Aerotech NDRIVE EDU170 User Manual
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Aerotech NDRIVE EDU170 User Manual

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Summary of Contents for Aerotech NDRIVE EDU170

  • Page 1 sales@artisantg.com artisantg.com (217) 352-9330 | Visit our website - Click HERE...
  • Page 2 RIVE USER’S MANUAL P/N: EDU170 (V1.3) AEROTECH, Inc. • 101 Zeta Drive • Pittsburgh, PA. 15238-2897 • USA Phone (412) 963-7470 • Fax (412) 963-7459 Product Service: (412) 967-6440; (412) 967-6870 (Fax) www.aerotech.com...
  • Page 3 Our web site is continually updated with new product information, free downloadable software and special pricing on selected products. The NDrive User’s Manual Revision History: V1.0 April 23, 2002 V1.1 May 13, 2002 V1.2 September 3, 2002 V1.3 November 26, 2002 © Aerotech, Inc., 2002...

  • Page 4: Table Of Contents

    -IOPSO# Option Board ..............4-2 4.2.1. Brake Configuration Jumpers..........4-2 4.2.2. Analog Outputs (TB3)............4-3 4.2.3. Brake / Relay (TB3) ............. 4-4 4.2.4. Analog Inputs (TB4) ............4-5 4.2.5. User Power Connector (TB5)..........4-6 4.2.6. Opto-Isolated Outputs (TB6) ..........4-6 Aerotech, Inc. Version 1.3...
  • Page 5 When finished loading............5-6 5.6. Fuse / Battery Replacement ..............5-7 5.7. Preventative Maintenance..............5-8 5.7.1. Cleaning ................5-8 APPENDIX A: GLOSSARY OF TERMS..............A-1 APPENDIX B: WARRANTY AND FIELD SERVICE .......... B-1 INDEX REVISION HISTORY ∇ ∇ ∇ Aerotech, Inc. Version 1.3...
  • Page 6 PSO Interface (J8) ................4-18 Figure 4-17. Interfacing to RS-422 or Open-Collector Laser Firing Signal..4-18 Figure 4-18. (RS-485) Absolute Encoder Interface (J8) ........4-19 Figure 4-19. J8/J9/J10................... 4-21 Figure 4-20. Ethernet Interface (J4) ..............4-22 Aerotech, Inc. Version 1.3...
  • Page 7 List of Figures NDrive User’s Manual Figure 4-21. Joystick Interface ................4-23 ∇ ∇ ∇ Aerotech, Inc. Version 1.3...
  • Page 8 JTAG Programming Connector – Internal (P10)........5-4 Table 5-5. Fuse Replacement Part Numbers (NDrive Power Board) ....... 5-7 Table 5-6. Battery Replacement Part Number (NDrive Control Board)....5-7 Table 5-7. Preventative Maintenance ............... 5-8 Table R-1. Revisions ....................R-1 ∇ ∇ ∇ Aerotech, Inc. Version 1.3...
  • Page 9 List of Tables NDrive User’s Manual Aerotech, Inc. viii Version 1.3...
  • Page 10 NDrive User’s Manual Regulatory Information DECLARATION OF CONFORMITY Manufacturer’s Name and Address Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2897 Declares that the product: Product Name: NDrive Conforms to the following product specifications: EMC: EN 61800-3:1997 Class A Emissions EN 61326-1:1997...
  • Page 11 Install a SCI, 25 pin, D-style, EMI filter adapter, P/N SCI-56-725-0, in series with the motor feedback cable at the unit. Failure to follow the described procedures may cause excessive emissions or reduced immunity. ∇ ∇ ∇ Aerotech, Inc. Version 1.3...

  • Page 12: Introduction

    • NDrive Package............1-4 • Hardware Overview ..........1-6 1.1. Product Overview Aerotech’s Network Digital Drives (NDrive) complement the Automation 3200 System ® (see Figure 1-1). Connected via the IEEE-1394 (FireWire ) communication bus, these drives provide deterministic behavior, auto-identification, and easy software setup from the NMotion SMC software controller.

  • Page 13: Models, Options, And Packages

    Auxiliary 115/230 VAC input to power logic circuitry. Required for "keep -AUXPWR alive" or 20-80 VDC bus operation. 20-80 VDC operation requires external transformer to generate 15-60 VAC bus power input. Heat sink with fins 3 Phase AC input Aerotech, Inc. Version 1.3...
  • Page 14 Power stage output short circuit (phase to phase and phase to ground) DC bus over voltage IGBT device over temperature • Line driver square wave or analog sine wave quadrature encoder primary position and velocity feedback • Line driver square wave auxiliary quadrature encoder input Aerotech, Inc. Version 1.3...

