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Ensemble LAB Hardware Manual

Introduction

Chapter 1: Introduction

Aerotech’s Ensemble LAB is a one to four axis desktop standalone motion controller with an integrated
power supply. The Ensemble LAB is designed for applications where ease of operation is desired without
sacrificing overall system capability.

Number of Axes

4 Maximum

Encoder Inputs

Amplifier Type

Linear

Digital Inputs

Four Optically Isolated; Two High Speed; One ESTOP

Digital Outputs

Four Optically Isolated

Analog Inputs

One 16-Bit differential analog input (±10 V)

Analog Outputs

One 16-Bit differential analog output (±10 V)

Dedicated Axis I/O

Two Limit Inputs (CW, CCW); Three Hall-Effect Inputs

Feedback Type (Standard)

10 MHz Square Wave /40 MHz Count Rate

Feedback Type (Optional)

Interpolated (65,536 max) Sin/Cos; 200 kHz max input frequency

Communication Interfaces

10/100 Base T Ethernet; USB 2.0

Expansion Interface

USB 1.1

Servo Loop Update

10 kHz maximum

Current Loop Update

20 kHz

Programming Environment

Multi-Tasking AeroBasic

Host Operating System

Windows 7 (for Remote Programming and Diagnostic Tools)

USB

JOG

J103

J104

J105

J106

TB101

ETHERNET

USB

ESTOP

JOYSTICK

AUX I/O

AXIS

WARNING: HAZARDOUS

VOLTAGE PRESENT UP TO

10 MINUTES AFTER

POWER IS DISCONNETED

Touch Screen

Power Switch

Auxiliary I/O port
(J106)

USB (host) port
(J104)

Keypad

USB (device) port

Joystick port (J105)

Ethernet port (J103)

Jog Buttons

Motor / Feedback
Connector (1-4)

ESTOP port
(TB101)

AC Power

Figure 1-1:

Ensemble LAB Controller

www.aerotech.com

Chapter 1

Содержание Ensemble LAB

Страница 1: ...1 2 3 4 J103 J104 J105 J106 TB101 ETHERNET USB ESTOP JOYSTICK AUX I O AXIS 4 3 2 1 WARNING HAZARDOUS VOLTAGE PRESENT UP TO 10 MINUTES AFTER POWER IS DISCONNETED Revision 1 02 00 Ensemble LAB Hardware...

Страница 2: ...ice aerotech com 101 Zeta Drive Pittsburgh PA 15238 2897 www aerotech com United Kingdom Japan Phone 44 0 1256 855055 Fax 44 0 1256 855649 Email service aerotech co uk Phone 81 0 50 5830 6814 Fax 81 0...

Страница 3: ...e 27 2 3 1 1 RS 422 Line Driver Encoder Standard 28 2 3 1 2 Analog Encoder Interface 29 2 3 1 3 Encoder Phasing 31 2 3 2 Hall Effect Interface 33 2 3 3 Thermistor Interface 34 2 3 4 End of Travel Limi...

Страница 4: ...Table of Contents Ensemble LAB Hardware Manual Appendix A Warranty and Field Service 63 Appendix B Revision History 65 Index 67 iv www aerotech com...

Страница 5: ...38 Figure 2 14 Encoder and Hall Signal Diagnostics 39 Figure 2 15 Motor Phasing Oscilloscope Example 40 Figure 2 16 Brushless Motor Phasing Goal 40 Figure 2 17 DC Brush Motor Configuration 41 Figure...

Страница 6: ...in Assignment 43 Table 2 13 Electrical Noise Suppression Devices 43 Table 2 14 Auxiliary I O Interface Pin Assignment J106 44 Table 2 15 Auxiliary Encoder Specifications 45 Table 2 16 Auxiliary Encode...

Страница 7: ...applicable requirements of the following Directive s 2014 35 EU Low Voltage Directive LVD 2011 65 EU RoHS 2 Directive and has been designed to be in conformity with the applicable requirements of the...

Страница 8: ...LAB Motion Controllers have been tested and found to be in accordance to the following listed Agency Approvals Approval Certification CUS NRTL Approving Agency TUV SUD America Inc Certificate U8 14 0...

