIT SWITCH+
LIMIT SWITCHHOME SWITCH
BRAKE OUTPUT
BRAKE
PTC1
PTC2
ROTRAY MOTOR &
SUPPLY PROTECTION
TRIGGER INPUT
CAPTURE INPUT
ANALOG INPUT
FAST PROCESS
INPUTS
+24VDC
GND
LOGIK SUPPLY
6
10/100 MBaud
INDUSTRIAL
ETHERNET
6
X19
CONFIGURATION
RS232
3
RS232
X33
SAFETY
COMMUNICATION
INTERFACE
RS485
CANOPEN
DEVICENET
Edition 16
subject to change
4
2
X7
X8
RS485
RS485
CAN
CAN
5
4
2
MACHINE SAFETY
COMMUNICATION
INTERFACE
RS485
CANOPEN
DEVICENET
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397
Interfaces
X1
PRELIMINARY
Motor Supply / Regeneration Resistor
PWR+
3
PGND
4
PWR +
*
PGND
24...80VDC
3
GND
4
GND intern mit
Controller Gehäuse
verbunden
Screw Terminals
2.5 mm² (AWG14)
* SIEHE INSTALLATION GUIDE
Motor Supply:
Motor Supply Voltage 24...85VDC.
Absolute max. Rating 72VDC + 20%
If motor supply voltage is exceeding 90VDC, the controller will go into error state
X2
Motor Phases
1+ u
1
1- v
2
2+ w
3
2- x
4
SCRN
5
1
2
3
4
5
Nr.
Designation
PH1+ /U
PH1- /V
PH2+ /W
PH2SCRN
LinMot Linear Motor
Motor Phase 1+
Motor Phase 1Motor Phase 2+
Motor Phase 2Shield
Nr
1
2
3
4
5
6
7
8
9
Case
LinMot Linear Motor
Motor Phase 1+
Motor Phase 2+
+5VDC
Sine
Temperature
Motor Phase 1Motor Phase 2AGND
Cosine
Shield
Color
red
pink
blue
grey
3-Phase-Motor
Motor Phase U
Motor Phase V
Motor Phase W
Screw Terminals
1.5-4mm²
(AWG16-14)
X3
Motor
1
2
3
4
5
6
7
8
9
DSUB-9
- Use X2 for motor phase wiring if phase current exceeds 5Arms or 7.5Apeak
- Use +5V (X3.3) and AGND (X3.8) only for motor internal Hall Sensor supply (max. 100mA)
- Do NOT connect AGND (X3.8) to ground or earth!
398
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series C1200
Motor
Motor wiring
X2
1
1+ u
5
1- v
2
2+ w
3
2- x
4
OUTER SHIELD
PHASE 1-
SCRN
5
GREY
PHASE 1+
PHASE 2-
4
PHASE 2+
3
2
1
BLUE
X2: Screw Terminals
PINK
X3
RED
1
WHITE
6
INNER SHIELD
1
2
3
4
5
6
7
8
9
2
YELLOW
7
GREEN
+5VDC
BLACK
AGND
3
For LinMot Linear Motors only use original LinMot double shielded motor
cable K, KS, or KR
X3: DSUB-9 (f)
X4: 11pin
4
COSINE
GND
2k2
9
TEMP
GND
2k2
5
+5VDC
10k
Control / Supply
X14 LOGIC SUPPLY / IO CONNECTION
CONFIGURABLE IO, PTC 2
X4. 11 QuickStop, PTC2
X4. 10 IO, PTC1
X4. 9 IO, LIM+
X4. 8 IO, LIMX4. 7 IO, HSW
X4. 6 IO, TRIG
X4. 5 IO, CAP
X4. 4 IO, AN
X4. 3 IO, /BRK
X4. 2 +24VDC
X4. 1 DGND
GND
8
SINE
CONFIGURABLE IO, PTC 1
CONFIGURABLE IO
CONFIGURABLE IO
CONFIGURABLE IO, HOME SWITCH
CONFIGURABLE IO, TRIGGER
CONFIGURABLE IO
CONFIGURABLE IO, ANALOG INPUT
CONFIGURABLE IO, BRAKE DRIVER 1A
LOGIC SUPPLY 22-26 VDC
GND
11
4,7k
10
4,7k
9
4,7k
8
4,7k
GND
GND
GND
GND
7
*
MAX. 100mA
6
*
MAX. 100mA
5
*
MAX. 100mA
4
*
MAX. 100mA
3
*
MAX. 1.0A
Internal Fuse 3AT
2
1
* ALL OUTPUTS WITH INTERNAL PULL
DOWN RESISTOR 4K7 TO GND
Phoenix MC1,5/12-STF-3,5
0.25-1.5mm² (AWG24-16)
Edition 16
subject to change
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399
Interfaces
X7-X8
RS485/CAN
8
7
6
5
4
3
2
1
RJ-45
Nr
1
2
3
4
5
6
7
8
Case
RS485_Rx+
RS485_RxRS485_Tx+
GND
GND
RS485_TxCAN_H
CAN_L
Shield
A
B
Y
Z
- X7 internally connected to X8 (1:1 connection)
- Use 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.
X9
Profibus DP
1
2
3
4
5
6
7
8
9
DSUB-9
Nr
1
2
3
4
5
6
7
8
9
Case
RxD/TxD-P
CNTR-P
GND
+5V
RxD/TxD-N
Shield
(galvanically seperated)
(galvanically seperated)
Max. Baud rate: 12 Mbaud
400
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Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Interfaces
S1-2
Address Selectors / Bus Termination
3 4
Switch
1 2
S1
S2
on off
ID LOW
on off
S1
Bus ID High (0…F)
Bus ID Low(0…F)
HEX-Switches for Bus ID
address range 0.255
1 2
3 4
ID HIGH
S2
S3
Bus Termination
3 4
Switch
1 2
on off
C1200
Switch 1: Termination Resistor for RS485 on CMD (120R between pin 1 and 2 on X7/X8) on/off
Switch 2: CAN Termination on CMD (120R between pin 7 and 8 on X7/X8) on/off
Switch 3: Beostrap
Factory settings: all switches “off”
S5
S3
X13
External Position Sensor Commutation
Nr
1
9
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
2
10
3
11
4
12
5
13
6
DSUB-15 (f)
14
7
15
8
case
Edition 16
subject to change
Description
+5V DC
A+
AB+
BZ+
ZEncoder Alarm
GND
U+
UV+
VW+
WShield
Encoder
Encoder
Encoder
Encoder
Encoder
Encoder
Commutation (Hall Switch)
Commutation (Hall Switch)
Commutation (Hall Switch)
Commutation (Hall Switch)
Commutation (Hall Switch)
Commutation (Hall Switch)
Max. Input Frequency:
12MHz (RS422 inkrementell), 40ns edge separation
Sensor Supply Current:
max. 100mA
Position Encoder Inputs:
RS422, Max Input Frequency: 2.5MHz, 5 M counts/s with quadrature
decoding, 40ns edge separation
Encoder Simulated Outputs:
RS422, Max Output Frequency: 2.5MHz, 5 M counts/s with quadrature
decoding, 200ns edge separation
Differential Hall Switch Inputs:
RS422, Max Input Frequency: <1kHz
Enc. Alarm In:
5V / 1mA
Sensor Supply:
5VDC, max 100mA
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401
Series C1200
Safety Relays (only for -1S)
X33 STO RELAYS
X33: 8pin
X33. 4/8 Ksr+
X33. 3/7 KsrX33. 2/6 Ksr f+
X33. 1/5 Ksr f-
X17-X18
Nr
4/8
3/7
2/6
1/5
Bez.
Ksr +
Ksr Ksr f+
Ksr f-
Safety Relay 1 / 2 Input possitive
Safety Relay 1 / 2 Input negative
Safety Relay 1 / 2 feedback positive
Safety Relay 1 / 2 feedback negative
Ethernet RealTime
Nr
X17
X18
Bez.
Specification depends on RT-Bus Type. Please refer to according documentation.
RJ-45
X19
RJ-45
402
RS232 Configuration
8
7
6
5
4
3
2
1
Nr
1
2
3
4
5
6
7
8
case
Bez.
