Related Manuals for Aerotech Automation1 GL4
Summary of Contents for Aerotech Automation1 GL4
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Page 1: Automation1 Gl4 Galvo Scan-Head Drive
Automation1 GL4 Galvo Scan-Head Drive HARDWARE MANUAL Revision 2.01 Patent Number: US 8,426,768 B2... - 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.
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Page 3: Table Of Contents
GL4 Hardware Manual Table of Contents Table of Contents Automation1 GL4 Galvo Scan-Head Drive Table of Contents List of Figures List of Tables EU Declaration of Conformity Agency Approvals Safety Procedures and Warnings Installation Overview Chapter 1: Introduction 1.1. Electrical Specifications 1.2. -
Page 4: List Of Figures
Digital Inputs Connected to Current Sinking Devices Figure 2-21: Analog Outputs Schematic Figure 2-22: Analog Inputs Schematic Figure 2-23: Encoder Input Connections Schematic Figure 2-24: ESTOP Sense Input Schematic Figure 2-25: Laser Output Polarity Switches Figure 3-1: Control Board Assembly Figure 3-2: Power Board Assembly www.aerotech.com... -
Page 5: List Of Tables
Mating Connector Part Numbers for the Encoder Input Connectors Table 2-37: GL4 to Drive Cable Part Numbers Table 2-38: ESTOP Pins on the Encoder Input Connector Table 2-39: Electrical Noise Suppression Devices Table 2-40: Sync-Related Functions Table 2-41: Sync Port Cables Table 3-1: LED Description Table 3-2: Troubleshooting www.aerotech.com... - Page 6 List of Tables GL4 Hardware Manual Table 3-3: Preventative Maintenance Table 3-4: Control Board Fuse Specifications Table 3-5: Power Board Fuse Specifications www.aerotech.com...
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Page 7: Eu Declaration Of Conformity
GL4 Hardware Manual EU Declaration of Conformity EU Declaration of Conformity Manufacturer Aerotech, Inc. Address 101 Zeta Drive Pittsburgh, PA 15238-2811 Product Model/Types This is to certify that the aforementioned product is in accordance with the applicable requirements of the following directive(s):... - Page 8 EU Declaration of Conformity GL4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 9: Agency Approvals
U8 068995 0031 Rev. 00 Standards: CAN/CSA-C22.2 No. 61010-1:2012 , EN 61010-1:2010, 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 10 Agency Approvals GL4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 11: Safety Procedures And Warnings
To find the newest information about this product, refer to www.aerotech.com. If you do not understand the information in this manual, contact Aerotech Global Technical Support. IMPORTANT: This product has been designed for light industrial manufacturing or laboratory environments. - Page 12 Safety Procedures and Warnings GL4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 13: Installation Overview
Connect the Digital/Analog I/O. Section 2.6. Connect to Axis 1 and Axis 2 motor and feedback connectors. Section 2.5. Connect to the Control Supply connector. Section 2.1.1. Connect to the Motor Supply connector. Section 2.1.2. Figure 1: Installation Connection Overview www.aerotech.com... - Page 14 Installation Overview GL4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 15: Chapter 1: Introduction
Section 2.6.1. Four optically-isolated digital inputs; 5-24V Section 2.6.2. Two 16-bit single-ended analog outputs; ±10 V Section 2.6.3. One 16-bit differential analog input; ±10 V Section 2.6.4. Dedicated 5-24V Emergency Stop sense input Section 2.7.1. Two Sync ports Section 2.9. www.aerotech.com... -
Page 16: Figure 1-2: Functional Diagram
Chapter 1: Introduction GL4 Hardware Manual The block diagram that follows shows a summary of the connector signals. Figure 1-2: Functional Diagram www.aerotech.com... -
Page 17: Electrical Specifications
