Aerotech Ndrive HPe 100 Hardware Manual Download Page 3

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Table of Contents

Ndrive HPe 50/75/100

Table of Contents

Ndrive HPe 50/75/100 Hardware Manual

Table of Contents

List of Figures

List of Tables

EU Declaration of Conformity

Agency Approvals

Safety Procedures and Warnings

Quick Installation Guide

Chapter 1: Introduction

1.1. Drive and Software Compatibility

1.2. Electrical Specifications

1.2.1. System Power Requirements

1.3. Mechanical Design

1.4. Environmental Specifications

Chapter 2: Installation and Configuration

2.1. Communication Channel Settings

2.2. Power Connections

2.2.1. Control Supply Connections (TB101)

2.2.2. Motor Supply Connections

2.2.3. Minimizing Conducted, Radiated, and System Noise

2.3. Motor Output Connections

2.3.1. Brushless Motor Connections

2.3.1.1. Powered Motor Phasing

2.3.1.2. Unpowered Motor and Feedback Phasing

2.3.2. DC Brush Motor Connections

2.3.2.1. DC Brush Motor Phasing

2.3.3. Stepper Motor Connections

2.3.3.1. Stepper Motor Phasing

2.4. Motor Feedback Connections (J207)

2.4.1. Encoder Interface (J207)

2.4.1.1. RS-422 Line Driver Encoder (Standard)

2.4.1.2. Absolute Encoder Interface (J207)

2.4.1.3. Analog Encoder Interface

2.4.1.4. Encoder Phasing

2.4.2. Hall-Effect Interface (J207)

2.4.3. Thermistor Interface (J207)

2.4.4. Encoder Fault Interface (J207)

2.4.5. End Of Travel Limit Input Interface (J207)

2.4.5.1. End Of Travel Limit Phasing

2.4.6. Brake Output (J207)

2.5. Emergency Stop Sense Input (TB201)

2.5.1. Typical ESTOP Interface

2.6. Auxiliary I/O Connector (J205)

2.6.1. Auxiliary Encoder Channel (J205)

2.6.2. Position Synchronized Output (PSO)/Laser Firing (J205)

2.6.3. Digital Outputs 8-11 (J205)

2.6.4. Digital Inputs 8-11 (J205)

2.6.5. High-Speed Digital Inputs 12-13 (J205)

2.6.6. Analog Output 0 (J205)

2.6.7. Differential Analog Input 0 (J205)

2.7. Brake Power Supply (TB202)

www.aerotech.com

Summary of Contents for Ndrive HPe 100

Page 1: ...Revision 4 09 00 Ndrive HPe 50 75 100 Hardware Manual ...

Page 2: ...tech com Phone 1 412 967 6440 Fax 1 412 967 6870 101 Zeta Drive Pittsburgh PA 15238 2811 www aerotech com United Kingdom China Email Support aerotech com Phone 44 0 1256 855055 Fax 44 0 1256 855649 Email Support aerotech com Phone 86 21 5508 6731 Germany Taiwan Email Support aerotech com Phone 49 0 911 967 9370 Fax 49 0 911 967 93720 Email Support aerotech com Phone 886 0 2 8751 6690 France Email ...

Page 3: ...sing 33 2 3 2 DC Brush Motor Connections 34 2 3 2 1 DC Brush Motor Phasing 35 2 3 3 Stepper Motor Connections 36 2 3 3 1 Stepper Motor Phasing 37 2 4 Motor Feedback Connections J207 38 2 4 1 Encoder Interface J207 39 2 4 1 1 RS 422 Line Driver Encoder Standard 40 2 4 1 2 Absolute Encoder Interface J207 41 2 4 1 3 Analog Encoder Interface 42 2 4 1 4 Encoder Phasing 44 2 4 2 Hall Effect Interface J2...

Page 4: ... TB303 81 3 4 Analog Inputs TB304 82 3 5 User Power TB305 TB306 83 3 6 Opto In Connector Digital Inputs TB305 TB306 84 3 7 Opto Out Connector Digital Outputs TB307 TB308 87 3 8 SSINET J302 J303 91 Chapter 4 RDP Expansion Board 93 Chapter 5 Standard Interconnection Cables 97 5 1 Joystick Interface 98 5 2 Handwheel Interface 100 Chapter 6 Maintenance 101 6 1 Power Board 102 6 2 Control Board 103 6 3...

Page 5: ... Connections 49 Figure 2 22 End of Travel Limit Interface Input J207 50 Figure 2 23 Limit Input Diagnostic Display 51 Figure 2 24 ESTOP Sense Input TB201 53 Figure 2 25 Typical Emergency Stop Circuit 54 Figure 2 26 Auxiliary Encoder Channel J205 57 Figure 2 27 PSO Interface 59 Figure 2 28 Outputs Connected in Current Sourcing Mode J205 61 Figure 2 29 Outputs Connected in Current Sinking Mode J205 ...

Page 6: ...4 4 Encoder Emulation Outputs 96 Figure 5 1 Single Axis Joystick Interface to Aux I O 98 Figure 5 2 Two Axis Joystick Interface to the Aux I O of two drives 98 Figure 5 3 Two Axis Joystick Interface to the Aux I O and I O Board 99 Figure 5 4 Two Axis Joystick Interface to the I O Board 99 Figure 5 5 Handwheel Interconnection to Aux I O 100 Figure 5 6 Handwheel Interconnection to Aux I O via a BBA3...

Page 7: ...18 Electrical Noise Suppression Devices 53 Table 2 19 Mating Connector Part Numbers for the ESTOP Connector TB201 53 Table 2 20 Typical ESTOP Relay Ratings 54 Table 2 21 Auxiliary I O Connector Pinout J205 55 Table 2 22 Mating Connector Part Numbers for the Auxiliary I O Connector J205 55 Table 2 23 Auxiliary Encoder Specifications 56 Table 2 24 Auxiliary Encoder Channel Pins on the Auxiliary I O ...

