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Aerotech Soloist MP 10, Руководство по оборудованию

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Introduction

Soloist MP

Chapter 1: Introduction

Aerotech’s Soloist MP (Ultra-Compact "Micro" PWM) network digital drive is a high performance amplifier.
The drive provides deterministic behavior, auto-identification, and easy software setup. The Soloist MP’s
high performance double 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.

The Soloist MP is offered with an optional encoder interpolation feature (-MXU), an auxiliary square wave
encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -IO option), and
separate power connections for motor and control supply voltages.

Figure 1-1:

Soloist MP Networked Digital Drive

www.aerotech.com

Chapter 1

15

Содержание Soloist MP 10

Страница 1: ...Revision 4 10 00 Soloist MP 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: ...2 1 1 Powered Motor Phasing 35 2 2 1 2 Unpowered Motor and Feedback Phasing 36 2 2 2 DC Brush Motor Connections 37 2 2 2 1 DC Brush Motor Phasing 38 2 2 3 Stepper Motor Connections 39 2 2 3 1 Stepper...

Страница 4: ...er Channel 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 Ma...

Страница 5: ...46 Figure 2 19 Position Feedback in the Diagnostic Display 47 Figure 2 20 Hall Effect Inputs J103 48 Figure 2 21 Thermistor Interface Input J103 49 Figure 2 22 Encoder Fault Interface Input J103 50 F...

Страница 6: ...Soloist MP Table of Contents 6 www aerotech com This page intentionally left blank...

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

Страница 8: ...Mating Connector Part Numbers for the Auxiliary Encoder Connector J201 74 Table 3 20 PSO Specifications 76 Table 3 21 PSO Output Pins on the Auxiliary Encoder Connector J201 76 Table 4 1 Standard Int...

Страница 9: ...ve 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 supp...

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: ...earing 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 pote...

Страница 13: ...rder under the heading Integration that drawing can be found on your installation device Figure 1 Quick Start Connections Topic Section Motor Output Section 2 2 Motor Output Connections Motor Feedback...

Страница 14: ...Soloist MP Quick Installation Guide 14 www aerotech com This page intentionally left blank...

Страница 15: ...ols the digital PID and current loops All system configuration is done using software settable parameters including control loop gains and system safety functions The Soloist MP is offered with an opt...

Страница 16: ...bit analog input 10 V one 16 bit analog output 5 V brake relay auxiliary encoder channel MXU Programmable encoder multiplier up to x1024 x4096 after quadrature no real time output Power Supply Option...

Страница 17: ...480S48 B 480 W 48 VDC 200 240 VAC Axes 1AX 1 axis of wiring 2AX 2 axes of wiring 3AX 3 axes of wiring 4AX 4 axes of wiring Brake BRAKE 1 Axis 1 brake BRAKE 2 Axis 2 brake BRAKE 3 Axis 3 brake BRAKE 4...

Страница 18: ...hapter 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 Soloist MP Introduct...

Страница 19: ...tware first supported the drive Drives that list a specific version number in the Last Software Version column will not be supported after the listed version Table 1 5 Drive and Software Compatibility...

Страница 20: ...imum software selectable Power Amplifier Efficiency 85 95 2 PWM Switching Frequency 20 kHz Minimum Load Inductance 0 1 mH 80 VDC User Power Supply Output 5 VDC 500 milliamps Modes of Operation Brushle...

Страница 21: ...tronics or power transformer An EfficiencyFactor of approximately 90 should be used in the following equations Brushless Motor Output Power Rotary Motors Pout W Torque N m Angular velocity rad sec Lin...

Страница 22: ...ent temperature as a function of amplifier power dissipation Use this graph along with the power dissipation obtained from the first graph to determine the maximum ambient temperature If the result is...

Страница 23: ...ld 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 5 Dimensions Table 1 7 Ph...

Страница 24: ...rature 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 conde...

Страница 25: ...ting the final protective ground 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 Soloist...

Страница 26: ...lose to the Soloist MP Figure 2 1 Control Supply Connections Table 2 1 Control Supply DC Input Wiring TB103 Pin Description Recommended Wire Size 1 2 DC 24 80 VDC 10 Control Power Input 20 Watt Max 0...

Страница 27: ...d connection in place Figure 2 2 Motor Bus Input Connections Table 2 3 Motor Supply Input Wiring TB102 Pin Description Recommended Wire Size 1 2 DC 10 80 VDC Bus Power Input 5 A cont 10 A peak 0 5 mm2...

