Servo Drives Courtesy of Steven Engineering, Inc. - (800)

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1 Servo Drives Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

2 Servo Drives LinMot Servo Drives Servo Drives E00/E00 Servo Drive E00 9 Servo Drive E00 Servo Drives Servo Drive C00 9 Servo Drive B00 0 Multi-Axes System B0 / 00 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

3 Servo Drives LinMot Servo Drives LinMot linear motors, together with the associated Servo Drives, create an optimal drive system for linear positioning tasks. The wide range of drive products allows rapid implementation of simple applications with two end positions, up to complex, high-precision multi-axis applications with synchronization to a main electronic shaft. Simple Integration Connection to an overlaid control system can be made via analog, digital, or serial interfaces, fieldbusses, or ETHERNET. The wide range of fieldbus interfaces and protocols allows simple integration of LinMot Servo Drives in any controls concept. Regardless of the manufacturer and type of controls, LinMot Servo Drives provide the right interface to connect to an overlaid PLC, industrial PC, or proprietary control system. Servo Drives Intelligence right in the drive LinMot Servo Drives are highly integrated inverters with one or more power elements, for controlling the motors, and an intelligent control element with integrated position regulation. The control element performs all drive-related control and monitoring functions. It allows direct position set points, or travel along internally stored motion profiles from the overlaid control, using simple analog or digital signals. Simplest Applications Standard Applications High-End Applications Because of their high dynamic capabilities, long life, and ability to travel to several positions, LinMot linear motors are often used as a replacement for pneumatic cylinders. Various end positions can be stored in the drive and are invoked via digital signals, just as with a pneumatic cylinder. Once the end position is reached, this is reported to the overlaid control via the In-position signal on a digital output. Speed and acceleration can be configured freely for each motion. With control via fieldbusses or an Ethernet interface, standard applications can be implemented with simple point-to-point motions. Position, speed, and acceleration can be configured freely, and are provided via the bus. Complicated or co-dependent motions can be stored on the drive in the form of travel profiles, and started via digital trigger signals or the bus connection. Complex applications with synchronization to a main or master shaft can be implemented without trouble using the integrated master encoder interface. Travel along paths from an overlaid NC drive can be implemented via the +/-0V interface, or in streaming mode (PVT, PV). Together with a high-resolution, external position sensor, even high-precision positioning tasks in µm range can be handled. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

4 Servo Drives Motor communication Motor Monitoring Trigger Events Time Curves I/O Monitoring Application Software Technology Functions Force Feedback Basic Functions VA-Interpolator Monitoring and Control Functions Bus Monitoring Fieldbus Interface Hardware Monitoring Current Control Winding Command Table Position Streaming Master Encoder Position Control Speed Control State control Force Control Modular Firmware LinMot Servo Drives are used as pure position drives. Additionally, using the technology functions or a customer-specific software application, complete sequences or functions can be implemented for customerspecific applications. Application Software Using a software application, customer-specific applications can be programmed directly in the drive. This is mainly an advantage when very fast sequences need to be implemented, for which the communication speed or computing power of the overlaid control are not sufficient. Technology Functions Technology functions are generally available functional blocks that provide a complete solution for standard applications. The technology function can take over complete sequence control of a process. With the technology function "winding textile yarns", only a few parameters are provided by the overlaid control, such as the number of windings. The complete winding process then takes place automatically. Basic Functions The basic functions include communication with the overlaid control, generation of target values for speed and acceleration-limited point-to-point motions, travel along motion profiles, synchronization of drives to an electronic main or master shaft, and synchronization in multi-axis applications. Monitoring and Control The basic functions of the Servo Drive, such as position and current control; control and monitoring of the power element; and monitoring the motor temperature, power, and position are handled by the control, monitoring, and regulation element, which also controls the entire finite state machine of the drive. Servo Drives Multi-axis operation Linear and Rotary Drives Certified Safety In multi-axes or linked operation, the master encoder interface can control both individually and synchronous to a main or master shaft. For complex designs, several axes can be synchronized in master-booster or mastergantry mode. This allows simple implementation of portal designs with two synchronized axes, which are controlled by the overlaid control as a single axis. Using Series E00 / B00 Servo Drives, rotary servomotors can be used as well as linear motors, or any //-phase actuators. Primarily in assembly automation and feeding applications, small, light brushless DC motors (EC motors) are often needed to rotate a gripper about the Z-axis. The flexibility of the Servo Drive allows such rotary motors to be integrated into the existing controls concept in the same simple manner as linear motors. The safe impulse block on the Series E00 Servo Drive allows safety concepts to be implemented in machines and system with minimum effort and additional external components. Safety Standard EN9- Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

5 Servo Drives Servo Drive Series E00/E00 Fieldbusses and interfaces to the overlaid control Digital I/O s RS RS CANopen Device- Net Profibus DP Servo controls from the Series E00 and E00 are one, two, or four-axis drives with -bit position resolution. The drives are suitable for simple and standard positioning tasks in the low to medium force range, in which linear motors are operated without optional peripherals such as reference and end stop switches, external high-precision position sensors, or a holding brake. Connection to the overlaid control is done via analog and digital signals, a serial connection, and fieldbusses. The compact size is a great advantage of the Series E00/E00 Servo Drives, primarily for compound and multi-axis applications, with regard to installation space and effort. Supply Logic Supply Motor Supply Trigger- Inputs Linmot Servo Drive Series E00 / E00 Position Drive: Bit Position Value Resolution 0µm Run Modes: VA Interpolated Moves Analog Position Run Curves Two Point Trigger Moves Internal stored Curves: Max. Curves Up to 000 set points Fmax = 00N Fmax = 00N Prozess Inputs Analog- Inputs Fmax = 00N Servo Drives Config. RS Fmax = 00N Servo Drive Series E00 Servo Drive Series E00 Servo Drives E00 in use Single and multiple axes drives for standard positioning tasks. Analog, digital, and industrial fieldbus interfaces For low forces For standard precision -Bit position resolution for short and medium stroke ranges Point to point motions and travel along setpoint curves Electronic cam disc (Option) Master gantry and master booster synchronization Control of LinMot linear motors Single and multiple axes drive for standard positioning tasks. Analog, digital, and industrial fieldbus interfaces For low and medium forces For standard precision -Bit position resolution for short and medium stroke ranges Point to point motions and travel along setpoint curves Master gantry and master booster synchronization Control of LinMot linear motors 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

6 Servo Drives Digital I/O s RS RS Fieldbusses and interfaces to the overlaid control CAN open Device- Net Profibus DP ProfiNet Sercos III Power Link Ethernet IP Ether CAT Servo Drive Series E00/B00 Series E00/C00 Supply and Safety Fast Prozess Inputs Config. Logic Supply Motor Supply Safety Voltage Enable Regeneration Resistor Trigger Inputs Capture Analog Inputs RS CAN Linmot Servo Drive E00/B00 E00/C00 Position Drive: Bit Position Value Resolution 0.µm 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 000 set points Command Table:* Up to (E00) Up to (B00) Commands Optional Limit and Home Switches LinMot Linear Motor or other // phase motor (Brushless DC, Voice Coil,...) Optional Brake CAN Config. Limit - Switch Optional external Position Sensor Home Switch External Position Sensor Limit + Switch LinMot Servo Drives are modular axis drives with -bit position resolution for linear motors and rotary drives. The drives are suitable for simplest, standard, and high-end positioning tasks, across the entire force range of the LinMot product range. Flexible hardware enables control of any //-phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept. Additionally, the drives can be equipped with optional peripherals, such as reference and end stop switches, high-precision external position sensors, and holding brakes. LinMot Servo Drives have analog and digital inputs and outputs, serial interfaces, fieldbusses, and ETHERNET connections. The user is therefore not dependent on the selection of the overlaid control. An appropriate interface is available, with associated protocols, for any PLC or IPC solution. With flexibility and a compact form factor, LinMot Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators. Servo Drives Synch. Master Encoder In Master Encoder Out Synch. Servo Drive Series E00 Single-axis drive for simplest, standard, and high-end positioning tasks. Analog, digital, and industrial fieldbus interfaces, as well as industrial ETHERNET For low, medium, and high forces For standard and high-precision applications -bit position resolution for short, medium, and long stroke ranges Point to point motions and travel along setpoint curves and motion profiles Integrated brake chopper for external brake resistor Output for controlling a mechanical brake Inputs for external end position and reference switches Fast trigger inputs Event Capture Input Safe pulse inhibitor Integrated sequence controller Position Indexing Position Streaming Synchronization to feeds and conveyor belts Electronic cam disc / Master Encoder Master-slave synchronization for gantry applications Technology blocks for standard applications Configurable via ETHERNET or fieldbus interfaces Control of linear and rotary motor Servo Drive Series B00 Single-axis drive for simplest and standard positioning tasks. Analog, digital, and CAN/RS/ interfaces, encoder simulation For low, medium, and high forces For standard and high-precision applications bit position resolution for short, medium, and long stroke ranges Position Indexing Position Streaming Control of linear and rotary motors Output for controlling a mechanical brake End position and reference switches Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

7 Servo Drives Servo Drives Servo Drive Series E00 Series E00 Series E00 Series E00 Controllable Actuators Linear Motors Series P0 - Linear Motors Series P Linear Motors Generic (rd Part) - - DC Motors - - EC Motors (Brushless DC Motors) - - Torque Motors - - Electric Properties Motor Supply Voltage DC VDC VDC VDC...VDC Motor Supply Voltage AC - - x00 0VAC Max. Phase Current A pk A pk 0A pk A pk Internal Chopper No Yes Yes Yes Interfaces Analog Force/Torque - Analog Velocity - Analog Position Step/Direction RS RS CANopen DeviceNet - - Profibus DP ETHERCAT - - PROFINET - - ETHERNET IP - - SERCOS III - - POWERLINK - - Configuration Interfaces RS - Single Axes CAN - Multi Axes - - Ethernet - Multi Axes - - Ethernet - Remote Maintenance - - Motion Commands Position Streaming P, PV, PVT - - Interpolated Moves VA-limited Interpolated Moves Bestehorn - - Curves Time Based Curves Master Encoder Belt Synchronization - - Command Table Winding Application Closed Loop Force Control - - Customer Specific Funtionalities Position Feedback LinMot Encoder Motor Link C Motor Link P SinCos (Vpp) - - Incremental Encoder A,B,Z (RS) Incremental Encoder A,B,Z (RS) with U,V,W Incremental Encoder A,B,Z (RS) with U,V,W (RS) - - Absolute Encoder SSI - - Absolute Encoder Analog - - Encoder Emulation Output A,B,Z (RS) - - Synchronisation Master Encoder Input A,B,Z (RS) Master Encoder Output A,B,Z (RS) Digital & Analoge Interfaces Digital Inputs VDC Digital IO VDC 0 0 Digital Outputs VDC 0 0 Analog Inputs 0 0VDC (0 Bit) (0 Bit) ( Bit) ( Bit) Analog Inputs -0 +0VDC - - ( Bit) ( Bit) Brake Output - - V/A V/A Safety Functions Seperate Power Supply Input Safety Voltage Enable SVE Safety Relais - - x (-S) - STO - Safe Torque Off - - x (-S) - Resolutuion & Timings Position Drive Resolution Bit Bit Bit Bit Position Drive Update Rate - - khz 0kHz I/O Update Rate.ms.ms khz khz I/O Update Rate Trigger and Capture Input.kHz.kHz khz 0kHz Current Drive Frequency.kHz.kHz khz 0kHz PWM Frequency - - khz 0kHz Approvals CE CE CE CE CE UL - - UL pending UL pending Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

8 Servo Drives Servo Drive Series C00 Series E00 Series B00 Controllable Actuators Linear Motors Series P0 Linear Motors Series P Linear Motors Generic (rd Part) DC Motors EC Motors (Brushless DC Motors) Torque Motors Electronic Properties Motor Supply Voltage DC...VDC...VDC...VDC Motor Supply Voltage AC Max. Phase Current A pk / / A pk / / A pk Internal Chopper No Yes No Interfaces Analog Force/Torque Analog Velocity Analog Position Step/Direction RS RS CANopen DeviceNet - Profibus DP - ETHERCAT - B0 PROFINET - B0 ETHERNET IP - B0 SERCOS III - B0 POWERLINK - B0 Configuration Interfaces RS - Single Axes CAN - Multi Axes - Ethernet - Multi Axes Ethernet - Remote Maintenance Motion Commands Position Streaming P, PV, PVT Interpolated Moves VA-limited Interpolated Moves Bestehorn Curves Time Based Curves Master Encoder - - Belt Synchronization - - Command Table Winding Application - Closed Loop Force Control Customer Specific Funtionalities Position Feedback LinMot Encoder Motor Link P Motor Link P Motor Link P SinCos (Vpp) - Incremental Encoder A,B,Z (RS) Incremental Encoder A,B,Z (RS) with U,V,W Incremental Encoder A,B,Z (RS) with U,V,W (RS) Absolute Encoder SSI - - Absolute Encoder Analog Encoder Emulation Output A,B,Z (RS) - - Synchronisation Master Encoder Input A,B,Z (RS) - - Master Encoder Output A,B,Z (RS) - - Digital & Analoge Interfaces Digital Inputs VDC 0 / (GP) Digital IO VDC Digital Outputs VDC 0 / (GP) Analog Inputs 0 0VDC - (0 Bit) (0Bit) Analog Inputs -0 +0VDC - 0 (0Bit) Brake Output V/0.A V/A V/0.A Safety Functions Seperate Power Supply Input Safety Voltage Enable SVE - (RS, CO, DN,DP) - Safety Relais (-S) - - STO - Safe Torque Off (-S) - - Resolutuion & Timings Position Drive Resolution Bit Bit Bit Position Drive Update Rate 0kHz khz khz I/O Update Rate khz.khz.khz I/O Update Rate Trigger and Capture Input 0kHz khz khz Current Drive Frequency 0kHz khz 0kHz PWM Frequency 0kHz 0kHz 0kHz Approvals CE CE CE CE UL UL pending UL - Servo Drives Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

9 Notes Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

10 Servo Drives Servo Drive E00/E00 Series E00/E00 Series E00/E00-AT/MT 0 Series E00/E00-CO/DN Series E0/E0-DP Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

11 Servo Drives Servo Drive Series E00/E00 The Series E00 Servo Drive and powerful Series E00 are compact, one, two or four-axis position drives with -bit position resolution and integrated power elements. The drives are suitable for simple and standard positioning tasks in the low to medium force range. E00/E00 Motor Interfaces Connection to Machine Drive Process Interfaces Series E00 and E00 Servo Drives allow control of up to four linear motors by one drive. The linear motors themselves are operated without any complicated peripherals, such as end position monitors or reference switches. The individual linear motors are either completely independently controlled, or they are synchronized with each other in special applications, in master booster or master gantry mode. The E00 and E00 series Servo Drives can be controlled through the following interfaces: Digital inputs and outputs Analog Inputs RS Serial Interface RS Serial Interface CANopen DeviceNet Profibus DP As a fast process interface for direct reading of sensor signals, one combined analog/digital input per drive is available as an analog position target or a trigger input. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

12 Series E00/E00 Fieldbusses and interfaces to the overlaid control Digital I/O s RS RS CANopen Device- Net Profibus DP System Integration Series E00/E00 drives are suitable for controlling linear motors that are operated without optional peripherals such as reference and end stop switches, external high-precision position sensors, or a holding brake. Supply Logic Supply Motor Supply Linmot Servo Drive Series E00 / E00 Position Drive: Bit Position Value Resolution 0µm Fmax = 00N Connection to the overlaid control is done via analog and digital signals, a serial connection, or fieldbusses. The compact size is a great advantage of the Series E00/E00 Servo Drives, primarily for compound and multi-axis applications, with regard to installation space and effort. Run Modes: VA Interpolated Moves Analog Position Run Curves Two Point Trigger Moves Fmax = 00N Process Inputs Trigger Inputs Internal stored Curves: Max. Curves Up to 000 set points Fmax = 00N Analog Inputs Fmax = 00N Config. RS E00/E00 Logic and Power Supply Servo Drive E00 in use Configuration The Servo Drives have two separate power supplies for the logic and power elements. In an E-stop and safe stop of the drive, only the power element supply is cut off from the drive. The logic supply and the drive continue to run. This has the advantage that the drive and linear motor do not need to be reinitialized when the machine is restarted, since all process data, including the current position of the linear motor, are still up to date. Parameterization and configuration of the Servo Drive is done via the RS interface on the front side. The menu-drive Windows interface LinMot Talk is used for configuration, with which up to four Axis can be configured simultaneously on one drive. LinMot Talk provides extensive debugging tools, such as an oscilloscope and an error inspector, for simple and rapid start-up of the Axis. Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

13 Operating Modes Absolute & Relative Positioning Commands Stroke [mm] For direct position targets, using absolute or relative positioning, the desired position is reached according to acceleration and velocity-limited motion profiles (VA interpolator). Positioning commands can be invoked via the serial interface, fieldbusses, ETHERNET, or the trigger input. Goto 00mm v max =,m/s a max =,0m/s Time[ms] Stroke range: Position Resolution: Velocity Resolution: Acceleration: ±0mm 0µm ( Bit).0µm/s ( Bit) 0.0µm/s ( Bit) Travel Along Time Curves Stroke [mm] Start Curve Up to 99 different time curves can be stored Series E00 drives, with up to,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. E00/E00 Curve Time[ms] Stroke range: Position Resolution: Motion profiles: Curve points: ±0mm 0µm ( Bit) max. curve profiles max. 000points Analog Position Target For an analog position target, the linear motor travels to a position proportional to the input voltage. The position is continuously read. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator). 0V 0V Position Position Inputs: Voltage range: Resolution: Scanning rate: analog input per motor 0-0VDC 0 Bit 00µsec Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

14 Series E00/E00 Trigger Point Stroke[mm] Pos Pos Trigger In the two-point trigger operating mode, two freely adjustable positions are controlled by the overarching drive, using a trigger signal. One target value for the high level, and one for the low level of the digital input signal are stored in the drive electronics. If the signal at the drive electronics input changes, then the associated position is moved to at the programmed acceleration and speed. Time [ms] Stroke range: Position Resolution: Velocity Resolution: Acceleration: ±0mm 0µm ( Bit).0µm/s ( Bit) 0.0µm/s ( Bit) Master Slave Synchronization X X Using master-slave synchronization, two linear motors can be synchronized via a serial communications connection between two drives, so that the overlaid drive can control them as a single axis. y Master Gantry Synchronization Master gantry synchronization is used for portal designs with two parallel Axis at different locations. Master Booster Synchronization Master booster synchronization is used to double the force when two motors are mechanically rigidly connected to each other. E00/E00 Internal Command Table Multi Trigger Command Pos mm Command Pos 0mm Command Curve Command Pos -0mm Command Pos +,mm Command Pos -,mm With the Multi-Trigger-Table, up to positions or independent travel commands can be stored on the drive and addressed directly or indirectly via digital inputs. Digital inputs: Max. Interface: Sys Scanning rate: 00µsec Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

15 Configuration LinMot Talk LinMot Talk configuration software is a Windows-based interface that supports the user during start-up and configuration of the LinMot Series E00 and E00 Servo Drives. The software has a powerful, modular, graphical interface that covers all the tasks surrounding the LinMot Servo Drive. Great emphasis was placed on a high level of user-friendliness during development. E00/E00 Start-up and Analysis Tools Using the LinMot Talk PC interface, LinMot Servo Drives are configured. Additionally, the drives can be monitored during operation with the machine running, and the current motion sequences, as well as earlier warnings and error messages, can be analyzed in detail (monitoring). Simple Installation For start-up and monitoring, the Servo Drive is connected to a PC via the RS interface on the front, using a 9-pole D-sub connector (: Connection). Up to four Axis on one drive can be configured and monitored at the same time using LinMot Talk. Integrated Documentation After installation of LinMot Talk on the PC is complete, all manuals and installation instructions are available via the Windows Start Menu. The user thus always has the current documentation available to him. Parameterization Optimization Monitoring Using the "Parameter Inspector," the drives are parameterized in a simple manner. The user has a wide range of adjustments available for operating modes, error management, warning messages, and regulating parameters. Entire parameter sets can be stored, loaded, and printed out. The "Curve Editor" allows creation of travel curves. In addition, existing curves can be loaded, stored, edited, combined, and printed out. Further, complex motion sequences can be generated as desired in MS Excel, and loaded into the drive. The integrated oscilloscope helps the user during start-up and optimization of the drive system. Internal variables, such as the target and actual position, can be shown in real time on the screen, and then printed out. The displayed data can be stored in CSV format for further processing in MS Excel, or stored for documentation purposes. Using the "Error Inspector," the user can read out stored errors, as well as the currently active warnings and error messages in the LinMot Servo Drive. The last 0 error messages are stored in non-volatile memory on the Servo Drive, together with the operating hours counter. Further, the states of the inputs and outputs can be viewed in the "Error Inspector." This allows rapid and uncomplicated checking of signals from and to the overlaid control. 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