Страница 9: ...product in an unspecified manner may result in equipment damage or bodily injury shock or death 4 The user must read this manual Ensemble Help file and related documentation thoroughly before operati...

Страница 10: ...Safety Procedures and Warnings Ensemble LAB Hardware Manual 10 www aerotech com This page intentionally left blank...

Страница 11: ...as created for your system look for a line item on your Sales Order under the heading Integration that drawing can be found on your installation device J103 J104 J105 J106 TB101 ETHERNET USB ESTOP JOY...

Страница 12: ...Quick Installation Guide Ensemble LAB Hardware Manual 12 www aerotech com This page intentionally left blank...

Страница 13: ...andard 10 MHz Square Wave 40 MHz Count Rate Feedback Type Optional Interpolated 65 536 max Sin Cos 200 kHz max input frequency Communication Interfaces 10 100 Base T Ethernet USB 2 0 Expansion Interfa...

Страница 14: ...time output or PSO support MXR1 Interpolation circuit allowing analog sine wave input on encoder channel 1 up to x65536 Real time output and PSO support MXR2 Interpolation circuit allowing analog sin...

Страница 15: ...XR Option CW CCW Home Limits Hall A B C Motor Over Temperature Amplifier Control Power Control Power Supply AC Power Input Linear Amplifier Heatsink Over Temperature Analog Output 0 Analog Input 0 2 H...

Страница 16: ...fy the input current or power to the drives because it is dependent on the amount of real power being delivered to the drive refer to Section 1 1 1 Output Voltage 1 22 5 V 5 A Peak Output Current 1 5...

Страница 17: ...uired from the mains supply will be the combination of actual motor power work motor resistance losses and efficiency losses in the power electronics or power transformer An EfficiencyFactor of approx...

Страница 18: ...RNET USB ESTOP JOYSTICK AUX I O AXIS 4 3 2 1 WARNING HAZARDOUS VOLTAGE PRESENT UP TO 10 MINUTES AFTER POWER IS DISCONNETED 2 3 0 09 272 5 10 73 4 9 0 19 98 4 3 88 370 2 14 58 304 4 11 99 32 9 1 29 44...

Страница 19: ...o 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 meter...

Страница 20: ...fter the listed version Table 1 4 Drive and Software Compatibility Drive Type Firmware Revision First Software Version Last Software Version CL 1 01 5 02 A 2 55 5 02 CP A 1 00 Current B 2 54 Current E...

Страница 21: ...mponents Visually inspect the container of the Ensemble LAB for any evidence of shipping damage If any such damage exists notify the shipping carrier immediately Remove the packing list from the Ensem...

Страница 22: ...Ethernet Port Figure 2 1 Power and Control Connections USB JOG 1 2 3 4 A A Power Switch Figure 2 2 Power Switch All low voltage connections must be made using cables wires sized for the maximum curren...

Страница 23: ...rt 100 VAC 50 60 Hz 2 A 115 VAC 50 60 Hz 2 A 200 VAC 50 60 Hz 1 A 230 VAC 50 60 Hz 1 A The AC power cord to the Ensemble LAB must be rated for the line voltage being used and have a minimum current ca...

Страница 24: ...nnot contact one another This reduces the risk of electric shock and improves system performance Table 2 2 I O and Signal Wiring Specifications Connection Specification Value Signal Wiring Cable Wire...

Страница 25: ...ctors and back shells The shield of the cables must be connected to the metal back shell in order for the product to conform to the radiated emission standards 5 The Ensemble LAB is a component design...

Страница 26: ...hardware limit Input 8 HALL A Input 9 HALL C Input 10 Motor Ground 11 MTR A Motor Phase A Output 12 MTR B Motor Phase B Output 13 MTR C Motor Phase C Output 14 Cosine Input 15 Sine Input 16 Marker Inp...

Страница 27: ...e has been configured to accept an analog encoder Refer to Section 2 3 1 3 for encoder feedback phasing Refer to Section 2 5 for the auxiliary encoder channel N OTE Encoder wiring should be physically...

Страница 28: ...n analog encoder is used with the MXU or MXR option refer to Section 2 3 1 2 for more information Table 2 6 Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 nsec minimum...

