C1400 Servo Controller Installation Guide - LinMot e
Contents
1. 9 p 000 9 20 YM 10 Pob 10 e 12 919 P XK X A 12 NP PADS 13 XP 0200 0 X M 13 nop XXX 13 WIRE T X Y 14 SIRT eee 14 BF EE 14 GENO COGS EE 15 Physical Ru E E 16 8 Power Supply REGUIFCINIGINS wicisccccisssaweshsaicuseccucneceiduneancdadendnetisdennuciiestanuudeeeuwnatewssosneans 17 9 Regeneration of Power Regeneration Resistor eese 17 10 Ordering Uu tel Le TEE 18 11 International CertiTICallOTis ooo ereekgeeskbgebegegeeg ee Seege deE SENNENG 18 12 Declaration of Conformity CE Marking cccscccssseeseeeeeseeceneseeneseeeseeeneseeeeseneees 20 KE Oo a Tee 21 Page 3 20 C1400 Installation Guide 1 Important Safety Instructions For your personal safety Disregarding the following safety measures can lead to severe injury to persons2. LinMot C1400 Installation Guide 5 Description of the connectors Interfaces Protective Earth Use min 4mm AWG11 Tightening torque 2Nm 18 Ibin Motor Supply Mains Regeneration Regeneration Resistor Regeneration Resistor Neutral TN system with grounded Neutral Line 1 1x240VAC 10 50 60Hz external fuse max 10A PE Protective Earth Screw connector Screw Terminals Tightening torque 0 5 0 6 Nm Screws M3 Use 60 75 C copper conductors only Conductor cross section 2 5mm AWG 12 Stripping length 7mm LinMot Article Number 0150 3607 DC01 C1400 X30 Operating of the drive is only allowed with the above article No other type of connector shall be used NTI AG LinMot www LinMot com Page 9 20 C1400 Installation Guide LinMot 9 9 Protective Earth Motor Phase W Motor Phase V Motor Phase U Temperature Sensor KTY Temperature Sensor KTY Motor Brake Motor Brake Spring Cage Connector The Shield of the motor cable has to be mounted with a surface as large as possible low ohm low impedance Use an EMC shield clamp for fixing Attention An isolated thermistor is necessary Especially LinMot D01 and D02 Motors can not be connected Screw Terminals Spring cage connector Use 60 75 C copper conductors only Conductor cross section 0 2 2 5 mm depends on Motor current AWG 24 12 Stripping length 10mm LinMot Article Number 0150 3605 Operati
3. LinMot C1400 Installation Guide Installation e The drives must be installed and cooled according to the instructions given in the corresponding documentation e The ambient air must not exceed degree of pollution 2 according to EN 61800 5 1 e Ensure proper handling and avoid excessive mechanical stress Do not bend any components and do not change any insulation distances during transport or handling Do not touch any electronic components and contacts e Drives contain electrostatic sensitive devices which can easily be damaged by inappropriate handling Do not damage or destroy any electrical components since this might endanger your health Electrical connection e When working on live drives observe the applicable national regulations for the prevention of accidents e The electrical installation must be carried out according to the appropriate regulations e g cable cross sections fuses PE connection Additional information can be obtained from the documentation e his product can cause high frequency interferences in non industrial environments which can require measures for interference suppression Operation e If necessary systems including drives must be equipped with additional monitoring and protection devices according to the valid safety regulations e g law on technical equipment regulations for the prevention of accidents The drives can be adapted to your application Please observe the corresponding
4. Page 12 20 www LinMot com NTI AG LinMot LinMot jii C1400 Installation Guide 9 10 LEDs State Display 24V Logic Supply OK Error 24VOK Motor Enabled Error Code Low Nibble Warn EN Warning Error Code High Nibble Error 9 11 RT BUS LEDs RT Bus LEDs RT Bus State Display Green OK Red Error The use of these LEDs depends on the type of fieldbus which is used Please see the corresponding manual for further information Address Selectors S5 10 Bootstrap Must be off for normal operation S5 9 CAN termination on CMD 120R between pin 7 and 8 on X7 X8 on off S1 5 8 Bus ID High 0 F Bit 5 is the LSB bit 8 the MSB S2 1 4 Bus ID Low 0 F Bit 1 is the LSB bit 4 the MSB The use of these switches depends on the type of fieldbus which is used Please see the corresponding manual for further information NTIAG LinMot w LinMot com Page 13 20 VA T NN 6 Error Codes C1400 Installation Guide Error Codes Error 24VOK Warn EN w omen Operation Normal Operation Enabled Warnings and operation enabled are displayed e 2Hz e 2Hz Error 0 15 x 0 15 x The error code is shown by a blink code with WARN and EN Error Code Error Code The error byte is divided into low and high nibble 4 bit High Nibble e 2Hz 0 15 x Error Code High Nibble e 2Hz 0 15 x Error Code High Nibble Low Nibble e 2Hz 0 15 x Error Code Low Nibble
