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Aerotech NDrive HL Manual

1. 6 7 V V V www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual LIST OF TABLES Table 1 1 Ndrive HL Models and Voltage Configurations 1 5 Table 1 2 Electrical Specifications 1 6 Table 1 3 Ndrive HL Series Amplifier Current Limitations 1 8 Table 2 1 Optional Aux Supply AC Input for external E Stop 2 2 Table 2 2 Main Supply AC Power Input Connections 2 3 Table 2 3 TB101 Motor Power Output Connections 2 4 Table 2 4 Electrical Noise Suppression Devices 2 5 Table 2 5 Ndrive HL Switch Settings S2 2 18 Table 2 6 FireWire Card and Cable Part Numbers 2 19 Table 3 1 Auxiliary I O Connector Pin Assignment J205 3 1 Table 3 2 Auxiliary I O Mating Connector 205 3 2 Table 3 3 Auxiliary Encoder Pin Assignment on Connector J205 3 3 Table 3 4 User Outputs Pin Assignment on Connector J205 3 4 Table 3 5 User Inputs Pin Assignment on Connector J205 3 5 Table 3 6 High Speed User Inputs Pin Assignment on Connector
2. Ll i4 OC OB QA OC B 20V Motor Back OV EMF 20V NOTES 1 All voltage measurements are made with reference to TP4 Signal Common Neutral 2 Clockwise rotation is viewed looking into the front of the motor shaft Figure 2 10 Motor Phasing www aerotech com 2 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation and Configuration Ndrive HL User s Manual 2 4 4 Stepper Motor Configuration This mode is used with a stepper motor only See section 2 5 1 if Aerotech s standard cabling is not used for information on correctly phasing the motor feedback devices Consult the drawing located on your software CD ROM for specific cable information Motor Frame E Green Yellow amp Shield o 7J l TH mms __ Wire Color Set 1 Wire Color Set 2 Green Yellow amp Shield Green Yellow amp Shield Bow Note the connection of the two motor phases White Red NOTES amp Red amp Orange implies two wires I GreenWhile implies a single wire Figure 2 11 Stepper Motor Configuration 2 4 4 1 Stepper Motor Phasing Process A stepper motor 15 phased correctly when a positive motion command causes the motor to rotate in a clockwise CW direction assuming a positive scaling factor as determined by the CntsPerMetricUnit CntsPerEnglishUnit CntsPerRotaryUnit axis paramet
3. 2 7 Figure 2 6 DC Brush Motor Wiring with Tachometer 2 8 Figure 2 7 Brushless Motor Configuration 2 9 Figure 2 8 Hall Effect Feedback Connections 2 11 Figure 2 9 Hall Effect Feedback Inputs the Nstat Utility 2 11 Figure 2 10 Motor Phasing a 2 13 Figure 2 11 Stepper Motor Configuration 2 14 Figure 2 12 Encoder Feedback Connections 2 15 Figure 2 13 Encoder Phasing Reference Diagram 2 16 Figure 2 14 Encoder and Hall signals in the Nstat exe Utility Program 2 16 Figure 2 15 End of Travel Limit input Connections 2 17 Figure 2 16 Limit Inputs in the Nstat Utility 2 17 Figure 2 17 Recommended Star Daisy Chain Configuration 2 19 Figure 2 18 FireWire Daisy Chain 2 20 Figure 3 1 Secondary Encoder Channel J205 3 3 Figure 3 2 User Outputs J209 uuu uuu u d oaa dp uan pas da 3 4 Figure 3 3 All User Inputs 8 13 J205
4. 3 22 www aerotech com lil Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table of Contents Ndrive HL User s Manual 3 6 Voltage to Current Mode Operation 3 23 3 6 1 Parameter Setup and Hardware Configuration 3 24 3 6 2 Saving Parameters to the Flash Memory on the tunedin 3 24 3 6 3 Operatlofl uu UL sto uuu im ione 3 25 E 3 25 CHAPTER 4 OPTIONS nennen 4 1 4 1 IOPSO and IOPSOH Option Boards 4 1 4 1 1 Brake Configuration Jumpers 4 2 4 1 2 Analog Outputs TB301 4 3 4 1 3 Brake Relay TB301 4 4 4 1 4 Analog Inputs TB302 4 9 4 1 5 User Power Connector 4 10 4 1 6 Opto lsolated Outputs TB304 4 10 4 1 7 Opto lsolated Inputs 5 4 12 4 1 8 PSO Absolute Encoder Interface J301 4 14 4 1 9 SSI Net 2 channel J302 4 17 4 2 DUALPSO and TRIPLEPSO Laser Firing Options 4 19 4 2 1 PSO Trac
5. 4 14 Laser Output Opto Isolator Specifications 4 15 J302 J303 2 Channel SSI Net Connector Pin PS iii uuu uuu 4 17 SSI Net Cable Part Numbers 4 20 Ethernet Connector Pin Assignment J204 4 22 NConnect I O Cable part Numbers 4 22 Resolver Connector Pin Assignment J1 J2 4 23 Resolver Mating Connector 15 Pin Male D Style 4 23 Resolver Jumper Configuration 4 23 Resolver Test Points 4 24 External Power Pin Assignment 403 4 24 Standard Interconnection Cables 5 1 Combined Motor amp Feedback Cables 5 2 Individual Motor Cables 5 3 Individual Feedback 5 4 Amplifier Faults Causes and Solutions 6 1 Ndrive HL Control Board Test Point 6 2 Ndrive HL Control Board Jumper Selections 6 4 Ndrive HL Motor Power Board Jumper Selections 6 6 Ndrive HL Motor Power Board F
6. EN r 551 Net 1 is J an Input ice E E se to J302 SSI Neti is an Output x is an Input or to u P J205 2 Axis Firing 3 Axis Firing Figure 4 18 Two Three Axis Laser Firing Interconnection www aerotech com 4 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options Ndrive HL User s Manual Table 4 16 SSI Net Cable Part Numbers NConnect SSINet 4500 4 5 M 15 FT SSI Net Cable NConnect SSINet 1500 1 5 M 5 FT SSI Net Cable NConnect SSINet 900 0 9 M 3 FT SSI Net Cable 4 2 1 PSO Tracking Rate Configuration The maximum clock frequency of the MXH multiplier should be limited to 20 MHz when using the DUALPSO or TRIPLEPSO options This is due to a maximum encoder date rate of approximately 32 MHz on the Ndrive HLs encoder input ports The 20 MHz clock rate is achieved by setting the Clock Select 1 field of the CfgFbkEncMxhSetup axis parameter value of 0 1 as shown below This must be done when using DUALPSO or TRIPLEPSO options in order to ensure that encoder count information is not lost NConnect SSINet 3000 3 0M 10 FT SSI Net Cable The following only applies to Ndrive HLs with the DUALPSO or TRIPLEPSO options and the MXH option with high encoder data rates The 20 MHz data rate limitation effectively limits the maximum speed of the axis see B below In addition the DUALPSO or TRIPLEPSO
7. 3 5 Figure 3 4 Advanced 1 3 Axis Firing sees 3 9 Figure 3 5 Data Capture Data Update Modes 3 10 Figure 3 6 PSO Diagram Basic Single Axis Firing 3 11 Figure 3 7 End of Travel Limit Inputs 3 13 Figure 3 8 Hall Effect and Thermistor Inputs 207 3 14 Figure 3 9 Line Driver Encoder Interface Standard 207 3 16 Figure 3 10 Optional MXH Analog Encoder Interface J207 3 19 Figure 3 11 RS 232 RS 422 Connector 206 3 21 Figure 3 12 Normal Operation 3 23 Figure 3 13 Stand Alone Configuration 3 23 Figure 4 1 IOPSO Option Board 4 1 Figure 4 2 OPSO Option Board 69001579 Rev 4 1 Figure 4 3 IOPSOH Option Board 69001623 Rev 0 4 2 Figure 4 4 Analog Output Connector TB301 4 3 Figure 4 5 Brake Connected to TB301 4 5 Figure 4 6 Brake Connected to J20Y
8. 6 RS422TXD RS422TransmitOuput Output 8 RS422RXD RS 422 Receive Input Input 9 5Vot 5 Volt Power Output Output Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse Table 3 19 RS 232 RS 422 Port Mating Connector J206 9 Pin male D style con Third Party Source ECK00137 Cinch DE 9P Back shell ECK01021 Amphenol 17 1724 2 3 20 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details 5V 5V R2B AAA ES 1 WEE RS422RXD 06 7 RS422TXD 768 4 pa RS422TXD rT F S W Figure 3 11 RS 232 RS 422 Connector J206 www aerotech com 3 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual 3 5 FireWire Bus J201 J202 J203 The FireWire bus is the high speed communications media to the Ndrive HL operating at 400 megabits per second All command and configuration information 1s sent via the FireWire All three ports are effectively in parallel allowing any port to be used when daisy chaining the Ndrive HLs together or with other devices such as the Ndrive CP HP Nstep Nservo or Npaq The FireWire bus power is independent of the Ndrive HL power Should a drive fail communication will be maintained with the ot
9. 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual Table 3 2 Auxiliary I O Mating Connector J205 26 Pin HD D style con Third Party Source ECK01259 Kycon K86 AA 26P Back shell ECKO00600 Cinch DA24658 Screw Locks Qty 2 1400294 TRW 0 20419 16 of the external power provided by the Ndrive HL to the user is limited to 500 mAmps and protected by a re settable semiconductor fuse Should an over current condition occur the device will open to protect against the overload To reset the over current device remove the overload condition Please note that the inputs and outputs on the Auxiliary connector J205 begin with number 8 as shown in Table 3 1 Inputs and outputs 0 7 are present on the optional IOPSO see Chapter 4 for more information 3 2 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details 3 1 1 Secondary Encoder Channel J205 The encoder channel can be used as an input for master slave operation handwheel or for dual feedback systems or for an encoder input output for multi axis laser firing see Chapter 4 for more information The EncoderDivider axis parameter configures the input output state of this encoder channel This interface may not be multiplied by the MXH option and must be a 5 volt RS 422 line driver encoder It allows up to an 8 MHz encoder si
10. Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com The rotating part of a magnetic structure In a motor the rotor is connected to the motor shaft Industry standard for sending signals utilizing a single ended driver receiver circuit As such the maximum distance is limited based on the baud rate setting but is typically 50 100 feet This standard defines pin assignments handshaking and signal levels for receiving and sending devices Industry standard programming language Also referred to as G code machine programming A command set specific for the machine tool industry that defines geometric moves Industry communication standard for sending signals over distances up to 4000 feet Standard line driver encoder interfaces utilize RS 422 because of the noise immunity The deviation from the desired form of a surface during full rotation 360 degrees about an axis Run out is measured as total indicated reading TIR For a rotary stage axis run out refers to the deviation of the axis of rotation from the theoretical axis of rotation Refers to a closed loop control system where a command is issued for a change in position and the change is then verified via a feedback system Time required for a motion system to cease motion once the command for motion has ended Maximum radial load that can be applied to the end of the motor shaft at maximum motor speed Deviation fr
11. National Electrical Manufacturers Association Sets standards for motors and other industrial electrical equipment Memory in a system that maintains information when power is removed A signal output that is performed with a transistor Open collector output acts like a switch closure with one end of the switch at circuit common potential and the other end of the switch accessible Control circuit that has an input signal only and thus cannot make any corrections based on external influences Device that allows the operator to communicate with a machine A keyboard or thumbwheel is used to enter instructions into a machine See HMI or MMI A linear or angular position feedback device using light fringes to develop position information System or circuit that transmits signal with no direct electrical connections using photoelectric coupling between elements The condition of a surface or axis perpendicular offset 90 to a second surface or axis Orthogonality specification refers to the Glossary of Terms Glossary of Terms Overshoot PID Pitch of travel Pitch Error PLC PWM Quadrature Radial Run Out Ramp Time Range RDC Repeatability Resolution Retro reflector Roll of travel Roll Error A 6 Ndrive HL User s Manual error from 90 from which two surfaces of axes are aligned In a servo system referred to the amount of velocity and or position overrun from the input comma
12. 4 rtisan Artisan Technology Group is your source for quality new and certified used pre owned equipment FASTSHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF Instral e REMOTE INSPECTION LOOKING FOR MORE INFORMATION qii Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com Z information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED Contact us 888 88 SOURCE sales artisantg com www artisantg com Ndrive HL User s Manual P N EDU176 Revision 1 08b Dedicated to the Science of Motion fN Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 AEROTECH Phone 412 963 7470 Fax 412 963 7459 x www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Product Registration Register online at http www aerotech com prodreg cfm Technical Support United States Headquarters Phone 412 967 6440 Fax 412 967 6870 Email service aerotech
13. April 2004 Quality Assurance Manager Alex R Weibe _C Lox Neh 2 Engineer Verifying Compliance www aerotech com IX Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL Users Manual Declaration of Conformity EMC Requirements The use of shielded cables is required to reduce radiated emissions The cable shields must be connected to the metal back shell of D type connectors or to the nearest frame ground connection for other type connectors The following modifications will help ensure CE compliance Install a snap on Ferrishield ferrite attenuator P N SS28B2034 on the FireWire cable at the unit Use a FireWire card with inductive common mode filters such as the Aerotech NFIRE PCI or Siig NN 403P12 These modifications may not be necessary in the final installation of the product Since the unit is a component designed to be integrated with other electronics EMC testing must be conducted on the final product configuration Failure to follow these procedures may result in serious injury damage and or excessive emissions or reduced immunity of the equipment WARNING www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual 1 INTRODUCTION Aerotech s Network Digital Linear Drive Figure 1 1 PWM Ndrive MP and Nservo Npaq
14. 30 DECIMETERS 3 METERS 10FT JSXT FLY XX 3 WIRE MARKERS FLAG WIRES WITH BRADY LABELS C19791 XX 630 B 1 979 1 COMPUTER FILE NO 630B1979 1A1 Figure 5 4 Two Axis Joystick Interface to the I O on the IOPSO Option Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Accessories Ndrive HL User s Manual NOTES 1 USING C19791 XX CABLE WILL PROVIDE 2 AXES OF SLEWING REQUIRES THE Ndrive HL TO HAVE THE IOPSO OPTION INSTALLED Ndrive HL 2 THE JI JOYSTICK MUST BE USED WITH THE Ndrive HL JBV OR JP4 Joystick Interface JOYSTICK VERSIONS ARE NOT COMPATIBLE AGND TB302 a C19791 XX dd JOYSTICK EXT A2 CABLE da GND d TB303 GND 5V A IP TB305 d IN2 Ndrive HL IN3 Joystick Interconnect C19791 XX CABLE Mr JOYSTICK 620B1345 1 lt I 620B1345 101 DWG Figure 5 5 Two Axis Joystick Connection to the I O on the IOPSO Option 5 8 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual 5 3 Handwheel Interface Accessories The user may connect a handwheel or any device producing differential quadrature signals for manual positioning of the axes See the Nview HMI help for information on enabling the handwheel via software commands The h
15. 5V 12 e e 1 5V COM 21 i 2 0V SUMTAK BN 3 o Ca C EIS SINN 2 8U Jalan ECZ00201 COS 10 GN y O GND G y ECX00570 CABLE 8 COND 24 SHIELDED FERRULE ry TN ASA ieee ADD BRADY WIRE Ndrive HL User s Manual 1 INSTALL LABEL TO BACK OF HANDWHEEL XX CABLE LENGTH IN DECIMETERS HWA32 FLY XX 630B1983 1 REV S N XXXXXX TYPE 4 MIA00424 XXXXXX WORK ORDER NUMBER 2 CABLE LENGTH CAUTION CABLE LENGTHS XX ARE IN DECIMETERS EXAMPLE HWA32 FLY 30 30 30 DECIMETERS 3 METERS 10FT 3 THIS HANDWHEEL IS INTENDED TO BE USED WITH THE BBA32 BREAK OUT BLOCK REFERENCE 620B1344 1 TERMINAL 52949 AMP EIK00234 TYP 6 PLS ADD BRADY WIRE MARKERS TO TERMINALS HWA32 FLY XX Figure 5 7 Ndrive HL BBA32 AUX I O INTERFACE 26 PIN HD M F CABLE gt ECZ01231 26HD Lu lt LL 2 5FT PHOENIX 26 PIN HD B BREAKOUT MODULE s ECZ01230 SHOWN FOR REFERENCE AUX SIN 10 AUX COS AUX SIN AUX COS OPTO1 5V OPTO1 ANALOG_IN BBA32 OPTO2 ANALOG IN OPTO2 EXT OUTCOM AUX I O EXT OUT1 16 EXT_OUT4 INTERFACE EXT OUT2 EXT OUT3 Figure 5 8 5 10 Ndrive HL HANDWHEEL HWA32 FLY XX 630B1983 1 630B1983 101 DWG HWA32 FLY XX Handwheel with Flying Leads no connector NOTES THE BBA32 CONSISTS OF THE FOLLOWING PARTS 1
16. Brushless Motors only Input 1 Input 1 Output 1 Input Input 5V Power for Limit Switches 500mA max Output input input N A 2 N A 2 N A 2 Input 23 N A 24 input Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse Table 3 12 Motor Feedback Mating Connector J207 25 Pin Male D style Third Party Source ECK00101 Cinch P N DB25P Back shell ECK00656 Amphenol P N 17 1726 2 All of the external power provided by the Ndrive HL to the user is limited to 500 mAmps and protected by a re settable semiconductor fuse Should an over current condition occur the device will open to protect against the overload To reset the over current device remove the overload condition 3 12 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details 3 3 1 End of Travel Limit Inputs Two of the three limit Inputs are end of travel sensing CW Limit and CCW Limit while the third is a reference limit Home Limit All of the end of travel limit inputs accept 5 24 volt DC logic signals The pin assignment for the connector Is shown in the table below Alternatively opto isolated user inputs 8 10 may be used as the end of travel limit inputs see Section 3 1 3 MOTOR l FEEDBACK See Table 3 12 for the mating connector part number J207 Table 3 13 End of Travel Limit Inputs Pin Ass
17. Ndrive HL User s Manual Troubleshooting 6 4 Ndrive HL Motor Power Board Assembly Figure 6 2 highlights the important Jumpers and components located on the Ndrive HL power board Remove AC power from unit before removing the cover DANGER TB10 1 DS J9 aa T JP1 J8 F1 F2 J10 F3 J11 L Figure 6 2 Ndrive HL Motor Power Board 690D1589 Rev 0 www aerotech com 6 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Troubleshooting Ndrive HL User s Manual 6 6 Table 6 4 Ndrive HL Motor Power Board Jumper Selections Jumper Selection Descripion _____ JP14 1 2 IN 2 3 OUT Signal common connected to chassis Default 1 2 OUT 2 3 IN Signal common not connected to chassis Table 6 5 Ndrive HL Motor Power Board Fuse Information Description Size F1 F2 Bus Supply Fuses Motor Power Table 6 6 Ndrive HL Motor Power Board Test Point Information Test Point P4 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Troubleshooting 6 5 Ndrive HL Power Supply Board Assembly Figure 6 3 highlights the important components located on the Ndrive HL Power supply Board Table 6 4 lists the Jumpers and the default configurations for the amplifier Ndrive HL Figure 6
18. absolute encoder interface and brake relay and includes HCPL2601 opto isolator Figure 4 2 IOPSO Option Board 690D1579 Rev A Table 4 1 OPSO Option Board Jumpers penser ts neti E 1 2 4 Brake Option at J207 1 3 Auxiliary relay Output Option at TB301 Remove 1 2 3 4 and 2 4 ue 0 at TB305 3 is input 0 23 Input 0 at TB305 3 drives the external Reset Input m PSO Laser Firing Output is Active High 2 3 PSO Laser Firing Output is Active Low factory default setting www aerotech com 4 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options Ndrive HL User s Manual The IOPSOH expansion board has 8 opto isolated inputs sinking or sourcing and 8 outputs sinking or sourcing rated at 1 A per channel two 18 bit analog outputs two 16 bit differential analog inputs SSI Net absolute encoder interface and brake relay and includes HCPL2601 opto isolator TOP VIEW U Ud U L VIEW Figure 4 3 IOPSOH Option Board 69001623 Rev 0 4 2 IOPSOH Output Device Numbers Output Designator Description Aerotech P N S PatyPA 2 m 4 1 1 Brake Configuration Jumpers Setting to 1 2 3 4 allows connection of the brake relay to pins 13 and 25 of the motor feedback connector J207 See Figure 4 5 in section
19. complement the Automation 3200 System Connected via the IEEE 1394 FireWire communication bus these drives provide deterministic behavior auto identification and easy software setup from the Nmotion SMC software controller Featuring a high speed Harvard architecture DSP the drives are linear for eliminating EMI RFI emissions and have fully digital current and servo loops providing up to an 8 kHz servo loop closure 32 MHz line driver encoder data rate and an optional Ethernet port for access to third party networked I O solutions Additionally one 18 bit analog output and one 16 bit analog input 1s standard The Ndrive HL also features an optional on board brake relay programmable resolution multiplication up to x65 536 with a 200 kHz maximum amplified sine wave input frequency and up to three axis Position Synchronized Outputs laser firing In addition the use of the commercially standard FireWire communication link makes integration to the Automation 3200 network plug n play easy This product is intended for light industrial manufacturing or laboratory use Figure 1 1 Ndrive HL Networked Digital Drive www aerotech com Introduction 1 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction 1 2 Ti Ndrive HL User s Manual Feature Summary Software configurable for brush torque current and tachometer mode and brushless motor operation Bip
20. e Offset 128 50 Zee Offset 128 Prase 128 E Tune Save Enable 2 Data Collect Stop Collect Start Motion Stop Motion Flt amp ck Collecting Status Fault Sine 53898 Peak To Peak 26949 Offset Cosine 54736 Peak Ta Peak 27359 Offset Radius Error lU FMS Task Cosine 7 Task 2 Task 15384 Sine 43152 E5536 rl n o S I hF Figure 4 25 Optimized Resolver Feedback Configuration 4 4 1 3 Configuring the Commutation Initialization The commutation of brushless motors with resolver feedback may be initialized two ways The first method uses the number of motor pole pairs combined with the maximum resolution of the R D board to determine an initial commutation position The second method initializes the motor normally using the Hall effect feedback signals Setting the CfgMotType axis parameter to Auto MSET can be used if the R D Auto configuration or Hall effect signals cannot be used auto configuration typically CANNOT be used with inductosyns because they have multiple electrical cycles per revolution of the motor R D Auto configuration will ONLY work if you have EXACTLY one cycle of the Sine and Cosine signals per revolution of the motor www aerotech com 4 29 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options Ndrive HL User s Manual The Commutation Initialization method
21. 2 ALI 2 2 AL2 2 2 Amplifier Current Limitations 1 8 Amplifier Faults 6 1 Amplifier Related Problems 6 1 Analog Inputs TB302 4 9 Analog Output Connector Pinouts 4 3 Auxiliary I O Connector Pinouts 3 1 3 3 3 5 3 6 AUXPWR 1 5 AUXPWR Option 2 2 B Battery 6 9 Battery Replacement 6 9 Brake Relay TB301 Current Specifications 4 4 Brake Relay TB301 Voltage Specifications 4 4 Brake Relay Connector Pinouts 4 5 Brake Configuration Jumpers 4 3 Brushless Motor Configuration 2 7 2 9 2 10 Bus Power Supply 1 4 C Cleaning 6 10 Connector 1 3 Connector Pinouts Auxiliary I O 3 1 3 3 3 5 3 6 FireWire 3 23 www aerotech com Index J205 3 1 3 3 3 5 3 6 J206 3 21 J207 3 12 3 14 3 15 Motor Feedback 3 12 3 14 3 15 RS 232 RS 422 3 21 Continuous Output Current 1 5 Control Board 6 2 Assembly 6 2 Jumpers 6 2 6 3 Test Points 6 2 Control Board Options 1 5 DUALPSO 1 5 ENET 1 5 MXH 1 5 MXUA096 1 5 MXU65536 1 5 PSOOPTOI 1 5 PSOOPTO2 1 5 1 5 TRIPLEPSO 1 5 D DC Brush Motor Configuration 2 7 Determining Proper Connections to the NDrive Equipment 2 12 Test 2 12 Device Settings 2 19 Drive Package 1 4 DUALPSO 1 5 E Electrical Specifications 1 6 Encoder Phasing 2 16 ENET 1 5 4 22 Environmental Specifications Humidity 1 10 Temperature 1 10 Operating 1 10 Storage 1 10 Ethernet J204 4 22 F Feedback Co