Page 8: ...n Connector TB305 83 Table 3 19 5 Volt Power Connector Pin on the Opto In Connector TB306 83 Table 3 20 Digital Input Device Specifications 84 Table 3 21 Opto In Connector Pinout TB305 84 Table 3 22 Opto In Connector Pinout TB306 84 Table 3 23 Mating Connector Part Numbers for the Opto In Connectors TB305 TB306 84 Table 3 24 Digital Output Specifications TB307 TB308 87 Table 3 25 Opto Out Connecto...

Page 9: ...ective and has been designed to be in conformity with the applicable requirements of the following Standard s when installed and used in accordance with the manufacturer s supplied installation instructions EN 61800 3 2004 EMC Requirements for Power Drives EN 61326 1 2013 EMC Requirements for Measurement Control Laboratory Use EN 61010 1 2010 Safety Requirements for Electrical Equipment Authorized...

Page 10: ...fication CUS NRTL Approving Agency TUV SUD America Inc Certificate U8 17 01 68995 023 Standards CAN CSA C22 2 No 61010 1 2012 UL 61010 1 2012 Visit https www tuev sued de product testing certificates to view Aerotech s TÜV SÜD certificates Type the certificate number listed above in the search bar or type Aerotech for a list of all Aerotech certificates Ndrive HPe 50 75 100 Declaration of Conformi...

Page 11: ...ion D A N G E R This product contains potentially lethal voltages To reduce the possibility of electrical shock bodily injury or death the following precautions must be followed 1 Disconnect electrical power before servicing equipment 2 Disconnect electrical power before performing any wiring 3 Access to the Ndrive HPe 50 75 100 and component parts must be restricted while connected to a power sou...

Page 12: ...ng injuries Access to all stage and motor parts must be restricted while connected to a power source 3 Cables can pose a tripping hazard Securely mount and position all system cables to avoid potential hazards 4 Do not expose this product to environments or conditions outside of the listed specifications Exceeding environmental or operating specifications can cause damage to the equipment 5 Operat...

Page 13: ...he heading Integration that drawing can be found on your installation device Figure 1 Quick Start Connections Topic Section Device Number Section 2 1 Communication Channel Settings Motor Output Section 2 3 Motor Output Connections Motor Feedback Section 2 4 Motor Feedback Connections J207 FireWire Section 2 8 FireWire Interface Control Supply Section 2 2 1 Control Supply Connections TB101 Motor Su...

Page 14: ...Ndrive HPe 50 75 100 Quick Installation Guide 14 www aerotech com This page intentionally left blank ...

Page 15: ...al PID and current loops All system configuration is done using software settable parameters including control loop gains and system safety functions The Ndrive HPe 50 75 100 is offered with an optional encoder interpolation feature MXH an auxiliary square wave encoder input for dual loop control dedicated analog and digital I O expandable with the IO option a resolver input RDP option and separat...

Page 16: ...ous 440 W continuous internal shunt resistor requires FAN 115 or FAN 230 option 75 S 75 A peak 37 5 A continuous 440 W continuous internal shunt resistor requires FAN 115 or FAN 230 option 100 S 100 A peak 50 A continuous 440 W continuous internal shunt resistor requires FAN 115 or FAN 230 option I O Chapter 3 and Feedback Section 2 4 1 3 Options IO Expansion board with 16 digital inputs opto isol...

Page 17: ...ncy RDP2 7 5K Two channel resolver to digital converter input 7 5 kHz carrier frequency RDP2 5K Two channel resolver to digital converter input 5 kHz carrier frequency Table 1 4 Accessories Accessories UFM ST AC Line Filter Module required for CE compliance refer to Section 2 2 MCK NDRIVE Mating connector kit for J206 J205 mate is always provided JI Industrial Joystick NEMA12 IP54 rated refer to S...

Page 18: ...er 1 www aerotech com The following block diagram shows a connection summary For detailed connection information refer to Chapter 2 and Chapter 3 Figure 1 2 Functional Diagram Ndrive HPe 50 75 100 Introduction ...

Page 19: ...of the software first supported the drive Drives that list a specific version number in the Last Software Version column will not be supported after the listed version Table 1 5 Drive and Software Compatibility Drive Type Firmware Revision First Software Version Last Software Version Ndrive HPe 2 22 Current www aerotech com Chapter 1 19 ...

Page 20: ...nd 50 A 75 A 100 A Continuous Output Current 25 A 37 5 A 50 A Power Amplifier Bandwidth 2500 Hz maximum software selectable Power Amplifier Efficiency 85 95 2 PWM Switching Frequency 20 kHz Minimum Load Inductance 0 8 mH 160 VDC 1 mH 320 VDC User Power Supply Output 5 VDC 500 mA Modes of Operation Brushless Brush Stepper Protective Features Output short circuit Peak over current DC bus over voltag...

Page 21: ...r electronics or power transformer An EfficiencyFactor of approximately 90 should be used in the following equations Brushless Motor Output Power Rotary Motors Pout W Torque N m Angular velocity rad sec Linear Motors Pout W Force N Linear velocity m sec Rotary or Linear Motors Pout W Bemf V I rms 3 Ploss 3 I rms 2 R line line 2 Pin SUM Pout Ploss EfficiencyFactor DC Brush Motor Pout W Torque N m A...

Page 22: ...uld be separated from other drives and surrounded by 25 mm 1 of free air space A space of 100 mm 4 should be allowed along the front of the unit for cable connections Figure 1 3 Dimensions Table 1 7 Physical Specifications Weight Standard 6 53 kg 14 4 lb w IO option 6 93 kg 15 28 lb w RDP option 6 93 kg 15 28 lb Ndrive HPe 50 75 100 Introduction ...