  • Page 15: Ndrive Package

    * A secondary 115/230 VAC connection is necessary if the DC bus power is required to operate below 80 VDC ** The shunt regulator is not included with the Ä -IOPSO# Option Drive 10/20 Figure 1-2. Functional Diagram Aerotech, Inc. Version 1.3...

  • Page 16: Figure 1-3. Pso Diagram - Basic Single Axis Firing

    SSI Net 2 (255) (255) Software Primary Encoder Trigger Secondary Encoder Pulse Skip Tracking Distance Trigger Pulse Counter PSO Output Generator (1 axis) Pulse Output Switching Multiplex Figure 1-3. PSO Diagram – Basic Single Axis Firing Aerotech, Inc. Version 1.3...

  • Page 17: Hardware Overview

    Common Sink or Common Source (factory option) MXH, MXU or Line Driver 8 Opto-Isolated Inputs Encoder / Halls / Limits Common Sink or Common Source (user-defined) Standard Version Full Version Figure 1-4. NDrive Hardware ∇ ∇ ∇ Aerotech, Inc. Version 1.3...
  • Page 18 To minimize the possibility of bodily injury, make certain that all electrical power switches (all switches external to the amplifier) are in the off position prior to making any mechanical adjustments. Aerotech, Inc. Version 1.3...

  • Page 19: Motor And Ac Power Connections

    TB1 Optional AC Power Supply Input (required for <70 VAC at TB2) Pin # Description In/Out/Bi. Optional 115/230 VAC Control Power Input Input Optional 115/230 VAC Control Power Input Input From Earth Ground (Required for Safety) Input –3P option –AUXPWR option Aerotech, Inc. Version 1.3...

  • Page 20: Wiring, Grounding, And Shielding Techniques

    Offering electrical noise a low impedance path to earth ground not only reduces radiated emissions, but also improves system performance. 4. If possible, do not route motor cables near cables carrying logic signals and use shielded cable to carry logic signals. Aerotech, Inc. Version 1.3...

  • Page 21: Auxpwr (Auxiliary Power) Option

    70 VAC input to operate properly. The figure below shows the connection to the separate AC power board. The connection is made to the AC input board with a three terminal connector (Aerotech Part #ECK00213), provided. 115VAC OPTIONAL...

  • Page 22: Minimizing 50/60 Hz Line Interference

    This configuration is especially important if the Drive is operating at DC bus voltages of 160 VDC or 320 VDC (e.g., 115 VAC or 230 VAC input power). Figure 2-3. Isolation Transformer Connection (eliminates 50/60 Hz AC Coupling) Aerotech, Inc. Version 1.3...

  • Page 23: Motor And Feedback Connections

    2.5.1. DC Brush Motor Configuration The DC brush motor configuration is shown in Figure 2-4. See section 2.6.2. for the correct encoder phasing information if Aerotech’s standard cabling is not used. Note that the tachometer feedback is not supported. Ä...

  • Page 24: Brushless Motor Configuration

    NDrive User’s Manual Installation and Configuration 2.5.2. Brushless Motor Configuration This mode is used with a brushless motor only. See section 2.6., if Aerotech’s standard cabling is not used, for information on correctly phasing the motor, encoder and Hall feedback devices.

  • Page 25: Stepper Motor Configuration

    Installation and Configuration NDrive User’s Manual 2.5.3. Stepper Motor Configuration This mode is used with a stepper motor only. See section 2.6.2., if Aerotech’s standard cabling is not used, for information on correctly phasing the motor feedback devices. Ä Drive See A.C.

  • Page 26: Motor Phasing Process

    HALL input indicates zero voltage or logic low, where a “1” indicates five volts or logic high. If an Aerotech brushless motor is used with the NDrive, motor phase and HALL connections can be easily determined by referring to the system interconnection drawing in Figure 2-5.

  • Page 27: Encoder Phasing

    Linear Motor FORCER WIRES + MOVE (Clockwise) COS-N FORCER MAGNET TRACK Rotary Motor SIN-N Motor Mounting Plate (Front View) Motor Shaft MKR-N CW Rotation (Positive Direction) Figure 2-8. Encoder Phasing Reference Diagram Aerotech, Inc. 2-10 Version 1.3...

