Aerotech Ndrive HPe 10 Hardware Manual
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Aerotech Ndrive HPe 10 Hardware Manual

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Ndrive HPe 10/20/30
Hardware Manual
Revision: 4.09.00

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  • Page 1: Ndrive Hpe 10/20/30 Hardware Manual

    Ndrive HPe 10/20/30 Hardware Manual Revision: 4.09.00...
  • Page 2 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 3: Table Of Contents

    Table of Contents Ndrive HPe 10/20/30 Table of Contents Ndrive HPe 10/20/30 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.
  • Page 4 Ndrive HPe 10/20/30 Table of Contents 2.6.7. Differential Analog Input 0 (J205) 2.7. Brake Power Supply Connector (TB202) 2.8. FireWire Interface 2.9. RS-232 Interface (J206) 2.10. -EXTSHUNT Option (TB103) 2.11. PC Configuration and Operation Information Chapter 3: -I/O Expansion Board 3.1.

  • Page 5: List Of Figures

    Figure 2-40: Analog Input 0 (J205) Figure 2-41: Brake Connected to J207 Figure 2-42: Brake Connected to TB202 Figure 3-1: Ndrive HPe 10/20/30 with -IO Option Board Figure 3-2: Brake Connected to J207 Figure 3-3: Brake Connected to TB301 www.aerotech.com...
  • Page 6 Ndrive HPe 10/20/30 Table of Contents Figure 3-4: PSO Output Sources Current Figure 3-5: PSO Output Sinks Current Figure 3-6: Two/Three Axis Laser Firing Interconnection Figure 3-7: Analog Output Connector (TB303) Figure 3-8: Analog Input Typical Connection (TB304) Figure 3-9: Digital Inputs...

  • Page 7: List Of Tables

    Motor Power Output Connections (TB102) Table 2-9: Mating Connector Part Numbers for the Motor Output Connector (TB102) 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 8 Ndrive HPe 10/20/30 Table of Contents Table 2-45: Mating Connector Part Numbers for the Brake Power Supply Connector (TB202) Table 2-46: FireWire Card Part Numbers Table 2-47: FireWire Repeaters (for cables exceeding 4.5 m (15 ft) specification) Table 2-48: FireWire Cables (copper and glass fiber) ...

  • Page 9: Eu Declaration Of Conformity

    Declaration of Conformity Ndrive HPe 10/20/30 EU Declaration of Conformity Manufacturer Aerotech, Inc. Address 101 Zeta Drive Pittsburgh, PA 15238-2811 Product Ndrive HPe 10/20/30 Model/Types This is to certify that the aforementioned product is in accordance with the applicable requirements of the...

  • Page 10: Agency Approvals

    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 to view Aerotech's TÜV SÜD certificates. Type the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech certificates. www.aerotech.com...

  • Page 11: Safety Procedures And Warnings

    Safety Procedures and Warnings This manual tells you how to carefully and correctly use and operate the Ndrive HPe 10/20/30. Read all parts of this manual before you install or operate the Ndrive HPe 10/20/30 or before you do maintenance to your system.
  • Page 12 Ndrive HPe 10/20/30 Electrical Safety W A R N I N G :  To minimize the possibility of electrical shock, bodily injury or death the following precautions must be followed. 1. If the product is used in a manner not specified by the manufacturer, the protection provided by the product can be impaired and result in damage, shock, injury, or death.

  • Page 13: Quick Installation Guide

    Quick Installation Guide Ndrive HPe 10/20/30 Quick Installation Guide This chapter describes the order in which connections and settings should typically be made to the Ndrive HPe 10/20/30. If a custom interconnection drawing was created for your system (look for a line item on your Sales Order under the heading “Integration”), that drawing can be found on your installation device.
  • Page 14 Ndrive HPe 10/20/30 Quick Installation Guide This page intentionally left blank. www.aerotech.com...

  • Page 15: Chapter 1: Introduction

    All system configuration is done using software-settable parameters, including control loop gains and system safety functions. The Ndrive HPe 10/20/30 is offered with an optional encoder interpolation feature (-MXH), an auxiliary square wave encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -IO option), a resolver input, and separate power connections for motor and control supply voltages.

  • Page 16: Table 1-1: Feature Summary

    Ndrive HPe 10/20/30 Introduction Table 1-1: Feature Summary Standard Features 85 - 240 VAC control supply inputs Section 2.2.1. 14 - 240 VAC motor supply inputs (producing 20-320 VDC) Section 2.2.2. Primary quadrature encoder input channels Section 2.4.1. Absolute Encoder support Section 2.4.1.2.

