LinMot E1100 Servo Controllers
A Presentation by
LinMot, Inc.
What Do You Want to Learn?
I’d like to write down any questions that you
have at this point so that we can be sure to
answer them at the proper time.
LinMot E1100 Servo Controllers
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LinMot Servo Controllers
LinMot E1100 Servo Controllers
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Three Families of Controllers
E100 / E1000 Series
E1100 Series

Basically, they all look
alike
LinMot E1100 Servo Controllers
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Three Families of Controllers
B1100 Series


LinMot E1100 Servo Controllers
The latest controllers
They all look alike as
well
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A Word About Current
One of the differences between the different
models of controllers is their current ratings.

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3 Amps in the E100 series
8 Amps in the E1001 series
4 and 15 Amps in the E1100-MP/MT series
8, 15 and 25 Amps in the E1100/B1100 controllers
More current means more force, so current is
important.
LinMot E1100 Servo Controllers
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All LinMot Servo Controllers:
Have control and amplifier electronics integrated into
one single unit.
Have inputs for two separate power supplies:

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Signal Supply
Motor Supply
This is so that in an emergency stop condition, the power
can be removed from the motor electronics only (Motor
Supply), leaving power on the logic circuits (Signal Supply)
to retain position
Need to be properly grounded per the installation
instructions.
LinMot E1100 Servo Controllers
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The E1100 Servo Controllers
LinMot E1100 Servo Controllers
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E1100 Family
All of these Servo Controllers look similar.
All have terminals for a regeneration resistor.
All require a signal power supply voltage of
22 to 26 Vdc (48 Vdc won’t work).
All require a motor power supply of 24 to 80
Vdc.
Most are UL listed.

If customer needs UL, check the specific model.
LinMot E1100 Servo Controllers
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E1100 Family
There are four different current ratings:

4 Amps (no suffix)
 E1100-MP and E1100-MT
 Only used Dsub connector

8 Amps (no suffix)
 E1100-RS/CO/DN/DP/GP
 Dsub only or terminal block for “W” cable

15 Amps, designated with the “HC” suffix
 E1100-GP-HC
 Uses terminal block for “W” cable

25 Amps, designated with the “XC” suffix
 E1100-GP-XC
 Uses terminal block for “W” cable
LinMot E1100 Servo Controllers
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The MPC Controllers
There are two models in the E1100 series
that are referred to as the MPC controllers.

MPC stands for Multi Position Cylinder.
They are:


E1100-MP and
E1100-MT
These are the “Simple” Servo Controllers.
These controllers (along with a linear motor)
are meant to replace pneumatic cylinders.
LinMot E1100 Servo Controllers
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Guided Actuators
E1100-MP and -MT Servo Controllers are
often paired with Guided Actuators to create
a complete MPC system.
The guides used are
very familiar to users of
pneumatic cylinders.
Note that these
actuators can be used
with any controller.
LinMot E1100 Servo Controllers
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What Can They Do That An
Air Cylinder Can’t?
They can move to different positions with
repeatability of ±0.1mm (0.004”)
They move faster than an air cylinder
They last longer than an air cylinder
They don’t require air
LinMot E1100 Servo Controllers
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Let’s Look At These Controllers:
There are two types of controllers:
E1100-MP
E1100-MT
LinMot E1100 Servo Controllers
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E1100-MP
Has 8 discreet command inputs


Meant to be triggered by a PLC output or switch
Edge triggered
 This means that the command “happens” when the controller
sees the voltage go from low to high. The fact that the voltage
is low or is high means nothing. Only the transition counts.

This allows outputs to be wired to inputs
Each input triggers a move
Each move is defined using the configuration
software - LinMot MPC Config

Note that this is different form LinMot Talk software
LinMot E1100 Servo Controllers
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Types of Moves
There are three types of moves that can be
made:
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
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Absolute
Relative
Press
LinMot E1100 Servo Controllers
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The E1100-MT
The same as the E1100-MP except that
instead of 8 moves, there are 256 moves.
To accomplish this, the 8 inputs are treated
like an an 8-bit binary word.
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An 8-bit word has 256 possible combinations
Like 00000001, 00001001, and 11111111, etc.
Does everybody get it?
LinMot E1100 Servo Controllers
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Keep In Mind
The E1100-MP and E1100-MT are very simple
controllers, they are easy to set up and easy to use –
ideal for those who are used to pneumatic cylinders.
Do not expect sophisticated motion control features.
If you need that, choose another controller (and we
have lots to choose from).
The only time these controllers talk over the RS232
bus is during configuration.
Commands from the master controller are via
discreet inputs and outputs.