Reserved, do not connect
Reserved, do not connect
RS232 RX
GND
GND
RS232 TX
Reserved, do not connect
Reserved, do not connect
Shield
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Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Dimensions
S1
ID HIGH
S2
ID LOW
X18 RT OUT
8
1
Centers
195
166
11
EN
WARN ERROR
24V
OK
8
X17 RT IN
1
206
OK
RT BUS
ERROR
O
N
12345678
108
X4 LOGIC SUPPLY / CONTROL
11 In
10 In
9 In
8 In
7 Out
6 Out
5 Out
4 Out
3 Out
1
24VDC
X19 SYSTEM
8
1
DGND
C1250
Dimensions
C1200-XX-XC-0S
in mm
25
Servo Drives Series
Width
Height
Height without fixings
Depth
Weight
IP Protection class
Storage temperature
Transport temperature
Operating temperture
mm (in)
mm (in)
mm (in)
mm (in)
kg (lb)
IP
°C
°C
°C
Max. case temperature
Max. power dissipation
Min. distance between drives
°C
W
mm (in)
Item
C1200-GP-XC-0S
C1230-SE-XC-0S
C1250-EC-XC-0S
C1250-PL-XC-0S
C1250-IP-XC-0S
C1250-PN-XC-0S
C1250-SC-XC-0S
Description
General Purpose Drive (72V/25A)
Sercos over EtherCAT Drive(72V/25A)
EtherCAT Drive (72V/25A)
PowerLink Drive (72V/25A)
Ethernet IP Drive (72V/25A)
Profinet Drive (72V/25A)
Sercos III Drive (72V/25A)
Part Nummber
0150-1882
0150-1897
0150-1884
0150-1885
0150-1886
0150-1888
0150-1887
C1200-GP-XC-1S
C1230-SE-XC-1S
C1250-EC-XC-1S
C1250-PL-XC-1S
C1250-IP-XC-1S
C1250-PN-XC-1S
C1250-SC-XC-1S
General Purpose Drive (72V/25A), STO
Sercos over EtherCAT Drive(72V/25A), STO
EtherCAT Drive (72V/25A), STO
PowerLink Drive (72V/25A), STO
Ethernet IP Drive (72V/25A), STO
Profinet Drive (72V/25A), STO
Sercos III Drive (72V/25A), STO
0150-2344
0150-2350
0150-2345
0150-2347
0150-2346
0150-2348
0150-2349
Edition 16
subject to change
C1200
25
(1.0)
206 (8.1)
166 (6.5)
108 (4.2)
1.5 (3.3)
20
-25...40
-25...70
0...40 at rated date
40...50 with power derating
65
30
20 (0.8) left/right
50
(2)
top/bottom
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403
Notes
404
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Servo Drive
B1100
Servo Drive B1100
Series B1100-PP
410
Series B1100-VF
412
Series B1100-GP
414
Edition 16
subject to change
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405
Servo Drives
Servo Drives B1100
Series B1100 Servo Drives are compact axis drives, with 32-bit position resolution and an integrated power element, for linear motors and rotary
drives.
B1100
The drives are suitable for simplest and standard
positioning tasks, across the entire force range
of the LinMot product range.
Connection to Machine Drive
Process and sensor interfaces
Logic and power supply
The Series B1100 Servo Drives can be
actuated by machine controls from any
manufacturer or brand, via digital inputs
and outputs; by RS232 or RS485 serial interface; or by CanBus CANopen and DeviceNet interfaces.
Fast process interfaces for direct processing of sensor signals are available as freely
programmable analog and digital inputs and
fast trigger inputs.
The Servo Drives have two separate power
supplies for the logic and power elements.
Fro complex motion sequences that run in
an overarching positioning drive, the motor can be controlled by means of analog
speed or force targets. The position signal
from the measurement system integrated
in the linear motor can be accessed at the
encoder output to control position.
406
For high-accuracy applications, a freely
configurable encoder interface is available.
It analyzes the commutation signals from
brushless, rotary servomotors as well.
www.LinMot.com
In an E-stop and safe stop of the drive, only
the power element supply is cut off from the
drive. The logic supply and the drive continue to run.
This has the advantage that the drive and linear motor do not need to be reinitialized
when the machine is restarted, since all process data, including the current position of
the linear motor, are still up to date.
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series B1100
System Integration
Fieldbusses and interfaces to the overlaid control
Fast Prozess Inputs
Supply and Safety
Digital
I/O´s
Logic
Supply
Motor
Supply
Trigger
Inputs
RS232
RS485
CAN
open
DeviceNet
Linmot
Servo Drive
Series
B1100
Flexible hardware enables control of any 1/2/3phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept.
±10V
Optional Limit and Home Switches
Limit Switch
• 32 Bit Position Value
• Resolution 0.1µm
Run Modes:
• VA Interpolated
Moves
• Analog Position
• Two Point Trigger
Moves
• Streaming P, PV
• Step, Direction,Zero
Capture
Analog
Inputs
Additionally, the drives can be equipped with optional peripherals, such as reference and end
stop switches, high-precision external position
sensors, or a mechanical holding brake.
Home
Switch
Limit +
Switch
Series B1100 Servo Drives have analog inputs
and digital inputs and outputs, serial interfaces,
and fieldbus connections. The user is therefore
not dependent on the selection of the overarching drive.
With flexibility and a compact form factor, LinMot
Series B1100 Servo Drives provide a complete
solution for a flexible drive concept in single and
multiple axis applications, with linear motors and
other actuators.
LinMot Linear
Motor or other
1/2/3 phase motor
(Brushless DC,
Voice Coil,...)
External
Position
Sensor
Optional Brake
CAN
B1100
RS232
CAN
Config.
Config.
Optional external Position Sensor
Position Streaming
Motor Interfaces
Configuration
With a cyclical target value, or "position
streaming," the overarching NC or CNC
drive communicates with the Servo Drive
through CanOpen or DeviceNet.
The series B1100 Servo Drives allow control of 1, 2, or 3 phase linear motors and
brushless rotary servomotors.
Parameterization and configuration of the
Servo Drive is done via the RS232 interface
on the front side, or CANBus for simultaneous configuration of several drives..
The position and velocity calculated in the
overarching drive is transmitted to the Servo Drive cyclically. The P, PV, or PVT
mode is available for this transmission.
B1100 Servo Drives provide all necessary
interfaces to operate linear or rotary motors
with optional external peripherals, such as
end position and reference switches, a mechanical brake, or a high-resolution external position sensor.
Using the cyclical target value, complex
motions and interpolating multi-axis applications can be implemented.
Edition 16
subject to change
LinMot Talk user-friendly PC software is
available for configuration. In addition to online documentation, LinMot Talk provides
extensive debugging tools, such as an
oscilloscope and an error inspector, for simple and rapid start-up of the axes.
Fieldbus and Ethernet drives can also be
configured directly by the overarching drive.
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407
Operating Modes
Position Indexing
In position indexing, the linear motor is controlled like a stepper motor, using Step/Dir/Zero, or
-6
A/B signals. The step distance is freely programmable from 1.5x10 µm to 3.275mm/step. The
input signal can be used directly as the target position, or it can be filtered by the VA
interpolator.
STEP
DIR
ZERO
Operating Modes:
Inputs:
Step distance:
Max Input Frequency:
A
B
Z
Step/Dir/Zero, A/B
differential RS422 (X13/14)
-6
1.5x10 µm....3.275mm, 32 Bit
2 MHz
+/- 10V Analog Force / Velocity Control
Fv
Series B1100 drives allow analog force (torque) or velocity targets to be set, via the +/- 10V
interface, by an overlaid position drive. The current actual position is output via the encoder
interface, with adjustable resolution, as positioning feedback. In high-precision applications
with high-resolution external position sensors, the sensor signals can be passed through in the
drive.
+10V
0V
-10V
A
B1100
B
Time[ms]
Analog Input:
Resolution:
Scanning rate:
Encoder Simulation:
-10...+10V, differential
Max. 12 Bit
Max. 10 kHz
1,2,5,10,20µm Resolution
Setpoint Streaming
Overlaid NC drives with CANopen or DeviceNet interfaces communicate with the Servo Drives
via "Position Streaming". The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.
