Name: LinMot C1251-MI-XC-2S-0E Series
Brand: LinMot
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NTI AG / LinMot

Bodenaeckerstrasse 2

8957 Spreitenbach, SWITZERLAND

Tel +41 (0)56 419 91 91

Fax +41 (0)56 419 91 92

WEB http://www.linmot.com

0185-1174_E_1V1_SM_C1251-2S

Please visit http://www.linmot.com to check for the latest version of this document!

Table of Contents3
Scope13
Objective13
Purpose of Document13
Applicable Documents13
Referenced Documents13
Table 1: Applicable Documents13
Table 2: Referenced Documents13
Introduction / Preface14
Legal Notices14
Warning Concept14
Proper Use of Linmot Products14
Read the Documentation15
Qualified Personnel15
Intended Use15
Prohibited Use15
Brands16
Non-Safety Function16
Disclaimer16
Preface16
Technical Support Contacts16
Target Group16
Benefits16
Standard Scope16
Standards and Regulations17
Aims17
Functional Safety17
Considered Standards18
Country Specific Regulations18
Fundamental Safety Instructions19
General Safety Instructions19
Liability19
Industrial Security20
General Safety Notes Linmot Products21
Products and Life Cycles21
Overview Life Cycle, Safety Notes and Products22
Table 3 Life Cycle and Safety Notes22
Safety Notes23
Fundamental Safety Instructions29
Residual Risk31
Linmot Safety Products32
Figure 1: Linmot-System32
Drives33
Table 4: Supported Drives33
Table 5: Drive Nomenclature33
Supported Safety Functions34
Safety Relevant Drive Installation Instructions34
Physical Dimensions, Mounting, Environment34
Figure 2: Drive Physical Dimension34
Table 6: Drive Physical Dimension, Mounting and Environment35
Supply and Grounding36
Signal Power Supply36
Figure 3: Supply and Grounding36
Motor Power Supply37
Regeneration37
Connectors and Wiring37
PE: Protective Earth37
Table 7: PE Connector: Protective Earth37
X1: Motor Supply38
X2/X3: Motor Connection38
Table 8: X1 Connector: Motor Supply38
Table 9: X3 Connector: Motor Sensor / Non Safe Brake39
X4: Logic Supply / IO Connection40
X17 - X18: Real Time Ethernet 10/100 Mbit/S40
Table 10: X4 Connector: Logic Supply / IO Connection40
Table 11: X17/X18 Real Time Ethernet 10/100 Mbit/S40
X19: System41
X49: Safe Digital IO41
Table 12: X19: System41
Table 1213: X49 Connector: Safe Digital IO41
X50 Safe Brake42
Table 14: X50 Connector. Safe Brake42
Drive Ordering Information43
Table 15: Drive Ordering Information43
Motors44
Figure 4: Motor (Stator and Slider)44
Table 16: Supported Motors and Ordering Information44
Environmental Conditions for Motors45
Stators45
Stator Nomenclature45
Table 17: Environmental Conditions for Motors45
Table 18: PS01 Stator Nomenclature45
Sliders46
Slider Nomenclature46
Table 19: Pl0X Slider Nomenclature46
Motor Cable47
Table 20: Cable List47
Rotatability of Motor Connectors48
Figure 5: Rotatability of Motor Connectors48
Safety Functions49
Safety Functions Overview and Compatibility49
Table 21: List of Safety Functions and Combination with Safe/Non-Safe Encoders49
General Safety Information50
Boundary of the Safety Compliant System50
Constraints of the Use of the Safety Compliant System50
Safety Characteristics for All Safety Functions51
Failure Modes51
Table 22 : Characteristics of Safety Functions According to IEC 6150851
Table 23: Characteristics of Safety Functions According to /ISO13849-151
Implemented Measures against Systematic Errors52
Used Technologies and Architecture52
Figure 6: Safety Related Block Diagram52
Regarded Safety Related Errors Taken Measures53
Table 24: Regarded Safety Related Errors and Taken Measures54
Periodic Proof Tests55
Table 25: Periodic Proof Tests55
Error Reaction Times56
System Reaction Times56
Table 26: Error Reaction Times56
Table 27: System Reaction Times56
Predictable User Errors57
Table 28: Predictable User Errors and Measures57
Data Types58
Access and Visibility to Parameters and Variables58
Figure 7: Linmot-Talk Login Mask58
Table 29: Data Types for Parameters and Variables58
Safety Parameters Overview59
Configure Safety Parameters59
Figure 8: Schematics of a Safe Digital Input (One Channel)59
Setting the Safety Parameters60
Figure 9: Changing Safety Parameters60
Figure 10: Changed Safety Parameter60
Validate the Safety Parameters61
Login61
Figure 11: Start Safety Parameter Validation61
Figure 12: Login for Safety Parameter Validation61
Verify Groups62
Read ASCII Report62
Figure 13: Verify Safety Parameter Groups62
Figure 14: ASCII Report62
Print ASCII Report63
Validate Parameters63
Safety Parameter Checksum63
Figure 15: Validate Parameters63
Figure 16: Status Message on Validation End63
Flash Card (FC)64
Table 30: Flash Card List64
Table 31: Commands Called by ID Switches S1/S264
Default All Parameters65
Table 32: Commands Called by the Safe Address Switches S11/S1265
Table 33: Default All Parameters65
Save All Parameters to FC with Linmot-Talk66
Save All Parameters to FC Via ID Switches67
Table 34: Safe All Parameters to FC67
Load Non-Safety Parameters from the FC68
Table 35: Load Non-Safe Parameters from the FC68
Load and Validate All Parameters from the FC69
Table 36: Load Complete Parameters from the FC and Validate the Safety Parameter71
Safety Variables and Monitoring72
Figure 17: Safety Module Variables72
Table 37: Safety Module Variables72
Figure 18: Safety Variables and States73
Table 38: HW STO Feedback Signals73
Table 39: Safety System States74
Table 40: Safety Error States74
Table 41: Safety Board Error Codes States76
Table 42: Safety IO States77
Table 43: Safety Function States80
Table 44: Safe Velocity and Position81
Table 45: SBT Monitoring82
Figure 19: Safety State Diagram83
Table 46: Failure Classification and Reaction86
Table 47: General Settings Parameters87
Figure 20: Schematics of a Safe Digital Input (One Channel)92
Figure 21: Schematics of the Acknowledge Input93
Figure 22: Schematics of the Safe Digital Output (One Channel)95
Figure 23: STO Timing97
Figure 26: SBT Oscilloscope Shot112
Figure 27: SS1 Timing113
Figure 28: SOS Timing118
Figure 29: SS2 Timing123
Figure 30: SLS Timing127
Figure 31: SLS Oscilloscope Shot: this Shot Shows the Margin of the Safety Velocity132
Figure 32: Safety Module Values139

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LinMot C1251-MI-XC-2S-0E Series Specifications

General

Brand	LinMot
Model	C1251-MI-XC-2S-0E Series
Category	Servo Drives
Language	English

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