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Installation and Configuration

Soloist Hardware Manual

2-16

www.aerotech.com

2.7.2.3 Hall Effect Phasing

For an AC brushless motor with an unknown Hall sequence, one of two methods can be
used to determine the proper motor connections to the Soloist.





Before running the Soloist\Programs\Samples\MsetDebug.Ab, configure the axis
parameters. For configuration information, see Getting Started in Soloist Help.



In the first method, the motor is actively driven under program control. The
Soloist\Programs\Samples\MsetDebug.Ab can be used for this purpose. You must swap
the Hall signals until they generate the sequence as defined in Figure 2-12. After the Hall
sequence is correct, the program correctly determines if a commutation offset is required.
The value of the CfgMotOffsetAng axis parameter that is required to correctly phase the
motor is indicated.

The second method is a non-powered method, using a two-channel oscilloscope and three
resistors (10 K ohm, 1/2 watt) wired in a Wye configuration. The motor is disconnected
from the controller and connected in the test configuration, as shown in Figure 2-12. The
motor leads A, B, and C and the Hall signals are identified.





Before performing the test in Figure 2-12, you must completely disconnect the motor
leads from the amplifier.









To perform the following tests, you do not need to turn the amplifier on because
Figure 2-12 provides the generated output voltage data of the amplifier as determined
by the input Hall sequences.



Connect  the  ends  of  the  three  resistors  to  three  motor  leads.  Use  one  channel  of  the
oscilloscope to monitor motor terminal A with a Wye neutral (that is, the point where all
three  resistors  are  connected  together).  Turn  the  shaft  of  the  motor  CW  and  record  the
generated voltage. This voltage represents the Phase A to neutral counter EMF (CEMF).
With  the second oscilloscope probe, determine the Hall switch that is in phase with this
voltage. Similarly, Phases B and C must be aligned with the other two Hall switches. This
identifies the motor and Hall lead that are in phase with each other. Any motor and Hall
lead set can be designated as Phase A. The phasing between this set and the other two sets
determines which set is designated as Phase B or C.

Refer to Figure 2-12 and note the generated output voltages of the amplifier applied to the
Hall A, B, and C connections at connector J103. For proper operation, the CEMF
generated motor phase voltages must be aligned to the amplifier

’

s generated output

voltage with the given Hall effect sequence shown in Figure 2-12.

Motor Mounting
Flange (Front View)

Motor Shaft

CW Rotation
(Positive Direction)

+ MOVE (Clockwise)

FORCER

MAGNET

TRACK

Forcer

FORCER WIRES

DANGER

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Содержание SOLOIST

Страница 1: ...LOIST HARDWARE MANUAL P N EDU180 Ver 1 4 AEROTECH Inc 101 Zeta Drive Pittsburgh PA 15238 2897 USA Phone 412 963 7470 Fax 412 963 7459 Product Service 412 967 6440 412 967 6870 Fax http www aerotech co...

Страница 2: ...Kingdom Phone 44 0 118 940 9420 Fax 44 0 118 940 9428 Email service aerotech co uk Germany Phone 49 911 967937 0 Fax 49 911 967937 21 Email service aerotechgmbh de Product names mentioned herein are u...

Страница 3: ...3 40 80 VDC Power Transformers 2 5 2 5 Typical AC Wiring with the AUXPWR Option and an External Transformer 2 6 2 5 1 Minimizing 50 60 HZ Line Interference 2 9 2 5 2 I O and Signal Wiring Requirement...

Страница 4: ...01 4 2 4 2 2 Analog Output 1 TB201 4 3 4 2 3 Port 1 and Port 2 Opto Isolated Outputs TB202 TB203 4 4 4 2 4 Port 1 and Port 2 Opto Isolated Inputs TB204 TB205 4 6 4 2 5 User Power TB204 TB205 4 9 4 2 6...

Страница 5: ...17 Limit Inputs in the Soloist HMI Program 2 21 Figure 2 18 Limit Inputs in the Soloist HMI Program 2 21 Figure 3 1 PSO Interface J104 3 3 Figure 3 2 Primary Secondary Encoder Channels J103 J104 3 4 F...

Страница 6: ...terface 5 5 Figure 5 2 Single Axis Joystick Interface to J104 of the Soloist 5 6 Figure 5 3 Single Axis Joystick Interconnect to J104 of the Soloist 5 6 Figure 5 4 Handwheel Interconnection to J104 of...