Stroke [mm]
Time[ms]
Position Resolution:
Velocity Resolution
Interpolator:
cycle times:
32 Bit
32 Bit
5 kHz
2-5ms
Analog Position
For an analog position target, the linear motor travels to a position proportional to the input
voltage. The position is either scanned continuously, or only after a rising edge of the trigger
signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with
a programmable maximum acceleration and velocity (VA interpolator).
Inputs:
Voltagvte range:
0V
10V
Position Position
408
Resolution:
Scanning rate:
www.LinMot.com
Analog Inputs (X14.20, X14.8/X14.21)
0 - 10VDC (X14.20)
-10 - +10VDC (X14.18/X14.21)
10 Bit
400µsec
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series B1100
Interpolated Moves
For direct position targets, using absolute or relative positioning, the desired position is
reached using an acceleration and velocity-limited motion profile (VA interpolator). Positioning
commands can be invoked via the serial interfaces, CANopen, DeviceNet, or a trigger input.
Stroke [mm]
Goto 100mm
vmax = 2,5m/s
amax = 3,0m/s2
Time[ms]
Stroke range:
Position Resolution:
Velocity Resolution:
Velocity Resolution:
±100m
0.1µm (32Bit)
1.0µm/s (32Bit)
2
10.0µm/s (32Bit)
Easy Steps
Input 1
Input 2
Input 3
Input 4
Pos 125mm
Pos 250mm
Pos 50mm
Pos -30mm
With the Easy Steps function, up to 6 positions or independent travel commands can be stored
on the drive, and addressed via 6 serial interfaces, CANopen or DeviceNet.
max. 6
X14
400µsec
B1100
Digital inputs:
Interface:
Scanning rate:
Easy Steps Parameter Scale
Maximum Force [0...10V => 0...100%]
100%
Easy Steps provide the ability to parameterize internal parameters using two analog inputs. If,
for example, the maximum motor current is read at an analog input, then the maximum motor
force can be provided as analog for freely programmable joining processes.
Inputs:
Voltagvte range:
Force Max
0%
Edition 16
subject to change
Time[ms]
Resolution:
Scanning rate:
Analog Inputs (X14.20, X14.8/X14.21)
0 - 10VDC (X14.20)
-10 - +10VDC (X14.18/X14.21)
10 Bit
400µsec
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409
B1100-PP
Series B1100-PP
B1100-PP
B1100-PP-HC
B1100-PP-HC-XC



PE
±10V Force or Velocity Control
X1: Motor Supply
Setpoint Streaming (CAN)








S4: CAN/RS485 Termination
Position Indexing
X2: Motor Phases
Analog Position Target
MPC Commands
X3: Motor Signal
Easy Step
Easy Steps Parameter Scale
X13: External Position Sensor
Diff Hall Switch
Serial Infaces RS232/RS485
CANopen
X5: Configuration
DeviceNet
LED: State Display
Encoder Simulation
B1100-PP
X14: I/O‘s, 24VDC Supply
X8: Cmd Out
X7: Cmd In
Replacing Pneumatics
Easy Steps positioning commands
Analog Position Target
Due to their simple controls via digital inputs and outputs, B1100-PP drive make
excellent substitutes for pneumatic cylinders.
Using the Easy Steps function, up to six absolute or relative move commands can be
stored in the drive, and invoked via six digital inputs.
Any position can be set, using an analog
0…10V signal.
Using digital inputs, the linear motor can
move to up to six freely programmable positions. As soon as the linear motor has
reached the position, the corresponding InPostion output is actuated.
Easy Steps also provide the ability to parameterize internal parameters using two
analog inputs. If, for example, the maximum motor current is read at an analog input, then the maximum motor force can be
provided as analog for freely programmable joining processes.
The linear motor can thus be controlled like
a pneumatic cylinder with end position
switches.
410
www.LinMot.com
During configuration, for each position value, one input signal of 0V and 10V is programmed. Any intermediate position can
then be set via the analog input signal during operation.
The dynamics can be constrained by limits
on speed and acceleration.
Edition 16
subject to change
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Point to Point
B1100-PP
SUPPLY
3x400VAC
230VAC
X1
X2 (HC)
24...80V DC
PH1+
PH1PH2+
PH2-
LINEAR MOTOR
8A/15A/25A
PHASECURRENT
MOTOR SUPPLY
X3
PH1+
PH1PH2+
PH2SIN
COS
TEMP.
+5V
GND
X14
X13
STEP/DIR/ZERO
A+ SIN+
A- SINB+ COS+
B- COSZ+ ZERO+
Z- ZEROU+
UV+
VW+
WENC ALARM
+5VDC
GND
0...10V
6
2
5
LOGIC SUPPLY
INPUTS 1-6
10V
OUTPUTS 1-5
+24VDC
GND
OPTIONAL EXTERNAL
POSITION SENSOR
B1100-PP
MACHINE
CONTROLLER PLC, IPC
6
BRUSHLESS
DC MOTOR
X5
INTERFACE
CONFIGURATION
RS232
CAN
INTERFACE
CONFIGURATION
CAN
Item
B1100-PP
B1100-PP-HC
B1100-PP-XC
Edition 16
subject to change
3
4
RS232
RS485
2
4
2
X7
X8
RS485
RS485
CAN
CAN
Description
Point to Point Drive (72V/8A)
Point to Point Drive (72V/15A)
Point to Point Drive (72V/25A)
4
2
INTERFACE
CONFIGURATION
CAN
Part Number
0150-1735
0150-1736
0150-1740
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411
B1100-VF
Series B1100-VF
B1100-VF
B1100-VF-HC
B1100-VF-XC



PE
±10V Force or Velocity Control
X1: Motor Supply
Setpoint Streaming (CAN)







S4: CAN/RS485 Termination
Position Indexing
X2: Motor Phases
Analog Position Target
MPC Commands
X3: Motor Signal
Easy Step
Easy Steps Parameter Scale
X13: External Position Sensor
Diff Hall Switch
Serial Infaces RS232/RS485
CANopen
X5: Configuration
DeviceNet

LED: State Display
Encoder Simulation
B1100-VF
X14: I/O‘s, 24VDC Supply
X8: Cmd Out
X7: Cmd In
±10V 10V Force or Velocity Control,
Step and Direction Interface
Encoder Simulation
The B1100-VF servo amplifier allows LinMot linear motors to be integrated in systems an overlaid axis drive with analog
velocity (RPM) or force target (torque).
Motor force is proportional to the current
motor current (see motor data sheets for
force constant cf).
No additional external sensors are needed
for position measurement. The current actual position of the linear motor is captured
by the integrated position measurement,
and is available to the overlaid position
drive as an encoder signal.
In velocity mode, the analog input voltage
is used as a velocity target for the connected linear motor. The velocity control loop
is closed via a PI drive in the amplifier.
For step-direction targets, the target position is provided by the overlaid drive via
STEP, DIRECTION, and ZERO signals.
The maximum motor current (force) can be
limited via a digital input.
In force mode, the amplifier works like a
torque amplifier for rotary motors. The analog control signal is converted to a current
that the VF amplifier applies to the connected motor.
412
The resolution of the differential A/B encoder signals (RS422) is adjustable in the following ranges:
1µm, 2µm, 5µm, 10µm, 20µm, 50µm
If an external position sensor is used, it can
be read by the B1100 amplifier.
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Force Velocity
B1100-PP
SUPPLY
3x400VAC
230VAC
X1
X2 (HC)
24...80V DC
PH1+
PH1PH2+
PH2-
LINEAR MOTOR
8A/15A/25A
PHASECURRENT
MOTOR SUPPLY
X3
PH1+
PH1PH2+
PH2SIN
COS
TEMP.
