E1200 Servo Drive Installation Guide
Contents
1. 6 4 IP Address M 6 5 Power Supply and 7 2 6 Description of the connectors 8 3 8 c up v 8 Pc 9 so 10 E E 10 api P 11 c SNP ui o 11 LY SR Ao ee eee ee 12 T QI P 12 EA 13 OTEA TI M 13 SNP O 13 rc E 14 SXDLAMRZR c 14 EM MM 14 MIO I X 14 15 o Physical 16 9 Power Supply 17 10 Regeneration of Power Regeneration Resistor2. c S 0 E e e q LLI W Clock Shield Shield DSUB 15 f 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 5 1mA Sensor Supply 5VDC max 100mA 6 9 X15 X16 X15 X16 Config Ethernet 10 100 Mbit s Internal 2 Port 10BASE T and 100BASE TX Ethernet Switch with Auto MDIX LEDs on the lower side of the device indicate Link Activity per port the upper ones are not used NTI AG LinMot www LinMot com Page 12 20 LinMot Installation Guide B 6 10 X17 X18 RealTime Ethernet 10 100 Mbit s X17 X18 6 11 NTIAG LinMot X17 RT ETH In X18 RT ETH Out X19 1 2 3 4 5 6 T 8 O t o D Specification depends on RT Bus Type Please refer to according documentation Do not connect Do not connect RS232 Rx GND GND RS232 Tx Do not connect Do not connect Shield Use Adapter cable AC01 RJ45 Df 2 5 RS1 Art No 0150 2143 for Configuration over RS232 20 Analog In 10V Differential Analog Input CONDOR O Q o D BEL Do not connect Do not connect Analog In GND GND Analog In Do not connect Do not connect S
3. 18 11 Ordering m c 18 12 _ E DRESS 18 13 Classification of the safety functionality eese 19 14 Declaration of Conformity CE Marking eere 19 15 CS SCS DON UE DE M Or 20 LinMot B _ Page 3 20 LinMot Installation Guide EB 1 Important Safety Notes for E1200 Series Drives CAUTION In order to assure a safe and error free operation and to avoid severe damage to system components all system components must be directly attached to a single ground bus that is earth or utility grounded see chapter 5 Power Supply and Grounding 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 see chapter 5 Power Supply and Grounding All connectors must not be connected or disconnected while DC voltage is present Do not disconnect system components until all LinMot drive LEDs have turned off Capacitors in the power supply may not fully discharge for several minutes after input voltage has been disconnected Failure to observe these precautions may result in severe damage to electron
4. Motor Phase 1 Motor Phase U Motor Phase 1 Motor Phase V Motor Phase 2 Motor Phase W Motor Phase 2 Motor Phase X Shield Screw Terminals Tightening torque 0 5 0 6 Nm Screw thread M2 5 Use 60 75 C copper conductors only Conductor cross section 0 5 2 5mm depends on Motor current AWG 21 14 Stripping length 13 15mm www LinMot com Page 8 20 NTIAG LinMot LinMot Installation Guide LinMot 6 3 X3 X3 Motor Encoder LinMot Motor 3 phase EC Motor 5VDC 5VDC Hall Supply Sensor Sine Hall 1 Temp In Hall 3 AGND AGND Hall Supply Sensor Cosine Hall 2 Shield O f o D DSUB 9 f Note Use 5VDC X3 3 and AGND X3 8 only for motor internal hall sensor supply max 100 Caution Do NOT connect AGND X3 8 to ground or earth S c O S 0 E e e m LLI Motor Wiring connect X3 1 2 6 7 1e c am o y 8 c 2 Phase 1 ze N 4 de a black green i yellow inner shield white red pink blue grey NTI AG LinMot www LinMot com Page 9 20 LinMot Installation Guide 6 4 X4 X4 12 SVE X4 11 X4 10 X4 9 X4 8 X4 7 X4 6 4 5 X4 4 X4 3 Brk 424VDC DGND Logic Supply Control 12 1 Phoenix MC1 5 12 STF 3 5 Logic Supply Control SVE Power Stage Enable HW Enable X4 11 Con