  • Page 17: Table 1-3: Ordering Options (Continued)

    24 VDC, 2 A power supply for optional brake Transformers Refer to Section 2.2.3. 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 5.1. Section 5.2. FireWire Refer to Section 2.8.

  • Page 18: Figure 1-2: Functional Diagram

    Ndrive HPe 10/20/30 Introduction The following block diagram shows a connection summary. For detailed connection information, refer to Chapter 2 and Chapter 3. Figure 1-2: Functional Diagram Chapter 1 www.aerotech.com...

  • Page 19: Drive And Software Compatibility

    Introduction Ndrive HPe 10/20/30 1.1. Drive and Software Compatibility The following table lists the available drives and which version of the 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.

  • Page 20: Electrical Specifications

    Ndrive HPe 10/20/30 Introduction 1.2. Electrical Specifications Table 1-6: Electrical Specifications Description HPe 10 HPe 20 HPe 30 Input Voltage 14-240 VAC Input Frequency 50-60 Hz Motor Inrush Current 34 A Supply Max Continuous 10 A 10 A Input Current...

  • Page 21: System Power Requirements

    Introduction Ndrive HPe 10/20/30 1.2.1. System Power Requirements The following equations can be used to determine total system power requirements. The actual power required from 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 90% should be used in the following equations.

  • Page 22: Power Dissipation

    If the result is lower than the known operating ambient temperature, additional measures are required to cool the Ndrive HPe 10/20/30. Mounting it to a large metal plate for extra heat-sinking and providing additional fan flow are suggested.

  • Page 23: Mechanical Design

    Introduction Ndrive HPe 10/20/30 1.3. Mechanical Design Install the unit into a construction compliant for unlimited circuits enclosure. Each 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.

  • Page 24: Figure 1-6: Dimensions (Full Version With -Io And -Rdp Options)

    Ndrive HPe 10/20/30 Introduction Figure 1-6: Dimensions (Full Version with -IO and -RDP options) Table 1-7: Physical Specifications Weight Slim 2.27 kg [5.0 lb] w/ -IO option 2.45 kg [5.4 lb]  w/ -RDP option 2.45 kg [5.4 lb]  Chapter 1 www.aerotech.com...

  • Page 25: Environmental Specifications

    Introduction Ndrive HPe 10/20/30 1.4. Environmental Specifications The environmental specifications for the Ndrive HPe 10/20/30 are listed below. Operating: 0° to 50°C (32° to 122° F) Ambient Temperature Storage: -30° to 85°C (-22° to 185° F) Maximum relative humidity is 80% for temperatures up to 31°C. Decreasing Humidity linearly to 50% relative humidity at 40°C.
  • Page 26 Ndrive HPe 10/20/30 Introduction This page intentionally left blank. Chapter 1 www.aerotech.com...

  • Page 27: Chapter 2: Installation And Configuration

    Chapter 2: Installation and Configuration 2.1. Communication Channel Settings Use the Device Number switches to assign a communication channel number to the Ndrive HPe 10/20/30. If you are using multiple drives, each drive must be assigned a unique communication channel. Multiple drives are typically configured using sequential communication channels.

  • Page 28: Table 2-1: Device Number Switch Settings (S1)

    Ndrive HPe 10/20/30 Installation and Configuration Table 2-1: Device Number Switch Settings (S1) Switch Settings (OFF is indicated by " - ") Device # Chapter 2 www.aerotech.com...

  • Page 29: Power Connections

    Installation and Configuration Ndrive HPe 10/20/30 2.2. Power Connections The Ndrive HPe 10/20/30 has two AC input connectors; one for control power and a second for motor power. For a complete list of electrical specifications, refer to Section 1.2. N O T E : The machine integrator, OEM or end user is responsible for meeting the final protective ground- ing requirements of the system.

  • Page 30: Motor Supply Connections (Tb102)

    AC1 and AC2 inputs. The AC2 input can be connected directly to Neutral without a fuse for single phase power systems. W A R N I N G : Do not operate the Ndrive HPe 10/20/30 without the safety ground connection in place.