Page 23: ...Temperature Operating 0 to 50 C 32 to 122 F Storage 30 to 85 C 22 to 185 F Humidity Maximum relative humidity is 80 for temperatures up to 31 C Decreasing linearly to 50 relative humidity at 40 C Non condensing Altitude Up to 2000 meters Pollution Pollution degree 2 normally only non conductive pollution Use Indoor use only www aerotech com Chapter 1 23 ...

Page 24: ...Ndrive HPe 50 75 100 Introduction 24 Chapter 1 www aerotech com This page intentionally left blank ...

Page 25: ...he Device Number switches to assign a communication channel number to the Ndrive HPe 50 75 100 If you are using multiple drives each drive must be assigned a unique communication channel Multiple drives are typically configured using sequential communication channels Figure 2 1 Device Number S1 Location www aerotech com Chapter 2 25 ...

Page 26: ...N ON ON ON ON 3 ON ON ON ON ON ON ON 4 ON ON ON ON ON ON 5 ON ON ON ON ON ON ON 6 ON ON ON ON ON ON 7 ON ON ON ON ON ON 8 ON ON ON ON ON 9 ON ON ON ON ON ON ON 10 ON ON ON ON ON ON 11 ON ON ON ON ON ON 12 ON ON ON ON ON 13 ON ON ON ON ON ON 14 ON ON ON ON ON 15 ON ON ON ON ON 16 ON ON ON ON 17 ON ON ON ON ON ON ON 18 ON ON ON ON ON ON 19 ON ON ON ON ON ON 20 ON ON ON ON ON 21 ON ON ON ON ON ON 22 ...

Page 27: ...ition The control power supply requires a minimum of 85 VAC input to operate properly The AC1 input is internally fused The AC2 input is not internally fused but can be connected to a voltage source other than Neutral if an external 2 A time delay fuse is used Although the control power supply contains an internal filter an additional external filter located as close as possible to the Ndrive HPe ...

Page 28: ... AC3 inputs The drive can be connected to a two or three phase power source Power for the cooling fan is supplied through the motor supply connection The fan connects between the AC1 and AC2 inputs and uses approximately 20W of power W A R N I N G Do not operate the Ndrive HPe 50 75 100 without the safety ground connection in place W A R N I N G Do not operate the Ndrive HPe 50 75 100 without prop...

Page 29: ... to radiated emission standards The Ndrive HPe 50 75 100 is a component designed to be integrated with other electronics EMC testing must be conducted on the final product configuration Ferrite beads can be used on the motor leads to reduce the effects of PWM noise Table 2 3 Ferrite Noise Suppression Part Numbers Wire Size Aerotech P N Third Party P N 13 3 mm2 6 AWG N A 2643626502 Elna Fair Rite P...

Page 30: ...per see Section 2 3 3 For a complete list of electrical specifications refer to Section 1 2 Table 2 4 Motor Power Output Connections Pin Description Recommended Wire Size ØA Phase A Motor Lead 5 27 mm2 10 AWG ØB Phase B Motor Lead 5 27 mm2 10 AWG ØC Phase C Motor Lead 5 27 mm2 10 AWG Earth Ground to Motor required for safety 5 27 mm2 10 AWG Ndrive HPe 50 75 100 Installation and Configuration ...

Page 31: ...wires Green White indicates a single wire N OTE Brushless motors are commutated electronically by the controller The use of Hall effect devices for commutation is recommended The controller requires that the Back EMF of each motor phase be aligned with the corresponding Hall effect signal To ensure proper alignment motor Hall and encoder connections should be verified using one of the following me...

Page 32: ... 2 3 1 1 Powered Motor Phasing Refer to the Motor Phasing Calculator in the Configuration Manager for motor Hall and encoder phasing Figure 2 5 Encoder and Hall Signal Diagnostics Ndrive HPe 50 75 100 Installation and Configuration ...

Page 33: ...the positive direction Figure 2 6 Motor Phasing Oscilloscope Example With the designations of the motor and Hall leads of a third party motor determined the motor can now be connected to an Aerotech system Connect motor lead A to motor connector A motor lead B to motor connector B and motor lead C to motor connector C Hall leads should also be connected to their respective feedback connector pins ...

Page 34: ...Configuration Table 2 6 Wire Colors for Aerotech Supplied Cables DC Brush Pin Wire Color Set 1 1 Wire Color Set 2 Wire Color Set 3 Green White Shield 2 Green Yellow Shield Green Yellow Shield A Red Orange Red Red Orange C Yellow Blue Black Yellow Blue 1 Wire Color Set 1 is the typicalAerotech wire set used by Aerotech 2 Red Orange indicates two wires Green White indicates a single wire Ndrive HPe ...

Page 35: ...ive lead of the voltmeter to the other motor terminal 3 Rotate the motor clockwise by hand Figure 2 9 Clockwise Motor Rotation 4 If the voltmeter indicates a negative value swap the motor leads and rotate the motor CW by hand again When the voltmeter indicates a positive value the motor leads have been identified 5 Connect the motor lead from the voltmeter to the ØA motor terminal on the Ndrive HP...

Page 36: ...For example an 80V motor bus supply is needed to get 40V across the motor Figure 2 10 Stepper Motor Configuration Table 2 7 Wire Colors for Aerotech Supplied Cables Stepper Pin Wire Color Set 1 1 Wire Color Set 2 Green Yellow Shield 2 Green Yellow Shield A Black Brown B Red Yellow C White White Red 1 Wire Color Set 1 is the typicalAerotech wire set used by Aerotech 2 Red Orange indicates two wires...

Page 37: ...tion as viewed looking at the motor from the front mounting flange the motor is phased correctly If the motor moves in a counterclockwise direction swap the motor leads and re run the command Proper motor phasing is important because the end of travel EOT limit inputs are relative to motor rotation Figure 2 11 Clockwise Motor Rotation N OTE If using standard Aerotech motors and cables motor and en...

