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Ndrive HL User’s Manual

List of Figures

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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 .....................................................................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 .......................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 in the Nstat Utility.......................2-11

Figure 2-10.

Motor Phasing .........................................................................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 (J205)..................................................................3-4

Figure 3-3.

All User Inputs 8-13 (J205) .......................................................3-5

Figure 3-4.

Advanced 1 - 3 Axis Firing ........................................................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 (J207) ................................3-14

Figure 3-9.

Line Driver Encoder Interface – Standard (J207) ...................3-16

Figure 3-10.

Optional MXH Analog Encoder Interface (J207) ....................3-19

Figure 3-11.

RS-232/RS-422 Connector (J206)..........................................3-21

Figure 3-12.

Normal Operation....................................................................3-23

Figure 3-13.

Stand-Alone Configuration......................................................3-23

Figure 4-1.

–IOPSO Option Board Location................................................4-1

Figure 4-2.

–IOPSO Option Board (690D1579 Rev. A) ..............................4-1

Figure 4-3.

–IOPSOH Option Board (690D1623 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 J207 .........................................................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

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Содержание Ndrive HL

Страница 1: ...s underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos...

Страница 2: ...tech Inc 101 Zeta Drive Pittsburgh PA 15238 Phone 412 963 7470 Fax 412 963 7459 www aerotech com Ndrive HL User s Manual P N EDU176 Revision 1 08b Artisan Technology Group Quality Instrumentation Guar...

Страница 3: ...vice aerotech com United Kingdom Phone 44 118 940 9400 Fax 44 118 940 9401 Email service aerotech co uk Technical Support Germany Phone 49 911 967 9370 Fax 49 911 967 93720 Email service aerotechgmbh...

Страница 4: ...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 Li...

Страница 5: ...e Configuration 4 20 4 3 ENET Ethernet Option J204 4 22 4 4 RDP Resolver Input 4 23 4 4 1 Resolver Inductosyn Setup 4 24 CHAPTER 5 ACCESSORIES 5 1 5 1 Standard Interconnection Cables 5 1 5 2 Joystick...

Страница 6: ...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 J205 3 4 Figure 3 3 All User Inputs 8 13 J205 3 5 Figure 3 4...

Страница 7: ...4 27 Figure 4 24 Rotating the Resolver to see a circle 4 28 Figure 4 25 Optimized Resolver Feedback Configuration 4 29 Figure 5 1 Joystick Interface 5 5 Figure 5 2 Single Axis Joystick Interface to J2...

Страница 8: ...ces 3 7 Table 3 11 Motor Feedback Connector Pin Assignment J207 3 12 Table 3 12 Motor Feedback Mating Connector J207 3 12 Table 3 13 End of Travel Limit Inputs Pin Assignment on Connector J207 3 13 Ta...

Страница 9: ...vidual Feedback Cables 5 4 Table 6 1 Amplifier Faults Causes and Solutions 6 1 Table 6 2 Ndrive HL Control Board Test Point 6 2 Table 6 3 Ndrive HL Control Board Jumper Selections 6 4 Table 6 4 Ndrive...

Страница 10: ...ble for determining and providing a supply disconnect for the system The end user is responsible for preventing unexpected startup Connection requirements are described in the technical documentation...

Страница 11: ...or 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 t...

Страница 12: ...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 is standard The N...

Страница 13: ...d 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 an...

Страница 14: ...or LED indicator lamps and two D style connectors for Auxiliary I O 15 and 26 pin and Motor Feedback 25 pin An IOPSO IOPSOH option is also available shown below J301 J303 TB301 TB305 which has connect...

Страница 15: ...ory 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 addit...

Страница 16: ...Eight in out optically isolated current sourcing sinking logic outputs 5 24 VDC rated for 1 ampere on the IOPSOH option DUALPSO Two axis Position Synchronized Output Laser Firing TRIPLEPSO Three axis...