16 E00-DN-ME (hex) + - 9ABCDEF0 9ABCDEF0 Interfaces Motor A Motor A 0 Ph+ Ph- Ph+ Ph- +VDC A SIN COS 9 TEMP red pink blue grey white inner shield yellow green black 0 SHIELD outer shield Motor A System Interface Profibus Address VF-Interface Motor B Motor B 0 Motor B Motor C System Interface Profibus Interface COM Interface Motor C Motor C 0 ID HIGH State S ID LOW S Profibus Address Motor D Supply Motor /Logic RS/CAN Bus Address Motor D Motor Supply Regeneration Resistor Motor D 0 MOT SUPPLY Motor Supply (..0) VDC 9 CAN H CAN L RS Rx RS Tx P PWR+ PE RR Logic Supply (..0) VDC +VDC D COM / CONFIG Sys Sys System Schnittstelle System Interface Profibus Interface COM Interface Logic Supply Option Master Encoder Option Master Encoder I/O s E00-AT E00-AT E00-MT E00-MT E00-CO E00-CO E00-DN E00-DN E0-DP E0-DP E00/E00 Interface System Interface System Interface Profibus Address Profibus Interface COM Interface Supply Motor Supply Logic Supply Logic/Motor Regeneration Resistor Bus Address RS/CAN Motor Connector DSUB-9 Motor Connector MC0-P Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

17 (hex) + - 9ABCDEF0 9ABCDEF0 E00/E00-AT/MT Series E00/E00-AT/MT E00-AT E00-AT E00-AT E00-AT E00-AT E00-AT E00-MT E00-MT E00-MT E00-MT E00-MT E00-MT E00, E00, E00-AT/MT Mot A Motor A Mot B Motor B Sys System Interface Sys System Interface Mot C Motor C Com COM Interface E00/E00-AT/MT Absolute & Relative Positioning Commands Travel Along Time Curves Trigger Mode: Two Point Trigger Mode: Curves Internal Multi Trigger Table (MT) Analog Position Target Master-Slave Synchronization Option: Customer-Specific Functions (MT) Mot D Motor D E00, E00, E00-AT/MT Mot A Motor A Mot B Motor B Mot C Motor C Mot D Motor D PWR Motor Motor Power Supply Regeneration Resistor Motor A 0 Motor B 0 Motor C 0 Motor D 0 MOT SUPPLY E00-AT Ph+ red Ph- pink Ph+ blue Ph- grey +VDC white A inner shield SIN yellow COS green 9 TEMP black 0 SHIELD outer shield ID HIGH 9 CAN H CAN L RS Rx RS Tx P PWR+ RR Logic Supply (..0) VDC Motor Supply (..0) VDC PE +VDC D State S ID LOW S Sys Sys COM / CONFIG PWR Motor/Logic Supply RS/CAN Bus Address Sys System Interface Sys System Interface Com COM Interface PWR Logic Logic Supply Option Master Encoder Option Master Encoder I/O s Analog Trigger Drive AT Multi Trigger Drive MT Serial Interface RS/RS The target position is provided by the overlaid control (PLC, industrial PC) as analog position signals, digital trigger signals, or directly via a serial interface. End positions stored in the AT Servo Drive, or stored travel profiles, can be invoked using simple digital trigger signals. The target position is provided as a voltage at the analog input of the Servo Drive. The position range associated with the voltage range at the analog input can be freely configured by the user. Multi trigger Servo Drives allow direct programming of complex motion sequences, with up to commands. The Servo Drive is actuated by the overlaid control via digital signals. The commands for the individual Axis are stored in the state table in the Servo Drive. The individual states in the table are controlled by the overlaid control via digital signal addressing. As soon as a state is invoked by the overlaid control, the Axis carry out their defined motion or defined command. Series E00/E00E00-AT and -MT Servo Drives offfer an ASCII protocol for serial communication over RS / RS with the overlaid control system. The E00/E00 drives have two independent serial interfaces for RS and RS. If the Servo Drive communicates with the RS interface with the overlaid control, the RS interface may be used the same time for configuration and debugging with configuration software LinMot Talk. Adjustable Baud rates: 9.-.kBaud Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

18 Analog- / Multi-Trigger...VDC E00-AT/MT E00-AT/MT SYS MOT A OVERARCHING CONTROLLER DIGITAL SIGNALS: V TTL, VDC WARNING ERROR POS. ERROR MSG / OUT OUT OUT STOP+ STOP- FREEZE+ FREEZE- DIGIN / PH+ PH- PH+ PH- +V SIN COS TEMP LINEAR MOTOR A ANALOG SIGNALS: V SYS TRIG/ANALOG IN TRIG/ANALOG IN TRIG/ANALOG IN TRIG/ANALOG IN RUN+ RUN- INIT+ INIT- COM MOT B PH+ PH- PH+ PH- +V SIN COS TEMP LINEAR MOTOR B RS PC CONFIG. INTERFACE RS RS RS / RS 9. kbaud COMMUNICATION MOT C SUPPLY E00 MOTOR POWER SUPPLY..VDC SIGNAL POWER SUPPLY..VDC SUPPLY E00 MOTOR POWER SUPPLY..VDC SIGNAL POWER SUPPLY..VDC REGENERATION RESISTOR PWR PWR E00 -PHASE POWER STAGE...VDC A PHASE CURRENT E00 -PHASE POWER STAGE...0VDC A PHASE CURRENT PH+ PH- PH+ PH- +V SIN COS TEMP MOT D PH+ PH- PH+ PH- +V SIN COS TEMP LINEAR MOTOR C LINEAR MOTOR D E00/E00-AT/MT ID RS/CAN BUS ADDRESS ID LOW ID HIGH Item Description Part Number E00-AT AnalogTrigger Drive Axis (V/A) 00-0 E00-AT AnalogTrigger Drive Axis (V/A) 00-0 E00-AT AnalogTrigger Drive Axis (V/A) 00-0 E00-AT AnalogTrigger Drive Axis (V/A) E00-AT AnalogTrigger Drive Axis (V/A) 00-0 E00-AT AnalogTrigger Drive Axis (V/A) 00-0 E00-MT Multi Trigger Drive Axis (V/A) 00- E00-MT Multi Trigger Drive Axis (V/A) 00- E00-MT Multi Trigger Drive Axis (V/A) 00- E00-MT Multi Trigger Drive Axis (V/A) 00-0 E00-MT Multi Trigger Drive Axis (V/A) 00-0 E00-MT Multi Trigger Drive Axis (V/A) 00-0 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

19 (hex) + - 9ABCDEF0 9ABCDEF0 E00/E00-CO/DN Series E00/E00-CO/DN E00-CO E00-CO E00-CO E00-CO E00-CO E00-CO E00-DN E00-DN E00-DN E00-DN E00-DN E00-DN E00, E00, E00-CO/DN Mot A Motor A Mot B Motor B CO Sys System Interface Sys System Interface Mot C Motor C Com COM Interface E00/E00-CO/DN Absolute Travel Trigger Trigger & Relative Positioning Commands Along Time Curves Mode: Two Point Mode: Curves Internal Command Table Analog Position Target Master-Slave Synchronization Option: Customer-Specific Functions Mot D Motor D E00, E00, E00-CO/DN Mot A Motor A Mot B Motor B Mot C Motor C Mot D Motor D PWR Motor Motor Power Supply Regeneration Resistor Motor A 0 Motor B 0 Motor C 0 Motor D 0 MOT SUPPLY E00-CO Ph+ red Ph- pink Ph+ blue Ph- grey +VDC white A inner shield SIN yellow COS green 9 TEMP black 0 SHIELD outer shield ID HIGH 9 CAN H CAN L RS Rx RS Tx P PWR+ RR Logic Supply (..0) VDC Motor Supply (..0) VDC PE +VDC D State S ID LOW S Sys Sys COM / CONFIG PWR Motor/Logic Supply RS/CAN Bus Address Sys System Interface Sys System Interface Com COM Interface PWR Logic Logic Supply Option Master Encoder Option Master Encoder I/O s CANopen DeviceNet LinMot CO drives, with integrated CANopen interface, support the CiA DS0 communication profile. The following CANopen resources are available on the CO drives: - T_PDO, - R_PDO T_SDO, R_SDO The following protocols are supported by the CO drives: - Node Guarding - PDO acyclic with inhibit time - SDO Upload and Download - NMT (Start, Stop, Enter PreOp, Reset Node, Reset Communication) - Boot-Up Message Series DN drives feature an integrated DeviceNet interface. With the DeviceNet interface, even complicated motion sequences can be realized with the highest possible flexibility. The drive can be actuated and monitored via the DeviceNet connection. The following expanded fieldbus functions are available: - Direct target position - Invoke motion profiles - Read and write access to parameters - Monitoring internal parameters - Diagnosis "Explicit Messaging" The DeviceNet Servo Drives support one "Explicit Messaging" connection per master. "Polled IO" The master initiates data interchange with a "Polled IO" command. "Change of State IO" With this connection, the data is transferred only if the states or values have changed. "Cyclic IO" With the "Cyclic IO" connection, the data is transferred strictly cyclically. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

20 CANopen / DeviceNet...VDC E00-CO/DN E00-CO/DN SYS MOT A OVERARCHING CONTROLLER DIGITAL SIGNALS: V TTL, VDC WARNING ERROR POS. ERROR MSG / OUT OUT OUT STOP+ STOP- FREEZE+ FREEZE- DIGOUT / PH+ PH- PH+ PH- +V SIN COS TEMP LINEAR MOTOR A ANALOG SIGNALS: V SYS RS PC CONFIG. INTERFACE RS / RS 9. kbaud COMMUNICATION CAN: CANOPEN DEVICENET max. 00kBaud TRIG/ANALOG IN TRIG/ANALOG IN TRIG/ANALOG IN TRIG/ANALOG IN RUN+ RUN- INIT+ INIT- COM RS RS CAN MOT B PH+ PH- PH+ PH- +V SIN COS TEMP MOT C LINEAR MOTOR B SUPPLY E00 MOTOR POWER SUPPLY...VDC SIGNAL POWER SUPPLY...VDC SUPPLY E00 MOTOR POWER SUPPLY...VDC SIGNAL POWER SUPPLY...VDC REGENERATION RESISTOR PWR -PHASE POWER STAGE...VDC A PHASE CURRENT PWR -PHASE POWER STAGE...0VDC A PHASE CURRENT E00 E00 PH+ PH- PH+ PH- +V SIN COS TEMP MOT D PH+ PH- PH+ PH- +V SIN COS TEMP LINEAR MOTOR C LINEAR MOTOR D E00/E00-CO/DN ID CAN BUS ADDRESS ID LOW ID HIGH Item Description Part Number E00-CO CanOpen Drive Axis (V/A) 00-9 E00-CO CanOpen Drive Axis (V/A) 00-0 E00-CO CanOpen Drive Axis (V/A) 00- E00-CO CanOpen Drive Axis (V/A) 00-0 E00-CO CanOpen Drive Axis (V/A) E00-CO CanOpen Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

21 (hex) + - 9ABCDEF0 9ABCDEF0 E0/E0-DP Series E0/E0-DP E0-DP E0-DP E0-DP E0-DP E0-DP E0-DP E00-MT E0, E0, E0-DP Mot A Motor A Mot B Motor B ID Profibus Bus Address DP Profibus Interface Mot C Motor C Com COM Interface Absolute Travel Master-Slave & Relative Positioning Commands Along Time Curves Trigger Mode: Two Point Trigger Mode: Curves Internal Command Table Analog Position Target Synchronization Mot D Motor D E0, E0, E0-DP Mot A Motor A Mot B Motor B Mot C Motor C Motor A 0 Motor B 0 Motor C 0 E00-DP Ph+ Ph- Ph+ Ph- +VDC A SIN COS 9 TEMP red pink blue grey white inner shield yellow green black 0 SHIELD outer shield ID HIGH State S ID LOW S PWR Motor/Logic Supply ID Profibus Bus Address E00/E00-DP Option: Customer-Specific Functions Mot D Motor D PWR Motor Motor Power Supplyen Regeneration Resistor Motor D 0 MOT SUPPLY 9 CAN H CAN L RS Rx RS Tx P PWR+ RR Logic Supply (..0) VDC Motor Supply (..0) VDC PE +VDC D PROFIBUS DP COM / CONFIG DP Profibus Interface Com COM Interface PWR Logic Logic Supply Option Master Encoder Option Master Encoder I/O s Profibus DP Series DP Servo Drives feature an integrated PROFIBUSDP interface. PROFIBUS- DP provides the user with a standardized fieldbus interface for rapid data interchange between the Servo Drive and the overlaid control. With cyclical provision of target positions and other process data, the Profibus drives are the ideal solution for applications with motions and sequences that change frequently, such as are required, for example, in flexible machines and systems for rapid format changes. The Profibus interface supports all Baud rates from 9. Kbits/s to Mbit/s. The maximum net data quantity exchanged in cyclical data traffic is bytes per cycle. The smallest achievable bus cycle time is 00 µs. The structure and scope of cyclical data can be collected from any individual data modules into an overall data quantity when planning the system, whereby the data for the individually connected motors can be different. A GSD device master file is provided for open planning in conformance with the standard. The front-side 9-pin DSUB bus connector meets the PROFIBUS standard. It provides power for an external bus termination. A positive directional control signal is provided to control repeaters or optical fibers. All signals on the PROFIBUS connector are galvanically separated. The PROFIBUS-DP address is set by two hex code switches (ID and ID). All addresses permitted by the standard are supported (0..). Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

22 Profibus DP E0-DP E0-DP MOT A ID HIGH ID LOW PH+ PH- PH+ PH- +V SIN COS TEMP LINEAR MOTOR A PROFIBUS DP COMMUNICATION max. MBaud DP PROFIBUS ID MOT B RS PC CONFIG. INTERFACE RS / RS 9. kbaud COM RS PH+ PH- PH+ PH- +V SIN COS TEMP LINEAR MOTOR B SUPPLY E0 PWR E0 MOTOR POWER SUPPLY...VDC SIGNAL POWER SUPPLY...VDC SUPPLY E0 -PHASE POWER STAGE...VDC A PHASE CURRENT PWR E0 MOT C PH+ PH- PH+ PH- +V SIN COS TEMP LINEAR MOTOR C E00/E00-DP MOTOR POWER SUPPLY...VDC -PHASE POWER STAGE...0VDC A PHASE CURRENT SIGNAL POWER SUPPLY...VDC REGENERATION RESISTOR MOT D PH+ PH- PH+ PH- +V SIN COS TEMP LINEAR MOTOR D Item Description Part Number E0-DP Profibus DP Drive Axis (V/A) 00- E0-DP Profibus DP Drive Axis (V/A) 00- E0-DP Profibus DP Drive Axis (V/A) 00- E0-DP Profibus DP Drive Axis (V/A) 00- E0-DP Profibus DP Drive Axis (V/A) 00- E0-DP Profibus DP Drive Axis (V/A) 00-9 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

23 Break Out Module Break Out Module The Break Out Module for the AT and MT Servo Drives leads all input and output signal from the SYS and SYS DSUB connectors to plug-type screw terminals. Break Out Modul mm Break Out Modul mm Break Out Module Features: Cable & Connector Set The Break Out Module is available in two versions, with a digital or analog interface. The Break Out Module is snapped onto the DIN rail directly in the electrical enclosure. Two tabs for screw mounting are also included. - Plug-type screw terminals for all inputs and outputs - Digital inputs, galvanically isolated, (V/0mA) - Digital outputs, galvanically isolated, (V/0.A) - Relay output (V/A, max. 0W) - LED status indicator for all inputs and outputs - Analog input voltage -0 +0V for analog module. The connection cable to the Servo Drive and the plug-type screw terminals are available as a set. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

24 M0-analog/-digital LINMOT SERVO CONTROLLER SYS M0-DIGITAL SYS + V + V TRIG IN TRIG IN TRIG IN TRIG IN In+ Out- J A +V IN+ IN- IN+ IN- IN+ IN- IN+ IN- OVERARCHING CONTROLLER SYS 9 SYS Galvanically Isolated on LinMot Servo Controller STOP FREEZE INIT RUN RUN+ RUN- J RUN+ RUN- INIT+ INIT- FREEZE+ FREEZE- STOP+ STOP- J + V R Closer R Opener R In + V + V + V OUT OUT OUT OUT OUT OUT Out J +V OUT OUT OUT OUT OUT OUT R_OPENER R_IN R_CLOSER LINMOT SERVO CONTROLLER SYS M0-ANALOG SYS + V / - TRIG IN TRIG IN TRIG IN TRIG IN + - J A +V IN+ IN- IN+ IN- IN+ IN- IN+ IN- OVERARCHING CONTROLLER Break Out Modul SYS 9 SYS Galvanically Isolated on LinMot Servo Controller STOP FREEZE INIT RUN RUN+ RUN- J RUN+ RUN- INIT+ INIT- FREEZE+ FREEZE- STOP+ STOP- J + V R Closer R Opener R In + V + V + V OUT OUT OUT OUT OUT OUT Out J +V OUT OUT OUT OUT OUT OUT R_OPENER R_IN R_CLOSER Item Description Part Number M0-digital Breakout Module digital 00-9 M0-analog Breakout Module analog 00-9 M0-Connector Cable and Connector set 00-9 Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

25 Interfaces E00 Supply Motor/Logic Power Connector Logic/Motor. mm² (AWG) Supply must be be externally connected to earth (Ground Bus) PWR SIGNAL + PWR MOTOR + internally connected to controller housing Internal Fuse 00mAT Internal Fuse 0AT...VDC...VDC Supply Supply Voltage Logic:...VDC (absolute max. Rating VDC + 0%) Supply Voltage Motor:...VDC (absolute max. Rating VDC + 0%) Motor Supply must be externally connected to earth - By exceeding VDC supply voltage, the drive will go into error state. - Power supply connectors must not be connected or disconnected while DC voltage is present. E00 Supply Motor/Logic Optional: external Regeneration Resistor RR0-0/0 E00/E00 P PWR+ + RR - Screw Terminals. mm² (AWG) RR - RR + PWR + P internally connected to controller housing...0vdc LOGIC SUPPLY V internally connected to controller housing Internal Fuse AT...0VDC Phoenix MC,/-STF mm² (AWG-) Supply: Supply Voltage Logic:...0VDC (absolute max. Rating 9VDC) Supply Voltage Motor:...VDC (absolute max. Rating VDC + %) Motor and Logic Supply must be externally connected to earth - By exceeding 9VDC motor supply voltage, the drive will go into error state. - By exceeding VDC logic supply voltage, the drive will go into error state. - Power supply connectors must not be connected or disconnected while DC voltage is present. - It is recommended that the motor and the logic be supplied and controlled separately. 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

26 Series E00/E00 Mot A (B, C, D) Motor connector E00 RED PINK PHASE + PHASE - 9 BLUE GREY WHITE INNER SHIELD PHASE + PHASE - +VDC A YELLOW GREEN SINE COSINE 9 k k DSUB-9 (f) BLACK TEMP. Outer shield connected to connector housing 0k +VDC Motor Cable Mot A (B, C, D) Motor connector E MC0-P/f Motor Cable RED PHASE + PINK PHASE - BLUE PHASE + GREY PHASE - WHITE +VDC INNER SHIELD A YELLOW SINE GREEN COSINE BLACK TEMP. Outer shield connected to connector housing 9 0 k k 0k +VDC +VDC E00/E00 Motor Cable - Use only special double-shielded Linear Motor Cable (see motor accesories). - LinMot offers a wide range of preassambled motor cable in standard and custom length (tested.kv): Standard Cable K0-... High-Flex Cable KS0-... Robot-Cable KR Do NOT connect A (Pin ) to ground or earth! - Inner shield (A) and outer shield (earth) must be isolated to each other. - Use +V (Pin ) and A (Pin ) only for motor internal Hall Sensor supply (max. 00mA). - Wrong Motor wiring may damage Linear Motors and/or Servo Drive. If you are assembling motor cables by your own, double check motor wiring carefully before power up. - Do not connect or disconnect the motors from drives with voltage present. Wait to connect or disconnect motors until all LinMot drive LED s have turned off. Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