  • Page 31: Transformer Options

    Installation and Configuration Ndrive HPe 10/20/30 2.2.3. Transformer Options An external isolation transformer can be connected to the motor supply AC input. This is done to reduce the operating voltage of the motor and may also reduce electrical noise. Table 2-6: Nominal Motor Operating Voltages / Required AC Voltages ...
  • Page 32 Ndrive HPe 10/20/30 Installation and Configuration Figure 2-4: 40 VDC Motor Power with a TV0.3-28-56-ST Transformer Chapter 2 www.aerotech.com...
  • Page 33 Installation and Configuration Ndrive HPe 10/20/30 Figure 2-5: 80 VDC Motor Power with a TV0.3-28-56-ST Transformer www.aerotech.com Chapter 2...
  • Page 34 Ndrive HPe 10/20/30 Installation and Configuration Figure 2-6: 40 Volt DC Bus from 115 and 230 VAC Source Chapter 2 www.aerotech.com...
  • Page 35 Installation and Configuration Ndrive HPe 10/20/30 Figure 2-7: 80 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) www.aerotech.com Chapter 2...
  • Page 36 Ndrive HPe 10/20/30 Installation and Configuration Figure 2-8: 160 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) Chapter 2 www.aerotech.com...

  • Page 37: Figure 2-9: Control And Motor Power Wiring Using A Tm3 Or Tm5 Transformer

    Installation and Configuration Ndrive HPe 10/20/30 Figure 2-9: Control and Motor Power Wiring using a TM3 or TM5 Transformer www.aerotech.com Chapter 2...

  • Page 38: Minimizing Conducted, Radiated, And System Noise For Emc/Ce Compliance

    5. Install a motor filter module MFM10-1 close to the drive. The ferrite core from 5) above should be located between the drive and the MFM10-1. N O T E : The Ndrive HPe 10/20/30 is a component designed to be integrated with other electronics. EMC testing must be conducted on the final product configuration.

  • Page 39: Motor Output Connections

    Installation and Configuration Ndrive HPe 10/20/30 2.3. Motor Output Connections The Ndrive HPe 10/20/30 is capable of controlling three motor types: Brushless (see Section 2.3.1.) DC Brush (see Section 2.3.2.) Stepper (see Section 2.3.3.) For a complete list of electrical specifications, refer to Section 1.2.

  • Page 40: Brushless Motor Connections

    Refer to Section 2.3.1.1. for powered motor phasing or Section 2.3.1.2. 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. Chapter 2 www.aerotech.com...

  • Page 41: Powered Motor Phasing

    Installation and Configuration Ndrive HPe 10/20/30 2.3.1.1. Powered Motor Phasing Refer to the Motor Phasing Calculator in the Configuration Manager for motor, Hall, and encoder phasing. Figure 2-11: Encoder and Hall Signal Diagnostics www.aerotech.com Chapter 2...

  • Page 42: 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 43: 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 www.aerotech.com Chapter 2...

  • Page 44: Dc Brush Motor Phasing

    When the voltmeter indicates a positive value, the motor leads have been identified. 5. Connect the motor lead from the voltmeter to the ØA motor terminal on the Ndrive HPe 10/20/30. Connect the motor lead from the negative lead of the voltmeter to the ØC motor terminal on the Ndrive HPe 10/20/30.

  • Page 45: Stepper Motor Connections

    Green/Yellow & Shield Black 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 www.aerotech.com Chapter 2...

  • Page 46: Stepper Motor Phasing

    Figure 2-17: 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 47: Motor Feedback Connector (J207)

    Installation and Configuration Ndrive HPe 10/20/30 2.4. Motor Feedback Connector (J207) The motor feedback connector (a 25-pin, D-style connector) has inputs for an encoder, limit switches, Hall- effect devices, motor over-temperature device, 5 Volt encoder and limit power, and optional brake connection.

  • Page 48: Encoder Interface (J207)

    Motor Feedback (J207) connector. The standard encoder interface will accept an RS-422 differential line driver signal. If the Ndrive HPe 10/20/30 has been purchased with the -MXH option, the standard encoder interface can be configured for an analog encoder input via parameter settings.

  • Page 49: Line Driver Encoder (Standard)

    Installation and Configuration Ndrive HPe 10/20/30 2.4.1.1. RS-422 Line Driver Encoder (Standard) The standard encoder interface accepts an RS-422 differential quadrature line driver signal. Invalid or missing signals will cause a feedback fault when the axis is enabled. An analog encoder is used with the -MXH option (refer to Section 2.4.1.3.

  • Page 50: Absolute Encoder Interface (J207)

    Ndrive HPe 10/20/30 Installation and Configuration 2.4.1.2. Absolute Encoder Interface (J207) The Ndrive HPe 10/20/30 retrieves absolute position data along with encoder fault information via a serial data stream from the absolute encoder. See Figure 2-19 for the serial data stream interface. Refer to the Help file for information on how to set up your EnDat or Resolute absolute encoder parameters.

  • Page 51: Analog Encoder Interface

    Installation and Configuration Ndrive HPe 10/20/30 2.4.1.3. Analog Encoder Interface If the -MXH option has been purchased, the standard encoder channel will accept a differential analog encoder input signal. The interpolation factor is determined by the EncoderMultiplicationFactor parameter and is software selectable (refer to the A3200 Help file).