22. 4 1 3 for more information 4 2 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Options 4 1 2 Analog Outputs TB301 Both analog outputs are driven by an 18 bit AD1868 digital to analog converter and buffered by TL084 op amps producing a single ended output voltage in the range of 10 volts This produces a resolution of 76 3 uVolts per bit of the D A The output current is limited to less than 50 mA Note that the analog outputs are referenced to TB302 1 as shown in Figure 4 4 Analog output 0 is also available at J205 see Section 3 1 2 The analog outputs will be zero volts during reset Table 4 3 Analog Output Connector Pin Assignment TB301 Pin Label Description In Out Analog 0 Out Analog Output 0 Output Analog 1 Out Analog Output 1 Output The analog output common may be found at J205 pin 23 or TB302 pin 1 C 205 22 AHALOGO OUT TB3OTI 1 AMALOGO OUT 4205 25 AGND IB302 1 J Ww AGND IB3S0172 ANALOGI OUT 0 OHM Figure 4 4 Analog Output Connector TB301 www aerotech com 4 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options 4 4 Ndrive HL User s Manual 4 1 3 Brake Relay TB301 The relay output is typically used to automatically drive a fail safe brake on a vertical axis however it may also be use
23. Jumpers Control Board 6 3 IOPSO 5 1 Power Board 6 6 L Input Terminal 2 3 AC2 Input Terminal 2 3 Laser Output Opto Isolator Specifications 3 7 4 15 4 20 LED indicator 1 3 LED Indicators Description 6 7 Limit and Hall Effect Inputs 3 14 Line Driver Encoder Standard 3 16 Logic High 2 10 Logic Low 2 10 M Models 1 5 Motor 1 3 Motor and Feedback Connection Basic Configurations 2 7 Brushless 2 7 DC Brush 2 7 Stepper 2 7 Motor and Feedback Connections 2 4 2 7 2 11 2 18 Motor Connections 2 2 2 4 2 7 2 11 2 18 Motor Feedback Connector Pinouts 3 12 3 14 3 15 Motor Feedback 3 12 MXH 3 12 Motor Feedback Connector 4 3 Motor Frame Connection 2 3 2 4 Motor Phasing 2 14 2 15 MXH 1 5 MXH Option Specifications 3 18 Clock Frequency 3 18 Interpolation 3 18 Max Input Frequency 3 18 Minimum Edge Separation 3 18 Minimum Pulse Width 3 18 MXH 3 12 Options 3 17 MXH Analog Encoder Interface Optional 3 15 3 16 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual N Ndrive Connection Test 2 12 Ndrive Hardware 1 3 O Optional AC Power Supply Input 2 2 Optional Analog Input Connector Pinouts 4 9 Options 1 5 Opto Isolated Input Connector Pinouts 4 12 Opto Isolated Inputs TB305 4 12 Opto Isolated Output Connector Current Sinking Mode 4 11 Current Sourcing Mo
24. Manual Installation and Configuration 2 4 3 2 Brushless Motor Hall Effect Feedback Connections The Hall Effect feedback signals on an AC brushless motor are correctly phased when the hall states correspond to the states at each of the electrical angles shown in Figure 2 10 The hall states which correspond to the electrical angles are indicated in Figure 2 10 A 0 for the given Hall input indicates zero voltage or logic low where a 1 indicates five volts or logic high These logic levels may be viewed within the Nstat utility on the Diagnostic tab as shown in Figure 2 9 J20 Encoder Channel MOTOR FEEDBACK x Hall C 11 1 wd f Encoder 5V L3 Encoder Com 21 y Chassis Frame 1 Hall Effect Feedback For full cable drawings refer to your software CD ROM Figure 2 8 Hall Effect Feedback Connections lolx FireWire Drivelnfo TaskStatus TaskStatus2 Task Status3 TaskModel StipChat Ethemet Diagnostics Fault SMC Quantit HARDWARE Enable L Figure 2 9 Hall Effect Feedback Inputs in the Nstat Utility www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation and Configuration Ndrive HL User s Manual 2 12 2 4 3 3 Hall Effect Phasing For an AC brushless motor with an unknown phase hall sequence one of two simple tests can be performed on the motor to determin
25. NOT COMPATIBLE ccc d D 205 i o o a E B AUX SB E re a I O l sf Lo Ndrive HL SEE JOYSTICK INTERCONNECT NUS C19792 XX CABLE JOYSTICK 620B1345 2 620B1345 201 DWG Figure 5 3 Single Axis Joystick Interconnect to J205 of the Ndrive HL A standard Aerotech JI joystick may be connected to the I O on the IOPSO option via the following cable for a two axis joystick Figure 5 4 indicates the required cable and the Figure 5 5 indicates the interconnection of the joystick to the Ndrive HL ECX01009 TO TO T 16 COND 24 joystick Ndrive HL ed LENGTH A R SEE NOTE 2 N CONNECTOR SHIELDING TB303 3 45V 5V TB305 1 IP TB305 4 IN2 S2 WRAP 6 COPPER FOIL EIA281 TB302 2 1 X POT OVER GROMMET SHIELD amp DRAIN WIRE TB303 1 GND 5 GROMMET SUPPLIED TB302 1 AGND cen W BACKSHELL TB302 3 1 TB302 5 A2 TB302 4 A24 Y POT TB305 3 IN1 1 78305 5 IN3 INTERLOCK FOLD BACK FOIL SHIELD TB303 2 GND SHIELD PART IS OUTSIDE FERRULE 3200014 EIK01001 TYP 12 PLS 15 LINE FEMALE D FOLD BACK amp TWIST ADD BRADY WIRE MARKERS SEE NOTE 3 745493 2 ECK00783 SHIELD DRAIN WIRE BACKSHELL 17 1725 2 ECK01022 F s REIN 12 COVER JACKSOCKETS 207719 3 ECK00129 Q _ SEE NOTE 3 Ndrive HL Joystick PH Extension Cable CAUTION CABLE LENGTHS XX ARE IN DECIMETERS EXAMPLE C19791 30 30
26. Ndrive HL should be used to provide 5 Volt power to the potentiometers The second Ndrive HL should connect differentially to the second joystick potentiometer by connecting the Analog Input to common and the Input to the potentiometers wiper s Ndrive HP TB302 Analog Input 1 Analog Input 1 Analog Common Analog Input 0 Analog Input 0 ismi Vols 5 Volts 3 Common 2 Common Common ia Volts TB305 Input Common 1 Butona A Input 0 h Button B Joy Interlock Buttons Input 2 all Button A Button B Button C Axis Pair Select Speed Select Exit Slew Mode Figure 5 1 Joystick Interface www aerotech com Accessories 5 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Accessories Ndrive HL User s Manual A standard Aerotech JI joystick may be connected to J205 of the Ndrive HL as a single axis Joystick via the following cable shown below Figure 5 2 and Figure 5 3 Figure 5 2 indicates the required cable and Figure 5 3 indicates the interconnection of the joystick to the Ndrive HL Be sure to set only one of the JoyStickAnalogHorizInput or the JoyStickAnalogVertInput task parameters Also define only one axis each of the SlewPairl through SlewPair8 task parameters The following drawings are shown for reference only and were complete and accurate
27. P N Size F2 R6 AC Inrush Limiter Fuse F2 is a standard socketed fuse F1 F3 and R6 Fuse are soldered to the circuit board Table 6 14 Ndrive HL Motor Power Board Fuse Information 690D1589 Fuse Description ThirdPartyP N Aerotech P N Size Supply main NL10 40 Littlefuse 313005 EIF00105 5 A S B fusing for AC1 NL20 40 Littlefuse 326010 EIF00117 10 A S B VAC bus input NL10 80 Littlefuse 326010 EIF00105 5AS B 5 Volt Fuse Littlefuse 0430002 EIF00003 2A S B F1 F2 are normal socketed fuses F3 is soldered to the circuit board Table 6 15 Battery Replacement Part Number Ndrive HL Control Board Battery Third Party P N Aerotech P N 3 V Coin Cell RAY O VAC BR1225 ECZ01079 www aerotech com 6 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Troubleshooting Ndrive HL User s Manual 6 9 Preventative Maintenance The Ndrive HL and external wiring should be inspected monthly Inspections may be required at more frequent intervals depending on the environment and use of the system Table 6 16 lists the recommended checks that should be made during these inspections The Ndrive HL all Aerotech equipment is not to be used in a manner not specified by Aerotech Inc Table 6 16 Preventative Maintenance Action to be Taken Visually Check chassis for loose or Parts should be repaired as required If inte
28. Status Fault Sine 21381 Peak Ta Peak 10691 Offset Cosine 21700 Peak Peak 10850 Offset Radius Error 0 RMS Task Cosine 7 Task 2 16394 0 15384 Sine 49152 E5536 Task 4 ali Figure 4 24 Rotating the Resolver to see a circle For this to function you MUST have the proper jumper set to 2 3 for this channel and the bit in the CfgFbkRDConfig axis parameter set to 1 Otherwise erratic results may occur Adjusting the gain of the RID converter Once the phase is adjusted for optimum conversion for inductosyns adjust the CfgFbkRDGain axis parameter until you see the analog signals peaking between approximately 5 000 on the low end and 60 500 on the high end counts This axis parameter can be adjusted via the Ndebug exe utility These numbers equate to approximately 0 38 to 4 62 volts on a zero to 5 volt scale or 8 48 volts on a 10V scale 1 e via the Nstat exe utility depending upon where you measure the signals This nominally provides 2V RMS 2 83 volts peak to the converter chip on the RDP option board which 1s required for optimum operation See Figure 4 25 for an example of an optimum circle www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Options Encoder Feedback Configuration i E ini xl Plot Trigger Graph Options Tools Move Tuning Help Sine Gain 5
29. base models with continuous power ranging from 675 to 1 350 watts A list of these models and the available voltage configurations are shown in Table 1 1 Table 1 1 Ndrive HL Models and Voltage Configurations Voltage Current Current peak NeriveHL 10 40 s40VDC 10A a o One additional 18 bit analog outputs 10 Volts One additional 16 bit differential analog inputs 10 Volts One fail safe brake or user relay output Eight optically isolated logic inputs 5 24 VDC user defined OPSO and as current sourcing or sinking _IOPSOH Two bi directional RS 422 encoder inputs outputs SSI Net One absolute RS 485 encoder interface for secondary encoder channel Optically isolated laser firing PSO output Eight in out optically isolated current sourcing sinking logic outputs 5 24 VDC rated for 1 ampere on the IOPSOH option Two axis Position Synchronized Output Laser Firing Three axis Position Synchronized Output Laser Firing E Opto isolator for PSO requires the IOPSO option 5V high PE speed high current HCPL2601 PSOOPTO2 Opto isolator for PSO requires the IOPSO option lt 15V high speed low current 6N136 E Opto isolator for PSO requires the IOPSO option lt 30V low a speed high current 4N33 PSOOPTO4 Opto isolator for PSO 5 25VDC 40kHz 50mA TIL117 M Programmable encoder multiplier up to x2 048 supports PSO MXH is laser firing and encoder quadrature outp
30. by default no motor current will be present Also they indicate that a fault condition will be indicated by no current flow from pin 7 to pin 15 through the fault output failsafe by default no current flow indicates a drive fault When the drive is powered up and no fault condition exists the opto isolator will conduct current 3 6 4 Faults A Drive Fault in the standalone mode can be caused by any of the following issues Drive Over Current Peak current commanded for 1 second e Motor Over Current RMS threshold Thermistor Over Temperature Fault Motor e Amplifier Temperature Fault e Loss of Bus Power V V V www aerotech com 3 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual 3 26 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Options CHAPTER4 OPTIONS 4 1 IOPSO and IOPSOH Option Boards see the following sections for details on the connector pin assignment and technical information for the IOPSO and IOPSOH options Board ni SSINET 9 Gg Figure 4 1 IOPSO Option Board Location The IOPSO expansion board has 8 opto isolated inputs sinking or sourcing and 8 outputs sinking or sourcing two 18 bit analog outputs two 16 bit differential analog inputs SSI Net
31. com United Kingdom Phone 44 118 940 9400 Fax 44 118 940 9401 Email service aerotech co uk Germany Phone 49 911 967 9370 Fax 49 911 967 93720 Email service aerotechgmbh de Revision History 1 00 June 20 2003 1 01 February 9 2004 1 02 May 27 2004 1 03 July 26 2004 1 04 September 1 2004 1 05 September 23 2004 1 06 November 22 2005 1 07 January 4 2006 1 08b October 31 2007 Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies Aerotech Inc 2005 2007 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Table of Contents TABLE OF CONTENTS CHAPTER 1 INTRODUCTION 1 1 1 1 Feature Summary nennen nnns 1 2 1 2 Connection Overview eeesssseseseeeeenn nennen 1 3 1 3 Ndrive HL Block Diagram 1 4 1 4 Ordering Information 1 5 1 5 Electrical Specifications 1 6 1 6 Mechanical Specifications 1 9 1 7 Environmental Specifications 1 10 CHAPTER 2 INSTALLATION and CON
32. elastic forces in the drive systems Input Output The reception and transmission of information between control devices using discrete connection points A set of codes and formats to be used by devices connected via a parallel bus system This standard also defines communication protocols that are necessary for message exchanges and further defines common commands and characteristics See G P I B A move referenced from its starting point relative move The physical property of an object to resist changes in velocity when acted upon by an outside force Inertia is dependent upon the mass and shape of an object The deviation of a lead screw or ball screw from its nominal pitch A device for translating rotary motion into linear motion Unit consists of an externally threaded screw and an internally threaded carriage nut See Ball Screw The minimum rated lifetime of a stage at maximum payload while maintaining positioning specifications A sensor used to determine the end of travel on a linear motion assembly www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Limits Linear Motor Load Carrying Capability Master Slave Motion Profile Motor Brush Motor Brushless Motor Stepping NC NO NEMA Non Volatile Memory Open Collector Open Loop Operator Interface Optical Encoder Opto Isolat
33. input command Unidirectional Repeatability Repeatability Velocity Command Motor driver or amplifier configuration where the input signal is commanding motor velocity Motors with analog tachometers are normally driven by this driver configuration Wobble An irregular non repeatable rocking or staggering motion of the table top of a rotary stage Wobble is defined as an angular error between the actual axis of rotation and the theoretical axis of rotation Yaw of travel Rotation about the vertical axis perpendicular to the axis of travel Angular movement error that affects straightness and positioning accuracy Yaw Error Positioning error resulting from a yaw motion V V V A 8 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Warranty and Field Service APPENDIXB WARRANTY and FIELD SERVICE Aerotech Inc warrants its products to be free from defects caused by faulty materials or poor workmanship for a minimum period of one year from date of shipment from Aerotech Aerotech s liability is limited to replacing repairing or issuing credit at its option for any products that are returned by the original purchaser during the warranty period Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer where or not such use or purpose has been disclosed to Aerotech in s
34. jumpers only require being changed when inductosyns are used The SIN reference is a fixed phase signal which is in phase with the reference signal used by the resolver The COS reference is a variable phase signal which may be phased shifted with respect to the reference of the resolver inductosyn to optimize the alignment of the feedback required for inductosyns which nominally provide a 90 degree phase shift on feedback optional for resolvers with significant phase loss The default phase offset is 90 degrees For most inductosyns this value will need to be varied from system to system to optimize performance See Figure 4 22 below for example phasing Some Aerotech systems may have an optional pre amplifier board This may be installed within the mechanics itself as is the case with an Aerotech AOM360D optical mount If so the first step is to adjust the P1 potentiometer on the pre amplifier board to equalize the Sine and Cosine feedback signals to the same amplitude Resolver Reference D SIN Reference il Reference Figure 4 22 Analog Output Connector TB301 www aerotech com 4 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options 4 26 Ndrive HL User s Manual 4 4 1 2 Configuring the Analog Feedback Signals Using the Encoder Feedback Configuration Utility to set up a resolver inductosyn The RDP option of the Ndrive HL can be
35. maximum specifications for the MXH option when the signals are output via the SSI Net Otherwise the only limit is the maximum input frequency of 200 kHz See Figure 3 9 for MXH typical input circuitry The pin assignment is indicated in Table 3 11 www aerotech com Technical Details FAULT RMS LIMIT LMT POS ERR CLMT ENABLE INPOS KERNEL AcTV MXH Erase Cycle FAULT RMS POS ERR CLMT ENABLE INPOS KERNEL O ACTV MXH Programming Cycle Te LNT LIMIT LMT FAULT RMS POSERR ENABLE INPOS KERNEL ACTV Alternate Flashing Pattern 3 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual Table 3 17 MXH Option Specifications CfgFbkEncMult Total 1 2 Applicable only when signals are output via SSI Net ota 3 FactorMXH Axis Multiplication Clock Max Input Min Edge Min Pulse Parameter Freq Freq TM a Width ES 12 5 Wx N as 1 Interpolation includes x4 from quadrature i e MXH50 has a net interpolation of x200 x50 from MXH and x4 from quadrature 2 Configurable via the CfgFbkEncMultFactorMXH axis parameter from 1 to 512 in increments of 1 0 yielding a multiplication from x4 to x2048 3 Defined by the CfgFbkEncMxhSetup axis parameter for SSI Net use Must be limited to 20 Mhz for PSO tracking applications vi
36. options have a maximum tracking rate of 5 MHz due to hardware limitations The PSO data rate can be reduced to 5 MHz while allowing the servo loop to operate at 20 MHz by using the following PSOTRACK lt axis gt SCALE 4 4 4 command This command divides the encoder signals before the PSO counters by a factor of 4 and therefore limits the frequency seen by the PSO tracking counters to 5 MHz However the servo loop is still able to run at the full 20 MHz rate The effective PSO programming resolution is now 1 4 that of the servo loop full resolution PSODISTANCE commands should be entered 4 times lower than the full resolution in this case Ndrive HL Ndrive HL with DUALPSO or TRIPLEPSO MXH Auxiliary Auxiliary Encoder 40 MHz Encoder Maximum Encoder Divide by Counter axis parameter 32 MHz Maximum Encoder PSO Counter DUALPSO TRIPLEPSO SINGLEPSO 20 MHz max Figure 4 19 PSO Tracking Rate Block Diagram 4 20 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual EXAMPLE It is desired to generate a pulse output every 1 000 encoder counts in DUALPSO or RIPLEPSO mode The individual axis speeds approach 20 MHz during the motion and therefore exceed the 5 MHz DUALPSO or TRIPLEPSO tracking limitation The PSOTRACK lt axis gt SCALE 4 4 command must be used and the PSODISTANCE values reduced by a factor of 4 as f
37. or laboratory use and complies with 73 23 EEC low voltage directive Notes concerning EN 61010 1 e Voltages greater than 60 Volts may be present inside the unit after a discharge time of 5 seconds e The unit must be installed within an enclosure with construction compliant unlimited circuits e The end user is responsible for meeting the final protective ground requirements e he AC power inlet located on the front and control power on the top if present of the unit is the power disconnect The end user is responsible for determining and providing a supply disconnect for the system e The end user is responsible for preventing unexpected startup e Connection requirements are described in the technical documentation provided with the product The end user is responsible for making the proper connections and meeting any required interlock requirements for the product application e The end user must provide protection concerning power interruption restoration if required e The end user must provide earth fault current protection if required e The end user must provide protection against lightning and power switching surges if required e Control and Emergency Stop requirements are to be determined and provided by the end user e Wire and cabling provided with the unit meet Aerotech s electrical and listed environmental requirements The end user must meet the final requirements Pittsburgh PA David F Kincel 2 F J Po
38. size may be required to reduce the voltage drop that occurs along the wire This increase may be necessary in order to keep the voltage within a specified range at a remote point When signal wiring is in close proximity to wiring operating at voltages above 60 Volts the insulation rating of the signal wiring will also need to be rated for the higher voltage Signal wiring should have a voltage rating of at least 300 Volts when in proximity to AC power or motor power wiring 2 4 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Installation and Configuration 2 3 Emergency Stop Sense Input TB201 This input is intended to be activated by an external fail safe emergency stop circuit It 1s not intended to be an emergency stop circuit in itself It is scaled for an input voltage of 5 24 volts Using a higher input voltage requires adding an external series resistor to limit the current If the ESTOP bit is enabled in the FaultMask axis parameter the ESTOP input must be driven to prevent the ESTOP fault condition For typical ESTOP wiring see the following two drawings 5V e ESTOP Switch B TB201 1 5 11 201 2 ou PS2806 1 24 VDC Figure 2 3 ESTOP Sense Input TB201 Connecting the E Stop input to a relay or other EMI RFI noise producing device circuit requires one or more noise suppression devices s
39. trigger event www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details Pulse Configuration SSI Net 1 2 Marker Firing Array 551 Net 2 or Distance Primary Encoder Encoder iL FIFO FIFO 255 Load Next 255 Secondary Encoder Configuration lt Software Trigger 24 Pulse Skip Integer ee x Prescaler Tracking Distance Trigger Switching Pulse Integer Counter Multiplex 7 1 3 Generator Prescaler 1 3 axes Output Integer Prescaler E Trackin Enable g PSO Output p Invalid Connection Load Next Configuration Enter Exit Detection Switching Multiplex Trigger Reset Inside Window Switching Count window Multiplex Trigger 2 and Enter Exit Detection 2D Window Array Load Next Configuration Figure 3 4 Advanced 1 3 Axis Firing The window modes allow firing to occur or be enabled based upon axes being within a user defined window This window may be one or two dimensional The and Enter Exit Detection block within the block diagram is used to prevent false triggering due to one bit dither on an axis etc Window modes may not be pre scaled as indicated in the block diagram The Data Capture and Data Update modes allow data to be captured or written to the I O on the occurrence of the internal or external trigger Data Capture mode allo
40. voltage rating of the varistor is too high it may not protect the capacitor C against over voltage conditions 1 RELAY NC TH3O1 VDC OR VAC RELAY COMMON 10 RELAY NO a SA T q207 25 JP1 B 4 x 5 G m BRAKE 0207 13 Figure 4 8 Suppression for DC Brake Systems The user may reconfigure the connections for the brake such that the positive supply lead is switched by the relay instead of the supply common www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Options 4 1 4 Analog Inputs TB302 Both analog inputs are differential buffered by a precision unity gain differential INA 105 amplifier and converted to digital by a 16 bit ADS8320 analog to digital converter allowing an input voltage in the range of 10 volts This produces a resolution of 305 uVolts per bit of the A D Analog input 0 is also available at J205 see Section 3 1 3 The analog inputs have a 25k Ohm input impedance and should be driven by a low impedance source such as an op amp output To interface to a single ended non differential voltage refer to Figure 4 9 connect the signal common of the source to the negative input and connect your signal to the positive input A floating signal source should be referenced to the signal common pin 1 AGND as shown in Figure 4 9 Table 4 7 Optional Analo
