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Ndrive HP Options 

Ndrive HP 10/20/30 User’s Manual  

4-26 www.aerotech.com 

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 value of 90 degrees. This 
axis parameter is primarily for use with inductosyns, which have a nominal phase shift 
from the reference signal of 90 degrees. This value may vary from system to system, and 
therefore can be adjusted to ensure that the alignment of the feedback signals to the 
reference signal is at its optimum, for better performance. 

This signal can also be used to adjust for resolvers that have a large amount of phase lag.  
Typically, less than 5 degrees of phase lag is acceptable and does not require use of the 
COS reference. 

 

Use of this axis parameter requires that the jumper on the 
RDP board for this channel (JP1 for channel 1 or JP2 for 
channel 2) be set from 2-3 instead of from 1-2. Also, in 
order for the A/D’s to sample properly, the appropriate bit 
in the CfgFbkRDConfig axis parameter should be set to 1 
(bit 0 for channel 1 or bit 1 for channel 2). 

For most resolvers, use of the CfgFbkRDCosPhase axis parameter is not required. If this 
axis parameter is not being used, the jumpers should be set to 1-2 and the bits in the 
CfgFbkRDConfig axis parameter should be set to 0. Skip to the section on adjusting the 
R/D Gain. 

Adjusting the CfgFbkRDCosPhase axis Parameter: 

After starting the Encoder Feedback Configuration utility, make sure the proper axis is 
selected and then start collecting data continuously. Set the CfgFbkRDGain axis 
parameter to 0 to minimize the gain. This can be done through the Ndebug.exe utility.

  

Rotate the resolver or inductosyn until the analog signals are at one of the vertical or 
horizontal lines; this will ease location of a maximum. See Figure 4-22 below for an 
example. Adjust the CfgFbkRDCosPhase axis parameter until you locate a local 
maximum. This can be done through the Ndebug.exe utility. When the maximum has 
been found, rotate the motor in a complete circle to ensure you see a circle. If not, the P1 
amplitude potentiometer on the pre-amplifier board (if present) may need adjusted. 

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Содержание Ndrive HP 10

Страница 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Страница 2: ...ch Inc 101 Zeta Drive Pittsburgh PA 15238 ph 412 963 7470 fax 412 963 7459 www aerotech com Ndrive HP 10 20 30 USER S MANUAL P N EDU170 Revision 1 14 Artisan Technology Group Quality Instrumentation G...

Страница 3: ...e 49 911 9679370 Fax 49 911 96793720 Email service aerotechgmbh de Revision 1 00 April 23 2002 Revision 1 01 May 13 2002 Revision 1 02 September 3 2002 Revision 1 03 November 26 2002 Revision 1 04 Feb...

Страница 4: ...orque Mode Configuration 2 10 2 5 1 1 DC Brush Motor Phasing 2 11 2 5 2 DC Brush Motor with Tachometer Feedback Configuration 2 12 2 5 3 Brushless Motor Configuration 2 13 2 5 3 1 Brushless Motor Phas...

Страница 5: ...ds 4 1 4 1 1 Brake Configuration Jumpers 4 2 4 1 2 Analog Outputs TB301 4 3 4 1 3 Brake Relay TB301 4 4 4 1 4 Analog Inputs TB302 4 8 4 1 5 User Power Connector TB303 4 9 4 1 6 Opto Isolated Outputs T...

Страница 6: ...tive Maintenance 6 10 6 8 1 Cleaning 6 10 APPENDIX A GLOSSARY OF TERMS A 1 APPENDIX B WARRANTY and FIELD SERVICE B 1 APPENDIX C TECHNICAL CHANGES C 1 APPENDIX D REV 0 to REV A COMPARISON D 1 D 1 Conne...

Страница 7: ...Table of Contents Ndrive HP 10 20 30 User s Manual vi www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 8: ...figuration 2 18 Figure 2 16 Encoder Feedback Connections 2 19 Figure 2 17 Encoder Phasing Reference Diagram 2 20 Figure 2 18 Encoder and Hall Signals in the Nstat Utility Program 2 20 Figure 2 19 End...

