Servo Controllers E1400 e recent-1

Servo Controllers E1400 e recent-1
Servo Drives 3x400VAC
Servo Drive Series E1400
Edition 16
subject to change
www.LinMot.com
449
Servo Drives
Servo Drive Series
E1400
Series E1400 Servo Drives are modular axis drives, with 32-bit position resolution and an integrated power stage 3x400VAC, for linear motors
and rotary motors.
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 E1400 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.
450
The safety Interface 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
subject to change
Series E1400
System Integration
Fieldbusses and interfaces to the overlaid control
Digital
I/O´s
RS232
RS485
Supply and Safety
Logic
Supply
Motor
Supply
3x400VAC
Safety
Trigger
Inputs
Capture
DeviceNet
Profibus
DP
Linmot
Servo Drive
Series
E1400
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
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 E1400 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 E1400 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
Servo motor
(AC Servo, Voice
Coil,...)
External
Position
Sensor
Optional Brake
Command Table:
• Up to 255
Commands
Optional external Position Sensor
ETHERNET
(RS232)
ETHERNET
Config.
Master
Encoder
In
Master
Encoder
Out
Synch.
Technology Functions
Config.
Analog
Inputs
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.
Master Encoder
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.
E1400 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.
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.
Edition 16
subject to change
www.LinMot.com
451
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 E1400 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]
452
Position Resolution:
Velocity Resolution
Interpolator:
cycle times:
www.LinMot.com
32 Bit
32 Bit
10 kHz
0.4-5ms
Edition 16
subject to change
Series E1400
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)
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]
Stroke [mm]
Curve 1
0°
90°
180°
270°
360°
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
www.LinMot.com
32 Bit
A/B/Z (RS422), max. 5 MHz
STEP/DIR/ZERO
Max. 4.5 MHz
453
Series E1400
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.
454
www.LinMot.com
Edition 16
subject to change
Interfaces
case: Shield
8
Motor Link C15
Motor Link C+
7
Clock 14
Clock +
Data - 6
13
Data +
GND 5
12
TEMP
GND Sense 4
11
+5V Sense
Cos - 3
10
Cos +
Sin - 2
Sin +
9
+5V 1
Off
On
2
3
4
5
6
7
8
X7 CMD IN
123456
OFF
+5V
9 SenDC
sA
Sen
10 Sens /A
s B6
Sen
11 Sens /B
sZ
Sen
12 Sens /Z
s Alarm
GND
13 Hall
Sw U
Hall
14 Hall Sw /U
Sw V
Hall
15 Hall Sw /V
Sw
Hall /W W
ON
X13 EXT POS SENS
123456
6 Forc
e DHC
P
5 Bootstra
4 ME CAN p
Term
3 CMD
CAN
2 CM RS4 Term
1 Anin 85 Term
2 Pull
Down
1
X7: CMD (RS485 / CAN)
X8
X19: System
X20: Anlalog IN
S5: Bus Termination
X12 ANALOG IN
X19 SYSTEM
Brake Brake +
PE
W
V
U
KTY+
KTY-
Brake GND
Brake +24VDC
MO
X18CMD OUT
X31
32
S X
SE
HA
RP
TO
X2
X10: Master Encoder IN
X11: Master Encoder OUT
X10 ME IN
OD
NC
RE
TO
MO
S5
ER
X11 ME OUT
PE
X3
X13: External Positionssensor
X4. 16
X14 LOGIC SUPPLY / IO CONNECTION
Ksr+
X4. 15
KsrX4. 14
Ksr f+
X4. 13
Ksr fX4. 12
SVE
X4. 11
QuickS
top, PTC
X4. 10
2
IO, PTC
1
X4. 9
IO, LIM
+
X4. 8
IO, LIM
X4. 7
IO, HSW
X4. 6
IO, TRI
G
X4. 5
IO, CAP
X4. 4
IO, AN
X4. 3
IO, /BR
K
X4. 2
+24VDC
X4. 1
DGND
!