41. 3 Ndrive HL Power Supply Board 690D1588 Rev Table 6 7 Jumper Selections Line Voltage on Power Supply Board Table 6 8 Jumper Selections Bus Voltage on Power Supply Board Voltage Remove AC power from the unit before removing the cover DANGER JP12 must always be set 1 2 www aerotech com 6 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Troubleshooting Ndrive HL User s Manual Table 6 9 Ndrive HL Power Supply Board Jumper Selections Bus under voltage detection enabled Bus under voltage detection disabled FireWire Bus power source Disable Fire Wire Bus power source Factory Default All jumpers are factory configured and should not be changed by the user Table 6 10 Ndrive HL Power Supply Board Fuse Information Fuse Description o Sze y AC Control Power Fuse 3A S B See Table Table 6 7 See Table Table 6 7 DC Control Power Fuse 5 S B R6 AC Inrush Limiter Circuit Fusing 3A S B F2 is a standard socketed fuse Fl F3 and R6 Fuse are soldered to the circuit board See Section 6 8 for fuse replacement information 6 8 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Troubleshooting 6 6 LED Indicators The following LEDs are available on each Ndrive HL Full Ndrive HL status is
42. 320 M 3 6 Table 3 7 Auxiliary I O Connector Pin Assignment J205 3 6 Table 3 8 Auxiliary I O Connector Pin Assignment J205 3 6 Table 3 9 PSO Encoder Signal Sources and Pre Scaling Methods 3 7 Table 3 10 PSO OUTPUT 3 7 Table 3 11 Motor Feedback Connector Pin Assignment J207 3 12 Table 3 12 Motor Feedback Mating Connector 207 3 12 Table 3 13 End of Travel Limit Inputs Pin Assignment on Connector qur d 3 13 Table 3 14 Hall Effect Inputs Pin Assignment on Connector J207 3 14 Table 3 15 Brake Output Pin Assignment on ConnectorJ207 3 15 Table 3 16 Motor Feedback Connector Pin Assignment J207 3 15 Table 3 17 MXH Option Specifications 3 18 Table 3 18 J206 RS 232 RS 422 Connector Pin Assignment 3 20 Table 3 19 RS 232 RS 422 Port Mating Connector J206 3 20 Table 3 20 J201 J202 J203 FireWire Connector Pin Assignment 3 22 Table 4 1 IOPSO Option Board Jumpers 4 1 Table 4 2 IOPSOH Output Device Numbers 4 2 Table 4 3 Analog Output Connector Pin Assignment TB301 4 3 Table 4 4 Voltage and Current Sp
43. 4 6 Figure 4 7 Diode Suppression for DC Brake Systems 4 7 Figure 4 8 RC Suppression for DC Brake Systems 4 8 Figure 4 9 Optional Analog Input Connector TB302 4 9 Figure 4 10 Connecting Outputs in Current Sinking Mode 4 11 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com List of Figures List of Figures VI Figure 4 11 Figure 4 12 Figure 4 13 Figure 4 14 Figure 4 15 Figure 4 16 Figure 4 17 Figure 4 18 Figure 4 19 Figure 4 20 Figure 4 21 Figure 4 22 Figure 4 23 Figure 4 24 Figure 4 25 Figure 5 1 Figure 5 2 Figure 5 3 Figure 5 4 Figure 5 5 Figure 5 6 Figure 5 7 Figure 5 8 Figure 6 1 Figure 6 2 Figure 6 3 Ndrive HL User s Manual Connecting Outputs in Current Sourcing Mode 4 11 Inputs Connected in Current Sourcing Mode 4 13 Inputs Connected in Current Sinking Mode 4 13 Absolute Encoder Interface J301 4 15 PSO Interface J301 and 4 16 RS 485 Absolute Encoder Interface J301 4 16 US EP 4 18 Two Three Axis Laser Firing Interconnection 4 19 PSO Tracking Ra
44. 40 nm instead of 2 nm www aerotech com Options 4 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options Ndrive HL User s Manual 4 3 ENET Ethernet Option J204 The optional Ethernet port provides connectivity to a 10 100 Base T ModBus TCP network or the PC s Ethernet port may be used This is typically used for adding analog and digital I O to the controller See the Ethernet I O help on the Windows Start bar on the Automation 3200 menu Additionally the IOPSO option provides analog and digital inputs and outputs see Section 4 1 for more information Table 4 17 Ethernet Connector Pin Assignment J204 Pin Label Description InOutB 1 TX Transmit Data Output 2 Transmit Data Output 8 Unse RCTemiaed NA 3 3V 33V 43 3V 01 3 3V 3 3V TG110 S050N2 J204 49 9 1x a M80 LM Lg LANSICITI L IALIGNI NC 2 ALIGN2 N CONBRJ45GRN YEL Figure 4 20 Ethernet Interface J204 Table 4 18 NConnect I O Cable part Numbers Ethernet crossover cable 900mm 3 ft Ethernet crossover cable 1500mm 5 ft NConnect IO 4500 Ethernet crossover cable 4500mm 15 ft 4 22 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Options 4 4 RDP Resolver Inpu
45. 505 xx BL FB 25DU 25DU MAX240DM BFCMX yy Obsolete Used On Any brushless motor stage having a 25 pin D style connector for encoder limits halls and brake BM BMS motors with D25 option ABL2000 amp 8000 series ABR1000 Series ADR160 240 series ADRT series ALA1000 series Motor Feedback ALS130 135 2200 3600 5000 5000WB 20000 amp 25000 series ARA125 series ASR1000 1100 amp 2000 series with HPD option ATS1100 H series LMA amp LMAC series C18391 xx BL FB 25DU 25DU 9DU MAX120DM C18393 xx BL FB 25DU 25DU 9DU MAX240DM BFCD yy Obsolete Encoder Limits Halls Brake Used Encoder Halls Any Brushless motor stage having a 25 pin D style connector for Brake encoder halls and brake and a 9 pin D connector for limits Motor Feedback BM BMS motors with D25 option Bm Limits C15291 xx BL FB 25DU 17MS 9DU MAX120DM C15297 xx BL FB 25DU 17MS 9DU MAX240DM BFC yy Obsolete Encoder Halls Used On Brake Any stage having a BM BMS motor with a 17 pin MS style connector for encoder halls and brake and a 9 pin D connector for limits Motor Feedback Limits xx Length in decimeters yy Length in feet 5 4 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual 5 2 Joystick Interface The user may connect an Aerotech JI no
46. ECZ01230 PHOENIX BREAK OUT MODULE 1 ECZ01231 26 PIN HD M F CABLE 2 5FT AUX MRK AUX_MRK COM ANALOG1_OUT AGND EXT_INCOM EXT IN3 EXT IN4 Ndrive HL BBA32 AUX I O INTERCONNECT 620B1343 1 620B1343 101 DWG BBA32 Interface used to connect a Handwheel with flying leads no connector www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Troubleshooting CHAPTER6 TROUBLESHOOTING 6 1 Problems Causes and Solutions This section covers symptoms probable causes and solutions related to Ndrive HL operation Table 6 1 lists the most common symptoms of irregular operation and the possible causes and solutions for these faults More information can be found in the Nview HMI help Before performing the tests described in Table 6 1 be aware of lethal voltages inside the controller and at the input and output power connections A qualified service DANGER technician or electrician should perform these tests Table 6 1 Amplifier Faults Causes and Solutions Symptom Possible Cause and Solution Encoder sine and cosine signals are improperly Motor spins uncontrollably connected See Section 2 5 for motor phasing information Motor phases A B and C connected incorrectly relative to Hall A Hall B and Hall C inputs See Section 2 5 for motor phasing information Amplifier faults ENABLE Bus over
47. FIGURATION 2 1 2 1 Safety Procedures and Warnings 2 1 2 2 Power Connections 2 2 2 2 1 Control Power Connections AUXPWAR 2 2 2 2 2 Motor Power Connections 2 3 2 2 3 Motor Connections TB101 2 4 2 2 4 I O and Signal Wiring Requirements 2 4 2 3 Emergency Stop Sense Input TB201 2 5 2 3 1 Typical ESTOP Interface 2 6 2 4 Motor and Feedback Connections 2 2 4 1 DC Brush Motor in Torque Mode Configuration 2 7 2 4 2 DC Brush Motor with Tachometer Feedback ere yiis uIrsiio 2 8 2 4 3 Brushless Motor Configuration 2 9 2 4 4 Stepper Motor Configuration 2 14 2 5 Encoder Feedback Connections 2 15 2 5 1 Encoder Phasing 2 16 2 6 End of Travel EOT Limit Input Connections 2 17 2 6 1 End of Travel EOT Limit Phasing 2 17 2 7 Communication Channel Settings 2 18 2 8 Connect
48. I Green White implies a single wire Motor Frame Green amp White amp Shield 4 no connection PRE DC Brush connection Red amp Orange Motor cti i verdad Yellow amp Blue y 3 n z INdLNO YOLOW A B Motor Frame i Tachometer d 4 s 3 Or cable shield and motor frame to mating connector housing Consult the drawing located on your software CD ROM for specific cable information Figure 2 6 DC Brush Motor Wiring with Tachometer 2 8 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Installation and Configuration 2 4 3 Brushless Motor Configuration This mode is used with a brushless motor only See section 2 5 if Aerotech s standard cabling is not used for information on correctly phasing the motor encoder and Hall feedback devices Consult the drawing located on your software CD ROM for specific cable information AC Brushless Motor Frame Green Yellow amp Shield FI 2 no connection typical LNdLNO YOLOW Wire Color Set 1 Wire Color Set 2 Wire Color Set 3 Wire Color Set 4 Green Yellow amp Shield Green Yellow amp Shield Green Yellow amp Shield Green Yellow amp Shield Blue amp Yellow Black 1 Black amp Brown B x Re
49. JP1 1 2 Channel 1 Default 2 3 Channel 1 JP2 1 2 Channel 2 Default 2 3 Channel 2 www aerotech com 4 23 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options Ndrive HL User s Manual Table 4 22 Resolver Test Points Figure 4 21 Resolver Option Assembly 69001599 Rev 0 Table 4 23 External Power Pin Assignment J403 Pins Label Description inui M2VDC 12 Volts DC 2 2Volis DC Signal Common 4 4 1 Resolver Inductosyn Setup There are three fundamental steps of configuring the RDP option board e Configuring the Resolver Hardware e Configuring the Resolver s Analog Feedback Signals e Configuring the Commutation Parameters 4 24 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Options 4 4 1 1 Configuring the Hardware There is a limited amount of hardware configuration capability on the RDP option board most capability must be ordered as a factory option These features include carrier frequency and the number of R D converter channels 1 or 2 There are two jumpers located on the RDP board These are used to select the reference signal for the converter chip i e SIN vs COS Jumper JP1 selects the reference for channel 1 and jumper JP2 selects the reference for channel 2 NOTE Typically these
50. L before the standalone mode is activated To enter the normal A3200 operating mode power down the drive and set DIP switches 6 and 7 to the ON position Once the parameters are correctly configured to run the motor with the A3200 and verified they can then be saved to the flash memory This initial setup should only need to be performed once for a given system type If the parameter settings for a given axis in the system have already been verified then on all future systems the A3200 software can be used to load the parameters for that axis into the Ndrive HL HP so that they can be saved to the flash memory on that drive Re configuration should only need to be done for a different system or if it is expected that some other system parameter may have changed 3 6 2 Saving Parameters to the Flash Memory on the Drive Open the Ndebug exe utility and select the axis by typing AX n where n is the 1 based axis number of the axis you wish to select Save the parameters to flash memory by typing FLASHWRITE 1 0 0 This will save the current system configuration into the flash memory on the Ndrive HL To enter the voltage to current mode power down the Ndrive and set DIP switches 6 and 7 to the OFF position When the unit is powered on again it will auto boot into the voltage to current mode 3 24 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Nd
51. PSO capabilities or Figure 3 4 and Figure 3 5 for a more detailed block diagram of the multi axis capabilities that also apply to single axis firing The output may be either an open collector output dedicated PSO output or user output 11 or a differential RS 422 output The opto isolated output is available in three different configurations as shown in Table 3 10 Additionally the PSO options provide Data Capture and Data Update capabilities also shown in Figure 3 4 and Figure 3 5 For programming information refer to the Nview HMI Help Table 3 9 PSO Encoder Signal Sources and Pre Scaling Methods Encoder Signal Max Data Rate Encoder Input Encoder Output Source w o pre scalar pre scalar pre scalar PSOTRACK CfgFbkEncQuadDivider axis Primary Encoder 32 MHz parameter MXH only Secondary 32 MHz PSOTRACK None Encoder Command SSI Net Ports 1 PSOTRACK CfgFbkEncMxhSetup axis 20 MHz and 2 Command parameter Table 3 10 PSO Output Sources Maximum Standard or Requires User High Speed Opto Isolator J301 Table 4 13 IOPSO option Opto Isolated Output 11 J205 Standard RS 422 Marker output on Sec Encoder J205 The pre scalar in the block diagram is used to normalize the resolution of axes with different machine step sizes or to scale down divide the maximum input frequency to the PSO tracking hardware The PSO hardware operates in machine counts so all axes must be scaled or normalized to like units T
52. SOURCE wv vw artisantg com 4 rtisan Artisan Technology Group is your source for quality new and certified used pre owned equipment FASTSHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF Instral e REMOTE INSPECTION LOOKING FOR MORE INFORMATION qii Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com Z information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED Contact us 888 88 SOURCE sales artisantg com www artisantg com
53. Unit CntsPerRotaryUnit axis parameter This required phasing is determined by which motor lead 1s connected to the OA OB and OC motor terminals Motor phasing is unrelated to the direction of motion commanded from within a motion program After correctly phasing the motor you may reverse the motor direction when commanding a positive move from a motion program by negating the sign of the CntsPerMetricUnit CntsPerEnglishUnit CntsPerRotaryUnit axis parameter Motor phasing may be determined by two methods The first of which is by actively driving the motor open loop under program control The A3200 Programs Samples MsetDebug Pgm may be used for this purpose The motor phasing is correct when the program causes the motor to move In a positive direction as defined in Figure 2 13 Swapping any two motor lead connections will correct a reversed motor rotation The second method is a non powered method whereby the motor is disconnected from the controller and connected in the test configuration as defined in Figure 2 10 This will identify motor and Hall signal leads A B and C These sequences and the generated output motor phase voltages motor output connections A B and C are shown in Figure 2 10 The voltages generated are made by moving the motor forcer by hand in a positive CW motion direction www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s
54. X A GLOSSARY of A 1 APPENDIX B WARRANTY and FIELD SERVICE B 1 APPENDIX C MANUAL UPDATES C 1 B 1 MAING E H C 1 B 2 Archive Changos as uoi Senda onia C 2 INDE e Index 1 READER S COMMENT S Comment 1 V V V www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual LIST OF FIGURES Figure 1 1 Ndrive HL Networked Digital Drive 1 1 Figure 1 2 Ndrive HL Hardware 1 3 Figure 1 3 Ndrive HL Functional Diagram 1 4 Figure 1 4 Ndrive HL Dimensions 1 9 Figure 2 1 AUXPWR Option a 2 2 Figure 2 2 Motor Power Connections 2 3 Figure 2 3 ESTOP Sense Input TB201 2 5 Figure 2 4 Typical Emergency Stop Circuit 2 6 Figure 2 5 DC Brush Motor in Torque Mode Configuration
55. a the CfgFbkEncQuadDivider axis parameter 4 Absolute maximum input frequency limited to 200 kHz due to 1 25 MHz sample rate lesser limit applies only when signals are output via the SSI Net 3 18 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details 1OUF 6 3V IOUF 6 3V 207 6 Marker gt Figure 3 10 Optional MXH Analog Encoder Interface J207 www aerotech com 3 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual 3 4 RS 232 RS 422 Port J206 Note that the RS 232C and RS 422 factory option ports may not be used simultaneously as they are one physical port converted to each Interface by the appropriate line driver recetver as shown In Figure 3 11 Connecting the RS 232 port to a user s PC requires only a standard 9 pin RS 232C interconnection cable not a null modem Currently the RS 232C port serves only as a secondary means to upgrade the firmware in the Ndrive HL which is done primarily through the FireWire port Table 3 18 J206 RS 232 RS 422 Connector Pin Assignment Pin Label Description In OutBL 2 RS232TXD RS232TransmitOuput Output 3 RS232RXD RS232Receveinut Input 4 RS422TXD RS422TransmitOutut Output
56. ain 1394 OHCI FireWire Card Figure 2 17 Recommended Star Daisy Chain Configuration www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 19 Installation and Configuration Ndrive HL User s Manual Ndrive HL J203 to Ndrive HL J203 i ge u i D m 3 E E m Ndrive HL J201 to Npaq A3200 Controller to J203 Ndrive HL A3200 ene SS eee Up to 16 units MAX in a branch Figure 2 18 FireWire Daisy Chain Before connecting any device to the FireWire bus the device should be powered up and tested independently to prevent damaging interconnected drives WARNING Ndrive HLs CPs HPs MPs Nservos Nsteps and Npaqs should always have their FireWire cables connected in a star configuration to minimize the FireWire cable lengths see Figure 2 17 2 9 PC Configuration and Operation Information The Getting Started Guide PN EDU175 included with the Nmotion SMCs software package provides a quick start guide with basic information The Nview help included with the software provides additional information for configuring the Ndrive HL to the PC as well as information on hardware requirements getting started utilities and system operation and on using the Nview HMI user application 2 20 www aerotech com Artisan Technology Group Quality In
57. al lines this will ease location of a maximum See Figure 4 23 below for an example Adjust the CfgFbkRDCosPhase axis parameter until you locate a local maximum This can be done through the Ndebug exe utility When the maximum has been found rotate the motor in a complete circle to ensure you see a circle If not the P1 amplitude potentiometer on the pre amplifier board 1f present may need adjusted Encoder Feedback Configuration edm xl Plot Trigger Graph Options Tools Move Tuning Help Sine 50 e Offset 128 50 ese Offset 128 mes 128 Tune Save Enable 2 Data Collect Stop Collect Start Motion Stop Matian Flt amp ck Collecting Status Fault 5ine 259 Peak To Peak 13 Cosine 245 PeakToFeak 2 3 Offset Radius Error 0 AMS 65536 E 49152 ol E Cosine 7 ei 16384 den 0 id D 15384 Sine Z 43152 65536 8 4 F Figure 4 23 Resolver Located at Maximum of SIN Signal www aerotech com 4 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options 4 28 Task 3 Ndrive HL User s Manual Encoder Feedback Configuration E Oo xl Plot Trigger Graph Options Tools Move Tuning Help Sine Gain 50 e Difset 128 50 ese Offset 128 mee 128 e Tune Save Enable 2 Data Callect Stop Collect Start Motion Stop Motion Flt amp ck Collecting
58. and 20 of J205 see Section 3 1 may be opto isolated by the user and software configured as the PSO output via the EncoderDivider axis parameter and the PSOCONTROL command see the Nview help for more information See Section 3 2 for more information on the PSO option See Table 3 2 for the mating connector part number Table 3 4 User Outputs Pin Assignment on Connector J205 Pin Label Description I OutBi _ 8 Ouwo jOupt9 Output 9 foutto jOupuiO Output 5 Volt 5 Volt 500mA max Output Output Common CRIMEN 16 Out 11 Output 11 optional PSO Laser Firing Output Output Common 5 Volt Common 5 Volt User Supply Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse 5V J205 16 OUTPUT_11 PS0_0UTPUT 390 205 9 OUTPUT 10 eae OUTPUT 9 590 J205 7 OUTPUT 8 4205 15 EXT OUTCOM m PS2802 4 Figure 3 2 User Outputs J205 3 4 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details 3 1 3 User Inputs 8 11 J205 All inputs Figure 3 3 including the high speed inputs are scaled for an input voltage of 5 24 volts DC A higher input voltage requires adding external series resistors to limit the current to 20 milliamps Figure 4 10 and Figure 4 11 illustrate how to
59. andard package includes the bus power supply that operates from standard AC line voltage 100 115 208 230 factory configured The power supply is included with the standard package for off line operation without the need for an isolation transformer Figure 1 3 is a functional diagram including options In addition a soft start circuit 1s included to prevent high inrush currents 85 250 VAC JAL2 Motor AC1 AC HI E Bus Over Power Module m AC3 3P Opt i Supply L Supply masa Opto Isolation Short Circuit Under l I i Bi directional a O ae saiscazxcccoo iX X 1J301 Eneoder 4 Outputs J205 scene PC 5 chard 7 6 In uts P r Optional IOPSO IOPSOH Option _ _ 8 IM TB305 oro d H T8304 I I RS422 i P50 I MXH J207 Om LZ best Primary ed Collector DIA Bs TB301 cle J207 7 J202 FireWire RS 232 RS 422 Ap TB302 6 p Loa A secondary 85 250 VAC connection is necessary if the DC Hd bus power is required to operate below 120 VDC AC input below 85 VAC 4205 3 Figure 1 3 Ndrive HL Functional Diagram 1 4 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual 1 4 Ordering Information The Ndrive HL 15 available in three
60. andwheel may be connected to J205 of the Ndrive HL as shown in Figure 5 6 below or the I O available on the IOPSO option shown in subsequent Figures 10 FT OR AR LENGTH Ndrive HL J205 HANDWHEEL 5V oe SUMTAK SIN LGF 043 100 SIN N A n ECZ00201 100 LINES REV COS N cos ECX00570 CABLE 8 COND 24 SHIELDED 26 PIN HD MALE K86 AA 26P ECK01259 BACKSHELL 17 1725 2 ECK01022 SEE NOTE 3 FOR CONNECTOR VIEW TERMINAL 52949 AMP EIK00234 TYP 6 PLS ADD BRADY WIRE MARKERS TO TERMINALS HWA32 26HD XX A R Figure 5 6 1 INSTALL LABEL TO BACK OF HANDWHEEL HWA32 26HD XX 630B1983 2 REV S N XXXXXX TYPE 4 MIA424 XX CABLE LENGTH IN DECIMETERS lt XXXXXX WORK ORDER NUMBER 2 CABLE LENGTH CAUTION CABLE LENGTHS XX ARE IN DECIMETERS EXAMPLE HWA32 26HD 30 30 30 DECIMETERS 3 METERS 10FT 3 CONNECTOR VIEW FROM SOLDER SIDE Ndrive HL HANDWHEEL HWA32 26HD XX 630B1983 2 630B1983 201 DWG HWA32 26HD XX Handwheel Interconnection to J205 of the Ndrive HL A handwheel with flying leads no connector may also be connected to the Ndrive HL via the Aerotech BBA32 to J205 per the next two drawings www aerotech com 5 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Accessories 10 FT AR LENGTH TO Ndrive HL J205 VIA HANDWHEEL BBA32
61. annel 600 mWatts Channel Maximum Voltage 40 Volt Maximum 24 Volt Maximum Maximum Sink Source Current 80 mAmps Channel 1 Amperes Channel Output Saturation Voltage 0 7 0 9 Volts 0 32 Volts Rise Fall Time 250 usec typical 1 msec typical Maximum Output Frequency 100 Hz OPTO OUT V 78304 1 80mA Diode required for an inductive load OPTO OUTPUT O OUTV Power Supply 24 Volts DC Figure 4 10 Connecting Outputs in Current Sinking Mode OPTO OUT V 1K 4 OUTPUT 0 E Diode required for an inductive load 80mA T PS2802 4 7 i OPTO OUT V T5301 Power Supply 24 Volts DC Figure 4 11 Connecting Outputs in Current Sourcing Mode www aerotech com 4 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options Ndrive HL User s Manual Suppression diodes must be Installed on outputs that are used to drive relays or other inductive devices to protect the output devices from being damaged by the inductive spikes that occur when the device is turned off Suppressor diodes can be installed on all outputs to provide greater protection The 1N914 diode is recommended for this application It is important that the diode be installed correctly normally reversed biased See Figure 4 10 for an example of a current sinking output with diode suppression and Figure 4 11 for an example of a current sourcing output with diode su