Page 38: ...Reference Pulse Input 8 Absolute Encoder Interface Data Bidirectional 9 Reserved N A 10 Hall Effect Sensor A brushless motors only Input 11 Hall Effect Sensor C brushless motors only Input 12 Clockwise End of Travel Limit Input 13 Brake Output Output 14 Encoder Cosine Input 15 Encoder Cosine Input 16 5V Power for Limit Switches 500 mA max Output 17 Encoder Sine Input 18 Encoder Sine Input 19 Absol...

Page 39: ...ed for an analog encoder input via parameter settings Refer to Section 2 4 1 4 for encoder feedback phasing Refer to Section 2 6 for the auxiliary encoder channel N OTE Encoder wiring should be physically isolated from motor AC power and all other power wiring Table 2 10 Encoder Interface Pins on the Motor Feedback Connector J207 Pin Description In Out Bi 1 Chassis Frame Ground N A 3 5V Power for ...

Page 40: ...ause a feedback fault when the axis is enabled An analog encoder is used with the MXH option refer to Section 2 4 1 3 for more information Table 2 11 Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 nsec minimum edge separation x4 Quadrature Decoding 40 million counts sec Figure 2 12 Line Driver Encoder Interface J207 Ndrive HPe 50 75 100 Installation and Configuratio...

Page 41: ...coder fault information via a serial data stream from the absolute encoder See Figure 2 13 for the serial data stream interface Refer to the Help file for information on how to set up your EnDat or Resolute absolute encoder parameters The encoder interface pinout is indicated in Section 2 4 1 Figure 2 13 Serial Data Stream Interface www aerotech com Chapter 2 41 ...

Page 42: ...ure output Refer to Figure 2 14 for the typical input circuitry The encoder interface pin assignment is indicated in Section 2 4 1 The gain offset and phase balance of the analog Sine and Cosine encoder input signals can all be adjusted via controller parameters Encoder signals should be adjusted using the Feedback Tuning tab of the Digital Scope which will automatically adjust the encoder paramet...

Page 43: ...Installation and Configuration Ndrive HPe 50 75 100 Figure 2 15 Analog Encoder Interface J207 www aerotech com Chapter 2 43 ...

Page 44: ...while observing the position of the encoder in the diagnostics display see Figure 2 17 The Motor Phasing Calculator in the Configuration Manager can be used to determine proper encoder polarity For dual loop systems the velocity feedback encoder is displayed in the diagnostic display Figure 2 17 Figure 2 16 Encoder Phasing Reference Diagram Standard N OTE Encoder manufacturers may refer to the enc...

Page 45: ...Installation and Configuration Ndrive HPe 50 75 100 Figure 2 17 Position Feedback in the Diagnostic Display www aerotech com Chapter 2 45 ...

Page 46: ...efer to Section 2 3 1 1 for Hall effect device phasing Table 2 13 Hall Effect Feedback Interface Pins on the Motor Feedback Connector J207 Pin Description In Out Bi 1 Chassis Frame Ground N A 3 5V Power for Encoder 500 mA max Output 5 Hall Effect Sensor B brushless motors only Input 10 Hall Effect Sensor A brushless motors only Input 11 Hall Effect Sensor C brushless motors only Input 21 Signal Co...

Page 47: ... the resistance of the thermistor is low i e 100 ohms which will result in a low input signal As the increasing temperature causes the thermistor s resistance to increase the signal will be seen as a logic high triggering an over temperature fault The nominal trip value of the sensor is 1k Ohm Table 2 14 Thermistor Interface Pin on the Motor Feedback Connector J207 Pin Description In Out Bi 2 Moto...

Page 48: ... of encoder function The active state of this input is parameter configurable and the controller should be configured to disable the axis when the fault level is active Table 2 15 Encoder Fault Interface Pin on the Motor Feedback Connector J207 Pin Description In Out Bi 23 Encoder Fault Input Input Figure 2 20 Encoder Fault Interface Input J207 Ndrive HPe 50 75 100 Installation and Configuration ...

Page 49: ... input Negative motion is stopped by the counterclockwise CCW end of travel limit input The Home Limit switch can be parameter configured for use during the home cycle however the CW or CCW EOT limit is typically used instead Opto isolated user inputs 8 11 can also be used as the end of travel limit inputs see Section 2 6 4 Figure 2 21 End of Travel Limit Input Connections Table 2 16 End of Travel...

Page 50: ...50 Chapter 2 www aerotech com Figure 2 22 End of Travel Limit Interface Input J207 Ndrive HPe 50 75 100 Installation and Configuration ...

Page 51: ...l be able to move further into a limit but be unable to move out To correct this swap the connections to the CW and CCW inputs at the motor feedback connector The logic level of the EOT limit inputs may be viewed in the Status Utility shown in Figure 2 23 Figure 2 23 Limit Input Diagnostic Display www aerotech com Chapter 2 51 ...

Page 52: ...200 Help file for more information Use either the solid state relay on the Ndrive HPe 50 75 100 or the mechanical relay on the IO board when connecting a power supply to the brake outputs on J207 Do not use both relays at the same time Refer to Section 2 7 for more information on using the brake output with the solid state relay Refer to Section 3 1 for more information on using the brake output w...

Page 53: ...o Figure 2 25 for interconnection details The ESTOP input is scaled for an input voltage of 5 24 volts If the ESTOP bit is enabled in the FaultMask axis parameter the ESTOP input must be driven to prevent the ESTOP fault condition Figure 2 24 ESTOP Sense Input TB201 N OTE Connecting the ESTOP input to a relay or other noise producing device requires the use of noise suppression devices such as tho...

