Aerotech Ensemble CP Series Hardware Manual
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Aerotech Ensemble CP Series Hardware Manual

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  • Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

  • Page 2: Ensemble Cp Hardware Manual

    Ensemble CP Hardware Manual Revision: 4.07.00 ENB/FLT ENB/FLT AGND AIN+ MARKER INPOS MARKER INPOS AIN- AOUT ETHERNET J102 MOTOR FEEDBACK J103 ESTOP TB101 AUX I/O J104 240V~ 240V~ 50/60Hz 50/60Hz 15A MAX 15A MAX DANGER! High Voltage DANGER! High Voltage Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies.

  • Page 4: Table Of Contents

    2.5.2. Position Synchronized Output (PSO)/Laser Firing (J104) 2.5.3. Opto-Isolated Outputs (J104) 2.5.4. Opto-Isolated Inputs (J104) 2.5.5. High-Speed User Inputs 4-5 (J104) 2.5.6. Analog Output 0 (J104) www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 5 4.1. Joystick Interface 4.2. Handwheel Interface Chapter 5: Maintenance 5.1. Control Board 5.2. Preventative Maintenance Appendix A: Warranty and Field Service Appendix B: Revision History Index www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 6: List Of Figures

    Analog Input 0 (J104) Figure 2-43: Brake Connected to J103 Figure 2-44: Brake Connected to TB103 Figure 2-45: Aeronet Connection with Three Discrete Drives Figure 2-46: RS-232 Interface (TB103) www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 7 Two Axis Joystick Interface (to the I/O board of two drives) Figure 4-5: Handwheel Interconnection (to Aux I/O) Figure 4-6: Handwheel Interconnection (to Aux I/O via a BBA32 Module) Figure 5-1: Control Board Assembly www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 8: List Of Tables

    Table 2-8: Motor Power Output Connections (TB102) Table 2-9: Motor Power Output Mating Connector Table 2-10: Wire Colors for Aerotech Supplied Cables (Brushless)  Table 2-11: Wire Colors for Aerotech Supplied Cables (DC Brush)   Table 2-12: Wire Colors for Aerotech Supplied Cables (Stepper)  ...
  • Page 9 Table 4-2: Cable Part Numbers Table 5-1: LED Description Table 5-2: Control Board Jumper Configuration  Table 5-3: Control Board Fuse Information  Table 5-4: LED Description Table 5-5: Preventative Maintenance www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 10: Eu Declaration Of Conformity

    Declaration of Conformity Ensemble CP EU Declaration of Conformity Manufacturer Aerotech, Inc. Address 101 Zeta Drive Pittsburgh, PA 15238-2897 Product Ensemble CP Model/Types This is to certify that the aforementioned product is in accordance with the applicable requirements of the...

  • Page 11: Agency Approvals

    Ensemble CP Declaration of Conformity Agency Approvals Aerotech, Inc. Model Ensemble CP Series Digital Drives have been tested and found to be in accordance to the following listed Agency Approvals: Approval / Certification: CUS NRTL Approving Agency: TUV SUD America Inc.

  • Page 12: Safety Procedures And Warnings

    N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any time. All drawings and illustrations are for reference only and were complete and accurate as of this manual’s release.
  • Page 13 8. This product is intended for light industrial manufacturing or laboratory use. Use of this product for unintended applications can result in injury and damage to the equipment. www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 14: Quick Installation Guide

    No Section / Standard Connection Control Supply Section 2.1.1. Control Supply Connections (TB106) Motor Supply Section 2.1.2. Motor Supply Connections (TB102) Additional I/O User / Application dependent www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 15 Ensemble CP Quick Installation Guide This page intentionally left blank. www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 16: Chapter 1: Introduction

    Ensemble CP Chapter 1: Introduction Aerotech’s Ensemble CP (Compact PWM) network digital drive is a high performance amplifier. The drive provides deterministic behavior, auto-identification, and easy software setup. The Ensemble CP’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.

  • Page 17: Table 1-1: Feature Summary

    24 VDC, 2 A power supply for optional brake Transformers Refer to Section 2.1.3. for listings, wiring, and specifications Cables Interconnection A complete list of Aerotech cables can be found on the website at http://www.aerotechmotioncontrol.com/manuals/index.aspx Joystick/Handwheel Refer to Section 4.1. Section 4.2. Chapter 1 www.aerotech.com...