Страница 9: ...4 20 Resolver Option Assembly 690D1599 Rev 0 4 23 Figure 4 21 Analog Output Connector TB301 4 25 Figure 4 22 Resolver Located at Maximum of SIN Signal 4 27 Figure 4 23 Rotating the Resolver to see a...

Страница 10: ...SO Output Sources 3 8 Table 3 11 Motor Feedback Connector Pin Assignment J207 3 11 Table 3 12 Motor Feedback Connector Mating Connector J207 3 11 Table 3 13 End of Travel Limit Inputs Pin Assignment o...

Страница 11: ...1 Table 5 2 Combined Motor Feedback Cables 5 2 Table 5 3 Individual Motor Cables 5 3 Table 5 4 Individual Feedback Cables 5 4 Table 6 1 Amplifier Faults Causes and Solutions 6 2 Table 6 2 Ndrive HP C...

Страница 12: ...s product is intended for light industrial manufacturing or laboratory use and complies with EMC directive 89 336 EEC and 73 23 EEC low voltage directive Exceptions to the test standards include ESD I...

Страница 13: ...s EMI filter based upon similar product testing Safety related requirements to ensure compliance exceptions to EN 61010 1 The Ndrive must be installed within an enclosure with construction compliant u...

Страница 14: ...selectable 1 20 kHz servo loop closure 40 MHz line driver encoder data rate and an optional Ethernet port for access to third party networked I O solutions The Ndrive HP also features an optional on b...

Страница 15: ...current overload 3 Power stage bias supply under voltage 4 Power stage output short circuit phase to phase and phase to ground 5 DC bus over voltage 6 IGBT device over temperature sense Line driver s...

Страница 16: ...32 RS 422 connector LED indicator lamps and two D Style connectors for Auxiliary I O 15 and 26 pin and Motor Feedback 25 pin An IOPSO or IOPSOH option is also available which has connectors for PSO ab...

Страница 17: ...perates from 85 250 VAC 120 350 VDC The power supply is included with the standard package for off line operation without the need for an isolation transformer A soft start circuit is included to prev...

Страница 18: ...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 Position...

Страница 19: ...0 Hz input TV1 5 1 5 kVA isolation transformer 115 230 VAC input 28 43 56 70 115 VAC output TV2 5 2 5 kVA isolation transformer 115 230 VAC input 28 43 56 70 115 VAC output TV5 5 kVA isolation transfo...

Страница 20: ...Sink Size Typical Volume 1 x 2 x 0 25 Standard 5 0 2 27 Weight with IOPSO or IOPSOH option lb kg 5 4 2 45 Modes of Operation Brushless Brush and Stepper Feedback Inputs Hall A Pin 10 Hall B Pin 5 Hal...

Страница 21: ...Units should be separated from each other and surrounded by one inch of free air space This will also allow the standard 228 mm 9 inch FireWire cable to interconnect them Figure 1 4 Ndrive HP Dimensi...

Страница 22: ...ction www aerotech com 1 9 Figure 1 5 Ndrive HP Dimensions without the IO Option The Ndrive HP case temperature may exceed 75 C in some applications Artisan Technology Group Quality Instrumentation Gu...

Страница 23: ...t Operating 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...

Страница 24: ...ng the procedures and or damage to the equipment If the equipment is used in a manner not specified by the manufacturer the protection by the equipment may be impaired The user should practice caution...

Страница 25: ...the motor cable To minimize this problem and maintain low levels of EMI radiation perform the following 1 Use shielded cable to carry the motor current and connect the shield to earth ground 2 Use a c...

Страница 26: ...e connections is 50 60 Hz electrostatic coupling between the frame of the AC motor and the AC1 AC2 AC input power Since AC1 is referenced to earth ground at the source the DC bus of the amplifier swin...