Input Frequency 50-60 Hz Control Supply Inrush Current 16 A Input Current 0.35 A (max) Output Voltage 38 V Peak Output Current 20 A Continuous Output Current Minimum Load Resistance 0.5 Ω User Power Supply Output 5 VDC (@ 500 mA) www.aerotech.com... -
Page 18: Mechanical Specifications
IP54 Compliant Weight ~2.9 kg Mounting Hardware M4 [#8] screws (four locations, not included) Mounting Orientation Vertical (typical) Section 1.2.2. Dimensions Dimensions Refer to Airflow ~25 mm Minimum Clearance Connectors ~100 mm Operating Temperature Refer to Section 1.3. Environmental Specifications www.aerotech.com... -
Page 19: Dimensions
GL4 Hardware Manual 1.2.2. Dimensions 1.2.2. Dimensions Figure 1-3: Dimensions www.aerotech.com... -
Page 20: Environmental Specifications
0 m to 2,000 m (0 ft to 6,562 ft) above sea level. Operating Altitude If you must operate this product above 2,000 m or below sea level, contact Aerotech, Inc. Pollution Degree 2 Pollution Typically only nonconductive pollution occurs. -
Page 21: Drive And Software Compatibility
Last Software Version column, drives that show a specific version number are not supported after that version. Table 1-5: Drive and Software Compatibility Drive Type Software First Software Version Last Software Version Automation1 1.2.0 Current Automation1 GL4 A3200 6.04 Current www.aerotech.com... - Page 22 1.4. Drive and Software Compatibility GL4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 23: Chapter 2: Installation And Configuration
Additional information about the system is provided on the Serial and Power labels that are placed on the GL4 chassis. The system serial number label contains important information such as the: Customer order number (please provide this number when requesting product support) Drawing number System part number www.aerotech.com... -
Page 24: Input Power Connections
[#16 AWG] Protective Ground 1.3 mm [#16 AWG] (1) The wire insulation is rated for 300 V. Table 2-2: Mating Connector Part Numbers for the Control Supply Connector Aerotech Third Party Screw Wire Size: Type Torque: N·m [AWG] 3-Pin Terminal Block... -
Page 25: Motor Supply Connector
(#14 AWG) Protective Ground 2.1 mm (#14 AWG) (1)The wire insulation is rated for 300 V. Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector Aerotech Third Part Screw Wire Size: Type Torque: N·m [AWG] 4-Pin Terminal Block... -
Page 26: External Power Supply Options
2.1.3. External Power Supply Options GL4 Hardware Manual 2.1.3. External Power Supply Options You must connect the Motor Supply to a bipolar power supply. Aerotech recommends that you use an Aerotech TM3 transformer which can supply power to a maximum of four controllers (Figure 2-3. -
Page 27: Figure 2-3: Control And Motor Power Wiring Using A Tm3 Transformer
GL4 Hardware Manual 2.1.3. External Power Supply Options Figure 2-3: Control and Motor Power Wiring using a TM3 Transformer Figure 2-4: Third-Party Power Supply Connection www.aerotech.com... -
Page 28: Minimizing Noise For Emc/Ce Compliance
Use a line filter, such as Aerotech’s UFM-ST, on the Control Supply AC inputs. The following additional changes could be required for EMC compliance and are recommended during initial EMC system evaluation. -
Page 29: Hyperwire Interface
HyperWire Cable Part Numbers Part Number Description HYPERWIRE-AO10-5 HyperWire cable, active optical, 0.5 m HYPERWIRE-AO10-10 HyperWire cable, active optical, 1.0 m HYPERWIRE-AO10-30 HyperWire cable, active optical, 3.0 m HYPERWIRE-AO10-50 HyperWire cable, active optical, 5.0 m HYPERWIRE-AO10-200 HyperWire cable, active optical, 20.0 m www.aerotech.com... -
Page 30: Laser Output Connectors
(1) Refer to Section 2.3.1. for more information Table 2-9: Mating Connector Part Numbers for the Laser Output Connectors Wire Size: mm [AWG] Type Aerotech P/N Third Party P/N 7-Pin Terminal Block ECK01631 Phoenix 1881370 0.5 - 0.080 [20-28] www.aerotech.com... -