  • Page 18: Figure 1-2: Functional Diagram

    Control Supply Input TB104 -EXTSHUNT option Heatsink Over Inrush Temperature Limiting TB102 TB102 PWM Power Motor Motor Amplifier Supply Output Figure 1-2: Functional Diagram www.aerotech.com Chapter 1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 19: Drive And Software Compatibility

    Epaq MR with MP drives 2.55 Current 2.51 Current 2.51 Current 4.04 Current 3.00 Current 1.00 Current 2.55 Current QDe/QL/QLe 5.01 Current QLAB 4.07 Current Chapter 1 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 20: Electrical Specifications

    Optical and transformer isolation between control and power stages. (1) AC input voltage and load dependent.  (2) Dependent on total output power: efficiency increases with increasing output power. www.aerotech.com Chapter 1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 21: System Power Requirements

    DC Brush Motor Pout [W] = Torque [N·m] * Angular velocity[rad/sec] Ploss = I(rms)^2 * R Pin = SUM ( Pout + Ploss ) / EfficiencyFactor Chapter 1 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 22: Power Dissipation

    Figure 1-4: Ambient Temperature vs. Power Dissipation EXAMPLE:  320 VDC Bus operation at 5 A Power Dissipation = 47 Watts Maximum Ambient Temperature = 54°C www.aerotech.com Chapter 1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 23: Mechanical Design

    6.4 [0.25] (TYP.) 167.4 [6.59] REC. MTG. HDWR: M4 [#8] 178.2 [7.02] Figure 1-5: Dimensions Table 1-4: Physical Specifications Weight Standard 1.63 kg (3.6 lb) Chapter 1 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 24: Environmental Specifications

    50% relative humidity at 40°C. Non condensing. Altitude Up to 2000 meters. Pollution Pollution degree 2 (normally only non-conductive pollution). Indoor use only. www.aerotech.com Chapter 1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 25 Ensemble CP Introduction This page intentionally left blank. Chapter 1 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 26: Chapter 2: Installation And Configuration

    N O T E : The machine integrator, OEM or end user is responsible for meeting the final protective ground- ing requirements of the system. www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 27: Control Supply Connections (Tb106)

    Neutral if an external 2 A time-delay fuse is used. Although the control power supply contains an internal filter, an additional external filter located as close as possible to the Ensemble CP may be required for CE compliance (Aerotech recommends Schaffner FN2080 or Aerotech UFM-ST).

  • Page 28: Motor Supply Connections (Tb102)

    Figure 2-2: Motor Bus Input Connections Table 2-3: Motor Supply Mating Connector Tightening Wire Size: Torque (Nm) Description Aerotech P/N Phoenix P/N AWG [mm 7-Pin Terminal Block ECK01114 1754546 0.5 - 0.6 3.3 - 0.516 [12-30] 1. Recommended Wire Size: 1.3 mm 2 (#16 AWG) www.aerotech.com...

  • Page 29: Transformer Options

    TV1.5, TV2.5, or TV5 1.5 kVA, 2.5 kVA, or 5 kVA isolation transformer; 115/230 VAC input; 28, 43, 56, 70, 115 VAC output Figure 2-3: Transformer Examples Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 30: Vdc Motor Power With A Tv0.3-28-56-St Transformer

    6. AC line filters are for CE compliance. Filters may also be located on the primary side of the transformer. Drawing: 620B1346-8, Rev. - Figure 2-4: 40 VDC Motor Power with a TV0.3-28-56-ST Transformer www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 31: Vdc Motor Power With A Tv0.3-28-56-St Transformer

    6. AC line filters are for CE compliance. Filters may also be located on the primary side of Drawing: 620B1346-9, Rev. - the transformer. Figure 2-5: 80 VDC Motor Power with a TV0.3-28-56-ST Transformer Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 32: Volt Dc Bus From 115 And 230 Vac Source

    7. Transformer Secondary Wiring: 1.3 mm (#16 AWG) 300 V wire. Drawing: 620B1346-1 Figure 2-6: 40 Volt DC Bus from 115 and 230 VAC Source www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 33 7. Transformer Secondary Wiring: 1.3 mm (#16 AWG) 300 V wire. Figure 2-7: 80 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 34 7. Transformer Secondary Wiring: 1.3 mm (#16 AWG) 300 V wire. Drawing: 620B1346-3 Figure 2-8: 160 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 35: Figure 2-9: Control And Motor Power Wiring Using A Tm3 Or Tm5 Transformer

    24VDC 1A MAX – Transformer Use to power User-Supplied Module ESTOP circuitry AEROTECH. DA N G E R ! H i g h Vo l t a ge FOLLOW ALL APPLICABLE WIRING CONNECT ALL WIRING BEFORE HAZARDOUS VOLTAGES PRESENT AND SAFETY CODES.