  • Page 28: Firewire Bus (J1, J2, J3)

    Before connecting any device to the FireWire bus, the device should be powered up and check out independently to prevent damaging linked equipment. WARNING NDrives and NPaqs should always have their FireWire cables connected in a star configuration to minimize the FireWire cable lengths, see Figure 2-10. Aerotech, Inc. Version 1.3 2-11...
  • Page 29 FireWire cable, 900 mm (3 feet) long, 6 pin to 6 pin NConnect-900-46 FireWire cable, 900 mm (3 feet) long, 4 pin to 6 pin NConnect-228-66 FireWire cable, 228 mm (9 inches) long, 6 pin to 6 pin Aerotech, Inc. 2-12 Version 1.3...
  • Page 30 Figure 2-9. FireWire Daisy Chain 16 NDrive / NPaq Units in a branch 1394 OHCI NDrive / FireWire NPaq Card 32 Axes Maximum (32 Shown) Star Configuration is recommended Figure 2-10. Recommended Star Daisy Chain Configuration Aerotech, Inc. Version 1.3 2-13...

  • Page 31: Device Settings

    ** The shaded cells (columns 7, 6, and 5) should be left in their factory-preset positions. Information on connecting options such as analog and digital I/O, and laser firing is provided in Chapter 4: Options. ∇ ∇ ∇ Aerotech, Inc. 2-14 Version 1.3...

  • Page 32: Technical Details

    2.5 kVA isolation transformer; 115/230 VAC input; 28, 43, 56, 70, 115 VAC output 5 kVA isolation transformer; 115/230 VAC input; 28, 43, 56, 70, 115 VAC output AC Line Filter, general noise suppression (not for CE Compliance) AC Line Filter Module (required to meet CE Compliance) Aerotech, Inc. Version 1.3...
  • Page 33 +5 Volt Power Output * Output * Total user +5 V power is limited to 500 mA, by internal resettable fuses. The mating connector is a male 9-Pin D-style connector (Aerotech P/N ECK137, Cinch P/N DE-9P; backshell: Aerotech P/N ECK1021, Amphenol P/N 17-1724-2). MAX232...

  • Page 34: Secondary Encoder Channel (J6)

    Should an over-current condition occur, the device will open to protect against the overload. To reset the device, remove the overload condition. The mating connector is a male 9 Pin D-style connector (Aerotech P/N ECK137, Cinch P/N DE-9P; backshell: Aerotech P/N ECK1021, Amphenol P/N 17-1724-2).

  • Page 35: Motor Feedback (Mxh / Mxu) (J7)

    (MXH or MXU option). Note that the brake output is driven by the relay on the -IOPSO# options. See Section 2.6.2., Encoder Phasing for information on interfacing non-Aerotech motors. Table 3-4. Motor Feedback Connector Pinouts (J7)
  • Page 36 RN19-C 10K J7-5 74ACT14 M35-D RN19-B 10K J7-10 74ACT14 M35-E RN19-A 10K J7-11 74ACT14 Signals are designed for 5 V logic but are tolerant of 24 V logic. Figure 3-3. Limit and Hall Effect Inputs (J7) Aerotech, Inc. Version 1.3...
  • Page 37 Should an over-current condition occur, the device will open to provide protection against the overload. To reset the device, remove the over-current condition. The mating connector is a male 25-pin D-Style connector (Aerotech P/N ECK101, Cinch P/N DB25P; Backshell: Aerotech P/N ECK656, Amphenol P/N 17-1726-2).

  • Page 38: Line Driver Encoder (Standard)

    RN17-B M33-A 4.7K 74LCX86 RN17-C 4.7K M33-B RN17-D 74LCX86 4.7K Figure 3-5. Line Driver Encoder Interface (Standard) J7 The NDrive is factory configured for either a square wave differential encoder (default), OR analog encoder (MXH/MXU options). Aerotech, Inc. Version 1.3...

  • Page 39: Mxh Options

    MXH option when the signals are output via the SSINet. Otherwise, the only limit is the maximum input frequency of 200 kHz. See Figure 3-5 for MXH/MXU typical input circuitry. The pinout is indicated in Table 3-4. Aerotech, Inc. Version 1.3...
  • Page 40 Configurable via the CfgFbkEncMultFactorMXH axis parameter from 1 to 512 in increments of 1.0, yielding a multiplication from X4 to x2048. Defined by the CfgFbkEncMxhSetup axis parameter, for SSINet use. Absolute maximum input frequency limited to 200 kHz due to 1.25 MHz sample rate, lesser limit applies only when signals are output via the SSINet. Aerotech, Inc. Version 1.3...

  • Page 41: Mxu Options

    IOPSO# options because they do not generate a serial pulse stream as required by the PSO options. A differential line driver encoder may be used also, see Figure 3-5 for more information. See Figure 3-5 for MXH/MXU typical input circuitry. The pinout is indicated in Table 3-4. Aerotech, Inc. 3-10 Version 1.3...

  • Page 42: Electrical Specifications

    - Power stage bias supply under voltage - Designed to EN61010/U3101 Isolation - Opto and transformer isolation between control and power stages. Indicator (power) - LED indicates drive power. Indicator (enabled) - LED indicates drive enabled. Aerotech, Inc. Version 1.3 3-11...