5. E1200 Servo Drive Installation Guide Eine Deutsche Version kann unter http www linmot com bezogen werden Please visit http www linmot com to check for the latest version of this document EB This document applies to the following drives E1200 GP UC E1230 DP UC E1250 PL UC E1250 EC UC E1250 SE UC E1250 PN UC E1250 IP UC E1250 SC UC LinMot Installation Guide 2012 NTI AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Document version 5 2a mk Ro FM December 2013 BS Page 2 20 S c O S T 0 E e e m LLI LinMot Installation Guide EB Table of Content 1 Important Safety Notes for E1200 Series Drives 4 2 OVOLIVIGW 5 3 Functionality and eso meae
6. Isolated Power Supply Switch Mode Power Supply Transformer with Rectifier Bridge and capacitor 0 5mF Apeak See chapter Power Supply Requirements for compatible power supplies Power Supply signal PWR signal Galvanically Isolated Power Supply Switch Mode Power Supply Min 4mm2 AWG12 Transformer with Rectifier Bridge 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 either a single earth or utility ground This includes both LinMot and all other control system components on the same ground bus Each system component should be tied directly to the ground bus star pattern rather than daisy chaining from component to component LinMot motors are properly grounded through their power cables when connected to LinMot drives Power supply connectors must not be connected or disconnected while DC voltage is present Do not disconnect system components until all LinMot drive LEDs have turned off Capacitors in the power supply may not fully discharge for several minutes after input voltage has been disconnected Failure to observe these precautions may result in severe damage to electronic components in LinMot motors and or drives Do not switch Power Supply DC Voltage All power supply switching and E Stop breaks should be done to the AC supply voltage of the power supply F
7. from NTI Ltd declare that as the authorized representative the above information in relation to the supply manufacture of this product is in conformity with the stated standards and other related documents in compliance with the protection requirements of the Electromagnetic Compatibility EMC Directive 2004 108 EC Standards Complied with EN 61000 6 2 Compliance Immunity for industrial environment Criteria 25100042 B Electrostatic discharge immunity ESD EN 100 3 A Reditedelecomagnetcfeld immunity EN i0044 B Fastansens bustimmunly EFT EN 6100045 B Slow transients immunity Surges TEN 6100 446 A Conducted radio frequency immunity D 2510048 frequency magnetic field immunity _ EN 61000 6 4 Class Emission for industrial environment ae EN 55022 Bo Radiated Emission Company NTI Ltd Spreitenbach October 13 2010 R Rohner CEO NTI AG AG LinMot a i x B Page 19 20 LinMot Installation Guide 15 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 linmot com Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration Tech Support Fax E M
8. 2 1A all 10 outputs on with 100mA load and Break with 1A load LinMot com B Page 17 20 S c S 0 E e e m LLI LinMot Installation Guide B 10 Regeneration of Power Regeneration Resistor There are two possibilities to deal with power regeneration Option A Connect an additional capacitor to the motor power supply It is recommended to use a capacitor gt 10 000 uF install capacitor close to the power supply 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 88 VDC For UL applications use option A Description Art No Capacitor 10 000 uF 100 V 0150 3075 S c S 0 E e e q LLI Regeneration Resistor 01 10 60 10 Ohm 60 W 0150 3088 Regeneration Resistor 1 10 150 10 Ohm 150 W 0150 3090 11 Ordering Information Item Description Art No 1250 PL UC POWERLINK Servo Drive 72VDC 32A 0150 1760 1250 PN UC PROFINET Servo Drive 72VDC 32A 0150 1762 1250 EC UC EtherCAT Servo Drive 72VDC 32A 0150 1763 1250 SE UC sercos over EtherCAT Servo Drive T2VDC 32A 0150 1898 1250 SC UC sercos Servo Drive T2VDC 32A 0150 1764 E1250 IP UC ETHERNET IP Servo Drive 72VDC 32A 0150 1761 E1230 DP UC PROFIBUS DP Servo Drive 72VDC 32A 0150 1766 E1200 GP UC GENERAL PURPOSE Servo D