en,
mmund
nung
+
Span ng abkle
n DC f
hohe
orgu he n au
ch
Vers zwisc tore
ährli
iten und ensa
Gef
Arbe rten Kond d.
dem n wa die n sin
Vor inunte n, ob tlade
5
se
en
M
wait
5 - mes C
k!
pply, and
DC r 42 VD c Shoc
ct suDC+ ve
unte
ectri
onne een ha
disc tw ors
of El
ng, re be pacit
Risk
rvici easuthe ca
m
C
re se
and that VD
Bevo
es sure w 42
ut
min- to be belo
ion!
ance
DC harged
tens
nten 5 et
mai ndre DC+ nt
ute
disc
n ha
n de atte tre so
atio tion, n en teurs
ntio
oper enta tensioensa
Atte
ute lim
t to ter lá urer las condVCD.
Avannnec mes r si lede 42
decoutes etverivie ure
min- pour s inferie
DC arge
dech
X4: Logic Supply / IO Connection
Error
Warnin
24V
OK
g
PE
L1
L2
L3
S1
S1-2:Adress Selectors
Error
LED RT Bus State Display
X18 RT ETH IN
OK
X17-:RealTime ETHERNET
X18
X15-:ETHERNET Configuration
X16
X15 CONFIG ETH
Fan+ (red)
Fan- (black)
DCDC+
RRRR+z
X16 CONFIG ETH
X18 RT ETH OUT
RT BUS
LED State Display
EN
12345678
ID LOW
(1...4)
S2
ID HIG
H
(5...8)
P
SD
BU
OFI ly)
PR on
X9 1430
(E
AR
X29
Fan
SB
X1
DC
BU
PLY
UP
RS
TO
X30
MO
X9: Profibus (only -DP)
X29: Fan
X1: DC Busbar / Regeneration Resistor
E1400-GP-QN
E1430-DP-QN
E1450-PL-QN
E1450-EC-QN
E1450-PN-QN
E1450-IP-QN
E1450-SC-QN
E1450-SE-QN
X30: Motor Suply Mains
CANopen
z
z
z
z
z
z
z
z
LinRS
z
z
z
z
z
z
z
z
Interfaces
z
PROFIBUS-DP
z
POWERLINK
z
ETHERCAT
z
z
PROFINET
z
ETHERNET IP
z
SERCOS III
z
SERCOS over EtherCAT
Config. ETHERNET
Edition 16
subject to change
z
z
z
www.LinMot.com
z
z
z
z
z
z
z
455
Series E1400
E1400-GP-QN
E1430-DP-QN
E1450-PL-QN
E1450-EC-QN
E1450-PN-QN
E1450-IP-QN
E1450-SC-QN
case: Shield 8
Motor Link C15
Motor Link C+
7
Clock 14
Clock +
Data - 6
13
Data +
GND 5
12
TEMP
GND Sense 4
11
+5V Sense
Cos - 3
10
Cos +
Sin - 2
Sin +
9
+5V 1
Off
On
1
2
3
4
5
Positioning using Motion Profiles
6
7
8
Master Encoder Synchronization
X7 CMD IN
X12 ANALOG IN
X4. 16
Ksr+
X4. 15
KsrX4. 14
Ksr f+
X4. 13
Ksr fX4. 12
SVE
X4. 11
QuickS
top, PTC
X4. 10
2
IO, PTC
1
X4. 9
IO, LIM
+
X4. 8
IO, LIM
X4. 7
IO, HSW
X4. 6
IO, TRI
G
X4. 5
IO, CAP
X4. 4
IO, AN
X4. 3
IO, /BR
K
X4. 2
+24VDC
X4. 1
DGND
!
en,
mmund
nung
+
Span ng abkle
n DC f
hohe
orgu he n au
Vers zwisc tore
äh
iten und ensa
Gef
Arbe rten Kond d.