Страница 7: ...12 Brake Power Input Pin out on Connector TB103 3 18 Table 3 13 Brake Relay Output Pin out on Connector J103 3 18 Table 3 14 TB103 RS 232 Connector Pin out 3 19 Table 3 15 RS 232 Port Connector Matin...

Страница 8: ...ww aerotech com Table 6 3 IO Option Board Test Points 6 3 Table 6 4 Soloist Fuse Information 6 4 Table 6 5 IO Board Fuse Information 6 4 Table 6 6 Soloist Jumper Selections 6 6 Table 6 7 Preventative...

Страница 9: ...______________________ September 2004 Quality Assurance Manager Alex Weibel ___________________________ Engineer Verifying Compliance General notes concerning the test setup Safety related requirement...

Страница 10: ...provide earth fault current protection if required End user must provide protection against lightning and switching surges if required Control and EStop requirements are determined and provided by th...

Страница 11: ...ctions 1 3 Soloist Power 1 4 Voltage Configurations 1 5 Electrical Specifications 1 6 Physical Dimensions 1 8 Environmental Specifications 1 9 1 1 Chapter Overview Use this chapter to become familiar...

Страница 12: ...estop applications Inrush current limiting Internal or external shunt option 1 2 2 Dual Encoder Feedback Channels Primary Channel Line driver square wave or optional analog sine wave quadrature encode...

Страница 13: ...st Hardware Manual Introduction www aerotech com 1 3 1 3 Soloist Connections The Soloist AC power motor power feedback and communications connections are detailed in Figure 1 2 Figure 1 2 Soloist Hard...

Страница 14: ...ncludes the bus power supply that operates from 70 240 VAC 100 340 VDC The power supply provides off line operation without the need for an isolation transformer A soft start circuit is included to pr...

Страница 15: ...rd on Soloist30 AUXPWR Auxiliary 115 230 VAC input to power logic circuitry required for keep alive or 10 40 VDC bus operation 10 40 VDC operation requires external transformer to generate 7 28 VAC bu...

Страница 16: ...tts 100 AUXPWR Supply Input Current Maximum 1 A RMS 25 Output Voltage 2 VDC 15 350 Peak Output Current 2 sec A peak 10 20 30 Continuous Output Current A peak 5 10 15 Peak Power Output 3 Watts 2300 480...

Страница 17: ...tor in the desired direction at the desired speed TTL level input Sine Sine N Pin 17 Pin 18 Cosine Cosine N Pin 14 Pin 15 Encoder input 0 to 5VDC internal pull up 10K input Auxiliary Power Outputs 5V...

Страница 18: ...6 59 178 2 7 02 6 4 0 25 9 8 0 39 4 7 0 19 TYP 233 0 9 18 218 6 8 61 63 5 2 50 31 8 1 25 15 9 0 63 TYP Mounting Hole Layout Each unit should be surrounded by 25mm 1 inch of free air space 10 3 0 41 T...

Страница 19: ...are listed in the following table Temperature Ambient Operating 5 50 C 41 122 F Storage 20 70 C 4 158 F Humidity Maximum relative humidity is 80 for temperatures up to 31 C decreasing linearly to 50 r...

Страница 20: ...Introduction Soloist Hardware Manual 1 10 www aerotech com...

Страница 21: ...Shielding Techniques 2 4 Typical AC Wiring with the AUXPWR Option 2 6 Emergency Stop Sense Input TB101 2 10 Motor Connections 2 12 Communication Channel Settings 2 22 Soloist Help Information 2 24 2 1...

Страница 22: ...Deviation from given procedures results in damage to the equipment or machinery To minimize the possibility of electrical shock and bodily injury if the motor begins to spin you must ensure that the...

Страница 23: ...e AC1 and AC2 AC inputs for protection and must be located near the Soloist For optimum protection use 10 Amp protection devices 15 Amp devices are required in applications requiring maximum power The...

Страница 24: ...turn reduces the current generated in the shield wire Provide strong earth ground connections to the amplifier and the motor Offering electrical noise a low impedance path to earth ground not only re...

Страница 25: ...the AUXPWR option The AUXPWR connection is made to a three terminal connector Aerotech Part ECK213 provided See Section 2 5 for AC wiring options Figure 2 1 AUXPWR Option 2 4 3 40 80 VDC Power Transf...

Страница 26: ...NAL 115v BLK 100v ORN 18 WHT 18 WHT 2 4A SLO BLO AC HI SAFTEY AC LO Soloist AUXPWR INTERCONNECT 40VDC BUS TV0 3 28 620B1346 1 620B1346 101 DWG NOTES 1 THE AUXPWR OPTION IS USED WHEN THE MAIN SUPPLY PO...