  • Page 52: Figure 2-21: Analog Encoder Interface (J207)

    Ndrive HPe 10/20/30 Installation and Configuration Figure 2-21: Analog Encoder Interface (J207) Chapter 2 www.aerotech.com...

  • Page 53: Encoder Phasing

    Installation and Configuration Ndrive HPe 10/20/30 2.4.1.4. Encoder Phasing Incorrect encoder polarity will cause the system to fault when enabled or when a move command is issued. Figure 2-22 illustrates the proper encoder phasing for clockwise motor rotation (or positive forcer movement for linear motors).

  • Page 54: Figure 2-23: Position Feedback In The Diagnostic Display

    Ndrive HPe 10/20/30 Installation and Configuration Figure 2-23: Position Feedback in the Diagnostic Display Chapter 2 www.aerotech.com...

  • Page 55: Hall-Effect Interface (J207)

    Installation and Configuration Ndrive HPe 10/20/30 2.4.2. Hall-Effect Interface (J207) The Hall-effect switch inputs are recommended for AC brushless motor commutation but not absolutely required. The Hall-effect inputs accept 5-24 VDC level signals. Hall states (0,0,0) or (1,1,1) are invalid and will generate a "Hall Fault"...

  • Page 56: Thermistor Interface (J207)

    Ndrive HPe 10/20/30 Installation and Configuration 2.4.3. Thermistor Interface (J207) The thermistor input is used to detect a motor over temperature condition by using a positive temperature coefficient sensor. As the temperature of the sensor increases, so does the resistance. Under normal operating conditions, the resistance of the thermistor is low (i.e., 100 ohms) which will result in a low input...

  • Page 57: Encoder Fault Interface (J207)

    Installation and Configuration Ndrive HPe 10/20/30 2.4.4. Encoder Fault Interface (J207) The encoder fault input is for use with encoders that have a fault output. This is provided by some manufactures and indicates 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.

  • Page 58: End Of Travel Limit Input Interface (J207)

    Ndrive HPe 10/20/30 Installation and Configuration 2.4.5. End Of Travel Limit Input Interface (J207) End of Travel (EOT) limits are used to define the end of physical travel. The EOT limit inputs accept 5-24 VDC level signals. The active state of the EOT limits is software selectable by the EndOfTravelLimitSetup axis parameter (refer to the A3200 Help file).

  • Page 59: Figure 2-28: End Of Travel Limit Interface Input (J207)

    Installation and Configuration Ndrive HPe 10/20/30 Figure 2-28: End of Travel Limit Interface Input (J207) www.aerotech.com Chapter 2...

  • Page 60: End Of Travel Limit Phasing

    Ndrive HPe 10/20/30 Installation and Configuration 2.4.5.1. End Of Travel Limit Phasing If the EOT limits are reversed, you will be able 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 viewed in the Status Utility (shown in...

  • Page 61: Brake Output (J207)

    (refer to the A3200 Help file for more information). Use either the solid state relay on the Ndrive HPe 10/20/30 or the mechanical relay on the -IO board when connecting a power supply to the brake outputs on J207. Do not use both relays at the same time.

  • Page 62: Emergency Stop Sense Input Connector (Tb201)

    Ndrive HPe 10/20/30 Installation and Configuration 2.5. Emergency Stop Sense Input Connector (TB201) The ESTOP sense input is used to monitor the state of an external safety circuit only. This state is indicated by the software and may be used to facilitate system restart. This ESTOP sense input is not intended to be a complete safety system.

  • Page 63: Typical Estop Interface

    This will remove power to the motor while maintaining control power, as shown in the Figure 2- The external relay must be sized based on the number of the Ndrive HPe 10/20/30s connected and the peak current rating of each drive.

  • Page 64: Auxiliary I/O Connector (J205)

    Section 2.6.2. Table 2-27: Mating Connector Part Numbers for the Auxiliary I/O Connector Mating Connector Aerotech P/N Third Party P/N Connector ECK01259 Kycon K86-AA-26P Backshell ECK01022 Amphenol 17E-1725-2 NOTE: These items are provided as a set under the Aerotech P/N: MCK-26HDD. Chapter 2 www.aerotech.com...

  • Page 65: Auxiliary Encoder Channel (J205)

    Installation and Configuration Ndrive HPe 10/20/30 2.6.1. Auxiliary Encoder Channel (J205) The auxiliary encoder interface accepts an RS-422 differential quadrature line driver signal. Invalid or missing signals will cause a feedback fault when the axis is enabled. This encoder channel can be used as an input for master/slave operation (handwheel) or for dual feedback systems.