27 Interfaces SYS System interface...vdc DSUB- (f) WARN OUT ERROR OUT POS ERROR / DIG OUT MSG / DIG OUT DIG OUT DIG OUT EMERGENCY STOP + EMERGENCY STOP - FREEZE + FREEZE- DIG IN DIG IN DO NOT CONNECT! OUTPUT +V (max 0 ma) 0 9 V 00k 00k E00/E00 Control Inputs: Stop (active low) / Freeze (active high) Optical isolated inputs (Input voltage: 0. V) - for logical zero: input voltage < V - for logical one: input volateg >.V Input current: < 0 ma (internally limited to 0 ma) Update rate:. ms Digital Inputs: Dig In / Dig In VDC inputs, input resistance 00kOhm - for logical zero: input voltage < V - for logical one: input volateg >.V Digital Outputs: Pos Error Out / MSG / Error Out / Warn Out / Dig Out / Dig Out Open Collector max V / 0 ma Typical pull-up Resistor R:for V+ = V supply: R=0 Ohm/0. W for V+=V supply: R=0 Ohm / W SYS System interface 9 TRIG/ANLOG IN TRIG/ANLOG IN TRIG/ANLOG IN TRIG/ANLOG IN RUN + RUN - 00k 00k 00k 00k DSUB-9 (m) INT + INT - 9 Digital/Analog Input: Trig/Analog IN Input can be used as analog inputs between 0 0V (0 bit resolution) input resistance 00kOhm or digital inputs (max. V, input resistance 00kOhm) for logical zero <V, for logical one >.V Control Inputs: RUN (active high) / INIT (active high) Optical isolated V inputs Input voltage: 0. V for logical zero <V for logical one >.V Input current: < 0 ma (internally limited to 0 ma) Update rate:. ms Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

28 Series E00/E00 DP Profibus DP interface 9 + V (ISOLATED) RxD/TxD-P RxD/TxD-N CNTR-P DSUB-9 (f) (ISOLATED) 9 Isolated V output: max 0 ma COM Com interface 9 RS_TX+ RS_RX- RS_TX RS_TX- RS_RX CAN_L RS_TX+ RS_RX- RS_TX RS_TX- RS_RX CAN_L DSUB-9 (m) RS_RX+ CAN_H 9 00 RS_RX+ CAN_H RS: Configuration on all Drives: use : connection cable to PC E00/E00 LED State display E00 Green Ready Green: READY: The system has started correctly Yellow Stat A Yellow: STAT A : Coding for the actual operating state The display of the various operating states is shown on the last page of this manual. Yellow Stat B Yelllow: STAT B: Coding for the actual operating state The display of the various operating states is shown on the last page of this manual. Red Fault Red: FAULT: An error has occurred (In the state ERROR a blink code of the STAT LEDs A and B tells what the actual error is. The blink codes are explained in chapter Service of the user Manual.) DISPLAY State display E00 Segement Display Output of operating states and error codes Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

29 Accessories E00/E00 Switched-Mode Power Supplies SPH00-0 CSA.-090 CSA.-0 UL 090 UL 0 SPH0- SPH00-0 E00/E00 Accessories Item Description Part Number S0-/00 Switched-Mode Power Supply V/00W for Drive Series E S0-/00 Switched-Mode Power Supply V/00W for Drive Series E S0-/00 Switched-Mode Power Supply V/00W for Drive Serie E S0-/00 Switched-Mode Power Supply V/00W for Drive Serie E S0-/000 Switched-Mode Power Supply V/000W for Drive Serie E SM0-00 Mounting part for 00W Switched-Mode Power Supply SM0-00 Mounting part for 00W Switched-Mode Power Supply 00-0 Transformer Supply T0 for E00 x0/0/00/0vac Item Description Part Number T0-/ Multi Transformer Supply x0/0/00/0vac, 0/0Hz, W see page Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

30 Accessories E00/E00 Control Box B0-0 Item Description Part Number B0-0 0VAC/0Hz Control Box for E00/E00-AT/MT (0VAC, incl. cable and connectors) B0-0 VAC/0Hz Control Box for E00/E00-AT/MT (VAC, incl. cable and connectors) 00-9 COM connection cables and USB-converter E00/E00 Accessories Item Description Part Number RS PC config. cabel m for E00/E RS PC config. cabel m for E00/E00/E00/B RS PC config. cabel.m for E00/E USB-Serial Converter USB to 9-pin Serial Converter 00-0 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

31 ABCDEF0 ABCDEF0 Dimensions 9 0 Centers 9 Centers 0 ID HIGH (hex) State Description: - Firmware Stopped 0 Wait for Disable Disable (Init not done) Disable (Init done) Emergency Stop Run 9 Init Exxx Error 9 9 S ID LOW S 9 Sys / DP COM / CONFIG 9 CAN H RS Rx+ CAN L RS Rx RS Tx- RS Tx RS Rx- RS Tx+ +VDC D Logic Supply E00/E00 0 Dimensions in mm E00 E00 E00 E00 E00 E00 Interfaces Width mm 0 Height mm 0 0 Height without fixings mm 9 Depth mm 0 Weight kg Protection Class IP 0 0 Storage Temperture C Operating Temperature C Max. Case Temperature C Max. Power Dissipation W 0 0 Distance between Drives mm Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

32 Ordering Information Item Description Part Number E00-AT AnalogTrigger Drive Axis (V/A) 00-0 E00-AT AnalogTrigger Drive Axis (V/A) 00-0 E00-AT AnalogTrigger Drive Axis (V/A) 00-0 E00-AT AnalogTrigger Drive Axis (V/A) E00-AT AnalogTrigger Drive Axis (V/A) 00-0 E00-AT AnalogTrigger Drive Axis (V/A) 00-0 E00-MT Multi Trigger Drive Axis (V/A) 00- E00-MT Multi Trigger Drive Axis (V/A) 00- E00-MT Multi Trigger Drive Axis (V/A) 00- E00-MT Multi Trigger Drive Axis (V/A) 00-0 E00-MT Multi Trigger Drive Axis (V/A) 00-0 E00-MT Multi Trigger Drive Axis (V/A) 00-0 E00/E00 E0-DP Profibus DP Drive Axis (V/A) 00- E0-DP Profibus DP Drive Axis (V/A) 00- E0-DP Profibus DP Drive Axis (V/A) 00- E0-DP Profibus DP Drive Axis (V/A) 00- E0-DP Profibus DP Drive Axis (V/A) 00- E0-DP Profibus DP Drive Axis (V/A) 00-9 E00-DN DeviceNet Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- E00-DN DeviceNet Drive Axis (V/A) 00- E00-CO CanOpen Drive Axis (V/A) 00-9 E00-CO CanOpen Drive Axis (V/A) 00-0 E00-CO CanOpen Drive Axis (V/A) 00- E00-CO CanOpen Drive Axis (V/A) 00-0 E00-CO CanOpen Drive Axis (V/A) E00-CO CanOpen Drive Axis (V/A) 00- Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

33 E00 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

34 Servo Drives Servo Drive E00 Series E00-RS/-DN/-CO Series E0-DP Series E00-GP 0 E00 Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

35 Servo Drives Servo Drive E00 Series E00 Servo Drives are modular axis drives, with -bit position resolution and an integrated power element, for linear motors and rotary drives. The drives are suitable for simplest, standard, and high-end positioning tasks, across the entire force range of the LinMot product range. E00 Connection to Machine Drive Process and Safety Interfaces Logic and Power Supply The Series E00 Servo Drives can be actuated by machine controls from any manufacturer or brand, via digital inputs and outputs, RS or RS serial interface, CanBus CANopen and DeviceNet interfaces, Profibus DP. For complex motion sequences that are run in an overlaid position drive, B00 small servo amplifiers are available, with analog velocity or force control and encoder simulation. 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 safe pulse inhibitor on Servo Drive with fieldbus interfaces allows safe stoppage of the drives via control signals, per EN 9-, without interrupting the power supply. The Servo Drives have two separate power supplies for the logic and power elements. In an E-stop and safe stop of the drive, only the power element supply is cut off from the drive. The logic supply and the drive continue to run. This has the advantage that the drive and linear motor do not need to be reinitialized when the machine is restarted, since all process data, including the current position of the linear motor, are still up to date. 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

36 Series E00 Digital I/O s RS RS Fieldbusses and interfaces to the overlaid control CAN open Device- Net Profibus DP System Integration Flexible hardware enables control of any //- phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept. Config. Fast Prozess Inputs Supply and Safety Logic Supply Motor Supply Safety Voltage Enable Regeneration Resistor Trigger Inputs Capture Analog Inputs RS CAN Linmot Servo Drive Series E00 Position Drive: Bit Position Value Resolution 0.µm 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 000 set points Command Table: Up to Commands Optional Limit and Home Switches LinMot Linear Motor or other // phase motor (Brushless DC, Voice Coil,...) Optional Brake CAN Limit - Switch Optional external Position Sensor Config. Home Switch External Position Sensor Limit + Switch 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. Series E00 Servo Drives have analog and digital inputs and outputs, serial interfaces, fieldbusses. The user is therefore not dependent on the selection of the overlaid drive. An appropriate interface is available, with associated protocols, for any PLC or IPC solution. With flexibility and a compact form factor, LinMot Series E00 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators. Technology Functions Technology functions are functional blocks that provide a complete solution for standard applications and frequently encountered, customer-specific problems. Technology functions can, for example, handled the complete sequence for winding textile yarns or glass fiber cables, or high-precision joining processes with force control can be implemented directly in the drive. E00 Synch. Master Encoder In Master Encoder Out Synch. Option: Master Encoder Module Motor Interfaces Configuration For synchronization to a mechanical master shaft, or a rotating main drive, the Axis (linear motors and rotary motors) can be coupled to an electronic main shaft via the Master Encoder Interface. 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. E00 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. In special applications, two drives can be synchronized with each other using the synchronization interface in master booster or master gantry mode. Parameterization and configuration of the Servo Drive is done via the RS interface on the front side, or CANBus for simultaneous configuration of several drives. LinMot Talk user-friendly PC software is available for configuration. In addition to online documentation, LinMot Talk provides extensive debugging tools, such as an oscilloscope and an error inspector, for simple and rapid start-up of the Axis. Fieldbus drives can also be configured directly by the overlaid control. Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

37 Operating Modes Interpolated Moves Stroke [mm] For direct position targets, using absolute or relative positioning, the desired position is reached using acceleration and velocity-limited motion profiles or jerk optimized Bestehorn profiles. Positioning commands can be invoked via the serial interfaces, CANopen, DeviceNet, Profibus or a trigger input. Goto 00mm v max =,m/s a max =,0m/s Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Velocity Resolution:.0µm/s (Bit) Velocity Resolution: 0.0µm/s (Bit) Time Curves Stroke [mm] Start Curve Up to 99 different time curves can be stored Series E00 drives, with up to,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 Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Motion profiles: Max. 99 Time Curves Curve points: Max. 000 points E00 Profiled Moves Stroke [mm] Goto Pos mm with Profil 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 Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Motion profiles: Max. 99 Bewegungsprofile Curve points: Max. 000 Punkte Setpoint Streaming Stroke [mm] Overlaid NC drives with fieldbus interfaces communicate with the Servo Drives via "Position Streaming". The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission. Time[ms] Position Resolution: Velocity Resolution Interpolator: cycle times: Bit Bit khz -ms Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

38 Series E00 Easy Steps Input Pos mm Input Pos 0mm Input Curve Input Pos -0mm Input Pos +,mm Input Curve Input Pos mm Input Pos -,mm With the Easy Steps function, up to positions or independent travel commands can be stored on the drive, and addressed via digital inputs or fieldbus interfaces/ethernet. Digital inputs: max. Interface: X Resolution: 0 Bit Scanning rate: 0µsec Command Table Start Wait Input Pos mm Rule Stop Terminate A Entire motion sequences with up to 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. Commands: max. Cycle time: 0µsec Master Encoder Synchronization (MT) Stroke [mm] Curve 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 0 ). Using this function, mechanical cam discs can be replaced with highly dynamic linear motors. The motion profiles can be freely defined, and the correct motion profile can be invoked during product changeover with no changeover time. Motion profiles Max. 99 curve profiles Curve points: Max. 000 points Encoder Counter: Bit Encoder Input: A/B/Z (RS) Time[ms] Max. counting frequency Max.. MHz E00 Belt Synchronization v [m/s] 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 Belt counts/sec Time[ms] Encoder Counter: Encoder Input: Max. counting frequency Bit A/B/Z (RS), max. MHz STEP/DIR/ZERO Max.. MHz Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

39 Operating Modes Position Indexing STEP DIR ZERO A B Z In position indexing, the linear motor is controlled like a stepper motor, using Step/Dir/Zero, or A/B/Z signals. The step distance is freely programmable from.x0-µm to.mm./ step. The input signal can be used directly as the target position, or it can be filtered by the VA interpolator. Operating Modes: Inputs: Step distance: Max. counting frequency: Step/Dir/Zero, A/B/Z differential RS (X0) -.x0 µm...mm, Bit. MHz Master-Booster Synchronisation Master-Booster Synchronisation X X Using master-slave synchronization, two linear motors can be synchronized via a serial communications connection between two drives, so that the overlaid drive can control them as a single axis. y Master Booster Synchronization Master booster synchronization is used to double the force when two motors are mechanically rigidly connected to each other. E00 Master-Gantry Synchronisation X X y Master-Gantry Synchronisation Using master-slave synchronization, two linear motors can be synchronized via a serial communications connection between two drives, so that the overlaid drive can control them as a single axis. Master Gantry Synchronization Master gantry synchronization is used for portal designs with two parallel Axis at different locations. Analog Position For an analog position target, the linear motor travels to a position proportional to the input voltage. The position is either scanned continuously, or only after a rising edge of the trigger signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator). 0V 0V Position Position Inputs: Voltagvte range: Resolution: Scanning rate: Analog Input (X.) 0-0VDC 0 Bit 0µsec Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

40 Series E00 Easy Steps Parameter Scale Maximum Force [0...0V => %] 00% 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. 0% Force Max Time[ms] Inputs: Voltage range: Resolution: Resolution x Analog (X., X.) 0-0VDC 0 Bit 0µsec 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. Closed Loop Force Control F Mot = 0,...0N 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. E V F one Load Cell Analog Input: 0-0V Resolution: 0 Bit Min. Force Resolution: 0.N Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

41 Configuration LinMot Talk LinMot Talk configuration software is a Windows-based interface that supports the user during start-up and configuration of the LinMot Servo Drives. The software has a powerful, modular, graphical interface that covers all the tasks surrounding the LinMot Servo Drive. Great emphasis was placed on a high level of user-friendliness during development. In addition to start-up, LinMot Talk can also be used for training purposes and for actuation via serial interfaces, fieldbusses, or industrial ETHERNET. Using the integrated Control Panel, the user has direct access to control and status words, as well as all commands that are invoked for operation by the overlaid control. The user learns the meaning of the control and status words easily, and can get to know the individual commands in the Motion Command Interface. E00 Start-up and Analysis Tools Using the LinMot Talk PC interface, LinMot Servo Drives are configured. Additionally, the drives can be monitored during operation with the machine running, and the current motion sequences, as well as earlier warnings and error messages, can be analyzed in detail (monitoring). Single or Multiple Axis Configuration For start-up and monitoring, the Servo Drive is connected to a PC via the RS interface on the front or via CAN Bus. If the connection to the PC is made via USBSCAN converter (see accessories,) then up to Axis can be configured and monitored simultaneously. Online Help & Documentation Using the multilingual Online Help, the user can find useful information about the individual parameters and their functionality. All manuals and installation instructions can then be called up on the PC, after LinMot Talk is installed, via the Windows Start Menu, or they can be directly generated in HTML format. Parameterization Optimization Monitoring Using the "Parameter Inspector," the drives are parameterized in a simple manner. The user has a wide range of adjustments available for operating modes, error management, warning messages, and regulating parameters. Entire parameter sets can be stored, loaded, and printed out. The "Curve Inspector" allows creation of motion profiles. In addition, existing curves can be loaded, stored, edited, combined, and printed out. Further, complex motion sequences can be generated as desired in MS Excel, and loaded into the drive. The integrated -channel oscilloscope helps the user during start-up and optimization of the drive system. Internal variables, such as the target and actual position, can be shown in real time on the screen, and then printed out. The displayed data can be stored in CSV format for further processing in MS Excel, or stored for documentation purposes. The user has many tools available for monitoring and analysis of the drive. Both current warnings and fault messages, and older fault messages stored in non-volatile memory, state changes, and many other pieces of information can be obtained. Internal variables, drive parameters, inputs, and outputs can be combined as desired and display cyclically. Using the oscilloscope, internal parameters can be charted when warning and fault messages occur. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

42 * Ph + u * Ph + w X. SVE Enable=V RS Tx+ RS Tx ABCDEF09 ABCDEF09 Interfaces E00 - RR + PWR+ P + u - v + w - x SCRN MOT SUPPLY X MOT PHASES X: Motor Supply Regenerator Resistor X: Motor Phases X +VDC SIN TEMP * Ph - v * Ph - x A 9 COS MOTOR X: Motor Connector *=X ratin A RMS X X. X.0 X.9 X. X. X. X. X. X. /Brk +VDC D LOGIC SUPPLY / CONTROL X: Control Logic Supply X ERROR WARN V OK EN LED State Display ID HIGH ID LOW S S S-: Bus Address RS/CAN/Profibus RS Rx RS Rx+ RS Rx- RS Tx- CAN L 9 CAN H Supply: Logic: (..) VDC Motor: (..0) VDC COM / CONFIG X: Com Interface X S: Bus Termination X: Digital I/O X9: Profibus Interface X: RS / CAN In X: RS / CAN Out X0: Master Encoder In X: Master Encoder Out X: External Encoder X Interfaces Motor Supply Regeneration Resistor E00-RS X Motor Phases X Motor Connector X Control / Logic Supply X COM Interface RS RS CAN X Digital I/O X RS / CAN In X RS / CAN Out X9 Profibus Interface X0 Master Encoder In X Master Encoder Out X External Encoder (D-Sub 9) X External Encoder (D-Sub ) LED State Display S Bus Address RS/CAN/ETH High S Bus Address RS/CAN/ETH Low S Bus Termination E00-CO E00-DN E00-DP E00-GP E00 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

