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Table of Contents

Ndrive ML

Table of Contents

Ndrive ML 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 (TB103)

2.2.2. Motor Supply Connections (TB102)

2.2.3. External Power Supply Options

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 (J103)

2.4.1. Encoder Interface (J103)

2.4.1.1. RS-422 Line Driver Encoder (Standard)

2.4.1.2. Analog Encoder Interface

2.4.1.3. Encoder Phasing

2.4.2. Hall-Effect Interface (J103)

2.4.3. Thermistor Interface (J103)

2.4.4. Encoder Fault Interface (J103)

2.4.5. End Of Travel Limit Input Interface (J103)

2.4.5.1. End Of Travel Limit Phasing

2.4.6. Brake Output (J103)

2.4.7. Differential Analog Input 0 (J103)

2.5. Emergency Stop Sense Input (TB101)

2.5.1. Typical ESTOP Interface

2.6. FireWire Interface

2.7. PC Configuration and Operation Information

Chapter 3: -I/O Expansion Board

3.1. User Power (TB201)

3.2. Brake Relay Connector (TB201)

3.3. Analog I/O Connector (TB202)

3.3.1. Analog Output 1 (TB202)

3.3.2. Differential Analog Input 1 (TB202)

www.aerotech.com

Содержание Ndrive ML Series

Страница 1: ...Revision 1 11 00 Ndrive ML Hardware Manual...

Страница 2: ...ech 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 Ema...

Страница 3: ...Motor and Feedback Phasing 36 2 3 2 DC Brush Motor Connections 37 2 3 2 1 DC Brush Motor Phasing 38 2 3 3 Stepper Motor Connections 39 2 3 3 1 Stepper Motor Phasing 40 2 4 Motor Feedback Connections...

Страница 4: ...PSO Output J201 74 3 6 1 Position Synchronized Output PSO Laser Firing J201 76 Chapter 4 Standard Interconnection Cables 79 4 1 Joystick Interface 80 4 2 Handwheel Interface 82 Chapter 5 Maintenance 8...

Страница 5: ...Standard 46 Figure 2 20 Position Feedback in the Diagnostic Display 47 Figure 2 21 Hall Effect Inputs J103 48 Figure 2 22 Thermistor Interface Input J103 49 Figure 2 23 Encoder Fault Interface Input J...

Страница 6: ...Ndrive ML Table of Contents 6 www aerotech com This page intentionally left blank...

Страница 7: ...Feedback Connector J103 49 Table 2 20 Encoder Fault Pin on the Motor Feedback Connector J103 50 Table 2 21 End of Travel Limit Input Pins on the Motor Feedback Connector J103 51 Table 2 22 Brake Outp...

Страница 8: ...Auxiliary Encoder Channel Pinout J201 74 Table 3 19 Mating Connector Part Numbers for the Auxiliary Encoder Connector J201 74 Table 3 20 PSO Specifications 76 Table 3 21 PSO Output Pin Assignment J20...

Страница 9: ...e 2011 65 EU RoHS 2 Directive 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 suppl...

Страница 10: ...ication 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 t...

Страница 11: ...plete and accurate as of this manual s release Refer to www aerotech com for the most up to date information D A N G E R This product contains potentially lethal voltages To reduce the possibility of...

Страница 12: ...hearing 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 pot...

Страница 13: ...gration 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 Out...

Страница 14: ...Ndrive ML Quick Installation Guide 14 www aerotech com This page intentionally left blank...

Страница 15: ...precision floating point DSP controls the digital PID and current loops All system configuration is done using software settable parameters including control loop gains and system safety functions Th...

Страница 16: ...3 6 1 Table 1 2 Ordering Options Options Power Stage Options Section 1 2 10 40 10 A peak 5 A continuous 40 VDC input I O Chapter 3 and Feedback Section 2 4 1 2 Options IO Expansion board with 8 digit...

Страница 17: ...240 VAC supply peak current 5 A Note Aerotech will set the peak current parameters in the controller to try to prevent the power supply from shutting off due to overcurrent condition Axes 1AX 1 axis o...

Страница 18: ...Chapter 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 ML Introduct...