dem n wa die n sin
Vor inunte n, ob tlade
5
wait
5 M- messe C en
k!
ly,
pp and
DC r 42 VD c Shoc
ct suDC+ ve
unte
ectri
onne een ha
disc tw ors
of El
ng, re be pacit
Risk
rvici easuthe ca
m
C
re se
and re that VD
Bevo
utes su w 42
min- to be belo
n!
ce
io
an
DC harged
tens
nten 5 et
mai ndre DC+ nt
ute
disc
n ha
n de atte tre so
atio tion, n en teurs
ntio
oper enta tensioensa
Atte
ute lim
t to ter lá urer las condVCD.
Avannnec mes r si lede 42
decoutes etverivie ure
min- pour s inferie
DC arge
dech
rlich
Internally stored Motion Sequences
+5V
9 SenDC
sA
Sen
10 Sens /A
s B6
Sen
11 Sens /B
sZ
Sen
12 Sens /Z
s Alarm
GND
13 Hall
Sw U
Hall
14 Hall Sw /U
Sw V
Hall
15 Hall Sw /V
Sw
Hall /W W
ON
X14 LOGIC SUPPLY / IO CONNECTION
Internally stored Motion Commands
OFF
123456
Travel Along Time Curves
6 Forc
e DHC
P
5 Bootstra
4 ME CAN p
Term
3 CMD
CAN
2 CM RS4 Term
1 Anin 85 Term
2 Pull
Down
X13 EXT POS SENS
123456
X19 SYSTEM
Brake Brake +
Brake GND
Brake +24VDC
PE
W
V
U
KTY+
KTY-
Absolute & Relative Positioning
X10: Master Encoder IN
X11: Master Encoder OUT
X7: CMD (RS485 / CAN)
X8
X19: System
X20: Anlalog IN
S5: Bus Termination
X13: External Positionssensor
X4: Logic Supply
Error
Warnin
g
24V
OK
X16 CONFIG ETH
X18 RT ETH OUT
Analog Parameter Scaling
Winding Function Block
Fan+ (red)
Fan- (black)
DCDC+
RRRR+z
Analog Position Target
S1
Error
OK
X18 RT ETH IN
RT BUS
Position Streaming
EN
12345678
ID LOW
(1...4)
P
SD
BU
OFI ly)
PR on
X9 1430
(E
X1
DC
BU
SB
AR
X29
LED State Display
S1-2:Adress Selectors
S2
ID HIG
H
(5...8)
X15 CONFIG ETH
Synchronization to Belt Speed
PE
L1
L2
L3
3
3
3
3
3
3
3
3
3
3
3
3
3
X18CMD OUT
X31
X32
S
SE
HA
RP
TO
MO
X2
X10 ME IN
OD
NC
RE
TO
MO
S5
ER
X11 ME OUT
PE
X3
LED RT Bus State Display
X17-:RealTime ETHERNET
X18
X15-:ETHERNET Configuration
X16
Fan
PLY
UP
RS
TO
X30
MO
X9: Profibus (only -DP)
X29: Fan
Force Control Technology Function
X1: DC Busbar / Reg. Resistor
Customer-Specific Functions
X30: Motor Suply Mains
Industrial ETHERNET
Series E1400 drives allow integration of
LinMot linear motors in controls concepts
with industrial ETHERNET interfaces. The
user can integrate Series E1400 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.
456
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
Series E1400
E14x0-Series
REGENERATION
RESISTOR
X1
X2
REGENERATION
U, V, W
MOTOR BREAK
PE, SHIELD
DC - BUSBAR
2
LINEAR MOTOR
X3
CIRCUIT
BREAKER
C20
MAINS
3
X30
3-PHASE
FILTER
L1 MAINS SUPPLY
L2 3X400/480VAC
L3 TN SYSTEM
PE
ENCODER
SUPPLY
(5VDC WITH SENSE)
ROTARY
SERVO
MOTOR
SIN (1VPP)
COS (1VPP)
MOTOR LINK C
X9 (only on -DP)
5
PROFIBUS DP
PROFIBUS DP
COMUNICATION
max. 12MBaud
X13
ENC SUPPLY 5VDC
S1-S2
ETHERNET
ID HIGH
A / SIN (1VPP)
OPTIONAL
EXTERNAL
POSITION
SENSOR
B /COS (1VPP)
Z
ID LOW
WWW
U DIFF HALL SWIT.