  • Page 36: Minimizing Conducted, Radiated, And System Noise

    0.5 mm (#20 AWG) EIZ01001 #2673000801 Elna Fair-Rite Products Aerotech's UFM-ST AC line filter and isolation transformers connected to the motor supply AC input are also effective in reducing PWM generated noise and improving performance (refer to Section 2.1.3.). Table 2-7: UFM-ST Electrical Specifications ...

  • Page 37: Motor Output Connections

    (#16 AWG) Earth Ground to Motor (required for safety) Table 2-9: Motor Power Output Mating Connector Tightening Wire Size: Torque (Nm) Description Aerotech P/N Phoenix P/N AWG [mm 7-Pin Terminal Block ECK01114 1754546 0.5 - 0.6 3.3 - 0.516 [12-30] 1.

  • Page 38: Brushless Motor Connections

    Section 2.2.1.2. for unpowered motor and feedback phasing. N O T E :  If using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 39: Powered Motor Phasing

    A “0” for the given Hall input indicates zero voltage or logic low, where a “1” indicates 5V or logic high. Figure 2-12: Encoder and Hall Signal Diagnostics Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 40: Unpowered Motor And Feedback Phasing

    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 lead A to motor connector A, motor lead B to motor connector B, and motor lead C to motor connector C. Hall leads should also be connected to their respective feedback connector pins (Hall A lead to the Hall A feedback pin, Hall B to Hall B, and Hall C to Hall C).

  • Page 41: Dc Brush Motor Connections

    Red & Orange Yellow & Blue Black Yellow & Blue (1) Wire Color Set #1 is the typical Aerotech wire set used by Aerotech. (2) “&” (Red & Orange) indicates two wires; “ / ” (Green/White) indicates a single wire Chapter 2 www.aerotech.com...

  • Page 42: Dc Brush Motor Phasing

    5. Connect the motor lead from the voltmeter to the ØA motor terminal on the Ensemble CP. Connect the motor lead from the negative lead of the voltmeter to the ØC motor terminal on the Ensemble CP. N O T E : If using standard Aerotech motors and cables, motor and encoder connection adjustments are not required.

  • Page 43: Stepper Motor Connections

    Brown Yellow White White & Red (1) Wire Color Set #1 is the typical Aerotech wire set used by Aerotech. (2) “&” (Red & Orange) indicates two wires; “ / ” (Green/White) indicates a single wire Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 44: Stepper Motor Phasing

    Figure 2-18: Clockwise Motor Rotation N O T E : If using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. N O T E :  After the motor has been phased, use the ReverseMotionDirection parameter to change the dir- ection of “positive”...

  • Page 45: Motor Feedback Connections (J103)

    Signal Common for Encoder Home Switch Input Input Encoder Fault Input Input Counterclockwise End of Travel Limit Input Optional Brake + Output Output Mating Connector Aerotech P/N Third Party P/N 25-Pin D-Connector ECK00101 FCI DB25P064TXLF Backshell ECK00656 Amphenol 17E-1726-2 Chapter 2 www.aerotech.com...

  • Page 46: Encoder Interface (J103)

    Absolute Encoder Interface Clock + Output Encoder Cosine + Input Encoder Cosine - Input Encoder Sine + Input Encoder Sine - Input Signal Common for Encoder www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 47: Line Driver Encoder (Standard)

    J103-17 SIN- J103-18 COS+ J103-14 COS- J103-15 DS26LV32AT ENCODER FAULT DETECTION ADG802 MRK- J103-6 MRK+ J103-7 ADM1485 Figure 2-19: Line Driver Encoder Interface (J103) Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 48: Endat Encoder Interface (J103)