Страница 27: ...C HI SAFTEY AC LO INPUT 50 60 HZ 230VAC TV0 3 56 WIRING PRIMARY 230VAC SECONDARY 56VAC 80VDC BUS TRANSFORMER P N EAX01006 NOTES 1 THE AUXPWR OPTION IS USED WHEN THE MAIN SUPPLY POWER IS BELOW 100VAC T...

Страница 28: ...IRING PRIMARY 230VAC SECONDARY 115VAC 160VDC BUS TRANSFORMER P N EAX01006 splice splice NOTES 1 THE AUXPWR OPTION IS USED WHEN THE MAIN SUPPLY POWER IS BELOW 100VAC TYPICALLY 28 56VAC INPUT THIS COREE...

Страница 29: ...such as 5V must have a current capacity of at least 1 Amp encoder feedback 5V supply requires 6 Amps in some applications In applications where there are significant wire distances a larger wire size...

Страница 30: ...FaultMaskGlobal axis parameter see the Soloist Help the ESTOP input must be driven to prevent the ESTOP fault condition For typical ESTOP wiring see the following schematic and interface drawing Tabl...

Страница 31: ...see Table 1 3 620B1358 4 Soloist AUXPWR INTERCONNECT WITH E STOP SAFTEY AC LO AC HI AUX PWR AC2 AC1 MAIN SUPPLY AC2 1 Soloist AUXPWR OPTION INPUT 50 60 HZ 115 230VAC 1 CR1 TB101 ESTOP PORT 2 1 24V con...

Страница 32: ...motion command causes clockwise CW motor rotation as viewed when looking at the motor from the front mounting flange See previous illustration The PosScaleFactor parameter must be set to a positive va...

Страница 33: ...ith the Soloist see the system interconnection drawing in Figure 2 9 to determine the motor phase and Hall connections If standard Aerotech brushless motors and cabling are not used the motor must be...

Страница 34: ...ng the Soloist Programs Samples MsetDebug Ab configure the axis parameters For configuration information see Getting Started in Soloist Help Motor phasing is determined by two methods In the first met...

Страница 35: ...h You can view these logic levels in the Soloist HMI in the Axis I O section of the Diagnostic panel of the screen as shown in Figure 2 11 10 5 11 3 21 1 Hall A Hall B Hall C Encoder 5V Encoder Com Ch...

Страница 36: ...ect the motor leads from the amplifier To perform the following tests you do not need to turn the amplifier on because Figure 2 12 provides the generated output voltage data of the amplifier as determ...

Страница 37: ...ing into the front of the motor shaft Motor Back EMF Soloist A B C J103 Hall Positions 10 HA 5 HB 11 HC C B A C B 1 2 3 4 5 6 Clockwise Rotation or Plus Motion 5V 0V 20V 0V 20V Test Setup Brushless Mo...

Страница 38: ...Connections 2 7 3 1 Stepper Motor Phasing Process A stepper motor is phased correctly when a positive motion command causes the motor to rotate in a CW direction assuming a positive scaling factor as...

Страница 39: ...epted by the Soloist To shield signals you must physically isolated wiring from motor AC power and all other power wiring Sin Sin N 14 15 7 6 3 21 1 1 2 10 11 20 19 12 21 Case Cos Cos N Mkr Mkr N Enco...

Страница 40: ...own in Figure 2 16 The program causes the encoder to produce a more positive position If it counts negative swap the connections to the controllers SIN and the SIN N encoder inputs or the sign of the...

Страница 41: ...der Channel Primary Soloist May be a separate switch Normally Closed Typical Or Normally Open not shown For full cable drawings refer to your software CD ROM Figure 2 17 Limit Inputs in the Soloist HM...

Страница 42: ...or additional information see the Soloist Help The Soloist network can support up to 1 024 Soloists However only 32 Soloists can be connected to a single PC using the USB interface because of the limi...

Страница 43: ...ON 6th ON ON ON 7th ON ON ON 8th ON ON 9th ON ON ON ON 10th ON ON ON 11th ON ON ON 12th ON ON 13th ON ON ON 14th ON ON 15th ON ON 16th ON 17th ON ON ON ON 18th ON ON ON 19th ON ON ON 20th ON ON 21st...

Страница 44: ...www aerotech com 2 11 Soloist Help Information For additional information about the Soloist and PC configuration hardware requirements programming utilities and system operation and the Soloist HMI ap...