V DIFF HALL SWIT.
REMOTE MAINTENANCE
W DIFF HALL SWIT.
X15 / X16
ENC ALARM
10/100 MBaud
Configuration
ETHERNET
X4
6
10/100 MBaud
Configuration
ETHERNET
6
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
X17 / X18
6
10/100 MBaud
INDUSTRIAL
ETHERNET
6
10/100 MBaud
INDUSTRIAL
ETHERNET
X19
SYSTEM
INTERFACE:
RS232
3
RS232
X33
SAFETY
COMMUNICATION
INTERFACE
RS485
CANOPEN
MASTER ENCODER
FORCE FEEDBACK OR
TORQUE COMMAND
Edition 16
subject to change
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
X19
X29
ANALOG INPUT
10V DIFFERENTIAL
CONNECTOR FAN
OPTION
www.LinMot.com
5
4
2
MACHINE SAFETY
COMMUNICATION
INTERFACE
RS485
CANOPEN
MASTER ENCODER
FAN OPTION
457
Interfaces
X1
DC Busbar / Regeneration Resistor
RR+
Nr.
DC+
DCRR+
RR-
RR-
Designation
DC busbar +
DC busbar Positive connection for Regeneration Resistor
Negative connection for Regeneration Resistor
DC+
DC-
Phoenix
PC5/4-G-7,62
X30
Phoenix
PC5/4-STLC-7,62
Screw Terminals:
- 0.25 - 4mm² (depends on Motor current) / AWG 24-12
- Tightening torque: 0.7 - 0.8 Nm
- Use a cross-head screw driver (PH1)
- Use 60/75°C copper conductors only
- Stripping length 10mm
Motor Supply Mains
Nr.
L1
L2
L3
PE
L3
L2
Designation
3x400 / 3x480VAC 50/60 Hz
PE, Protective Earth
L1
PE
Phoenix
PC5/4-G-7,62
X2
Phoenix
PC5/4-STLC-7,62
Screw Terminals:
- 2.5 - 4mm² (depends on Motor current) / AWG 24-12
- Tightening torque: 0.7 - 0.8 Nm
- Use a cross-head screw driver (PH1)
- Use 60/75°C copper conductors only
- Stripping length 10mm
Motor Phases
Nr.
PE
W
V
U
T+
T-
PE
W
V
Designation
Protective Earth and Cable Shield
Motor Phase W
Motor Phase V
Motor Phase U
Temperature Sensor positive
Temperature Sensor negative
U
T+
T-
Phoenix
PC5/6-G-7,62
458
Phoenix
PC5/6-STLC-7,62
Screw Terminals:
- 0.25 - 4mm² (depends on Motor current) / AWG 24-12
- Tightening torque: 0.7 - 0.8 Nm
- Use a cross-head screw driver (PH1)
- Use 60/75°C copper conductors only
- Stripping length 10mm
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Edition 16
subject to change
Series E1400
X3-V2
Motor Encoder (Motor Link C / BISS)
Nr
8
15
7
8
7
6
5
4
3
2
1
15
14
13
12
11
10
9
14
6
13
5
12
4
11
3
10
2
DSUB-15 (m)
9
1
case
Description
Motor Link CMotor Link C+
ClockClock+
DataData+
GND
Temp
GND Sense
+5V Sense
CosCos+
SinSin+
+5V
shield
Motor Link C is a high speed serial communication protocol to the motor encoder
X4: 11pin
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
Edition 16
subject to change
X33 STO RELAYS
X33. 4/8 Ksr+
X33. 3/7 KsrX33. 2/6 Ksr f+
X33. 1/5 Ksr f-
Safety Relays (only for -1S)
Nr
4/8
3/7
2/6
1/5
Description
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
Logic Supply / IO Connection
X14 LOGIC SUPPLY / IO CONNECTION
X33: 8pin
Nr
11
10
9
8
7
6
5
4
3
2
1
Description
Input
Quickstop
I/O
X4.10
I/O
X4.9
I/O
X4.8
I/O
X4.7
I/O
X4.6
I/O
X4.5
I/O
X4.4