    MXH option and with square wave encoders. ABS CLK- J103-6 ABS CLK+ J103-7 ADM1485 ABS DATA- J103-8 ABS DATA+ J103-19 ADM1485 Figure 2-20: Serial Data Stream Interface www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 49: Resolute Encoder Interface (J103)

    The encoder interface pin assignment is indicated in Section 2.3.1. ABS CLK- J103-6 ABS CLK+ J103-7 ADM1485 ABS DATA- J103-8 ABS DATA+ J103-19 ADM1485 Figure 2-21: Serial Data Stream Interface Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 50: Analog Encoder Interface

    N O T E : The input amplitude is measured peak to peak for any encoder signal (sin, sin-n, cos, cos-n) relative to signal common. These signals have a typical offset voltage of 2V to 2.5V. www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 51: Figure 2-23: Analog Encoder Interface (J103)

    COS+ J103-14 82PF 82PF J103-15 COS- AD822 82PF 82PF MRK+ J103-7 82PF 82PF MRK- J103-6 AD822 82PF 82PF Figure 2-23: Analog Encoder Interface (J103) Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 52: Encoder Phasing

    N O T E :  Encoder manufacturers may refer to the encoder signals as A, B, and Z. The proper phase rela- tionship between signals is shown in Figure 2-24. www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 53: Figure 2-25: Position Feedback In The Diagnostic Display

    Ensemble CP Installation and Configuration Figure 2-25: Position Feedback in the Diagnostic Display Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 54: Hall-Effect Interface (J103)

    Hall-Effect Sensor C (brushless motors only) Input Signal Common for Encoder HALL A J103-10 HALL B J103-5 HALL C J103-11 Figure 2-26: Hall-Effect Inputs (J103) www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 55: Thermistor Interface (J103)

    The nominal trip value of the sensor is 1k Ohm. Table 2-18: Thermistor Interface Pin Assignment (J103) Pin# Description In/Out/Bi Motor Over Temperature Thermistor Input THERMISTOR J103-2 Figure 2-27: Thermistor Interface Input (J103) Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 56: Encoder Fault Interface (J103)

    Table 2-19: Encoder Fault Interface Pin Assignment (J103) Pin# Description In/Out/Bi Encoder Fault Input Input ENCODER FAULT J103-23 Figure 2-28: Encoder Fault Interface Input (J103) www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 57: End Of Travel Limit Input Interface (J103)

    Input +5V Power for Limit Switches (500 mA max) Output Signal Common for Limit Switches Home Switch Input Input Counterclockwise End of Travel Limit Input Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 58: Figure 2-30: End Of Travel Limit Interface Input (J103)

    Installation and Configuration Ensemble CP CW LMT J103-12 CCW LMT J103-24 HM LMT J103-22 Figure 2-30: End of Travel Limit Interface Input (J103) www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 59: End Of Travel Limit Phasing

    CW and CCW inputs at the motor feedback connector. The logic level of the EOT limit inputs may be viewed in the Diagnostic Display (shown in Figure 2-31). Figure 2-31: Limit Input Diagnostic Display Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 60: Brake Output (J103)

    Table 2-21: Brake Output Pin Assignment (J103)  Pin# Description In/Out/Bi Optional Brake - Output Output Optional Brake + Output Output www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 61: Emergency Stop Sense Input (Tb101)

    Table 2-22. These devices are applied across the switched coil to suppress transient voltages. Table 2-22: Electrical Noise Suppression Devices Device Aerotech P/N Third Party P/N RC (.1uf / 200 ohm) Network EIC240 Electrocube RG1782-8 Varistor EID160...

  • Page 62: Typical Estop Interface

    3. Branch protection (fuses or circuit breaker) required 4. AC line filters are required for CE compliance. Figure 2-33: Typical Emergency Stop Circuit Table 2-24: Typical ESTOP Relay Ratings Axes Aerotech P/N Third Party P/N ECW1018 Sprecher & Schuh CA7-16C-xx-xxx 2 to 5 ECW1019 Sprecher & Schuh CA7-43C-xx-xxx www.aerotech.com...