+5V
GND
MACHINE
CONTROLLER PLC, IPC
6
X14
X13
STEP/DIR/ZERO
A+ SIN+
A- SINB+ COS+
B- COSZ+ ZERO+
Z- ZEROU+
UV+
VW+
WENC ALARM
+5VDC
GND
0...10V
6
2
5
LOGIC SUPPLY
INPUTS 1-6
10V
OUTPUTS 1-5
+24VDC
OPTIONAL EXTERNAL
POSITION SENSOR
B1100-VF
GND
BRUSHLESS
DC MOTOR
X5
INTERFACE
CONFIGURATION
RS232
CAN
INTERFACE
CONFIGURATION
CAN
Item
B1100-VF
B1100-VF-HC
B1100-VF-XC
Edition 16
subject to change
3
4
RS232
RS485
2
4
2
X7
X8
RS485
RS485
CAN
CAN
Description
Force Velocity Drive (72V/4A)
Force Velocity Drive (72V/15A)
Force Velocity Drive (72V/25A)
4
2
INTERFACE
CONFIGURATION
CAN
Part Number
0150-1685
0150-1686
0150-1739
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413
B1100-GP
Series
B1100-GP
B1100-GP
B1100-GP-HC
B1100-GP-XC











Position Indexing
±10V Force or Velocity Control
S4: CAN/RS485 Termination
Setpoint Streaming (CAN)
PE
Analog Position Target
X1: Motor Supply
MPC Commands
X2: Motor Phases
Easy Step
Easy Steps Parameter Scale
X3: Motor Signal
Serial Infaces RS232/RS485
CANopen
X13: External Position Sensor
Diff Hall Switch
DeviceNet
Encoder Simulation
X5: Configuration
B1100-GP
LED: State Display
X14: I/O‘s, 24VDC Supply
X8: Cmd Out
X7: Cmd In
RS232 / RS485
CANopen
DeviceNet
The LinMot B1100-GP series Servo Drives
support the LinRS serial communications
protocol. LinRS is a proprietary protocol for
actuating LinMot Servo Drives via the RS
232, RS 422, and RS 485 interfaces.
The LinMot B1100-GP drives support the
CiA DS301 communications protocol.
With the DeviceNet protocol, even complicated motion sequences can be realized
with the highest possible flexibility.
If the drive is actuated by the overarching
drive via the serial interface, then this is
configured from the PC via CanBus. The
USBSCAN converter (item no. 01503134), supported by LinMot Talk, is used
for this.
The following protocols are supported by
the CO drives:
Adjustable baud rates: 9.6 - 115.2kBaud
414
The following resources are available:
3 T_PDO, 3 R_PDO, 1 T_SDO, 1 R_SDO
• NMT Error Control (Nodeguarding Protocol or HeartBeat Protocol)
• PDO (Transmission type 254 and 1)
• SDO Upload and Download
• NMT (Start, Stop, Enter PreOp, Reset
Node, Reset Communication) Boot-Up
Message
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The drive can be actuated and monitored
via the DeviceNet connection.
B1100-GP are UCMM Group 3-capable
slaves, and support polled IO runtime data
transfer.
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
General Purpose
B1100-GP
SUPPLY
3x400VAC
230VAC
X1
X2 (HC)
24...80V DC
PH1+
PH1PH2+
PH2-
LINEAR MOTOR
8A/15A/25A
PHASECURRENT
MOTOR SUPPLY
X3
PH1+
PH1PH2+
PH2SIN
COS
TEMP.
+SV
GND
X14
X13
STEP/DIR/ZERO
A+ SIN+
A- SINB+ COS+
B- COSZ+ ZERO+
Z- ZEROU+
UV+
VW+
WENC ALARM
+5VDC
GND
0...10V
6
2
5
LOGIC SUPPLY
INPUTS 1-6
10V
OUTPUTS 1-6
+24VDC
GND
OPTIONAL EXTERNAL
POSITION SENSOR
B1100-GP
MACHINE
CONTROLLER PLC, IPC
6
BRUSHLESS
DC MOTOR
X5
INTERFACE
CONFIGURATION
RS232/RS485
CAN
COMMUNICATION
INTERFACE
RS485
CANOPEN
DEVICENET
Item
B1100-GP
B1100-GP-HC
B1100-GP-XC
Edition 16
subject to change
3
4
RS232/RS485
RS485
2
4
2
X7
X8
RS485
RS485
CAN
CAN
Description
Point to Point Drive (72V/8A)
Point to Point Drive (72V/15A)
Point to Point Drive (72V/25A)
4
2
COMMUNICATION
INTERFACE
RS485
CANOPEN
DEVICENET
Part Number
0150-1737
0150-1738
0150-1741
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415
Interfaces
X1
Motor Supply
PWR+
PGND
1
PWR +
2
PGND
10/16AT
1
2
24...85VDC
GND
GND internally
connected to controller
housing, which is
connected to PE
Screw Terminals
2.5 mm² (AWG14)
Motor Supply:
Motor Supply Voltage 24...85VDC.
Absolute max. Rating 72VDC + 20%
External fusing: 10AT for LC (8Apeak Servos), 16AT for HC and XC (15/25Apeak) Servos
If motor supply voltage is exceeding 90VDC, the drive will go into error state
X2
Motor Phases
1
1- v
2
2+ w
3
2- x
4
SCRN
5
B1100
1+ u
Nr.
1
2
3
4
5
Designation
PH1+ /U
PH1- /V
PH2+ /W
PH2SCRN
LinMot Linear Motor
Motor Phase 1+
Motor Phase 1Motor Phase 2+
Motor Phase 2Shield
Color
red
pink
blue
grey
3-Phase-Motor
Motor Phase U
Motor Phase V
Motor Phase W
Screw Terminals
1.5-2.5mm²
(AWG16-14)
The motor phases on X2 and X3 are internally connected.
If the RMS current is higher than 5A RMS, the phases must be connected to X2 and not to X3.
X3
Motor
1
2
3
4
5
6
7
8
9
DSUB-9
Nr
1
2
3
4
5
6
7
8
9
Case
LinMot Linear Motor
Motor Phase 1+
Motor Phase 2+
+5VDC
Sine
Temperature
Motor Phase 1Motor Phase 2AGND
Cosine
Shield
3-Phase-Motor
Motor Phase U
Motor Phase W
Hall U
Hall W
Motor Phase V
Hall V
- Use X3 for motor phase wiring if phase current does not exceed 2Arms or 4Apeak
- X3.3 (+5VDC) may be used only to supply motor hall-effect sensors (max. 100mA).
- X3.8 (AGND) may be used only to supply motor hall-effect sensors, and must not be connected to GND externally
416
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Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Series B1100
Motor
Motor wiring
1+ u
1
1- v
2
2+ w
3
2- x
4
OUTER SHIELD
PHASE 1-
SCRN
5
GREY
PHASE 1+
5
PHASE 2PHASE 2+
4
3
2
1
BLUE
PINK
X2: Screw Terminals
RED
1
WHITE
6
INNER SHIELD
1
2
3
4
5
6
7
8
9
2
YELLOW
7
GREEN
+5VDC
BLACK
AGND
SINE
3
4
COSINE
For LinMot Linear Motors only use
original LinMot double shielded motor cable K, KS, or KR
X3: DSUB-9 (f)
2k2
9
5
2k2
10k
GND
GND
+5VDC
Motor wiring for phase current below 2Arms and below 4Apeak
1
2
3
4
5
6
7
8
9
X3: DSUB-9 (f)
RED
PHASE 1+
PINK
PHASE 1-
BLUE
PHASE 2+
GREY
PHASE 2-
WHITE
+5VDC
INNER SHIELD
AGND
YELLOW
SINE
GREEN
COSINE
BLACK
TEMP.