The “master controller” is the PLC, process computer, etc.
It’s the device that controls the entire machine.
LinMot E1100 Servo Controllers
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Any Questions?
Lets move on to the smart side of the family.
We call these the “Bus Controllers”.
LinMot E1100 Servo Controllers
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The E1100 Bus Controllers
The remaining members of the E1100 family
of Servo Controllers are all sophisticated
motion controllers.
The bus controllers all have the same
functionality, the difference is the buses they
communicate on.
See the following slides for a comparison.
LinMot E1100 Servo Controllers
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E1100 Communication Buses
E1100-RS / E1100-RS-HC / E1100-RS-XC
 RS232 to 115.2k Baud
 RS485 to 115.2k Baud
E1100-CO / E1100-CO-HC / E1100-CO-XC
 CANOpen to 1M Baud
E1100-DN / E1100-DN-HC / E1100-DN-XC
 DeviceNet 125, 250 and 500k Baud
LinMot E1100 Servo Controllers
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Communication Buses (cont.)
E1130-DP / E1130-DP-HC / E1130-DP-XC (a good
place to start)
 PROFIBUS DP to 12M Baud
 DeviceNet 125, 250 and 500k Baud
 CANOpen to 1M Baud
 RS232 to 115.2k Baud
 RS485 to 115.2k Baud
LinMot E1100 Servo Controllers
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Communication Buses (cont.)
E1100-GP / E1100-GP-HC / E1100-GP-XC
 DeviceNet 125, 250 and 500k Baud
 CANOpen to 1M Baud
 RS232 to 115.2k Baud
 RS485 to 115.2k Baud
 Discreet I/O Access to Command Table
 Firmware change to E1100-MT (or MT-HC)
LinMot E1100 Servo Controllers
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After That, They’re the Same
Other than the communication buses (and
the I/O of the GP controller), all of the bus
controllers have the same functionality.
Lets look at what these controllers can do.
LinMot E1100 Servo Controllers
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Servo Controller Modes
Following are the modes that the Servo
Controllers can run in, i.e. this is what they
can do.
LinMot E1100 Servo Controllers
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Triggered VA Interpolator
What the heck is that?!

It just means Velocity and Acceleration
This is just a basic two point (trapezoidal)
move.

On the rising edge of the trigger input, you
configure:





the
the
the
the
position it goes to
maximum velocity
acceleration
deceleration
Same for the trailing edge.
LinMot E1100 Servo Controllers
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Rise Triggered VAI For/Backward
Motion
When the trigger bit goes true, the slider
moves out and then back.
This eliminates the need to worry about when
the trigger bit goes false.
Good for rejecter applications.
LinMot E1100 Servo Controllers
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Two Position Continuous
This is the same as the previous move (two
point) except that the slider moves out to the
first point and in to the second point
continuously, until you shut it off (remove the
Switch On input).
LinMot E1100 Servo Controllers
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Position Indexing
Also known as “Step and Direction”. This way
the system can act like a stepper motor.
In this mode, the controller uses one digital
input for a Step signal and a second input for
a Direction signal.


Note that step and direction inputs are RS422
differential line driver signals brought in on an
encoder input.
Step and direction can also be 24 Vdc single
ended, but frequency is lower.
LinMot E1100 Servo Controllers
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Analog Position
Very simple. The master controller
(computer, PLC, etc.) outputs an analog
signal (0-10 Vdc) and the slider moves to a
position proportional to that signal.