Страница 17: ...Peak Dissipation per phase Watts 360 Power Peak Output 3 Watts 1 350 675 1 350 Power Continuous Output Watts 675 337 675 Power Amplifier Gain each phase A V 2 1 1 Power Amplifier Bandwidth 4 kHz 2 Min...

Страница 18: ...n 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...

Страница 19: ...2 25 6 10 0 5 00 10 0 5 00 10 00 10 00 9 0 3 75 9 0 2 25 6 5 10 0 5 00 10 0 5 00 10 00 10 00 10 0 3 75 10 0 2 25 7 10 0 5 00 10 0 5 00 10 00 10 00 10 0 3 75 10 0 2 25 7 5 10 0 5 00 10 0 5 00 10 00 10...

Страница 20: ...able to interconnect them 76 2 3 00 25 4 1 00 23 8 0 94 127 0 5 00 188 0 7 40 248 5 9 79 256 2 10 09 11 2 0 44 273 1 10 75 4 7 0 19 2 3 0 09 230 1 9 06 255 0 10 04 234 3 9 22 79 9 3 15 169 3 6 67 40 6...

Страница 21: ...ating 5 40 C 41 104 F Storage 20 70 C 4 158 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 200...

Страница 22: ...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...

Страница 23: ...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 Sectio...

Страница 24: ...e rated at 300V Figure 2 2 Motor Power Connections Table 2 2 Main Supply AC Power Input Connections Pin Description Wire Size AC1 115 100 208 230 Volt AC Input 1 62814 mm 14 AWG AC2 115 100 208 230 Vo...

Страница 25: ...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 ha...

Страница 26: ...FaultMask axis parameter the ESTOP input must be driven to prevent the ESTOP fault condition For typical ESTOP wiring see the following two drawings Figure 2 3 ESTOP Sense Input TB201 Connecting the...

Страница 27: ...Z 115 230VAC NOTES THE AUXPWR OPTION CAN BE USED WHEN THE MAIN SUPPLY BUS POWER MUST BE REMOVED DURING AN EMERGENCY STOP CONDITION WHILE LOGIC ENCODER POWER MUST BE MAINTAINED FOR THE E STOP INPUT TO...

Страница 28: ...is 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 a...

Страница 29: ...eter 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...

Страница 30: ...s 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 Figure 2 7 Brushl...

Страница 31: ...B and C 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 command...

Страница 32: ...ure 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...

Страница 33: ...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 The tests outlined below do not require that th...

Страница 34: ...Ndrive HL User s Manual Installation and Configuration www aerotech com 2 13 Figure 2 10 Motor Phasing Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 35: ...e in a clockwise CW direction assuming a positive scaling factor as determined by the CntsPerMetricUnit CntsPerEnglishUnit CntsPerRotaryUnit axis parameter To correct the phasing reverse the connectio...

Страница 36: ...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 re...

Страница 37: ...in 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 v...

Страница 38: ...se rotary motion or positive linear motor motion Positive or clockwise motion is stopped by the CW or clockwise EOT limit input etc Figure 2 15 End of Travel Limit input Connections Figure 2 16 Limit...

Страница 39: ...param 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 c...

Страница 40: ...NFire Multi FireWire card with USB 2 0 and GigaBit Ethernet LAN NFire PCI TI LP Low Profile OHCI compliant PCI FireWire card NConnect 4500 66 FireWire cable 4 5 M 15 feet long 6 pin to 6 pin NConnect...

Страница 41: ...o 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 quic...

Страница 42: ...Speed Opto user interrupt Input 7 Out 8 Output 8 Output 8 Out 9 Output 9 Output 9 Out 10 Output 10 Output 10 Auxiliary Cosine Secondary RS 422 Channel Cosine Bi dir 11 Auxiliary Cosine Secondary RS 42...

Страница 43: ...ser 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 devi...

Страница 44: ...ion 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 Pin Label Description In Out Bi 1 A...

Страница 45: ...er 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 op...

Страница 46: ...EOT limit inputs respectively by setting bit 22 of the DriveIOConfig axis parameter See Table 3 2 for the mating connector part number Table 3 5 User Inputs Pin Assignment on Connector J205 Pin Label...

