Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 1/12
Installation Guide
Controller Series E100/E200/E400
Products
E100-AT / -MT /-DN /-CO
E200-AT / -MT /-DN/-CO
E400-AT / -MT /-DN/-CO
Content
IMPORTANT NOTES FOR E100/E200/E400 SERIES CONTROLLERS.....................2
SYSTEM OVERVIEW ............................................................................................................. 3
E100 SERIES FUNCTION AND WIRING...........................................................................4
POWER SUPPLY AND GROUNDING................................................................................5
DESCRIPTION OF THE CONNECTORS / INTERFACES ..............................................6
POWER SUPPLY REQUIREMENT...................................................................................10
ORDERING INFORMATION...............................................................................................10
DECLARATION OF CONFORMITY CE-MARKING.......................................................11
ERROR CODES.................................................................................................................... 12
CONTACT ADDRESSES ....................................................................................................12
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 2/12
Important notes for E100/E200/E400 series controllers
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.
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 controllers.)
All connectors must not be connected or disconnected while DC
voltage is present. Do not disconnect system components until all
LinMot controller LED’s have turned off. (Capacitors in the power
supply may not fully discharge for several minutes after input
voltage been disconnected). Failure to observe these precautions
may result in severe damage to electronic components in LinMot
motors and/or controllers.
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 controllers with
voltage present. Wait to connect or disconnect motors until all
LinMot controller LED’s 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 controllers.
© 2010 NTI Ltd
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.
Note
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 tec hnical advance or product
improvement.
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 3/12
System Overview
Power Supply
Motor
24 ... 48 V
From AC Mains
1x115V AC
1x230V AC
RS232
Interface
to PC for
Configuration
Linear Motor with internal Position Feedback
Fault Ready
Stat A Stat B
Mot A
-->
Sys 1
-->-->
Mot B
-->
Sys 2
-->-->
Mot C
-->
Com
-->-->
Mot D
-->
PWR
-->-->
1
2
3
5
4
3
2
1
9
8
7
6
5
4
3
2
1
9
8
7
6
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
1
2
3
4
5
15
Power Supply
Signal
24 ... 48 V
Interfaces
to PLC or
PC
Interfaces
to PLC or
PC
From AC Mains
1x115V AC
1x230V AC
Power Supply Signal
Power Supply Motor
Complete E400 Controller based system (E100 and E200 controllers will only drive one respectively
two motors). Power Supply for Signal and Motor may be the same device (see later).
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 4/12
E100 series Function and Wiring
2-Phase Powerstage
24...48V DC
3A Phase Current
1
2
3
4
5
6
7
8
9
RS232
TTL
1
2
3
4
5
6
7
8
9
0-5V
A/D
Mot A ( addtional Motors B,C,D)
Com. RS232
Linear Motor
Motor Internal
Hall Sensors
Motor Phases*
Hall Sensors* /Temp Sensor
*use special double shielded Linear
Motor cable (see catalogue)
for RS232 PC connection use 1:1cable
Pin 2 - Pin 2, Pin 3 - Pin 3, Pin 5 - Pin 5
min. 0.5mm2 / AGW20 for 3A
AC-Mains
- Circuit Breaker
- Fuse
=
+
24...48VDC
Power Supply signal
PWR signal
GND
AC-Mains
- Circuit Breaker
- Fuse
Emergency
Stop Breaker
=
+
24...48VDC
Power Supply motor
PWR motor
GND
10 AT
0.5 AT
signal components
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
5
4
3
2
1
9
8
7
6
1
11
Emergency Stop -
6
1
7
2
12
8
3
13 14
15
9
10
4
5
GND
Output + 5 V (max 50mA)
Emergency Stop+
Freeze -
Freeze +
GND
100k
100k
Dig Out 6
Dig Out 5
Warn Out
Error Out
MSG / Dig Out 4
Pos Error / Dig Out 3
Dig In 6
Dig In 5
R
R
R
R
R
R
Trig/Analog IN 1
GND
GND
6
1
2
7
4
8
3
9
5
Trig/Analog IN 4
Trig/Analog IN 2
Trig/Analog IN 3
100k
100k
100k
100k
RUN +
RUN -
INIT +
INIT -
Sys 2
Sys 1
E100
Controller
+5 ..+ 24 V
use only
shielded cables
use only
shielded cables
use only
shielded cables
5 ... 24 V
5 ... 24 V
5 ... 24 V
5 ... 24 V
Ground Bus
Ground Bus
Ground Bus
Typical wiring of a single axes controller. Multiple axes controller have additional motor connectors.