10 bit A to D Converter provides limited resolution
for long moves or curve following.
A similar mode called Triggered Analog reads
the analog input and starts the move only
when the trigger goes high.
LinMot E1100 Servo Controllers
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Trigger Curve
With the LinMot Talk 1100 software you can
create curves (position vs. time). These
curves are downloaded into the non-volatile
memory of the controller.
You configure the controller to run one
desired curve on the leading edge of the
trigger input
You can run another curve on the trailing
edge if you want to.
LinMot E1100 Servo Controllers
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Continuous Curve
This is the same as the previous move
(Triggered Curve) except the curve move is
executed continuously, until you shut it off
(remove the Switch On input).
LinMot E1100 Servo Controllers
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Triggered CAM Curve
This uses a CAM curve (Position vs. Encoder
counts).
Once the trigger signal goes high, the slider
position will move to a new position for each
encoder count.
This allows the motor’s movement to be
synchronized with some other device like a
line shaft, conveyor belt, cam, etc.
This standard feature cost extra in previous
controllers.
LinMot E1100 Servo Controllers
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A Word About Curves
Curves are created using the LinMot Talk
1100 configuration software.
The software contains a wizard to
automatically create curves of different types,
including:
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Point to point (trapezoidal)
Sine
Minimum jerk (S-curve)
Limited jerk
LinMot E1100 Servo Controllers
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Winding Mode
The Servo Controllers contain firmware that is
specially designed for winding material onto
spools.
LinMot motors are very good at this because
we can change directions very quickly at the
edge of the spool, which reduces “dog
boning”.
LinMot E1100 Servo Controllers
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Command Table
A table with 256 rows can be created and stored in
the controller. Each row stores a command.
Any of the rows can be executed by using 8 discreet
input bits.
Rows can be strung together, creating sequences.
Only accessible via discreet I/O on the E1100-GP
controllers. It can be accessed via the bus on other
controllers and with some discreet I/O points.
LinMot E1100 Servo Controllers
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Command Table (cont.)
What can you do in a row?
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Execute a point-to-point (trapezoidal) move
Run a curve (time or CAM)
Start the winding mode
Execute any motion command
Change a parameter
Wait for a condition
Wait for a period of time
LinMot E1100 Servo Controllers
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What Does It Look Like?
Example Command Table
LinMot E1100 Servo Controllers
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Motion Command Interface
This means that the controller will respond to
commands given to it over the master bus,
such as:

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RS232
RS485
DeviceNet
CANOpen
PROFIBUS DP
Over the bus you can do everything
previously discussed plus a lot more.
LinMot E1100 Servo Controllers
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Any Questions?
Next we’ll
discuss how
this is all
accomplished
by looking at
the I/O.
LinMot E1100 Servo Controllers
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Inputs
There are 9 pins that can be individually
configured as inputs or outputs.
There are many more than 9 functions that
exist and can be assigned to these 9 pins, so
we have to choose carefully.
LinMot E1100 Servo Controllers
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Input Functions
Safety Voltage Enable (non-GP controllers)


Dedicated input to disable motor voltage in
hardware.
This eliminates the need to open a relay in the
motor power supply during emergency stop. It
works, but the circuit does not presently meet
safety requirements.
Voltage Enable

Connected to the above input in all but the E1100GP controllers.
LinMot E1100 Servo Controllers
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Input Functions (cont.)
Trigger

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Can assign a point to point move to each edge
Can assign a curve to each edge
Can assign a move via the bus, then execute it
when trigger goes high. This way several Servo
Controllers can be started at exactly the same
time with no delay due to the bus.
Can assign a Command Table row to execute on
each edge
Analog Input
LinMot E1100 Servo Controllers
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Input Functions (cont.)
Switch On


This is the main input used for Enabling and Disabling the
drive via software.
This bit must be cycled once after power up.
Home Switch

The motor can be homed either to a hard stop or to a
switch.
PTC1


This is an input for a external Positive Temperature
Coefficient temperature detector. These are often imbedded
in servo motors, transformers, etc. to protect from excessive
temperatures.
It is not needed when using a LinMot motor because we
have our own internal overtemp sensor built into the motor.
LinMot E1100 Servo Controllers
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Input Functions (cont.)
/Quick Stop


Turns motor power off (slider can move)
Switch On bit must be cycled
Enable Operation

This tells the Servo Controller whether or not to
listen to the command interface (RS232,
DeviceNET, PROFIBUS, etc.)
/Abort


Aborts motion commands
Stops slider where it is and maintains position
under power (slider won’t move)
LinMot E1100 Servo Controllers
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Input Functions (cont.)
/Freeze


Stops slider where it is and maintains position
under power (slider won’t move)
When this input goes high, movement resumes
Go To Position