1
B1100
Motor
TEMP
GND
8
6
2
7
3
GND
8
4
2k2
9
5
2k2
10k
GND
GND
+5VDC
Outer shield connected to connector housing
For LinMot Linear Motors only use original LinMot
double shielded motor cable K, KS, or KR
S4
Bus Termination
3 4
Switch
1 2
S4
on off
Edition 16
subject to change
S4
Switch 1: RS232 (switch “off” / RS485 “on”)
Switch 2: Termination RS485 on/off
Switch 3: Termination CAN on/off
Switch 4: Bootstrap
Select serial RS23 or RS485
Factory settings: all switches “off”
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417
Interfaces
COM
COM Schnittstelle
RS485_TX+
1
RS485_RX-
5
4
3
2
1
9
8
7
6
S4.2
2
RS485_TX-
7
RS232_RX
RS485_RX+
3
CAN_L
CAN_L
8
RS485_RX+
4
CAN_H
X5: DSUB-9 (m)
RS485_RX-
6
RS232_TX
120
X5
S4.3
120
CAN_H
9
GND
5
100
GND
RS232: Configuration on all Drives: use 1:1 connection cable to PC
LED
State Display
Green:
Green
24VDC Logic Supply OK
B1100
Red:
State: Error
Blinking: Fatal Error
Red
X7-X8
RS485/CAN
8
7
6
5
4
3
2
1
RJ-45
Nr
1
2
3
4
5
6
7
8
Case
RS485_Rx+
RS485_RxRS485_Tx+
GND
GND
RS485_TxCAN_H
CAN_L
Shield
A
B
Y
Z
- X7 internally connected to X8 (1:1 connection)
- Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring.
- The built in CAN and RS485 terminations can be activated by S3.2 and S3.3.
418
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Edition 16
subject to change
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Series B1100
X13
External Position Sensor Commutation
Nr
1
9
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
2
10
3
11
4
12
5
13
6
DSUB-15 (f)
14
7
15
8
case
Description
+5V DC
A+
AB+
BZ+
ZEncoder Alarm
GND
U+
UV+
VW+
WShield
Encoder
Encoder
Encoder
Encoder
Encoder
Encoder
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Max. Input Frequency:
2MHz (incremental RS422), 240ns edge separation
Sensor Supply Current:
max. 100mA
Position Encoder Inputs: RS422, Max Input Frequency: 2MHz, 4 M counts/s with quadrature
decoding, 240ns edge separation
Encoder Simulated Outputs:RS422, Max Output Frequency: 2.5MHz, 5 M counts/s with quadrature
decoding, 200ns edge separation
Edition 16
subject to change
Enc. Alarm In:
5V / 1mA
Sensor Supply:
5VDC, max 100mA
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B1100
Differential Hall Switch Inputs: RS422, Max Input Frequency: <1kHz
419
Interfaces
X14
Digital I/O
GND
+24V
INPUTS
1
DIGITAL INPUT 1
14 ***
47k
DIGITAL INPUT 2
***
47k
DIGITAL INPUT 3
15 ***
47k
DIGITAL INPUT 4
***
47k
16 ***
74k
***
47k
2
3
DIGITAL INPUT 5
14
15
16
17
18
19
20
21
22
23
24
25
OUTPUTS (MAX. 100mA)
1
2
3
4
5
6
7
8
9
10
11
12
13
DIGITAL INPUT 6
4
DIGITAL OUTPUT 1
DIGITAL OUTPUT 2
ANALOG INPUT 0...10V
DIFF ANALOG INPUT -
100mA
19 *
100mA
*
100mA
20
100k
8
10k
21
10k
22
STEP -
120
RS
422
120
RS
422
120
RS
422
10
DIR +
23
DIR -
11
ZERO +
24
ZERO +24VDC
*
+24V DC
9
STEP +
X14: DSUB-25 (f)
100mA
7
DIFF ANALOG INPUT +
SHIELD
100mA
6
DIGITAL OUTPUT 5
DIGITAL OUTPUT 6
*
18 *
5
DIGITAL OUTPUT 3
DIGITAL OUTPUT 4
500mA
17 **
2AT
B1100
GND
12
25
13
+24V DC
*(**)
OUTPUTS WITH INTERNAL PULL
DOWN RESISTOR 4K7 (1K6)
TO GND
Logic Supply:
Switch Mode Power Supply:24VDC (22...26VDC)
External Fuse:
2AT
All Digital Inputs:
Direct interfacing to digital 24VDC PLC outputs.
Input Current:
1mA
Logic Levels:
Low Level: guaranteed: -5 to 5VDC, typically < 8VDC
High Level: guaranteed: 20...30VDC, typically > 16VDC
Sample Rate:
400us
All Digital Outputs:
Short circuit and overload protected high side switches
Voltage:
24VDC
Sample Rate:
400us
Max. Current:
100mA / 500mA (X14.17)
Peak Current:
370mA / 1100mA (X14.17)
Outputs may directly drive inductive loads.
Analog Input on X14.20: Range:
Sample Rate:
0V..+10V 10Bit ADC
400us
Differential Analog Input Range:
on X14.8 X14.21 X14.9 Sample Rate:
Shield:
-10V..+10V 10Bit ADC
400us
Differential Step Dir Zero: Indexer Inputs:
RS422
Max. Input Frequency:
2MHz
4 M counts/s with quadrature decoding, 240ns edge separation
Cable length:
<30m
420
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Edition 16
subject to change
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Dimensions
106
206
Centers
195
166
Dimensions in mm
31
mm (in)
mm (in)
mm (in)
mm (in)
g (lb)
IP
°C
°C
°C
Max. case temperature
Max. power dissipation
Min. distance between drives
°C
W
mm (in)
Item
Description
Part Number
B1100-PP
B1100-PP-HC
B1100-PP-XC
Point to Point Drive (72V/8A)
Point to Point Drive (72V/15A)
Point to Point Drive (72V/25A)
0150-1735
0150-1736
0150-1740
B1100-VF
B1100-VF-HC
B1100-VF-XC
Force Velocity Drive (72V/8A)
Force Velocity Drive (72V/15A)
Force Velocity Drive (72V/25A)
0150-1685
0150-1686
0150-1739
B1100-GP
B1100-GP-HC
B1100-GP-XC
Point to Point Drive (72V/8A)
Point to Point Drive (72V/15A)
Point to Point Drive (72V/25A)
0150-1737
0150-1738
0150-1741
Edition 16
subject to change
B1100
Servo Drive Series B1100
Width
Hight
Hight without fixings
Depth
Weight
IP Protection class
Storage temperature
Transport temperature
Operating temperture
31 (1.3)
166 (6.6)
206 (8.1)
106 (4.2)
700 (1.6)
20
-25...40
-25...70
0...40 at rated date
40...50 with power derating
70
30
20 (0.8) left/right
50
(2)
top/bottom
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421
Accessories B1100
Switched-Mode Power Supplies
115VAC / 230VAC
SPH500-7207
CSA 22.2-60950
CSA 22.2-107
UL 60950
UL 508
SPH1013-7214
SPH500-7207
Item
S01-72/500
S01-72/1000
Description
Switched-Mode Power Supply 72V/500W
Switched-Mode Power Supply 72V/1000W
3x230/280/400/480VAC
E1100/B1100 Accessories
Transformer Supply T01
Part Number
0150-1874
0150-1872
Item
T01-72/420...1500-Multi
Description
Transformer Supply 3x230/280/400/480VAC, 50/60Hz, 420...1500W
Part Number
see page 536
Description
Control Box for E1100 (incl. cable and connectors)
Control Box for B1100 (incl. cable and connectors)
Part Number
0150-1970
0150-2110
Control Box B01-E1100
Item
B01-E1100
B01-B1100
422
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Accessories B1100
Connector Cable and USB-Converter
0150-3009
Item
RS232 PC config. cabel 2m
USB-Serial Converter
USB-CAN Converter
RJ45-08/0.3
RJ45-08/0.6
0150-3110
0150-3134
0150-2143
Description
for E100/E1001/E1100/B1100
USB to 9-pin Serial Converter
USB to CAN Converter for E1100/B1100
RJ45 patch cable 0.3m for E1100/B1100
RJ45 crossover patch cable 0.6m
0150-1852
0150-1853
Part Number
0150-3307
0150-3110
0150-3134
0150-1852
0150-1853
E1100/B1100 Accessories
Option: External High Resolution Encoder
Item
MS01-1/D
MB01-1000
Edition 16
subject to change
Description
Linear Encoder 1um, A/B (for 1mm magnetic band)
Magnetic Band 1mm pitch, per cm
Part Number
0150-1840
0150-1963
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423
Notes
424
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Edition 16
subject to change
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Servo Drive
B1150
Multi Axes System B1150 / B8050
Servo Drive B1150-ML
430
Bus Module B8050-ML
432
Edition 16
subject to change
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425
Servo Drives
Multi-Axes System
B1150 / B8050
Series B1150 Servo Drives are compact axis drives, with 32-bit position resolution and an
integrated power element, for LinMot P01 linear
motors and rotary servo motors.