Страница 28: ...hown in the figures below The AC operating voltage of the PS MP system can be configured for different operating voltages Purchased PS MP systems are configured at the factory according to the users o...

Страница 29: ...Installation and Configuration Soloist MP Figure 2 3 Control and Motor Power Wiring using a TM3 Transformer www aerotech com Chapter 2 29...

Страница 30: ...30 Chapter 2 www aerotech com Figure 2 4 PS MP Option 2 Axis 120 W 48 VDC Output with Brake Figure 2 5 PS MP Option 2 Axis 240 W 48 VDC Output with Brake Soloist MP Installation and Configuration...

Страница 31: ...Installation and Configuration Soloist MP Figure 2 6 PS MP Option 4 Axis 480 W 48 VDC Output with Brake www aerotech com Chapter 2 31...

Страница 32: ...t to conform to radiated emission standards The Soloist MP is a component designed to be integrated with other electronics EMC testing must be conducted on the final product configuration Ferrite bead...

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 Soloist MP 2 2 1 1 Powered Motor Phasing Refer to the Motor Phasing Calculator in the Configuration Manager for motor Hall and encoder phasing Figure 2 8 Encoder and Hall Signal Diagnostics www...

Страница 36: ...ion Figure 2 9 Motor Phasing Oscilloscope Example With the designations of the motor and Hall leads of a third party motor determined the motor can now be connected to an Aerotech system Connect motor...

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: ...of the voltmeter to the other motor terminal 3 Rotate the motor clockwise by hand Figure 2 12 Clockwise Motor Rotation 4 If the voltmeter indicates a negative value swap the motor leads and rotate th...

Страница 39: ...ied bus voltage For example an 80V motor bus supply is needed to get 40V across the motor Figure 2 13 Stepper Motor Configuration Table 2 12 Wire Colors for Aerotech Supplied Cables Stepper Pin Wire C...

Страница 40: ...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 motor...

Страница 41: ...r 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 I...

Страница 42: ...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 Table 2 15 Encoder Interface Pins on the Mo...

Страница 43: ...g signals will cause a feedback fault when the axis is enabled An analog encoder is used with the MXU option refer to Section 2 3 1 2 for more information Table 2 16 Encoder Specifications Specificati...

Страница 44: ...6 for the typical input circuitry The encoder interface pin assignment is indicated in Section 2 3 1 The gain offset and phase balance of the analog Sine and Cosine encoder input signals can all be ad...

Страница 45: ...Installation and Configuration Soloist MP Figure 2 17 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 19 The Motor Phasing Calculator in the Configuration Manager can be used to determine proper encoder polarity Fo...

Страница 47: ...Installation and Configuration Soloist MP Figure 2 19 Position Feedback in the Diagnostic Display www aerotech com Chapter 2 47...

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

Страница 49: ...esistance of the thermistor is low i e 100 ohms which will result in a low input signal As the increasing temperature causes the thermistor s resistance to increase the signal will be seen as a logic...

Страница 50: ...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 Fault In...

Страница 51: ...is 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 duri...

Страница 52: ...52 Chapter 2 www aerotech com Figure 2 24 End of Travel Limit Interface Input J103 Soloist MP Installation and Configuration...

Страница 53: ...e 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 vi...

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

Страница 55: ...as shown in Figure 2 26 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 range m...

Страница 56: ...igure 2 28 for interconnection details The ESTOP input is scaled for an input voltage of 5 24 volts If the ESTOP bit is enabled in the FaultMask axis parameter the ESTOP input must be driven to preven...

Страница 57: ...power as shown in the Figure 2 28 The external relay must be sized based on the number of the Soloist MPs connected and the peak current rating of each drive Figure 2 28 Typical Emergency Stop Circui...

Страница 58: ...ut TB105 Pin Description In Out Bi 1 RS 232 Transmit Output 2 RS 232 Receive Bidirectional 3 Signal Common N A Table 2 29 Mating Connector Part Numbers for the RS 232 Port Connector TB105 Description...

Страница 59: ...oloist MP 2 6 PC Configuration and Operation Information For additional information about PC configuration hardware requirements programming utilities and system operation refer to the Soloist Help fi...

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

Страница 61: ...ital 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 Sol...

Страница 62: ...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 V...

Страница 63: ...configured refer to the Soloist 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 mus...

Страница 64: ...ected 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: ...g I O 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 Par...