Страница 27: ...erminal connector Aerotech Part ECK00213 provided See Section 2 4 for various typical AC wiring options TB101 is also typically utilized when an emergency stop circuit is present See Section 2 10 for...

Страница 28: ...Power Input and Motor Power Output Label Description Wire Size AC1 240 Volt Max AC Input 1 62814 mm 14 AWG AC2 240 Volt Max AC Input 1 62814 mm 14 AWG AC3 Optional 3 Phase AC Input 240 VAC Max 1 62814...

Страница 29: ...vailable for the Ndrive HP This transformer allows for the generation of 28 VAC from a 115 VAC or 230 VAC source respectively When rectified by the Ndrive 28 VAC yields a 40 VDC power bus The followin...

Страница 30: ...THE 100VAC TAPS AND LEAVE THE 115VAC TAPS UNTERMINATED 3 FOR 200VAC PRIMARY INPUT SERIES THE 100VAC TAPS AND LEAVE THE 115VAC TAPS UNTERMINATED 4 WHEN USING AN ISOLATION TRANSFORMER EARTH GROUNDING O...

Страница 31: ...EN USING AN ISOLATION TRANSFORMER EARTH GROUNDING OF AC LO INPUT TAP REDUCES ELECTRICAL AND AUDIABLE NOISE EMMISSIONS AND PROVIDES INCREASED SERVO PERFORMANCE 5 IT IS RECOMMENDED THAT THE OPTIONAL AND...

Страница 32: ...NTERMINATED 4 WHEN USING AN ISOLATION TRANSFORMER EARTH GROUNDING OF AC LO INPUT TAP REDUCES ELECTRICAL AND AUDIABLE NOISE EMMISSIONS AND PROVIDES INCREASED SERVO PERFORMANCE 5 IT IS RECOMMENDED THAT...

Страница 33: ...ss and stepper motors Brush and brushless motors may have two feedback devices 2 5 1 DC Brush Motor in Torque Mode Configuration The DC brush motor configuration is shown in Figure 2 9 See Section 2 6...

Страница 34: ...to the resultant direction of motion commanded from within a motion program After correctly phasing the motor you may reverse the motor direction when commanding a positive move from a motion program...

Страница 35: ...meter 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 require...

Страница 36: ...is mode is used with a brushless motor only See Section 2 6 if Aerotech s standard cabling is not used for information on correctly phasing the motor encoder and Hall feedback devices Figure 2 11 Brus...

Страница 37: ...when commanding a positive move from a motion program by negating the sign of the CntsPerMetricUnit CntsPerEnglishUnit CntsPerRotaryUnit axis parameter Be sure to first configure the axis parameters...

Страница 38: ...re 2 14 The Hall states which correspond to the electrical angles are indicated in Figure 2 14 A 0 for the given Hall input indicates zero voltage or logic low where a 1 indicates five volts or logic...

Страница 39: ...he tests outlined below do not require that the amplifier be turned on since Figure 2 14 illustrates the generated output voltage of the amplifier relative to the input Hall sequences Before performin...

Страница 40: ...Ndrive HP 10 20 30 Manual Installation and Configuration www aerotech com 2 17 Figure 2 14 Motor Phasing Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 41: ...te 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 connecti...

Страница 42: ...y have a separate position and a velocity feedback device An analog sine wave encoder may be used with Aerotech s MXH multiplier box to multiply the encoder resolution and simultaneously convert it to...

Страница 43: ...e Diagnostics tab of the Nstat utility as shown in Figure 2 18 The program should cause the encoder to produce a more positive position as the program executes If it counts more negative swap the conn...

Страница 44: ...tary motion or positive linear motor motion Positive or clockwise motion is stopped by the CW or clockwise EOT limit input etc Figure 2 19 End of Travel Limit input Connections Figure 2 20 Limit Input...

Страница 45: ...Assuming all axes are selected on the Axis menu in Nparam they will be the parameters in the first column The Ndrive configured as Row 2 indicates below will be configured by the axis parameters in co...