62. as of this manual s release The most recent Dwg files and a viewer may be found on your software CD ROM TO ECX00570 TO Idrive HL 8 COND 24 Y JOYSTICK J205 LENGTH A R SEE NOTE 2 CONNECTOR SHIELDING 5V 5V T INCOM 24 XT_IN2 S2 WRAP 6 COPPER FOIL 281 ALOG 1 XPOT OVER GROMMET SHIELD amp DRAIN WIRE COM 5 GROMMET SUPPLIED IALOG_IN 1 COM W BACKSHELL AGND 2 XT IN1 S1 XT IN3 INTERLOCK SHIELD FOLD BACK FOIL SHIELD SUCH THAT THE SILVER PART IS OUTSIDE 26 HD MALE K86 AA 26P ECK01259 15 LINE FEMALE D FOLD BACK amp TWIST BACKSHELL 17 1725 2 ECK01022 745493 2 ECK00783 ZEE TO BIN a SEE NOTE 3 FOR CONNECTOR VIEW BACKSHELL 17 1725 2 ECK01022 amp COVER IF REQUIRED JACKSOCKETS 207719 3 ECK00129 CABLE LENGTH Ndrive HL J oystick EXAMPLE C1979230 30 30 DECIMETERS 3 METERS 10FT Extension Cable JSXT 26HD XX owex 630B1979 2 630B1979 201 DWG CONNECTOR VIEW FROM SOLDER SIDE Figure 5 2 Single Axis Joystick Interface to J205 of the Ndrive HL 5 6 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Accessorles NOTES Ndrive HP JOYSTICK INTERFACE 1 USING C19792 XX CABLE WILL ONLY PROVIDE 1 AXIS OF SLEWING REQUIRES Ndrive HP TO HAVE REV A CONTROL BOARD 2 THE Jl JOYSTICK MUST BE USED WITH THE Ndrive HL JBV OR JP4 JOYSTICK VERSIONS ARE
63. ation Guaranteed 888 88 SOURCE www artisantg com Options Example 3 RLYV23026SMT 4 8 Ndrive HL User s Manual Figure 4 8 is a suppression circuit that can be used for both AC and DC circuits In this method a resistor capacitor and a varistor are used across the load see Figure 4 8 In some cases better results are obtained by installing the suppression devices across the relay contacts The ratings and values for these components are described below Resistor R calculated by the following formula Power rating Watt Resistor ohms Voltage Load current If the Resistor is less than 24 ohms use 24 ohm resistor If the Resistor 1s greater than 240 ohms use 240 ohm resistor If the resistance of the Resistor is too low the relay contacts may fuse together If the resistance of the Resistor is too high the contacts may be damaged due to excessive arching Capacitor C 1 uF rated for AC circuits and a voltage rating of not less than 250 Volts If the voltage rating of the capacitor is too low the Varistor may not be able to protect it and it may fail Varistor V Rated for the maximum voltage of the users power supply Typically a varistor rated for a standard 120 VAC line should work well Verify that the capacitor voltage rating is greater than the clamp voltage of the varistor If the voltage rating of the varistor is too low it may conduct during normal operation and overheat If the
64. ator reading on a spherical ball positioned 50 mm above the tabletop and centered on the axis of rotation A centerline about which rotation occurs The voltage generated when a permanent magnet motor is rotated This voltage is proportional to motor speed and is present whether or not the motor windings are energized A component of bidirectional responsiveness of the system command repeatability it is the non load to reversal of input A precision device for translating rotary motion into linear motion A lead screw is a low cost lower performance device performing the same function Unit consists of an externally threaded screw and an internally threaded ball nut The linear distance a carriage will travel for one revolution of the ball screw lead screw A measurement expressed in frequency hertz of the range which an amplifier or motor can respond to an input command from DC to 3dB on a frequency sweep The number of bits transmitted per second on a serial communication channel such as RS 232 or modem Glossary of Terms Glossary of Terms BCD Bearing Bidirectional Repeatability CAM Profile Cantilevered Load Closed Loop CNC Coefficient of Friction Cogging Commutation Commutation 6 Step Commutation Modified 6 Step Commutation Sinusoidal A 2 A technique used Ndrive HL User s Manual Binary Coded Decimal A number system using four bits to represent 0 F 15 A sup
65. auses the thermistor s resistance to increase above IK ohms the signal will be seen as a logic high triggering an over temperature fault l MOTOR FEEDBACK See Table 3 12 for the mating connector part number Table 3 14 Hall Effect Inputs Pin Assignment on Connector J207 Pind Label Description InOutlBi Motor over temperature Thermistor 5 Volt 5 Volt Power for Encoder 500mA max Output Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse 10K 10K C 3207 5 E 74ACT14 74ACT14 7207 1 D 2 74ACT14 Figure 3 8 Hall Effect and Thermistor Inputs J207 3 14 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details 3 3 3 Brake Output The brake output provides a direct connection to the brake the relay on the optional IOPSO board The brake output will be present on this connector only when the IOPSO option board is present allowing the brake signal to utilize the existing feedback cable without the need for additional wiring See Section 4 1 3 in Chapter 4 for more hardware information on the brake output The brake output may be automatically controlled via the drive when activated via the BrakeOnDriveDisable axis parameter or manually toggled via the BRAKE command see the NView help for more information Se
66. available LIMIT via the Nmotion SMC and its utilities FAULT POS ERR ENABLE Table 6 11 LED Indicator Description KERNEL Label ACTIVE POWER RMS motor current has exceeded the ThresholdAvglAmp axis parameter CLMT Current is clamped at the value determined by the ThresholdClamplAmp axis parameter INPOS ACTV Reset indicator Active Axis is enabled Ndrive HL has control power www aerotech com 6 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Troubleshooting Ndrive HL User s Manual 6 7 JTAG Programming Connector This connector is for Aerotech internal use only Table 6 12 JTAG Programming Connector Internal P10 Pinf Label Description IwOutB Pe Key Position No Connection 11 3 3 Volt Standard 5 Volt Optional 6 10 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Troubleshooting 6 8 Fuse Battery Replacement Table 6 14 lists the manufacturer and Aerotech s part number for typical replacement fuses Additional fuse information can be found on the system drawing supplied with the unit Always disconnect the mains power connection before opening the Ndrive HL chassis DANGER Table 6 13 Ndrive HL Power Supply Board Fuse Information 690D1588 Fuse Description Third Party P N Aerotech
67. ble 3 6 High Speed User Inputs Pin Assignment on Connector J205 Pin Label Description OutBi 6 In13 Input 13 High Speed Opto user interrupt 21 Common 5V Common s5VotUserSupp _ 24 incom mptCommn id Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse 3 1 5 Analog Input 0 J205 The analog inputs accept a signal within the range of 10 through 10 volts DC Signals outside this range may damage the input For analog input technical information see Section 4 1 4 Table 3 7 Auxiliary Connector Pin Assignment J205 Pin Label Description W OutBi Analog 0 In Analog Input 0 Differential Analog 0 In Analog Input 0 Differential Analog Common Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse 3 1 6 Analog Output 0 J205 The analog output may be programmed to output a signal within the range of 10 through 10 volts DC For analog output technical Information see Section 4 1 2 See Table 3 2 for the mating connector part number Table 3 8 Auxiliary I O Connector Pin Assignment J205 Pinf Label Description In Out Bi Analog 0 Out Analog Output 0 Output Analog Common e Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse 3 6 www aerotech com Artisan Technology Group Qual
68. by the relay instead of the supply common www aerotech com 4 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options Ndrive HL User s Manual 4 6 Figure 4 6 is an example of a 24 VDC Brake connected to the Motor Feedback connector J207 In this example the external 24 VDC power source is connected to TB301 Also note that JP1 A is set 1 2 and JP1 B is set 3 4 RELAY NC RELAY COMMON ENS RELAY NO vA 2 BRAKE 3 207 25 s VARISTOR Za AEROTECH PN ECR180 BRAKE 7757 13 Harris PN V33ZA1 Figure 4 6 Brake Connected to J207 The user is responsible for providing fuse protection for the Brake circuit The user may reconfigure the connections for the brake such that the positive supply lead is switched by the relay instead of the supply common www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Step Z3 Suppression and Snubber Requirements Due to the inductive effects of the brake suppression and or snubber components are needed to reduce arching and prevent damage to the Brake Relay contacts Suppression can also reduce the electrical noise that is emitted when the circuit is switched off Following are three suppression circuit examples Example 1 Example 2 Figure 4 5 is an example of a typical 24 VDC bra
69. ck Flatness of travel Force Continuous www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Multi axis motion where the position of each axis is dependent on the other axis such that the path and velocity of a move can be accurately controlled Drawing a circle requires coordinated motion A term used in the specification of a lead screw or ball screw indicating the maximum rotation speed before resonance occurs This speed limit is a function of the screw diameter distance between support bearings and bearing rigidity Motor driver or amplifier configuration where the input signal is commanding motor current directly which translates to motor torque force at the motor output Brushless motors can be commutated directly from a controller that can output current phase A and B commands An allowable current to run a motor above its rated load usually during starting conditions Peak current listed on a data sheet is usually the highest current safely allowed to the motor Root Mean Square Average of effective currents over an amount of time This current is calculated based on the load and duty cycle of the application When motion is repeated move and dwell such as repetitive back and forth motion A servomotor with stationary windings in the stator assembly and permanent magnet rotor See AC Brushless Servo The change in velocity as a function o
70. coder with x H X Hall Mkr N H 7 Analog Sine Wave Encoder 5V Encoder with Encoder Com 21 Multiplier Chassis Frame s econdary Encoder Channel Optional Secondary Feedback Sin Sin N Cos Cos N Line Driver Encoder Or Analog Sine Wave Mkr Mkr N HN with MXH W Car Multiplier Chassis Frame J For full cable drawings refer to your software CD ROM Figure 2 12 Encoder Feedback Connections www aerotech com 2 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation and Configuration Ndrive HL User s Manual 2 5 1 Encoder Phasing Figure 2 13 illustrates the required encoder phasing for clockwise motor rotation or positive forcer movement through the stationary magnet track If the motor is not visible or maybe not be manually moved by hand it maybe actively driven open loop under program control via the A3200 Programs Samples WMsetDebug Pgm This program will move the motor in a positive direction allowing the position of the encoder to be monitored in the Nstat exe utility program It will be displayed on the main Diagnostics tab as the Pos Fdbk item as shown in Figure 2 14 The program should cause the encoder to produce a more positive position value as the program executes If it indicates a more negative value swap the connections to the controllers SIN and the SIN N encod
71. connect to an output in current sourcing and sinking current modes respectively Inputs 8 10 may also be used as CW CCW and Home EOT limit inputs respectively by setting bit 22 of the DrivelOConfig axis parameter See Table 3 2 for the mating connector part number Table 3 5 User Inputs Pin Assignment on Connector J205 Pins Label Description mOwBi 21 Common 5 Volt Common 5 Vot User Supp 24 incom Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse EXT INCOM 1205 24 INPUT 11 W205 26 NE 10k mE S 10k INPUT_10 4205 25 INPUT_9 205182 INPUT_8 4205 17 10k 5V INPUT_12_OPTO 4205 53 170 5V INPUT 12 OPTO GAED 270 INPUT 13 OPTO GED 270 V 74ACT14 270 INPUT 13 OPTO 4202 67 Figure 3 3 www aerotech com All User Inputs 8 13 J205 3 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual 3 1 4 High Speed User Inputs 12 13 J205 All inputs Figure 3 3 including the high speed inputs are scaled for an input voltage of 5 24 volts DC A higher input voltage requires adding external series resistors to limit the current to 20 milliamps The high speed inputs inputs 12 and 13 have a delay of 50 nanoseconds typical See Table 3 2 for the mating connector part number Ta
72. cription ImOuBi 6 Common 5 Volt External 8 _ Absolute Sine Input Absolute Encoder Interface Input 9 _ Absolute Cosine Input Absolute Encoder Interface impt Users should use the opto isolated output where possible to maintain the isolation between the Ndrive HL and the laser This prevents noise and current spikes from laser firing pulses from being conducted through the Ndrive HL This requires the user to power the opto isolator at TB303 see Section 4 1 5 for more information Table 4 13 PSO Absolute Encoder Mating Connector J301 15 Pin D Style Third Party Source ECK00100 Keltron P N DN 15PYSH G Back shell ECK01022 Amphenol P N 17 1725 2 4 14 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Table 4 14 Laser Output Opto Isolator Specifications M12 Device Option Nominal Propagation Power Supply Output Figure 4 15 Frequency Delay Typ Voltage Current Sink HCPL 2601 6N136 PSOOPTOC2 option TOU RAZ 5 15 VDC 4N33 option IURE 5 25 VDC TIL117 M 25 VD A 1 9 ABS SIN 10K 1K 10K 100PF 3 AD822 100PF ABS SIN 1K 10K SPF 717107 5 05 10K 1K 10K 100PF w 0822 100PF 7112177 ABS COS 1 10K Figure 4 14 Absolute Encoder Interface J301 www aerotech com Options 4 15 Arti
73. d Red amp Orange Black 2 Red amp Orange White amp Brown Black 3 Violet amp Blue NOTES amp Red amp Orange implies two wires 1 Green White implies a single wire Figure 2 7 Brushless Motor Configuration www aerotech com 2 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation and Configuration Forcer Wires 2 10 Clockwise positive Motor Mounting shaft Flange front Positive Move clockwise Ndrive HL User s Manual 2 4 3 1 Brushless Motor Phasing When configuring the Ndrive HL to run a non Aerotech brushless motor the motor leads A B and C on TB101 must be correctly connected for proper operation If an Aerotech motor is used with Aerotech provided cabling no motor phasing process is required If an Aerotech brushless motor is used with the Ndrive HL motor phase and HALL connections can be easily determined by referring to the system interconnection drawing in Figure 2 7 Be sure to configure all axes with the Nparam exe utility before running the A3200 Programs Samples MsetDebug Pgm See the Getting Started section in the Nview help for configuration information An AC brushless motor is correctly phased when a positive motion command causes clockwise CW motor rotation as viewed looking at the motor from the front mounting flange This assumes positive CntsPerMetricUnit CntsPerEnglish
74. d as a general purpose relay See the BrakeOnDriveDisable axis parameter for information on activating the brake output automatically or the BRAKE command for manually toggling the output both in the Nview HMI help In order to help the user to interface to the brake relay the remainder of this section will be presented as a step by step procedure Step 1 Brake Relay Specifications The user must verify that the application will be within the specifications of the Brake Relay contacts These specifications are provided below in Table 4 4 Table 4 4 Voltage and Current Specifications TB301 Relay K1 Contact Ratings Maximum Switched Voltage 150 VDC 125 VAC Maximum Switched Current RCS The user must not exceed the maximum Current or maximum Power specifications Step 2 Select Brake Interface Connector The Normally Open N O contacts of the Brake Relay are accessible through TB301 and the Motor Feedback connector J207 The Normally Closed contact of the Brake Relay is only accessible through TB301 see Figure 4 5 The Motor Feedback connector J207 allows the brake wires to be included in the motor feedback cable and eliminate the need for a separate brake cable The Brake Relay connections to TB301 are listed in Table 4 5 and the Brake Relay connections to the Motor Feedback connector J207 are listed in Table 4 6 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www ar
75. de 4 11 Output Current Peak 1 5 P P10 6 8 Part Numbers FireWire Card and Cables 2 20 Phase Hall Sequence 2 12 Pinouts Analog Output Connector 4 3 Brake Relay Connector 4 5 Optional Analog Input Connector 4 9 Opto Isolated Input Connector 4 12 PSO Absolute Encoder Interface J301 4 14 SSINet J302 J303 4 17 User Power Connector 4 10 Power 1 5 Power Board 6 4 Assembly 6 4 Bus Voltage Jumper Selections 6 5 Jumpers 6 6 Line Voltage Jumper Selections 6 5 Power Board Assembly 6 5 Power Board Jumper Locations 6 5 Power Board Options AUXPWR Auxiliary Power 1 5 Power Connections 1 3 2 2 Preventative Maintenance 6 10 Product Overview 1 2 PSO Absolute Encoder Interface J301 4 14 PSO Absolute Encoder Interface J301 Pinouts 4 14 PSO Connection 1 3 PSOOPTOI1 1 5 4 15 PSOOPTO2 1 5 4 15 1 5 4 15 PSOOPTOA 4 15 www aerotech com Index R Relay K1 Contact Ratings 4 4 RS 232 Connector 1 3 RS 232 RS 422 3 21 Connector Pinouts 3 21 S S2 Switch Settings 2 19 Safety Procedures 2 1 Shield Connection 2 3 2 4 Soft Start Circuit 1 4 SSINet J302 J303 Pinouts 4 17 Standard Encoder Input 3 16 Standard Package 1 4 Stepper Motor Configuration 2 7 2 14 Switch S2 2 19 T Tachometer connection 2 8 TB101 2 2 ALI 2 2 AL2 2 2 Ground 2 2 Optional AC Power Supply Input 2 2 TB102 2 3 TB301 4 3 TB301 Brake Relay Current Specif
76. der 4 Aux Inputs 2 High Speed Inputs 32 Bit Counter from Analog Input 1 General Purpose Inputs 32 Bit Counter from any any Window Source Window Source Switching Switching H x ared FIFO 255 Capture Capture Update Window 1 Window 2 Analog Output 1 4 Aux Outputs Analog Output 1 Aux 1 and 2 Outputs Analog Output 2 8 General Purpose Outputs Analog Output 2 8 General Purpose Ouputs 1 4 Analog Output 1 Analog Input 2 4 Auxiliary Outputs 8 General Purpose Outputs General Purpose Auxiliary 1 and 2 Outputs Outputs 1 4 Figure 3 5 Data Capture Data Update Modes 3 10 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details 3 2 1 Single Axis Laser Firing single axis firing requires no additional encoder signals and is capable of tracking the axis position at up to a 20 MHz tracking rate 50 nsec minimum edge separation It may be programmed to fire from any available encoder source see Table 3 9 Single axis firing provides one feature not present with the multi axes firing option it allows for directional based firing This means that you may program a firing distances for the positive and negative motion separately Single axis window firing and Capture Update modes may be used with single axis firing limited only by the use of the Windows internal sha
77. e provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs and the prevailing labor cost including travel time necessary to complete the repair Aerotech Inc Phone 412 963 7470 101 Zeta Drive Fax 412 963 7459 Pittsburgh PA 15238 2897 V V V www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Manual Updates APPENDIX MANUAL UPDATES C 1 Current Changes Sections Updated Affected Removed MXU option Al 1 08 Updated motor wiring color codes Section 2 4 Added IOPSOH option Section 4 1 Updated PSO schematic Figure 4 15 Updated Interconnection Cable Part Numbers Table 5 1 1 08b Updated Analog Input schematic and Text Figure 4 9 and Page 4 9 www aerotech com C 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Manual Updates Ndrive HL User s Manual C 2 Archive of Changes Added notes to Brake section All changes made for Version 1 5 were typographic only Power board Fuse Value F1 and F2 C 2 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual INDEX lt lt 70 VAC AC Bus Input Power 2 2 1 10 100BASE T Ethernet 1 5 4 22 4 4N33 4 15 6 6N136 4 15 A AC Power Connections 2
78. e Table 3 12 for the mating connector part number Table 3 15 Brake Output Pin Assignment on ConnectorJ207 Pinf Label Description amp In OutlBi Optional Brake Relay Output Output Optional Brake Relay Output Output 3 3 4 Encoder Interface The three encoder signals consists of the following sine Sin cosine Cos and marker Mkr as well as their complimentary signals sine n Sin N cosine n Cos N and marker n Mkr N The encoder interface accepts an RS 422 differential quadrature signal in the range of 0 to 5 Volts DC in line driver format Section 3 3 4 1 It allows up to an 8 MHz encoder signal 31 nsec minimum edge separation producing 32 million counts per second after times four x4 quadrature decoding The encoder interface may be factory configured to accept an analog signal for the MXH Section 3 3 4 5 See Section 2 5 1 Encoder Phasing for information on interfacing non Aerotech motors See Table 3 12 for the mating connector part number Table 3 16 Motor Feedback Connector Pin Assignment J207 Pin Label Description InoOutBi 5 Volt Power for Encoder 500mA max 6 Mk Encoder Marker Reference Pulse Input _ Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse All external power provided by the Ndrive HL to the user is protected by a re settable semiconductor fuse Should an over cur
79. e axis of rotation Time it takes to accelerate from one velocity to another The maximum allowable travel of a positioning stage Resolver to Digital Converter Electronic component that converts the analog signals from a resolver transmitter type into a digital word representing angular position The maximum deviation from the mean each side when repeatedly approaching a position Unidirectional repeatability refers to the value established by moving toward a position in the same direction Bidirectional repeatability refers to the value established by moving toward a position in the same or opposite direction The smallest change in distance that a device can measure An optical element with the property that an input light beam is reflected and returns along the same angle as the input beam Used with laser interferometers Angular motion of a carriage around an axis parallel to the motion direction and perpendicular to the yaw axis Positioning error resulting from a roll motion www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Rotor RS 232C RS 274 RS 422 Run Out Servo System Settling Time Shaft Radial Load Shaft Run Out Slot less Stator Stiction Straightness of Travel Torque Torque Continuous Torque Peak Torque RMS Torque Stall Total Indicated Reading www aerotech com