5. C1400 Servo Drives Installation Guide Eine Deutsche Version kann unter http www linmot com bezogen werden Please visit http www linmot com to check for the latest version of this document 0185 1107 E 6V4 IG C1400 May 2015 C1400 Installation Guide 2015 NTIAG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement NTI AG LinMot LinMot Table of Content C1400 Installation Guide 1 Important Safety INStructiONS cc cccecceeeeeeeeeeeeeeeeeneeeeseeseneseanseceneseaneesensseesoneaeesaness 4 PESE VCE VOW eege 6 3 Functionality and ILCIIACCS ege gege EEN 7 4 Power Supply and Grounding cccccceseeceeeeceeeeeceneeeeeeeceseeceneeeeesonesenseeesaneeeesansonenones 8 5 Description of the connectors Interfaces eeeseee eee eee nene nenne 9 E E
6. e 2Hz 0215 x Error Code Low Nibble WARN and EN are blinking together The error can be acknowledged eg WARN blinks 3x EN blinks 2x Error Code 32h Fatal Error The error code is shown by a blink code with WARN and EN The error byte is divided into low and high nibble WARN and EN are blinking together Fatal errors can only be acknowledged by a reset or power cycle eg WARN blinks 3x EN blinks 2x Error Code 32h System Error Please reinstall firmware or contact support Signal Supply 24V too low The error and warn LEDs blink alternating if the signal supply 24V X4 2 is less than 18VDC Plug amp Play Communication Active This sequence Warn on then En on then both off complete sequence of the 4 states ca 1Sec signalizes the state when the plug and play parameters are being read from the motor Waiting for Defaulting Parameters When ID S1 S2 is set to OxFF the drive starts up in a special mode and the Error and Warn LED blink alternating 4Hz When the ID ist set to OxOO all parameters will be set to their default value To leave this state power down the drive and change the ID Also see in the Usermanual LinMot Talk under chapter trouble shooting Defaulting Parameters Done When the parameters have set to their default values initiated via S1 S2 on power up the Warn and En LEDs blink together at 2 Hz To leave this state power down thedrive Also see in the Usermanual L
7. 0150 3447 DC01 Signal X4 Operating of the drive is only allowed with the above article No other type of connector shall be used W Shield DSUB 15 f Position Encoder Inputs RS422 Max Input Frequency 25 M counts s with quadrature decoding 40ns edge separation Encoder Simulation Outputs RS422 Max Output Frequency 4 M counts s with quadrature decoding 250ns edge separation Differential Hall Switch Inputs RS422 Input Frequency 1kHz Enc Alarm In 5V 1mA Sensor Supply 5VDC max 100mA 9VDC 100mA SW selectable NTI AG LinMot www LinMot com Page 11 20 C1400 Installation Guide I LinMot o f X17 X18 X17 X18 RealTime Ethernet 10 100 Mbit s not available on CO Drives X18 RT ETH Out Specification depends on RT Bus Type Please refer to according documentation X17 RT ETH In 5 8 X7 X8 X17 X18 CMD CAN only available on CO Drives Do not connect Do not connect Do not connect isolated GND isolated GND Do not connect isolated CAN high isolated CAN low 1 2 3 4 5 6 D 8 Optically isolated CAN Bus use twisted pair 1 2 3 6 4 5 7 8 cable for wiring The built in CAN terminations can be activated by 5 9 X7 is internally connected to X8 Pin4 5 7 and 8 Do not connect Do not connect RS232 Rx GND GND RS232 Tx Do not connect Do not connect CONDOR Gabi A Use isolated USB RS232 converter Art No 0150 2473 for configuration over RS232
8. RS232 converter for configuration 11 International Certifications Certifications Europe See chapter 12 EC Declaration of Conformity CE Marking CE E Page 17 20 C1400 Installation Guide LinMot Declaration of Conformity to the EtherNet IP Specification ODVA gt Metwptks Rut on Carman Incwetrial Protacel ODVA hereby issues this Declaration of Conformity te The EtherNet IP Specification for the product s described below The Vendor listed below the Vendor holds a valid Terms of Usage Agreement which is incorporated herein by reference for the EtherNet IP Technology from ODVA thereby agreeing that it is the Vendor s ultimate responsibility to assure that its EtherNet IP Compliant Products conform to The EtherNet IP Specification and that The EtherNet IP Specification is provided by ODVA to the Vendor on an AS IS basis without warranty MO WARRANTIES EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE BEING PROVIDED BY CDVA In recognition of the below EtherNet IP Compliant Product s having been EtherNet IP Conformance Tested at ODVA authorized Test Service Provider and having received a passing result from ODVA at the Composite Test Revision Level specified below this Declaration of Conformity authorizes the Vendor to use the EtherNet IP Certification Marks in conjunction with the specific EtherNet IP Compliant Prod