  • Page 66: Figure 2-32: Auxiliary Encoder Channel (J205)

    Ndrive HPe 10/20/30 Installation and Configuration Figure 2-32: Auxiliary Encoder Channel (J205) Chapter 2 www.aerotech.com...

  • Page 67: Position Synchronized Output (Pso)/Laser Firing (J205)

    Installation and Configuration Ndrive HPe 10/20/30 2.6.2. Position Synchronized Output (PSO)/Laser Firing (J205) The PSO can be programmed to generate an output synchronized to the feedback position and is typically used to fire a laser or sequence an external device. Trigger signals may be derived from a feedback channel or a software trigger.

  • Page 68: Figure 2-33: Pso Interface

    Ndrive HPe 10/20/30 Installation and Configuration Figure 2-33: PSO Interface Chapter 2 www.aerotech.com...

  • Page 69: Digital Outputs 8-11 (J205)

    Installation and Configuration Ndrive HPe 10/20/30 2.6.3. Digital Outputs 8-11 (J205)  The digital outputs are optically-isolated and can be connected in sourcing or sinking configurations. The digital outputs are designed to connect to other ground referenced circuits and are not intended to provide high-voltage isolation.

  • Page 70: Figure 2-34: Digital Outputs Connected In Current Sourcing Mode (J205)

    Ndrive HPe 10/20/30 Installation and Configuration N O T E : Outputs must be connected as all sourcing or all sinking. Figure 2-34: Digital Outputs Connected in Current Sourcing Mode (J205) Figure 2-35: Digital Outputs Connected in Current Sinking Mode (J205) Chapter 2 www.aerotech.com...

  • Page 71: Digital Inputs 8-11 (J205)

    Installation and Configuration Ndrive HPe 10/20/30 2.6.4. Digital Inputs 8-11 (J205)  The digital inputs are opto-isolated and may be connected to current sourcing or current sinking devices, as shown in Figure 2-36 Figure 2-37. These inputs are designed to connect to other ground-referenced circuits and are not intended for high-voltage isolation.

  • Page 72: Figure 2-36: Digital Inputs Connected In Current Sourcing Mode (J205)

    Ndrive HPe 10/20/30 Installation and Configuration N O T E : Each bank of 8 Inputs must be connected in the all sourcing or all sinking configuration. Figure 2-36: Digital Inputs Connected in Current Sourcing Mode (J205) Figure 2-37: Digital Inputs Connected in Current Sinking Mode (J205) Chapter 2 www.aerotech.com...

  • Page 73: High-Speed User Inputs 12-13 (J205)

    Installation and Configuration Ndrive HPe 10/20/30 2.6.5. High-Speed User Inputs 12-13 (J205) The high-speed inputs 12-13 are typically used as a sample signal for data collection. Table 2-36: High-Speed Input Specifications Specification Value Input Voltage 5V or 24 V input voltages based on a jumper setting...

  • Page 74: Analog Output 0 (J205)

    Ndrive HPe 10/20/30 Installation and Configuration 2.6.6. Analog Output 0 (J205) The analog output is set to zero when power is first applied to the system or during a system reset. Table 2-39: Analog Output 0 Specifications (TB102 B) Specification Value Output Voltage -10 V to +10 V...

  • Page 75: Differential Analog Input 0 (J205)

    Installation and Configuration Ndrive HPe 10/20/30 2.6.7. Differential Analog Input 0 (J205) To interface to a single-ended (non-differential) voltage source, connect the signal common of the source to the negative input and the analog source signal to the positive input. A floating signal source should be...

  • Page 76: Brake Power Supply Connector (Tb202)

    Ndrive HPe 10/20/30 Installation and Configuration 2.7. Brake Power Supply Connector (TB202) TB202 is the power supply connection to the onboard solid state brake control relay.The relay can be used to automatically control a fail-safe brake on a vertical axis. It can also be used as a general purpose output.

  • Page 77: Figure 2-41: Brake Connected To J207

    Installation and Configuration Ndrive HPe 10/20/30 Figure 2-41 is an example of a +24 VDC brake connected to the Motor Feedback connector. In this example the external +24 VDC power source is connected to TB202. Figure 2-41: Brake Connected to J207 N O T E :  ...

  • Page 78: Firewire Interface

    Ndrive HPe 10/20/30 Installation and Configuration 2.8. FireWire Interface The FireWire bus is the high-speed communications connection to the Ndrive HPe 10/20/30 operating at 400 megabits per second. All command and configuration information is sent via the FireWire port. Table 2-46:...