80. e front mounting flange This assumes the CntsPerMetricUnit CntsPerEnglishUnit CntsPerRotaryUnit axis parameters are set to a positive value This required phasing is determined solely by which motor lead is connected to the A and C motor terminals Motor phasing is unrelated to the resultant direction of motion commanded from within a motion program After correctly phasing the motor you may reverse the motor direction when commanding a positive move from a motion program by negating the sign of the CntsPerMetricUnit CntsPerEnglishUnit CntsPerRotaryUnit axis parameters motor shaft Motor Mounting Flange front To determine this connect a voltmeter to the motor leads of an un powered motor Rotate the motor by hand clock wise CW Swap the voltmeter connections to the motor until the voltmeter indicates a positive voltage The motor lead now connected to the positive lead of the voltmeter is the motor lead as indicated in the Figure above and should be connected to the QA motor terminal The other motor lead connects to the C motor terminal www aerotech com 2 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation and Configuration Ndrive HL User s Manual 2 4 2 DC Brush Motor with Tachometer Feedback Configuration The DC brush motor configuration is shown in Figure 2 6 See section 2 5 1 for the correct encoder phasing information if Aerotech s sta
81. e the proper connections to the Ndrive HL Be sure to first configure the axis parameters before running the A3200 Programs Samples MsetDebug Pgm See the Getting Started section in the Nview help for configuration information The first of which is by actively driving the motor under program control The A3200 Programs Samples MsetDebug Pgm may be used for this purpose as well as for motor lead phasing The hall signal wiring must be swapped until they generate the sequence as defined in the Nview help which the test program will display After the hall sequence 15 correct the program can then correctly determine if a commutation offset 15 required The test program will indicate the required value of the CfgMotOffsetAng axis parameter to correctly phase the motor The second method is a non powered method whereby the motor is disconnected from the controller and connected in the test configuration as defined in Figure 2 10 This will identify the hall signals and motor leads A B and C The equipment needed for the non powered test is a two channel oscilloscope and three resistors typically 10 K ohm 1 2 watt wired in a Wye configuration Before performing the test in Figure 2 10 ensure that the motor leads are completely disconnected from the amplifier WARNING The tests outlined below do not require that the amplifier be powered since Figure 2 10 illustrates the generated output voltage of the amplifier relative to the i
82. ear forcer Ru 4 Lu 3 2 mH 1 6 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Introduction Table 1 2 Electrical Specifications continued me Tem Modes of Operation Brush Current Torque and tachometer Mode Hall A Pin 10 Hall B Pin 5 Hall C Pin 11 Hall effect device inputs for commutation O to 5 VDC internal pull up 10K input Commutation signals used with brushless motors to provide motor rotation position information to the amplifier This allows Feedback Inputs the amplifier to steer the three phases of the motor currents in such a fashion to provide rotation of the motor in the desired direction at the desired speed TTL level input Sine Sine N Pin 17 Pin 18 Cosine Cosine N Pin 14 Pin 15 Encoder input 0 to 5VDC internal pull up 10K input Power Inputs AC1 AC2 AC input AC1 AC2 earth ground 50 60 Hz single phase 5V Pin 16 On board 5V power supply 250 mA max output Auxiliary Power 5V Pin 3 On board 5V power supply Pin 3 is intended for Outputs AL1 AL2 powering an encoder Ndrive HL can supply up to 500 mA of current total to user devices Output short circuit DC bus over voltage RMS over current Protective Control power supply under Over temperature voltage Power stage bias supply Designed to EN61010 UL3101 under voltage Optical and transformer isolation between control and
83. ecifications TB301 4 4 Table 4 5 Brake Relay Connector Pin Assignment TB301 4 5 Table 4 6 Brake Relay Connector Pin Assignment J207 4 5 Table 4 7 Optional Analog Input Connector Pin Assignmentt TBO 4 9 Table 4 8 User Power Connector Pin Assignment TB303 4 10 Table 4 9 Opto Isolated Output Connector Pin Assignment 2125105 4 10 Table 4 10 Output Specifications 4 11 Table 4 11 Opto Isolated Input Connector Pin Assignment TB305 4 12 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com List of Tables List of Tables viii Table 4 12 Table 4 13 Table 4 14 Table 4 15 Table 4 16 Table 4 17 Table 4 18 Table 4 19 Table 4 20 Table 4 21 Table 4 22 Table 4 23 Table 5 1 Table 5 2 Table 5 3 Table 5 4 Table 6 1 Table 6 2 Table 6 3 Table 6 4 Table 6 5 Table 6 6 Table 6 7 Table 6 8 Table 6 9 Table 6 10 Table 6 11 Table 6 12 Table 6 13 Table 6 14 Table 6 15 Table 6 16 Ndrive HL User s Manual PSO Absolute Encoder Interface Connector Pin Assignment J301 uu UU 4 14 PSO Absolute Encoder Mating Connector J301
84. ed Orthogonality www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Sensors called limits that alert the control electronics that the physical end of travel is being approached and motion should stop A motor consisting of 2 parts typically a moving coil and stationary magnet track When driven with a standard servo amplifier it creates a thrust force along the longitudinal axis of the magnet track The maximum recommended payload that does not degrade the listed specifications for a mechanical stage Type of coordinated motion control where the master axis position is used to generate one or more slave axis position commands Man Machine Interface used as a means of getting operator data into the system See A method of describing a process in terms of velocity time and position The conductive element in a DC brush type motor used to transfer current to the internal windings Type of direct current motor that utilizes electronic commutation rather than brushes to transfer current Specialized motor that allows discrete positioning without feedback Used for non critical low power applications since positional information is easily lost if acceleration or velocity limits are exceeded Numerical Control Automated equipment or process used for contouring or positioning See CNC Also a Normally Closed switch A Normally Open switch
85. ed Outputs TB304 The outputs are software configurable via the DriveIOConfig axis parameter as sourcing or sinking and are driven by a PS2802 4 opto isolator that is rated for 40 volts DC maximum and up to 80 mA channel not to exceed 90 mW per channel Figure 4 10 and Figure 4 11 illustrate how to connect to the output in current sinking and current sourcing modes respectively The connection must always be made to both the Output Common Plus and Output Common Minus connections to prevent glitches on the outputs as shown in the wiring diagrams in Figure 4 10 and Figure 4 11 Table 4 9 Opto Isolated Output Connector Pin Assignment TB304 Pin Label Description amp InOutBi OP Output Common Plus Input 3 Output 0 optically isolated Output I 4 Output1 Output 1 optically isolated Output I 5 Output2 Output 2 optically isolated Output I N 6 Output3 Output 3 optically isolated Output I 8 5 Output 5 optically isolated Output I 9 Output6 Output 6 optically isolated Output S Output 7 Output 7 optically isolated Output N www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Options Table 4 10 Output Specifications TB304 Specification IOPSO Value IOPSOH Value Maximum Power Dissipation 90 mWatts Ch
86. emperature may exceed 75 C in some applications www aerotech com 1 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction 1 10 1 7 Ndrive HL User s Manual Environmental Specifications The environmental specifications for the Ndrive HL are listed below Temperature Operating Storage Humidity Altitude Pollution Use Ambient 5 40 C 41 104 F 20 70 C 4 158 F Maximum relative humidity 1s 8096 for temperatures up to 31 C Decreasing linearly to 5096 relative humidity at 40 C Non condensing Up to 2000 m Pollution degree 2 normally only non conductive pollution Indoor use only www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Installation and Configuration CHAPTER2 INSTALLATION and CONFIGURATION This section covers the hardware configurations using the switches jumpers connectors and power connections when used with a brush or brushless motor Wiring grounding shielding techniques and the motor phasing process are also covered Aside from the obvious requirements of AC input power and motor wiring the only other typical requirement is to define the Ndrive HLs communication channel number via switch S2 see Section 2 7 2 1 Safety Procedures and Warnings The following statements apply whe
87. er To correct the phasing reverse the connections to the 0A and terminals on the Ndrive HL This is important because the end of travel EOT limit inputs are relative to motor rotation After correctly phasing the motor you may reverse the motor direction when commanding a positive move from a motion program by negating the sign of the CntsPerMetricUnit CntsPerEnglishUnit CntsPerRotaryUnit axis parameter 2 14 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Installation and Configuration 2 5 Encoder Feedback Connections One encoder feedback device must be used for all motor types except for stepper motors Each of the two encoder channels in the Ndrive HL accept a differential line driver encoder or with the MXH option the primary encoder channel J207 accepts an analog sine wave encoder DC Brush and brushless motors may have a separate position and a velocity feedback device An analog sine wave encoder may be used with Aerotech s MXH multiplier box to multiply the encoder resolution and simultaneously convert it to a differential line driver encoder signal acceptable by the Ndrive HL Signal shielding is very important and the wiring should be physically isolated from motor AC power and all other power wiring J207 Primary Encoder Channel Primary Feedback Sin Sin N N Line Driver Cos HH N En
88. er inputs or you may invert the sign of the CfgFbkVelMultiplier and CfgFbkPosMultiplier axis parameters However if this axis 1s configured for dual loop two feedback devices one for position and one for velocity feedback invert only the one axis parameter associated with the incorrectly phased feedback device LINEAR MOTOR cos Forcer Wires Positive MOVE COS N d puce Clockwise Id j _ ROTARY MOTOR MKR N J Motor Shaft Positive MOVE Clockwise P Motor Mounting Flange Front View CW Rotation Positive Direction Figure 2 13 Encoder Phasing Reference Diagram Ce n Task Status2 Task Status3 Task Model Strip Chart NLogic Fault Drive Status Axis Status SMC Firewire Drive Info 0000000000000 0000000000000 it 0000000000000 id encoder position 0000 0000 0000 0000 iq Ju COO UUUU UUUU UUUU 0 COO TOOT UU 0000 0000 0000 0000 DigIn 31 16 0000 0000 00000000 0000 0000 0000 00000000 0000 0000 Dig Out 31 16 0000 0000 00000000 0000 0000 0000 0000 0000 0000 0000 Analog In 0 0 00000000 0 00000000 0 00000000 Analoq In 1 0 00000000 0 00000000 0 00000000 Firewire Err HARDWARE Enable Figure 2 14 Encoder and Hall signals in the Nstat exe Utility Program 2 16 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Instal
89. f time For a repetitive cycle the ratio of on time to total cycle time used to determine a motor s RMS current and torque force Time in a cycle at which no motion occurs Used in the calculation of RMS power Ratio of input power vs output power Technique used to electrically simulate mechanical gearing Causes one closed loop axis to be slaved to another open or closed loop axis with a variable ratio Once per revolution signal provided by some incremental encoders to accurately specify a reference point within that revolution Also known as Zero Reference Signal or Index Pulse Measure of the smallest positional change which can be detected by the encoder A 1000 line encoder with a quadrature output will produce 4000 counts per revolution Position encoding device in which the output is a series of pulses relative to the amount of movement Signal that provides process or loop information such as speed torque and position back to the controller to produce a closed loop system Measure of the vertical deviation of a stage as it travels in a horizontal plane The value of force that a particular motor can produce in a continuous stall or running as calculated by the RMS values condition Glossary of Terms Glossary of Terms Force Peak Friction G P I B Gain Grating Period Hall Effect Sensors HED HMI Home Home Switch Hysteresis I O IEEE 488 Incremental Move Inertia Lead Er
90. g Input Connector Pin Assignment TB302 Pin amp Label Description In Out Bi Analog Ground Analog Common AnalogO In Non Inverting Analog Input 0 Analog0 In Inverting Analog Input 0 Analog In Non Inverting Analog Input 1 Analog In Inverting Analog Input 1 ANALOGO IN C J205 13 ANALOGO IN C 4205 14 tm C L 7 18302 1 Use Shielded Cable i Present with See text above the lOPSO t2V option only I ANALOG1 IN CTB302 42 ANALOG1 IN CTB302252 secs eared Figure 4 9 Optional Analog Input Connector TB302 www aerotech com 4 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options 4 10 Ndrive HL User s Manual 4 1 5 User Power Connector TB303 This connector provides access to the Ndrive HL s internal power supply which may be used to power external devices 500 mAmps maximum It also provides a connection to power the opto isolated PSO output see Section 4 1 8 Figure 4 15 Table 4 8 User Power Connector Pin Assignment TB303 Pin Label Description In OutBi 5 User Return User 5 Volt Signal Common 5 User Return User 5 Volt Signal Common User 5 Volt Power Output Power for PSO opto isolated output Common for PSO opto isolated output Total user 5V power from all outputs is limited to 500mA by an internal re settable fuse 4 1 6 Opto Isolat
91. gering hardware with each trigger advancing through the queue to the next trigger value This allows the trigger value to be specified as a series of incremental trigger points if desired The absolute accuracy is excellent although point to point accuracy may vary due to the calculated feedback squared firing distance jumping past the internally squared user programmed firing distance This small error is accumulated and subtracted from the next firing distance maintaining absolute accuracy For example if the user programs a trigger to occur after a vectorial change in position of 5 machine steps Internally this is squared and the axes positions are internally squared and compared to 25 If they are equal to or greater than 25 a trigger event occurs The comparison occurs at an 8 MHz rate 125 nano seconds so should the sum of the square of the axes change in position be equal to 9 during a sample period no trigger occurs However on the next sample the sum of the squares of the axes positions could now be equal to 36 A trigger event would now occur 36 is greater than 25 and the remainder 11 is then stored to be summed with the squared feedback positions during the next sample period The output pulse is also user programmable It may be a single or multiple pulses per trigger event It too 1s generated in hardware and fed from a 255 level queue allowing trigger events to advance through the queue varying the output pulse per
92. gnal 31 nsec minimum edge separation producing 32 million counts per second after times four x4 quadrature decoding The Auxiliary Marker output has a 02 us propagation delay typical when used as the PSO firing output See Table 3 2 for the mating connector part number Table 3 3 Auxiliary Encoder Pin Assignment on Connector J205 Auxiliary Cosine Secondary RS 422 Channel Cosine 5 Volt 5 Volt 500mA max Secondary RS 422 Channel Mrk Auxiliary Marker PSO out Auxiliary Marker nee RS 422 Channel Mrk PSO Common 5 Volt Common 5 Volt User Supply 5V gt Cas 05 C 1205 11 AUXZC0S 708 AUK SING 72057 AUX SIN C 205 j8 y AUX MKR 1202 20 AUX MKR Encoder Fault Detection Figure 3 1 Secondary Encoder Channel J205 www aerotech com 3 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual 3 1 2 User Outputs 8 11 J205 All outputs Figure 3 2 are rated for 40 volts DC and 80 mAmps per channel Power dissipation may not exceed 90 mWatts per channel Figure 4 10 illustrates how to connect to an output in current sinking mode Output 11 shown in Figure 3 2 may be defined as a low speed PSO Laser Firing output however it is only rated for a maximum output frequency of 1 kHz with a typical propagation delay of 250 us The auxiliary marker output on pins 19
93. h service center no C O D or Collect Freight accepted The status of any product returned later than 30 days after the issuance of a return authorization number will be subject to review After Aerotech s examination warranty or out of warranty status will be determined If Returned Product upon Aerotech s examination a warranted defect exists then the product s will be Warranty repaired at no charge and shipped prepaid back to the buyer If the buyer desires an Determination airfreight return the product s will be shipped collect Warranty repairs do not extend the original warranty period After Aerotech s examination the buyer shall be notified of the repair cost At such Returned Product time the buyer must issue a valid purchase order to cover the cost of the repair and Non warranty freight or authorize the product s to be shipped back as is at the buyer s expense Determination Failure to obtain a purchase order number or approval within 30 days of notification will result in the product s being returned as is at the buyer s expense Repair work 1s warranted for 90 days from date of shipment Replacement components are warranted for one year from date of shipment At times the buyer may desire to expedite a repair Regardless of warranty or out of Rush Service warranty status the buyer must issue a valid purchase order to cover the added rush service cost Rush service is subject to Aerotech s approval www ae
94. he alignment of the feedback signals to the reference signal is at its optimum for better performance This signal can also be used to adjust for resolvers that have a large amount of phase lag Typically less than 5 degrees of phase lag is acceptable and does not require use of the COS reference Use of this axis parameter requires that the jumper on the RDP board for this channel JP1 for channel 1 or JP2 for channel 2 be set from 2 3 instead of from 1 2 Also in order for the A D s to sample properly the appropriate bit in the CfgFbkRDConfig axis parameter should be set to 1 bit 0 for channel 1 or bit 1 for channel 2 For most resolvers use of the CfgFbkRDCosPhase axis parameter is not required If this axis parameter is not being used the jumpers should be set to 1 2 and the bits in the CfgFbkRDConfig axis parameter should be set to 0 Skip to the section on adjusting the R D Gain www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Options Adjusting the CfgFbkRDCosPhase axis Parameter After starting the Encoder Feedback Configuration utility make sure the proper axis 1s selected and then start collecting data continuously Set the CfgFbkRDGain axis parameter to 0 to minimize the gain This can be done through the Ndebug exe utility Rotate the resolver or inductosyn until the analog signals are at one of the vertical or horizont
95. her devices Table 3 20 201 J202 J203 FireWire Connector Pin Assignment Pinf Label Descripion W OutBBi FireWire Adapter Power In Out 2 Physical Ground FireWire Common Isolated from Signal N A Common TPB Port Communication Signal Bi directional TPB Port Communication Signal Bi directional 8 Frame ChassisFrame ENA 9 Frame ChassisFrame ENA Port 0 1 and 2 respectively as represented in the table by a Pin 1 of the FireWire connector s J201 J203 the power pin are protected by a re settable semiconductor fuse If an over current condition occurs the device will open to protect against the overload To reset the over current device remove the overload condition 3 22 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details 3 6 Voltage to Current Mode Operation The firmware version 2 06 and later on the Ndrive HL supports a voltage to current mode This mode allows the unit to run in a standalone mode attached to a master position velocity loop controller The standard operating mode of the Ndrive HL uses an OHCI IEEE 1394 connection from a host PC running the Nmotion SMC software motion controller to control servos This connection is required for proper operation in this mode since the fire wire connection provides positioning and sync
96. his allows a trigger to be generated from a true vectorial position change Each of the three possible tracking channels has a pre scalar which may be used to divide the number of encoder counts on that channel Each pre scalar defaults to 1 and may divide the input feedback pulses by up to 1 023 10 MHz Standard Yes www aerotech com 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual 3 8 The trigger condition may be a software trigger under program control various other hardware triggers or most typically a user defined change in vectorial position on one to three axes This vectorial position change is monitored via hardware allowing an output pulse to be generated in less than 275 nanoseconds 200 nsec for single axis after the trigger is detected not including the propagation delay of the output device This is accomplished via hardware that monitors the designated axes positions calculates the sum of the squares of the axes positions and compares it to the desired squared position trigger value All of the mathematical squaring of the positions occurs in hardware for speed The comparison of the squared command to feedback position occurs at an 8 MHz rate for multi axis firing and at a 20 MHz rate for single axis firing Furthermore this vectorial position trigger value is queued via a 255 level queue in hardware to the trig
97. hronization information to the drive FireWire Position and Synchronization Signals Ndrive Feedback Figure 3 12 Normal Operation The Voltage to Current mode of the Ndrive HL allows for a connection to a host controller that outputs 10 DC as a torque current command In this mode a connection to the fire wire Is not required synchronization is performed internally except for parameter configuration Current Command Enable Fault i J205 Analog Digital I O Position Velocity Ndrive Controller Feedback to Controller Figure 3 13 Stand Alone Configuration This mode allows the drive to be used in a general purpose current control mode with older existing control hardware www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 23 Technical Details Ndrive HL User s Manual 3 6 1 Parameter Setup and Hardware Configuration Setup for the Voltage to Current mode should be performed using the Automation 3200 SMC This software interface should be used to configure the parameters on the drive The parameters of principal concern are e Current Loop Parameters gains offsets etc Feedback configurations feedback types channels etc e Commutation Information pole pairs counts per cycle etc e Current Clamp RMS Current Trap These are the parameters that will need to be saved to the flash memory within the Ndrive H