Страница 45: ...9 USB Port J101 3 20 Planned Option Consult Aerotech Inc for availability 3 1 Port 0 I O and the Secondary Encoder Channel J104 The J104 connector provides six user inputs and four outputs as well as...

Страница 46: ...ry 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 Output 0 3 opto...

Страница 47: ...PSO output The EncoderDivider axis parameter should be set to 0 to configure the Auxiliary Marker as an output Table 3 3 Secondary Encoder Connector Pin out J104 Pin Label Description In Out Bi 1 Aux...

Страница 48: ...Technical Details Soloist Hardware Manual 3 4 www aerotech com Figure 3 2 Primary Secondary Encoder Channels J103 J104...

Страница 49: ...he mating connector part number Additional I O is provided by the IO option as described in Chapter 4 Sixteen additional digital inputs and outputs are provided by Ports 1 and 2 on the on the IO Optio...

Страница 50: ...Technical Details Soloist Hardware Manual 3 6 www aerotech com Figure 3 3 User Outputs J104...

Страница 51: ...s Connected as Current Sinking Be sure to set the DriveIOConfig axis parameter to configure the outputs as current sinking or current sourcing All outputs on a port 0 1 or 2 must be connected as all s...

Страница 52: ...switch to the inputs In either case an external power supply is required to maintain the isolation provided by the opto couplers See Section 3 1 1 for the mating connector part number Additional I O i...

Страница 53: ...Soloist Hardware Manual Technical Details www aerotech com 3 9 Figure 3 6 Connecting Current Sinking Inputs Figure 3 7 Connecting Current Sourcing Inputs...

Страница 54: ...Technical Details Soloist Hardware Manual 3 10 www aerotech com Figure 3 8 Low Speed and High Speed User Inputs J104...

Страница 55: ...305 uVolts per bit of the D A The output current is limited to less than 50 mA See Table 3 7 for the pin numbers Note that the analog output is referenced to J104 21 or 23 See Section 3 1 1 for the m...

Страница 56: ...r bit of the A D Refer to Figure 3 10 See Table 3 8 for the pin numbers To interface to a single ended non differential voltage ground the negative input and connect your signal to the positive input...

Страница 57: ...ndition and the output PSO latency is 210 nanoseconds including the propagation delay of the output device The output pulse is a differential RS 422 signal available on the J104 connector see Section...

Страница 58: ...s being within a user defined window The and Enter Exit Detection block within the block diagram is used to prevent false triggering due to one bit dither on an axis etc Window modes may not be pre sc...

Страница 59: ...it and CCW Limit while the third is an optional reference limit Home Limit Alternatively opto isolated user inputs 8 10 may be used as the end of travel limit inputs see Section 3 1 3 The Hall effect...

Страница 60: ...e Optional Brake Output N A 14 Cos Encoder Cosine Input 15 Cos Encoder Cosine Input 16 5 Volt 5 Volt Power for Limit Switches Output 17 Sin Encoder Sine Input 18 Sin Encoder Sine Input 19 Reserved Res...

Страница 61: ...ers This can be done automatically using the Encoder Feedback Configuration utility See the Soloist HMI help for more information The MXU option is not compatible with PSO firing capabilities because...

Страница 62: ...used as a general purpose relay For this reason the normally closed normally open and common contacts are available on the TB206 connector of the IO option See the BrakeOnDriveDisable axis parameter f...

Страница 63: ...32 Connector Pin out Pin Label Description In Out Bi 1 5 Volt 5 Volt Power Output Output 2 RS 232 TXD RS 232 Transmit Output Output 3 RS 232 RXD RS 232 Receive Input Input 4 Common Signal Common N A T...

Страница 64: ...com 3 5 USB Port J101 The USB port has all of the same functionality as the Ethernet interface for Aerotech s utilities The Ethernet port however does have some additional features for non Aerotech de...

Страница 65: ...Option Capabilities AUXPWR Separate control power input for the 20 80VDC bus as described in Chapter 2 section 2 4 2 MXU Analog encoder x512 encoder resolution multiplier option See Chapter 3 S Shunt...

Страница 66: ...digital converter allowing an input voltage in the range of 10 volts This produces a resolution of 4 88 millivolts per bit of the A D Refer to Figure 4 2 To interface to a single ended non differentia...

Страница 67: ...of 305 uVolts per bit of the D A The output current is limited to less than 50 mA Note that the analog outputs are referenced to TB201 1 Analog output 0 is present on J104 see Section 3 1 4 The analog...