I/O
X4.3/Brk
+24VDC Supply
GND
Supply
Quickstop, PTC2 Input
Configurable IO, PTC Input
Configurable IO
Configurable IO
Configurable IO
Configurable IO, Trigger Input
Configurable IO
Configurable IO, Analog Input (configurable as high imp. Input)
Configurable IO, Brake Driver 1A
Logic Supply 22-26 VDC
Ground
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459
Interfaces
X7-X8
CMD (RS485/CAN)
8
7
6
5
4
3
2
1
1
2
3
4
5
6
7
8
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
RJ-45
- 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 S5.2 and S5.3.
X9
Profibus DP (only available on E1430-DP-QN)
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
X10-X11
1
2
3
4
5
6
7
8
out
Master Encoder IN (X10) / Master Encoder OUT (X11)
in
8
7
6
5
4
3
2
1
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 E1400-GP
RJ-45
- All devices, which are connected to X10/X11 must be referenced to the same ground.
- CAN Termination can be turned on by S5.4
- Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring.
- Master Encoder Inputs: Differential RS422, max. 25 M counts/s, 40ns edge separation
- Master Encoder Outputs: Amplified RS422 differential signals from Master Encoder IN (X10)
460
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Edition 16
subject to change
Series E1400
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
14
DSUB-15 (f)
7
15
8
case
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)
Position Encoder Inputs: RS422, Max Input Frequency: 12.5MHz, 25 Mio counts/s with quadrature
decoding, 40ns edge separation
Encoder Simulated Outputs:RS422, Max Output Frequency: 12.5MHz, 25 Mio counts/s with quadrature
decoding, 40ns edge separation
Differential Hall Switch Inputs: RS422, Max Input Frequency: <1kHz
X15-X16
Enc. Alarm In:
5V / 1mA
Sensor Supply:
5VDC, max 100mA / 9VDC 100mA (SW selectable)
Ethernet Configuration 10/100Mbit/s
8
7
6
5
4
3
2
1
1
2
3
4
5
6
7
8
X16
Nr
X15
X16
Internal 2-Port 10BASE-T and 100BASE-TX Ethernet Switch with Auto MDIX.
LED
LEDs on the lower side of the device indicate “Link/Activity” per port, the upper ones are not used.
X15
RJ-45
X17-X18
1
2
3
4
5
6
7
8
X18 out
RealTime Ethernet 10/100 Mbit/s
X17 in
8
7
6
5
4
3
2
1
Nr
X17
X18
RT ETH In
RT ETH Out
Specification depends on RT-Bus Type. Please refer to according documentation.
RJ-45
Edition 16
subject to change
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461
Interfaces
X19
System
Nr
1
2
3
4
5
6
7
8
case
1
2
3
4
5
6
7
8
X19
Bez.
Reserved, do not connect
Reserved, do not connect
RS232 RX
GND
GND
RS232 TX
Reserved, do not connect
Reserved, do not connect
Shield
RJ-45
Use adapter cable AC01-RJ45/Df-2.5-RS1 (Art.-No. 0150-2143) for configuration over RS232.
X20
Analog In (+-10V Differential Analog Input)
Nr
8
7
6
5
4
3
2
1
RJ-45
X20
X29
1
2
3
4
5
6
7
8
case
Bez.
n.c.
n.c.