  • Page 79: Interface (J206)

    Installation and Configuration Ndrive HPe 10/20/30 2.9. RS-232 Interface (J206) The RS-232 Interface (J206) currently has no functionality on the Ndrive HPe. www.aerotech.com Chapter 2...

  • Page 80: Extshunt Option (Tb103)

    Ndrive HPe 10/20/30 Installation and Configuration 2.10. -EXTSHUNT Option (TB103) The -EXTSHUNT option provides a connection for a user-provided shunt resistor to dissipate excess energy and keep the internal drive voltage within safe levels. The drive switches this resistor "ON" when the internal bus voltage reaches approximately 380 VDC.
  • Page 81 (V) [380 V] nominal bus voltage (V) [160 V or 320 V, Typical] For a standard Ndrive HPe 10/20/30, the maximum additional energy the internal bus capacitor can store without requiring a shunt resistor is indicated in Table 2-50.

  • Page 82: Pc Configuration And Operation Information

    Ndrive HPe 10/20/30 Installation and Configuration 2.11. PC Configuration and Operation Information For additional information about PC configuration, hardware requirements, programming, utilities, and system operation refer to the A3200 Help file. Chapter 2 www.aerotech.com...

  • Page 83: Chapter 3: -I/O Expansion Board

    3 analog outputs, and a brake/relay output. D A N G E R : Always disconnect the Mains power connection before opening the Ndrive HPe 10/20/30 chassis. Figure 3-1: Ndrive HPe 10/20/30 with -IO Option Board Table 3-1: -IO Expansion Board Jumper Configuration Jumper...

  • Page 84: Relay Connector (Tb301)

    Ndrive HPe 10/20/30 -IO Expansion Board 3.1. Relay Connector (TB301) The relay can be used to automatically control a fail-safe brake on a vertical axis. It can also be used as a general purpose relay. The normally-open relay contacts are accessible through TB301 and the Motor Feedback (J207) connector.

  • Page 85: Figure 3-2: Brake Connected To J207

    -IO Expansion Board Ndrive HPe 10/20/30 Figure 3-2 is an example of a +24 VDC Brake connected to the Motor Feedback connector. In this example the external +24 power source is connected to TB301. Note that JP3 is set 1-2 and 3-4 with all others removed.

  • Page 86: Pso Output Interface (Tb302)

    JP2 is installed in the 1-2 position giving normally-closed operation. This mode should be used with caution since the Ndrive HPe 10/20/30 cannot maintain the closed state when its AC mains power is turned off. The PSO-NC (JP2 1-2 setting) should not be used when fail-safe operation is required. JP2 jumper settings are...

  • Page 87: Dualpso And -Triplepso Laser Firing Options

    Figure 3-6) from J302 to J302 of each HPe (J302 to J302 or J303 to J303 of the other Ndrive HPe 10/20/30, both connectors have two bi- directional ports). Refer to the A3200 Help File for programming information. Software controlled PSO pre-scalars may be used to limit the data rate of each encoder being tracked without affecting the servo loop data rate.
  • Page 88 Ndrive HPe 10/20/30 -IO Expansion Board Figure 3-6: Two/Three Axis Laser Firing Interconnection Chapter 3 www.aerotech.com...

  • Page 89: Analog Outputs (Tb303)

    -IO Expansion Board Ndrive HPe 10/20/30 3.3. Analog Outputs (TB303) The analog output is set to zero when power is first applied to the system or during a system reset. Table 3-12: Analog Output Specifications (TB303) Specification Value Output Voltage -10 V to +10 V...

  • Page 90: Differential Analog Inputs (Tb304)

    Ndrive HPe 10/20/30 -IO Expansion Board 3.4. Differential Analog Inputs (TB304) To interface to a single-ended (non-differential) voltage source, connect the signal common of the source to the negative input and the analog source signal to the positive input. A floating signal source should be...

  • Page 91: User Power (Tb305, Tb306)

    -IO Expansion Board Ndrive HPe 10/20/30 3.5. User Power (TB305, TB306) A user accessible power supply (+5V at 0.5 A) is available between the TB306 +5V terminal and TB305 GND terminal. Table 3-18: User Common Pin on the Opto In Connector (TB305)

  • Page 92: Opto In Connectors (Digital Inputs) (Tb305, Tb306)

    Ndrive HPe 10/20/30 -IO Expansion Board 3.6. Opto In Connectors (Digital Inputs) (TB305, TB306) The digital inputs are opto-isolated and may be connected to current sourcing or current sinking devices, as shown in Figure 3-10 Figure 3-11. These inputs are designed to connect to other ground-referenced circuits and are not intended for high-voltage isolation.
  • Page 93 -IO Expansion Board Ndrive HPe 10/20/30 Figure 3-9: Digital Inputs www.aerotech.com Chapter 3...
  • Page 94 Ndrive HPe 10/20/30 -IO Expansion Board N O T E : Each bank of 8 Inputs must be connected in the all sourcing or all sinking configuration. Figure 3-10: Digital Inputs Connected to a Current Sourcing Device Figure 3-11: Digital Inputs Connected to a Current Sinking Device Chapter 3 www.aerotech.com...