98. ications 4 4 TB301 Brake Relay Voltage Specifications 4 4 TB4 4 9 TB7 4 12 TIL117 M 4 15 TRIPLEPSO 1 5 Troubleshooting 6 1 Two Axis Laser Firing 4 19 Typical ESTOP Interface 2 6 U Unknown Phase Hall Sequence 2 12 User Power Connector Pinouts 4 10 v Voltage configurations 1 5 W Warnings 2 1 Warranty Information C 1 Index 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Index Ndrive HL User s Manual Index 4 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com READER S COMMENTS A ROTECH Ndrive HL User s Manual P N EDU176 October 31 2007 Revision 1 08b Please answer the questions below and add any suggestions for improving this document Is the manual Yes No Adequate to the subject Well organized Clearly presented Well illustrated How do you use this document in your job Does it meet your needs What improvements if any would you like to see Please be specific or cite examples Name Title Company Name Address Mail your comments to or Faxto AEROTECH INC Technical Writing Department 101 Zeta Drive 412 967 6870 Pittsburgh PA 15238 U S A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Artisan Technology Group Quality Instrumentation Guaranteed 888 88
99. ignment on Connector J207 Pin Label Descripion I OUtBi 12 CW Lmt Clockwise End of travel limit Input 16 5 Volt B tn Power for Limit Switches 500 Output Signal Common for Limit Switches N A Home Switch Input Input CCW Lmt Counterclockwise End of travel limit Input Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse 5V gt 10K Cor EMT 3 74ACT14 coz ze LMT gt 74ACT14 C3207 22 MLMT J gt Li 74ACT14 Figure 3 7 End of Travel Limit Inputs www aerotech com 3 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual 3 3 2 Hall Effect and Thermistor Inputs The Hall Effect switch inputs are highly recommended for AC brushless motor commutation but not absolutely required see the Nview help for more information on axis configuration The Hall effect inputs accept 5 24 volt DC logic signals The pin assignment for the connector is shown in the table below The thermistor input is used to detect an over temperature condition in a motor via a positive temperature coefficient device That is as the temperature of the device increases so does the resistance of the device Under normal operating conditions the resistance of the thermistor is low 1 100 ohms This will be seen as low input signal After the temperature c
100. in Burndy style connector for motor power encoder limits and brake Motor Encoder Limits Brake Motor Feedback xx 7 Length in decimeters yy 7 Length in feet 5 2 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Accessories Table 5 3 Individual Motor Cables Ndrive HL Part Number s Stage Motor C15805 xx BL MTR FL AMS MAX450DM PMONT yy Obsolete Used On 2d Any brushless motor stage having a 4 pin MS style connector for motor power Motor Output BM BMS motors with MS option BMxxxE motors C19360 xx BL MTR FL 4DU MAX450DM PMCHPDNT yy Obsolete Used On Any brushless motor stage having a 4 pin D style connector for motor power BM BMS motors with D25 option ABL2000 amp 8000 series ABR1000 Series ADR160 240 series ADRT series ALA1000 series Motor Output ALS130 135 2200 3600 5000 5000WB 20000 amp 25000 series ARA125 series ASR1000 1100 amp 2000 series with HPD option ATS1100 H series LMA amp LMAC series xx Length in decimeters yy Length in feet www aerotech com 5 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Accessories Ndrive HL User s Manual Table 5 4 Individual Feedback Cables Ndrive HL Part Number s Stage Motor C16501 xx BL FB 25DU 25DU MAX120DM C16
101. ing Multiple Ndrive HLS 2 19 2 9 PC Configuration and Operation Information 2 20 CHAPTER 3 TECHNICAL DETAILS 3 1 3 1 Auxiliary Connector J205 3 1 3 1 1 Secondary Encoder Channel J205 3 3 3 1 2 User Outputs 8 11 205 3 4 9 1 29 User lInpu ts 9 11 4209 uuu u u u un dione nd dos 3 5 3 1 4 High Speed User Inputs 12 13 J205 3 6 3 1 5 Analog Input 0 J205 3 6 3 1 6 Analog Output 205 3 6 3 2 Position Synchronized Output PSO Laser Firing 3 3 2 1 Single Axis Laser Firing 3 11 ouo Motor Feedback J207 3 12 3 3 1 End of Travel Limit Inputs 3 13 3 3 2 Hall Effect and Thermistor Inputs 3 14 3 3 2 Brake QUIDUL uie tr rien mtb oS Ere aasan rex 3 15 3 3 4 Encoder Interface 3 15 3 4 I9 232 1H R9422 PorL J2006 uuu uui 3 20 3 5 FireWire Bus J201 J202 J203
102. ion Back EMF Kemf Backlash Ball Screw Ball Screw Lead Bandwidth Baud Rate www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com The positioning error resulting from angular motion and an offset between the measuring device and the point of interest The value of the offset between the measuring device and the point of interest A move referenced to a known point or datum A positioning coordinate reference where all positions are specified relative to a reference or home position A servomotor with stationary windings in the stator assembly and permanent magnet rotor AC brushless generally refers to a sinusoidally wound motor such as BM series to be commutated via sinusoidal current waveform see DC brushless servo The change in velocity as a function of time An absolute measurement defining the difference between actual and commanded position In reference to an encoder grating accuracy grade is the tolerance of the placement of the graduations on the encoder scale American Standard Code for Information Interchange This code assigns a number to each numeral and letter of the alphabet Information can then be transmitted between machines as a series of binary numbers Positioning error of the rotary stage in the vertical direction when the tabletop is oriented in the horizontal plane Axial run out is defined as the total indic
103. is used it requires a cable see Table 4 16 and Figure 4 18 from J302 to J302 of each Ndrive HL J302 to J302 or J303 to J303 of the other Ndrive HL both connectors each have the same two SSI Net ports present on each connector The ports on each drive must then be configured via their PsoSsil Config PsoSsi2Config or PsoMrk1Config PsoMrk2Config axis parameters out and in respectively so the encoder signals are supplied to the Ndrive HL with the DUALPSO or TRIPLEPSO options Additionally the CfgEncMxhSetup axis parameter must be configured for a 20 MHz clock or less so as not to exceed the 31 nsec minimum edge separation specification Also the PSO pre scalars may be required to limit each encoder being tracked to a 5 MHz data rate which does not affect the servo feedback loop data rate The figure below shows two and three axis firing which are very similar See the Nview HMI help for more information on parameter configurations Note that the J205 encoder channel may be configured as an output via the EncoderDivider axis parameter allowing other multi axis PSO firing configurations Different Ndrive models are shown to illustrate compatibility Use NConnect SSINet XX cable between J302 J303 and J302 J303 between the models Use C19881 X or C19892 X cable between J302 J303 and J205 J302 and J303 each contain both 551 Met ports 1 and 2 Ndrive with DUALPSO or TRIPLEPSO Option Hd a H ul SSI Net 2 is an Output
104. ity Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details 3 2 Position Synchronized Output PSO Laser Firing The Ndrive HL includes a Position Synchronized Output PSO or Laser Firing option This feature may be programmed to generate an output synchronized to axes positions based upon a user defined trigger condition most typically but not limited to firing a laser The Ndrive HL offers three levels of laser firing single axis std and two and three axis Trigger signals may be derived from the primary encoder channel secondary encoder channel either of the two optional SSI Net ports or a software trigger Both SSI Net ports may provide axes encoder signals or marker signals to from another Ndrive HL at a maximum of a 20 MHz data rate 50 nsec minimum edge separation Single axis tracking is limited to a 20 MHz data rate and multi axis to a 5 MHz tracking rate The PSOTRACK command may be used to scale the encoder input signal to limit the maximum tracking rate The synchronized output pulse is solely generated within sophisticated and versatile high speed hardware allowing minimal delays between the trigger condition and the output Single axis PSO laser firing latency 1s 200 nanoseconds DUALPSO and TRIPLEPSO laser firing latency is 275 nanoseconds not including the propagation delay of the output device Refer to Figure 3 6 for a basic single axis block diagram of the
105. ke circuit In this example the Varistor is the suppression device connected across the brake This method of suppression is used in circuits operating at voltages up to 25 VDC and AC circuits operating at voltages up to 18 VAC If the voltage is greater than 25 VDC or 18 VAC one of the other suppression methods should be used Figure 4 7 is an example of a suppression circuit that can be used for systems using a DC supply In this example the diode ts the suppression component which is connected across the brake It is important that the diode be installed so that it Is normally reversed biased This diode must have a reverse voltage rating greater than the users DC power supply and a maximum current rating of at least 1 Ampere Due to the time needed for this suppression device to dissipate the energy released by the load inductance there may be a slight delay less than 1 second before the brake responds to its power being switched off If this delay is unacceptable Example 3 should be used RELAY NC RELAY COMMON TB3501 4 ELAY RELAY NO JP1 A RLYV23026SMT 2 BRAKE gt lt J207 25 JP1 B x 2 c lt m BRAKE Figure 4 7 Diode Suppression for DC Brake Systems The user may reconfigure the connections for the brake such that the positive supply lead is switched by the relay instead of the supply common www aerotech com Options 4 7 Artisan Technology Group Quality Instrument
106. king Rate Configuration 4 20 4 3 ENET Ethernet Option J204 4 22 4 4 RDP Resolver Ilnput 4 23 4 4 1 Resolver Inductosyn Setup 4 24 CHAPTERS ACCESSORIES eu u i esae Save ua uc Such peu in 5 1 5 1 Standard Interconnection Cables 5 1 5 2 Joystick Interface 5 5 5 3 Handwheel Interface 5 9 CHAPTER 6 TROUBLESHOOTING 6 1 6 1 Problems Causes and Solutions 6 1 6 2 Ndrive HL Control Board Test Points 6 2 6 3 Ndrive HL Control Board Assembly 6 3 6 4 Ndrive HL Motor Power Board Assembly 6 5 6 5 Ndrive HL Power Supply Board Assembly 6 7 6 6 LED liidieaGl0IS uu uuu T 6 9 6 7 JTAG Programming Connector 6 10 6 8 Fuse Battery Replacement 6 11 6 9 Preventative Maintenance 6 12 0 9 1 E 6 12 APPENDI
107. lation and Configuration 2 6 End of Travel EOT Limit Input Connections End of Travel EOT Limits are required to define the end of the physical travel One of which may also be also used for homing the axis which defines an absolute reference for the user coordinate system EOT Limits are relative to positive motion which is defined as clockwise rotary motion or positive linear motor motion Positive or clockwise motion is stopped by the CW or clockwise EOT limit input etc Normally Closed typical Or J207 Encoder Channel Normally Open not shown 5 V 16 Limit Com x RENE sal jomal age May bea separate switch CW CCW For full cable drawings refer to your software CD ROM Figure 2 15 End of Travel Limit input Connections linn FireWire Drivelnfo TaskStatust TaskStatus2 Task Status3 TaskModei StipChat Ethemet Diagnostics Faut DriveStatus AxisStatus SMC anti A Y a HARDWARE Enable Figure 2 16 Limit Inputs in the Nstat Utility 2 6 1 End of Travel EOT Limit Phasing If the EOT limits are reversed swap the connections to the CW and CCW inputs at the J207 connector of the Ndrive HL The logic level of the EOT limit inputs may be viewed on the Diagnostic tab of the Nstat utility as shown in Figure 2 15 www aerotech com 2 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation a
108. ltiplies the resolution up to 512 times in addition to the controller s x4 multiplication providing a maximum of x 2048 multiplication 8 388607 GHz Effective data rate as shown in the first two columns of Table 3 17 The MXH multiplication factor is determined by the CfgFbkEncMultFactorMXH axis parameter which is then multiplied x4 additionally by the controller Each time this axis parameter is changed the controller will internally re program its logic This re programming cycle will take about 3 5 minutes The LED s will indicate that the internal MXH option is being internally erased and then re programmed and that the axis may not be enabled during this time While the MXH option is being erased the LED s will indicate the pattern shown to the upper right When the MXH option is being re programmed the LED s will alternate between the two patterns shown to the lower right The Ndrive HL contains digital potentiometers to adjust the gain offset and phase balance of the analog Sine and Cosine inputs The digital potentiometer settings are controlled by the CfgFbkEncCosGain CfgFbkEncCosOffset CfgFbkEncPhase CfgFbkEncSineGain CfgFbkEncSineOffset axis parameters The MXH option is compatible with the DUALPSO and TRIPLEPSO options A differential line driver encoder may be used also see Figure 3 9 for more information The specifications for the MXH multiplier option are shown in Table 3 17 The following table indicates the
109. m Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Installation and Configuration 2 4 Motor and Feedback Connections The Ndrive HL can be integrated into a system using three basic configurations DC Brush Velocity and Torque mode brushless or stepper motors Brush and brushless motors may have two feedback devices 2 4 1 DC Brush Motor in Torque Mode Configuration The DC brush motor configuration is shown in Figure 2 5 See section 2 5 1 for the correct encoder phasing information if Aerotech s standard cabling is not used Consult the drawing located on your software CD ROM for specific cable information Motor Frame A Green amp White amp Shield IT no connection tion lr Red amp Orange ur Be eene c U Wire Color Set 1_ Wire Color Set 2 Wire Color Set 3 Red amp Orange Red Red amp Orange NOTES amp Red amp Orange implies two wires I Green White implies a single wire Yellow amp Blue LNdLNO YOLOW Figure 2 5 DC Brush Motor in Torque Mode Configuration 2 4 1 1 DC Brush Motor Phasing If an Aerotech motor is used with Aerotech provided cabling no motor phasing process is required Clockwise positive A DC brush motor is phased correctly when a positive motion command causes clockwise CW motor rotation as viewed looking at the motor from th
110. n instantaneous current pulse does not harm the output transistors Ip cowr limit ensures that the temperature of the amplifier does not reach a value that would harm the semiconductor devices 1 8 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Introduction 1 6 Mechanical Specifications Units should be separated from each other and surrounded by one inch of free air space This will also allow the standard nine inch 228 mm FireWire cable to interconnect them 40 6 1 60 169 3 6 67 T 3 PEN EN E i 15 QQ L deno eo 4 7 20 19 N oo ES N 2 799 3 15 gt 127 0 5 00 _ M 2 25 4 1 00 76 2 3 00 23 8 0 94 1 x i i J lS 10 3 20 41 a Bes gr m o 9 f e g SRE x 1 ES 7 gd N T m 2 4 7 0 19 Hi 1 2 3 0 09 K 230 1 9 06 REC MTG HDWR M4 8 S 255 0 10 04 5 Figure 1 4 Ndrive HL Dimensions The Ndrive HL case t
111. nd Overshoot is a result of many factors including mechanical structure tuning gains servo controller capability and inertial mismatch A group of gain terms in classical control theory Proportional Integral Derivative used in compensation of a closed loop system The terms are optimally adjusted to have the output response equal the input command Aerotech controllers utilize the more sophisticated PID FVFA loop which incorporates additional terms for greater system performance Angular motion of a carriage around an axis perpendicular to the motion direction and perpendicular to the yaw axis Positioning error resulting from a pitching motion Programmable Logic Controller A programmable device that utilizes ladder logic to control a number of input and output discrete devices Pulse Width Modulation Switch mode technique used in amplifiers and drivers to control motor current The output voltage is constant and switched at the bus value 160 VDC with a 115 VAC input line Refers to the property of position transducers that allows them to detect direction of motion using the phase relationship of two signal channels A 1000 line encoder will yield 4000 counts via quadrature Positioning error of the rotary stage in the horizontal direction when the tabletop is oriented in the horizontal plane Radial run out is defined as the total indicator reading on a spherical ball positioned 50 mm above the tabletop and centered on th
112. nd Configuration Ndrive HL User s Manual BED 2 18 2 Communication Channel Settings Each Ndrive HL must have a unique communication channel number defined by switch 92 It is recommended that they be sequential beginning with the first device number The 1 device as indicated by the switch settings in row 1 of the following table will be configured by the Axis 1 parameters in the Nparam utility Assuming all axes are selected on the Axis menu in Nparam they will be the parameters in the first column The Ndrive HL configured as Row 2 indicates below will be configured by the axis parameters in column 2 of the Nparam utility etc Information on connecting options such as analog and digital I O and laser firing PSO is provided in Chapter 4 Options Table 2 5 Ndrive HL Switch Settings S2 Switch Settings Off is indicated by Ndrive HL hs 7 6 5 4 3 2 1 0 xv i www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Installation and Configuration 2 8 Connecting Multiple Ndrive HLs Following are two interconnection diagrams and a chart showing the part numbers of the FireWire Bus PCI card and the various interconnect cables and their part numbers Table 2 6 FireWire Card and Cable Part Numbers FireWire cable 4 5 M 15 feet long 6 pin to 6 pin 32 Axes Maximum 16 drives max in a ch
113. ndard cabling is not used The tachometer may be connected to TB302 or J205 as shown in the picture below Note that tachometer feedback uses analog input 0 so it may not be used when tachometer feedback is used To configure the axis parameters in this mode see the Brush Motors in Velocity Mode topic in the Nview HMI help The analog input that the tachometer is connected to is scaled for 10V input maximum The tachometer voltage must not exceed 10 volts or the velocity loop will become unstable possible causing a runaway condition Based upon the tachometer voltage rating a resistor scaling network may be required to limit the tachometer voltage to 10V at maximum speed If noise is present on the tachometer signal a high quality 1 uF capacitor may be required across the tachometer leads before any voltage divider required to limit the maximum input voltage to the analog input The motor and tachometer are correctly phased when rotated clockwise by hand and the tachometer generates a positive voltage as displayed on analog input 0 and the motors back EMF generates a negative voltage at motor terminal A with the voltmeter common probe at motor terminal C Wire Color Set 1 Wire Color Set 2 Wire Color Set 3 Green amp White amp Shield Green Yellow amp Shield Green Yellow amp Shield Red amp Orange Red amp Orange Yellow amp Blue Yellow amp Blue NOTES amp Red amp Orange implies two wires
114. nnected in Current Sinking Mode www aerotech com 4 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options Ndrive HL User s Manual 4 1 8 PSO Absolute Encoder Interface J301 This connector utilizes the RS 485 port and the analog sine wave encoder channel as an absolute encoder interface The absolute encoder channel accepts a differential analog encoder up to 200 kHz Typically this is a 1 Volt P P signal varying about a 2 5 Volt reference See Figure 2 5 Figure 2 6 Figure 2 7 and Figure 2 11 in Section 2 4 for connection information The two RS 422 channels provide buffered and or multiplied MXH encoder signals to the user for laser firing or other purposes Additionally the IOPSO option provides a RS 422 output and an open collector laser firing signal to the user Only one of these signals may be used as illustrated in Figure 4 15 Jumper JP3 defines the active state of the open collector output which has three options as defined in Table 4 12 See Section 4 2 for more information on the laser firing PSO option Note that the two RS 422 channels are two of the same channels available on the J302 and J303 connectors For information on the RS 422 ports see Figure 4 17 in Section 4 1 9 gt m m wt See Figure 4 15 for the firing output Table 4 12 PSO Absolute Encoder Interface Connector Pin Assignment J301 Pin amp Label Des
115. nnections 2 4 2 7 2 11 2 18 Field Service Information C 1 FireWire 2 22 3 23 Card and Cable Part Numbers 2 20 Connector Pinouts 3 23 J201 2 22 3 23 J202 2 22 3 23 J203 2 22 3 23 Index 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Index Index 2 Minimizing Cable Lengths 2 21 Part Numbers 2 20 Preferred Configuration 2 21 FireWire Bus 2 22 3 23 FireWire 2 21 Fuse Replacement 6 9 H Handwheel Interface 5 9 Hardware Function 1 3 Hardware Overview 1 3 HCPL 2601 4 15 High Inrush Currents 1 4 I Input Power 1 3 LIE2 1 3 2 3 Main Supply 2 3 Motor Frame Connections 2 3 2 4 Shield Connection 2 3 2 4 TB101 2 3 Integrated 2 4 2 7 Integrated Configurations 2 4 2 7 2 11 2 18 JOPSO 1 5 4 11 IOPSO option 1 3 OPSO Option Jumpers 5 1 JOPSO Option Board Analog Inputs TB302 4 9 Analog Outputs 4 3 Opto Isolated Inputs TB305 4 12 PSO Absolute Encoder Interface J301 4 14 IOPSO2 4 11 JOPSO3 4 11 IOPSO4 4 11 J J201 FireWire 2 22 3 23 J202 FireWire 2 22 3 23 J203 FireWire 2 22 3 23 J204 4 22 J205 Connector Pinouts 3 1 3 3 3 5 3 6 J206 Connector Pinouts 3 21 J206 3 21 J207 3 12 4 3 Connector Pinouts 3 12 3 14 3 15 J301 4 14 Ndrive HL User s Manual Joystick Interface 5 1 5 5 JTAG 6 8 JTAG Programming Connector 6 8 Jumper Locations Power Board 6 5
116. nput Hall sequences Connect the ends of the three resistors to motor terminals A B C Use one channel of the oscilloscope to monitor motor terminal A with respect to the Wye neutral 1 the point where all three resistors are connected together Turn the shaft of the motor CW and note the generated voltage This voltage represents the phase A to neutral Counter With the second oscilloscope probe determine the Hall switch that is in phase with this voltage Similarly phase B and C should be aligned with the other two Hall switches This will identify each motor and hall lead set which are in phase with each other Any motor and hall lead set may be phase A The relative phasing between this set and the other two sets will then determine which is phase B and phase C Refer to Figure 2 10 and note the generated output voltages of the amplifier relative to the Hall sequences applied to HALL A HALL B and HALL C connections at connector J207 For proper operation the CEMF generated motor phase voltages should be aligned to the amplifier s generated output voltage with the Hall effect reference sequence shown in Figure 2 10 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Installation and Configuration Test Setup Brushless Clockwise Rotation 0 60 120 180 240 300 360 5V HA OV eos