Страница 46: ...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 47: ...age power connections such as 5V should have a current capacity of at least 1 Amp encoder feedback 5V supply may require 0 6 Amps in some applications In some applications especially when there are si...

Страница 48: ...FaultMask axis parameter the ESTOP input must be driven to prevent the ESTOP fault condition For typical ESTOP wiring see the following drawing Figure 2 23 ESTOP Sense Input TB201 Connecting the E Sto...

Страница 49: ...ircuit to the Ndrive It will disable power to the motor by removing power to the power stage of the drive while maintaining power to the control section as shown in the following Figure 2 24 For Rev 0...

Страница 50: ...package provides a quick start guide with basic information The Nview help included with the software provides additional information for configuring the Ndrive HP to the PC as well as information on...

Страница 51: ...Installation and Configuration Ndrive HP 10 20 30 Manual 2 28 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 52: ...errupt 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 directional 11 Auxiliary Cosine Secondary RS 422 Channel C...

Страница 53: ...es the input output state of this encoder channel This interface may not be multiplied by the MXH option and must be a 5 volt RS 422 line driver encoder It allows up to an 8 MHz encoder signal 31 nsec...

Страница 54: ...ive HP 10 20 30 User s Manual Technical Details www aerotech com 3 3 Figure 3 1 Secondary Encoder Channel J205 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg c...

Страница 55: ...he PSO output via the EncoderDivider axis parameter and the PSOCONTROL command see the Nview help for more information See Section 3 2 for more information on the PSO option See Table 3 2 for the mati...

Страница 56: ...Config axis parameter See Table 3 2 for the mating connector part number Table 3 5 User Inputs Pin Assignment on Connector J205 Pin Label Description In Out Bi 12 5 Volt 5 Volt 500mA max Output 17 In...

Страница 57: ...internal re settable fuse 3 1 5 Analog Input 0 J205 The analog inputs accept a signal within the range of 10 through 10 volts DC Signals outside this range may damage the input For analog input techni...

Страница 58: ...trigger condition and the output Single axis PSO laser firing latency is 200 nanoseconds DUALPSO and TRIPLEPSO laser firing latency is 275 nanoseconds not including the propagation delay of the output...

Страница 59: ...rthermore this vectorial position trigger value is queued via a 255 level queue in hardware to the triggering hardware with each trigger advancing thru the queue to the next trigger value This allows...

Страница 60: ...hare four FIFO s queue s with Window 1 and Window 2 preventing the window firing modes from being used with the Capture Update mode Using a queue from a window precludes using that window 1 or 2 for f...

Страница 61: ...t present with the multi axes firing option it allows for directional based firing This means that you may program a firing distances for the positive and negative motion separately Single axis window...

Страница 62: ...ly Input 11 HC Hall Effect Sensor 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 In...

Страница 63: ...isolated user inputs 8 10 may be used as the end of travel limit inputs see Section 3 1 3 Table 3 13 End of Travel Limit Inputs Pin Assignment on Connector J207 Pin Label Description In Out Bi 12 CW L...

Страница 64: ...esistance of the thermistor is low i e 100 ohms 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...

Страница 65: ...ing 32 million counts per second after times four x4 quadrature decoding Typically the encoder interface accepts this RS 422 signal in line driver format however it may be factory configured as an opt...

Страница 66: ...al 31 nsec minimum edge separation producing 32 million counts per second after times four x4 quadrature decoding An analog encoder is used with the MXH option see Figure 3 10 for more information Fig...

Страница 67: ...and that the axis may not be enabled during this time While the MXH option is being erased the LED s will indicate the pattern shown to the upper right When the MXH option is being re programmed the...

Страница 68: ...2 40 40 025 025 20 20 05 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 x5...

Страница 69: ...Details Ndrive HP 10 20 30 User s Manual 3 18 www aerotech com Figure 3 10 Optional MXH Analog Encoder Interface J207 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www arti...