B1150
B1150 drives together with the bus modules
B8050 are designed for cost optimized, modular
multi axes systems with the industrial Ethernet
interfaces EtherCAT, Profinet, EthernetIP,
Sercos III and Powerlink.
Connection to Machine Drive
Process and sensor interfaces
Logic and power supply
The Series B1150 Servo Drives can be
actuated by machine controls from any
manufacturer or brand, via industrial
Ethernet.
Fast process interfaces for direct processing of sensor signals are available as freely
programmable analog and digital inputs and
fast trigger inputs.
The Servo Drives have two separate power
supplies for the logic and power elements.
Fro complex motion sequences that run in
an overarching positioning drive, the motor can be controlled by means of analog
speed or force targets. The position signal
from the measurement system integrated
in the linear motor can be accessed at the
encoder output to control position.
For high-accuracy applications, a freely
configurable encoder interface is available.
It analyzes the commutation signals from
brushless, rotary servomotors as well.
426
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In an E-stop and safe stop of the drive, only
the power element supply is cut off from the
drive. The logic supply and the drive continue to run.
This has the advantage that the drive and linear motor do not need to be reinitialized
when the machine is restarted, since all process data, including the current position of
the linear motor, are still up to date.
Edition 16
subject to change
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Series B1150
System Integration
Fieldbusses and interfaces to the overlaid control
Fast Prozess Inputs
Supply and Safety
Digital
I/O´s
Logic
Supply
Motor
Supply
Trigger
Inputs
±10V
ProfiNet
Sercos
III
Servo Drive
Series B1150
Bus Module
B8050
Power
Link
Ethernet
IP
Capture
Analog
Inputs
Ether
CAT
Additionally, the drives can be equipped with optional peripherals, such as reference and end
stop switches, high-precision external position
sensors, or a mechanical holding brake.
Optional Limit and Home Switches
Limit Switch
• 32 Bit Position Value
• Resolution 0.1µm
Run Modes:
• VA Interpolated
Moves
• Analog Position
• Two Point Trigger
Moves
• Streaming P, PV
• Step, Direction,Zero
Flexible hardware enables control of any 1/2/3phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept.
Home
Switch
Limit +
Switch
Series B1150 Servo Drives have analog inputs
and digital inputs and outputs, serial interfaces,
and fieldbus connections. The user is therefore
not dependent on the selection of the overarching drive.
With flexibility and a compact form factor, LinMot
Series B1150 Servo Drives provide a complete
solution for a flexible drive concept in single and
multiple axis applications, with linear motors and
other actuators.
Diverse Korrekturen im Deutschen, siehe Korrekturen von Dani
LinMot Linear
Motor or other
1/2/3 phase motor
(Brushless DC,
Voice Coil,...)
External
Position
Sensor
Optional Brake
B1150
Config.
Optional external Position Sensor
RS232
Position Streaming
Motor Interfaces
Configuration
With a cyclical target value, or "position
streaming," the overarching NC or CNC
drive communicates with the Servo Drive
via industrial Ethernet.
The series B1150 Servo Drives allow control of 1, 2, or 3 phase linear motors and
brushless rotary servomotors.
Parameterization and configuration of the
Servo Drive is done via the RS232 interface
on the front side.
B1150 Servo Drives provide all necessary
interfaces to operate linear or rotary motors
with optional external peripherals, such as
end position and reference switches, a mechanical brake, or a high-resolution external position sensor.
LinMot Talk user-friendly PC software is
available for configuration. In addition to online documentation, LinMot Talk provides
extensive debugging tools, such as an
oscilloscope and an error inspector, for simple and rapid start-up of the axes.
The position and velocity calculated in the
overarching drive is transmitted to the Servo Drive cyclically. The P, PV, or PVT
mode is available for this transmission.
Using the cyclical target value, complex
motions and interpolating multi-axis applications can be implemented.
Edition 16
subject to change
Fieldbus and Ethernet drives can also be
configured directly by the overarching drive.
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427
Operating Modes
Interpolated Moves
For direct position targets, using absolute or relative positioning, the desired position is
reached using an acceleration and velocity-limited motion profile (VA interpolator). Positioning
commands can be invoked via industrial Ethernet, or a trigger input.
Stroke [mm]
Goto 100mm
vmax = 2,5m/s
amax = 3,0m/s2
Time[ms]
Stroke range:
Position Resolution:
Velocity Resolution:
Velocity Resolution:
±100m
0.1µm (32Bit)
1.0µm/s (32Bit)
2
10.0µm/s (32Bit)
Setpoint Streaming
Overlaid NC drives with industrial Ethernet interfaces communicate with the Servo Drives via
"Position Streaming". The position and velocity calculated in the overlaid control is transmitted
to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.
Stroke [mm]
B1150
Time[ms]
Position Resolution:
Velocity Resolution
Interpolator:
cycle times:
32 Bit
32 Bit
5 kHz
2-5ms
Easy Steps
Input 1
Input 2
Input 3
Input 4
Pos 125mm
Pos 250mm
Pos 50mm
Pos -30mm
With the Easy Steps function, up to 6 positions or independent travel commands can be stored
on the drive, and addressed via 6 serial interfaces or industrial Ethernet.
Digital inputs:
Interface:
Scanning rate:
max. 6
X14
400µsec / 2µsec with Ethernet
Easy Steps Parameter Scale
Maximum Force [0...10V => 0...100%]
100%
Easy Steps provide the ability to parameterize internal parameters using two analog inputs. If,
for example, the maximum motor current is read at an analog input, then the maximum motor
force can be provided as analog for freely programmable joining processes.
Inputs:
Voltagvte range:
Force Max
0%
428
Time[ms]
Resolution:
Scanning rate:
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Analog Inputs (X14.20, X14.8/X14.21)
0 - 10VDC (X14.20)
-10 - +10VDC (X14.18/X14.21)
10 Bit
400µsec
Edition 16
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Multi Axes Configuration
2-Axes
3-Axes
4-Axes
5-Axes
6-Axes
7-Axes
8-Axes
B1150
1-Axes
Edition 16
subject to change
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429
B1150-ML
Servo Drive B1150-ML
B1150-ML
B1150-ML-HC
B1150-ML-XC


PE
Setpoint Streaming P


S4: CAN/RS485 Termination
Interpolated Moves
X1: Motor Supply
Setpoint Streaming PV
X2: Motor Phases
Setpoint Streaming PVT



Easy Step
X3: Motor Signal
Easy Steps Parameter Scale
Encoder Simulation
X13: External Position Sensor
Diff Hall Switch
X23: Configuration RS232
LED: State Display
B1150-ML
X14: I/O‘s, 24VDC Supply
X22: MC-Link OUT
X21: MC-Link IN
Industrial Ethernet
Modular Multi Axes Systems
Interfaces
LinMot B1150-ML series Servo Drives together with the bus modules B8050-ML
support the following industrial Ethernet Interfaces:
The modular B1150/B8050 system is designed for multi axes applications and integration in industrial Ethernet communication
from different PLC or NC manufacturers
over a single bus node.
B1100 Servo Drives provide all necessary
interfaces to operate linear or rotary motors
with optional external peripherals, such as
end position and reference switches or a
mechanical brake.
Up to 8 B1150-ML drives may be connected to a bus module B8050 and controlled
over industrial Ethernet interfaces.
Using digital inputs, the linear motor can
move to up to six freely programmable positions. The resolution of the high resolution A/B/Z encoder input or A/B encoder
simulation output is adjustable.
•
•
•
•
•
EtherCat
Ethernet IP
Powerlink
Profinet
Sercos III
430
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subject to change
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B1150-ML
B1150-ML (-HC/XC)
SUPPLY
3x400VAC
230VAC
115VAC
X1
X2
24...80V DC
PH1+
PH1PH2+
PH2-
LINEAR MOTOR
8A/15A/25A
PHASECURRENT
MOTOR SUPPLY
X3
PH1+
PH1PH2+
PH2SIN
COS
TEMP.