Page 54: ...e Figure 2 25 The external relay must be sized based on the number of the Ndrive HPe 50 75 100s connected and the peak current rating of each drive Figure 2 25 Typical Emergency Stop Circuit Table 2 20 Typical ESTOP Relay Ratings AC1 AC3 Aerotech P N Third Party P N HPe 50 65 30 N A Sprecher Schuh CA7 30C xx xxx HPe 75 85 43 N A Sprecher Schuh CA7 43C xx xxx HPe 100 100 60 N A Sprecher Schuh CA7 6...

Page 55: ...iliary Cosine Bidirectional 12 5 Volt 500 mA max Output 13 Analog Input 0 Differential Input 14 Analog Input 0 Differential Input 15 Output Common 16 Digital Output 11 Output 17 Digital Input 8 CCW EOT Input 1 Input 18 Digital Input 9 CW EOT Input 1 Input 19 Auxiliary Marker PSO output 2 Bidirectional 20 Auxiliary Marker PSO output 2 Bidirectional 21 Common 5 Volt User Supply 500 mA max 22 Analog ...

Page 56: ... 2 23 Auxiliary Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 nsec minimum edge separation x4 Quadrature Decoding 40 million counts sec N OTE Use the EncoderDivider parameter to configure the bi directional encoder interface on the aux iliary I O connector The EncoderDivider parameter converts the auxiliary encoder interface to an output and defines a divisor for t...

Page 57: ...Installation and Configuration Ndrive HPe 50 75 100 Figure 2 26 Auxiliary Encoder Channel J205 www aerotech com Chapter 2 57 ...

Page 58: ...se to the receiving electronics Table 2 25 PSO Specifications Specification Value Maximum Input Tracking Rate 1 Single Axis Tracking 16 6 MHz Dual Axis Tracking 8 33 MHz Triple Axis Tracking 8 33 MHz Maximum Quadrature Encoder Output Frequency Standard Feedback 40 MHz MXH Feedback 25 MHz Maximum PSO Output Fire Frequency 2 12 5 MHz Firing Latency 3 Single Axis Tracking 160 nsec Dual Axis Tracking ...

Page 59: ...Installation and Configuration Ndrive HPe 50 75 100 Figure 2 27 PSO Interface www aerotech com Chapter 2 59 ...

Page 60: ...r s common connections can be directly connected to the drive s power supply however doing so will effectively defeat the isolation and will reduce noise immunity Table 2 27 Digital Output Specifications Opto Device Specifications Value Maximum Voltage 24 V maximum Maximum Sink Source Current 60 mA channel 50 C Output Saturation Voltage 2 75 V at maximum current Output Resistance 33 Ω Rise Fall Ti...

Page 61: ...Ndrive HPe 50 75 100 N OTE Outputs must be connected as all sourcing or all sinking Figure 2 28 Outputs Connected in Current Sourcing Mode J205 Figure 2 29 Outputs Connected in Current Sinking Mode J205 www aerotech com Chapter 2 61 ...

Page 62: ...rive s power supply however doing so will effectively defeat the isolation and will reduce noise immunity Table 2 29 Digital Input Specifications Input Voltage Approximate Input Current Turn On Time Turn Off Time 5 V 1 mA 200 usec 2000 usec 24 V 6 mA 4 usec 1500 usec Table 2 30 Digital Input Pins on the Auxiliary I O Connector J205 Pin Description In Out Bi 17 Digital Input 8 CCW EOT Input 1 Input...

Page 63: ...5 100 N OTE Each bank of 8 Inputs must be connected in the all sourcing or all sinking configuration Figure 2 30 Inputs Connected in Current Sourcing Mode J205 Figure 2 31 Inputs Connected in Current Sinking Mode J205 www aerotech com Chapter 2 63 ...

Page 64: ...tal Input Pins on the Auxiliary I O Connector J205 Pin Description In Out Bi 3 High Speed Input 12 user interrupt Input 4 High Speed Input 12 user interrupt Input 5 High Speed Input 13 user interrupt Input 6 High Speed Input 13 user interrupt Input Table 2 33 Input Voltage Jumper Configuration Jumper Setting Description JP3 1 2 1 24 V operation High Speed Input 13 2 3 5 V operation High Speed Inpu...

Page 65: ...em reset Table 2 34 Analog Output 0 Specifications TB102 B Specification Value Output Voltage 10 V to 10 V Output Current 5 mA Resolution bits 16 bits Resolution volts 305 µV Table 2 35 Analog Output Pins on the Auxiliary I O Connector J205 Pin Description In Out Bi 22 Analog Output 0 Output 23 Analog Common Figure 2 33 Analog Output 0 J205 www aerotech com Chapter 2 65 ...

Page 66: ...analog common as shown in Figure 2 34 Table 2 36 Differential Analog Input 0 Specifications Specification Value AI AI 10 V to 10 V 1 Resolution bits 16 bits Resolution volts 305 µV 1 Signals outside of this range may damage the input Table 2 37 Analog Input Pins on the Auxiliary I O Connector J205 Pin Description In Out Bi 13 Analog Input 0 Differential Input 14 Analog Input 0 Differential Input 2...

Page 67: ...rakeControl parameter and the BRAKE command When TB202 is used to power the solid state brake control relay the mechanical brake control relay present on the I O board should not be used N OTE The brake power supply must be externally fused The user must verify that the brake power requirements are within the specifications of the brake control relay Table 2 38 Relay Specifications Solid State Rel...

Page 68: ...207 N OTE The user is responsible for providing fuse protection for the brake circuit Figure 2 36 is an example of a 24 VDC brake connected to TB202 The user must connect J207 pin 13 to J207 pin 25 In this case J207 would function as an interlock to prevent the brake from releasing if the Motor Feedback connector is not connected Figure 2 36 Brake Connected to TB202 Ndrive HPe 50 75 100 Installati...