Страница 47: ...rnal 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 in...

Страница 48: ...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...

Страница 49: ...ger 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 progr...

Страница 50: ...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 ext...

Страница 51: ...or 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 anal...

Страница 52: ...ows 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...

Страница 53: ...C Brushless Motors only Input 12 CW Lmt Clockwise End of travel limit Input 13 Brake Optional Brake Output Output 14 Cos Encoder Cosine Input 15 Cos Encoder Cosine Input 16 5 Volt 5V Power for Limit S...

Страница 54: ...mit inputs see Section 3 1 3 See Table 3 12 for the mating connector part number Table 3 13 End of Travel Limit Inputs Pin Assignment on Connector J207 Pin Label Description In Out Bi 12 CW Lmt Clockw...

Страница 55: ...hms This will be seen as a low input signal After the temperature causes the thermistor s resistance to increase above 1K ohms the signal will be seen as a logic high triggering an over temperature fa...

Страница 56: ...ial 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 seco...

Страница 57: ...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 Figure 3...

Страница 58: ...hat 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...

Страница 59: ...05 10 10 1 1 250 X1000 5 5 2 2 40 20 025 025 20 10 05 05 10 5 1 1 500 X2000 5 2 5 2 2 1 Interpolation includes x4 from quadrature i e MXH50 has a net interpolation of x200 x50 from MXH and x4 from qu...

Страница 60: ...e HL User s Manual Technical Details www aerotech com 3 19 Figure 3 10 Optional MXH Analog Encoder Interface J207 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisant...

Страница 61: ...e 3 18 J206 RS 232 RS 422 Connector Pin Assignment Pin Label Description In Out Bi 1 Frame Chassis Frame N A 2 RS 232 TXD RS 232 Transmit Output Output 3 RS 232 RXD RS 232 Receive Input Input 4 RS 422...

Страница 62: ...Ndrive HL User s Manual Technical Details www aerotech com 3 21 Figure 3 11 RS 232 RS 422 Connector J206 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 63: ...or Pin Assignment Pin Label Description In Out Bi 1 Bus Power FireWire Adapter Power In Out 2 Physical Ground FireWire Common Isolated from Signal Common N A 3 TPB Port Communication Signal Bi directi...

Страница 64: ...uired for proper operation in this mode since the fire wire connection provides positioning and synchronization information to the drive Figure 3 12 Normal Operation The Voltage to Current mode of the...

Страница 65: ...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 c...

Страница 66: ...is equivalent to peak amplifier current command in the positive CW direction The drives peak current is defined by the drive part number i e Ndrive HL 20 indicates that the peak output current will be...

Страница 67: ...Technical Details Ndrive HL User s Manual 3 26 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 68: ...I Net absolute encoder interface and brake relay and includes HCPL2601 opto isolator TB302 J301 J302 JP3 J303 TB301 JP2 TB305 JP1 TB303 TB304 Figure 4 2 IOPSO Option Board 690D1579 Rev A Table 4 1 IOP...

Страница 69: ...CS01079 NEC PS710E 1A M37 Sourcing Driver ECS01079 NEC PS710E 1A Bit 2 M60 Sinking Driver ECS01079 NEC PS710E 1A M31 Sourcing Driver ECS01079 NEC PS710E 1A Bit 3 M60 Sinking Driver ECS01079 NEC PS710E...

Страница 70: ...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...

Страница 71: ...Contact Ratings Maximum Switched Voltage 150 VDC 125 VAC Maximum Switched Current 1A Maximum Carrying Current 1A Maximum Switched Power 30W DC 60 VA AC Note The maximum power that may be switched is v...

Страница 72: ...n See JP1 A JP1 B Output Figure 4 5 is an example of a 24 VDC Brake connected to TB301 In this example JP1 A and JP1 B must be configured If JP1 A and JP1 B are configured to 1 3 then J207 pins 13 and...