Страница 70: ...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 TXD RS 422 Tra...

Страница 71: ...hnical Details Ndrive HP 10 20 30 User s Manual 3 20 www aerotech com Figure 3 11 RS 232 RS 422 Connector J206 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg c...

Страница 72: ...ireWire Connector 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 Si...

Страница 73: ...required 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...

Страница 74: ...initial setup should only need to be performed once for a given system type If the parameter settings for a given axis in the system have already been verified then on all future systems the A3200 so...

Страница 75: ...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 b...

Страница 76: ...log inputs SSI Net absolute encoder interface and brake relay and includes a HCPL2601 opto isolator Figure 4 1 IOPSO Option Board 690D1579 Rev A Table 4 1 IOPSO Option Board Jumpers Jumper Setting Des...

Страница 77: ...r ECS01079 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 PS7...

Страница 78: ...han 50 mA Note that the analog outputs are referenced to TB302 1 as shown in Figure 4 3 Analog output 0 is also available at J205 see Section 3 1 6 The analog outputs will be zero volts during reset T...

Страница 79: ...e The maximum power that may be switched is voltage dependent Initial Contact Resistance 50 milliohms max 10 mA 6 VDC The user must not exceed the Maximum Current or Maximum Power specifications Step...

Страница 80: ...Motor Feedback connector is not connected Figure 4 4 Brake Connected to TB301 The user is responsible for providing fuse protection for the Brake circuit Figure 4 5 is an example of a 24 VDC Brake co...

Страница 81: ...hods should be used Example 2 Figure 4 6 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...

Страница 82: ...is greater than 240 ohms use a 240 ohm resistor 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 ma...

Страница 83: ...nput and connect your signal to the positive input Analog input 0 is also available at J205 see Section 3 1 5 The analog inputs have a 25k Ohm input impedance and should be driven by a low impedance s...

Страница 84: ...ect to an output in current sinking and current sourcing modes The connection must always be made to both the Output Common Plus and Output Common Minus to prevent glitches on the outputs see Figure 4...

Страница 85: ...ed by the inductive spikes that occur when the device is turned off Suppressor diodes can be installed on all outputs to provide greater protection The 1N914 diode is recommended for this application...

Страница 86: ...2 respectively See Section 3 3 1 for opto isolated EOT limit inputs Table 4 11 Opto Isolated Input Connector Pin Assignment TB305 Pin Label Description In Out Bi 1 C0 3 Input Common for inputs 0 3 Inp...

Страница 87: ...Options Ndrive HP 10 20 30 User s Manual 4 12 www aerotech com Figure 4 12 Inputs Connected in Current Sourcing Mode Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www arti...

Страница 88: ...l 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 SSI Net 1 Cosine N Marker N Bi directional...

Страница 89: ...y Typ Power Supply Voltage VLaser 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...

Страница 90: ...iliary 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 15 RS 485 Absolute Enco...

Страница 91: ...see the 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 enc...

Страница 92: ...Ndrive HP 10 20 30 User s Manual Options www aerotech com 4 17 Figure 4 16 J301 J302 J303 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 93: ...xis parameters out and in respectively so the encoder signals are supplied to the Ndrive with the DUALPSO or TRIPLEPSO options Additionally the CfgEncMxhSetup axis parameter must be configured for a 2...

Страница 94: ...on is not lost The 20 MHz data rate limitation effectively limits the maximum speed of the axis see B below In addition the DUALPSO or TRIPLEPSO options have a maximum tracking rate of 5 MHz due to ha...

Страница 95: ...The effective 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 resoluti...

Страница 96: ...eceive Data Input 4 Unused RC Terminated N A 5 Unused RC Terminated N A 6 RX Receive Data Input 7 Unused RC Terminated N A 8 Unused RC Terminated N A Additionally the IOPSO options provide analog and...

Страница 97: ...r 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 4 Sin Resolver Sine inpu...