  • Page 63: Auxiliary I/O Connector (J104)

    Aerotech P/N Third Party P/N Connector ECK01259 Kycon K86-AA-26P Backshell ECK01022 Amphenol 17-1725-2 NOTE: These items are provided as a set under the Aerotech P/N: MCK-26HDD. Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 64: Auxiliary Encoder Channel (J104)

    Auxiliary Marker- / PSO output Bidirectional Auxiliary Marker+ / PSO output Bidirectional Common (+5 Volt User Supply, 500 mA max) (2) For PSO, see Section 2.5.2. www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 65: Figure 2-34: Auxiliary Encoder Channel (J104)

    AUXCOS- J104-11 DS26LV32AT ENCODER FAULT DETECTION 10UF 6.3V MRK- J103-6 MRK+ J103-7 ADM485 AUXMRK+ J104-20 AUXMRK- J104-19 ADM485 Figure 2-34: Auxiliary Encoder Channel (J104) Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 66: Position Synchronized Output (Pso)/Laser Firing (J104)

    MXH option and with square wave encoders. Table 2-29: PSO Output Pin Assignment (J104) Pin# Description In/Out/Bi Auxiliary Marker- / PSO output Bidirectional Auxiliary Marker+ / PSO output Bidirectional Analog Common www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 67: Figure 2-35: Pso Interface

    1N4148 Output* HCPL-2601 or 6N136 * Active low output shown. Opposite polarity available by reversing connections to Pins 19 and 20. Figure 2-35: PSO Interface Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 68: Opto-Isolated Outputs (J104)

    Port 0 Digital Output Connector Pin Assignment (J104) Pin# Description In/Out/Bi Opto-Isolated Output 0 Output Opto-Isolated Output 1 Output Opto-Isolated Output 2 Output Output Common Opto-Isolated Output 3 Output www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 69: Figure 2-36: Outputs Connected In Current Sourcing Mode (J104)

    DIODE REQUIRED ON EACH OUTPUT THAT DRIVES AN INDUCTIVE DEVICE (COIL), SUCH AS A RELAY. Figure 2-37: Outputs Connected in Current Sinking Mode (J104) Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 70: Opto-Isolated Inputs (J104)

    Opto-Isolated Input 1 / CW EOT Input Input Input Common Opto-Isolated Input 2 / Home Input Input Opto-Isolated Input 3 Input (1) Software configured option www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 71: Figure 2-38: Inputs Connected In Current Sourcing Mode (J104)

    Inputs Connected in Current Sourcing Mode (J104) OPTOINCOM J104-24 5-24 VDC OPTOIN0 J104-17 OPTOIN1 J104-18 OPTOIN2 J104-25 OPTOIN3 J104-26 INPUT SWITCHES Figure 2-39: Inputs Connected in Current Sinking Mode (J104) Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 72: High-Speed User Inputs 4-5 (J104)

    5 V operation (High Speed Input 5) 1. Default OPTOIN4+ J104-3 33PF OPTOIN4- J104-4 HCPL-0630 OPTOIN5+ J104-5 33PF OPTOIN5- J104-6 Figure 2-40: High-Speed User Inputs (J104) www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 73: Analog Output 0 (J104)

    Analog Output 0 Output Analog Common -12V +12V ADG419 10UF 6.3V +5VA +5VA 4.99K AOUT J104-22 TL082 DAC8531 TL082 J104-23 Figure 2-41: Analog Output 0 (J104) Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 74: Differential Analog Input 0 (J104)

    J104-13 12.1K 47PF 10PF Shielded Signal 3.01K Cable Source 10PF TL082 ANALOG IN- J104-14 LMH6643 12.1K AGND J104-23 Figure 2-42: Analog Input 0 (J104) www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 75: Brake Power Supply (Tb103)

    Brake Power Supply (-) Input Brake Power Supply (+) Input Table 2-42: Mating Connector (TB103) Wire Size: Description Aerotech P/N Phoenix P/N AWG [mm 6-Pin Terminal Block ECK01364 1881367 0.5 - 0.080 [20-28] Table 2-43: Brake Output Connector Pin Assignment (J103) ...

  • Page 76: Figure 2-43: Brake Connected To J103

    BRAKE - J103-13 BRAKE PS- TB103-5 NOISE SUPPRESSION CIRCUIT VARISTOR: AEROTECH P/N: ECR181 HARRIS P/N: V33ZA1 Figure 2-43: Brake Connected to J103 N O T E :   The user is responsible for providing fuse protection for the brake circuit.