Страница 73: ...TB301 Also note that JP1 A is set 1 2 and JP1 B is set 3 4 Figure 4 6 Brake Connected to J207 The user is responsible for providing fuse protection for the Brake circuit The user may reconfigure the...

Страница 74: ...be used Example 2 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 is the suppression component which is connected across the...

Страница 75: ...ay 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...

Страница 76: ...terface 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 sou...

Страница 77: ...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 sink...

Страница 78: ...imum 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 Fre...

Страница 79: ...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 si...

Страница 80: ...tions www aerotech com 4 13 Figure 4 12 Inputs Connected in Current Sourcing Mode Figure 4 13 Inputs Connected in Current Sinking Mode Artisan Technology Group Quality Instrumentation Guaranteed 888 8...

Страница 81: ...ace Connector Pin Assignment J301 Pin Label Description In Out Bi 1 Chassis Frame Ground Chassis Frame Ground N A 2 Sin N SSI Net 1 Sin N Bi directional 3 Sin SSI Net 1 Sin Bi directional 4 Cosine N S...

Страница 82: ...wer Supply Voltage Output Current Sink HCPL 2601 PSOOPTO1 option std 5 MHz 05 us 5 VDC 10 mA 6N136 PSOOPTO2 option 750 KHz 45 us 5 15 VDC 2 mA 4N33 PSOOPTO3 option 10 KHz 3 us 5 25 VDC 50 mA TIL117 M...

Страница 83: ...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 Figure 4 16 RS 485 Absolute E...

Страница 84: ...he Nview help for more information Note that SSI Net 1 is 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 s...

Страница 85: ...Options Ndrive HL User s Manual 4 18 www aerotech com Figure 4 17 J301 J302 J303 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 86: ...on each connector The ports on each drive must then be configured via their PsoSsi1Config PsoSsi2Config or PsoMrk1Config PsoMrk2Config axis parameters out and in respectively so the encoder signals ar...

Страница 87: ...w This must be done when using DUALPSO or TRIPLEPSO options in order to ensure that encoder count information is not lost The 20 MHz data rate limitation effectively limits the maximum speed of the ax...

Страница 88: ...tive resolution is the full resolution as derived using CfgFbkEncMultFactorMXH axis parameter divided by the CfgFbkEncMxhQuadDiv axis parameter The servo loop always runs at the full resolution as det...

Страница 89: ...thernet Connector Pin Assignment J204 Pin Label Description In Out Bi 1 TX Transmit Data Output 2 TX Transmit Data Output 3 RX Receive Data Input 4 Unused RC Terminated N A 5 Unused RC Terminated N A...

Страница 90: ...dir Shell Shield Connector shell for cable shield termination Input 1 Enc Cos Optional Encoder Cosine output Output 2 Enc Mrk Optional Encoder Marker output Output 3 Common Resolver Common input Input...

Страница 91: ...21 Resolver Option Assembly 690D1599 Rev 0 Table 4 23 External Power Pin Assignment J403 Pin Label Description In Out 1 12 VDC 12 Volts DC Input 2 12 VDC 2 Volts DC Input 3 Common Signal Common N A 4...

Страница 92: ...OS 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 no...

Страница 93: ...When to use the CfgFbkRDCosPhase axis Parameter The Cosine reference signal can be adjusted from approximately 0 degrees i e in phase with the SINE reference signal to 180 degrees with a nominal valu...

Страница 94: ...nalog signals are at one of the vertical or horizontal 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 loc...

Страница 95: ...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 appro...

Страница 96: ...n 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...

Страница 97: ...th 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...

Страница 98: ...MAX120DM C1839X Encoder Feedback Cable BL FB 25DU 25DU 9DU MAX120DM C18982 Motor and Encoder Feedback Cable BL MTR FB FL 25DU 25DU 107DM MAX C19360 xx Motor Cable BL MTR FL 4DU MAX450DM C19791 Joysti...

Страница 99: ...1000 1100 2000 series with 25D option Motor Encoder Limits Halls C13803 xx DC MTR FB 25DU FL 24MS MAX107DM Motor Output Motor Feedback Used On Any stage having a DC brush motor with a single 24 pin MS...