Страница 98: ...ence signal Channel 1 TP20 Sine input Channel 2 TP21 Cosine input Channel 2 TP22 Reference signal Channel 2 Figure 4 20 Resolver Option Assembly 690D1599 Rev 0 Table 4 23 External Power Pin Assignment...

Страница 99: ...ire being changed when inductosyns are used The SIN reference is a fixed phase signal which is in phase with the reference signal used by the resolver The COS reference is a variable phase signal whic...

Страница 100: ...put its analog inputs for SIN COS into the analog input channels of the Encoder Configuration Feedback utility a utility also used to configure the MXH option The values sampled by the analog inputs r...

Страница 101: ...gFbkRDConfig axis parameter should be set to 1 bit 0 for channel 1 or bit 1 for channel 2 For most resolvers use of the CfgFbkRDCosPhase axis parameter is not required If this axis parameter is not be...

Страница 102: ...ual Options www aerotech com 4 27 Figure 4 22 Resolver Located at Maximum of SIN Signal Figure 4 23 Rotating the Resolver to see a circle Artisan Technology Group Quality Instrumentation Guaranteed 88...

Страница 103: ...mately 5 000 on the low end and 60 500 on the high end counts This axis parameter can be adjusted via the Ndebug exe utility These numbers equate to approximately 0 38 to 4 62 volts on a zero to 5 vol...

Страница 104: ...n method of the R D is specified through bit 8 of the CfgFbkRDConfig axis parameter Setting this bit to 1 utilizes Hall effect commutation initialization i e commutation is initialized similar to enco...

Страница 105: ...hannel 2 1 Open the Nstat exe utility 2 Select the tab which displays the absolute resolver feedback register 3 Rotate the resolver until you have an approximate zero value on the feedback register no...

Страница 106: ...4MS C1650X Encoder Feedback Cable BL FB 25DU 25DU 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...

Страница 107: ...2000 series with 25D option Motor Encoder Limits Halls C13803 xx DC MTR FB 25DU FL 24MS MAX107DM Motor Output Motor Feedback Any stage having a DC brush motor with a single 24 pin MS style connector f...

Страница 108: ...NT yy BL MTR FL 4DU MAX450DM Obsolete Motor Output Any brushless motor stage having a 4 pin D style connector for motor power BM BMS motors with D25 option ABL2000 8000 series ABR1000 Series ADR160 24...

Страница 109: ...00 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 Any Brushless motor stage having a...

Страница 110: ...y the IOPSO option When using an external potentiometer such as a joystick to drive the Ndrive analog inputs it must be manually calibrated 1 Set the joystick potentiometer at mid point detent positio...

Страница 111: ...59 BACKSHELL 17 1725 2 ECK01022 ECX00570 EXT_IN3 BRN BACKSHELL 17 1725 2 ECK01022 15 LINE FEMALE D 745493 2 ECK00783 CONNECTOR SHIELDING PART IS OUTSIDE SUCH THAT THE SILVER FOLD BACK FOIL SHIELD IF R...

Страница 112: ...YSTICK JI INDUSTRIAL NOTES 1 USING C19792 XX CABLE WILL ONLY PROVIDE 1 AXIS OF SLEWING REQUIRES Ndrive HP TO HAVE REV A CONTROL BOARD 2 THE JI JOYSTICK MUST BE USED WITH THE Ndrive HP JBV OR JP4 JOYST...

Страница 113: ...LD IF REQUIRED SHIELD DRAIN WIRE FOLD BACK TWIST WIRE TO PIN 12 COVER OVER GROMMET SHIELD DRAIN WIRE WRAP 6 COPPER FOIL EIA281 5 GROMMET SUPPLIED W BACKSHELL INTERLOCK S2 COM X POT S1 5V SHIELD 630B19...

Страница 114: ...OYSTICK EXT C19791 XX 5 TB4 TB302 TB5 TB303 TB7 TB305 REV A UNITS REV UNITS IOPSO INTERFACE NOTES 1 USING C19791 XX CABLE WILL PROVIDE 2 AXES OF SLEWING REQUIRES Ndrive HP TO HAVE THE IOPSO OPTION INS...