Страница 29: ...n offset and phase balance of the analog Sine and Cosine encoder input signals are controlled by the EncoderCosineGain EncoderCosineOffset EncoderPhase EncoderSineGain EncoderSineOffset axis parameter...

Страница 30: ...1K 1K 1K 1K 82PF 82PF 8 06K 10PF 10PF 220PF 10PF AD8656 1M 10UF 6 3V 0018 100 0018 4 7K 4 7K 33PF 33PF 2 43K 100 2 43K MAX991 MRK COS SIN AD8656 A A 1 1K 10PF 220PF 10UF 6 3V 0018 100 0018 4 7K 4 7K...

Страница 31: ...ger can be used to determine proper encoder polarity For dual loop systems the velocity feedback encoder is displayed in the diagnostic display Figure 2 7 MRK MRK N Positive MOVE Clockwise Forcer Wire...

Страница 32: ...Installation and Configuration Ensemble LAB Hardware Manual Figure 2 7 Position Feedback in the Diagnostic Display 32 Chapter 2 www aerotech com...

Страница 33: ...tation but not absolutely required The Hall effect inputs accept 5 24 VDC level signals Table 2 8 Hall Effect Feedback Interface Pin Assignment Pin Description In Out Bi 8 HALL A Input 9 HALL C Input...

Страница 34: ...r normal operating conditions the resistance of the thermistor is low i e 100 ohms which will result in a low input signal If the increasing temperature causes the thermistor s resistance to increase...

Страница 35: ...d instead All of the end of travel limit inputs accept 5 24 VDC level signals Limit directions are relative to the encoder polarity in the diagnostics display refer to Figure 2 12 The active state of...

Страница 36: ...sed you will 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 lim...

Страница 37: ...l DC Brush Motors refer to Section 2 3 5 2 l Stepper Motors refer to Section 2 3 5 3 Table 2 11 Motor Output Connections Pin Description In Out Bi 10 Motor Ground 11 MTR A Motor Phase A Output 12 MTR...

Страница 38: ...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...

Страница 39: ...n Manager for motor Hall and encoder phasing Feedback Monitoring The state of the encoder and Hall effect device signals can be observed in the Motion Composer A 0 for the given Hall input indicates z...

Страница 40: ...ply TP3 TP2 TP1 TP6 TP7 Hall 1 Hall 2 Hall 3 CHANNEL 1 CHANNEL 2 Figure 2 15 Motor Phasing Oscilloscope Example With the designations of the motor and Hall leads of a third party motor determined the...

Страница 41: ...r 1 Connect the positive lead of the voltmeter to the one of the motor terminals 2 Connect the negative lead of the voltmeter to the other motor terminal 3 Rotate the motor clockwise by hand Motor Mou...

Страница 42: ...er test for proper motor phasing by running a positive motion command If there is a positive scaling factor determined by the CountsPerUnit parameters and the motor moves in a clockwise direction as v...

Страница 43: ...the ESTOP input must be driven to prevent the ESTOP fault condition ESTOP SWITCH ESTOP ESTOP 221 1K 1UF 1K 221 1K PS2815 1 2K 3 3V TB101 1 TB101 2 24VDC Figure 2 21 ESTOP Sense Input TB102 Table 2 12...

Страница 44: ...Output 10 Auxiliary Cosine Bidirectional 11 Auxiliary 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 Opt...

Страница 45: ...Specification Value Encoder Frequency 10 MHz maximum 25 nsec minimum edge separation x4 Quadrature Decoding 40 million counts sec MXR Interpolation Latency 3 25 sec analog input to quadrature output...

Страница 46: ...2 J106 10 J106 11 AUX SIN AUX SIN AUX COS S 180 D IN 5V 5V 5V 5V ADM1485 ADM1485 ADM1485 ADG801 S 180 D ENCODER FAULT DETECTION IN ADG801 S 180 D IN ADG801 1K 1K AUX COS J106 19 J106 20 AUX MRK AUX M...

Страница 47: ...g long cable lengths in noisy environments or when high frequency pulse transmission is required It is best to locate the line receiver or opto isolator close to the receiving electronics Table 2 17 P...

Страница 48: ...ersing connections to Pins 19 and 20 Aux Marker 120 180 typical 10 mA 180 Differential J106 5 VDC 1K 1K 33 33 20 19 Active Low Output Active High Output Aux Marker 74AHCT1G125 Single Ended 5 VDC Isola...