  • Page 95: Opto Out Connectors (Digital Outputs) (Tb307, Tb308)

    -IO Expansion Board Ndrive HPe 10/20/30 3.7. Opto Out Connectors (Digital Outputs) (TB307, TB308) The digital outputs are optically-isolated and can be connected in sourcing or sinking configurations. The digital outputs are designed to connect to other ground referenced circuits and are not intended to provide high-voltage isolation.
  • Page 96 Ndrive HPe 10/20/30 -IO Expansion Board N O T E : Power supply connections must always be made to both the Output Common Plus (OP) and Output Common Minus (OM) pins as shown in Figure 3-13 Figure 3-14. N O T E : Outputs must be connected as all sourcing or all sinking.
  • Page 97 -IO Expansion Board Ndrive HPe 10/20/30 Figure 3-12: Digital Opto-Isolated Outputs (-IO Board) www.aerotech.com Chapter 3...
  • Page 98 Ndrive HPe 10/20/30 -IO Expansion Board Figure 3-13: Digital Outputs Connected in Current Sourcing Mode Figure 3-14: Digital Outputs Connected in Current Sinking Mode Chapter 3 www.aerotech.com...

  • Page 99: Ssinet (J302/J303)

    Ndrive HPe 10/20/30 3.8. SSINET (J302/J303) The SSINet is designed for daisy-chaining encoder signals from one Ndrive HPe 10/20/30 to another for two/three-axis PSO (laser firing). This allows one Ndrive HPe 10/20/30 containing the -DUALPSO or - TRIPLEPSO options to track the vectorial position change of two/three axes in real-time. These encoder signals may also be used for user-defined purposes.
  • Page 100 Ndrive HPe 10/20/30 -IO Expansion Board Figure 3-15: J302/J303 Chapter 3 www.aerotech.com...

  • Page 101: Chapter 4: -Rdp Expansion Board

    -RDP Expansion Board Ndrive HPe 10/20/30 Chapter 4: -RDP Expansion Board The resolver to digital option (-RDP) provides up to two industry standard resolver or inductosyn channels that can be used as a feedback device. The standard reference frequency output is 5 kHz, with factory options for either 7.5 kHz or 10.0 kHz.
  • Page 102 Ndrive HPe 10/20/30 -RDP Expansion Board Table 4-2: -RDP Connector Pinout (J401/J402) Pin# Label Description In/Out/Bi Shell Shield Connecter shell for cable shield termination Input SIN+ Resolver Sine + Input SIN- Resolver Sine - Input Shield Resolver Sine Shield Shield...
  • Page 103 -RDP Expansion Board Ndrive HPe 10/20/30 Figure 4-2: Resolver/Inductosyn Recommended Wiring Figure 4-3: Resolver Inputs www.aerotech.com Chapter 4...
  • Page 104 Ndrive HPe 10/20/30 -RDP Expansion Board Figure 4-4: Encoder Emulation Outputs The external power connector (J403) is a factory-select configuration and is not available on all drives. Table 4-4: External Power Pinout (J403)  Pin# Label Description In/Out/Bi +12V +12 Volts DC...

  • Page 105: Chapter 5: Standard Interconnection Cables

    Accessories Ndrive HPe 10/20/30 Chapter 5: 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 5-1: Standard Interconnection Cables Cable Part # Description Joystick Section 5.1.

  • Page 106: Joystick Interface

    Accessories 5.1. 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 107 Accessories Ndrive HPe 10/20/30 Figure 5-2: Two Axis Joystick Interface (to the Aux I/O of two drives) Figure 5-3: Two Axis Joystick Interface (to the Aux I/O and I/O Board) www.aerotech.com Chapter 5...
  • Page 108 Ndrive HPe 10/20/30 Accessories Figure 5-4: Two Axis Joystick Interface (to the I/O Board) Table 5-2: Cable Part Numbers Part # Cable Description UPC # C22759-XX JSXT-FLY 26HD-15DU-MAX300DM NDRIVEHPE DUAL AXIS 630B2275-9 C227510-XX JSXT-26HD-15DU-MAX300DM NDRIVEHPE SINGLE AXIS 630B2275-10 C227511-XX JSXT-26HD 26HD-15DU-MAX300DM NDRIVEHPE DUAL AXIS...