Page 31: Figure 2-5: Laser Interface Outputs
Table 2-10: Laser Output Specifications Specification Value Maximum Frequency 5 MHz Isolated Voltage 5 - 24 V Output Output Current ≤ 50 mA Maximum Frequency 10 MHz 5V TTL Voltage Output Current 50 mA Figure 2-5: Laser Interface Outputs www.aerotech.com... -
Page 32: Figure 2-6: Current Sinking Configuration With Isolation
2.3. Laser Output Connectors GL4 Hardware Manual Figure 2-6: Current Sinking Configuration with Isolation Figure 2-7: Current Sinking Configuration without Isolation www.aerotech.com... -
Page 33: Figure 2-8: Current Sourcing Configuration With Isolation
GL4 Hardware Manual 2.3. Laser Output Connectors Figure 2-8: Current Sourcing Configuration with Isolation Figure 2-9: Current Sourcing Configuration without Isolation www.aerotech.com... -
Page 34: Figure 2-10: Ttl Output
2.3. Laser Output Connectors GL4 Hardware Manual Figure 2-10: TTL Output www.aerotech.com... -
Page 35: Position Synchronized Output (Pso)
When the PSO generates pulses, minimum latency occurs between the trigger condition and the output. Aerotech recommends that you use an RS-422 line receiver or an opto-isolator if your system: Uses cables with long lengths in work areas where a lot of electrical noise occurs. -
Page 36: Encoder Output Connector
Axis 2 SIN+ Output Axis 2 COS+ Output Reserved Ground Table 2-15: Mating Connector Part Numbers for the Encoder Output Connector Mating Connector Aerotech P/N Third Party P/N 15-Pin D-Connector ECK00100 Amphenol DA15P064TXLF Backshell ECK01022 Amphenol 17E-1725-2 Figure 2-11: Encoder Outputs... -
Page 37: Figure 2-12: Pso External Sync Input
PSO Waveform module will not generate the configured waveform when an output event is received until the rising edge of the synchronization signal occurs. Table 2-16: PSO External Sync Specifications Specification Value Voltage 3.3 VDC Frequency 25 MHz Maximum On Time 20 ns Minimum Figure 2-12: PSO External Sync Input www.aerotech.com... -
Page 38: Galvo Motor Connectors
Encoder Ground Encoder Ground Frame Ground Motor - Output Motor - Output Table 2-18: Mating Connector Part Numbers for the Galvo Motor Connectors Mating Connector Aerotech P/N Third Party P/N 25-Pin D-Connector ECK00101 FCI DB25P064TXLF Backshell ECK00656 Amphenol 17E-1726-2 www.aerotech.com... -
Page 39: Analog Encoder Inputs
Table 2-19: Analog Encoder Specifications Specification Value Input Frequency (max) 500 kHz Input Amplitude 0.6 to 1.2 Vpk-pk Interpolation Factor (max) 262,144 Input Common Mode 1.5 to 3.5 VDC (1) Any single-ended encoder signal measured with respect to ground. www.aerotech.com... -
Page 40: End Of Travel Limit Input Interface
GL4 Hardware Manual 2.5.2. End of Travel Limit Input Interface Aerotech strongly recommends that you use End of Travel (EOT) limits to define the end of the physical travel. Current-based limits that are software-selectable through the EndOfTravelLimitSetup axis parameter can be used, but only if EOT limits are not available on your galvo motor. Positive or clockwise motion is stopped by the clockwise (CW) end of travel limit input. -
Page 41: Figure 2-13: End Of Travel Limit Input Connections
GL4 Hardware Manual 2.5.2. End of Travel Limit Input Interface Figure 2-13: End of Travel Limit Input Connections Figure 2-14: End of Travel Limit Interface Input Schematic www.aerotech.com... -
Page 42: End Of Travel Limit Phasing
CW and CCW inputs at the motor feedback connector or swap the CW and CCW limit functionality in the software using the EndOfTravelLimitSetup parameter. View the logic level of the EOT limit inputs in the Diagnostics display (shown in Figure 2-15). Figure 2-15: Limit Input Diagnostic Display www.aerotech.com... -