Страница 66: ...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 Port 1 Anal...

Страница 67: ...3 5 Table 3 9 Differential Analog Input 1 Specifications Specification Value AI AI 10 V to 10 V 1 Resolution bits 12 bits Resolution volts 4 88 mV 1 Signals outside of this range may damage the input...

Страница 68: ...Common Plus OP and Output Common Minus OM pins as shown in Figure 3 7 and Figure 3 8 Table 3 12 Opto Out Connector Pinout TB204 Pin Description In Out Bi 1 Digital Output Common Plus Input 2 Digital O...

Страница 69: ...IO Expansion Board Soloist MP Figure 3 6 Digital Opto Isolated Outputs IO Board www aerotech com Chapter 3 69...

Страница 70: ...70 Chapter 3 www aerotech com Figure 3 7 Digital Outputs Connected in Current Sourcing Mode Figure 3 8 Digital Outputs Connected in Current Sinking Mode Soloist MP IO Expansion Board...

Страница 71: ...3 14 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 15 Port 1 Opto In Connector Pinout T...

Страница 72: ...72 Chapter 3 www aerotech com Figure 3 9 Digital Opto Isolated Inputs Soloist MP IO Expansion Board...

Страница 73: ...IO Expansion Board Soloist MP Figure 3 10 Digital Inputs Connected to a Current Sourcing Device Figure 3 11 Digital Inputs Connected to a Current Sinking Device www aerotech com Chapter 3 73...

Страница 74: ...nnel as an output refer to Section 3 6 1 and will remove the 180 ohm terminator resistors Table 3 17 Auxiliary Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 nsec minim...

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

Страница 76: ...to locate the line receiver or opto isolator close to the receiving electronics Table 3 20 PSO Specifications Specification Value Maximum Input Tracking Rate 1 Single Axis Tracking 16 6 MHz Maximum Qu...

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

Страница 78: ...Soloist MP 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 Sec...

Страница 80: ...provided they produce a symmetric output voltage within the range of 10V to 10V The following drawings illustrate how to connect a single or two axis joystick a two axis joystick requires two Soloist...

Страница 81: ...Accessories Soloist MP Figure 4 2 Two Axis Joystick Interface www aerotech com Chapter 4 81...

Страница 82: ...trol axis position The handwheel must provide 5V differential quadrature signals to the Soloist MP A handwheel can be connected to the Aux I O as shown in Figure 4 3 N OTE See the Soloist Help file fo...

Страница 83: ...r connection before opening the Soloist MP chassis D A N G E R Before performing any tests be aware of lethal voltages inside the controller and at the input and output power connections A qualified s...

Страница 84: ...n LED Description ENB FLT Turns green to indicate that the axis is enabled Turns red to indicate a fault condition The ENB FLT LED will flash between RED and GREEN if the drive is enabled and in a fau...

Страница 85: ...conductive material exposure Any fluids or electrically conductive material must not be permitted to enter the Soloist MP Visually inspect all cables and connections Tighten or re secure any loose con...

Страница 86: ...86 Chapter 5 www aerotech com Soloist MP Maintenance This page intentionally left blank...

Страница 87: ...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 88: ...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 telep...

Страница 89: ...ush Motor Connections l Section 2 2 3 Stepper Motor Connections l Section 2 3 1 1 RS 422 Line Driver Encoder Standard l Section 2 3 2 Hall Effect Interface J103 l Section 2 3 4 Encoder Fault Interface...

Страница 90: ...Soloist MP Revision History 90 Appendix B www aerotech com This page intentionally left blank...

Страница 91: ...ssignment 54 Brake Power Supply 63 Brushless Motor Connections 34 Brushless Motor Phasing 34 Brushless Motor Phasing Goal 36 C Check chassis for loose or damaged parts hardware 85 Check for fluids or...

Страница 92: ...face 48 Handwheel Interconnection 82 Handwheel Interface 82 Humidity 24 I Inputs Connected to a Current Sinking Device 73 Inputs Connected to a Current Sourcing Device 73 inspect all cables and connec...

Страница 93: ...58 RS 232 Interface 58 RS 232 Port Connector Mating Connector 58 RS 422 Line Driver Encoder Standard 43 S Screws Din Rail Clip 28 Single Axis Joystick Interface 80 solid state brake control relay 63...

Страница 94: ...Soloist MP Index 94 www aerotech com This page intentionally left blank...

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