Страница 115: ...01022 NC ECZ00201 10 FT OR AR LENGTH 100 LINES REV HANDWHEEL HWA32 26HD XX Ndrive HP HWA32 26HD XX 630B1983 201 DWG 630B1983 2 TYPE 4 MIA424 S N XXXXXX MODEL HWA32 26HD XX XXXXXX WORK ORDER NUM XX CAB...

Страница 116: ...83 1 TYPE 4 MIA00424 S N XXXXXX MODEL HWA32 FLY XX XXXXXX WORK ORDER NUMBER XX CABLE LENGTH IN DECIMETERS 1 INSTALL LABEL TO BACK OF HANDWHEEL 2 CABLE LENGTH CAUTION CABLE LENGTHS XX ARE IN DECIMETERS...

Страница 117: ...IN 4 OPTO1 3 OPTO1 2 AUX_SIN 13 ANALOG_IN 23 AGND 24 EXT_INCOM 25 EXT_IN3 22 ANALOG1_OUT 20 AUX_MRK 19 AUX_MRK 21 COM PHOENIX 26 PIN HD BREAKOUT MODULE ECZ01230 SHOWN FOR REFERENCE BBA32 AUX I O INTER...

Страница 118: ...cribed in Table 6 1 be aware of lethal voltages inside the controller and at the input and output power connections A qualified service technician or electrician should perform these tests No user ser...

Страница 119: ...LED de energizes when motor decelerates Bus over voltage detected Ndrive HP 10 20 This condition indicates an excessive regeneration condition The Ndrive HP 10 20 requires that a shunt regulator be a...

Страница 120: ...ault configurations for the Ndrive HP Control board the IOPSO option board and jumper configurations are listed in Chapter 3 S2 defines the Ndrive HP communication channel number and is the only user...

Страница 121: ...for RS 485 port on J301 JP5 Out 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 J3...

Страница 122: ...located on the power board assembly Table 6 4 lists the jumpers and their default configurations for the Ndrive HP Power board TB102 JP6 J8 F3 F4 JP3 JP4 JP2 F2 JP1 J6 DS1 K1 TB103 JP5 F1 F5 TB101 Fig...

Страница 123: ...tection disabled 1 2 FireWire Bus power source JP6 2 3 Disable FireWire Bus power source Factory Default All jumpers are factory configured and should not be changed by the user Table 6 5 Ndrive HP Po...

Страница 124: ...Table 6 6 LED Indicator Description Label Description ACTV Reset indicator CLMT Current is clamped at the value determined by the ThresholdClampIAmp axis parameter ENB Axis is enabled FLT An axis fau...

Страница 125: ...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 Re...

Страница 126: ...drive HP 10 Littlefuse 313005 EIF00105 5 A S B 3AG Ndrive HP 20 Littlefuse 326010 EIF00117 10 A S B 3AG F1 Supply Main Fusing for AC1 VAC Bus Input Ndrive HP 30 Littlefuse 326010 EIF00117 10 A S B 3AG...

Страница 127: ...y fluids or electrically conductive material must not be permitted to enter the Ndrive Note Disconnect power to avoid shock hazard Visually inspect all cables and connections Tighten or re secure any...

Страница 128: ...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 129: ...y 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 r...

Страница 130: ...shless Servo A servomotor with stationary windings in the stator assembly and permanent magnet rotor See AC Brushless Servo Deceleration The change in velocity as a function of time Duty Cycle For a r...

Страница 131: ...chine Interface Used as a means of getting operator data into the system See MMI Home Reference position for all absolute positioning movements Usually defined by a home limit switch and or encoder ma...

Страница 132: ...er current to the internal windings Motor Brushless Type of direct current motor that utilizes electronic commutation rather than brushes to transfer current Motor Stepping Specialized motor that allo...