9. R INPUT CAPTURE INPUT ANALOG INPUT System Interface RS232 SVE Q MACHINE SAFETY TC a 0 GND COMMUNICATION COMMUNICATION INTERFACE INTERFACE RS485 RS485 CANOPEN CANOPEN DEVICENET DEVICENET MASTER ENCODER STEP STEP MASTER ENCODER STEP A STEP DIRECTION B DIRECTION ZERO Z ZERO ZERO Z ZERO DIRECTION B DIRECTION CAN_H CAN_H CAN L CAN L Typical servo system LinMot Installation Guide B 3 Functionality and Interfaces E1250 PN UC E1250 SC UC E1250 EC UC A g E1250 PL UC E1250 IP UC Supply Voltage 0 Motor Supply 72 0 24 85VDCO LogicSuppy24VDC 22 26VDC Motor Phase Current OO AlAs Controllable Motors i S LinMot__P01 23x MotorLinkPY OTB 7x MotorLinkPY j eje 01 48 1 DCMoos 4 Jejeyjejejejeje e Brushless DC EC Motors Command Interface CANopen 2 cpejejejejejeje e ws 0 EN e PROFNET LE secos e SercosoverEtherCAT jeje _ MEM mecr 0DQ1DHON PROFIBUS DP Programmable Motion Profiles Curves Uptof 0MotonPr
10. XT is internally connected to X8 1 1 connection NTI AG LinMot www LinMot com Page 10 20 S c S 0 E e e m LLI LinMot Installation Guide PROFIBUS DP only available on E1230 DP UC O f o D 6 7 X10 X11 X10 X11 Master Encoder IN X10 Master Encoder OUT X11 CONDOR O f o D Not connected Not connected RxD TxD P CNTR P GND isolated 5 isolated Not connected RxD TxD N Not connected Shield Incremental Step Direction Stept A Step Direction 2 Zero Direction CAN H CAN L Shield Shield Use twisted pair 1 2 3 6 4 5 7 8 cable for wiring EIA TIA 568A colors Green White Green Orange White Blue Blue White Orange Brown White Brown S c S 0 E e e m LLI 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 NTI AG LinMot www LinMot com Page 11 20 LinMot 6 8 X13 External Position Sensor Differential Hall Switches SSI LL ABZ with Hall Switches Sin Cos 1Vpp with SSI Sin Data Encoder Alarm S
11. ail Web 877 546 3270 262 743 2555 877 804 0718 262 743 1284 800 463 8708 262 723 6688 us sales linmot com http www linmot usa com Please visit http www linmot com to find the distributor closest to you Smart solutions are y LinMot com E Page 20 20 S c O S 0 E e e m LLI
12. ailure to observe these precautions may result in severe damage to the drive Inside of the E1200 drive the PWR motor GND and PWR signal GND is connected together and to the GND of the drive housing It is recommended that the PWR motor GND is NOT grounded at another place than inside of the drive to reduce circular currents AG LinMot ON Page 7 20 S c O S m 0 E e e q LLI LinMot Installation Guide LinMot 6 Description of the connectors Interfaces Motor Supply Regeneration Resistor GND 24 80VDC GND internally connected to controller housing S c S 0 E e e m LLI external Fuse max 32AT Optional Regeneration Resistor external GND 24 80VDC Motor Supply Screw Terminals External Regeneration Resistor RRO1 10 60 Art Nr 0150 3088 External Fuse max 32AT for example RK5 Class Fuse Bussmann FRN R 30 Supply nominal 72VDC 24 85VDC 30 85VDC for UL compliance 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 Screw thread M2 5 Use 60 75 C copper conductors only Conductor cross section use only 2 5mm AWG 14 Stripping length 13 15mm Max length 4m Motor Phases LinMot Motor 3 phase EC Motor