117. o SSI Net interfaces are both available on the J302 and J303 connectors as illustrated in the following table Note that the J205 encoder channel may also be used as an input output for multi axis PSO firing The SSI Net is designed for daisy chaining encoder signals from one Ndrive HL to another for two three axis PSO laser firing This allows one Ndrive HL containing the DUALPSO or TRIPLEPSO options to track the vectorial position change of two three axes in real time These encoder signals may also be used for user defined purposes Refer to Figure 4 17 and Figure 4 18 These four channels are bi directional and configured via the PsoSsiConfig and PsoSsi2Config axis parameters see the Nview help for more information Note that SSI Net 1 1s also available on the J301 connector see Section 4 1 8 The signals from these ports will be the same as the differential line driver encoder signal input to the Ndrive HL unless the MXH option is present The signal output when the MXH option is present will be of a pulse width determined by the MXH clock frequency as indicated In Table 3 17 SSI Net 1 and 2 interfaces are both physically hardwired to the J302 AND J303 connectors If SSI Net 1 is configured as an input a signal driven into the SSI Net 1 connections on J302 will also be present on the SSI Net 1 connections of J303 effectively making SSI Net 1 on J303 an un buffered output of this same signal Likewise this would al
118. of the R D is specified through bit 8 of the CfgFbkRDConfig axis parameter Setting this bit to 1 utilizes Hall Effect commutation initialization 1 e commutation 1s initialized similar to encoder feedback Note that this requires proper hall effect to back EMF configuration and or proper commutation phase shift axis parameter setting see brushless motor setup information for more details Setting this bit to 0 uses the R D Auto Configuration when the axis 15 enabled The Position feedback type at present dictates which channel is used for commutation initialization Typical configuration of the R D has the CfgFbkPosType axis parameter set to 6 and CfgFbkVelType axis parameter set to O use position If two resolvers or inductosyns are used in dual loop mode the position source will generate the commutation initialization but the velocity source will maintain commutation position after enable Dual Loop with resolvers and other feedback sources is not advisable Finding the Proper Commutation Offset in R D Auto Configuration Mode The R D Auto Configuration mode assumes that the zero crossing of the R D Converter is aligned with the 0 angle of commutation on the Ndrive HL Therefore to determine the commutation offset angle perform the following steps The resolver absolute counter may also be read in the Ndebug utility the command sequence DSPMEMREAD 2 OxEBOOOe6 for channel 1 or OXEBOO07 for channel 2 1 Open
119. olar 40 or 80 VDC bus power supply Fully isolated power stage 5 VDC 500 mA user output power for encoder and Hall effect signals etc Two mounting orientations optimized for heat transfer or minimal panel space utilization Full protection against the following failure modes 1 Control supply under voltage 2 Continuous current overload 3 Power stage bias supply under voltage 4 Power stage output short circuit phase to phase and phase to ground 5 DC bus over voltage 6 IGBT device over temperature sense Line driver square wave or analog sine wave quadrature encoder primary position and velocity feedback Line driver square wave auxiliary quadrature encoder input or output for PSO laser firing etc 4 opto isolated user outputs standard 6 opto isolated user inputs standard 2 of which are high speed 2 differential analog inputs one standard and one available with the IOPSO option 2 analog inputs one standard and one available with the IOPSO option www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Introduction 1 2 Connection Overview The Ndrive HL consists of a power connection motor power and input power three FireWire ports an optional Ethernet connection an RS 232 RS 422 connector LED indicator lamps and two D style connectors for Auxiliary I O 15 and 26 pin and Motor Feedback 25 pin An IOPSO IOPSOH o
120. ollows PSODISTANCE X FIXED 250 STEPS distance specified with 1 4 actual resolution In order to run the servo loop at full encoder resolution and data rates above 20 MHz Ndrive HL software versions 2 02 and above contain the CfgFbkEncMxhQuadDiv axis parameter which acts as an MXH output divider This parameter allows you to specify a lower resolution for the MXH quadrature output signal only used by DUALPSO or TRIPLEPSO options on other drives The effective resolution is the full resolution as derived using CfgFbkEncMultFactorMXH axis parameter divided the CfgFbkEncMxhQuadDiv axis parameter The servo loop always runs at the full resolution as determined by the CfgFbkEncMultFactorMXH axis parameter The CfgFbkEncMxhQuadDiv axis parameter does not affect servo loop resolution EXAMPLE An application uses a 4um linear encoder with an MXH option on an Ndrive HL It is desired to move the motor at a maximum speed of 200mm second and track using the DUALPSO or TRIPLEPSO option CfgFbkEncMultFactorMXH 500 value for 2nm servo loop resolution Encoder resolution 250 lines mm 500 4 500 000 counts mm 2nm Encoder data rate at 200mm sec 500 000 200 100Mhz This exceeds the DUALPSO or TRIPLEPSO maximum encoder tracking rate of 5 MHz and must be reduced by 100 5 20 Set the CfgFbkEneMxhQuadDiv axis parameter to 20 to achieve this The user must now program the PSODISTANCE command in units of
121. om straight line travel Describes the type of laminations used in a motor that eliminates cogging torque due to magnetic attraction of the rotor to the stator slots Non rotating part of a magnetic structure In a motor the stator usually contains the mounting surface bearings and non rotating windings Friction encountered when accelerating an object from a stationary position Static friction is always greater than moving friction and limits the smallest possible increment of movement Measure of the side to side deviation of a stage as it travels in a horizontal plane Rotary equivalent to force Equal to the product of the force perpendicular to the radius of motion and distance from the center of rotation to the point where the force is applied Torque needed to drive a load over a continuous time Maximum amount of torque a motor can deliver when the highest allowable peak currents are applied Root Mean Square is a mathematical method to determine a steadfast or average torque for a motor The maximum torque without burning out the motor The full indicator reading observed when a dial indicator is in Glossary of Terms Glossary of Terms Ndrive HL User s Manual TIR contact with the part surface during one full revolution of the part about its axis of rotation Tuning n a servo system the process of optimizing loop gains usually PID terms to achieve the desired response from a stage or mechanism from an
122. onfiguration Ndrive HL User s Manual 2 2 3 Motor Connections TB101 The three phase motor terminal connections are made at connections A B C and optionally at RT The RT connection is only used for brushless motors having a fourth motor lead as in a Wye configuration Motor Connections OA OB OC and its Protective Ground should be made with 1 62814 mm 14 AWG wire rated at 300 V The motor frame and shield must be connected to ground as well See Section 2 4 for information on connecting each of the supported motor types 72 O t of Table 2 3 TB101 Motor Power Output Connections Pin Description Wire Size Phase A Motor Lead 1 62814mm 14 AWG Phase B Motor Lead 1 62814mm 14 AWG Phase C Motor Lead 1 62814mm 14 AWG Brushless Motors with Wye connection only 1 62814mm 14 AWG Earth Ground to Motor Required for Safety 1 62814mm 14 AWG 2 2 4 lO and Signal Wiring Requirements The I O communication and encoder feedback connections are typically very low power connections Wire and connectors used for signal wiring should be rated for at least 30 V and have a current capacity of at least 25 Amp Wires and connectors used for low voltage power connections such as 5V should have a current capacity of at least 1 Amp encoder feedback 5V supply may require 6 Amps in some applications In some applications especially when there are significant wire distances a larger wire
123. ontrol power input is present it must be powered 2 2 1 Control Power Connections AUXPWR The AUXPWR option allows the Ndrive HL to remain operational when the motor power is removed such as when an emergency stop circuit is required If the Ndrive HL was purchased with the AUXPWR option a separate AC input has been included on the amplifier The internal power supply of the Ndrive HL requires a minimum of 85 VAC input to operate properly The figure below shows the connection to the AUXPWR AC input The connection is made to via a three terminal connector See Section 2 4 for various typical AC wiring options This optional input is used when an external emergency stop circuit is present See Section 2 3 for a typical ESTOP wiring configuration The AUXPWR control power inputs AL2 are optional but must be powered if present These inputs are typically used when an external emergency stop circuit is present Connections to the ALI AL2 inputs and the protective Ground should be at least 1 62814 mm 14 AWG wire rated 300 V 3 Amp external fusing may be required for AL2 ALI is fused internally at 3 Amps TWIST HI CONTROL to LO A G 240 VAG GROUND AL may require external fuse or circuit breaker 3 Amps time delay 85 240V7 EET 1 MAX Figure 2 1 AUXPWR Option Table 2 1 Optional Aux Supply AC Input for external E Stop Pin Description Wire Size AL Optional 85 240 VAC Control P
124. optimally aligned quickly using the Encoder Feedback Configuration utility within the NScope exe utility When the Ndrive HL is configured for Resolver Feedback via the CfgFbkPosType axis parameter then the currently selected channel 1 or 2 defined via the CfgFbkPosChan axis parameter of the RDP board will output its analog inputs for SIN COS into the analog input channels of the Encoder Configuration Feedback utility a utility also used to configure the MXH option The values sampled by the analog inputs reflect the peak value of the carrier frequency sine waves used by the Resolver to Digital converter The Position feedback type at present dictates which analog channels are sampled There are two axis parameters which are used to configure the analog feedback from a resolver or inductosyn for optimum performance e CfgFbkRDGain defines the peak amplitude of the reference sine wave to the resolver e CfgFbkRDCosPhase defines the phase delay on the Cosine phase of the dual phase oscillator When to use the CfgFbkRDCosPhase axis Parameter The Cosine reference signal can be adjusted from approximately 0 degrees 1 in phase with the SINE reference signal to 180 degrees with a nominal value of 90 degrees This axis parameter is primarily for use with inductosyns which have a nominal phase shift from the reference signal of 90 degrees This value may vary from system to system and therefore can be adjusted to ensure that t
125. ower Input 1 62814 mm 14 AWG Optional 85 240 VAC Control Power Input 1 62814 mm 14 AWG Protective Ground Required for Safety 1 62814 mm 14 AWG 2 2 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Installation and Configuration 2 2 2 Motor Power Connections Input power to the Ndrive HL is made at the AC1 and AC2 terminals with earth ground connected to ground The motor frame and shield connect to ground as well Connections at the ACI AC2 and Protective Ground connections should be made with 1 62814 mm 14 AWG wire rated at 300V TWIST HI aY BUS 240 VAC E A C Max LO 37 GROUND AC1 and AC2 require external fuses or circuit breaker 10 Amps Max time delay Figure 2 2 Motor Power Connections Table 2 2 Main Supply AC Power Input Connections Description Wire Size 115 100 208 230 Volt AC Input 1 62814 mm 14 AWG 115 100 208 230 Volt AC Input 1 62814 mm 14 AWG From Earth Ground Required for Safety 1 62814 mm 14 AWG External fuses or circuit breaker 10 Amperes time delay type are required for the ACI and AC2 AC inputs for optimum protection The protective devices should be located near the Ndrive HL www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 3 Installation and C
126. pecifications or drawings previously or subsequently provided or whether or not Aerotech s products are specifically designed and or manufactured for buyer s use or purpose Aerotech s liability or any claim for loss or damage arising out of the sale resale or use of any of its products shall in no event exceed the selling price of the unit Aerotech Inc warrants its laser products to the original purchaser for a minimum Laser Products period of one year from date of shipment This warranty covers defects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal of the serial tag or improper operation as determined by Aerotech This warranty is also voided for failure to comply with Aerotech s return procedures Claims for shipment damage evident or concealed must be filed with the carrier by the Return Procedure buyer Aerotech must be notified within 30 days of shipment of incorrect materials No product may be returned whether in warranty or out of warranty without first obtaining approval from Aerotech No credit will be given nor repairs made for products returned without such approval Any returned product s must be accompanied by a return authorization number The return authorization number may be obtained by calling an Aerotech service center Products must be returned prepaid to an Aerotec
127. port mechanism allowing relative motion between two surfaces loaded against each other This can be a rotary ball bearing linear slide bearing or air bearing zero friction See Repeatability to perform nonlinear motion that is electronically similar to the motion achieved with mechanical cams A load not symmetrically mounted on a stage A broad term relating to any system where the output is measured and compared to the input Output is adjusted to reach the desired condition Computer Numerical Control A computer based motion control device programmable in numerical word address format Defined as the ratio of the force required to move a given load to the magnitude of that load Non uniform angular linear velocity Cogging appears as a jerkiness especially at low speeds and is due to magnetic poles attracting to steel laminations The action of steering currents to the proper motor phases to produce optimum motor torque force In brush type motors commutation is done electromechanically via the brushes and commutator A brushless motor is electronically commutated using a position feedback device such as an encoder or Hall effect devices Stepping motors are electronically commutated without feedback in an open loop fashion Also referred to as trapezoidal commutation The process of switching motor phase current based on three Hall effect signals spaced 120 electrical degrees beginning 30 degrees into the elec
128. power stages Indicator Power LED indicates drive power Indicator Enabled LED indicates drive enabled Features www aerotech com 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction Ndrive HL User s Manual Table 1 3 Ndrive HL Series Current Limitations Jesus 259 Tambient 50 Tambient E 259 C Tambient 50 259 C Tambient 50 Ip CONT Ip CONT Ip CONT lpk CONT Ip CONT Limit Limit Limit Limit Limit Ohms Amps Amps Amps Amps Amps Amps Amps Amps Amps Amps Amps Amps 3 100 500 100 500 200 900 200 525 75 350 75 225 4 100 500 10 0 500 200 1000 200 550 350 225 48 100 500 100 500 1000 80 350 60 225 6 00 500 100 500 1000 1000 90 375 90 225 8 100 500 100 500 1000 1000 100 300 100 250 9 50 50 100 40 100 250 185 50 50 100 so 100 275 Le s sof sm wo zm p Fi 77 i 2 Limited by Vpus Ru 2 Definitions Rit motor resistance line to line lpk peak output current that the amplifier will sustain for 1 second when running a three phase commutated motor pk CONT peak value of a continuous sine wave Notes Ip limit ensures that a
129. ppression 4 1 7 Opto Isolated Inputs TB305 The inputs are configured for 5 24 volts DC logic using a higher input voltage requires adding external series resistors to limit the current The opto isolator is a PS2806 4 device The inputs may be connected to current sourcing or current sinking devices as shown in Figure 4 12 and Figure 4 13 Each 4 bit bank of inputs 0 3 or 4 7 must be connected to either all current sourcing or all current sinking devices Also note in the table below that inputs 0 3 and inputs 4 7 have two different common inputs pin 1 and pin 2 respectively See Section 3 3 1 for opto isolated EOT limit inputs Table 4 11 Opto Isolated Input Connector Pin Assignment TB305 Pin Label Description 3 ipto Input 0 Optically Isolated See pin 1 4 inputi Input 1 Optically Isolated Seepin1 Input 5 Input2 Input 2 Optically Isolated Seepin1 Input 0 1 2 E E 5 E 7 8 ms Input 5 Optically tsolated See pin2 input o m Input 6 Optically tsolated See pin2 6 Input 3 Input 3 Optically Isolated See pin 1 4 12 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Options 5 24 Volts PS2806 4 Figure 4 12 Inputs Connected in Current Sourcing Mode T5V x 5 24 Volts PS2806 4 Figure 4 13 Inputs Co
130. ption is also available shown below J301 J303 TB301 TB305 which has connections for PSO absolute encoder SSI Net analog I O digital I O and user power Refer to Figure 1 2 for locations FireWire PSO Absolute J201 J202 J203 Encoder J301 Main Supply AC1 AC2 Ground SSINet J302 J303 Q9 4 11 lt FIREWIRE E Motor Output E TB101 EBE e zm E Rc Auxiliary Supply 1 12 Ground Two 18 Bit Analog Outputs and Brake Relay TB301 Two 16 Bit Analog Inputs TB302 f User Power TB303 RS232 J206 206 AEROTECH Eight Opto Isolated Outputs Common Sink 3 Common Source User Defined 78304 Channel 1 2 Resolver J401 402 j402 CHANNEL 2 Ful M01 CHANNEL 1 R CONFIG DEVICE NUMBER 1 705143210 TE TECEN POWER BEFONE LERACING Communication SEE MANUAL FOR SETTINGS P OF DIP SWITCHES Channel Device Settings S2 Power Active LED E Stop Interface TB201 Eight Opto Isolated Inputs Common Sink or Common Source User Defined TB305 Motor Feedback Connector J207 I Figure 1 2 Ndrive HL Hardware www aerotech com 1 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction Ndrive HL User s Manual 1 3 Ndrive HL Block Diagram The st
131. red queue s See Figure 3 6 for a basic single axis block diagram of the PSO capabilities or Figure 3 4 and Figure 3 5 for a more detailed block diagram of the multi axis capabilities that also apply to single axis firing Pulse Firing r Distance Array Load Next Configuration 551 Met 1 551 Net 2 Primary Encoder secondary Encoder Pulse i Tracking Counter 1 axis Distance Trigger C PSO Outpul D Pulse Output switching Multiplex Figure 3 6 PSO Diagram Basic Single Axis Firing www aerotech com 3 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual 3 3 Motor Feedback J207 The 25 pin D style connector contains all of the required feedback inputs for a servo loop This connector has inputs for a 3 channel encoder three limit switches and three Hall effect devices Each of these inputs provides feedback for the DSP microprocessor controlled position velocity and current loops See Section 2 5 1 for information on interfacing non Aerotech motors Table 3 11 Motor Feedback Connector Pin Assignment J207 Pin Label Description In Out N A Input 5 Volt Power for Encoder 500mA max Output Hall Effect Sensor Brushless Motors only Input input input N A N A 10 Hall Effect Sensor A Brushless Motors only Input 11 Hall Effect Sensor C
132. rent condition occur the device will open to provide protection against the overload To reset the over current device remove the over current condition www aerotech com MOTOR 4 FEEDBACK J207 3 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual 3 3 4 1 Line Driver Encoder Standard The primary encoder input is standardly configured for a differential line driver encoder in the range of 0 to 5 volts It allows up to an 8 MHz encoder signal 31 nsec minimum edge separation producing 32 million counts per second after times four x4 quadrature decoding An analog encoder is used with the MXH option see Figure 3 10 for more information Encoder Fault Detection DS26LV32AT 4 7K Figure 3 9 Line Driver Encoder Interface Standard J207 The Ndrive HL is factory configured for either a square wave differential encoder default OR an analog encoder MXH options 3 16 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual 3 3 4 2 MXH Option The MXH encoder input options are defined for a differential analog encoder in the range of 0 to 5 volts The maximum encoder input frequency is limited to 200 kHz or less if the encoder signals are to be output via the SSI Net see Table 3 17 The MXH mu
133. rever the Warning or Danger symbol appears within this manual Failure to observe these precautions could result in serious injury to those performing the procedures and or damage to the equipment If the equipment is used in a manner not specified by the manufacturer the protection by the equipment may be impaired The user should practice caution when following the given procedures Deviation from this may result in WARNING damage to the equipment or machinery To minimize the possibility of electrical shock and bodily injury ensure that the motor is decoupled from the mechanical system and no harm to personnel will result if DANGER the motor begins to spin To minimize the possibility of electrical shock and bodily injury when any electrical circuit is in use ensure that no person is exposed to the circuitry DANGER To minimize the possibility of bodily injury make certain that all electrical power switches all switches external to the amplifier are in the off position prior to making any DANGER mechanical adjustments www aerotech com 2 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation and Configuration Ndrive HL User s Manual 2 2 Power Connections The Ndrive HL may powered by one or two separate AC voltages One for motor bus power and optionally a second for control power as described in the following two sub sections If the optional c
134. rive HL User s Manual Technical Details 3 6 3 Operation In the Voltage to Current mode the Ndrive HL acts as a simple voltage to current controller Analog Input 0 provides the current torque command Analog input 0 is accessible through either the IOPSO option board or the J205 connector To emulate a standalone drive the Ndrive HL also uses Input 8 least significant input bit on the J205 connector as a drive enable input and Output 8 least significant output bit on the J205 connector as a fault output indicator These I O points utilize a default polarity that makes them fail safe Both are optically isolated See Figure 3 2 and Figure 3 3 for I O connection information Also note that the fault output requires a pull up resistor to an external power supply The analog input is configured to accept input voltages from 10V to 10V In this mode 10V is equivalent to peak amplifier current command in the negative CCW direction while 10V is equivalent to peak amplifier current command in the positive CW direction The drives peak current is defined by the drive part number 1 e Ndrive HL 20 indicates that the peak output current will be 20 amps The analog input is differential utilizing pins J205 13 Analog input 0 and J205 14 Analog input 0 See Figure 4 9 for more information The diagrams above indicate that current flow through pins 17 and 24 will enable the axis to drive current through the motor failsafe