Page 43: Thermistor Input
The nominal trip value of the sensor is 2.4 kΩ. Table 2-21: Thermistor Input Pins on the Galvo Motor Connectors Description In/Out/Bi Motor Over Temperature Thermistor Input Figure 2-16: Thermistor Input Input Schematic www.aerotech.com... -
Page 44: Digital And Analog I/O Connectors
Analog Output 0 Output Analog Output 1 Output Table 2-24: Mating Connector Part Numbers for the Digital / Analog I/O Connectors Wire Size: mm [AWG] Mating Connector Aerotech P/N Third Party P/N 8-Pin Terminal Block ECK01386 Phoenix 1881383 0.5 - 0.080 [20-28] www.aerotech.com... -
Page 45: Digital Outputs
Table 2-26: Digital Output Pins on the Digital/Analog I/O A Connector Pin # Label Description In/Out/Bi Digital Output 0 (Optically-Isolated) Output Digital Output 1 (Optically-Isolated) Output Digital Output 2 (Optically-Isolated) Output Digital Output 3 (Optically-Isolated) Output Digital Output Common Input www.aerotech.com... -
Page 46: Figure 2-17: Digital Outputs Connected In Current Sourcing Mode
2.6.1. Digital Outputs GL4 Hardware Manual Figure 2-17: Digital Outputs Connected in Current Sourcing Mode Figure 2-18: Digital Outputs Connected in Current Sinking Mode www.aerotech.com... -
Page 47: Digital Inputs
Digital Input 0 (Optically-Isolated) Input Digital Input 1 (Optically-Isolated) Input Digital Input 2 (Optically-Isolated) Input Digital Input 3 (Optically-Isolated) Input Digital Input Common Input Figure 2-19: Digital Inputs Connected to Current Sourcing Devices Figure 2-20: Digital Inputs Connected to Current Sinking Devices www.aerotech.com... -
Page 48: Analog Outputs
Output Current 5 mA Resolution (bits) 16 bits Table 2-30: Analog Output Pins on the Digital / Analog I/O B Connector Pin # Label Description In/Out/Bi Analog Output 0 Output Analog Output 1 Output Figure 2-21: Analog Outputs Schematic www.aerotech.com... -
Page 49: Analog Inputs (Differential)
1. Signals outside of this range may damage the input Table 2-32: Analog Input Pins on the Digital / Analog I/O B Connector Pin # Label Description In/Out/Bi Analog Input + Input Analog Input - Input Ground Figure 2-22: Analog Inputs Schematic www.aerotech.com... -
Page 50: Encoder Input Connectors
+5V Encoder Power Ground Table 2-36: Mating Connector Part Numbers for the Encoder Input Connectors Wire Size: mm [AWG] Type Aerotech P/N Third Party P/N 6-Pin Terminal Block ECK02220 Phoenix 1881367 0.5 - 0.080 [20-28] Table 2-37: GL4 to Drive Cable Part Numbers... -
Page 51: Figure 2-23: Encoder Input Connections Schematic
GL4 Hardware Manual 2.7. Encoder Input Connectors Figure 2-23: Encoder Input Connections Schematic www.aerotech.com... -
Page 52: Emergency Stop Sense Input
Refer to Table 2-39 to see the types of devices you can use. Table 2-39: Electrical Noise Suppression Devices Device Aerotech P/N Third Party P/N RC (.1uf / 200 ohm) Network EIC00240 Electrocube RG1782-8 Varistor EID00160 Littelfuse V250LA40A www.aerotech.com... -
Page 53: Laser Output Polarity Switches
GL4 Hardware Manual 2.8. Laser Output Polarity Switches 2.8. Laser Output Polarity Switches Use the Laser Output Polarity switches to specify the active laser output polarity. Refer to Section 2.3. Figure 2-25: Laser Output Polarity Switches www.aerotech.com... -
Page 54: Sync Port
Length 3 dm; Connectors: USB Type A to USB Type A CBL-SYNC-5 Length 5 dm; Connectors: USB Type A to USB Type A CBL-SYNC-7 Length 7 dm; Connectors: USB Type A to USB Type A CBL-SYNC-10 Length 10 dm; Connectors: USB Type A to USB Type A www.aerotech.com... -
Page 55: Pc Configuration And Operation Information