  • Page 77: Figure 2-44: Brake Connected To Tb103

    PS710A-1ASK BRAKE + J103-25 BRAKE BRAKE - J103-13 BRAKE PS- TB103-5 VARISTOR: AEROTECH P/N: ECR181 HARRIS P/N: V33ZA1 Figure 2-44: Brake Connected to TB103 Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 78: Solid State Relay Specifications (Tb103)

    2.6.1. Solid State Relay Specifications (TB103) The user must verify that the brake power requirements are within the specifications of the brake control relay. Table 2-44: Relay Specifications Solid State Relay Rating (M36), Aerotech PN: ECS1074 Maximum Voltage 24 VDC Maximum Current 0.5 Amps...

  • Page 79: Aeronet Interface (J107/J108)

    1) x = 3, 10, 20, 30, 45, 76, or 90 2) Cable lengths are in decimeters, 10dm = 1 meter = 3.28 feet Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 80: Interface (Tb103)

    Brake Power Supply + Output (1) Total user +5 V power is limited to 500 mA. Table 2-47: RS-232 Port Connector Mating Connector (TB103) Tightening Type Aerotech P/N Phoenix P/N Torque (Nm) Wire Size: mm [AWG] 6-Pin Terminal Block ECK01364 1881367 0.5 - 0.080 [20-28]...

  • Page 81: Extshunt Option (Tb104)

    It must be properly enclosed and shielded to avoid risk of fire and operator shock. Table 2-48: -EXTSHUNT Component Information Component Description Aerotech P/N 50 Ω (min), 300 W Recommended Shunt Resistor ECR01039 Vishay/Dale: RBEF030050R00KFBVT Screw Torque Value: 0.5 - 0.6 N·m Wire Size: 12-30 AWG [3.3 - 0.0516 mm...

  • Page 82: Table 2-49: Maximum Storage Energy

    If a shunt resistor is required, the next step is to calculate the value of resistance necessary to remove the energy. Use Equations 3, 4, and 5 to calculate the size of the shunt resistor. Equation 3:    (Ω) PEAK www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 83 1 lb-ft = 1.356 Nm ω (Useful as an estimate if the deceleration time is unknown) ω α π Angular Acceleration (radians / revolution) Torque Load Inertia α Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 84: Pc Configuration And Operation Information

    2.10. PC Configuration and Operation Information For additional information about PC configuration, hardware requirements, programming, utilities, and system operation refer to the Ensemble Help file. www.aerotech.com Chapter 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 85 Ensemble CP Installation and Configuration This page intentionally left blank. Chapter 2 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 86: Chapter 3: -I/O Expansion Board

    Switch Brake - Relay Only (1) default Table 3-2: -IO Option Board Fuse Information  Fuse Description Size Aerotech P/N Manufacturer's P/N +5 VDC User Power 3 A, resettable EIF01001 Raychem RGE300 www.aerotech.com Chapter 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 87: Analog Output (Tb201)

    Analog Output Connector Pin Assignment (TB201) Pin# Description In/Out/Bi Analog Common Analog Output 1 Output Table 3-5: Analog Output Mating Connector Wire Size: AWG [mm Type Aerotech P/N Phoenix P/N 4-Pin Terminal Block ECK01293 1881341 20-28 [0.5- 0.080] +5VA +12V ADG419 -12V TL084...

  • Page 88: Analog Input (Tb201)

    In/Out/Bi Analog Common Non-inverting Analog Input 1 Input Inverting Analog Input 1 Input Table 3-8: Analog Input Mating Connector Wire Size: AWG [mm Type Aerotech P/N Phoenix P/N 4-Pin Terminal Block ECK01293 1881341 20-28 [0.5- 0.080] AIN+ TB201-2 Shielded Signal...

  • Page 89: Opto-Isolated Inputs (Tb204, Tb205)

    Input 6(Optically-Isolated) Input Input 7(Optically-Isolated) Input Internal +5 Volt Power Supply (0.5 A max) Table 3-12: Opto-Isolated Input Mating Connector Wire Size: AWG [mm Aerotech P/N Phoenix P/N 10-Pin Terminal Block ECK01294 1881406 20-28 [0.5-0.080] Chapter 3 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 90: Figure 3-4: Opto-Isolated Inputs