Страница 100: ...9360 xx PMCHPDNT yy BL MTR FL 4DU MAX450DM Obsolete Motor Output Used On Any brushless motor stage having a 4 pin D style connector for motor power BM BMS motors with D25 option ABL2000 8000 series AB...

Страница 101: ...ATS1100 H series LMA LMAC series Encoder Limits Halls Brake C18391 xx C18393 xx BFCD yy BL FB 25DU 25DU 9DU MAX120DM BL FB 25DU 25DU 9DU MAX240DM Obsolete Motor Feedback Used On Any Brushless motor s...

Страница 102: ...s 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 d...

Страница 103: ..._IN COM NALOG_IN AGND EXT_IN1 8 COND 24 LENGTH A R SEE NOTE 2 26 HD MALE K86 AA 26P ECK01259 BACKSHELL 17 1725 2 ECK01022 ECX00570 EXT_IN3 BRN BACKSHELL 17 1725 2 ECK01022 15 LINE FEMALE D 745493 2 EC...

Страница 104: ...RRULE 3200014 EIK01001 TYP 12 PLS ADD BRADY WIRE MARKERS SEE NOTE 3 ECX01009 IN3 12 13 GRY BACKSHELL 17 1725 2 ECK01022 15 LINE FEMALE D 745493 2 ECK00783 CONNECTOR SHIELDING PART IS OUTSIDE SUCH THAT...

Страница 105: ...IAL CABLE JOYSTICK EXT C19791 XX 5 TB302 TB303 TB305 IOPSO INTERFACE NOTES 1 USING C19791 XX CABLE WILL PROVIDE 2 AXES OF SLEWING REQUIRES THE Ndrive HL TO HAVE THE IOPSO OPTION INSTALLED 2 THE JI JOY...

Страница 106: ...CZ00201 10 FT OR AR LENGTH 100 LINES REV HANDWHEEL HWA32 26HD XX Ndrive HL HWA32 26HD XX 630B1983 201 DWG 630B1983 2 TYPE 4 MIA424 S N XXXXXX MODEL HWA32 26HD XX XXXXXX WORK ORDER NUMBER XX CABLE LENG...

Страница 107: ...K OUT BLOCK REFERENCE 620B1344 1 3 THIS HANDWHEEL IS INTENDED TO BE USED WITH THE TO Ndrive HL J205 VIA BBA32 Figure 5 7 Handwheel with Flying Leads no connector 620B1343 1 Ndrive HL BBA32 AUX I O INT...

Страница 108: ...and Solutions Symptom Possible Cause and Solution Motor spins uncontrollably Encoder sine and cosine signals are improperly connected See Section 2 5 for motor phasing information Brushless motor wil...

Страница 109: ...rol 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 Function TP4 Signal Common Analog and Digital Artisan Tech...

Страница 110: ...ist the jumpers and the default configurations for the Ndrive HL Control board the IOPSO option board and jumper configurations are listed in Chapter 4 S2 defines the Ndrive HL device number and is th...

Страница 111: ...t 100 Ohm Terminator not present for RS 485 port on J301 JP6A 1 2 In for 100 Terminator on RS 422 Port 2 J301 J302 J303 JP6B 3 4 In for 100 Terminator on RS 422 Port 1 J301 J302 J303 JP6C 5 6 In for 1...

Страница 112: ...lights the important jumpers and components located on the Ndrive HL power board J8 J9 J10 DS1 F3 J11 F1 F2 JP14 TB101 Figure 6 2 Ndrive HL Motor Power Board 690D1589 Rev 0 Remove AC power from unit b...

Страница 113: ...otor Power Board Fuse Information Fuse Description Size Ndrive HL10 40 5 A S B 3AG Ndrive HL20 40 10 A S B 3AG F1 F2 Bus Supply Fuses Motor Power Ndrive HL10 80 5 A S B 3AG F3 5 Volt Fusing for Power...