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 5/12
Power Supply and Grounding
Fault Ready
Stat A Stat B
Mot A
-->
Sys 1
-->-->
Mot B
-->
Sys 2
-->-->
Mot C
-->
Com
-->-->
Mot D
-->
PWR
-->-->
1
2
3
5
4
3
2
1
9
8
7
6
5
4
3
2
1
9
8
7
6
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
1
2
3
4
5
15
=
Galvanically Isolated Power Supply:
- Switch Mode Power Supply
- Transformer with Rectifier Bridge
+
24...48VDC
AC-Mains
- Circuit Breaker
- Fuse
All wires 1.5mm2 (AWG16)
AC-Mains
- Circuit Breaker
- Fuse
Emergency
Stop Breaker
-
=
Galvanically Isolated Power Supply:
- Switch Mode Power Supply
- Transformer with Rectifier Bridge
+
24...48VDC
-
PE
PWR signal
Power Supply signal
Power Supply motor
PWR motor
GND
GND
Ground Bus
Instead of two separated power supplies it may be possible to use only one power supply if there is no
need to control the signal power supply (logical devices of the controller) and the power supply of the
powerstage for the motors independently (see safety rules of the application).
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 to 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 controllers.)
Power supply connectors must not be connected or disconnected while DC
voltage is present. Do not disconnect system components until all LinMot controller
LED’s have turned off. (Capacitors in the power supply may not fully discharge for
several minutes after input voltage been disconnected).Failure to observe these
precautions may result in severe damage to electronic components in LinMot motors
and/or controllers.
Do not switch Power Supply DC Voltage. All power supply switching and E-Stop
breaks should be done to the AC supply voltage of the power supply. Failure to observe
these precautions may result in severe damage to controller.
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 6/12
Description of the connectors / Interfaces
Power Supply
1 PWR Signal+
2 GND
3 PWR Motor+
Power Connector
GND
24...48VDC
24...48VDC
GND internally
connected to
controller housing
Internal
Fuse 10AT
Supply GND
must be externally connected
to earth (Ground Bus)
1
PWR Signal +
GND
2
3
PWR Motor +
24...48VDC
24...48VDC
Internal
Fuse 500mAT
Supply:
Supply Voltage 24...48VDC. Absolute max. Rating 48VDC + 10%
Supply voltage for PWR Signal and PWR Motor may be different
Motor Supply GND must be externally connected to earth
Caution:
By exceeding 53VDC supply voltage, the controller will go into error state. Voltage higher than 55 VDC
will damage the controller!
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 supplies
Power supply connectors must not be connected or disconnected
while DC voltage is present.
Wiring:
1.5 mm² (AWG16), max length 5 m
LED State Display
Fault Ready
Stat A Stat B
Ready Green
Stat A Yellow
Stat B Yelllow
Fault red
READY The system has started correctly
STAT A Coding for the actual operating state
STAT B Coding for the actual operating state
The display of the various operating states is shown on the last page of this manual..
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.)
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 7/12
Mot A (B,C,D) Motor Connector
DSUB-9 (female)
Cosine
Sine
AGND
+5VDC
Phase 2-
Phase 2+
Phase 1-
Phase 1+
2k2
2k2
10k
Temp.
+5VDC
6
1
2
748
3
9
5
black
green
yellow
inner shield
grey
blue
pink
white
red
Outer shield connected
to connector housing
GND GND
+5VDC
Mot A (B,C,D)
GND
Extension Cable
Note:
- Use only special double-shielded Linear Motor Cable (see datasheet ‘extension cables’)
- Use +5V (Pin 3) and AGND (Pin 8) only for motor internal Hall Sensor supply (max. 100mA).
- Do NOT connect AGND (Pin 8) to ground or earth!
- Inner shield (AGND) and outer shield (earth) must be isolated to each other.
Caution:
- Wrong Motor wiring may damage Linear Motors and/or Servo Controller.
- 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 controllers
with voltage present. Wait to connect or disconnect motors until all LinMot controller LED’s 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 controllers.