43 ABCDEF09 ABCDEF09 E00-RS/-DN/-CO Series E00-RS/-DN/-CO E00-RS E00-RS-HC E00-RS-XC E00-DN E00-DN-HC E00-DN-XC E00-CO E00-CO-HC E00-CO-XC E00-RS/_DN/_CO Absolute Travel Positioning Internally Internally Master Synchronization Step Position Master-Slave Analog Analog Winding Force Customer-Specific & Relative Positioning Along Time Curves using Motion Profiles stored Motion Commands stored Motion Sequences Encoder Synchronization to Belt Speed and Direction Interface Streaming Synchronization Position Target Parameter Scaling Function Block Control Technology Function Functions - RR + PWR+ P + u - v + w - x SCRN * Ph + u * Ph + w +VDC SIN TEMP * Ph - v * Ph - x A 9 COS *=X ratin A RMS X. SVE Enable=V X. X.0 X.9 X. X. X. X. X. X. /Brk +VDC D ERROR WARN ID HIGH ID LOW RS Tx+ RS Tx RS Rx RS Rx+ RS Rx- RS Tx- CAN L 9 CAN H Supply: Logic: (..) VDC Motor: (..0) VDC MOT SUPPLY X MOT PHASES X MOTOR X X V OK EN S S COM / CONFIG X LOGIC SUPPLY / CONTROL X: Motor Supply Regeneration Resistor X: Motor Phases X: Motor Connector X: Control I/O s Logic Supply LED State Display S-:Bus Address RS/CAN X: COM Interface S: Bus Termination X: RS / CAN Out X: RS / CAN In X0: Master Encoder In X: Master Encoder Out X: External Encoder LinRS Serial Interface CANopen DeviceNet The LinMot Series E00-RS Servo Drives support the LinRS serial communication protocol. LinRS is a proprietary protocol for actuating LinMot Servo Drives via the RS, RS, and RS interfaces. If the drive is actuated by the overlaid control via the serial interface, then this is configured from the PC via CANBus. The USBSCAN converter (item no. 00- ), supported by LinMot Talk, is used for this. Adjustable Baud rates: 9.-.kBaud LinMot CO drives, with integrated CANopen interface, support the CiA DS0 communication profile. The following resources are available: T_PDO, R_PDO, T_SDO, R_SDO The following protocols are supported by the CO drives: - NMT Error Control (Nodeguarding Protocol or HeartBeat Protocol) - PDO (Transmission type and ) - SDO Upload and Download - NMT (Start, Stop, Enter PreOp, Reset Node, Reset Communication) - Boot-Up Message Series E00-DN drives feature an integrated DeviceNet interface. With the DeviceNet interface, even complicated motion sequences can be realized with the highest possible flexibility. The drive can be actuated and monitored via the DeviceNet connection. E00-DN are UCMM Group -capable slaves, and support polled IO runtime data transfer Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

44 RS/DeviceNet/CANopen E00-RS E00-CO E00-DN X X REGENERATION RESISTOR SUPPLY x00vac 0VAC VAC MOTOR SUPPLY,,-PHASE POWERSTAGE...0V DC A//A PHASECURRENT PH+ PH- PH+ PH- X PH+ PH- PH+ PH- SIN COS TEMP. +SV LINEAR MOTOR BRUSHLESS DC MOTOR X A+ SIN+ A- SIN- B+ COS+ B- COS- Z+ ZERO+ Z- ZERO- ENC ALARM +VDC OPTIONAL EXTERNAL POSITION SENSOR X LIMIT SWITCH+ LIMIT SWITCH- HOME SWITCH BRAKE OUTPUT MOTOR PERIPHERY RS PC INTERFACE CONFIGURATION RS CAN X RS/RS RS CAN PTC PTC TRIGGER INPUT CAPTURE INPUT ANALOG INPUT SVE +VDC ROTRAY MOTOR & SUPPLY PROTECTION FAST PROCESS INPUTS MACHINE SAFETY LOGIC SUPPLY E00-RS/_DN/_CO COMMUNICATION INTERFACE RS/RS CANOPEN DEVICENET X RS CAN X RS CAN COMMUNICATION INTERFACE RS/RS CANOPEN DEVICENET X0 X MASTER ENCODER A+ STEP+ A- STEP- B+ DIRECTION+ Z+ ZERO+ Z- ZERO- B- DIRECTION- A+ STEP+ A- STEP- B+ DIRECTION+ Z+ ZERO+ Z- ZERO- B- DIRECTION- MASTER ENCODER Item Description Part Number E00-RS RS/ Drive (V/A) 00- E00-RS-HC RS/ Drive (V/A) 00- E00-RS-XC RS/ Drive (V/A) 00- E00-CO CANopen Drive (V/A) 00- E00-CO-HC CANopen Drive (V/A) 00- E00-CO-XC CANopen Drive (V/A) 00- E00-DN DeviceNet Drive (V/A) 00-9 E00-DN-HC DeviceNet Drive (V/A) 00-0 E00-DN-XC DeviceNet Drive (V/A) 00- Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

45 E0-DP Series E0-DP E0-DP E0-DP-HC E0-DP-XC E0-DP Absolute Travel Positioning Internally Internally Master Synchronization Step Position Master-Slave Analog Analog Winding Force Customer-Specific & Relative Positioning Along Time Curves using Motion Profiles stored Motion Commands stored Motion Sequences Encoder Synchronization to Belt Speed and Direction Interface Streaming Synchronization Position Target Parameter Scaling Function Block Control Technology Function Functions - RR + PWR+ P + u - v + w - x SCRN * Ph + u * Ph + w +VDC SIN TEMP * Ph - v * Ph - x A 9 COS *=X ratin A RMS X. SVE Enable=V X. X.0 X.9 X. X. X. X. X. X. /Brk +VDC D ERROR WARN ID HIGH ID LOW RS Tx+ RS Tx RS Rx RS Rx+ RS Rx- RS Tx- CAN L 9 CAN H Supply: Logic: (..) VDC Motor: (..0) VDC ABCDEF09 ABCDEF09 MOT SUPPLY X MOT PHASES X MOTOR X X V OK EN S S COM / CONFIG X LOGIC SUPPLY / CONTROL X: Motor Supply Regeneration Resistor X: Motor Phases X: Motor Connector X: Control I/O s Logic Supply LED State Display S-:Busadresse RS/CAN X: Configuration S: Bus Termination X9: Profibus Interface X: RS / CAN Out X: RS / CAN In X0: Master Encoder In X: Master Encoder Out X: External Encoder Profibus DP DP Servo Drives feature an integrated PROFIBUS-DP interface. PROFIBUS-DP provides the user with a standardized fieldbus interface for rapid data interchange between the Servo Drive and the overlaid control. With fast data transfer and command initiation, as well as simple system integration, the Profibus drives are the ideal solution for applications with motions and sequences that change frequently, such as are required, for example, in flexible machines and systems with automatic format changes. The PROFIBUS-DP interface supports all Baud rates from 9. Kbits/s to Mbit/s. The maximum net data quantity exchanged in cyclical data traffic is bytes per cycle. The smallest achievable bus cycle time is 00 µs. The structure and scope of cyclical data can be collected from any individual data modules into an overall data quantity when planning the system. A GSD device master file is provided for open planning in conformance with the PROFIBUS-DP standard. The 9-pole Profibus connector on the front side provides power for an external bus termination. A positive directional control signal is provided to control repeaters or optical fibers. All signals on the PROFIBUS connector are galvanically separated. The PROFIBUS-DP address is set by two hex code switches (ID and ID). All addresses permitted by the standard are supported (0..). 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

46 Profibus DP E00-DP X X REGENERATION RESISTOR SUPPLY x00vac 0VAC VAC MOTOR SUPPLY,,-PHASE POWERSTAGE...0V DC A//A PHASECURRENT PH+ PH- PH+ PH- X PH+ PH- PH+ PH- SIN COS TEMP. +SV LINEAR MOTOR BRUSHLESS DC MOTOR X S-S PROFIBUS ID ID LOW ID HIGH A+ SIN+ A- SIN- B+ COS+ B- COS- Z+ ZERO+ Z- ZERO- ENC ALARM +VDC OPTIONAL EXTERNAL POSITION SENSOR PROFIBUS DP COMMUNICATION max. MBaud X9 PROFIBUS DP X LIMIT SWITCH+ LIMIT SWITCH- HOME SWITCH BRAKE OUTPUT ACTUATOR PERIPHERIE RS PC INTERFACE CONFIGURATION RS CAN X RS/RS RS CAN PTC PTC TRIGGER INPUT CAPTURE INPUT ANALOG INPUT SVE +VDC ROTRAY MOTOR & SUPPLY PROTECTION FAST PROCESS INPUTS MACHINE SAFETY LOGIC SUPPLY E0-DP COMMUNICATION INTERFACE RS/RS CANOPEN DEVICENET X RS CAN X RS CAN COMMUNICATION INTERFACE RS/RS CANOPEN DEVICENET X0 X MASTER ENCODER A+ STEP+ A- STEP- B+ DIRECTION+ Z+ ZERO+ Z- ZERO- B- DIRECTION- A+ STEP+ A- STEP- B+ DIRECTION+ Z+ ZERO+ Z- ZERO- B- DIRECTION- MASTER ENCODER Item Description Part Number E0-DP Profibus DP Drive, (V/A) 00- E0-DP-HC Profibus DP Drive, (V/A) 00- E0-DP-XC Profibus DP Drive, (V/A) 00- Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

47 E00-GP Series E00-GP E00-GP E00-GP-HC E00-GP-XC E00-GP Absolute Travel Positioning Internally Internally Master Synchronization Step Position Master-Slave Analog Analog Winding Force Customer-Specific & Relative Positioning Along Time Curves using Motion Profiles stored Motion Commands stored Motion Sequences Encoder Synchronization to Belt Speed and Direction Interface Streaming Synchronization Position Target Parameter Scaling Function Block Control Technology Function Functions - RR + PWR+ P + u - v + w - x SCRN * Ph + u * Ph + w +VDC SIN TEMP * Ph - v * Ph - x A 9 COS *=X ratin A RMS X. X.0 X.9 X. X. X. X. X. X. /Brk +VDC D ERROR WARN ID HIGH ID LOW RS Tx+ RS Tx RS Rx RS Rx+ RS Rx- RS Tx- CAN L 9 CAN H Supply: Logic: (..) VDC Motor: (..0) VDC MOT SUPPLY X MOT PHASES X MOTOR X X V OK EN S S COM / CONFIG X LOGIC SUPPLY / CONTROL X: Motor Supply Regeneration Resistor X: Motor Phases X: Motor Connector X: Control I/O s Logic Supply LED State Display S-:RS/CAN Bus Address X: Configuration S: Bus Termination X: Digital I/O X0: Master Encoder In X: Master Encoder Out X: External Encoder General Purpose Drive Series E00-GP drives are multifunctional Servo Drives, on which the firmware from the following drives can be installed: - Series E00-RS - Series E00-CO - Series E00-DN All functions of the drives listed above, except for safe pulse inhibitors (X.) are available in the Series E00-GP Servo Drives. For actuation by an overlaid drive, the following digital, serial, and fieldbus interfaces are available: - LinRS via RS, RS and RS - CANopen - DeviceNet In addition to actuation via serial interfaces and fieldbusses, Series E00-GP drives can use direct addressing of up to commands in the Command Table, via digital inputs (X). Even complex drive tasks and complete, automated sequences can be controlled using simple digital signals. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

48 General Purpose E00-GP X X REGNERATION RESISTOR SUPPLY x00vac 0VAC VAC MOTOR SUPPLY,,-PHASE POWERSTAGE...0V DC A/A/A PHASECURRENT PH+ PH- PH+ PH- X PH+ PH- PH+ PH- SIN COS TEMP. +SV LINEAR MOTOR BRUSHLESS DC MOTOR MACHINE CONTROLLER PLC, IPC X GOTO POSITION INPUTS - TRIGGER INPUT CMD GROUP SELECT IN POSITION OUTPUTS - X A+ SIN+ A- SIN- B+ COS+ B- COS- Z+ ZERO+ Z- ZERO- ENC ALARM +VDC OPTIONAL EXTERNAL POSITION SENSOR X LIMIT SWITCH+ LIMIT SWITCH- HOME SWITCH BRAKE OUTPUT PTC PTC BRAKE ROTRAY MOTOR & SUPPLY PROTECTION E00-GP RS PC INTERFACE CONFIGURATION RS CAN X RS/RS RS CAN TRIGGER INPUT CAPTURE INPUT ANALOG INPUT +VDC FAST PROCESS INPUTS LOGIC SUPPLY X0 X MASTER ENCODER A+ STEP+ A- STEP- B+ DIRECTION+ Z+ ZERO+ Z- ZERO- B- DIRECTION- CAN_H CAN_L A+ STEP+ A- STEP- B+ DIRECTION+ Z+ ZERO+ Z- ZERO- B- DIRECTION- CAN_H CAN_L MASTER ENCODER Item Description Part Number E00-GP General Pupose (V/A) 00- E00-GP-HC General Pupose (V/A) 00- E00-GP-XC General Pupose (V/A) 00- Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

49 Interfaces X Motor Supply / Regeneration Resistor Optional: Regeneration Resistor (external) - RR + PWR+ P Screw Terminals. mm² (AWG) RR - RR + PWR + P * Internal Fuse AT internally connected to controller housing...0vdc * for UL, see installation guide Motor Supply: Motor Supply Voltage...0VDC. Absolute max. Rating VDC + 0% If motor supply voltage is exceeding 90VDC, the drive will go into error state X Motor Phases + u - v + w - x SCRN Nr. Designation LinMot Linear Motor Color -Phase-Motor PH+ /U Motor Phase + red Motor Phase U PH- /V Motor Phase - pink Motor Phase V PH+ /W Motor Phase + blue Motor Phase W PH- Motor Phase - grey SCRN Shield E00 Screw Terminals.-.mm² (AWG-) - If the RMS current is not higher than Arms, respectively. Apeak, the phases can be connected to X. - Do NOT connect X and X. X Motor DSUB-9 9 Nr LinMot Linear Motor -Phase-Motor Motor Phase + Motor Phase U Motor Phase + Motor Phase W +VDC Sine Hall U Temperature Hall W Motor Phase - Motor Phase V Motor Phase - A 9 Cosine Hall V Case Shield - Use X for motor phase wiring if phase current exceeds Arms or.apeak - Use +V (X.) and A (X.) only for motor internal Hall Sensor supply (max. 00mA) - Do NOT connect A (X.) to ground or earth! Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

50 Series E00 Motor Motor wiring + u - v + w - x SCRN OUTER SHIELD GREY BLUE PHASE - PHASE + PHASE - PHASE + X X: Screw Terminals X: DSUB-9 (f) 9 For LinMot Linear Motors only use original LinMot double shielded motor cable K, KS, or KR PINK RED WHITE INNER SHIELD YELLOW GREEN BLACK +VDC A SINE COSINE TEMP 9 k k 0k +VDC X Motor Motor wiring for phase current below Arms and below.apeak X: DSUB-9 (f) 9 RED PHASE + PINK PHASE - BLUE PHASE + GREY PHASE - WHITE +VDC INNER SHIELD A YELLOW SINE GREEN COSINE BLACK TEMP. Outer shield connected to connector housing 9 k k 0k +VDC E00 For LinMot Linear Motors only use original LinMot double shielded motor cable K, KS, or KR S- Address Selectors / Bus Termination ID HIGH ID LOW ABCDEF09 ABCDEF09 S S Switch S Bus ID High (0 F) HEX-Switches for Bus ID address range 0. S Bus ID Low(0 F) on off S Switch E00 S Switch : RS off / RS on Select serial RS or RS Switch : RS Terminatio on/off Switch : CAN Termination on/off Switch : Bus Interface on/off Factory settings: all switches off Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

51 Interfaces X: pin Control / Supply E0-DP, E00-CO, E00-DN, E00-RS X. SVE Enable=V X. X.0 X.9 X. X. X. X. X. X. /Brk +VDC D LOGIC SUPPLY / CONTROL POWER STAGE ENABLE (HW ENABLE) CONFIGURABLE IO, PTC CONFIGURABLE IO, PTC CONFIGURABLE IO CONFIGURABLE IO CONFIGURABLE IO, HOME SWITCH CONFIGURABLE IO, TRIGGER CONFIGURABLE IO CONFIGURABLE IO, ANALOG INPUT CONFIGURABLE IO, BRAKE DRIVER A LOGIC SUPPLY - VDC 0 9 * * * * * * * * *,k MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX..0A Internal Fuse AT * ALL OUTPUTS WITH INTERNAL PULL Phoenix MC,/-STF-, 0.-.mm² (AWG-) DOWN RESISTOR K TO X: pin Control / Supply E00-GP E00 X. X.0 X.9 X. X. X. X. X. X. /Brk +VDC LOGIC SUPPLY / CONTROL CONFIGURABLE IO, PTC CONFIGURABLE IO, PTC CONFIGURABLE IO CONFIGURABLE IO CONFIGURABLE IO, HOME SWITCH CONFIGURABLE IO, TRIGGER CONFIGURABLE IO CONFIGURABLE IO, ANALOG INPUT CONFIGURABLE IO, BRAKE DRIVER A LOGIC SUPPLY - VDC 0 9 * * * * * * * * * MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX..0A Internal Fuse AT * ALL OUTPUTS WITH INTERNAL PULL Phoenix MC,/-STF-, 0.-.mm² (AWG-) DOWN RESISTOR K TO No Description Input Safety Voltage Enable Power Stage Enable (HW Enable) I/O X. Configurable IO, PTC 0 I/O X.0 Configurable IO, PTC 9 I/O X.9 Configurable IO I/O X. Configurable IO I/O X. Configurable IO, Home Switch I/O X. Configurable IO, Trigger I/O X. Configurable IO I/O X. Configurable IO, Analog Input I/O X./Brk Configurable IO, Brake Driver A +VDC Supply Logic Supply - VDC Supply Ground Inputs V / ma Outputs V / max.00ma Brake Output (X.) V / max..0a Sample Rate Inputs/Outputs ms, Trigger Input 0.msec Supply VDC / typ. 00mA / max..a (if all outputs on with max. load.) Wiring 0.-.mm² (AWG-) Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

52 Series E00 X Digital I/O E00-GP X: DSUB- (f) +V INPUTS INPUTS OUTPUTS (MAX. 00mA) INPUT X. INPUT X. INPUT X. INPUT X. INPUT X. INPUT X. INPUT X. INPUT X. INPUT X. INPUT X. INPUT X. INPUT X.9 INPUT X. INPUT X.0 INPUT X. INPUT X. OUTPUT X.9 OUTPUT X. OUTPUT X.0 OUTPUT X. OUTPUT X. OUTPUT X. OUTPUT X. OUTPUT X k 0k 0k 0k 0k 0k 0k 0k 0k 0k 0k 0k 0k 0k 0k 0k * 00mA +V DC * 00mA * 00mA * 00mA * 00mA * 00mA * 00mA * 00mA * OUTPUTS WITH INTERNAL PULL DOWN RESISTOR K TO E00 All Inputs: Direct interfacing to digital VDC PLC outputs. Input current: ma low level: -0. VDC high level: 0VDC Sample rate: µs All Outputs: Short circuit and overload protected high side switches Voltage: VDC Max. current: 00mA High Level: 0VDC Update rate: µs Outputs may directly drive inductive loads Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

53 Interfaces X COM COM Interface 9 X: DSUB-9 (m) 9 0 S. S RS_TX+ RS_RX- RS_TX RS_TX- RS_RX CAN_L RS_RX+ CAN_H RS_RX- RS_RX+ CAN_L CAN_H RS: Configuration on all Drives: use : connection cable to PC LED State Display Green: Green VDC Logic Supply OK Stat A Yellow: Yellow Motor Enabled E00 Yellow Red Stat B Yelllow: Warning Red: Error X-X RS/CAN RJ- Nr RS_Rx+ A RS_Rx- B RS_Tx+ Y RS_Tx- Z CAN_H CAN_L Case Shield - X internally connected to X (: connection) - Use twisted pair (-, -, -, -) cable for wiring. - The built in CAN and RS terminations can be activated by S. and S.. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

54 Series E00 X9 Profibus DP DSUB-9 9 Nr - - RxD/TxD-P CNTR-P (galvanically seperated) +V (galvanically seperated) - RxD/TxD-N 9 - Case Shield Max. Baud rate: Mbaud X0-X Master Encoder IN (X0) / Master Encoder OUT (X) RJ- Nr Incremental Step/Direction EIA/TIA A colors A+ Step+ Green/White A- Step- Green B+ Direction+ Orange/White Z+ Zero+ Blue Z- Zero- Blue/White B- Direction- Orange CAN_H* CAN_H* Brown/White CAN_L* CAN_L* Brown Case Shield Shield *only on E00-GP - CAN internally connected to X, X - CAN und RS Termination can be turned on by S. alt. S.. - X0 an X: Use twisted pair (-, -, -, -) cable for wiring. - X0 Master Encoder Inputs:Differential RS, max. Input Frequency.MHz - XMaster Encoder Outputs:Amplified RS differential signals from Master Encoder IN (X0) E00 X External Positions Sensor DSUB-9 9 Nr Incremental: Sin/Cos +V DDC +V DC A- SIN- B- COS- Z- ZERO- A+ SIN+ B+ COS+ Z+ ZERO+ 9 Enc. Alarm Enc. Alarm Case Shield Shield Encoder Inputs: Maximal Input Frequency: Sensor Supply: Sensor Alarm Input: - Incremental:RS - Sin/Cos:Vpp. Mio. Incr./sec (incremental RS), minimal pulsewidth > 0nsec 0kHz (analog Vpp), 0Bit AD VDC (max. 00mA) V / ma Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