  • Page 109: Handwheel Interface

    Ndrive HPe 10/20/30 5.2. 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 Ndrive HPe 10/20/30. A handwheel can be connected to the Aux I/O as shown in...
  • Page 110 Ndrive HPe 10/20/30 Accessories This page intentionally left blank. Chapter 5 www.aerotech.com...

  • Page 111: Chapter 6: Maintenance

    Maintenance Ndrive HPe 10/20/30 Chapter 6: Maintenance D A N G E R : Always disconnect the Mains power connection before opening the Ndrive HPe 10/20/30 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.

  • Page 112: Power Board

    Ndrive HPe 10/20/30 Maintenance 6.1. Power Board D A N G E R : Always disconnect the Mains power connection before opening the Ndrive HPe 10/20/30 chassis. Figure 6-1: Power Board Assembly Table 6-2: Power Board Jumper Configuration Jumper Setting...

  • Page 113: Control Board

    Maintenance Ndrive HPe 10/20/30 6.2. Control Board D A N G E R : Always disconnect the Mains power connection before opening the Ndrive HPe 10/20/30 chassis. Figure 6-2: Control Board Assembly www.aerotech.com Chapter 6...
  • Page 114 Ndrive HPe 10/20/30 Maintenance Table 6-4: Control Board Jumper Configuration  Jumper Setting Description Watchdog enabled Watchdog disabled 24 V operation (High Speed Input 13) 5 V operation (High Speed Input 13) 24 V operation (High Speed Input 12) 5 V operation(High Speed Input 12)

  • Page 115: Preventative Maintenance

    The electrical power must be disconnected from the Ndrive HPe 10/20/30 while cleaning. Do not allow cleaning substances or other fluids to enter the Ndrive HPe 10/20/30 or to get on to any of the connectors. Avoid cleaning labels to prevent removing the label information.
  • Page 116 Ndrive HPe 10/20/30 Maintenance This page intentionally left blank. Chapter 6 www.aerotech.com...

  • Page 117: 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 118 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 119: Appendix B: Revision History

    Section 3.6. Opto In Connectors (Digital Inputs) (TB305, TB306) Section 3.7. Opto Out Connectors (Digital Outputs) (TB307, TB308) Section 6.1. Power Board 4.07.00 4.06.00 4.05.00 Revision changes have been archived. If you need a copy of this revision, contact Aerotech 4.04.00 Global Technical Support. 4.03.00 4.02.00 4.01.00 4.00.00...
  • Page 120 Ndrive HPe 10/20/30 Revision History This page intentionally left blank. Appendix B www.aerotech.com...

  • Page 121: Index

    Index Ndrive HPe 10/20/30 Index AC Line Filter Altitude -DUALPSO and -TRIPLEPSO Laser Firing Ambient Temperature Options amplifier power dissipation -I/O Expansion Board Analog Encoder Phasing Reference Diagram -IO Board Fuse Information Analog Encoder Specifications -IO Expansion Board Jumper Configuration...
  • Page 122 Ndrive HPe 10/20/30 Index Electrical Specifications Check chassis for loose or damaged parts / Emergency Stop Sense Input hardware EN 61800-3 Check for fluids or electrically conductive encoder material exposure absolute Cleaning Encoder and Hall Signal Diagnostics Communication Channel Settings...
  • Page 123 Index Ndrive HPe 10/20/30 Joystick Interface Global Technical Support Limit Input Diagnostic Display Hall-Effect Feedback Interface Pin Assignment Line Driver Encoder Interface Hall-Effect Inputs Hall-Effect Interface Mating Connector Handwheel Interconnection Maximum Additional Storage Energy Handwheel Interface Mechanical Design High Speed Digital Input Connector Pin...
  • Page 124 Ndrive HPe 10/20/30 Index Position Synchronized Output (PSO)/Laser Firing 67 Single Axis Joystick Interface Power Amplifier Bandwidth specifications solid state brake control relay Power Board SSINET Power Board Assembly SSINet Cable Part Numbers Power Board Jumper Configuration SSINet port Power Dissipation...
  • Page 125 Index Ndrive HPe 10/20/30 Typical Emergency Stop Circuit Typical ESTOP Interface unit separation unit weight Unpowered Motor and Feedback Phasing User Common Connector Pin Assignment User Power User Power Supply specifications Voltage and Current Specifications Wire Colors for Supplied Cables...
  • Page 126 Ndrive HPe 10/20/30 Index This page intentionally left blank. www.aerotech.com...

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