13. figurable IO PTC2 Input X4 10 Configurable IO PTC1 Input X4 9 Configurable IO X4 8 Configurable IO 4 7 Configurable IO Analog Input for EasySteps Application X4 6 Configurable IO Trigger Input X4 5 Configurable IO X4 4 Configurable IO Analog Input configurable as high imp Input X4 3 Brk Configurable IO Brake Driver 1A Supply Logic Supply 22 26 VDC Supply Ground NWORODN OO 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 400mA max 2 1A if all outputs on with max load Tightening torque min 0 22Nm Screw thread M2 Use 60 75 C copper conductors only Conductor cross section max 1 5mm Internal Fuse F2 3AT slow blow Schurter OMT 125 3404 0118 xx UL File Number E41599 CAUTION For continued protection against risk of fire replace only with same type and rating of fuse 6 5 X7 X8 RS485 CAN case RS485 Rx RS485 Rx RS485 Tx GND GND RS485 Tx CAN H CAN L Shield 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 55 2 and 55 3
14. hield Page 13 20 E1200 Installation Guide LinMot Installation Guide i LinMot 55 Bus Termination Analn2 Pull Down Switch 1 2 Pull down 4k7 Pull down 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 setting all switches off 6 14 LEDs State Display S c S 0 E e e q LLI 24V Logic Supply OK Error 24VOK Motor Enabled Error Code Low Nibble Warn EN Warning Error Code High Nibble Error 6 15 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 1 2 Address Selectors E12x0 V1 E12x0 V2 1 5 8 Bus ID High 0 F Bit 5 is LSB bit 8 MSB 2 1 4 Bus ID Low 0 F Bit 1 is LSB bit 4 MSB The use of these switches depends on the type of fieldbus which is used Please see the corresponding manual for further information www LinMot com Page 14 20 NTI AG LinMot LinMot Installation Guide 7 Error Codes Error Codes Error 24VOK Warn EN ewe ooo _ Warning e 2Hz 0 15 Error Code High Nibble e 2H
15. ic components in LinMot motors and or drives Do not switch Power Supply DC Voltage All power supply switching and E Stop breaks should be done to the AC supply voltage of the power supply Do not connect or disconnect the motors from drives with voltage present Wait to connect or disconnect motors until all LinMot drives LEDs have turned off Capacitors may not fully discharge for several minutes after power has been turned off Failure to observe these precautions may result in severe damage to electronic components in LinMot motors and or drives Page 4 20 S c S 0 E e e m LLI LinMot Installation Guide 2 System Overview US 12 3 PHASE RESISTOR POWERSTAGE LINEAR MOTOR SUPPLY ELT 2 80 DC 3x400VAC 8A 15A 25A 230VAC PHASE CURRENT 115VAC MOTOR SUPPLY BRUSHLESS DC MOTOR gum my PROFIBUS DP ES PROFIBUS DP Ne S c T 0 E e e N m POSITION SENSOR pog OPTIONAL EXTERNAL ETHERNET E ID HIGH m i ID LOW ALARM 5VDC GND 10 100 MBaud 10 100 MBaud INDUSTRIAL INDUSTRIAL LIMIT SWITCH 7 ETHERNET LIMIT SWITCH E BRAKE OUTPUT 10 100 MBaud 10 100 MBaud PTC1 b IHE ROTARY MOTOR amp Configuration Configuration PTC2 e SUPPLY PROTECTION ETHERNET ETHERNET TRIGGE
16. oiles Programmable Command Table Command Table with up to 255 entries e e e e eje See External Position Sensor Incremental RS422 up to 25 M counts s quadrature ev Synchronisation Master Encoder In Out RS422 up to 25 M counts s quadrature ev Configuration Interface RS232 le elele 4 IP Address Selection The default mode for acquiring an IP address is via DHCP If no servers respond on the connected network the drive switches to the lpv4 Link Local addressing scheme also known as APIPA on Windows systems This way the drive automatically assigns itself an address within the range of 169 254 0 1 through 169 254 255 254 Subnet Mask 255 255 0 0 Please note that this process can take up to a minute until a valid address is assigned to the drive LinMot Motor Communication NTI AG LinMot www LinMot com 6 20 E1200 Installation Guide LinMot Installation Guide LinMot e 5 Power Supply and Grounding AC Mains Fuse AC Mains END Stop Breaker Circuit Breaker 1 Circuit Breaker 1 2 Fuse 20 D Dl Power Supply motor Emergency PWR motor ill All wires on supply 2 5mm AWG14 J TN Galvanically