55 Ordering Information 0 Centers E00 Servo Drives Series E00 Width mm (in) (.) Height mm (in) (0.0) Height without fixings mm (in) (.) Depth mm (in) 0 (.) Weight kg (lb). (.) IP Protection class IP 0 Storage temperature C Transport temperature C Operating temperture C at rated date with power derating Max. case temperature C Max. power dissipation W 0 Min. distance between drives mm (in) 0 (0.) left/right 0 () top/bottom E00 Dimensions in mm Artikel Beschreibung Artikelnummer E00-RS RS/ Drive (V/A) 00- E00-RS-HC RS/ Drive (V/A) 00- E00-RS-XC RS/ Drive (V/A) 00- E00-CO CANopen Drive (V/A) 00- E00-CO-HC CANopen Drive (V/A) 00- E00-CO-XC CANopen Drive (V/A) 00- E00-DN DeviceNet Drive (V/A) 00-9 E00-DN-HC DeviceNet Drive (V/A) 00-0 E00-DN-XC DeviceNet Drive (V/A) 00- E00-GP General Pupose (V/A) 00- E00-GP-HC General Pupose Drive (V/A) 00- E00-GP-XC General Pupose Drive (V/A) 00- E0-DP Profibus DP Drive, (V/A) 00- E0-DP-HC Profibus DP Drive, (V/A) 00- E0-DP-XC Profibus DP Drive, (V/A) Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

56 Accessories E00 Switched-Mode Power Supplies VAC / 0VAC SPH00-0 CSA.-090 CSA.-0 UL 090 UL 0 SPH0- SPH00-0 Item Description Part Number S0-/00 Switched-Mode Power Supply V/00W 00- S0-/000 Switched-Mode Power Supply V/000W 00- Transformer Supply T0 x0/0/00/0vac E00/B00 Accessories Item Description Part Number T0-/ Multi Transformer Supply x0/0/00/0vac, 0/0Hz, W see page Control Box B0-E00 Item Description Part Number B0-E00 Control Box for E00 (incl. cable and connectors) Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

57 Accessories E00 Connector Cable and USB-Converter Item Description Part Number RS PC config. cabel m for E00/E RS PC config. cabel m for E00/E00/E00/B RS PC config. cabel.m for E00/E USB-Serial Converter USB to 9-pin Serial Converter 00-0 USB-CAN Converter USB to CAN Converter for E RJ-0/0. RJ patch cable 0.m for E RJ-0/0. RJ crossover patch cable 0.m 00- RJ/RJ-0,-ML MC-Link cable 0,m 00-0 Option: External High Resolution Encoder E00/B00 Accessories E00/B00 Accessories Item Description Part Number MS0-/D Linear Encoder um, A/B (for mm magnetic band) 00-0 MB0-000 Magnetic Band mm pitch, per cm Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

58 Series E00 Servo Drive Series E00 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

59 Servo Drives Servo Drive E00 Series E00 Servo Drives are modular axis drives, with -bit position resolution and an integrated power stage, for linear motors and rotary drives. The drives are suitable for simplest, standard, and high-end positioning tasks, across the entire force range of the LinMot product range. Connection to Machine Drive Process and Safety Interfaces Logic and Power Supply The Series E00 Servo Drives can be actuated by machine controls from any manufacturer or brand, via digital inputs and outputs, RS or RS 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 safe pulse inhibitor on Servo Drive with fieldbus interfaces or industrial ETHERNET allows safe stop of the drives via control signals, per EN 9-, without interrupting the power supply. The Servo Drives have two separate power supply inputs for the logic and power elements. In an E-stop and safe stop of the drive, only the power element supply is cut off from the drive. The logic supply and the drive continue to run. This has the advantage that the drive and linear motor do not need to be reinitialized when the machine is restarted, since all process data, including the current position of the linear motor, are still up to date. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

60 Series E00 Digital I/O s RS RS Fieldbusses and interfaces to the overlaid control CAN open Device- Net Profibus DP ProfiNet Sercos III Power Link Ethernet IP Ether CAT System Integration Flexible hardware enables control of any //- phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept. Config. Fast Prozess Inputs Supply and Safety Logic Supply Motor Supply Safety Voltage Enable Regeneration Resistor Trigger Inputs Capture Analog Inputs ETHER- NET (RS) Linmot Servo Drive Series E00 Position Drive: Bit Position Value Resolution 0.µm 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 000 set points Command Table: Up to Commands Optional Limit and Home Switches LinMot Linear Motor or other // phase motor (Brushless DC, Voice Coil,...) Optional Brake Limit - Switch Optional external Position Sensor ETHER- NET Config. Home Switch External Position Sensor Limit + Switch 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. Series E00 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 E00 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators. Technology Functions Technology functions are functional blocks that provide a complete solution for standard applications and frequently encountered, customer-specific problems. Technology functions can, for example, handled the complete sequence for winding textile yarns or glass fiber cables, or high-precision joining processes with force control can be implemented directly in the drive. Synch. Master Encoder In Master Encoder Out Synch. Option: Master Encoder Module Motor Interfaces Configuration For synchronization to a mechanical master shaft, or a rotating main drive, the Axis (linear motors and rotary motors) can be coupled to an electronic main shaft via the Master Encoder Interface. 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. E00 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. In special applications, two drives can be synchronized with each other using the synchronization interface in master booster mode. Parameterization and configuration of the Servo Drive is done via the Ethernet interface on the front side for simultaneous configuration of several drives. 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 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

61 Operating Modes Interpolated Moves Stroke [mm] 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 Goto 00mm v max =,m/s a max =,0m/s Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Velocity Resolution:.0µm/s (Bit) Velocity Resolution: 0.0µm/s (Bit) Time Curves Stroke [mm] Start Curve Up to 00 different time curves can be stored Series E00 drives, with up to,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 Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Motion profiles: Max. 00 Time Curves Curve points: Max. 000 points Profiled Moves Stroke [mm] Goto Pos mm with Profil 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 Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Motion profiles: Max. 00 Time Curves Curve points: Max. 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] Position Resolution: Velocity Resolution Interpolator: cycle times: Bit Bit 0 khz 0.-ms Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

62 Series E00 Easy Steps Input Pos mm Input Pos 0mm Input Curve Input Pos -0mm Input Pos +,mm Input Curve Input Pos mm Input Pos -,mm With the Easy Steps function, up to positions or independent travel commands can be stored on the drive, and addressed via digital inputs or fieldbus interfaces/ethernet. Digital inputs: max. Interface: X Scanning rate: 00µsec Command Table Start Wait Input Pos mm Rule Stop Terminate A Entire motion sequences with up to 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. Commands: max. Cycle time: 00µsec Master Encoder Synchronization (MT) Stroke [mm] Curve 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 0 ). 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. 00 curve profiles Curve points: Max. 000 points Encoder Counter: Bit Encoder Input: A/B/Z (RS) Time[ms] Max. counting frequency Max.. MHz Belt Synchronization v [m/s] 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 Belt counts/sec Time[ms] Encoder Counter: Encoder Input: Max. counting frequency Bit A/B/Z (RS), max. MHz STEP/DIR/ZERO Max.. MHz Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

63 Series E00 Analog Position For an analog position target, the linear motor travels to a position proportional to the input voltage. The position is either scanned continuously, or only after a rising edge of the trigger signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator). 0V 0V Position Position Inputs: Analog Input X or X0 Voltagvte range: 0-0VDC or ±0V Resolution: Bit Scanning rate: >=00µsec (adjustable) Easy Steps Parameter Scale Maximum Force [0...0V => %] 00% 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. 0% Force Max Time[ms] Inputs: Voltage range: Resolution: Resolution x Analog (X., X.) 0-0VDC Bit 00µsec Closed Loop Force Control F Mot = 0,...0N 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 V F one Load Cell Analog Input: 0-0V or ±0V Resolution: Bit Min. Force Resolution: 0.N 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. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

64 Enable=V Interfaces MOT SUPPLY X: Motor Supply Regenerator Resistor X MOT PHASES X: Motor Phases X MOTOR SENSOR X EXT POS SEN / DIFF HALL SW X X: Motor Signal X: External Positionssensor X. SVE X. IO PTC X.0 IO PTC X.9 IO LIM+ X. IO LIM- X. IO HSW X. IO TRIG X. IO CAP X. IO AN X. IO /BRK +VDC D LOGIC SUPPLY / CONTROL X: Control Logic Supply ERROR WARNING ID HIGH ID LOW RT BUS ERROR X V OK EN S S OK X/X CFG X/X RT LED State Display S-:Busadress ED State Display X-:ETHERNET Configuration X X-:RealTime ETHERNET X S: Bus Termination X9: System Configuration RS X0: Analog In (± 0V) X: RS / CAN Out X: RS / CAN In X: Master Encoder Out X9: Profibus (only -DP) X0: Master Encoder In Interfaces CANopen LinRS POWERLINK PROFINET PROFINET Profidrive sercos sercos over EtherCAT ETHERNET IP LinUDP EtherCAT ETHERCAT CiA0 PROFIBUS-DP E0-PL-UC E0-PN-UC E0-DP-UC E0-SC-UC E0-IP-UC E0-LU-UC E0-EC-UC E0-SE-UC E0-DS-UC E0-DP-UC E00-GP-UC Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

65 Series E00 E0-PL-UC E0-PN-UC E0-PD-UC E0-SC-UC E0-IP-UC E0-LU-UC E0-EC-UC E0-SE-UC E0-DS-UC E0-DP-UC E00-GP-UC MOT SUPPLY X X: Motor Supply Regenerator Resistor Absolute Travel Positioning Internally Internally Master Synchronization Position Analog Analog Winding Force Customer-Specific & Relative Positioning Along Time Curves using Motion Profiles stored Motion Commands stored Motion Sequences Encoder Synchronization to Belt Speed Streaming Position Target Parameter Scaling Function Block Control Technology Function Functions X X. SVE Enable=V MOTOR SENSOR X. IO PTC X.0 IO PTC X.9 IO LIM+ X. IO LIM- X. IO HSW X. IO TRIG X. IO CAP X. IO AN X. IO /BRK +VDC D ERROR WARNING ID HIGH ID LOW RT BUS ERROR MOT PHASES X EXT POS SEN / DIFF HALL SW X LOGIC SUPPLY / CONTROL X V OK EN S S OK X/X CFG X/X RT X: Motor Phases X: Motor Signal X: External Positionssensor X: Control Logic Supply LED State Display S-:Busadress ED State Display X-:ETHERNET Configuration X X-:RealTime ETHERNET X S: Bus Termination X9: System Configuration RS X0: Analog In X: RS / CAN Out X: RS / CAN In X: Master Encoder Out X9: Profibus (only -DP) X0: Master Encoder In Industrial ETHERNET Technical Data Series E00 drives allow integration of LinMot linear motors in controls concepts with industrial ETHERNET interfaces. The user can integrate Series E00 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. Series 00 Servo Drives support the following industrial ETHERNET protocols: - Profinet - Industrial IP - PowerLink - EtherCat - Sercos III The appropriate drive is available for each protocol. Type: Switch/Hub: Transfer rate: Realtime ETHERNET Integrated -Port Hub/Switch 0/00MBit/sec 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

66 Series E00 Ex0-Series X X REGENERATION RESISTOR SUPPLY x00vac 0VAC VAC MOTOR SUPPLY,,-PHASE POWERSTAGE...0V DC A/A/A PHASE CURRENT PH+ PH- PH+ PH- X LINEAR MOTOR BRUSHLESS DC MOTOR SIN COS TEMP. +V X9 (only on -DP) X PROFIBUS DP PROFIBUS DP S-S ETHERNET ID LOW (S) ID HIGH (S) A+ SIN+ A- SIN- B+ COS+ B- COS- Z+ ZERO+ Z- ZERO- U+ U- V+ V- W+ W- ENC ALARM +VDC OPTIONAL EXTERNAL POSITIONS SENSOR 0/00 MBaud INDUSTRIAL ETHERNET X / X 0/00 MBaud INDUSTRIAL ETHERNET X LIMIT SWITCH+ LIMIT SWITCH- HOME SWITCH BRAKE OUTPUT BRAKE 0/00 MBaud Configuration ETHERNET X / X 0/00 MBaud Configuration ETHERNET PTC PTC TRIGGER INPUT CAPTURE INPUT ANALOG INPUT ROTRAY MOTOR & SUPPLY PROTECTION FAST PROCESS INPUTS SYSTEM INTERFACE: RS X9 RS SVE +VDC SAVE PULSE INHIBITOR LOGIK SUPPLY COMMUNICATION INTERFACE RS CANOPEN DEVICENET X RS CAN X RS CAN COMMUNICATION INTERFACE RS CANOPEN DEVICENET X0 X MASTER ENCODER A+ STEP+ A- STEP- B+ DIRECTION+ Z+ ZERO+ Z- ZERO- B- DIRECTION- CAN_H CAN_L A+ STEP+ A- STEP- B+ DIRECTION+ Z+ ZERO+ Z- ZERO- B- DIRECTION- CAN_H CAN_L MASTER ENCODER Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

67 Interfaces X Motor Supply / Regeneration Resistor - RR internally connected to + controller housing P PWR+ Optional: PWR + Regeneration...VDC P Resistor (external) external Fuse max. 0AT RR + RR - Screw Terminals. mm² (AWG) Screw Terminals: External Regeneration Resistor (RR0-0/0, Art. Nr. 00-0) External Fuse: max. 0AT Supply nominal VDC (...VDC) (See chapter Power Supply Requirements for compatible power supplies.) Absolute max. Rating VDC +0%. If motor supply voltage is exceeds 90VDC, the drive will go into error state. - Tightening torque: Nm (.. lbin) - Screw thread: M. - Use 0/ C copper conductors only - Conductor cross-section: use only.mm / AWG - Stripping length: -mm - Max. length: m X Motor Phases + u - v + w - x SCRN Nr. Designation LinMot Linear Motor Color -Phase-Motor PH+ /U Motor Phase + red Motor Phase U PH- /V Motor Phase - pink Motor Phase V PH+ /W Motor Phase + blue Motor Phase W PH- /X Motor Phase - grey SCRN Shield Screw Terminals.-mm² (AWG-) Screw Terminals: - Tightening torque: Nm (.. lbin) - Screw thread: M. - Use 0/ C copper conductors only - Conductor cross-section: 0..mm (depends on Motor current) / AWG - - Stripping length -mm X Motor Encoder DSUB-9 (f) 9 Nr LinMot Linear Motor -Phase-Motor +VDC +VDC (Hall Supply) Sensor Sine Hall Temperature In Hall A A (Hall Supply) 9 Sensor Cosine Hall Case Shield Note : Use +VDC (X.) and A (X.) only for motor internal hall sensor supply (max. 00mA). Caution : Do NOT connect A (X.) to ground or earth! Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

68 Series E00 Motor Motor wiring + u - v + w - x SCRN OUTER SHIELD PHASE - PHASE + PHASE - PHASE + PHASE - PHASE + X X: Screw Terminals X: DSUB-9 (f) 9 PHASE - PHASE + +VDC A SINE COSINE TEMP Caution: do not connect X. / / / +VDC A SINE COSINE TEMP X 9 X: pin Logic Control / Supply X. SVE Enable=V X. X.0 X.9 X. X. X. X. X. X. /Brk +VDC D LOGIC SUPPLY / CONTROL POWER STAGE ENABLE (HW ENABLE) CONFIGURABLE IO, PTC INPUT CONFIGURABLE IO, PTC INPUT CONFIGURABLE IO CONFIGURABLE IO CONFIGURABLE IO, ANALOG INPUT CONFIGURABLE IO, TRIGGER INPUT CONFIGURABLE IO CONFIGURABLE IO, ANALOG INPUT CONFIGURABLE IO, BRAKE DRIVER A LOGIC SUPPLY - VDC 0 9 * * * * * * * * *,k MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX..0A Internal Fuse AT * ALL OUTPUTS WITH INTERNAL PULL Phoenix MC,/-STF-, (delivered with drive) DOWN RESISTOR K TO Inputs (X... X.): V / ma (Low Level: 0. to VDC, High Level: to 0VDC) Outputs (X... X.): V / max.00ma, Peak 0mA (will shut down if exceeded) Brake Output (X.): V / max..0a Input X.: SVE (Safety Voltage Enable) must be high for enabling the power stage. ). If it goes low for more than 0.ms the PWM generation of the power stage is disabled by hardware. Supply V / typ..a / max..a (if all outputs on with max. load and brake.) - Tightening torque: min 0.Nm - Screw thread: M - Use 0/ C copper conductors only - Conductor cross-section max..mm - Internal Fuse (F): AT (slow blow, Schurter OMT, 0.0.xx, UL File Number: E99) CAUTION: For continued protection against risk of fire, replace only with same type and rating of fuse. Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

69 Interfaces X-X RS/CAN RJ- Nr RS_Rx+ A RS_Rx- B RS_Tx+ Y RS_Tx- Z CAN_H CAN_L Case Shield Use twisted pair (-, -, -, -) cable for wiring. The built in CAN and RS terminations can be activated by S. and S.. X is internally connected to X (: connection) X9 Profibus DP (only available on E0-DP-UC) DSUB-9 (f) 9 Nr - - RxD/TxD-P CNTR-P (isolated) +V (isolated) - RxD/TxD-N 9 - Case Shield Max. Baud rate: Mbaud X0-X Master Encoder IN (X0) / Master Encoder OUT (X) RJ- Nr Incremental Step/Direction EIA/TIA A colors A+ Step+ Green/White A- Step- Green B+ Direction+ Orange/White Z+ Zero+ Blue Z- Zero- Blue/White B- Direction- Orange CAN_H CAN_H Brown/White CAN_L CAN_L Brown Case Shield Shield Use twisted pair (-, -, -, -) cable for wiring. Master Encoder Inputs: Diff. RS, max. counting frequency Mcounts/s, quadrature evaluation, 0ns edge separation Master Encoder Outputs: Amplified RS differential signals from Master Encoder IN (X0) The CAN bus can be terminated with S.. All devices, which are connected to X0/X must be referenced to the same ground. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

70 Series E00 S- Address Selectors / Bus Termination Ex0 V 9ABCDEF0 9ABCDEF0 Ex0 V Switch S S Bus ID High (0 F). Bit is LSB, bit MSB Bus ID Low(0 F). Bit is LSB, bit MSB The use of these switches depends on the type of fieldbus which is used. Please see the corresponding manual for further information. S Bus Termination on off S Switch S E00 Switch : AnIn Pulldown (k Pulldown on X.). Set to ON, if X. is used as digital Output. Switch : Termination Resistor for RS on CMD (0R between pin and on X/X) on/off Switch : CAN Termination on CMD (0R between pin and on X/X) on/off Switch : CAN Termination on ME (0R between pin and on X0/X) on/off Factory settings: all switches off X External Position Sensor Differential Hall Switches / SSI DSUB- (f) 9 0 Nr ABZ with Hall Switches Sin/Cos Vpp with SSI +V DC +V DC 9 A+ Sin+ A- Sin- 0 B+ Cos+ B- Cos- Z+ Data+ Z- Data- Encoder Alarm Encoder Alarm U+ U- V+ V- W+ Clock+ W- Clockcase Shield Shield Position Encoder Inputs ( RS) : Max. counting frequency: Mcounts/s with quadrature decoding, 0ns edge separation Encoder Simulation Outputs (RS): Max Output Frequency:.MHz, M counts/s with quadrature decoding, 00ns edge separation Differential Hall Switch Inputs (RS): Input Frequency: <khz Enc. Alarm In: V / ma Sensor Supply: VDC max 00mA Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

71 Series E00 X-X Ethernet Configuration 0/00Mbit/s RJ- Nr X X Bez. Internal -Port 0BASE-T and 00BASE-TX Ethernet Switch HP Auto MDIX LEDs on the lower side of the device indicate Link/Activity per port, the upper ones are not used. X-X Ethernet RealTime Nr X RT ETH In X RT ETH Out Bez. Specification depends on RT-Bus Type. Please refer to according documentation. RJ- X9 RS Configuration RJ- Nr Bez. Reserved, do not connect Reserved, do not connect RS RX RS TX Reserved, do not connect Reserved, do not connect case Shield Use isolated USB-RS converter (Art.-No. 00-) for configuration over RS. X0 Analog In (+-0V Differential Analog Input) RJ- Nr Bez. n.c. n.c. Analog In- Analog In+ n.c. n.c. case Shield LEDs State Display Error Warn VOK EN Green Yellow Yellow Red V Logic Supply OK Motor Enabled / Error Code Low Nibble Warning / Error Code High Nibble Error RT BUS LEDs BUS Error BUS OK Green Red OK Error Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