9. information given in the documentation e After the drive has been disconnected from the supply voltage all live components and power connections must not be touched immediately because capacitors can still be charged Please observe the corresponding stickers on the drive All protection covers and doors must be shut during operation Protection of persons e Before working on the drive check that no voltage is applied to the power terminals e The power terminals U V W DC DC RR and RR remain live for at least 5 minutes after disconnecting from mains e The power terminals L1 L2 L3 U V W KTY KTY DC DC RR and RR remain live when the motor is stopped e The leakage current to earth PE is gt 3 5 mA According to EN 50178 a fixed installation is required and a double PE connection is required e The heat sink of the drive has an operating temperature of gt 80 C Contact with the heat sink results in burns E Page 5 20 C1400 Installation Guide preliminary LINEAR MOTOR Bam PE Mains Supply e i otary Servo Motor fier e N D sen Deel circuit breaker RR Regeneration Motor Encoder RR Regeneration Encoder Supply 5VDC with Sense Sin 1Vpp Cos 1Vpp Motor Link C fesse fesse ETHERNET ID HIGH ID LOW OPTIONAL EXTERNAL POSITION SENSOR 10 100 MBaud 10 100 MBaud INDUSTRIAL INDUSTRIAL TIT ETHERNET ETHERNET Si System I
10. Directive 2006 95 EC Applied harmonized standard EN 61800 5 1 2007 Year of affixing the CE marking in accordance with the EC Low Voltage Directive 2014 EMC Directive 2004 108 EC Applied harmonized standards EN 61000 6 2 2005 Immunity for industrial environments EN 61000 6 4 2007 Emission for industrial environments According to the EMC directive the listed devices are not independently operable products Compliance of the directive requires the correct installation of the product the observance of specific installation guides and product documentation This was tested on specific system configurations The safety instructions of the manuals are to be considered These products are intended for installation in machines Operation is prohibited until it has been determined that the machines in which these products are to be installed conforms to the above mentioned EC directive The product must be mounted and used in strict accordance with the installation instructions contained within the installation guide a copy of which may be obtained from NTI AG Company NTI AG Spreitenbach March 13 2014 Dr Ronald Rohner CEO NTI AG Dr Marco Hitz Responsible for documentation E Page 19 20 C1400 Installation Guide 13 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration 41 0 56 419 91 91 office linmot com Tech Support 41 0 56 544 71 00 support li
11. and damage to material Only use the product as directed Never commission the product in the event of visible damage Never commission the product before assembly has been completed Do not carry out any technical changes on the product Only use the accessories approved for the product Only use original spare parts from LinMot Observe all regulations for the prevention of accidents directives and laws applicable on site e Transport installation commissioning and maintenance work must only be carried out by qualified personnel e Observe IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or DIN VDE 0110 and all national regulations for the prevention of accidents e According to the basic safety information qualified skilled personnel are persons who are familiar with the assembly installation commissioning and operation of the product and who have the qualifications necessary for their occupation E all specifications in this documentation This is the condition for safe and trouble free operation and the achievement of the specified product features e The procedural notes and circuit details described in this documentation are only proposals It is up to the user to check whether they can be transferred to the particular applications NTI AG LinMot does not accept any liability for the suitability of the procedures and circuit proposals described e LinMot servo drives and the accessory components can