17. rive 72VDC 32A 0150 1771 RS232 AC01 RJ45 Df 2 5 RS1 0150 2143 configuration cable 12 International Certifications Certifications Europe See chapter 14 Declaration of Conformity CE Marking yww LinMot com L Page 18 20 LinMot Installation Guide B LinMot Classification of the safety functionality Drives classification accordance with the new machinery directive EN 150 13849 1 The safety function SVE Safety Voltage Enable on the LinMot drive series E1200 which is to provide the safe stop fulfills the following criteria of the new machinery directive EN ISO 13849 1 Category cat 3 Performance Level PL d Diagnostic Coverage CD medium Mean time to hazardous failure of one channel MTTFd 49 8 Years 14 Declaration Conformity Manufacturer AG LinMot 9 Haerdlistrasse 15 8957 Spreitenbach Switzerland Tel 41 0 56 419 91 91 Fax 41 0 56 419 91 92 S c S 0 E e e q LLI Products LinMot Drives Type Art No Type Art No Type Art No E1250 PL UC 0150 1760 E1250 EC UC 0150 1763 E1200 GP UC 0150 1771 E1250 IP UC 0150 1761 E1250 SC UC 0150 1764 E1250 SE UC 0150 1898 E1250 PN UC 0150 1762 E1230 DP UC 0150 1766 mE The product must be mounted and used in strict accordance with the installation instruction contained within the installation guide a copy of which may be obtained
18. software These documents are provided together with LinMot Talk configuration software and can be downloaded from www linmot com NTI AG LinMot www LinMot com Page 15 20 LinMot Installation Guide sical Dimensions E1200 Series single axis drive S c O T 0 E e e N q LinMot Installation Guide E 9 Power Supply Requirements Motor Power Supply The calculation of the needed power for the Motor supply is depending on the application and the used motor The nominal supply voltage is 72 80 VDC The possible range is from 24 to 85VDC for UL from 30 to 85 VDC ATTENTION The motor supply can rise up to 95 VDC when braking This means that everything connected to that power supply needs a voltage rating of 100 VDC Additional capacitors etc Due to high braking voltage and sudden load variations of linear motor applications only specially designed power supplies can be used Compatible Power supplies Item Description Art No TO 72420 US 0150 1067 701 721000 US 0150 1843 TO 72 500 US 0150 1845 For compatibility with other power supplies contact support linmot com 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 200mA no load on the outputs typ 1 1A all 10 outputs on with 100mA load and Break with no load max
19. z 0 15 x Error Code High Nibble e 2Hz 0115x Error Code High Nibble Operation Enabled e 2Hz 0 15 x Error Code Low Nibble e 2Hz 015 x Error Code Low Nibble e 2Hz 0 15 x Error Code Low Nibble the error Normal Operation Warnings and operation enabled are displayed Error The error code is shown by a blink code with WARN and EN The error byte is divided into low and high nibble 4 bit WARN and EN are blinking together The error can be acknowledged e g WARN blinks 3x EN blinks 2x Error Code 32h Fatal Error The error code is shown by a blink code with WARN and EN The error byte is divided into low and high nibble WARN and EN are blinking together Fatal errors can only be acknowledged by a reset or power cycle e g WARN blinks 3x EN blinks 2x Error Code 32h 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 codes can be found in the S c S 0 E e e m LLI The meaning of Usermanual MotionCtrlSW 505 and the user manual of the installed interface
Download Pdf Manuals
Related Search