Страница 133: ...tilizes ladder logic to control a number of input and output discrete devices PWM Pulse Width Modulation Switch mode technique used in amplifiers and drivers to control motor current The output voltag...

Страница 134: ...axis Run out is measured as total indicated reading TIR For a rotary stage axis run out refers to the deviation of the axis of rotation from the theoretical axis of rotation Servo System Refers to a c...

Страница 135: ...op gains usually PID terms to achieve the desired response from a stage or mechanism from an input command Unidirectional Repeatability See Repeatability Velocity Command Motor driver or amplifier con...

Страница 136: ...n 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 accompa...

Страница 137: ...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 R...

Страница 138: ...SO interface schematic Page xii Declaration of Conformity Updated CE declaration Chapter 4 Added high current I O Board option For Aerotech Use update per Issue Tracker ID 461 Figure 2 9 Figure 2 10 F...

Страница 139: ...ted typo in Brake circuit 1 13 Section 4 1 3 Added notes to Brake section 1 12 3 1 1 Changed pictures to new product colors 1 11 3 1 1 Swapped AC1 And AC3 in Figure 2 6 1 10 Chapter 4 No Technically R...

Страница 140: ...n LED s indicate active conditions and red LED s indicate faults and errors The auxiliary connector J6 in Rev 0 and called J206 in Rev A is now a 26 pin high density D style connector See Table D 1 fo...

Страница 141: ...ing the AC and motor terminal blocks TB101 and TB102 The second column comprises the FireWire connectors down through the motor feedback connector sequentially numbered from J201 through J207 respecti...

Страница 142: ...of the IOPSO option One of the two analog inputs is now available standard on J205 as well as TB302 of the IOPSO option User digital inputs on the IOPSO options now have two input commons one for eac...

Страница 143: ...11 Auxiliary Cosine Secondary Encoder Channel Input 12 5 Volt 5 Volt 500mA max Output 13 Analog 0 In Analog Input 0 Differential Input 14 Analog 0 In Analog Input 0 Differential Input 15 Out Com Outp...

Страница 144: ...on www aerotech com D 5 D 3 E Stop Interface for Rev 0 Refer to Chapter 2 Section 2 10 1 for Rev A Ndrive HP Figure D 2 Typical Emergency Stop Circuit Rev 0 Artisan Technology Group Quality Instrument...

Страница 145: ...Rev 0 to Rev A Comparison Ndrive HP 10 20 30 Manual D 6 www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 146: ...ushless Motor Configuration 2 10 2 13 2 14 Bus Power Supply 1 4 C Cable Interconnections 5 1 Capacitive Coupling 2 2 Cleaning 6 10 Connector 1 3 Connector Pinouts Auxiliary I O 3 1 3 2 3 5 3 6 D 4 Fir...

Страница 147: ...lation transformer 2 3 J J201 FireWire 2 27 3 21 J202 FireWire 2 27 3 21 J203 FireWire 2 27 3 21 J204 4 21 J205 Connector Pinouts 3 1 3 2 3 5 3 6 J205 Connector Pinouts D 4 J206 Connector Pinouts 3 19...

Страница 148: ...rake Relay Connector 4 4 Optional Analog Input Connector 4 8 Power 1 5 Power Board 6 5 Assembly 6 5 Fuses 6 6 Jumpers 6 6 Power Board Options 3P 3 Phase AC Input 1 5 AUXPWR Auxiliary Power 1 5 HS Heat...

Страница 149: ...1 TV0 3 28 power transformer optional 2 6 TV0 3 56 power transformer optional 2 6 Two Axis Laser Firing 4 18 Typical AC Wiring 2 7 Typical ESTOP Interface 2 26 U Unknown Phase Hall Sequence 2 16 User...

Страница 150: ...esented Well illustrated How do you use this document in your job Does it meet your needs What improvements if any would you like to see Please be specific or cite examples Name Title Company Name Add...

Страница 151: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 152: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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