Страница 68: ...put 4 Output 1 Output 1 Optically Isolated Output 5 Output 2 Output 2 Optically Isolated Output 6 Output 3 Output 3 Optically Isolated Output 7 Output 4 Output 4 Optically Isolated Output 8 Output 5 O...

Страница 69: ...in Current Sinking Mode Be sure to set the DriveIOConfig axis parameter to configure the outputs as current sinking or current sourcing All outputs on a single port 0 1 or 2 must be connected as all...

Страница 70: ...connected to current sourcing or current sinking devices as shown in Figure 4 6 and Figure 4 7 Each 8 bit bank of inputs TB204 and TB205 must be connected to either all current sourcing or all curren...

Страница 71: ...in 1 Input 4 Input 2 Input 2 Optically Isolated See pin 1 Input 5 Input 3 Input 3 Optically Isolated See pin 1 Input 6 Input 4 Input 4 Optically Isolated See pin 1 Input 7 Input 5 Input 5 Optically Is...

Страница 72: ...Soloist Options Soloist Hardware Manual 4 8 www aerotech com Figure 4 7 Inputs Connected in Current Sinking Mode...

Страница 73: ...brake on a vertical axis however it may also be used as a general purpose relay See the BrakeOnDriveDisable axis parameter for information on activating the brake output automatically or the BRAKE com...

Страница 74: ...ay Contacts are accessible through TB206 and the Motor Feedback connector J103 The Brake Relay Normally Closed Contact is only accessible through TB206 see Figure 4 8 The Motor Feedback connector J103...

Страница 75: ...example of a 24 VDC Brake connected to J103 the Motor Feedback connector In this example the external 24 power source is connected to TB206 Also note that JP1 is set 1 2 and 3 4 with all others remov...

Страница 76: ...e Figure 4 10 In some cases better results are obtained by installing the suppressor circuit across the contacts The ratings and values for these components are described below Resistor R is calculate...

Страница 77: ...Soloist Hardware Manual Soloist Options www aerotech com 4 13 Figure 4 10 Suppression for DC Brake Systems...

Страница 78: ...Soloist Options Soloist Hardware Manual 4 14 www aerotech com...

Страница 79: ...CD ROM Table 5 1 Standard Interconnection Cables Cable Part Description C13803 xx DC Brush Motor Cable DC MTR FB 25DU FL 24MS MAX107DM C15291 xx Encoder Feedback Cable BL FB 25DU 17MS 9DU MAX120DM C15...

Страница 80: ...series AVL125 ADR175 ASR1000 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...

Страница 81: ...n BMxxxE motors Motor C19360 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 optio...

Страница 82: ...2000 series with HPD option 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 U...

Страница 83: ...joystick both single and two axis to the Soloist in various ways and the cables required to so do If two separate Soloists are being used to read the joystick only one Soloist should be used to provi...

Страница 84: ...UTSIDE SUCH THAT THE SILVER FOLD BACK FOIL SHIELD 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 BACKS...

Страница 85: ...CZ00201 10 FT OR AR LENGTH 100 LINES REV HANDWHEEL HWA32 26HD XX Soloist HWA32 26HD XX 630B1983 201 DWG 630B1983 2 TYPE 4 MIA424 S N XXXXXX MODEL HWA32 26HD XX XXXXXX WORK ORDER NUMBER XX CABLE LENGTH...

Страница 86: ...oist HWA32 FLY XX 630B1983 101 DWG 630B1983 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 C...

Страница 87: ...EXT_OUT4 1 AUX_SIN 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 BB...

Страница 88: ...Accessories Soloist Hardware Manual 5 10 www aerotech com...

Страница 89: ...fore performing the tests described 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 pe...

Страница 90: ...to Hall A Hall B and Hall C inputs See Section 2 8 for motor phasing information Amplifier faults ENB LED turns red when motor decelerates Bus over voltage detected Soloist10 20 This condition indicat...

Страница 91: ...the Soloist refer to Section 6 4 for their locations All test points not shown are for Aerotech internal use only Table 6 2 Soloist Control Board Test Points Test Point Description TP1 5 Volt supply T...

Страница 92: ...rer s P N F1 Optional Shunt Fuse 2A S B 5 mm EIF01019 LittleFuse 215002 F2 Control Power Fuse 25A S B 5 mm EIF1009 LittleFuse 230 250S Soloist10 VAC Input at TB102 1 5A S B 5 mm EIF00179 Wickman 19515...

Страница 93: ...ctable items none of which normally need to be changed by the user since all of the important configurable items are software selectable Table 6 6 lists the jumpers and the default configurations for...