Страница 19: ...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 Compatibi...

Страница 20: ...38V 10 A Peak Output Current 2 10 Continuous Output Current 2 5 Power Amplifier Bandwidth 2500 Hz maximum software selectable Minimum Load Resistance 0 5 Output Impedance 0 2 each phase User Power Su...

Страница 21: ...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 approximately 50...

Страница 22: ...unit should 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 Tab...

Страница 23: ...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 A...

Страница 24: ...Ndrive ML Introduction 24 Chapter 1 www aerotech com This page intentionally left blank...

Страница 25: ...rameters defined in the software The drive assigned to the second com munication channel will be configured by the Axis 2 parameters etc Table 2 1 Device Number Switch Settings S1 Device Switch Settin...

Страница 26: ...d ing requirements of the system W A R N I N G All service and maintenance must be performed by qualified personnel D A N G E R Hazardous Voltages are present on Ndrive ML systems D A N G E R Ndrive M...

Страница 27: ...e Ndrive ML Figure 2 1 Control Supply Connections Table 2 2 Control Supply DC Input Wiring Pin Description Recommended Wire Size 1 2 DC 24 VDC 18 36 VDC Control Power Input 700 mA max 0 5 mm2 20 AWG D...

Страница 28: ...ons Table 2 4 Motor Supply Input Wiring Pin Description Recommended Wire Size 1 B DC Motor Supply Input 40 VDC max 10 A 0 5 mm2 20 AWG RET DC Motor Supply Return 0 5 mm2 20 AWG B DC Motor Supply Input...

Страница 29: ...brake are shown in the figures below The AC operating voltage of the PS ML system can be configured for different operating voltages Purchased PS ML systems are configured at the factory according to...

Страница 30: ...30 Chapter 2 www aerotech com Figure 2 3 Control and Motor Power Wiring using a TM3 Transformer Ndrive ML Installation and Configuration...

Страница 31: ...Installation and Configuration Ndrive ML Figure 2 4 PS ML Option 120 W 24 VDC Output with Brake Figure 2 5 PS ML Option 240 W 24 VDC Output with Brake www aerotech com Chapter 2 31...

Страница 32: ...32 Chapter 2 www aerotech com Figure 2 6 PS ML Option 180 W 40 VDC Output with Brake Figure 2 7 PS ML Option 360 W 40 VDC Output with Brake Ndrive ML Installation and Configuration...

Страница 33: ...2 8 Motor Power Output Connections TB102 Pin Description Recommended Wire Size A Phase A Motor Lead 0 5 mm2 20 AWG B Phase B Motor Lead 0 5 mm2 20 AWG C Phase C Motor Lead 0 5 mm2 20 AWG Earth Ground...

Страница 34: ...White indicates a single wire Brushless motors are commutated electronically by the controller typically using Hall effect devices If you are using standard Aerotech motors and cables motor phasing a...

Страница 35: ...ation Ndrive ML 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 9 Encoder and Hall Signal Diagnostics www a...

Страница 36: ...tion Figure 2 10 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 mot...

Страница 37: ...DC Brush Motor Configuration Table 2 11 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 Yello...

Страница 38: ...d of the voltmeter to the other motor terminal 3 Rotate the motor clockwise by hand Figure 2 13 Clockwise Motor Rotation 4 If the voltmeter indicates a negative value swap the motor leads and rotate t...

Страница 39: ...d bus voltage For example an 80V motor bus supply is needed to get 40V across the motor Figure 2 14 Stepper Motor Configuration Table 2 12 Wire Colors for Aerotech Supplied Cables Stepper Pin Wire Col...

Страница 40: ...g factor determined by the CountsPerUnit parameters and the motor moves in a clockwise direction as viewed looking at the motor from the front mounting flange the motor is phased correctly If the moto...

Страница 41: ...Reference Pulse Input 7 Encoder Marker Reference Pulse Input 8 Analog Input 0 Input 9 Reserved N A 10 Hall Effect Sensor A brushless motors only Input 11 Hall Effect Sensor C brushless motors only In...

