Use when working with APR dual-axis linear motor hardware configuration: (1) System wiring diagrams and ASCII blueprints, (2) Control cabinet (UL508A) electrical panel design, (3) Hardware procurement lists and BOM, (4) C6030 IPC physical connections and EK1100 terminal rack setup, (5) Regenerative/brake resistor specifications and wiring.
Version: APR-2026.01 | TwinCAT: 3.1 Build 4024.65
Hardware architecture for the HIWIN LMSA13L dual-axis linear motor test station.
This skill covers the complete hardware configuration for the APR dual-axis linear motor system, including the Beckhoff C6030 IPC, EK1100 coupler, HIWIN E1 drives, and all peripheral devices.
| Component | Model | Specification |
|---|---|---|
| IPC | Beckhoff C6030-0060 | TwinCAT 3.1 Build 4024.65 |
| Linear Motor | HIWIN LMSA13L | 4200mm (14×300mm segments) |
| Servo Drive |
| HIWIN E1 (ED1x-xx-75) |
| 380VAC 3-phase, CoE/CiA-402 |
| EtherCAT Coupler | Beckhoff EK1100 | 100BASE-TX |
| Safety Light Curtain | Keyence GL-VM72HP | 1440mm protection height |
| IO-Link Master | Keyence NQ-EC8L | 8-port EtherCAT |
=====================================================================
C6030 Controller (IPC / EtherCAT Master)
=====================================================================
+------------------------------------------------+
| IPC C6030 |
| Port X1 → Management Network |
| Port X2 → EtherCAT Master |
+------------------------------------------------+
|
| EtherCAT (100BASE-TX, CAT6, <50m)
v
=====================================================================
EK1100 + Beckhoff Terminal Rack
=====================================================================
+---------------------------------------------------------------+
| EK1100 EtherCAT Coupler (Term 1) |
|---------------------------------------------------------------|
| SLOT1: EL1008 8DI 24V |
| SLOT2: EL2004 4DO 24V / 0.5A |
| SLOT3: EL6900 TwinSAFE Logic |
| SLOT4: EL1904 TwinSAFE DI (E-STOP / Guard Door) |
| SLOT5: EL2904 TwinSAFE DO (STO / Contactor / Brake) |
| SLOT6: EL9011 End Terminal |
+---------------------------------------------------------------+
|
v
=====================================================================
HIWIN E1 Servo Drives (Axis A & B)
=====================================================================
+==================================================+
| E1 Drive (Axis A) |
+==================================================+
| EtherCAT IN ←─── from EK1100 |
| EtherCAT OUT ───→ to Axis B |
| Power: 3Ø 380VAC |
| STO1/STO2 ←── EL2904 (TwinSAFE DO) |
| Motor: U/V/W → LMSA13L |
| Feedback: Hall A/B/C + TS1/TS2 |
+--------------------------------------------------+
|
v
+==================================================+
| E1 Drive (Axis B) |
+==================================================+
| EtherCAT IN ←─── Axis A OUT |
| EtherCAT OUT ───→ Keyence NQ-EC8L |
+--------------------------------------------------+
|
v
+==================================================+
| Keyence NQ-EC8L (IO-Link Master) |
+==================================================+
| Port 1-8: IO-Link / DI / DO |
+--------------------------------------------------+
=================================================================
LMSA13L Linear Motor (4.2m = 14 × 300mm segments)
=================================================================
+------------------------------------------------------+
| Stator Segments: S1 ~ S14 (each 300mm) |
| Mover: Hall sensors (A/B/C) + Temperature (TS1/TS2) |
| |
| TS: 2-wire → E1 Drive TS1/TS2 |
| Hall: A/B/C/5V/GND → E1 Drive Hall Port |
| Power: U/V/W → E1 Drive 3-Phase |
+------------------------------------------------------+
Travel: 4200mm max
Speed: 9.7 m/s max
Acceleration: ≥29.4 m/s² (for 1m constant velocity zone)
C6030 (Master)
│
└── EK1100 (Coupler)
│
├── EL1008 (8DI)
├── EL2004 (4DO)
├── EL6900 (TwinSAFE Logic)
├── EL1904 (Safety DI)
├── EL2904 (Safety DO)
└── EL9011 (End Terminal)
│
└── E1 Drive Axis A
│
└── E1 Drive Axis B
│
└── NQ-EC8L (IO-Link Master)
| Supply | Voltage | Notes |
|---|---|---|
| Main Power | 380VAC 3-phase | E1 Drive main circuit |
| Control | 24VDC | I/O, sensors, logic |
| Safety | 24VDC | TwinSAFE circuits |
| Signal Type | Cable Spec | Max Length |
|---|---|---|
| EtherCAT | CAT6/6A Shielded | 50m |
| Motor Power | 4-6mm² Shielded | As required |
| Hall/Encoder | Shielded Twisted Pair | <10m |
| Safety (STO) | Safety-rated cable | As required |
The control cabinet follows UL508A standards for industrial control panel design:
references/ascii-blueprint.md - Complete engineering ASCII blueprint (2025-11-16)references/cabinet-wiring.md - Control cabinet wiring diagram (2025-10-30)references/lab-assembly.md - Lab 149 actual assembly configurationreferences/procurement-list.md - Hardware procurement checklistreferences/c6030-wiring.md - C6030 physical connection guide