72 Ordering Information 0 MOT SUPPLY X 0 Centers MOTOR SENSOR X MOT PHASES X EXT POS SEN / DIFF HALL SW X X. SVE Enable=V X. IO PTC X.0 IO PTC X.9 IO LIM+ X. IO LIM- X. IO HSW X. IO TRIG X. IO CAP X. IO AN X. IO /BRK +VDC D ERROR WARNING X V OK EN S LOGIC SUPPLY / CONTROL ID HIGH ID LOW RT BUS ERROR S OK X/X CFG X/X RT Dimensions in mm Servo Drives Series E00 Width mm (in) 0 (.) Height mm (in) 0 (0.) Height without fixings mm (in) (9.) Depth mm (in) 0 (.) Weight kg (lb). (.) Case IP 0 Mounting Screws Mounting Distance mm (in) x M (9.9) Storage temperature C Transport temperature C Operating temperature C at rated date with power derating Relative humidity 9% (non-condensing) Max. case temperature C Max. power dissipation W 0 Clearance around drives mm (in) 0 (0.) left/right 0 () top/bottom 0 Item Description Part Nummber E0-PL-UC POWERLINK Servo Drive VDC/A 00-0 E0-PN-UC PROFINET Servo Drive VDC/A 00- E0-PD-UC ProfiDrive Servo Drive VDC/A 00-0 E0-EC-UC EtherCAT Servo Drive VDC/A 00- E0-SE-UC sercos over EtherCAT Servo Drive VDC/A 00-9 E0-DS-UC EtherCAT CoE Servo Drive VDC/A 00-0 E0-SC-UC sercos Servo Drive VDC/A 00- E0-IP-UC ETHERNET IP Servo Drive VDC/A 00- E0-LU-UC LinUDP Servo Drive VDC/A 00-9 E0-DP-UC PROFIBUS-DP Servo Drive VDC/A 00- E00-GP-UC GENERAL PURPOSE Servo Drive VDC/A 00- Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

73 Accessories Item Description Part Nummber Capacitor Capacitor mf / 00 V 00-0 Regeneration Resistor R0-0/0 (0 Ohm, 0 W) 00-0 Regeneration Resistor RR0-0/0 (0 Ohm, 0 W) Item Description Part Nummber T0-/0 VDC, A peak, 0VA, x00vac T0-/0-US VDC, A peak, 0VA, x0vac T0-/900 VDC, 0A peak, 900VA, x00vac T0-/900-US VDC, 0A peak, 900VA, x0vac T0-/00 VDC, x0a peak, 00VA, x00vac T0-/00-US VDC, x0a peak, 00VA, x0vac S0-/00 VDC, 00W, 0W peak, x00..0vac/00..0vac S0-/000 VDC, 000W, 000W peak, x0..00vac Item Description Part Nummber Isolated USBRSconverter Isolated USB RS converter with config. cable 00- Connector for X Connector MC,/-STF-,, delivered with drive RS PC config. Cable.m For C00/C0/E00/E00/M Isolated USB-serial converter Isolated USB RS// converter Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

74 Series C00 Servo Drive Series C00 Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

75 Servo Drives Servo Drive C00 Series C00 Servo Drives are modular axis controllers, with -bit position resolution and an integrated power stage, for linear motors and rotary drives. The controllers are suitable for simplest, standard, and high-end positioning tasks, across the entire force range of the LinMot product range. Connection to Machine Drive Process and Safety Interfaces Logic and Power Supply The Series C00 Servo Drives can be actuated by machine controls from any manufacturer or brand, via digital inputs and outputs, RS or RS serial interface, CanBus CANopen and DeviceNet interfaces, Profibus DP, or industrial ETHERNET. Fast process interfaces for direct processing of sensor signals are available as freely programmable analog and digital inputs, a fast trigger input, and a capture input. The Servo Drives have two separate power supply inputs for the logic and power elements. In an E-stop and safe stop of the drive, only the power element supply is cut off from the drive. The logic supply and the drive continue to run. This has the advantage that the drive and linear motor do not need to be reinitialized when the machine is restarted, since all process data, including the current position of the linear motor, are still up to date Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

76 Series C00 Digital I/O s RS RS Fieldbusses and interfaces to the overlaid control CAN open Device- Net Profibus DP ProfiNet Sercos III Power Link Ethernet IP Ether CAT System Integration Flexible hardware enables control of any //- phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept. Supply and Safety Fast Process Inputs Config. Logic Supply Motor Supply Safety Trigger Inputs Capture Analog Inputs RS Linmot Servo Drive Series C00 Position Drive: Bit Position Value Resolution 0.µm 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 000 set points Command Table: Up to Commands Optional Limit and Home Switches LinMot Linear Motor or other // phase motor (Brushless DC, Voice Coil,...) Optional Brake Limit - Switch Optional external Position Sensor Home Switch External Position Sensor Limit + Switch 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. Series C00 Servo Drives have analog and digital inputs and outputs, serial interfaces, fieldbusses, and ETHERNET connections. The user is therefore not dependent on the selection of the overlaid controller. An appropriate interface is available, with associated protocols, for any PLC or IPC solution. With flexibility and a compact form factor, LinMot Series C00 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators. Technology Functions Technology functions are functional blocks that provide a complete solution for standard applications and frequently encountered, customer-specific problems. Technology functions can, for example, handled the complete sequence for winding textile yarns or glass fiber cables, or high-precision joining processes with force control can be implemented directly in the drive. Motor Interfaces Configuration. C00 Servo Drives provide all necessary interfaces to operate linear or rotary motors with optional external peripherals, such as end position and reference switches, a mechanical brake, or a high-resolution external position sensor. LinMot Talk user-friendly PC software is available for configuration. In addition to online documentation, LinMot Talk provides extensive debugging tools, such as an oscilloscope and an error inspector, for simple and rapid start-up of the Axis. In special applications, two drives can be synchronized with each other using the synchronization interface in master booster mode. Fieldbus and ETHERNET drives can also be configured directly by the overlaid control. Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

77 Operating Modes Interpolated Moves Stroke [mm] 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. Goto 00mm v max =,m/s a max =,0m/s Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Velocity Resolution:.0µm/s (Bit) Velocity Resolution: 0.0µm/s (Bit) Time Curves Stroke [mm] Start Curve Up to 00 different time curves can be stored Series C00 drives, with up to,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 Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Motion profiles: Max. 00 Time Curves Curve points: Max. 000 points Profiled Moves Stroke [mm] Goto Pos mm with Profil 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 Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Motion profiles: Max. 00 Time Curves Curve points: Max. 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] Position Resolution: Velocity Resolution Interpolator: cycle times: Bit Bit 0 khz 0.-ms 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

78 Series C00 Easy Steps Input Pos mm Input Pos 0mm Input Curve Input Pos -0mm Input Pos +,mm Input Curve Input Pos mm Input Pos -,mm With the Easy Steps function, up to positions or independent travel commands can be stored on the drive, and addressed via digital inputs or fieldbus interfaces/ethernet. Digital inputs: max. Interface: X Scanning rate: 00µsec Command Table Start Wait Input Pos mm Rule Stop Terminate A Entire motion sequences with up to 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. Commands: max. Cycle time: 00µsec Analog Position For an analog position target, the linear motor travels to a position proportional to the input voltage. The position is either scanned continuously, or only after a rising edge of the trigger signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator). 0V 0V Position Position Inputs: Analog Input X or X0 Voltagvte range: 0-0VDC or ±0V Resolution: Bit Scanning rate: >=00µsec (adjustable) Easy Steps Parameter Scale Maximum Force [0...0V => %] 00% 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. 0% Force Max Time[ms] Inputs: Voltage range: Resolution: Resolution x Analog (X., X.) 0-0VDC Bit 00µsec Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

79 Series C00 Closed Loop Force Control F Mot = 0,...0N 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 V F one Load Cell Analog Input: 0-0V or ±0V Resolution: Bit Min. Force Resolution: 0.N 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. 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

80 O N Interfaces X: Motor Supply X: Motor Phases X: Motor Signal X MOT SUPPLY PWR+ P X / X RS Rx+ RS Rx- RS Tx+ RS Tx- CAN H CAN L PE X X CMD IN CMD OUT SCR X MOT PHASES X MOTOR SENSOR See Installation Guide for Wiring!! Gefährliche hohe Spannung! Vor dem Arbeiten Versorgung abklemmen, Minugen warton und zwischen PWR+ und P messen, ob die Kondensatoren auf unter VDC entladen sind X Hall Sw /W Hall Sw W Hall Sw /V Hall Sw V Hall Sw /U Hall Sw U Sens Alarm Sens /Z Sens Z Sens /B 0 Sens B Sens /A 9 Sens A +VDC X EXT POS SENS / DIFF HALL SW X n.c. n.c. n.c. n.c. +VDC A SIN 9 COS TEMP Risk of Electric Shock! Before servicing, disconnect supply, wait minutes and measure between PWR+ and P to be sure that the capacitors have discharged below VDC Attention haute tension! Avant tout operation de maintenance deconnecter lalimentation, attendre minute et mesurer la tension entre PWR+ et P pour verifier si les condensaterus sont decharges inferieure a VDC X9 SYSTEM Do not connect Do not connect RS RX S CMD RS Term RS TX CMD CAN Term Do not connect Bootstrap Do not connect S RT BUS ERROR WARN ERROR In 0 In 9 In In Out Out Out Out Out VDC D C0 X RT IN X RT OUT OK S S ID LOW ID HIGH V OK X9 SYSTEM X LOGIC SUPPLY / CONTROL EN S-:Busadress LED State Display X: RealTime ETHERNET Out X: RealTime ETHERNET In LED State Display X: Control Logic Supply X9: System Configuration RS S: Bus Termination X: External Positionssensor X: RS / CAN Out X: RS / CAN In C00-GP-XC C0-DP-XC C0-PL-XC C0-EC-XC C0-PN-XC C0-IP-XC C0-SC-XC C0-SE-XC Interfaces CANopen DeviceNet LinRS PROFIBUS-DP POWERLINK ETHERCAT PROFINET ETHERNET IP SERCOS III SERCOS over EtherCAT Konfig RS Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

81 O N Series C00 C00-GP-XC C0-DP-XC C0-PL-XC C0-EC-XC C0-PN-XC C0-IP-XC C0-SC-XC X: Motor Supply X: Motor Phases X: Motor Signal Absolute Travel Positioning Internally Internally Position Analog Analog Force Customer-Specific & Relative Positioning Along Time Curves using Motion Profiles stored Motion Commands stored Motion Sequences Streaming Position Target Parameter Scaling Control Technology Function Functions X MOT SUPPLY PWR+ P X / X RS Rx+ RS Rx- RS Tx+ RS Tx- CAN H CAN L PE X X CMD IN CMD OUT SCR X MOT PHASES X MOTOR SENSOR See Installation Guide for Wiring!! Gefährliche hohe Spannung! Vor dem Arbeiten Versorgung abklemmen, Minugen warton und zwischen PWR+ und P messen, ob die Kondensatoren auf unter VDC entladen sind X Hall Sw /W Hall Sw W Hall Sw /V Hall Sw V Hall Sw /U Hall Sw U Sens Alarm Sens /Z Sens Z Sens /B 0 Sens B Sens /A 9 Sens A +VDC X EXT POS SENS / DIFF HALL SW X n.c. n.c. n.c. n.c. +VDC A SIN 9 COS TEMP Risk of Electric Shock! Before servicing, disconnect supply, wait minutes and measure between PWR+ and P to be sure that the capacitors have discharged below VDC Attention haute tension! Avant tout operation de maintenance deconnecter lalimentation, attendre minute et mesurer la tension entre PWR+ et P pour verifier si les condensaterus sont decharges inferieure a VDC X9 SYSTEM Do not connect Do not connect RS RX S CMD RS Term RS TX CMD CAN Term Do not connect Bootstrap Do not connect S RT BUS ERROR WARN ERROR In 0 In 9 In In Out Out Out Out Out VDC D C0 X RT IN X RT OUT OK S S ID LOW ID HIGH V OK X9 SYSTEM X LOGIC SUPPLY / CONTROL EN S-:Busadress LED State Display X: RealTime ETHERNET Out X: RealTime ETHERNET In LED State Display X: Control Logic Supply X9: System Configuration RS S: Bus Termination X: External Positionssensor X: RS / CAN Out X: RS / CAN In Industrial ETHERNET Technical Data Series C00 drives allow integration of LinMot linear motors in controls concepts with industrial ETHERNET interfaces. The user can integrate Series C00 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. Series 00 Servo Drives support the following industrial ETHERNET protocols: - Profinet - Industrial IP - PowerLink - EtherCat - Sercos III The appropriate drive is available for each protocol. Type: Switch/Hub: Transfer rate: Realtime ETHERNET Integrated -Port Hub/Switch 0/00MBit/sec 9 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

82 Series C00 Cx0-Series X X SUPPLY X00VAC 0VAC VAC...V DC A PHASE CURRENT PH+ PH- PH+ PH- LINEAR MOTOR MOTOR SUPPLY X BRUSHLESS DC MOTOR SIN COS TEMP. +SV PROFIBUS DP COMUNICATION max. MBaud X9 (only on -DP) PROFIBUS DP S-S ID LOW (S) ID HIGH (S) X A+ SIN+ A- SIN- B+ COS+ B- COS- Z+ ZERO+ Z- ZERO- U+ U- V+ V- W+ W- ENC ALARM +VDC OPTIONAL EXTERNAL POSITIONS SENSOR 0/00 MBaud INDUSTRIAL ETHERNET X / X 0/00 MBaud INDUSTRIAL ETHERNET X LIMIT SWITCH+ LIMIT SWITCH- HOME SWITCH BRAKE OUTPUT BRAKE PTC PTC ROTRAY MOTOR & SUPPLY PROTECTION TRIGGER INPUT CAPTURE INPUT ANALOG INPUT FAST PROCESS INPUTS CONFIGURATION RS X9 RS +VDC X SAFETY LOGIK SUPPLY MACHINE SAFETY COMMUNICATION INTERFACE RS CANOPEN DEVICENET X RS CAN X RS CAN COMMUNICATION INTERFACE RS CANOPEN DEVICENET Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

83 Interfaces PRELIMINARY X Motor Supply / Regeneration Resistor PWR+ P Screw Terminals. mm² (AWG) PWR + P *...0VDC intern mit Controller Gehäuse verbunden * SIEHE INSTALLATION GUIDE Motor Supply: Motor Supply Voltage...VDC. Absolute max. Rating VDC + 0% If motor supply voltage is exceeding 90VDC, the controller will go into error state X Motor Phases + u - v + w - x SCRN Nr. Designation LinMot Linear Motor Color -Phase-Motor PH+ /U Motor Phase + red Motor Phase U PH- /V Motor Phase - pink Motor Phase V PH+ /W Motor Phase + blue Motor Phase W PH- Motor Phase - grey SCRN Shield Screw Terminals.-mm² (AWG-) X Motor DSUB-9 9 Nr LinMot Linear Motor Motor Phase + Motor Phase + +VDC Sine Temperature Motor Phase - Motor Phase - A 9 Cosine Case Shield - Use X for motor phase wiring if phase current exceeds Arms or.apeak - Use +V (X.) and A (X.) only for motor internal Hall Sensor supply (max. 00mA) - Do NOT connect A (X.) to ground or earth! 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

84 Series C00 Motor Motor wiring + u - v + w - x SCRN OUTER SHIELD GREY BLUE PHASE - PHASE + PHASE - PHASE + X X: Screw Terminals PINK RED X WHITE X: DSUB-9 (f) 9 For LinMot Linear Motors only use original LinMot double shielded motor cable K, KS, or KR INNER SHIELD YELLOW GREEN BLACK +VDC A SINE COSINE TEMP 9 k k 0k +VDC X: pin Control / Supply X. QuickStop, PTC X. 0 IO, PTC X. 9 IO, LIM+ X. IO, LIM- X. IO, HSW X. IO, TRIG X. IO, CAP X. IO, AN X. IO, /BRK X. +VDC X. D X LOGIC SUPPLY / IO CONNECTION CONFIGURABLE IO, PTC CONFIGURABLE IO, PTC CONFIGURABLE IO CONFIGURABLE IO CONFIGURABLE IO, HOME SWITCH CONFIGURABLE IO, TRIGGER CONFIGURABLE IO CONFIGURABLE IO, ANALOG INPUT CONFIGURABLE IO, BRAKE DRIVER A LOGIC SUPPLY - VDC 0 9 * * * * *,k,k,k,k MAX. 00mA MAX. 00mA MAX. 00mA MAX. 00mA MAX..0A Internal Fuse AT * ALL OUTPUTS WITH INTERNAL PULL Phoenix MC,/-STF-, 0.-.mm² (AWG-) DOWN RESISTOR K TO Edition 99 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

85 Interfaces X-X RS/CAN RJ- Nr RS_Rx+ A RS_Rx- B RS_Tx+ Y RS_Tx- Z CAN_H CAN_L Case Shield - X internally connected to X (: connection) - Use twisted pair (-, -, -, -) cable for wiring. - The built in CAN and RS terminations can be activated by S. X9 Profibus DP DSUB-9 9 Nr - - RxD/TxD-P CNTR-P (galvanically seperated) +V (galvanically seperated) - RxD/TxD-N 9 - Case Shield Max. Baud rate: Mbaud 00 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

86 Interfaces S- Address Selectors / Bus Termination ID HIGH on off S Switch S Bus ID High (0 F) HEX-Switches for Bus ID S Bus ID Low(0 F) address range 0. ID LOW on off S S Bus Termination on off S Switch S C00 Switch : Termination Resistor for RS on CMD (0R between pin and on X/X) on/off Switch : CAN Termination on CMD (0R between pin and on X/X) on/off Switch : Beostrap Factory settings: all switches off X External Position Sensor Commutation DSUB- (f) 9 0 Nr Description +V DC 9 A+ Encoder A- Encoder 0 B+ Encoder B- Encoder Z+ Encoder Z- Encoder Encoder Alarm U+ Commutation (Hall Switch) U- Commutation (Hall Switch) V+ Commutation (Hall Switch) V- Commutation (Hall Switch) W+ Commutation (Hall Switch) W- Commutation (Hall Switch) case Shield Max. Input Frequency: Sensor Supply Current: Position Encoder Inputs: Encoder Simulated Outputs: Differential Hall Switch Inputs: Enc. Alarm In: Sensor Supply: MHz (RS inkrementell), 0ns edge separation max. 00mA RS, Max Input Frequency:.MHz, M counts/s with quadrature decoding, 0ns edge separation RS, Max Output Frequency:.MHz, M counts/s with quadrature decoding, 00ns edge separation RS, Max Input Frequency: <khz V / ma VDC, max 00mA Edition 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

87 Series C00 X: pin Safety Relays (only for -S) X. / Ksr+ X. / Ksr- X. / Ksr f+ X. / Ksr f- X STO RELAYS Nr Bez. / Ksr + Safety Relay / Input possitive / Ksr - Safety Relay / Input negative / Ksr f+ Safety Relay / feedback positive / Ksr f- Safety Relay / feedback negative X-X Ethernet RealTime Nr X X Bez. Specification depends on RT-Bus Type. Please refer to according documentation. RJ- X9 RS Configuration RJ- Nr Bez. Reserved, do not connect Reserved, do not connect RS RX RS TX Reserved, do not connect Reserved, do not connect case Shield 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