    OPTOIN2 TB204-4 4.02K OPTOIN3 TB204-5 4.02K PS2806-4 OPTOIN4 TB204-6 4.02K OPTOIN5 TB204-7 4.02K OPTOIN6 TB204-8 4.02K OPTOIN7 TB204-9 4.02K PS2806-4 Figure 3-4: Opto-Isolated Inputs www.aerotech.com Chapter 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 91 OPTOIN 3 TB204-5 OPTOIN 4 TB204-6 OPTOIN 5 TB204-7 OPTOIN 6 TB204-8 OPTOIN 7 TB204-9 Figure 3-6: Inputs Connected to a Current Sinking Device Chapter 3 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 92: Opto-Isolated Outputs (Tb202, Tb203)

    Figure 3-8 for an example of a current sourcing output with diode suppression. www.aerotech.com Chapter 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 93: Table 3-14: Port 1 Opto-Isolated Output Connector Pin Assignment (Tb202)

    Output Output 6 (Optically-Isolated) Output Output 7 (Optically-Isolated) Output Table 3-16: Opto-Isolated Output Mating Connector Wire Size: AWG [mm Aerotech P/N Phoenix P/N 10-Pin Terminal Block ECK01294 1881406 20-28 [0.5-0.080] Chapter 3 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 94: Figure 3-7: Opto-Isolated Outputs (-Io Board)

    TB202-4 OPTOOUT2 TB202-5 OPTOOUT3 TB202-6 PS2802-4 OPTOOUT4 TB202-7 OPTOOUT5 TB202-8 OPTOOUT6 TB202-9 OPTOOUT7 TB202-10 OPTOOUT BANK1 V- TB202-2 PS2802-4 Figure 3-7: Opto-Isolated Outputs (-IO Board) www.aerotech.com Chapter 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 95 EACH OUTPUT 60 mA MAXIMUM DIODE REQUIRED ON EACH OUTPUT THAT DRIVES AN INDUCTIVE DEVICE (COIL), SUCH AS A RELAY. Figure 3-9: Outputs Connected in Current Sinking Mode Chapter 3 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 96: User Power (Tb204, Tb205)

    Description In/Out/Bi Signal Common Table 3-18: +5 Volt Power Connector Pin Assignment (TB205)  Pin# Description In/Out/Bi Internal +5 Volt Power Supply (0.5 A max) www.aerotech.com Chapter 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 97: Brake / Mechanical Relay (Tb206)

    Initial Contact Resistance 50 milliohms max @ 10 mA, 6 VDC N O T E :  Do not exceed Maximum Current or Maximum Power specifications. Chapter 3 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 98: Brake / Mechanical Relay Interface Connector

    Output (1) For JP1 jumper configuration, refer to Table 3-19 Table 3-22: Mating Connector for TB206 Wire Size: AWG [mm Type Aerotech P/N Phoenix P/N 4-Pin Terminal Block ECK01293 1881341 20-28 [0.5- 0.080] Table 3-23: Brake / Mechanical Relay Connector Pin Assignment (J103)

  • Page 99: Figure 3-10: Brake Connected To J103

    CHANGE JUMPERS TO: CIRCUIT JP1 1-2 IN, 3-4 IN, ALL OTHER JUMPERS OUT 47Ω 1/2 W RESISTOR .1uF 250 VAC CAPACITOR VARISTOR: AEROTECH P/N ECR181 HARRIS P/N: V33ZA1 Figure 3-10: Brake Connected to J103 Figure 3-11 is an example of a +24 VDC Brake connected to TB206. In this example, JP1 must be set 1-3 and all other jumpers removed.

  • Page 100: Chapter 4: Standard Interconnection Cables

    Accessories Ensemble CP Chapter 4: Standard Interconnection Cables N O T E : A 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 Section 4.1. ECZ01231 BBA32 Interconnect Cable (1) The “-xx”...