Страница 94: ...Standard Soloist10 20 JP3 2 3 Shunt Option Present Optional except Soloist30 1 2 Watch dog enabled Standard JP5 2 3 Watch dog disabled 1 2 24 Volt Emergency Stop Standard JP6 2 3 5 Volt Emergency Stop...

Страница 95: ...Any fluids or electrically conductive material must not be permitted to enter the Soloist Note Disconnect power to avoid shock hazard Visually inspect all cables and connections Tighten or re secure a...

Страница 96: ...Troubleshooting Soloist Hardware Manual 6 8 www aerotech com...

Страница 97: ...asurement defining the difference between actual and commanded position Accuracy Grade In reference to an encoder grating accuracy grade is the tolerance of the placement of the graduations on the enc...

Страница 98: ...y See Repeatability CAM Profile A technique used to perform nonlinear motion that is electronically similar to the motion achieved with mechanical cams Cantilevered Load A load not symmetrically mount...

Страница 99: ...into three phase current values and consequently is most expensive to implement The result however is the best possible control All Aerotech controllers as well as the BAS series amplifiers commutate...

Страница 100: ...ence Signal or Index Pulse Encoder Resolution Measure of the smallest positional change which can be detected by the encoder A 1000 line encoder with a quadrature output will produce 4000 counts per r...

Страница 101: ...e an accurate starting position for the home cycle Hysteresis A component of bidirectional repeatability Hysteresis is the deviation between actual and commanded position and is created by the elastic...

Страница 102: ...n Profile A method of describing a process in terms of velocity time and position Motor Brush The conductive element in a DC brush type motor used to transfer current to the internal windings Motor Br...

Страница 103: ...ally adjusted to have the output response equal the input command Aerotech controllers utilize the more sophisticated PID FVFA loop which incorporates additional terms for greater system performance P...

Страница 104: ...ng error resulting from a roll motion Rotor The rotating part of a magnetic structure In a motor the rotor is connected to the motor shaft RS 232C Industry standard for sending signals utilizing a sin...

Страница 105: ...Torque Rotary equivalent to force Equal to the product of the force perpendicular to the radius of motion and distance from the center of rotation to the point where the force is applied Torque Contin...

Страница 106: ...p of a rotary stage Wobble is defined as an angular error between the actual axis of rotation and the theoretical axis of rotation Yaw of travel Rotation about the vertical axis perpendicular to the a...

Страница 107: ...defects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal...

Страница 108: ...olicy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportat...

Страница 109: ...to remove power before changing communication channel settings 3 1 1 Clarified PSO output text in paragraph 2 and updated Figure 3 1 to show interface to a single ended device 3 1 3 Corrected high spe...

Страница 110: ...1 0 All New First release of the manual 1 1 Formatting changes non technical 1 2 Chap 3 4 Digital I O renumbered from 0 n to Port 0 0 7 Port 1 0 7 and Port 2 0 7 Chap 4 Picture updated 1 3 3 3 2 4 2...

Страница 111: ...7 Connector Pinouts Auxiliary I O 3 2 Secondary Encoder 3 3 User Digital Inputs 3 8 User Digital Outputs 3 5 J103 3 16 J104 3 2 Secondary Encoder 3 3 User Digital Inputs 3 8 User Digital Outputs 3 5...

Страница 112: ...21 Motor Connections 2 3 2 12 2 15 2 19 2 21 Motor Feedback Connector Pinouts 3 16 Motor Feedback 3 15 Connector 4 10 Motor Feedback Connector Location 1 3 Motor Frame Connection 2 3 Motor Output Term...

Страница 113: ...T TB101 2 10 TB102 2 3 TB301 4 3 TB301 Brake Relay Current Specifications 4 10 TB301 Brake Relay Voltage Specifications 4 10 TB304 4 4 TB4 4 2 TB7 4 6 Test Points 6 3 Three Phase Motor Terminal Connec...

Страница 114: ...Index Soloist Hardware Manual iv www aerotech com...

Страница 115: ...__________________________________________ _____________________________________________________________________ _____________________________________________________________________ _________________...

Страница 116: ......

Страница 117: ...o four tasks simultaneously as well as handle variables and manage I O for demanding production applications It has high speed position latch inputs and advanced data logging capabilities that make it...

Страница 118: ...the stage enabling its deployment in space constrained applications The ATS125 provides low cost with high performance providing travels up to 600 mm and speeds up to 600 mm s Engineering Reference A...

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