Com COM (RS-232, RS-485, CAN)
5
4
3
2
1
9
8
7
6
DSUB-9 (male)
ID high
ID low
ID for RS485 and CAN
(Controller from the bottom)
GND
GND
6
1
2
748
3
9
5
RS-232 TX
1k0
RS-232 RX
CAN L
CAN H
RS-485 Y (TX+)
RS-485 A (RX+)
RS-485 B (RX-)
RS-485 Z (Tx-)
RS232: 9.6kBaud, use 1:1 connection cable to PC
RS485 and CAN needs external termination (see manual)
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 8/12
Sys 1 System Connector 1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
DSUB-15 (female)
Sys 1
1
11
Emergency Stop -
6
1
7
2
12
8
3
13 14
15
9
10
4
5
GND
Output + 5 V (max 50mA)
Emergency Stop +
Freeze -
Freeze +
GND
100k
100k
do not connect !!
Dig Out 6
Dig Out 5
Warn Out
Error Out
MSG / Dig Out 4
Pos Error / Dig Out 3
Dig In 6
Dig In 5
R
V+
R
V+
R
V+
R
V+
R
V+
R
V+
Emergency Stop (active low) / Freeze input (active high)
Optical isolated 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
Dig In 5 / Dig In 6
max. 24V,
input resistance 100kOhm for logical zero < 2V for logical one > 3.5V
Dig Outputs: Dig Out 6, Pos Error Out, MSG, Error Out, Warn Out, Dig Out 5
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
Sys 2 System Connector Sys2
5
4
3
2
1
9
8
7
6
DSUB-9 (male)
Trig/Analog IN 1
Sys 2
GND
GND
6
1
2
748
3
9
5
Trig/Analog IN 4
Trig/Analog IN 2
Trig/Analog IN 3
GND
100k
GND
100k
GND
100k
GND
100k
RUN +
RUN -
INIT +
INIT -
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
RUN (active high) / INIT (active high)
Optical isolated 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
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 9/12
Mechanical Dimension
Dimensions
LinMot
®
-E400
176
55
70
210
119
Centers
194
Fixings for
2 x M5 screws
Dimensions in mm
Recommended mounting for multiple controller installation
Fixings for
2 x M5 screws
Dimensions in mm
LinMot
®
-E400
LinMot
®
-E400
LinMot
®
-E400
50
50
50
50
100
100
100
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 10/12
E100
Single axes controller
E200
2 axes controller
E400
4 axes controller
Width mm (in) 70 (2.8)
Height mm (in) 210 (8.3)
Height without fixings mm (in) 176 (6.9)
Depth mm (in) 119 (4.7)
Weight Kg (lb) 1.1 (2.4) 1.2 (2.7) 1.3 (2.9)
Case IP 40
Storage Temperature °C -25…70
Operating Temperature °C 0…50
Max. Case Temperature °C 65
Power Supply Requirement
Power Supply motor
The calculation of the needed power for the Motor supply is depending on the application and the used motor(s).
The following table shows a recommendation for general applications.
Controller Voltage/ Power LinMot Switched- Power Supply Part-Nr.
E100 1 motor 48 V / 150 W S01-48/150 0150-1940
E200 Up to 2 motors 48 V / 300 W S01-48/300 0150-1941
E400 Up to 4 motors 48 V / 300 W S01-48/300 0150-1941
Power Supply signal
24 … 48 V / 5 W
Regeneration of Power
The Ex00 controller don’t use a regeneration resistor. In most application the recuper ated energy will not become
an issue. In cases where the motor power supply voltage will exceeds the voltage limits because of recuper ation
an additional capacitor between ‘PWR motor’ and ‘GND’ should be used. Typical: 22’000 uF.
Ordering Information
Servo Controller Description Art. No.