+5V
GND
X14
X13
STEP/DIR/ZERO
A+ SIN+
A- SINB+ COS+
B- COSZ+ ZERO+
Z- ZEROU+
UV+
VW+
WENC ALARM
+5VDC
GND
0...10V
6
2
6
LOGIC SUPPLY
INPUTS 1-6
10V
OUTPUTS 1-6
+24VDC
GND
OPTIONAL EXTERNAL
POSITION SENSOR
B1150-ML
MACHINE
CONTROLLER PLC, IPC
6
BRUSHLESS
DC MOTOR
X23
RS232 INTERFACE
CONFIGURATION
RS: 9,6 - 118kBaud
3
6
MC-LINK
RS232
X21
X22
MC-LINK IN
MC-LINK OUT
Edition 16
subject to change
MC-LINK
2
2
Item
B1150-ML
B1150-ML-HC
B1150-ML-XC
6
Description
MC-Link Drive (72V/8A)
MC-Link Drive (72V/15A)
MC-Link Drive (72V/25A)
Part Number
0150-1796
0150-1797
0150-1798
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431
B8050-ML
Bus Module B8050-ML
B8050-ML-EC
B8050-ML-IP
B8050-ML-PL
B8050-ML-PN
B8050-ML-SC
Industrial Ethernet Interfacing
Multi Axes Interfacing
PE
EtherCAT
X18: RT ETH Out
Ethernet IP
X17: RT ETH In
Powerlink
567
34
8 AB
Profnet
CDE
F012
567
34
8 AB
CDE
F012







Sercos III
LED: RT Bus
S1: ID High
S2: ID Low
LED: State Display
X23: RS Config
X2
8
X2
7
X2
6
B8050-ML
X2
5
X24: Supply
X25: MC-Link 1
X26: MC-Link 2
X27: MC-Link 3
X28: MC-Link 4
Modular Multi Axes Systems
Industrial Ethernet
Motion Commands
The modular B1150/B8050 system is designed for multi axes applications and integration in industrial Ethernet communication
from different PLC or NC manufacturers
over a single bus node.
LinMot B8050-ML bus modules support the
following industrial Ethernet Interfaces:
Motion commands for the B1150/B8050
multi axes systems are identical to the
B1100 motion commands.
Up to 8 B1150-ML drives may be connected to a bus module B8050 and controlled
over industrial Ethernet interfaces.
432
•
•
•
•
•
EtherCat
Ethernet IP
Powerlink
Profinet
Sercos III
www.LinMot.com
For simple positioning tasks, relative and
absolute position commands with velocity
and acceleration limitation are available.
For more complex motions or synchronization, the motion profiles are calculated in
the overlaid drive and transmitted via setpoint streaming.
Edition 16
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B8050-ML
8 Axes System
TOP
Termination
Settings
4
3
2
1
on off
4
3
2
1
on off
4
3
2
1
on off
4
3
2
1
on off
4
3
2
1
on off
4
3
2
1
on off
4
3
2
1
on off
4
3
2
1
on off
BOTTOM
4
3
2
1
Axis 1
Axis 2
Axis 3
Axis 4
Bus
Module
Axis 5
Axis 6
Axis 7
Axis 8
Axis 7
Axis 8
B8050-ML
4 Axes System
TOP
Termination
Settings
4
3
2
1
on off
4
3
2
1
on off
4
3
2
1
on off
4
3
2
1
on off
BOTTOM
4
3
2
1
Axis 1
Item
B8050-ML-EC
B8050-ML-IP
B8050-ML-PL
B8050-ML-PN
B8050-ML-SC
Edition 16
subject to change
Axis 2
Axis 3
Axis 4
Bus
Module
Description
8-Axes Bus Module Etercat
8-Axes Bus Module Ethernet IP
8-Axes Bus Module Powerlink
8-Axes Bus Module Profinet
8-Axes Bus Module Sercos III
Axis 5
Axis 6
Part Number
0150-1878
0150-1879
0150-1877
0150-1880
0150-1881
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433
Interfaces
X1
Motor Supply
PWR+
PGND
1
PWR +
2
PGND
10/16AT
1
2
24...85VDC
GND
GND internally
connected to controller
housing, which is
connected to PE
Screw Terminals
2.5 mm² (AWG14)
Motor Supply:
Motor Supply Voltage 24...85VDC.
Absolute max. Rating 72VDC + 20%
External fusing: 10AT for LC (8Apeak Servos), 16AT for HC and XC (15/25Apeak) Servos
If motor supply voltage is exceeding 90VDC, the drive will go into error state
X2
Motor Phases
1
1- v
2
2+ w
3
2- x
4
SCRN
5
B1150
1+ u
Nr.
1
2
3
4
5
Designation
PH1+ /U
PH1- /V
PH2+ /W
PH2SCRN
LinMot Linear Motor
Motor Phase 1+
Motor Phase 1Motor Phase 2+
Motor Phase 2Shield
Color
red
pink
blue
grey
3-Phase-Motor
Motor Phase U
Motor Phase V
Motor Phase W
Screw Terminals
1.5-2.5mm²
(AWG16-14)
The motor phases on X2 and X3 are internally connected.
If the RMS current is higher than 5A RMS, the phases must be connected to X2 and not to X3.
X3
Motor
1
2
3
4
5
6
7
8
9
DSUB-9
Nr
1
2
3
4
5
6
7
8
9
Case
LinMot Linear Motor
Motor Phase 1+
Motor Phase 2+
+5VDC
Sine
Temperature
Motor Phase 1Motor Phase 2AGND
Cosine
Shield
3-Phase-Motor
Motor Phase U
Motor Phase W
Hall U
Hall W
Motor Phase V
Hall V
- Use +5V (X3.3) and AGND (X3.8) only for motor internal hall sensor supply (max. 100mA)
Caution: - Do NOT connect AGND (X3.8) to ground or earth!
- It is only allowed to use X3 for connecting the motor phases if RMS current is below 2A and peak current
below 4A.
434
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Series B1150
Motor
Motor wiring
1+ u
1
1- v
2
2+ w
3
2- x
4
OUTER SHIELD
PHASE 1-
SCRN
5
GREY
PHASE 1+
5
PHASE 2PHASE 2+
4
3
2
1
BLUE
PINK
X2: Screw Terminals
RED
CAUTION:
DO NOT
CONNECT
X3.1/6/2/7
WHITE
INNER SHIELD
1
2
3
4
5
6
7
8
9
YELLOW
1
6
2
7
GREEN
+5VDC
BLACK
AGND
SINE
3
4
COSINE
For LinMot Linear Motors only use
original LinMot double shielded motor cable K, KS, or KR
X3: DSUB-9 (f)
TEMP
GND
8
2k2
9
5
2k2
10k
GND
GND
+5VDC
Important:
If motor phase current exceeds 2ARMS or
4Apeak, motor phases must be wired to X2!
Motor wiring for phase current below 2Arms and below 4Apeak
1
2
3
4
5
6
7
8
9
X3: DSUB-9 (f)
RED
PHASE 1+
PINK
PHASE 1-
BLUE
PHASE 2+
GREY
PHASE 2-
WHITE
+5VDC
INNER SHIELD
AGND
YELLOW
SINE
GREEN
COSINE
BLACK
TEMP.
1
B1150
Motor
6
2
7
3
GND
8
4
2k2
9
5
2k2
10k
GND
GND
+5VDC
Outer shield connected to connector housing
For LinMot Linear Motors only use original LinMot
double shielded motor cable K, KS, or KR
Important:
Motor phases may only be connected to X3 if RMS
current is below 2A and peak current is below 4A!
S6
MC-Link Termination
Switch
4
3
2
1
on off
S6
S6
Edition 16
subject to change
Switch 4: Bootstrap
Switch 3: Termination A on/off
Switch 2: Termination B on/off
Switch 1: Not used
Factory settings: Switch 3 “on”
all other switches “off”
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435
Interfaces
X23
Motor
5
4
3
2
1
Nr
1
2
3
4
5
6
7
8
9
Case
9
8
7
6
DSUB-9 (m)
(Do not connect)
RS232_Tx
RS232_Rx
(Do not connect)
GND
(Do not connect)
(Do not connect)
(Do not connect)
(Do not connect)
Shield
RS232:
Configuration on all drives: use 1:1 connection cable to PC with only 2,3 and 5 connected.