Page 69: ... for cables exceeding 4 5 m 15 ft specification Part Number Description NFIRE RPTR 1394A 1394A Extender for copper cable lengths greater than 4 5 m 15 feet NFIRE RPTR 1394A GOF Glass Optical Fiber FireWire Repeater Qty 1 Fiber Cable not included Table 2 43 FireWire Cables copper and glass fiber Part Number Description NCONNECT 60 6 m 20 ft long 6 pin to 6 pin NCONNECT 45 4 5 m 15 ft long 6 pin to ...

Page 70: ...70 Chapter 2 www aerotech com 2 9 RS 232 Interface J206 The RS 232 Interface J206 currently has no functionality on the Ndrive HPe 50 75 100 Ndrive HPe 50 75 100 Installation and Configuration ...

Page 71: ...ble 2 44 EXTSHUNT Component Information Component Description Aerotech P N Recommended Shunt Resistor 50 Ω min 300 W Vishay Dale RBEF030050R00KFBVT ECR01039 Fuse F1 on the Power Board 8 A S B 3 AG Littelfuse 32008 EIF00122 Recommended Wire Size 16 AWG 1 3 mm2 High Temperature NOTE Multiple resistors can be connected in parallel if required by the application If multiple resistors are used the inte...

Page 72: ... 160 V 213 8 J 320 V 75 6 J If a shunt resistor is required the next step is to calculate the value of resistance necessary to dissipate the energy Use Equations 3 4 and 5 to calculate the parameters of the shunt resistor Equation 3 PPEAK peak power that the regeneration circuit must accommodate W tD deceleration time s Equation 4 PAV average power dissipated on shunt resistor W tCYCLE time betwee...

Page 73: ...e HPe 50 75 100 2 11 PC Configuration and Operation Information For additional information about PC configuration hardware requirements programming utilities and system operation refer to the A3200 Help file www aerotech com Chapter 2 73 ...

Page 74: ...Ndrive HPe 50 75 100 Installation and Configuration 74 Chapter 2 www aerotech com This page intentionally left blank ...

Page 75: ...e 50 75 100 chassis Figure 3 1 Ndrive HPe 50 75 100 with IO Option Board Table 3 1 IO Expansion Board Jumper Configuration Jumper Setting Description JP2 1 2 PSO Output Active High Low Z during reset 2 3 1 PSO Output Active Low High Z during reset JP3 1 2 3 4 Switch Brake 5 6 7 8 1 Switch Brake 1 3 Relay Only 1 default Table 3 2 IO Option Board Fuse Information Fuse Description Size Aerotech P N M...

Page 76: ... Maximum Switched Voltage 150 VDC 125 VAC Maximum Switched Current 1A Maximum Carrying Current 1A Maximum Switched Power 30 W DC 60 VA AC N OTE Do not exceed Maximum Current or Maximum Power specifications Table 3 4 Relay Connector Pinout TB301 Pin Description In Out Bi 1 Brake Relay Output Normally Closed Contact Output 2 Brake Relay Output Common Contact Output 3 Brake Relay Output Normally Open...

Page 77: ...ote that JP3 is set 1 2 and 3 4 with all others removed Figure 3 2 Brake Connected to J207 Figure 3 3 is an example of a 24 VDC Brake connected to TB301 In this example JP3 must be set 1 3 and all other jumpers removed Otherwise the user must connect J207 pin 13 to J207 pin 25 In this case J207 would function as an interlock to prevent the Brake from releasing if the Motor Feedback connector is no...

Page 78: ...are shown in Table 3 9 For the JP2 jumper location refer to Figure 3 1 Table 3 7 PSO Output Connector Pinout TB302 Pin Description In Out Bi 1 Reserved 2 PSO Output Output 3 Opto Isolator Common Input Table 3 8 Mating Connector Part Numbers for the PSO Output Connector TB302 Description Aerotech P N Phoenix P N Wire Size AWG mm2 3 Pin Terminal Block ECK01449 1881338 0 5 0 080 20 28 Table 3 9 PSO O...

Page 79: ...tion on parameter configurations 3 2 1 1 Multi Axis Firing In this example the X axis has the TRIPLEPSO option and the Y and Z axes represent the other two axes that will be tracked The Y and Z axes output their encoder feedback through SSINet ports 1 and 2 respectively to the X axis The Z axis must have its SSINet port 1 configured as an output for its encoder feedback signal and the Y axis must ...

Page 80: ...80 Chapter 3 www aerotech com Figure 3 6 Two Three Axis Laser Firing Interconnection Ndrive HPe 50 75 100 IO Expansion Board ...

Page 81: ...Output 0 on J205 see Section 2 6 6 TB303 lets you connect to all of the analog outputs from one connector do not connect to AOUT0 at both TB303 and J205 Table 3 13 Analog Output Connector Pinout TB303 Pin Description In Out Bi 1 Analog Output 0 Output 2 Analog Output 1 Output 3 Analog Output 2 Output 4 Analog Output 3 Output Table 3 14 Mating Connector Part Numbers for the Analog Output Connector ...

Page 82: ...205 see Section 2 6 7 TB304 lets you connect to all of the analog inputs in one place do not connect to AIN0 at both TB304 and J205 Table 3 16 Analog Inputs Connector Pinout TB304 Pin Description In Out Bi 1 Analog Common N A 2 Non Inverting Analog Input 0 Input 3 Inverting Analog Input 0 Input 4 Non Inverting Analog Input 1 Input 5 Inverting Analog Input 1 Input 6 Analog Common N A 7 Non Invertin...

Page 83: ...n on the Opto In Connector TB305 Pin Description In Out Bi 10 Signal Common N A Table 3 19 5 Volt Power Connector Pin on the Opto In Connector TB306 Pin Description In Out Bi 10 Internal 5 Volt Power Supply 0 5 A max N A W A R N I N G Opto isolated inputs and outputs should not be powered by the user output power Doing so would compromise the isolation provided by the opto isolator www aerotech co...