GL4 Hardware Manual 2.10. PC Configuration and Operation Information 2.10. PC Configuration and Operation Information For more information about hardware requirements, PC configuration, programming, system operation, and utilities, refer to the Help file. www.aerotech.com... - Page 56 2.10. PC Configuration and Operation Information GL4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 57: Chapter 3: Maintenance
The light is configured to blink for setup. Table 3-2: Troubleshooting Symptom Possible Cause and Solution Make sure the power LED is illuminated (this indicates that power is present). No Communication Make sure that all communication cables (HyperWire, for example) are fully inserted in their ports. www.aerotech.com... -
Page 58: Preventative Maintenance
Do not use fluids and sprays to clean the drive because they can easily go into the chassis or onto the outer connectors and components. If a cleaning solution goes into the drive, internal contamination can cause corrosion and electrical short circuits. Do not clean the labels with a cleaning solution because it might remove the label information. www.aerotech.com... -
Page 59: Board Assembly
DANGER: Before you open the GL4 chassis, you must disconnect the Mains power connection. Figure 3-1: Control Board Assembly Table 3-4: Control Board Fuse Specifications Aerotech Third Party P/N Fuse Description Size Control Supply Power at Pin-1 2 A S.B. -
Page 60: Figure 3-2: Power Board Assembly
GL4 Hardware Manual DANGER: Before you open the GL4 chassis, you must disconnect the Mains power connection. Figure 3-2: Power Board Assembly Table 3-5: Power Board Fuse Specifications Aerotech Third Party P/N Fuse Description Size Motor Bus Supply 10 A S.B. -
Page 61: Appendix A: Warranty And Field Service
Aerotech’s products are specifically designed and/or manufactured for buyer’s use or purpose. Aerotech’s liability on any claim for loss or damage arising out of the sale, resale, or use of any of its products shall in no event exceed the selling price of the unit. - Page 62 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:...
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Page 63: Appendix B: Revision History
Agency Approvals 2.00 General update 1.05 Updated Section 1.2. 1.04 Added cable part numbers: Table 2-37 1.03 Updated to AUTOMATION1 hardware 1.02 Added Table 2-16 The following sections have been updated: 1.01 General product update Section 2.1.4. 1.00 New Manual www.aerotech.com... - Page 64 Appendix B: Revision History GL4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 65: Index
Digital Outputs Connected in Current Sinking Mode cables, examining Digital Outputs Connected in Current Sourcing Mode Check for fluids or electrically conductive material exposure Dimensions Cleaning Drawing number Commands Drive and Software Compatibility Sync connections, examining Continuous Output Current Electrical Noise Suppression Devices www.aerotech.com... - Page 66 Installation Overview Current Sourcing Configuration without Isolation Introduction Digital Inputs Connected to Current Sinking Devices IP54 Compliant Digital Inputs Connected to Current Sourcing Devices 47 Digital Outputs Connected in Current Sinking Mode Digital Outputs Connected in Current Sourcing Mode 46 www.aerotech.com...
- Page 67 PSO External Sync Specifications Motor Supply Wiring Specifications PSO Output 30,35 Mounting and Cooling PSO Pins on the Laser Output A Connector Mounting Hardware PSO Pins on the Laser Output B Connector Mounting Orientation PSO Specifications Operation Revision History Output Voltage Overview www.aerotech.com...
- Page 68 Thermistor Interface (Galvo Motor Connectors) Thermistor Interface Input Schematic Thermistor Interface Pins on the Galvo Motor Connectors 43 Third-Party Power Supply Connection TM3 Transformer Control and Power Wiring TTL Output Unit Weight Unpacking the Chassis User Power Supply Output Warranty and Field Service www.aerotech.com...