Страница 114: ...er Selections Line Voltage on Power Supply Board Input Power JP7 JP8 JP9 JP10 F2 Fuse A 115 V 1 2 1 2 2 3 2 3 10 ASB B 230 V 1 2 1 2 1 2 1 2 5 ASB C 100 V 2 3 2 3 2 3 2 3 10 ASB D 200 V 2 3 2 3 1 2 1...

Страница 115: ...jumpers are factory configured and should not be changed by the user Table 6 10 Ndrive HL Power Supply Board Fuse Information Fuse Description Size F1 AC Control Power Fuse 3A S B F2 See Table Table 6...

Страница 116: ...axis parameter POS ERR Position Error has exceeded the ThresholdPosError axis parameter ENABLE Axis is enabled KERNEL Nmotion SMC controller is running LMT Negative end of travel limit input active RM...

Страница 117: ...on N A 3 TDO JTAG Data Output Output 4 Common Signal Common N A 5 TCK JTAG Programming Clock Input 6 Common Signal Common N A 7 JTAG TDI Test Data Input Input 8 Key Position No Connection N A 9 Reset...

Страница 118: ...13005 EIF00105 5 A S B F3 DC Control Power Fuse Littlefuse 230 500 EIF01010 5 A S B R6 AC Inrush Limiter Fuse Littlefuse 230003S EIF01013 3A S B F2 is a standard socketed fuse F1 F3 and R6 Fuse are so...

Страница 119: ...nts Remove any accumulated material from vents Check for fluids or electrically conductive material exposure Any fluids or electrically conductive material must not be permitted to enter the Ndrive HL...

Страница 120: ...d between machines as a series of binary numbers Axial Run Out Positioning error of the rotary stage in the vertical direction when the tabletop is oriented in the horizontal plane Axial run out is de...

Страница 121: ...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 Commutation 6 Step Also re...

Страница 122: ...nd permanent magnet rotor See AC Brushless Servo Deceleration The change in velocity as a function of time Duty Cycle For a repetitive cycle the ratio of on time to total cycle time used to determine...

Страница 123: ...imit switch and or encoder marker Home Switch A sensor used to determine an accurate starting position for the home cycle Hysteresis A component of bidirectional repeatability Hysteresis is the deviat...

Страница 124: ...itional information is easily lost if acceleration or velocity limits are exceeded NC Numerical Control Automated equipment or process used for contouring or positioning See CNC Also a Normally Closed...

Страница 125: ...otion using the phase relationship of two signal channels A 1000 line encoder will yield 4000 counts via quadrature Radial Run Out Positioning error of the rotary stage in the horizontal direction whe...

Страница 126: ...the command for motion has ended Shaft Radial Load Maximum radial load that can be applied to the end of the motor shaft at maximum motor speed Shaft Run Out Deviation from straight line travel Slot l...

Страница 127: ...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 t...

Страница 128: ...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 accompan...

Страница 129: ...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 Re...

Страница 130: ...Tracker ID 538 All Updated motor wiring color codes For Aerotech Use Issue Tracker ID 730 Section 2 4 Added IOPSOH option Section 4 1 Updated PSO schematic Figure 4 15 1 08 Updated Interconnection Ca...

Страница 131: ...1 3 1 06 Updated product name and pictures to new product color 1 05 All changes made for Version 1 5 were typographic only Line Voltage Jumpers Table 6 5 1 04 Fuse Information Tables 6 6 6 7 6 9 6 1...

Страница 132: ...ireWire 3 23 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 Point...

Страница 133: ...4 3 15 J301 4 14 Joystick Interface 5 1 5 5 JTAG 6 8 JTAG Programming Connector 6 8 Jumper Locations Power Board 6 5 Jumpers Control Board 6 3 IOPSO 5 1 Power Board 6 6 L AC1 Input Terminal 2 3 AC2 In...

Страница 134: ...ns 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 PSOOPTO1 1 5 4 15 PSOOPTO2 1...

Страница 135: ...Index Ndrive HL User s Manual Index 4 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 136: ...early 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...

Страница 137: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 138: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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