Page 84: ...nput Common for inputs 0 7 Input 2 Digital Input 0 Optically Isolated Input 3 Digital Input 1 Optically Isolated Input 4 Digital Input 2 Optically Isolated Input 5 Digital Input 3 Optically Isolated Input 6 Digital Input 4 Optically Isolated Input 7 Digital Input 5 Optically Isolated Input 8 Digital Input 6 Optically Isolated Input 9 Digital Input 7 Optically Isolated Input 10 Signal Common N A Ta...

Page 85: ... IO Expansion Board Ndrive HPe 50 75 100 Figure 3 9 Digital Opto Isolated Inputs www aerotech com Chapter 3 85 ...

Page 86: ...f 8 Inputs must be connected in the all sourcing or all sinking configuration Figure 3 10 Digital Inputs Connected to a Current Sourcing Device Figure 3 11 Digital Inputs Connected to a Current Sinking Device Ndrive HPe 50 75 100 IO Expansion Board ...

Page 87: ...the isolation and will reduce noise immunity Table 3 24 Digital Output Specifications TB307 TB308 Opto Device Specifications Value Maximum Voltage 24 V maximum Maximum Sink Source Current 60 mA channel 50 C Output Saturation Voltage 2 75 V at maximum current Output Resistance 33 Ω Rise Fall Time 250 usec typical Reset State Output Off High Impedance State Suppression diodes must be installed on ou...

Page 88: ...cally Isolated Output 9 Digital Output 6 Optically Isolated Output 10 Digital Output 7 Optically Isolated Output Table 3 26 Opto Out Connector Pinout TB308 Pin Description In Out Bi 1 Digital Output Common Plus Input 2 Digital Output Common Minus Input 3 Digital Output 16 Optically Isolated Output 4 Digital Output 17 Optically Isolated Output 5 Digital Output 18 Optically Isolated Output 6 Digital...

Page 89: ... IO Expansion Board Ndrive HPe 50 75 100 Figure 3 12 Digital Opto Isolated Outputs IO Board www aerotech com Chapter 3 89 ...

Page 90: ...90 Chapter 3 www aerotech com Figure 3 13 Digital Outputs Connected in Current Sourcing Mode Figure 3 14 Digital Outputs Connected in Current Sinking Mode Ndrive HPe 50 75 100 IO Expansion Board ...

Page 91: ...ne driver encoder signal input to the Ndrive HPe 50 75 100 unless the MXH option is present N OTE The SSINet 1 and 2 interfaces are both physically hardwired to the J302 and J303 connectors If SSINet 1 is configured as an input a signal driven into the SSINet 1 connections on J302 will also be present on the SSINet 1 connections of J303 effectively making SSINet 1 on J303 an un buffered out put of...

Page 92: ...92 Chapter 3 www aerotech com Figure 3 15 SSI Net Connector Schematic J302 J303 Ndrive HPe 50 75 100 IO Expansion Board ...

Page 93: ...the motor the alignment between the resolver and motor must be known This alignment can be determined by using the controller s software Refer to the A3200 Help file for information on configuring parameters for an axis with resolver feedback Channel 1 is on J401 and channel 2 is on J402 The RDP option can supply up to 7 VRMS reference voltage and requires 2 VRMS on the sine and cosine inputs D A ...

Page 94: ...ver Reference Output 8 Shield Reference Shield 7 ENC SIN Encoder Emulation Sine optional Output 11 ENC SIN Encoder Emulation Sine optional Output 1 ENC COS Encoder Emulation Cosine optional Output 6 ENC COS Encoder Emulation Cosine optional Output 2 ENC MRK Encoder Emulation Marker optional Output 12 ENC MRK Encoder Emulation Marker optional Output Table 4 3 Mating Connector Part Numbers for the R...

Page 95: ... RDP Expansion Board Ndrive HPe 50 75 100 Figure 4 2 Resolver Inductosyn Recommended Wiring Figure 4 3 Resolver Inputs www aerotech com Chapter 4 95 ...

Page 96: ... Mating Connector Part Numbers for the RDP External Power Connector J403 Description Aerotech P N Phoenix P N Wire Size AWG mm2 3 Pin Terminal Block ECK01449 1881338 0 5 0 080 20 28 Table 4 6 Resolver Test Points Test Point Description TP4 Signal Common TP10 Sine Input Channel 1 TP11 Cosine Input Channel 1 TOP Reference Signal Channel 1 TP13 Resolver Channel 1 Error TP20 Sine Input Channel 2 TP21 ...

Page 97: ...es can be found on the website at http www aerotechmotioncontrol com manuals index aspx Table 5 1 Standard Interconnection Cables Cable Part Description Joystick See Section 5 1 ECZ01231 BBA32 Interconnect Cable 1 The xx indicates length in decimeters yy would indicate length in feet www aerotech com Chapter 5 97 ...

Page 98: ...ck control will not activate unless the joystick is in the center location Third party devices can be used provided they produce a symmetric output voltage within the range of 10V to 10V The following drawings illustrate how to connect a single or two axis joystick For cable details refer to Table 5 2 Refer to the A3200 Help file for programming information about how to change joystick parameters ...

Page 99: ...ble 5 2 Cable Part Numbers Part Cable Description UPC C22759 XX JSXT FLY 26HD 15DU MAX300DM NDRIVEHPE DUAL AXIS 630B2275 9 C227510 XX JSXT 26HD 15DU MAX300DM NDRIVEHPE SINGLE AXIS 630B2275 10 C227511 XX JSXT 26HD 26HD 15DU MAX300DM NDRIVEHPE DUAL AXIS 630B2275 11 C227515 XX JSXT FLY 15DU MAX 300 DM NDRIVEHPE DUAL AXIS 630B2275 15 www aerotech com Chapter 5 99 ...