Страница 42: ...ction 2 4 1 3 for encoder feedback phasing N OTE Encoder wiring should be physically isolated from motor AC power and all other power wiring N OTE The PSO feature is not compatible with the MXU option...

Страница 43: ...ignals will cause a feedback fault when the axis is enabled An analog encoder is used with the MXH MXU option refer to Section 2 4 1 2 for more information Table 2 16 Encoder Specifications Specificat...

Страница 44: ...sec analog input to quadrature output Refer to Figure 2 17 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 a...

Страница 45: ...Installation and Configuration Ndrive ML Figure 2 18 Analog Encoder Interface J103 www aerotech com Chapter 2 45...

Страница 46: ...ion while observing the position of the encoder in the diagnostics display see Figure 2 20 The Motor Phasing Calculator in the Configuration Manager can be used to determine proper encoder polarity Fo...

Страница 47: ...Installation and Configuration Ndrive ML Figure 2 20 Position Feedback in the Diagnostic Display www aerotech com Chapter 2 47...

Страница 48: ...is fault Refer to Section 2 3 1 1 for Hall effect device phasing Table 2 18 Hall Effect Feedback Pins on the Motor Feedback Connector J103 Pin Description In Out Bi 1 Chassis Frame Ground N A 3 5V Pow...

Страница 49: ...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 l...

Страница 50: ...tes a loss 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 20 Encoder Fa...

Страница 51: ...s stopped by the clockwise CW end of travel limit input Negative motion is stopped by the counterclockwise CCW end of travel limit input The Home Limit switch can be parameter configured for use durin...

Страница 52: ...52 Chapter 2 www aerotech com Figure 2 25 End of Travel Limit Interface Input J103 Ndrive ML Installation and Configuration...

Страница 53: ...le 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 v...

Страница 54: ...in the feedback cable The brake is configured for automatic or manual control using controller parameters refer to the A3200 Help file for more information Refer to Section 3 2 for more information o...

Страница 55: ...g common as shown in Figure 2 27 Table 2 23 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...

Страница 56: ...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 fa...

Страница 57: ...power as shown in the Figure 2 29 The external relay must be sized based on the number of the Ndrive MLs connected and the peak current rating of each drive Figure 2 29 Typical Emergency Stop Circuit...

Страница 58: ...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 Fi...

Страница 59: ...Ndrive ML 2 7 PC Configuration and Operation Information For additional information about PC configuration hardware requirements programming utilities and system operation refer to the A3200 Help file...

Страница 60: ...Ndrive ML Installation and Configuration 60 Chapter 2 www aerotech com This page intentionally left blank...

Страница 61: ...gital opto inputs 8 digital opto outputs 1 analog input 1 analog output a second encoder channel and a brake relay output D A N G E R Always disconnect the Mains power connection before opening the Nd...

Страница 62: ...V at 0 5 A is available between the TB201 pin 3 5V terminal and TB201 pin 4 GND terminal Table 3 1 User Common Connector Pins on the Brake Relay Connector TB201 Pin Description In Out Bi 3 Internal 5...

Страница 63: ...e configured refer to the A3200 Help file for more information see topics for the EnableBrakeControl parameter and the BRAKE command N OTE The brake power supply must be externally fused The user must...

Страница 64: ...nected to J103 N OTE The user is responsible for providing fuse protection for the brake circuit Figure 3 3 is an example of a 24 VDC brake connected to TB201 The user must connect J103 pin 13 to J103...

Страница 65: ...Connector Pinout TB202 Pin Description In Out Bi 1 Analog Common N A 2 Non inverting Analog Input 1 Input 3 Inverting Analog Input 1 Input 4 Analog Output 1 Output Table 3 6 Mating Connector Part Num...

Страница 66: ...not have an Analog Output 0 Table 3 7 Analog Output 1 Specifications TB202 Specification Value Output Voltage 5 V to 5 V Output Current 5 mA Resolution bits 16 bits Resolution volts 153 V Table 3 8 An...

Страница 67: ...3 5 Table 3 9 Differential Analog Input 1 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 N...

Страница 68: ...le 3 11 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 3 12 Opto In Connector Pinout TB203...