  • Page 101: Joystick Interface

    Accessories 4.1. Joystick Interface Aerotech joysticks JI (NEMA12 (IP54) rated) and JBV are powered from 5V and have a nominal 2.5V output in the center detent position. Three buttons are used to select axis pairs and speed ranges. An optional interlock signal is used to indicate to the controller that the joystick is present.
  • Page 102 Button B Input 0 Buttons Joy Interlock Input 2 (all N.O.) Figure 4-3: Two Axis Joystick Interface (to the Aux I/O and I/O Board) www.aerotech.com Chapter 4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 103: Table 4-2: Cable Part Numbers

    JSXT-FLY 26HD-15DU-MAX300DM ENSEMBLECP DUAL AXIS 630B2277-3 C22774-XX JSXT-26HD-15DU-MAX300DM ENSEMBLECP SINGLE AXIS 630B2277-4 C22775-XX JSXT-26HD 26HD-15DU-MAX300DM ENSEMBLECP DUAL AXIS 630B2277-5 C227717-XX JSXT-FLY FLY-15DU-MAX300DM ENSEMBLECP DUAL AXIS 630B2277-17 Chapter 4 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 104: Handwheel Interface

    Ensemble CP 4.2. Handwheel Interface A handwheel (such as the Aerotech HW-xxx-xx) can be used to manually control axis position. The handwheel must provide 5V differential quadrature signals to the Ensemble CP. A handwheel can be connected to the Aux I/O as shown in...
  • Page 105 Handwheel (w/ flying leads) to BBA32 Connection Drawing Numbers: 620B1343-1, 620B1344-1, 630B1983-1 (630B1983-1) Figure 4-6: Handwheel Interconnection (to Aux I/O via a BBA32 Module) Chapter 4 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 106: Chapter 5: Maintenance

    * If the power light flashes continuously and the unit does not operate, there is too much current draw from the 5V power supply or the control supply voltage level is low. www.aerotech.com Chapter 5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 107: Control Board

    D A N G E R : Always disconnect the Mains power connection before opening the Ensemble CP chassis. TB101 TB102 J103 J102 J104 J101 J107 J108 TB104 Board Assembly Drawing Number: 690D1610, Rev. B1 Figure 5-1: Control Board Assembly Chapter 5 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 108: Table 5-2: Control Board Jumper Configuration

    24 V operation (High Speed Input 5) 5 V operation (High Speed Input 5) 1. Default Table 5-3: Control Board Fuse Information  Fuse Description Size Aerotech P/N Manufacturer's P/N -S Option Shunt Fuse 1 A S.B. (5 mm) EIF01052 Littelfuse 215001.P -EXTSHUNT Option Shunt Fuse 2.5 A S.B.

  • Page 109: Preventative Maintenance

    Ensemble CP or to get on to any of the connectors. Avoid cleaning labels to prevent removing the label information. Chapter 5 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 110: Appendix A: Warranty And Field Service

    Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer, whether or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided, or whether or not Aerotech’s...
  • Page 111 Aerotech's approval. On-site Warranty Repair If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts, and cannot be returned to the Aerotech service center for repair, and if Aerotech determines the problem could be warranty-related, then the following policy applies:...

  • Page 112: Appendix B: Revision History

    Updated the Electrical Specifications (Input Power and related equation): Section 1.2. Updated PSO maximum frequency specification:Table 2-28 4.04.00 4.03.00 4.02.00 4.01.00 4.00.00 Revision changes have been archived. If you need a copy of this revision, contact Aerotech 2.03.00 Global Technical Support. 2.02.00 2.01.00 2.00.02 2.00.00 1.00 www.aerotech.com Appendix B Artisan Technology Group - Quality Instrumentation ...
  • Page 113 Ensemble CP Revision History This page intentionally left blank. Appendix B www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 114: Index

    Brake Output Pin Assignment AC Line Filter 27,35 Brake Power Supply Aeronet Interface Brushless Motor Connections Altitude Brushless Motor Phasing Goal Ambient Temperature amplifier power dissipation www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 115 Efficiency of Power Amplifier specifications Hall-Effect Interface Electrical Specifications Handwheel Interconnection Emergency Stop Sense Input Handwheel Interface EN 55011 High Speed Digital Input Connector Pin EN 61000-3-2 Assignment EN 61000-3-3 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 116 Preventative Maintenance Minimum Load Inductance specifications Protective Features Modes of Operation PS2806-4 Opto-Device Specifications Motor Feedback Connections PSO Interface Motor Feedback Connector Pin Assignment PSO Output Sources www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 117 Voltage and Current Specifications TB101 TB102 27,36 Wire Colors for Supplied Cables 37,40,42 TB103 74-77,79,96 Wiring TB104 Control Supply TB106 TB201 86-87 TB202 TB203 TB204 88,95 TB205 88,95 www.aerotech.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 118 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

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