Causes the slider to move to a configurable
position
Error Acknowledge

When an error occurs, this bit must be cycled to
clear the error.
LinMot E1100 Servo Controllers
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Input Functions (cont.)
Jog Move +


Slider moves Out (+) either a configurable
distance or
Moves at a configurable velocity until the bit goes
false
Jog Move –

As above except it moves In (-)
Home


Executes the home sequence (to hard stop or
switch)
Action in configurable
LinMot E1100 Servo Controllers
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Input Functions (end)
Clearance Check


This will cause the slider to go through a clearance
check
See below to get back
Go To Initial Position

Causes slider to move to initial position
LinMot E1100 Servo Controllers
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On To Output Functions
Any questions?
LinMot E1100 Servo Controllers
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Output Functions
Error


If this goes true, the controller is shut down
Which things cause an Error is configured using
the Error Mask
Warning



Can tell you something’s wrong before a shutdown
Does not shut down the controller – output just
goes false when the warning condition goes away
Which things cause a Warning is configured using
the Warning Mask
LinMot E1100 Servo Controllers
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Output Functions
Operation Enabled
Switch On Active
Enable Operation
Voltage Enable
/Quick Stop
LinMot E1100 Servo Controllers
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Output Functions (cont.)
Homed
In Target Position
Switch On Locked

This tells you that you need to toggle the Switch
On input.
Motion Active

This indicates that the slider is moving (or at least
trying to)
LinMot E1100 Servo Controllers
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Output Functions (cont.)
Range Indicator 1

This indicates that the slider position is within the
first configurable band
Range Indicator 2

As above with second band
Brake Driver (1 Amp)

This is a high current output (1 AMP vs 100 mA
for the other outputs) that provides a means to
drive a braking solenoid
LinMot E1100 Servo Controllers
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Easy Steps
Easy Steps is an “Application” that has to be
installed in the controller when the firmware
is installed.
Easy Steps has three components:



Smart Control Word Behavior
Analog Parameter Scale
I/O Motions
Let’s look at each one.
LinMot E1100 Servo Controllers
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Smart Control Word Behavior
Allows the controller to automatically enable
itself (Switch On bit TRUE) when it powers
up.
Allows the controller to automatically Home
after Switch On.
Allows the controller to automatically clear a
fault (Error Acknowledge) when the Switch
On bit goes FALSE.
LinMot E1100 Servo Controllers
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Analog Parameter Scale
Allows control of just about any parameter via
an analog input.
Example is controlling maximum current
(therefore maximum force) with a
potentiometer.
LinMot E1100 Servo Controllers
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I/O Motions
This allows you to use any or all of the six
input pins to control moves.
LinMot E1100 Servo Controllers
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I/O Motions cont.
Moves include:


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

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

Go To Absolute Position
Go To Absolute Position with Max Current
Increment Demand Position
Go To Analog Position
Execute a time curve
Execute a CAM curve
Execute a Command Table Row
Start Winding mode
LinMot E1100 Servo Controllers
# 58
Any Questions?
Let’s move on to Startup and Troubleshooting
Features.
LinMot E1100 Servo Controllers
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Startup and Troubleshooting
The E1100 controllers contain some very
helpful features for use when starting up a
system or trying to solve a problem. These
include:




Variable monitoring
Message Log
Error Log
Oscilloscope
LinMot E1100 Servo Controllers
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Variable Monitoring
This feature allows just about any parameter
in the controller to be monitored while the
controller is running. These include:






Position (demand and actual)
Current
Power supply voltage
States of inputs
States of outputs
Many, many more
LinMot E1100 Servo Controllers
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Message Log
This is a running record of what the controller
has been doing.
LinMot E1100 Servo Controllers
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Error Log
This is a running record of any errors that
have occurred and when.
LinMot E1100 Servo Controllers
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Oscilloscope
This is a VERY helpful troubleshooting tool.
The oscilloscope is similar to a four channel
digital storage oscilloscope. It allows you to
record, display and store up to four different
parameters.
It includes a trigger feature to capture data
only when a certain event occurs.

An example would be to look at current and power
supply voltage starting when voltage goes below
60 Volts.
LinMot E1100 Servo Controllers
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That’s It!!
Any other questions?
The End
(of this one, anyway)
LinMot E1100 Servo Controllers
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