Analog InGND
GND
Analog In+
n.c.
n.c.
Shield
Connector for Fan Option
Nr
X29
+
Bez.
black
red
Spring cage terminal block for connecting the external fan option (Art. Nr. 0150-xxxx).
Output: 24 VDC / 0.4 A (Short circuit protected, current monitored)
Stripping length: 8mm
Conductor cross section: 0.2 – 1.5 mm2 (AWG 24 - 16)
462
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Edition 16
subject to change
Series E1400
S5
Bus Termination / AnaIn2 Pull Down
123456
Switch
ON
S5
S5
LED
E1400
Switch 6: Override Configuration Ethernet to DHCP
Switch 5: Bootstrap: Must be off for normal operation
Switch 4: CAN termination on ME (120R between pin 7 and 8 on X10/X11) on/off
Switch 3: CAN termination on CMD (120R between pin 7 and 8 on X7/X8) on/off
Switch 2: Termination resistor for RS485 on CMD (120R between pin 1 and 2 on X7/X8) on/off
Switch 1: AnIn2 pull down (4k7 Pull down on X4.4). Set to ON, if X4.4 is used as digital output.
Factory settings: all switches “off”
State Display
Green:
Green
24VDC Logic Supply OK
Stat A Yellow:
Motor Enabled/ Error Code Low Nibble
Yellow
Stat B Yelllow:
Yellow
Warning / Error Code High Nibble
Red:
Red
Error
LED
RT Bus LED
Green:
Green
OK
Red:
Red
Error
The use of these LEDs depends on the type of fieldbus which is used. Please see the corresponding
manual for further information.
12345678
S1 -S2
S1
S2
Address Selectors
Switch
S1 (5...8)
S2 (1...4)
Bus ID High (0…F) Bit 5 is the LSB, bit 8 the MSB
Bus ID Low (0…F) Bit 1 is the LSB, bit 4 the MSB
ON
The use of these switches depends on the type of fieldbus which is used. Please see the corresponding manual for
further information.
Edition 16
subject to change
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463
Dimensions / Order Info
221.5
X2
MO
TO
R PH
ASE
S
X32
X31
PE
X3
MO
case: Shield 8
Motor Link C15
Motor Link C+ 7
Clock 14
Clock + 6
Data 13
Data +
5
GND
12
TEMP
4
GND Sense
11
+5V Sense
Cos - 3
10
Cos +
Sin - 2
Sin +
9
+5V 1
R EN
X7 CMD IN
X11 ME OUT
X10 ME IN
DER
X19 SYSTEM
Centers
Off
On
OFF
DHCP
6 Force
5 BootstrapTerm
4 ME CAN Term
3 CMD CAN5 Term
2 CM RS48 Down
Pull
1 Anin2
+5VDC
A
9 Sens /A
Sens
B6
10 Sens /B
Sens
Z
11 Sens /Z
Sens
4
Alarm
12 Sens
GND
5
U
13 Hall Sw /U
Sw
Hall
6
V
14 Hall Sw
/V
Hall Sw W
7
Sw
15 Hall /W
Hall
8
S5
123456
ON
332
123456
345
X12 ANALOG IN
X18CMD OUT
Brake Brake +
CO
Brake GND
Brake +24VDC
PE
W
V
U
KTY+
KTY-
TO
X13 EXT POS SENS
1
2
3
X14 LOGIC SUPPLY / IO CONNECTION
X4. 16 Ksr+
X4. 15 Ksrf+
X4. 14 Ksr
fX4. 13 Ksr
X4. 12 SVE
2
kStop, PTC
X4. 11 Quic
1
PTC
X4. 10 IO,
LIM+
IO,
9
X4.