12. e 72VDC for initial test setups can be supplied through the 1 phase supply connector Use a circuit breaker C16 and conductor cross section of 2 5mm for mains connections The LinMot line filter XXXX must be connected near the supply connector of the drive to conform to the EMC requirements of CE Signal Power Supply The logic supply needs a regulated power supply of a nominal voltage of 24 VDC The voltage must be between 22 and 26 VDC Current consumption min 1A no load on the outputs typ 1 5A all 10 outputs on with 100mA load and Break with no load max 2 5A all 10 outputs on with 100mA load and Break with 1A load Regeneration of Power Regeneration Resistor There are two possibilities to deal with power regeneration Option A DC Link coupling or additional Capacitors Option B Install a regeneration resistor to X1 RR and RR The threshold value of the voltage depends on the used motor voltage power supply The max threshold value must not exceed 780 VDC Item Description Art No Regeneration Resistor RR01 68 100 68 Ohm 100 W X1 connector is included 0150 3373 LinMot com NTIAG LinMot LinMot e reliminar C1400 Installation Guide 10 Ordering Information Item Description Art No Accessories Description Art No Bold items are strongly recommended accessories ATTENTION The connectors have to be ordered separately and are not included with the drive Use isolated USB
13. inMot Talk under chapter trouble shooting The meaning of the error codes can be found in the Usermanual MotionCtr Software SG5 and the user manual of the installed interface software These documents are provided together with LinMot Talk configuration software and can be downloaded from www linmot com Page 14 20 www LinMot com NTI AG LinMot LinMot 7 Physical Dimensions C1400 Installation Guide Frontside Dimensions mm Backside 1 ANSE RK ROS CI AXO XX XX 05 for mounting Top Side CZ AXO XX XX OS C1400 Series single axis drive 2 Mounting IL 2x M4 Distance 192 7 50 Case COP EE Relative humiiy bereet Site altitude altitude m mams X LLLI be tobedefined Max Polo NEN Temperature Max Power Dissipation E Additional cooling and or heat sink may be required to achieve rated performance Mounting place OOOO In the control cabinet Mounting position vertical Distance between drives mm in 2 15 0 6 left and right 2 200 8 top bottom NTI AG LinMot www LinMot com Page 15 20 C1400 Installation Guide imine LinMot 8 Power Supply Requirements Motor Power Supply Direct AC mains connection 1 PE AC 240V 410 50 60Hz TN System IN Only 1 phase supply is supported The mains must be a symmetrical four wire system with grounded neutral DC Supply for exampl
14. include live and moving parts depending on their type of protection during operation Surfaces can be hot e Non authorized removal of the required cover inappropriate use incorrect installation or operation create the risk of severe injury to persons or damage to material assets e For more information please see the documentation e High amounts of energy are produced in the drive Therefore it is required to wear personal protective equipment body protection headgear eye protection hand guard Application as directed e Drives are components which are designed for installation in electrical systems or machines They are not to be used as domestic appliances but only for industrial purposes according to EN 61000 3 2 e When drives are installed into machines commissioning i e starting of the operation as directed is prohibited until it is proven that the machine complies with the regulations of the EC Directive 98 37 EC Machinery Directive EN 60204 must be observed e Commissioning i e starting of the operation as directed is only allowed when there is compliance with the EMC Directive 2004 108 EC e The technical data and supply conditions can be obtained from the nameplate and the documentation They must be strictly observed Transport storage e Please observe the notes on transport storage and appropriate handling e Observe the climatic conditions according to the technical data NTII AG LinMot