Page 100: ...rovide 5V differential quadrature signals to the Ndrive HPe 50 75 100 A handwheel can be connected to the Aux I O as shown in Figure 5 5 or Figure 5 6 N OTE See the A3200 Help file for information on enabling the handwheel Figure 5 5 Handwheel Interconnection to Aux I O Figure 5 6 Handwheel Interconnection to Aux I O via a BBA32 Module 100 Chapter 5 www aerotech com ...

Page 101: ...LED Description LED Description ENB FLT Turns green to indicate that the axis is enabled Turns red to indicate a fault condition The ENB FLT LED will flash between RED and GREEN if the drive is enabled and in a fault condition MARKER Turns green to indicate that the marker input is high PWR Turns green when power is applied POS Turns green to indicate that the axis is in position If the power ligh...

Page 102: ... chassis Figure 6 1 Power Board Assembly Table 6 2 Fuse Information Fuse Description Size Aerotech P N Manufacturer s P N F1 External Shunt Fuse EXTSHUNT Option 8 A S B 3 AG EIF00109 Littelfuse 0313008 HXP F2 Fan Fuse 3 A Pico EIF01016 Littelfuse 0263003 MXL F3 Control Power 2 A S B EIF01029 Littelfuse 37212000411 102 Chapter 6 www aerotech com ...

Page 103: ...gure 6 2 Control Board Assembly Table 6 3 Control Board Jumper Configuration Jumper Setting Description JP2 1 2 1 Watchdog enabled 2 3 Watchdog disabled JP3 1 2 1 24 V operation High Speed Input 13 2 3 5 V operation High Speed Input 13 JP4 1 2 1 24 V operation High Speed Input 12 2 3 5 V operation High Speed Input 12 1 Default www aerotech com Chapter 6 103 ...

Page 104: ...ble Fuse 5 A EIF01002 Littelfuse MINISMDC050F 2 Table 6 5 LED Description LED Description ENB FLT Turns green to indicate that the axis is enabled Turns red to indicate a fault condition The ENB FLT LED will flash between RED and GREEN if the drive is enabled and in a fault condition MARKER Turns green to indicate that the marker input is high PWR Turns green when power is applied POS Turns green ...

Page 105: ...rial exposure Any fluids or electrically conductive material must not be permitted to enter the Ndrive HPe 50 75 100 Visually inspect all cables and connections Tighten or re secure any loose connections Replace worn or frayed cables Replace broken connectors Cleaning The Ndrive HPe 50 75 100 chassis can be wiped with a clean dry soft cloth The cloth may be slightly moistened if required with wate...

Page 106: ...106 Chapter 6 www aerotech com Ndrive HPe 50 75 100 Maintenance This page intentionally left blank ...

Page 107: ...uch approval A Return Materials Authorization RMA number must accompany any returned product s The RMA number may be obtained by calling an Aerotech service center or by submitting the appropriate request available on our website www aerotech com Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than thirty...

Page 108: ...rranty related then the terms and conditions stated in the following On Site Non Warranty Repair section apply On site Non Warranty Repair 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 Serv...

Page 109: ...y Encoder Channel J205 l Section 2 6 2 Position Synchronized Output PSO Laser Firing J205 l Section 2 6 3 Digital Outputs 8 11 J205 l Section 2 6 4 Digital Inputs 8 11 J205 l Section 2 6 5 High Speed Digital Inputs 12 13 J205 l Section 2 6 6 Analog Output 0 J205 l Section 2 6 7 Differential Analog Input 0 J205 l Section 2 10 EXTSHUNT Option TB101 l Section 3 2 PSO Output Interface TB302 l Section ...

Page 110: ...Ndrive HPe 50 75 100 Revision History 110 Appendix B www aerotech com This page intentionally left blank ...

Page 111: ... Output 65 Analog Output 1 Connector 81 Analog Output 1 Connector Pin Assignment 81 Analog Outputs I O Board 81 Auxiliary Encoder Channel 56 57 Auxiliary Encoder Channel Pin Assignment 56 58 Auxiliary I O Connector 55 Auxiliary I O Connector Pin Assignment 55 B Brake Mechanical Relay 76 Brake Mechanical Relay Connector Pin Assignment 76 Brake Connected to J207 68 77 Brake Connected to TB20 68 Brak...

Page 112: ... Encoder Fault Interface Pin Assignment 48 Encoder Interface J207 39 Encoder Interface Pin Assignment 39 Encoder Phasing 44 Encoder Phasing Reference Diagram 44 End of Travel Limit Input Connections 49 End Of Travel Limit Input Interface J207 49 End of Travel Limit Input Interface Pin Assignment 49 End of Travel Limit Interface Input 50 End Of Travel Limit Phasing 51 EnDat absolute encoder 41 EnDa...

Page 113: ...edback Connections 38 Motor Feedback Connector Pin Assignment 38 Motor Phasing Oscilloscope Example 33 Motor Supply Connections 28 Motor Supply Input Wiring 29 Motor Supply specifications 20 Multi Axis Firing 79 O optional joysticks 98 Options 16 Output Specifications 87 Output Voltage specifications 20 Outputs Connected in Current Sinking Mode 61 90 Outputs Connected in Current Sourcing Mode61 90...

Page 114: ...tions 36 Stepper Motor Phasing 37 Support 2 Switch S1 Communication Channel Setting 25 T TB101 27 71 TB201 53 TB202 67 68 76 TB301 76 77 TB302 78 TB303 81 TB304 82 TB305 83 84 TB306 83 84 TB307 87 TB308 87 Technical Support 2 Thermistor Interface 47 Thermistor Interface Input 47 Two Axis Joystick Interface 98 Two Three Axis Laser Firing Interconnection 80 Typical Emergency Stop Circuit 54 Typical ...

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