88 O N WARN ERROR In 0 In 9 In In Out Out Out Out Out VDC D X9 SYSTEM X LOGIC SUPPLY / CONTROL EN V OK Dimensions Centers RT BUS ERROR X RT IN X RT OUT OK S S ID LOW ID HIGH C0 Dimensions C00-XX-XC-0S in mm Servo Drives Series C00 Width mm (in) (.0) Height mm (in) 0 (.) Height without fixings mm (in) (.) Depth mm (in) 0 (.) Weight kg (lb). (.) IP Protection class IP 0 Storage temperature C Transport temperature C Operating temperture C at rated date with power derating Max. case temperature C Max. power dissipation W 0 Min. distance between drives mm (in) 0 (0.) left/right 0 () top/bottom Item Description Part Nummber C00-GP-XC-0S General Purpose Drive (V/A) 00- C0-SE-XC-0S Sercos over EtherCAT Drive(V/A) 00-9 C0-EC-XC-0S EtherCAT Drive (V/A) 00- C0-PL-XC-0S PowerLink Drive (V/A) 00- C0-IP-XC-0S Ethernet IP Drive (V/A) 00- C0-PN-XC-0S Profinet Drive (V/A) 00- C0-SC-XC-0S Sercos III Drive (V/A) 00- C00-GP-XC-S General Purpose Drive (V/A), STO 00- C0-SE-XC-S Sercos over EtherCAT Drive(V/A), STO 00-0 C0-EC-XC-S EtherCAT Drive (V/A), STO 00- C0-PL-XC-S PowerLink Drive (V/A), STO 00- C0-IP-XC-S Ethernet IP Drive (V/A), STO 00- C0-PN-XC-S Profinet Drive (V/A), STO 00- C0-SC-XC-S Sercos III Drive (V/A), STO 00-9 Edition 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

89 Notes 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

90 Servo Drive Servo Drive B00 B00 Series B00-PP 0 Series B00-VF Series B00-GP Edition 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

91 Servo Drives Servo Drives B00 Series B00 Servo Drives are compact axis drives, with -bit position resolution and an integrated power element, for linear motors and rotary drives. The drives are suitable for simplest and standard positioning tasks, across the entire force range of the LinMot product range. B00 Connection to Machine Drive Process and sensor interfaces Logic and power supply The Series B00 Servo Drives can be actuated by machine controls from any manufacturer or brand, via digital inputs and outputs; by RS or RS serial interface; or by CanBus CANopen and DeviceNet interfaces. Fro complex motion sequences that run in an overarching positioning drive, the motor can be controlled by means of analog speed or force targets. The position signal from the measurement system integrated in the linear motor can be accessed at the encoder output to control position. Fast process interfaces for direct processing of sensor signals are available as freely programmable analog and digital inputs and fast trigger inputs. For high-accuracy applications, a freely configurable encoder interface is available. It analyzes the commutation signals from brushless, rotary servomotors as well. The Servo Drives have two separate power supplies for the logic and power elements. In an E-stop and safe stop of the drive, only the power element supply is cut off from the drive. The logic supply and the drive continue to run. This has the advantage that the drive and linear motor do not need to be reinitialized when the machine is restarted, since all process data, including the current position of the linear motor, are still up to date. 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

92 Series B00 Fieldbusses and interfaces to the overlaid control Digital I/O s RS RS CAN open Device- Net ±0V System Integration Flexible hardware enables control of any //- phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept. Supply and Safety Fast Prozess Inputs Logic Supply Motor Supply Trigger Inputs Capture Analog Inputs Linmot Servo Drive Series B00 Bit Position Value Resolution 0.µm Run Modes: VA Interpolated Moves Analog Position Two Point Trigger Moves Streaming P, PV Step, Direction,Zero Optional Limit and Home Switches LinMot Linear Motor or other // phase motor (Brushless DC, Voice Coil,...) Optional Brake Limit - Switch Home Switch External Position Sensor Limit + Switch 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. Series B00 Servo Drives have analog inputs and digital inputs and outputs, serial interfaces, and fieldbus connections. The user is therefore not dependent on the selection of the overarching drive. With flexibility and a compact form factor, LinMot Series B00 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators. Optional external Position Sensor Config. RS CAN CAN Config. B00 Position Streaming Motor Interfaces Configuration With a cyclical target value, or "position streaming," the overarching NC or CNC drive communicates with the Servo Drive through CanOpen or DeviceNet. The position and velocity calculated in the overarching drive is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission. Using the cyclical target value, complex motions and interpolating multi-axis applications can be implemented. The series B00 Servo Drives allow control of,, or phase linear motors and brushless rotary servomotors. B00 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 RS interface on the front side, or CANBus for simultaneous configuration of several drives.. LinMot Talk user-friendly PC software is available for configuration. In addition to online documentation, LinMot Talk provides extensive debugging tools, such as an oscilloscope and an error inspector, for simple and rapid start-up of the axes. Fieldbus and Ethernet drives can also be configured directly by the overarching drive. Edition 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

93 Operating Modes Position Indexing STEP DIR ZERO In position indexing, the linear motor is controlled like a stepper motor, using Step/Dir/Zero, or - A/B signals. The step distance is freely programmable from.x0 µm to.mm/step. The input signal can be used directly as the target position, or it can be filtered by the VA interpolator. A B Z Operating Modes: Inputs: Step distance: Max Input Frequency: Step/Dir/Zero, A/B differential RS (X/) -.x0 µm...mm, Bit MHz +/- 0V Analog Force / Velocity Control F v +0V 0V -0V A B Series B00 drives allow analog force (torque) or velocity targets to be set, via the +/- 0V interface, by an overlaid position drive. The current actual position is output via the encoder interface, with adjustable resolution, as positioning feedback. In high-precision applications with high-resolution external position sensors, the sensor signals can be passed through in the drive. Time[ms] Analog Input: Resolution: Scanning rate: Encoder Simulation: V, differential Max. Bit Max. 0 khz,,,0,0µm Resolution B00 Setpoint Streaming Stroke [mm] Overlaid NC drives with CANopen or DeviceNet interfaces communicate with the Servo Drives via "Position Streaming". The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission. Time[ms] Position Resolution: Velocity Resolution Interpolator: cycle times: Bit Bit khz -ms Analog Position For an analog position target, the linear motor travels to a position proportional to the input voltage. The position is either scanned continuously, or only after a rising edge of the trigger signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator). 0V 0V Position Position Inputs: Voltagvte range: Resolution: Scanning rate: Analog Inputs (X.0, X./X.) 0-0VDC (X.0) VDC (X./X.) 0 Bit 00µsec 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

94 Series B00 Interpolated Moves Stroke [mm] For direct position targets, using absolute or relative positioning, the desired position is reached using an acceleration and velocity-limited motion profile (VA interpolator). Positioning commands can be invoked via the serial interfaces, CANopen, DeviceNet, or a trigger input. Goto 00mm v max =,m/s a max =,0m/s Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Velocity Resolution:.0µm/s (Bit) Velocity Resolution: 0.0µm/s (Bit) Easy Steps Input Input Input Input Pos mm Pos 0mm Pos 0mm Pos -0mm With the Easy Steps function, up to positions or independent travel commands can be stored on the drive, and addressed via serial interfaces, CANopen or DeviceNet. Digital inputs: max. Interface: X Scanning rate: 00µsec Easy Steps Parameter Scale Maximum Force [0...0V => %] 00% 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. B00 0% Force Max Time[ms] Inputs: Voltagvte range: Resolution: Scanning rate: Analog Inputs (X.0, X./X.) 0-0VDC (X.0) VDC (X./X.) 0 Bit 00µsec Edition 09 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

95 B00-PP Series B00-PP B00-PP B00-PP-HC B00-PP-HC-XC Analog MPC Easy Easy Position Indexing ±0V Force or Velocity Control Setpoint Streaming (CAN) Position Target Commands Step Steps Parameter Scale CANopen DeviceNet Encoder Simulation Serial Infaces RS/RS S: CAN/RS Termination PE X: Motor Supply X: Motor Phases X: Motor Signal X: External Position Sensor Diff Hall Switch X: Configuration LED: State Display B00-PP X: I/O s, VDC Supply X: Cmd Out X: Cmd In Replacing Pneumatics Easy Steps positioning commands Analog Position Target Due to their simple controls via digital inputs and outputs, B00-PP drive make excellent substitutes for pneumatic cylinders. Using digital inputs, the linear motor can move to up to six freely programmable positions. As soon as the linear motor has reached the position, the corresponding In- Postion output is actuated. The linear motor can thus be controlled like a pneumatic cylinder with end position switches. Using the Easy Steps function, up to six absolute or relative move commands can be stored in the drive, and invoked via six digital inputs. Easy Steps also provide the ability to parameterize internal parameters using two analog inputs. If, for example, the maximum motor current is read at an analog input, then the maximum motor force can be provided as analog for freely programmable joining processes. Any position can be set, using an analog 0 0V signal. During configuration, for each position value, one input signal of 0V and 0V is programmed. Any intermediate position can then be set via the analog input signal during operation. The dynamics can be constrained by limits on speed and acceleration. 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

96 Point to Point B00-PP X X (HC) SUPPLY x00vac 0VAC MOTOR SUPPLY...0V DC A/A/A PHASECURRENT PH+ PH- PH+ PH- LINEAR MOTOR X PH+ PH- PH+ PH- SIN COS TEMP. +V BRUSHLESS DC MOTOR MACHINE CONTROLLER PLC, IPC LOGIC SUPPLY INTERFACE CONFIGURATION RS CAN X STEP/DIR/ZERO 0...0V INPUTS - 0V OUTPUTS - +VDC X RS RS X A+ SIN+ A- SIN- B+ COS+ B- COS- Z+ ZERO+ Z- ZERO- U+ U- V+ V- W+ W- ENC ALARM +VDC OPTIONAL EXTERNAL POSITION SENSOR B00-PP INTERFACE CONFIGURATION CAN X RS CAN X RS CAN INTERFACE CONFIGURATION CAN Item Description Part Number B00-PP Point to Point Drive (V/A) 00- B00-PP-HC Point to Point Drive (V/A) 00- B00-PP-XC Point to Point Drive (V/A) 00-0 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

97 B00-VF Series B00-VF B00-VF B00-VF-HC B00-VF-XC Position ±0V Analog MPC Easy Easy Indexing Force or Velocity Control Setpoint Streaming (CAN) Position Target Commands Step Steps Parameter Scale CANopen DeviceNet Encoder Simulation Serial Infaces RS/RS S: CAN/RS Termination PE X: Motor Supply X: Motor Phases X: Motor Signal X: External Position Sensor Diff Hall Switch X: Configuration LED: State Display B00-VF X: I/O s, VDC Supply X: Cmd Out X: Cmd In ±0V 0V Force or Velocity Control, Step and Direction Interface Encoder Simulation The B00-VF servo amplifier allows Lin- Mot linear motors to be integrated in systems an overlaid axis drive with analog velocity (RPM) or force target (torque). In velocity mode, the analog input voltage is used as a velocity target for the connected linear motor. The velocity control loop is closed via a PI drive in the amplifier. In force mode, the amplifier works like a torque amplifier for rotary motors. The analog control signal is converted to a current that the VF amplifier applies to the connected motor. Motor force is proportional to the current motor current (see motor data sheets for force constant cf). For step-direction targets, the target position is provided by the overlaid drive via STEP, DIRECTION, and ZERO signals. The maximum motor current (force) can be limited via a digital input. No additional external sensors are needed for position measurement. The current actual position of the linear motor is captured by the integrated position measurement, and is available to the overlaid position drive as an encoder signal. The resolution of the differential A/B encoder signals (RS) is adjustable in the following ranges: µm, µm, µm, 0µm, 0µm, 0µm If an external position sensor is used, it can be read by the B00 amplifier. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

98 Force Velocity B00-PP X X (HC) SUPPLY x00vac 0VAC MOTOR SUPPLY...0V DC A/A/A PHASECURRENT PH+ PH- PH+ PH- LINEAR MOTOR X PH+ PH- PH+ PH- SIN COS TEMP. +V BRUSHLESS DC MOTOR MACHINE CONTROLLER PLC, IPC LOGIC SUPPLY X STEP/DIR/ZERO 0...0V INPUTS - 0V OUTPUTS - +VDC X A+ SIN+ A- SIN- B+ COS+ B- COS- Z+ ZERO+ Z- ZERO- U+ U- V+ V- W+ W- ENC ALARM +VDC OPTIONAL EXTERNAL POSITION SENSOR INTERFACE CONFIGURATION RS CAN X RS RS B00-VF INTERFACE CONFIGURATION CAN X RS CAN X RS CAN INTERFACE CONFIGURATION CAN Item Description Part Number B00-VF Force Velocity Drive (V/A) 00- B00-VF-HC Force Velocity Drive (V/A) 00- B00-VF-XC Force Velocity Drive (V/A) 00-9 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

99 B00-GP Series B00-GP B00-GP B00-GP-HC B00-GP-XC Position ±0V Setpoint Analog MPC Easy Easy Serial Indexing Force or Velocity Control Streaming (CAN) Position Target Commands Step Steps Parameter Scale Infaces RS/RS CANopen DeviceNet Encoder Simulation S: CAN/RS Termination PE X: Motor Supply X: Motor Phases X: Motor Signal X: External Position Sensor Diff Hall Switch X: Configuration LED: State Display B00-GP X: I/O s, VDC Supply X: Cmd Out X: Cmd In RS / RS CANopen DeviceNet The LinMot B00-GP series Servo Drives support the LinRS serial communications protocol. LinRS is a proprietary protocol for actuating LinMot Servo Drives via the RS, RS, and RS interfaces. If the drive is actuated by the overarching drive via the serial interface, then this is configured from the PC via CanBus. The USBSCAN converter (item no. 00- ), supported by LinMot Talk, is used for this. Adjustable baud rates: 9. -.kbaud The LinMot B00-GP drives support the CiA DS0 communications protocol. The following resources are available: T_PDO, R_PDO, T_SDO, R_SDO The following protocols are supported by the CO drives: NMT Error Control (Nodeguarding Protocol or HeartBeat Protocol) PDO (Transmission type and ) SDO Upload and Download NMT (Start, Stop, Enter PreOp, Reset Node, Reset Communication) Boot-Up Message With the DeviceNet protocol, even complicated motion sequences can be realized with the highest possible flexibility. The drive can be actuated and monitored via the DeviceNet connection. B00-GP are UCMM Group -capable slaves, and support polled IO runtime data transfer. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

100 General Purpose B00-GP X X (HC) SUPPLY x00vac 0VAC MOTOR SUPPLY...0V DC A/A/A PHASECURRENT PH+ PH- PH+ PH- LINEAR MOTOR X PH+ PH- PH+ PH- SIN COS TEMP. +SV BRUSHLESS DC MOTOR MACHINE CONTROLLER PLC, IPC LOGIC SUPPLY INTERFACE CONFIGURATION RS/RS CAN X STEP/DIR/ZERO 0...0V INPUTS - 0V OUTPUTS - +VDC X RS/RS RS X A+ SIN+ A- SIN- B+ COS+ B- COS- Z+ ZERO+ Z- ZERO- U+ U- V+ V- W+ W- ENC ALARM +VDC OPTIONAL EXTERNAL POSITION SENSOR B00-GP COMMUNICATION INTERFACE RS CANOPEN DEVICENET X RS CAN X RS CAN COMMUNICATION INTERFACE RS CANOPEN DEVICENET Item Description Part Number B00-GP Point to Point Drive (V/A) 00- B00-GP-HC Point to Point Drive (V/A) 00- B00-GP-XC Point to Point Drive (V/A) 00- Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

101 Interfaces X Motor Supply PWR+ P Screw Terminals. mm² (AWG) PWR + P 0/AT...VDC internally connected to controller housing, which is connected to PE Motor Supply: Motor Supply Voltage...VDC. Absolute max. Rating VDC + 0% External fusing: 0AT for LC (Apeak Servos), AT for HC and XC (/Apeak) Servos If motor supply voltage is exceeding 90VDC, the drive will go into error state X Motor Phases + u - v + w - x SCRN Nr. Designation LinMot Linear Motor Color -Phase-Motor PH+ /U Motor Phase + red Motor Phase U PH- /V Motor Phase - pink Motor Phase V PH+ /W Motor Phase + blue Motor Phase W PH- Motor Phase - grey SCRN Shield B00 Screw Terminals.-.mm² (AWG-) The motor phases on X and X are internally connected. If the RMS current is higher than A RMS, the phases must be connected to X and not to X. X Motor DSUB-9 9 Nr LinMot Linear Motor -Phase-Motor Motor Phase + Motor Phase U Motor Phase + Motor Phase W +VDC Sine Hall U Temperature Hall W Motor Phase - Motor Phase V Motor Phase - A 9 Cosine Hall V Case Shield - Use X for motor phase wiring if phase current does not exceed Arms or Apeak - X. (+VDC) may be used only to supply motor hall-effect sensors (max. 00mA). - X. (A) may be used only to supply motor hall-effect sensors, and must not be connected to externally Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

102 Series B00 Motor Motor wiring + u - v + w - x SCRN OUTER SHIELD GREY BLUE PHASE - PHASE + PHASE - PHASE + X: Screw Terminals X: DSUB-9 (f) 9 For LinMot Linear Motors only use original LinMot double shielded motor cable K, KS, or KR PINK RED WHITE INNER SHIELD YELLOW GREEN BLACK +VDC A SINE COSINE TEMP 9 k k 0k +VDC Motor Motor wiring for phase current below Arms and below Apeak X: DSUB-9 (f) 9 RED PHASE + PINK PHASE - BLUE PHASE + GREY PHASE - WHITE +VDC INNER SHIELD A YELLOW SINE GREEN COSINE BLACK TEMP. Outer shield connected to connector housing 9 k k 0k +VDC B00 For LinMot Linear Motors only use original LinMot double shielded motor cable K, KS, or KR S Bus Termination on off S Switch S Switch : RS (switch off / RS on ) Select serial RS or RS Switch : Termination RS on/off Switch : Termination CAN on/off Switch : Bootstrap Factory settings: all switches off Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

103 Interfaces X COM COM Schnittstelle 9 X: DSUB-9 (m) 9 0 S. S RS_TX+ RS_RX- RS_TX RS_TX- RS_RX CAN_L RS_RX+ CAN_H RS_RX- RS_RX+ CAN_L CAN_H RS: Configuration on all Drives: use : connection cable to PC LED State Display Green: Green VDC Logic Supply OK B00 Red Red: State: Error Blinking: Fatal Error X-X RS/CAN RJ- Nr RS_Rx+ A RS_Rx- B RS_Tx+ Y RS_Tx- Z CAN_H CAN_L Case Shield - X internally connected to X (: connection) - Use twisted pair (-, -, -, -) cable for wiring. - The built in CAN and RS terminations can be activated by S. and S.. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

104 Series B00 X External Position Sensor Commutation DSUB- (f) 9 0 Nr Description +V DC 9 A+ Encoder A- Encoder 0 B+ Encoder B- Encoder Z+ Encoder Z- Encoder Encoder Alarm U+ Commutation U- Commutation V+ Commutation V- Commutation W+ Commutation W- Commutation case Shield Max. Input Frequency: Sensor Supply Current: MHz (incremental RS), 0ns edge separation max. 00mA Position Encoder Inputs: RS, Max Input Frequency: MHz, M counts/s with quadrature decoding, 0ns edge separation Encoder Simulated Outputs:RS, Max Output Frequency:.MHz, M counts/s with quadrature decoding, 00ns edge separation Differential Hall Switch Inputs: RS, Max Input Frequency: <khz Enc. Alarm In: V / ma B00 Sensor Supply: VDC, max 00mA Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

105 Interfaces X Digital I/O B X: DSUB- (f) +V INPUTS OUTPUTS (MAX. 00mA) DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT ANALOG INPUT 0...0V DIFF ANALOG INPUT - DIFF ANALOG INPUT + SHIELD STEP + STEP - DIR + DIR - ZERO + ZERO - +VDC AT *** *** *** *** *** *** ** * * * * * k k k k k k 00k 0k 0k RS RS RS 00mA 00mA 00mA 00mA 00mA 00mA +V DC +V DC *(**) OUTPUTS WITH INTERNAL PULL DOWN RESISTOR K (K) TO Logic Supply: All Digital Inputs: All Digital Outputs: Switch Mode Power Supply:VDC (...VDC) External Fuse: AT Direct interfacing to digital VDC PLC outputs. Input Current: ma Logic Levels: Low Level: guaranteed: - to VDC, typically < VDC High Level: guaranteed: 0...0VDC, typically > VDC Sample Rate: 00us Short circuit and overload protected high side switches Voltage: VDC Sample Rate: 00us Max. Current: 00mA / 00mA (X.) Peak Current: 0mA / 00mA (X.) Outputs may directly drive inductive loads. Analog Input on X.0: Range: 0V..+0V 0Bit ADC Sample Rate: 00us Differential Analog Input Range: -0V..+0V 0Bit ADC on X. X. X.9 Sample Rate: 00us Shield: Differential Step Dir Zero: Indexer Inputs: RS Max. Input Frequency: MHz M counts/s with quadrature decoding, 0ns edge separation Cable length: <0m 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