Use LinMot RS Config Cable (Art.-No. 0150-3307)
LED
State Display
Green:
Green
24VDC Logic Supply OK
Red:
State: Error
Blinking: Fatal Error
Red
X21-X22
MC-Link
8
7
6
5
4
3
2
1
RJ-45
Nr
1
2
3
4
5
6
7
8
Case
ML1+
ML1ML2+
Cable Select
GND
ML2ML3+
ML3Shield
Use MC-Link cables (Art.-No. 0150-3308)
436
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Series B1150
External Position Sensor Commutation
Nr
1
9
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
2
10
3
11
4
12
5
13
6
14
DSUB-15 (f)
7
15
8
case
X17-X18
Description
+5V DC
A+
AB+
BZ+
ZEncoder Alarm
GND
U+
UV+
VW+
WShield
Encoder
Encoder
Encoder
Encoder
Encoder
Encoder
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Position Encoder Inputs:
RS422, Max Input Frequency: 2MHz, 4 M counts/s with quadrature
decoding, 240ns edge separation
Encoder Simulated Outputs:
RS422, Max Output Frequency: 2.5MHz, 5 M counts/s with quadrature
decoding, 200ns edge separation
Differential Hall Switch Inputs:
RS422, Max Input Frequency: <1kHz
Enc. Alarm In:
5V / 1mA
Sensor Supply:
5VDC, max 100mA
B1150
X13
RealTime Ethernet 10/100 Mbit/s
Nr
X17
X18
X17 in
Bez.
RT ETH In
RT ETH Out
Specification depends on RT-Bus Type. Please refer to according documentation
X18 out
RJ-45
X24
Supply
2
1
Nr
2
1
Bez.
+24VDC Supply (22-26VDC).
GND Supply
Supply 24V / typ. 150mA
Stripping Length: 10mm, Connection in acc. with standard:EN-VDE,
Use 60/75°C Copper Conductors only, Conductor cross-section max. 1.5mm2
Edition 16
subject to change
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437
Interfaces
X14
24VDC Supply and IOs
GND
1
DIGITAL INPUT 1
14
DIGITAL INPUT 2
+24V
INPUTS
2
DIGITAL INPUT 3
15
DIGITAL INPUT 4
3
DIGITAL INPUT 5
14
15
16
17
18
19
20
21
22
23
24
25
OUTPUTS (MAX. 100mA)
1
2
3
4
5
6
7
8
9
10
11
12
13
16
DIGITAL INPUT 6
4
DIGITAL OUTPUT 1
DIGITAL OUTPUT 2
DIGITAL OUTPUT 3
DIGITAL OUTPUT 4
DIGITAL OUTPUT 5
DIGITAL OUTPUT 6
ANALOG INPUT 0...10V
DIFF ANALOG INPUT DIFF ANALOG INPUT +
SHIELD
***
47k
***
47k
***
47k
***
47k
***
47k
***
500mA
17 **
5
*
100mA
100mA
*
100mA
19 *
7
100mA
*
20
100k
8
10k
21
22
STEP -
10k
120
RS
422
120
RS
422
120
RS
422
10
DIR +
23
DIR -
11
ZERO +
24
ZERO +24VDC
+24V DC
100mA
18 *
6
*** INTERNAL
PULLDOWN
10K
TO GND
9
STEP +
X14: DSUB-25 (f)
47k
2AT
GND
12
13
B1150
+24V DC
25
* INTERNAL PULLDOWN 1K6 TO GND
** INTERNAL PULLDOWN 4K6 TO GND
Logic Supply:
Switch Mode Power Supply:24VDC (22...26VDC)
External Fuse: 2AT
All Digital Inputs:
Direct interfacing to digital 24VDC PLC outputs.
Input Current: 1mA
Logic Levels: Low Level: guaranteed: -5 to 5VDC, typically < 8VDC
High Level guaranteed: 20..30VDC, typically > 16VDC
Sample Rate: 400us
All Digital Outputs:
Short circuit and overload protected high side switches
Voltage:
24VDC
Update Rate: 400us
Max. Current: 100mA/500mA (X14.17)
Peak Current: 370mA/1100mA (X14.17)
Outputs may directly drive inductive loads. Do not connect any capacity because of the peak current!
Analog Input on X14.20: Range:
0V..+10V 10Bit ADC
Sample Rate: 400us
Differential Analog Input Range:
-10V..+10V 10Bit ADC
on X14.8 X14.21 X14.9 Sample Rate: 400us
Shield:
Differential Step Dir Zero: Indexer Inputs: RS422
Max. Input Frequency:
2MHz
4 M counts/s with quadrature decoding, 240ns edge separation
438
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Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Dimensions
106
166
31
B
4567
8A
B
8A
4567
195
B8050-ML
B1150-ML
Centers
CDEF
Dimensions in mm
206
CDEF
195
0123
Centers
0123
206
106
31
mm (in)
mm (in)
mm (in)
mm (in)
g (lb)
IP
°C
°C
°C
Max. case temperature
Max. power dissipation
Clearance around Drives
°C
W
mm (in)
Item
Description
Part Number
B1150-ML
B1150-ML-HC
B1150-ML-XC
MC-Link Drive (72V/8A)
MC-Link Drive (72V/15A)
MC-Link Drive (72V/25A)
0150-1796
0150-1797
0150-1798
B8050-ML-EC
B8050-ML-IP
B8050-ML-PL
B8050-ML-PN
B8050-ML-SC
8-Axes Bus Module EtherCAT
8-Axes Bus Module Ethernet IP
8-Axes Bus Module Powerlink
8-Axes Bus Module Profinet
8-Axes Bus Module Sercos III
0150-1878
0150-1879
0150-1877
0150-1880
0150-1881
B1150
Servo Drive Series B1150/8050
Width
Hight
Hight without fixings
Depth
Weight
IP Protection class
Storage temperature
Transport temperature
Operating temperture
Edition 16
subject to change
166
31 (1.3)
166 (6.6)
206 (8.1)
106 (4.2)
700 (1.6)
20
-25...40
-25...70
0...40 at rated date
40...50 with power derating
70
30
15 (0.8) left/right
50 (2) top
100 (4) bottom
90 (3.5) front
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Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
439
Accessories B1150/B8050
Switched-Mode Power Supplies
115VAC / 230VAC
SPH500-7207
CSA 22.2-60950
CSA 22.2-107
UL 60950
UL 508
SPH1013-7214
SPH500-7207
Item
S01-72/500
S01-72/1000
Description
Switched-Mode Power Supply 72V/500W
Switched-Mode Power Supply 72V/1000W
3x230/280/400/480VAC
E1100/B1150 Accessories
Transformer Supply T01
Part Number
0150-1874
0150-1872
Item
T01-72/420...1500-Multi
Description
Transformer Supply 3x230/280/400/480VAC, 50/60Hz, 420...1500W
Part Number
see page 536
Description
Control Box for E1100 (incl. cable and connectors)
Control Box for B1150 (incl. cable and connectors)
Part Number
0150-1970
0150-2110
Control Box B01-E1100
Item
B01-E1100
B01-B1150
440
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
Accessories B1150
Connector Cable and USB-Converter
0150-3009
Item
RS232 PC config. cabel 2m
USB-Serial Converter
RJ45/RJ45-0.2-ML1
0150-3110
0150-3134
0150-2143
Description
for E100/E1001/E1100/B1150
USB to 9-pin Serial Converter
MC-Link Cable, 0.2m
0150-3308
0150-1853
Part Number
0150-3307
0150-3110
0150-3308
E1100/B1150 Accessories
Option: External High Resolution Encoder
Item
MS01-1/D
MB01-1000
Edition 16
subject to change
Description
Linear Encoder 1um, A/B (for 1mm magnetic band)
Magnetic Band 1mm pitch, per cm
Part Number
0150-1840
0150-1963
www.LinMot.com
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
441
Notes
442
www.LinMot.com
Edition 16
subject to change
Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com
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