15. ng of the drive is only allowed with the above article No other type of connector shall be used Motor Link C Motor Link C do not connect do not connect do not connect do not connect GND do not connect GND Sense 5V Sense Cos Cos Sin Sin 5V shield DSUB 15 m Motor Link C is a high speed serial communication protocol to the motor encoder Page 10 20 www LinMot com NTI AG LinMot C1400 Installation Guide Configurable Analog Input differentiell with X4 10 Configurable Analog Input differentiell with X4 11 Configurable Analog Input single ended Configurable Input Configurable Input Configurable Input Configurable Input Configurable Output Configurable Output Logic Supply 22 26 VDC Ground 1 GN e 1 Logic Supply Control MN OQ P OI O OO Spring cage Inputs X4 5 X4 8 24V 5mA Low Level 0 5 to 5VDC High Level 15 to 30VDC connector Outputs X4 3 X4 4 24V max 100mA Peak 370mA will shut down if exceeded Analog Inputs 12 bit A D converted X4 9 Single ended analog input to GND 0 10V Input Resistance 51kOhm to GND X4 10 X4 11 Differential analog input 10V Common mode range 5VDC to GND Input resistance 11 4kOhm for each signal to GND Supply 24V type 1A max 2 5A if all outputs on with max load Use 60 75 C copper conductors only Conductor cross section max 1 5mm Stripping length 10mm LinMot Article Number
16. nmot com Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot USA Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration Tech Support Fax E Mail Web 877 546 3270 262 743 2555 877 804 0718 262 743 1284 800 463 8708 262 723 6688 usasales linmot com http www linmotusa com Please visit http www linmot com to find the distributor closest to you Smart solutions are www LinMot com NTIAG LinMot
17. nterface 3 RS232 RS232 3 CANopen 3 CANopen CAN Analoglnput AnalogI nput AnalogInput p L Sa JEAST PROCESSS e amao INPUTS D M Digita Outputs fonts 1 Se T GL Loic SUPPLY Digitallnputs 3 Functionality and Interfaces C1450 SC VS 0S 000 C1450 IP VS 0S 000 C1450 LU VS 0S 000 C1450 EC VS 0S 000 C1450 DS VS 0S 000 C1450 SE VS 0S 000 C1450 PL QN 0S 000 C1400 CO VS 0S 103 Motor Phase Current preliminary 15 Aims peak 0 500HZ 7 5 Arms continuous 0 500Hz preliminary e e e ej ej ej eje ej e Controllable Motors Lo q qp pop p a p LinMot _P10 70x MotorLinkC e e ejeje jeje o jeoe Selected motors contact support e ej ej ej ej ej ejeoj eje Command Interface JL PROEREI Lei PROFINETPrfidive LI el sROSU LL el l ETHERNETIP MEM NEN NEM NN NM UinUDP Lei l ETHHRCAT LL P e ETHERCATCiA4O2 j ej ETHERCATSOE j lel POWERLINK CANpen j je Programmable Motion Profiles Curves TN WM EN IN IN Up to 16302 Curve Points Programmable Command Table 1 Command Table with upto255enties e e e e e e e le e e ExternalPo
18. sitionSensor LL Incremental RS422upto25Mcouns s Ielelelelelelelelele Absolute SS Cl fT fl ew Lol wl ol ow lL eo Configuration Interface Pai Le ele ele ele ele le Hu C1450 PN VS 0S 000 BN C1450 PD VS 0S 000 1 Additional cooling and or heat sink may be required to achieve rated performance E Page 7 20 C1400 Installation Guide LinMot 4 Power Supply and Grounding In order to assure a safe and error free operation and to avoid severe damage to system components all system components must be well grounded to protective earth PE This includes both LinMot and all other control system components on the same ground bus The leakage current to earth PE is gt 3 5 mA According to EN 50178 a fixed installation is required and a double PE connection is required One PE connection is on X30 the second one is an M5 bolt on top of the housing Each system component should be tied directly to the ground bus star pattern rather than daisy chaining from component to component LinMot motors are properly grounded through their power cables when connected to LinMot drives Power Supply signal AC Mains Circuit Breaker Fuse Galvanically Isolated Power Supply Switch Mode Power Supply 24VDC PELV PE min 4mm AWG 12 CH eo X Circuit Breaker AC Mains TN b Ka Both PE connections PE are necessary
19. uct s described below for so long as the Vendor s Terms of Usage Agreement for the EtherNet IP Technology remains E th er N e t IP i EtherNet IP CONFORMANCE TESTED conformance tested Certification Logo Mark Certification Word Mark This Declaration of Conformity is issued on February 2 2015 on behalf of ODVA by Katherine Voss Executive Director Vendor Information Vendor Name NTI Limited December 11 2014 Identity Object Instance Device Type Attribute 2 Ox Generic Device kevable Products Covered under this Declaration of Conformity Identity Object Instance Coa RER RR NET EE TTT att Ca oa O tuswows attegd L s 2x9 Bean 100 otee 6 o OAS0IPON LI 1000 Not Tested O O se 342 css 10 Nerd sf 343 Fenneng 101 Need EtherMet IP and EtherMet IF CONFORMANCE TESTED lago mark and word mark are trademarks of ODVA Inc Copyright ODVA Inc 2004 2013 PUBOQOO33R7 www odwva org Page 1 of 1 NTI AG LinMot LinMot C1400 Installation Guide 12 EC Declaration of Conformity CE Marking NTI AG LinMot 9 Haerdlistrasse 15 8957 Spreitenbach Switzerland Tel 41 0 56 419 91 91 Fax 41 0 56 419 91 92 declares under sole responsibility the compliance of the products Servo Drives of the Series C14x0 xx VC 0S xxx with the Low Voltag
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