Страница 69: ...IO Expansion Board Ndrive ML Figure 3 6 Digital Opto Isolated Inputs www aerotech com Chapter 3 69...

Страница 70: ...70 Chapter 3 www aerotech com Figure 3 7 Digital Inputs Connected to a Current Sourcing Device Figure 3 8 Digital Inputs Connected to a Current Sinking Device Ndrive ML IO Expansion Board...

Страница 71: ...utput Common Plus OP and Output Common Minus OM pins as shown in Figure 3 10 and Figure 3 11 Table 3 15 Opto Out Connector Pinout TB204 Pin Description In Out Bi 1 Digital Output Common Plus Input 2 D...

Страница 72: ...72 Chapter 3 www aerotech com N OTE Outputs must be connected as all sourcing or all sinking Figure 3 9 Digital Opto Isolated Outputs IO Board Ndrive ML IO Expansion Board...

Страница 73: ...IO Expansion Board Ndrive ML Figure 3 10 Digital Outputs Connected in Current Sourcing Mode Figure 3 11 Digital Outputs Connected in Current Sinking Mode www aerotech com Chapter 3 73...

Страница 74: ...quadrature output 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...

Страница 75: ...IO Expansion Board Ndrive ML Figure 3 12 Auxiliary Encoder Channel J201 www aerotech com Chapter 3 75...

Страница 76: ...ions It also simplifies the connection of encoder signals between axes that is required for two axis PSO operation Refer to the BB MP manual for interconnection information Table 3 20 PSO Specificatio...

Страница 77: ...IO Expansion Board Ndrive ML Figure 3 13 PSO Interface www aerotech com Chapter 3 77...

Страница 78: ...Ndrive ML IO Expansion Board 78 Chapter 3 www aerotech com This page intentionally left blank...

Страница 79: ...complete list of Aerotech cables can be found on the website at http www aerotechmotioncontrol com manuals index aspx Table 4 1 Standard Interconnection Cables Cable Part Description Joystick See Sect...

Страница 80: ...at the joystick is present Joystick 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...

Страница 81: ...ick Interface Table 4 2 Joystick Cable Part Numbers Part Cable Description UPC C22751 XX JSXT FLY 15DU MAX300DM NDRIVEMP ML SINGLE AXIS 630B2275 1 C22752 XX JSXT FLY FLY 15DU MAX300DM NDRIVEMP ML DUAL...

Страница 82: ...ntrol axis position The handwheel must provide 5V differential quadrature signals to the Ndrive ML A handwheel can be connected to the Aux I O as shown in Figure 4 3 N OTE See the A3200 Help file for...

Страница 83: ...perform these tests Table 5 1 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 a...

Страница 84: ...conductive material exposure Any fluids or electrically conductive material must not be permitted to enter the Ndrive ML Visually inspect all cables and connections Tighten or re secure any loose con...

Страница 85: ...proval 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 a...

Страница 86: ...t warranty 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 tele...

Страница 87: ...onnector TB201 l Section 3 6 1 Position Synchronized Output PSO Laser Firing J201 1 09 00 Updated Agency Approvals 1 08 00 The following sections have been updated l Section 2 4 3 Thermistor Interface...

Страница 88: ...Ndrive ML Revision History 88 Appendix B www aerotech com This page intentionally left blank...

Страница 89: ...asing 34 Brushless Motor Phasing Goal 36 C Check chassis for loose or damaged parts hardware 84 Check for fluids or electrically conductive material exposure 84 Cleaning 84 Communication Channel Setti...

Страница 90: ...Inputs 48 Hall Effect Interface 48 Handwheel Interconnection 82 Handwheel Interface 82 Humidity 23 I Inputs Connected to a Current Sinking Device 70 Inputs Connected to a Current Sourcing Device 70 i...

Страница 91: ...Din Rail Clip 29 Single Axis Joystick Interface 80 solid state brake control relay 63 Standard Features 16 Stepper Motor Connections 39 Stepper Motor Phasing 40 Support 2 Switch S1 Communication Chann...

Страница 92: ...Ndrive ML Index 92 www aerotech com This page intentionally left blank...

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