LIMX4. 8 IO,
HSW
X4. 7 IO,
TRIG
X4. 6 IO,
CAP
X4. 5 IO,
AN
X4. 4 IO,
/BRK
X4. 3 IO,
DC
X4. 2 +24V
D
X4. 1 DGN
300
24V
OK
Error
ID LOW
(1...4)
12345678
ID HIGH
(5...8)
S1
EN
Warning
S2
Ge
fähr
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Vor
hohe
5 M dem
Sp
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DC inunt Arbeite
ng!
unte- mesen wa n Ve
r 42 sen, rten rsor
ob un gu
Risk VDC die d zw ng ab
of El entladeKond ische klem
ectri
n ensa n DC men
Bevo
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minu re se
auf d
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DC tes rvicing
dis - to beand m , dis
char su ea co
ged re th sure nnec
Atte
belowat th betw t su
pp
ntio
42 e capaeen DCly, wa
n ha
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Avan
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ute
ors an 5
deco t tout
tens
haved
ion!
minunnec e op
DC tes ter láleration
- po et m im
de
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en
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arge veriv urer tation,mainte
s inf ier si la te atte nanc
erieu les nsion ndre e
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42 ensa DC
VC teur + et
D.
s so
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OK
X1
DC
BU
SB
Dimensions in mm
AR
X18 RT ETH IN
X15 CONFIG ETH
X16 CONFIG ETH
Fan+ (red)
Fan- (black)
DCDC+
RRRR+z
X30
MO
TO
R SU
PP
LY
Error
X18 RT ETH OUT
PE
L1
L2
L3
RT BUS
X29
Fan X9
PR
(E14OFIB
30 US D
only P
)
Servo Drives Series E1400
Width
mm (in)
Height
mm (in)
Height without fixings
mm (in)
Depth
mm (in)
Weight
kg (lb)
IP Protection class
IP
Storage temperature
°C
Transport temperature °C
Operating temperture
°C
Max. case temperature
Max. power dissipation
Min. distance between
drives
°C
W
mm (in)
40
(1.6)
270 (10.6)
233 (9.2)
180 (7.1)
1.5 (3.3)
20
-25...40
-25...70
0...40 at rated date /
40...50 with power
derating
90
100
20 (0.8) left/right / 50
(2) top/bottom
50
Item
E1400-GP-QN-0S
E1400-DP-QN-0S
E1400-EC-QN-0S
E1400-IP-QN-0S
E1400-PL-QN-0S
E1400-PN-QN-0S
E1400-SC-QN-0S
E1450-SE-QN-0S
Description
General Purpose Drive (3x400V/28A)
Profibus DP Drive (3x400V/28A)
EtherCAT Drive (3x400V/28A)
Ethernet/IP Drive (3x400V/28A)
POWERLINK Drive (3x400V/28A)
ProfiNet Drive (3x400V/28A)
Sercos III Drive (3x400V/28A)
Sercos over EtherCAT Drive (3x400V/28A)
Part Number
0150-1779
0150-1786
0150-1784
0150-1782
0150-1791
0150-1783
0150-1785
0150-1899
E1400-GP-QN-1S
E1400-DP-QN-1S
E1400-EC-QN-1S
E1400-IP-QN-1S
E1400-PL-QN-1S
E1400-PN-QN-1S
E1400-SC-QN-1S
E1450-SE-QN-1S
General Purpose Drive (3x400V/28A), STO
Profibus DP Drive (3x400V/28A), STO
EtherCAT Drive (3x400V/28A), STO
Ethernet/IP Drive (3x400V/28A), STO
POWERLINK Drive (3x400V/28A), STO
ProfiNet Drive (3x400V/28A), STO
Sercos III Drive (3x400V/28A), STO
Sercos over EtherCAT Drive (3x400V/28A), STO
0150-2351
0150-2352
0150-2353
0150-2354
0150-2355
0150-2356
0150-2357
0150-2358
EV01-E1400
RR01-69/100
Ventilatorkit for Servo Drives Series E1400
Regeneration Resistor 100W for E1400
0150-5055
0150-3373
464
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Edition 16
subject to change
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