135. rnal damaged parts hardware damage is suspected these parts should be Note Internal inspection is not required checked and repairs made if necessary Inspect cooling vents Remove any accumulated material from vents f flui lectricall Any fluids or electrically conductive material Check cal uids electrically must not be permitted to enter the Ndrive HL conductive material exposure kuu T Note Disconnect power to avoid shock hazard Tighten or re secure any loose connections Replace worn or frayed cables Replace broken connectors Visually inspect all cables connections 6 9 1 Cleaning The Ndrive HL should be wiped with a clean dry or slightly damp with water soft cloth Fluids and sprays are not recommended because of the chance for internal contamination which may result in electrical shorts and or corrosion The electrical power must be disconnected from the Ndrive HL while cleaning Do not allow cleaning substances to enter the Ndrive HL or on to any of the connectors Cleaning labels should be avoided to prevent removal of labels VV V 6 12 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual APPENDIX A GLOSSARY of TERMS Abbe Error Abbe Offset Absolute Move Absolute Programming AC Brushless Servo Acceleration Accuracy Accuracy Grade ASCII Axial Run Out Axis of Rotat
136. ror Lead Screw Life Limit Switch A 4 Ndrive HL User s Manual The maximum value of force that a particular motor can produce When sizing for a specific application the peak force is usually that required during acceleration and deceleration of the move profile The peak force is used in conjunction with the continuous force and duty cycle to calculate the RMS force required by the application The resistance to motion between two surfaces in contact with each other A standard protocol analogous to RS 232 for transmitting digital information The G P I B interface IEEE 488 transmits data in parallel instead of serial format See IEEE 488 Comparison or ratio of the output signal and the input signal In general the higher the system gain the higher the response Actual distance between graduations on an encoder Feedback device HED used in a brushless servo system to provide information for the amplifier to electronically commutate the motor Hall Effect Device See Hall Effect Sensors Human Machine Interface Used as a means of getting operator data into the system See MMI Reference position for all absolute positioning movements Usually defined by a home limit switch and or encoder marker A sensor used to determine an accurate starting position for the home cycle A component of bidirectional repeatability Hysteresis is the deviation between actual and commanded position and is created by the
137. rotech com B 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Warranty and Field Service Ndrive HL User s Manual On site Warranty Repair On site Non warranty Repair Company Address B 2 If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts and cannot be returned to the Aerotech service center for repair and if Aerotech determines the problem could be warranty related then the following policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs For warranty field repairs the customer will not be charged for the cost of labor and material If service 1s rendered at times other than normal work periods then special service rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated in the following On Site Non Warranty Repair section apply If any Aerotech product cannot be made functional by telephone assistance or purchased replacement parts and cannot be returned to the Aerotech service center for repair then the following field service policy applies Aerotech will provide an on site field service representative in a reasonable amount of tim
138. san Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options Ndrive HL User s Manual Opto Isolated Output 11 HS OUT P Active High 74ACTIA A PSO IOC RS422 M TO LASER me m Activa Low Hs8 OUT M PSO RS422 P 41301 12 J i i I V Factory Select See the Aux i Marker on J205 Pins 19 amp 20 Inc c 4 261532 L1205 18 261531 220 Figure 4 15 PSO Interface J301 TB303 Output 11 and the Auxiliary Marker on J205 pins 19 and 20 may also be defined as the PSO Laser Firing output via the PSOCONTROL command See Section 3 2 for connection and other information 45V 27 2 3 6864MHZ 1 20 L 19 33PF 33PF MAX3140 F BE i RS485 M s 8 RS485 P r N Figure 4 16 RS 485 Absolute Encoder Interface J301 4 16 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual 4 1 9 SSI Net 2 channel J302 J303 Each of the two SSI Net interfaces is a two channel bidirectional RS 422 interface most typically for quadrature encoders This allows one channel for the sine signal and one channel for the cosine signal Alternatively one of the SSI Net interfaces may be used to provide an encoder marker signal to another SSI Net interface 1f used Each of these tw
139. so be true for the SSI Net 2 interface Table 4 15 J302 J303 2 Channel SSI Net Connector Pin Assignment SSI Net Z2 Cosine Marker Bidirectional 7 SSI Net 1 Cosine N Marker N Bidirectional SSI Net 1 Cosine Marker Bidirectional SSI Net 2 Sin Bidirectional www aerotech com Options 4 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Options Ndrive HL User s Manual 3 5V 5V R25 AAAF S gp R26 AAA 0 OHM _ 100 1 RS422 1P Rite M o RS422233M C 100 1x RS422 9P j 100 1 422 4 Figure 4 17 J301 J302 J303 4 18 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Options 4 2 DUALPSO and TRIPLEPSO Laser Firing Options The Ndrive HL allows two and three axis laser firing with its DUALPSO and TRIPLEPSO options To accomplish this the encoder signals from a second third Ndrive HL must be connected or daisy chained from that Ndrive HL to the Ndrive HL with the DUALPSO or TRIPLEPSO options This requires an encoder signal from another axis via the J205 connector Section 3 2 or via one of the J302 J303 SSI Net connectors If the J205 connector is used it must be configured as an output via the EncoderDivider axis parameter If the SSI Net
140. sted in Chapter 4 S2 defines the Ndrive HL device number and is the only user configured switch jumper on the control board Table 2 5 J207 I Lor J203 J202 J201 Ilur Figure 6 1 Ndrive HL Control Board Assembly 690D1577 Rev A www aerotech com 6 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Troubleshooting Ndrive HL User s Manual Table 6 3 Ndrive HL Control Board Jumper Selections Jumpers Position Function 4 4 4 4 4 4 4 4 Signal Common isolated from Frame Ground Chassis Signal Common connected to Frame Ground Chassis m ou Auxiliary Encoder Channel 2 is an input P1 P2 P3 P4 P5 7 Auxiliary Encoder Channel 2 is an output 100 Ohm Terminator present for RS 485 port on J301 ws LLL 100 Ohm Terminator not present for RS 485 port on J301 In for 100 Terminator on RS 422 Port 2 J301 J302 J303 In for 100 Terminator on RS 422 Port 1 J301 J302 J303 In for 100 Terminator on RS 422 Port 3 J302 J303 In for 100 Terminator on RS 422 Port 4 J302 J303 JP Watch Dog Timer Enabled Watch Dog Timer Disabled indicates factory default setting J J J J J owitch S1 is for factory use only and should not be changed by the user The Ndrive HL control board has no user replaceable fuses 6 4 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com
141. strumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Technical Details CHAPTER3 TECHNICAL DETAILS 3 1 Auxiliary Connector J205 The J205 Auxiliary I O connector provides analog and 6 digital inputs 1 analog and 4 digital outputs and a secondary bi directional RS 422 line driver encoder interface See the following sub sections for details on each type of signal within the J205 connector Table 3 1 Auxiliary Connector Pin Assignment J205 Pins Label Description Input 12 High Speed Opto Input user interrupt 4 Input 12 High Speed Opto Input user interrupt 5 Input 13 High Speed Opto user interrupt Input 13 High Speed Opto Input user interrupt 7 Output Output Output 10 Bi dir 11 Bidir 12 5 Volt 500 mA max Output 13 Analog Input 0 Differential Input 14 Analog Input 0 Differential Input 15 16 Out 11 Output 11 optional PSO Laser Firing Output Output 17 Input 8 Input 18 Input 9 Input Auxiliary Marker c RS 422 Channel Mrk PSO Bi dir 20 Auxiliary Marker RS 422 Channel Mrk PSO Bi dir 21 Common 5 Volt Common 5 Volt User Supply 22 Output 23 AGnd JAndogCommn _ 24 25 Input Input Total user 5 V power is limited to 500 mA by an internal re settable semiconductor fuse www aerotech com 3 1 Artisan Technology Group Quality Instrumentation Guaranteed
142. t The optional resolver input provides two industry standard resolver or Inductosyn channels which may each be used as a feedback device Each may be separately configured for resolver or inductosyn input as shown in Table 4 21 The standard reference output frequency is 10 kHz optionally it may be configured as 5 or 7 5 kHz at the factory The Sine and Cosine feedback signals should be adjusted for 2 volts RMS 2 8 volts gu Peak via the CfgFbkRDGain axis parameter The resolver can be physically aligned to J the motor by using the MSET CNC programming command This physical relationship may also be defined via the CfgMotOffsetAng axis parameter All of which is described in Section 4 4 1 See the Nview help for information on configuring the axis parameters for an axis with resolver feedback The J403 external power connector is not available at this time Table 4 19 Resolver Connector Pin Assignment J1 J2 Pin Label Description OutBidi Reeve Z2 2 J NA 10 11 12 13 14 15 The following mating connector is always provided with the resolver option which may be ordered separately as part number MCK 15HDD Table 4 20 Resolver Mating Connector 15 Pin Male D Style Aerotech Third Party Source ECK01287 Amphenol 17HD 015P AA000 Back shell 1021 Amphenol 17 1724 2 Table 4 21 Resolver Configuration AxislJP Inductosyn
143. t JBV or JP4 joystick or their own joystick and switches to the Ndrive HL Refer to Figure 5 1 The joystick interlock input must be set to the logic low state to indicate the joystick 1s connected The zero velocity null point for each joystick is approximately 2 5 volts Be sure to set the JoyStickMinVoltage and JoyStickMaxVoltage task parameters Also the two potentiometers may be connected to analog inputs on two different Ndrive HLs since each Ndrive HL standardly has one analog input Subsequent drawings illustrate how to connect a single axis and a two axis Joystick to the Ndrive HL in various ways and the cables required to so do A two axis joystick requires an Ndrive HL with the IOPSO option form two analog inputs or two Ndrive HLs each with one analog input When using an external potentiometer such as a joystick to drive the Ndrive HL analog inputs it must be manually calibrated 1 Set the joystick potentiometer at mid point detent position and record the voltage from the Nstat window 2 Record the voltage at the minimum and maximum deflections of the potentiometer Subtract the two voltages 3 Set the JoyStickMaxVoltage task parameter to the mid point voltage from step 1 plus 1 2 the voltage difference from step 2 4 Set the JoyStickMinVoltage task parameter to the mid point voltage from step 1 minus 1 2 the voltage difference from step 2 If two different Ndrive HLs are being used to read the joystick only one
144. te Block Diagram 4 20 Ethernet Interface J204 4 22 Resolver Option Assembly 69001599 Rev 0 4 24 Analog Output Connector TB301 4 25 Resolver Located at Maximum of SIN Signal 4 27 Rotating the Resolver to see a circle 4 28 Optimized Resolver Feedback Configuration 4 29 Joystick Interface 5 5 Single Axis Joystick Interface to J205 of the Ndrive HL 5 6 Single Axis Joystick Interconnect to J205 of the Ndrive Fr t T ET 5 7 Two Axis Joystick Interface to the I O on the IOPSO oi M 5 7 Two Axis Joystick Connection to the I O on the IOPSO 5 M 5 8 Handwheel Interconnection to J205 of the Ndrive HL 5 9 Handwheel with Flying Leads no connector 5 10 BBA32 Interface used to connect a Handwheel with flying leads no connector 5 10 Ndrive HL Control Board Assembly 69001577 Rev A 6 3 Ndrive HL Motor Power Board 69001589 Rev 0 6 5 Ndrive HL Power Supply Board 69001588 Rev
145. the Nstat exe utility 2 Select the tab which displays the absolute resolver feedback register 3 Rotate the resolver until you have an approximate zero value on the feedback register note that this value will roll over at 65535 4 Begin with an MSET value of 0 degrees execute MSET commands with an increasing angle until you see a value of 0 indicated for the absolute resolver angle This MSET angle is the desired commutation offset 5 Enter the value from step 4 into the CfeMotOffsetAng axis parameter Note that for negative values you must add 360 degrees valid parameter range 1s 0 360 degrees 4 30 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Accessorles CHAPTER5 ACCESSORIES 5 1 Standard Interconnection Cables The following three Tables show a summary of the standard cables used for interconnecting various items to the Ndrive HL To identify your cable or for a wiring assembly drawing see your software CD ROM Table 5 1 Standard Interconnection Cables Cable Part DC Brush Motor Cable DC MTR amp FB 25DU FL 24MS MAX107DM Encoder Feedback Cable BL FB 25DU 17MS 9DU MAX120DM Motor Cable BL MTR FL 4MS Encoder Feedback Cable BL FB 25DU 25DU MAX120DM Encoder Feedback Cable BL FB 25DU 25DU 9DU MAX120DM C18982 Motor and Encoder Feedback Cable BL MIT R amp FB FL 25DU 25DU 107DM MAX Mo
146. tisantg com Ndrive HL User s Manual Options Table 4 5 Brake Relay Connector Pin Assignment TB301 Pin Label Description Inu t Bi Relay N C Brake Relay Output Normally Closed Contact Output Relay Com Brake Relay Output Common Contact Output i Brake Relay Output Normally Open Contact Relay N O See JP1 A JP1 B Output Table 4 6 Brake Relay Connector Pin Assignment J207 Pins Label Description IOutBi _ Brake Relay Output Normally Open Contact Brake Power connection See JP1 A JP1 B Output Figure 4 5 is an example of a 24 VDC Brake connected to TB301 In this example JP 1 A and JP1 B must be configured If JP1 A and JP1 B are configured to 1 3 then J207 pins 13 and 25 will be unused If JP1 A is set 1 2 and JP1 B is set 3 4 a connection between pins 13 and 25 of J207 1s required In this case J207 functions as an interlock to prevent the Brake from releasing if the Motor Feedback connector is not connected K1 RELAY NC w I TEED COMMO 5 RELAY COMMON 6 RELAY NO TEI JP1 A RLYV23026SMT 1 2 BRAKE VARISTOR 3 3 20 7 25 JP1 B AEROTECH PN ECR1BC L 3 e uL BRAKE Harris PN V33ZA1 Add Jumper or change jumpers to PRAE JP1 1 2 Out 3 4 Out 1 5 In Figure 4 5 Brake Connected to TB301 The user may reconfigure the connections for the brake such that the positive supply lead is switched
147. tor Cable BL MTR FL 4DU MAX450DM Joystick Extension Cable with Flying Leads JSXT FLY XX Joystick Extension Cable with D Style Connectors JSXT 26HD XX Two Axis Joystick Adapter Cable J205 on two Ndrive HLs Two Axis Joystick Adapter Cable with Flying Leads J205 and lO C19794 option C19851 Hi Flex Motor Cable BL MTR FL 4DU HF 46DM xx 7 Length in decimeters yy Length in feet www aerotech com 5 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Accessories Ndrive HL User s Manual Table 5 2 Combined Motor amp Feedback Cables Ndrive HL Part Number s Stage Motor C18982 xx BL MTR amp FB 25DU FL 25DU MAX107DM BFMCDNT yy Obsolete Used On Any brushless motor stage having a single 25 pin D style connector for motor power encoder limits and halls ABL1000 series 5 5130 amp 5135 series Single connector version Motor Encoder ANT series AVL125 amp ADR175 Limits Halls ASR1000 1100 amp 2000 series with 25D option C13803 xx DC MTR amp FB 25DU FL 24MS MAX107DM Motor Output O Motor Feedback Motor Output Used On Any stage having a DC brush motor with a single 24 pin MS style connector for motor power encoder limits and brake Motor Encoder Limits Brake C20251 xx SM MTR amp FB 25DU FL 23B MAX107DM Used On Any stage having a stepper motor with a single 23 p
148. trical cycle This method is the easiest for commutation of brushless motors Also referred to as modified sine commutation The process of switching motor phase current based on three Hall effect signals spaced 120 electrical degrees beginning at 0 electrical degrees This method is slightly more difficult to implement than standard 6 step but more closely approximates the motor s back EMF The result is smoother control and less ripple Aerotech s BA series self commutate using this method The process of switching motor phase current based on motor position information usually from an encoder In this method the three phase currents are switched in very small increments that closely resemble the motors back emf Sinusoidal commutation requires digital signal processing to convert position information into three phase current values and consequently is most expensive to implement The result however is the best possible control All Aerotech controllers as well as the BAS series amplifiers commutate using this method www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Coordinated Motion Critical Speed Current Command Current Peak Current RMS Cycle DC Brushless Servo Deceleration Duty Cycle Dwell Time Efficiency Electronic Gearing Encoder Marker Encoder Resolution Encoder Incremental Feedba
149. uch as those in Table 2 4 or other WARNING appropriate devices Table 2 4 Electrical Noise Suppression Devices Aerotech P N Third party P N RC 1uf 200 ohm Network EIC240 Electrocube RG1782 8 EID160 Littlefuse V250LA40A www aerotech com 2 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation and Configuration Ndrive HL User s Manual 2 3 1 Typical ESTOP Interface The user may connect an emergency stop circuit to the Ndrive HL It will disable power to the motor by removing power to the power stage of the drive while maintaining power to the control section as shown in the following Figure 2 4 Ndrive HL AUXPWR OPTION CR1 F AG 115 230VAC AC LO 50 60 HZ 3 one SAFTEY TB201 ESTOP INPUT control relay iei oss SUPPLIED J 24VDC SUPPLY NOTES N THE AUXPWR OPTION CAN BE USED WHEN THE MAIN SUPPLY BUS e POWER MUST BE REMOVED DURING AN EMERGENCY STOP CONDITION WHILE LOGIC ENCODER POWER MUST BE MAINTAINED 15A Slow Blow AN MAIN SUPPLY Ndrive HL AUXPWR OPTION A FOR THE E STOP INPUT TO BE ACTIVE SETUP 15A Slow Blow THE APPROPRIATE A FAULTMASK IN THE AXIS PARAMETERS FOR THE DESIRED ACTION WHEN AN E STOP CONDITION IS PRESENT MAIN SUPPLY TB201 ESTOP INPUT Ndrive HL AUXPWR INTERCONNECT WITH E STOP Figure 2 4 Typical Emergency Stop Circuit 2 6 www aerotech co
150. use Information 6 6 Ndrive HL Motor Power Board Test Point Information 6 6 Jumper Selections Line Voltage on Power Supply NUR RT 6 7 Jumper Selections Bus Voltage on Power Supply 6 TNR RET 6 7 Ndrive HL Power Supply Board Jumper Selections 6 8 Ndrive HL Power Supply Board Fuse Information 6 8 LED Indicator Description 6 9 JTAG Programming Connector Internal P10 6 10 Ndrive HL Power Supply Board Fuse Information 015600 ne ee eee renee ere cone eee 6 11 Ndrive HL Motor Power Board Fuse Information TIO ee eee 6 11 Battery Replacement Part Number Ndrive HL Control ze 6 11 Preventative Maintenance 6 12 V V V www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL Users Manual Declaration of Conformity DECLARATION OF CONFORMITY Manufacturer s Name Aerotech Inc and Address 101 Zeta Drive Pittsburgh PA 15238 2897 Declares that the product Ndrive HL Conforms to the following product specifications with the exceptions listed below Safety EN 61010 1 2001 Safety Requirements Use This product is intended for light industrial manufacturing
151. ut 10 100BASE T Ethernet port for I O expansion MCK NDRIVE Mating connector kit for J206 and J207 J205 is always provided Auxiliary 85 240 VAC input to power logic circuitry Required for keep alive or 20 80 VDC bus operation 20 120 VDC operation requires external transformer to generate 15 85 VAC bus power input Optional Industrial Joystick gt gt AUXPWR www aerotech com Introduction 1 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction Ndrive HL User s Manual 1 5 Electrical Specifications The electrical specifications for the Ndrive HL are listed in Table 1 2 Table 1 2 Electrical Specifications Description Units 2040 10 40 10 80 Voltage Output brushless 80 80 160 Output Voltage brush 40 40 80 Current Continuous Output Ax 10 5 5 F Power Continuous Output wats 675 337 675 MinmumLoadInductane mH f 0 E ss _ wem Weight 22 2 Ndrive HLs can drive each of its phases rail to rail since the drive supply for each phase is not derived from the bus voltages 2 Peak and continuous output current is load dependent see Table 1 3 3 This specification based on the output power transistors in the saturated e g full on condition 4 Into an Aerotech BLM 203 A lin
152. voltage detected Ndrive HL This condition LED de energizes when indicates an excessive regeneration condition LIMIT the motor decelerates FAULT POS ERR RMS current exceeded run at a lower current ENABLE Amplifier Faults Over temperature condition Turn off and let amplifier KERNEL LED de energizes cool down Provide better ventilation Defective on board power supply Return for repair Brushless motor will not Spin www aerotech com 6 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Troubleshooting Ndrive HL User s Manual 6 2 Ndrive HL Control Board Test Points The following test point is available internal to the Ndrive HL Table 6 2 Ndrive HL Control Board Test Point Test Point Funcion O O O TP4 Signal Common Analog and Digital 6 2 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ndrive HL User s Manual Troubleshooting 6 33 Ndrive HL Control Board Assembly Figure 6 1 highlights the Important components located on the control board assembly The Ndrive HL is jumper selectable providing the user with quick reconfiguration capability of the few operating modes not configurable by software Table 6 3 list the jumpers and the default configurations for the Ndrive HL Control board the IOPSO option board and jumper configurations are li
153. ws position digital inputs etc to be captured Data Update mode allows analog or digital outputs to be set by the same trigger The capture and update modes are defined in Figure 3 5 For a full description of these modes refer to the Nview HMI help www aerotech com High Speed E Input 12 High Speed Input 13 Data Capture Update Mode See other Block Diagram 3 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Details Ndrive HL User s Manual These Capture Update modes share four FIFO s queue s with Window 1 and Window 2 preventing the window firing modes from being used with the Capture Update mode Using a queue from a window precludes using that window 1 or 2 for firing however queues from window 1 may be used for data capture update mode while queues from window 2 may be used for window firing purposes The Capture Update modes vary for Window 1 and Window 2 see Figure 3 5 The data capture mode rate for analog inputs is limited to approximately 100 000 samples per second due to A D conversion rate The data update mode for analog outputs is limited to 500 000 Hertz due to internal serial bus design constraints From Pulse lt gt PSO Output ONANGO High Speed Input 12 C High Speed 40 Mhz Input 13 40 Mhz 32 Bit Counter 32 Bit Counter Secondary Encoder 4 Aux 8 General Inputs 2 High Speed Inputs Purpose Inputs Primary Enco

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