Страница 49: ...modes The opto isolator 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 19 Por...

Страница 50: ...VE DEVICE COIL SUCH AS A RELAY LOAD LOAD LOAD LOAD OPTOOUT0 OPTOOUT1 OPTOOUT2 OPTOOUT3 Figure 2 24 Outputs Connected in Current Sourcing Mode J106 OPTOCOM 5 24 VDC 2 1 1 2 EACH OUTPUT 50 mA MAXIMUM OU...

Страница 51: ...cted to the drive s power supply however doing so will effectively defeat the isolation and will reduce noise immunity Table 2 21 Opto Isolated Input Specifications Input Voltage Approximate Input Cur...

Страница 52: ...S 5 24VDC OPTOINCOM J106 24 J106 26 J106 25 J106 18 J106 17 J106 OPTOIN3 OPTOIN2 OPTOIN1 OPTOIN0 Figure 2 26 Inputs Connected in Current Sourcing Mode J106 INPUT SWITCHES 5 24VDC OPTOINCOM J106 24 J10...

Страница 53: ...A Input Device HCPL 0630 Delay 50 nsec Table 2 24 Port 0 High Speed Digital Input Connector Pin Assignment J106 Pin Description In Out Bi 3 High Speed Input 4 user interrupt Input 4 High Speed Input 4...

Страница 54: ...ons Specification Value Output Voltage 10 V to 10 V Output Current 5 mA Resolution bits 16 bits Resolution volts 305 V Table 2 26 Analog Output Connector Pin Assignment J106 Pin Description In Out Bi...

Страница 55: ...30 Table 2 27 Differential Analog Input 0 Specifications Specification Value AI AI 10 V to 10 V 1 Resolution bits 16 bits Resolution volts 305 V 1 Signals outside of this range may damage the input Ta...

Страница 56: ...he center location Third party devices can be used provided they produce a symmetric output voltage within the range of 0V to 5V Refer to the Ensemble Help File for programming information about how t...

Страница 57: ...Potentiometer Analog Input 1 Input 4 No Connection 5 Reserved No Connection 6 Y Potentiometer Analog Input 2 Input 7 Button B Speed Select Input 8 Common 9 Reserved No Connection 10 Common 11 Common 1...

Страница 58: ...accomplished by one of these two methods Method 1 Directly connect to the PC with a standard USB cable The cable connector type must be Type A or Type B male depending on the PC and Type B male on th...

Страница 59: ...ly members of the network are the Ensemble LAB and the PC This type of connection is not feasible unless the PC has two Ethernet cards If the PC cannot be connected to an external network Aerotech rec...

Страница 60: ...B Hardware Manual 2 8 PC Configuration and Operation Information For additional information about PC configuration hardware requirements programming utilities and system operation refer to the Ensembl...

Страница 61: ...epaired as required If internal damage is suspected these parts should be checked and repairs made if necessary Inspect cooling vents Remove any accumulated material from vents Check for fluids or ele...

Страница 62: ...Maintenance Ensemble LAB Hardware Manual 62 Chapter 3 www aerotech com This page intentionally left blank...

Страница 63: ...hout such 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 appropria...

Страница 64: ...rms 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...

Страница 65: ...top Sense Input TB101 l Section 2 5 1 Auxiliary Encoder Channel l Section 2 5 2 Position Synchronized Output PSO l Section 2 5 3 Opto Isolated Outputs 0 3 l Section 2 5 4 Opto Isolated Inputs 0 3 l Se...

Страница 66: ...Revision History Ensemble LAB Hardware Manual 66 Appendix B www aerotech com This page intentionally left blank...

Страница 67: ...Brush Motor Phasing 41 Digital Output Specifications 49 dimensions 18 Drive and Software Compatibility 20 E Electrical Specifications 16 Emergency Stop Sense Input TB101 43 Encoder Interface 27 Encod...

Страница 68: ...ew 13 P Peak Output Current 16 Pollution 19 Position Synchronized Output 47 Power Amplifier Bandwidth 16 Power Supply 16 Powered Motor Phasing 39 Preventative Maintenance 61 PS2806 4 Opto Device Speci...

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