106 Dimensions 0 0 Centers 9 Dimensions in mm Servo Drive Series B00 Width mm (in) (.) Hight mm (in) (.) Hight without fixings mm (in) 0 (.) Depth mm (in) 0 (.) Weight g (lb) 00 (.) IP Protection class IP 0 Storage temperature C Transport temperature C Operating temperture C at rated date with power derating Max. case temperature C 0 Max. power dissipation W 0 Min. distance between drives mm (in) 0 (0.) left/right 0 () top/bottom B00 Item Description Part Number B00-PP Point to Point Drive (V/A) 00- B00-PP-HC Point to Point Drive (V/A) 00- B00-PP-XC Point to Point Drive (V/A) 00-0 B00-VF Force Velocity Drive (V/A) 00- B00-VF-HC Force Velocity Drive (V/A) 00- B00-VF-XC Force Velocity Drive (V/A) 00-9 B00-GP Point to Point Drive (V/A) 00- B00-GP-HC Point to Point Drive (V/A) 00- B00-GP-XC Point to Point Drive (V/A) 00- Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

107 Accessories B00 Switched-Mode Power Supplies VAC / 0VAC SPH00-0 CSA.-090 CSA.-0 UL 090 UL 0 SPH0- SPH00-0 Item Description Part Number S0-/00 Switched-Mode Power Supply V/00W 00- S0-/000 Switched-Mode Power Supply V/000W 00- Transformer Supply T0 x0/0/00/0vac E00/B00 Accessories Item Description Part Number T0-/ Multi Transformer Supply x0/0/00/0vac, 0/0Hz, W see page Control Box B0-E00 Item Description Part Number B0-E00 Control Box for E00 (incl. cable and connectors) B0-B00 Control Box for B00 (incl. cable and connectors) Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

108 Accessories B00 Connector Cable and USB-Converter Item Description Part Number RS PC config. cabel m for E00/E00/E00/B USB-Serial Converter USB to 9-pin Serial Converter 00-0 USB-CAN Converter USB to CAN Converter for E00/B RJ-0/0. RJ patch cable 0.m for E00/B RJ-0/0. RJ crossover patch cable 0.m 00- Option: External High Resolution Encoder E00/B00 Accessories Item Description Part Number MS0-/D Linear Encoder um, A/B (for mm magnetic band) 00-0 MB0-000 Magnetic Band mm pitch, per cm 00-9 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

109 Notes Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

110 Servo Drive Multi Axes System B0 / B00 B0 Servo Drive B0-ML 0 Bus Module B00-ML Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

111 Servo Drives Multi-Axes System B0 / B00 Series B0 Servo Drives are compact axis drives, with -bit position resolution and an integrated power element, for LinMot P0 linear motors and rotary servo motors. B0 drives together with the bus modules B00 are designed for cost optimized, modular multi axes systems with the industrial Ethernet interfaces EtherCAT, Profinet, EthernetIP, Sercos III and Powerlink. B0 Connection to Machine Drive Process and sensor interfaces Logic and power supply The Series B0 Servo Drives can be actuated by machine controls from any manufacturer or brand, via industrial Ethernet. Fro complex motion sequences that run in an overarching positioning drive, the motor can be controlled by means of analog speed or force targets. The position signal from the measurement system integrated in the linear motor can be accessed at the encoder output to control position. Fast process interfaces for direct processing of sensor signals are available as freely programmable analog and digital inputs and fast trigger inputs. For high-accuracy applications, a freely configurable encoder interface is available. It analyzes the commutation signals from brushless, rotary servomotors as well. The Servo Drives have two separate power supplies for the logic and power elements. In an E-stop and safe stop of the drive, only the power element supply is cut off from the drive. The logic supply and the drive continue to run. This has the advantage that the drive and linear motor do not need to be reinitialized when the machine is restarted, since all process data, including the current position of the linear motor, are still up to date. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

112 Series B0 Fieldbusses and interfaces to the overlaid control Digital I/O s ±0V ProfiNet Sercos III Power Link Ethernet IP Ether CAT System Integration Flexible hardware enables control of any //- phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept. Supply and Safety Fast Prozess Inputs Logic Supply Motor Supply Trigger Inputs Capture Analog Inputs Servo Drive Series B0 Bus Module B00 Bit Position Value Resolution 0.µm Run Modes: VA Interpolated Moves Analog Position Two Point Trigger Moves Streaming P, PV Step, Direction,Zero Optional Limit and Home Switches LinMot Linear Motor or other // phase motor (Brushless DC, Voice Coil,...) Optional Brake Limit - Switch Home Switch External Position Sensor Limit + Switch 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. Series B0 Servo Drives have analog inputs and digital inputs and outputs, serial interfaces, and fieldbus connections. The user is therefore not dependent on the selection of the overarching drive. With flexibility and a compact form factor, LinMot Series B0 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators. Diverse Korrekturen im Deutschen, siehe Korrekturen von Dani Optional external Position Sensor Config. RS B0 Position Streaming Motor Interfaces Configuration With a cyclical target value, or "position streaming," the overarching NC or CNC drive communicates with the Servo Drive via industrial Ethernet. The position and velocity calculated in the overarching drive is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission. Using the cyclical target value, complex motions and interpolating multi-axis applications can be implemented. The series B0 Servo Drives allow control of,, or phase linear motors and brushless rotary servomotors. B0 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 RS interface on the front side. LinMot Talk user-friendly PC software is available for configuration. In addition to online documentation, LinMot Talk provides extensive debugging tools, such as an oscilloscope and an error inspector, for simple and rapid start-up of the axes. Fieldbus and Ethernet drives can also be configured directly by the overarching drive. Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

113 Operating Modes Interpolated Moves Stroke [mm] For direct position targets, using absolute or relative positioning, the desired position is reached using an acceleration and velocity-limited motion profile (VA interpolator). Positioning commands can be invoked via industrial Ethernet, or a trigger input. Goto 00mm v max =,m/s a max =,0m/s Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Velocity Resolution:.0µm/s (Bit) Velocity Resolution: 0.0µm/s (Bit) Setpoint Streaming Stroke [mm] Overlaid NC drives with industrial Ethernet interfaces communicate with the Servo Drives via "Position Streaming". The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission. Time[ms] Position Resolution: Velocity Resolution Interpolator: cycle times: Bit Bit khz -ms B0 Easy Steps Input Input Input Input Pos mm Pos 0mm Pos 0mm Pos -0mm With the Easy Steps function, up to positions or independent travel commands can be stored on the drive, and addressed via serial interfaces or industrial Ethernet. Digital inputs: max. Interface: X Scanning rate: 00µsec / µsec with Ethernet Easy Steps Parameter Scale Maximum Force [0...0V => %] 00% 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. 0% Force Max Time[ms] Inputs: Voltagvte range: Resolution: Scanning rate: Analog Inputs (X.0, X./X.) 0-0VDC (X.0) VDC (X./X.) 0 Bit 00µsec Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

114 Multi Axes Configuration -Axes -Axes -Axes -Axes B0 -Axes -Axes -Axes -Axes Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

115 B0-ML Servo Drive B0-ML B0-ML B0-ML-HC B0-ML-XC Setpoint Easy Easy Encoder Interpolated Moves Setpoint Streaming P Streaming PV Setpoint Streaming PVT Step Steps Parameter Scale Simulation S: CAN/RS Termination PE X: Motor Supply X: Motor Phases X: Motor Signal X: External Position Sensor Diff Hall Switch X: Configuration RS LED: State Display B0-ML X: I/O s, VDC Supply X: MC-Link OUT X: MC-Link IN Industrial Ethernet Modular Multi Axes Systems Interfaces LinMot B0-ML series Servo Drives together with the bus modules B00-ML support the following industrial Ethernet Interfaces: EtherCat Ethernet IP Powerlink Profinet Sercos III The modular B0/B00 system is designed for multi axes applications and integration in industrial Ethernet communication from different PLC or NC manufacturers over a single bus node. Up to B0-ML drives may be connected to a bus module B00 and controlled over industrial Ethernet interfaces. B00 Servo Drives provide all necessary interfaces to operate linear or rotary motors with optional external peripherals, such as end position and reference switches or a mechanical brake. Using digital inputs, the linear motor can move to up to six freely programmable positions. The resolution of the high resolution A/B/Z encoder input or A/B encoder simulation output is adjustable. 0 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

116 B0-ML B0-ML (-HC/XC) X X SUPPLY x00vac 0VAC VAC MOTOR SUPPLY...0V DC A/A/A PHASECURRENT PH+ PH- PH+ PH- LINEAR MOTOR X PH+ PH- PH+ PH- SIN COS TEMP. +V BRUSHLESS DC MOTOR MACHINE CONTROLLER PLC, IPC LOGIC SUPPLY RS INTERFACE CONFIGURATION RS: 9, - kbaud X STEP/DIR/ZERO 0...0V INPUTS - 0V OUTPUTS - +VDC X RS X A+ SIN+ A- SIN- B+ COS+ B- COS- Z+ ZERO+ Z- ZERO- U+ U- V+ V- W+ W- ENC ALARM +VDC OPTIONAL EXTERNAL POSITION SENSOR B0-ML MC-LINK X MC-LINK IN X MC-LINK OUT MC-LINK Item Description Part Number B0-ML MC-Link Drive (V/A) 00-9 B0-ML-HC MC-Link Drive (V/A) 00-9 B0-ML-XC MC-Link Drive (V/A) 00-9 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

117 ABCDEF0 ABCDEF0 B00-ML Bus Module B00-ML B00-ML-EC B00-ML-IP B00-ML-PL B00-ML-PN B00-ML-SC Industrial Ethernet Interfacing Multi Axes Interfacing EtherCAT Ethernet IP Powerlink Profnet Sercos III PE X: RT ETH Out X: RT ETH In LED: RT Bus S: ID High S: ID Low LED: State Display X: RS Config X: Supply B00-ML X X X X X: MC-Link X: MC-Link X: MC-Link X: MC-Link Modular Multi Axes Systems Industrial Ethernet Motion Commands The modular B0/B00 system is designed for multi axes applications and integration in industrial Ethernet communication from different PLC or NC manufacturers over a single bus node. Up to B0-ML drives may be connected to a bus module B00 and controlled over industrial Ethernet interfaces. LinMot B00-ML bus modules support the following industrial Ethernet Interfaces: EtherCat Ethernet IP Powerlink Profinet Sercos III Motion commands for the B0/B00 multi axes systems are identical to the B00 motion commands. For simple positioning tasks, relative and absolute position commands with velocity and acceleration limitation are available. For more complex motions or synchronization, the motion profiles are calculated in the overlaid drive and transmitted via setpoint streaming. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

118 B00-ML Axes System TOP Termination Settings on off on off on off on off on off on off on off on off BOTTOM Axis Axis Axis Axis Bus Axis Axis Axis Axis Module Axes System TOP Termination Settings on off on off on off on off B00-ML BOTTOM Axis Axis Axis Axis Bus Axis Axis Axis Axis Module Item Description Part Number B00-ML-EC -Axes Bus Module Etercat 00- B00-ML-IP -Axes Bus Module Ethernet IP 00-9 B00-ML-PL -Axes Bus Module Powerlink 00- B00-ML-PN -Axes Bus Module Profinet 00-0 B00-ML-SC -Axes Bus Module Sercos III 00- Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

119 Interfaces X Motor Supply PWR+ P Screw Terminals. mm² (AWG) PWR + P 0/AT...VDC internally connected to controller housing, which is connected to PE Motor Supply: Motor Supply Voltage...VDC. Absolute max. Rating VDC + 0% External fusing: 0AT for LC (A peak Servos), AT for HC and XC (/A peak ) Servos If motor supply voltage is exceeding 90VDC, the drive will go into error state X Motor Phases + u - v + w - x SCRN Nr. Designation LinMot Linear Motor Color -Phase-Motor PH+ /U Motor Phase + red Motor Phase U PH- /V Motor Phase - pink Motor Phase V PH+ /W Motor Phase + blue Motor Phase W PH- Motor Phase - grey SCRN Shield B0 Screw Terminals.-.mm² (AWG-) The motor phases on X and X are internally connected. If the RMS current is higher than A RMS, the phases must be connected to X and not to X. X Motor DSUB-9 9 Nr LinMot Linear Motor -Phase-Motor Motor Phase + Motor Phase U Motor Phase + Motor Phase W +VDC Sine Hall U Temperature Hall W Motor Phase - Motor Phase V Motor Phase - A 9 Cosine Hall V Case Shield - Use +V (X.) and A (X.) only for motor internal hall sensor supply (max. 00mA) Caution: - Do NOT connect A (X.) to ground or earth! - It is only allowed to use X for connecting the motor phases if RMS current is below A and peak current below A. Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

120 Series B0 Motor Motor wiring + u - v + w - x SCRN OUTER SHIELD GREY BLUE PHASE - PHASE + PHASE - PHASE + X: Screw Terminals X: DSUB-9 (f) 9 For LinMot Linear Motors only use original LinMot double shielded motor cable K, KS, or KR PINK RED WHITE INNER SHIELD YELLOW GREEN BLACK CAUTION: DO NOT CONNECT X./// +VDC A SINE COSINE TEMP 9 k k 0k +VDC Important: If motor phase current exceeds A RMS or A peak, motor phases must be wired to X! Motor Motor wiring for phase current below Arms and below Apeak X: DSUB-9 (f) 9 RED PHASE + PINK PHASE - BLUE PHASE + GREY PHASE - WHITE +VDC INNER SHIELD A YELLOW SINE GREEN COSINE BLACK TEMP. Outer shield connected to connector housing 9 k k 0k +VDC B0 For LinMot Linear Motors only use original LinMot double shielded motor cable K, KS, or KR Important: Motor phases may only be connected to X if RMS current is below A and peak current is below A! S MC-Link Termination on off S Switch S Switch : Bootstrap Switch : Termination A on/off Switch : Termination B on/off Switch : Not used Factory settings: Switch on all other switches off Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

121 Interfaces X Motor DSUB-9 (m) 9 Nr (Do not connect) RS_Tx RS_Rx (Do not connect) (Do not connect) (Do not connect) (Do not connect) 9 (Do not connect) Case Shield RS: Configuration on all drives: use : connection cable to PC with only, and connected. Use LinMot RS Config Cable (Art.-No. 00-0) LED State Display Green: Green VDC Logic Supply OK Red: Red State: Error Blinking: Fatal Error X-X MC-Link RJ- Nr ML+ ML- ML+ Cable Select ML- ML+ ML- Case Shield Use MC-Link cables (Art.-No. 00-0) Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

122 Series B0 X External Position Sensor Commutation DSUB- (f) 9 0 Nr Description +V DC 9 A+ Encoder A- Encoder 0 B+ Encoder B- Encoder Z+ Encoder Z- Encoder Encoder Alarm U+ Commutation U- Commutation V+ Commutation V- Commutation W+ Commutation W- Commutation case Shield Position Encoder Inputs: Encoder Simulated Outputs: Differential Hall Switch Inputs: Enc. Alarm In: RS, Max Input Frequency: MHz, M counts/s with quadrature decoding, 0ns edge separation RS, Max Output Frequency:.MHz, M counts/s with quadrature decoding, 00ns edge separation RS, Max Input Frequency: <khz V / ma Sensor Supply: VDC, max 00mA B0 X-X RealTime Ethernet 0/00 Mbit/s X in Nr X X Bez. RT ETH In RT ETH Out X out RJ- Specification depends on RT-Bus Type. Please refer to according documentation X Supply Nr Bez. +VDC Supply (-VDC). Supply Supply V / typ. 0mA Stripping Length: 0mm, Connection in acc. with standard:en-vde, Use 0/ C Copper Conductors only, Conductor cross-section max..mm Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

123 Interfaces X VDC Supply and IOs B X: DSUB- (f) +V INPUTS OUTPUTS (MAX. 00mA) DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT ANALOG INPUT 0...0V DIFF ANALOG INPUT - DIFF ANALOG INPUT + SHIELD STEP + STEP - DIR + DIR - ZERO + ZERO - AT +VDC ** * * * * * k k k k k k 00k 0k 0k *** *** *** *** *** *** 00mA 00mA 00mA 00mA 00mA 00mA RS RS RS *** INTERNAL PULLDOWN 0K TO +V DC +V DC * INTERNAL PULLDOWN K TO ** INTERNAL PULLDOWN K TO Logic Supply: All Digital Inputs: Switch Mode Power Supply:VDC (...VDC) External Fuse: AT Direct interfacing to digital VDC PLC outputs. Input Current: ma Logic Levels: Low Level: guaranteed: - to VDC, typically < VDC High Level guaranteed: 0..0VDC, typically > VDC Sample Rate: 00us All Digital Outputs: Short circuit and overload protected high side switches Voltage: VDC Update Rate: 00us Max. Current: 00mA/00mA (X.) Peak Current: 0mA/00mA (X.) Outputs may directly drive inductive loads. Do not connect any capacity because of the peak current! Analog Input on X.0: Range: 0V..+0V 0Bit ADC Sample Rate: 00us Differential Analog Input Range: -0V..+0V 0Bit ADC on X. X. X.9 Sample Rate: 00us Shield: Differential Step Dir Zero: Indexer Inputs: RS Max. Input Frequency: MHz M counts/s with quadrature decoding, 0ns edge separation Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

124 ABCDEF0 ABCDEF0 Dimensions Centers 9 B0-ML 0 Centers 9 B00-ML Dimensions in mm Servo Drive Series B0/00 Width mm (in) (.) Hight mm (in) (.) Hight without fixings mm (in) 0 (.) Depth mm (in) 0 (.) Weight g (lb) 00 (.) IP Protection class IP 0 Storage temperature C Transport temperature C Operating temperture C at rated date with power derating Max. case temperature C 0 Max. power dissipation W 0 Clearance around Drives mm (in) (0.) left/right 0 () top 00 () bottom 90 (.) front B0 Item Description Part Number B0-ML MC-Link Drive (V/A) 00-9 B0-ML-HC MC-Link Drive (V/A) 00-9 B0-ML-XC MC-Link Drive (V/A) 00-9 B00-ML-EC -Axes Bus Module EtherCAT 00- B00-ML-IP -Axes Bus Module Ethernet IP 00-9 B00-ML-PL -Axes Bus Module Powerlink 00- B00-ML-PN -Axes Bus Module Profinet 00-0 B00-ML-SC -Axes Bus Module Sercos III 00- Edition 9 Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -

125 Accessories B0/B00 Switched-Mode Power Supplies VAC / 0VAC SPH00-0 CSA.-090 CSA.-0 UL 090 UL 0 SPH0- SPH00-0 Item Description Part Number S0-/00 Switched-Mode Power Supply V/00W 00- S0-/000 Switched-Mode Power Supply V/000W 00- Transformer Supply T0 x0/0/00/0vac E00/B0 Accessories Item Description Part Number T0-/ Multi Transformer Supply x0/0/00/0vac, 0/0Hz, W see page Control Box B0-E00 Item Description Part Number B0-E00 Control Box for E00 (incl. cable and connectors) B0-B0 Control Box for B0 (incl. cable and connectors) Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com - Edition

126 Accessories B0 Connector Cable and USB-Converter Item Description Part Number RS PC config. cabel m for E00/E00/E00/B USB-Serial Converter USB to 9-pin Serial Converter 00-0 RJ/RJ-0.-ML MC-Link Cable, 0.m 00-0 Option: External High Resolution Encoder E00/B0 Accessories Item Description Part Number MS0-/D Linear Encoder um, A/B (for mm magnetic band) 00-0 MB0-000 Magnetic Band mm pitch, per cm 00-9 Edition Courtesy of Steven Engineering, Inc. - (00) sales@steveneng.com -