E100-AT Analog Trigger Controller 1 Axis (48V/3A) 0150-1601
E100-MT Multi Trigger Controller 1 Axis (48V/3A) 0150-1611
E100-DN DeviceNet Controller 1 Axis (48V/3A) 0150-1641
E100-CO CanOpen Controller 1 Axis (48V/3A) 0150-1669
E200-AT Analog Trigger Controller 2 Axis (48V/3A) 0150-1602
E200-MT Multi Trigger Controller 2 Axis (48V/3A) 0150-1612
E200-DN DeviceNet Controller 2 Axis (48V/3A) 0150-1642
E200-CO CanOpen Controller 2 Axis (48V/3A) 0150-1670
E400-AT Analog Trigger Controller 4 Axis (48V/3A) 0150-1604
E400-MT Multi Trigger Controller 4 Axis (48V/3A) 0150-1614
E400-DN DeviceNet Controller 4 Axis (48V/3A) 0150-1644
E400-CO CanOpen Controller 4 Axis (48V/3A) 0150-1672
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 11/12
Declaration of Conformity CE-Marking
Manufacturer: NTI AG
LinMot
®
Technoparkstrasse 1
8005 Zurich
Switzerland
Tel.: +41 (0) 1 445 22 82
Fax: +41 (0) 1 445 22 81
Products: LinMot
®
Controllers
Type Art.-No. Type Art-No. Type Art.-No.
E100-AT 0150-1601 E100-MT 0150-1611
E200-AT 0150-1602 E200-MT 0150-1612
E400-AT 0150-1604 E400-MT 0150-1614
E100-DN 0150-1641 E100-CO 0150-1669
E200-DN 0150-1642 E200-CO 0150-1670
E400-DN 0150-1644 E400-CO 0150-1672
The product must be mounted and used in strict accordance with the installation instruction contained
within the User’s Manual, a copy of which may be obtained from NTI Ltd.
I 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:
EMI EN 55011 Class A
EN 61000-6-4
Electromagnetic EN 61000-4-2 4 kV / 8kV
Suspectibility EMC EN 61000-4-4 1 kV / 2kV
EN 61000-6-2 EN 61000-4-3 10 V/m
EN 61000-4-6 10 V
ENV 50204 10 V/m
Company
NTI Ltd.
Spreitenbach, July 28, 2010
----------------------------------------------------------R. Rohner / CEO NTI AG
Controller Series E100/200/400
NTI AG Installation: E100/E200/E400 series / 28.07.2010 Page 12/12
Error codes
Error display When an error occurs it is displayed by means of the blinking of at least one of the four
LEDs on the front of the servo controller.
Ready LED The Ready LED is ON as soon as the supply voltage for the processor is guaranteed and
the system has started up correctly. Communication with the PC over the serial interface is only
possible when this LED is ON.
The following table summarizes the blink codes and their meaning:
F
LED Description
Fault Stat A Stat B
z ~ 3Hz
HW system error: Hardware error in the servo controller.
2x z ~ 1Hz SW1 System error: Software error in the servo controller. The system
software wasn’t loaded successfully.
z ~ 1Hz
off
off
SW2 System error: Software error in the servo controller. The system
software wasn’t loaded successfully.
On z ~ 2Hz z ~ 2Hz
Generic fault: The exact error message may be displayed
with the error inspector.
2x z
The supply voltage for the Power circuitry is too low.
3x z
The supply voltage for the Power circuitry is too high.
4x z
The supply voltage for the Signal circuitry is too low.
5x z
The supply voltage for the Signal circuitry is too high.
6x z
The servo controller is too hot.
8x z
Application Software Error (see manual)
1x z
The motor is overloaded.
2x z
The motor is too hot.
3x z
Following error.
4x z
The slider is missing from the motor.
6x z
The initialization was not completed successfully.
7x z
Incorrect motor type configured or damaged motor.
On
1x z: Mot A
2x z: Mot B
3x z: Mot C
4x z: Mot D
8x z A referenced motion profile for a motor is missing. Selected motion
profile not valid for actual drive type.
on LED is ON z LED blinks shortly (ca. ¼s)
off LED is OFF LED blinks longer (ca. 1½s)
Contact Addresses
NTI AG
LinMot Tel.: +41 (0)56-419 91 91
Haerdlistrasse 15 Fax: +41 (0)56-419 91 92
CH-8957 Spreitenbach E-Mail: office@linmot.com
Schweiz Web: www.linmot.com
LinMot Inc. Sales: 877-546-3270
5750 Townline Road 262-743-2555
Elkhorn Tech. Service: 877-804-0718
WI 53121 262-743-1284
USA Fax: 800-463-8708
262-723-6688
E-Mail: sales@linmot-usa.com
Web: www.linnmot-usa.com
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