  • Page 43: Ndrive Control Board Assembly

    NDrive Control board (the PSO / I/O board and jumper configurations are listed in Chapter 3). S2 sets the NDrive address/channel number is the only user configured switch/jumper on the control board (see Table 2-5). F.S. F.S. TP10 Figure 3-6. NDrive Control Board Assembly Aerotech, Inc. 3-12 Version 1.3...

  • Page 44: Table 3-7. Ndrive Control Board Jumper Selections

    In for 100 Terminator on RS-422 Port 4 (J8, J9, J10) Watch Dog Timer Enabled 2-3 * Watch Dog Timer Disabled * indicates default setting Switch S1 is for factory use only and should not be changed by the user. Aerotech, Inc. Version 1.3 3-13...

  • Page 45: Ndrive Power Board Assembly

    Figure 3-7 highlights the important components located on the power board assembly. Table 3-8 lists the jumpers and their default configurations for the NDrive Power board. With MATE With MATE B T1-J7 1 JP4 JP3 SEL. .25ASB 2AG Figure 3-7. NDrive Power Board Assembly Aerotech, Inc. 3-14 Version 1.3...

  • Page 46: Table 3-8. Ndrive Power Board Jumper Selections

    .25 A S.B. Optional 115/230 VAC Control Power Supply Input .25 A S.B. F1 and F2 are normal socketed fuses. F3 and F5 are soldered to the circuit board. See Chapter 5: Troubleshooting for fuse replacement information. Aerotech, Inc. Version 1.3 3-15...

  • Page 47: Led Indicators

    The following LEDs are available on each NDrive. Full NDrive status is available via the NMotion SMC and its utilities. Table 3-10. LED Indicator Description Label Description Axis is enabled Axis is in position (zero) Peak current commanded Axis is on the marker Aerotech, Inc. 3-16 Version 1.3...

  • Page 48: Ndrive Dimensions

    ‰   10.82 [0.418] 4.75 [0.187] 0.000 Full Version Standard Version 99.06 76.91 26.11 1.58 0.000 79.38 66.68 14.66 1.58 0.000 [3.900] [3.028] [0.125] [0.062] [3.125] [2.625] [0.577] [0.062] Figure 3-8. NDrive Dimensions (Front) Aerotech, Inc. Version 1.3 3-17...
  • Page 49 0.000 4.75 [0.187] Standard or Full Version 0.000 Full Version Dimensions: Millimeters [Inches] 0.000 163.96 99.06 76.91 26.11 1.58 0.000 [6.455] [3.900] [3.028] [0.125] [0.062] Figure 3-9. NDrive Dimensions (Front and Side) ∇ ∇ ∇ Aerotech, Inc. 3-18 Version 1.3...

  • Page 50: Ndrive Options

    65,536 (including controllers x4) –3P - Provides 3 phase power input, described in Chapter 2 (Section 2.3.) - Shunt regulator for regenerative energy dissipation, described in Chapter –S 3 (Section 3.5.) –HS - Finned heat sink Aerotech, Inc. Version 1.3...

  • Page 51: Iopso# Option Board

    * default setting 4.2.1. Brake Configuration Jumpers Setting JP1 to 1-2, 3-4 allows connection of the brake relay to pins 13 and 25 of the motor feedback connector (J7). See Figure 4-3 in section 4.2.2. for more information Aerotech, Inc. Version 1.3...

  • Page 52: Analog Outputs (Tb3)

    Analog 2 Out Analog Output 2 Output R359 9.76K 500 1TURN TL084 R361 ANALOG1-OUT TB3-1 Ã Ã M31-C R345 9.76K 500 1TURN TL084 R342 R338 ANALOG2-OUT TB3-2 Ã Ã M31-D TB4-1 Figure 4-2. Analog Output Connector (TB3) Aerotech, Inc. Version 1.3...

  • Page 53: Brake / Relay (Tb3)

    150 VDC, 125 VAC Maximum Switched Current Maximum Carrying Current Maximum Switched Power 30W (DC), 60 VA (AC) Note: Maximum switched power is voltage dependent. Ã Initial Contact Resistance 50 milliohms max. @ 10 mA, 6 VDC Aerotech, Inc. Version 1.3...

  • Page 54: Analog Inputs (Tb4)

    Analog2 In + Non-Inverting Analog Input 2 Input Analog2 In - Inverting Analog Input 2 Input ANALOG1-IN+ TB4-2 TB4-3 ANALOG1-IN- +12V INA105 C436 C426 -12V ANALOG2-IN+ TB4-4 TB4-5 ANALOG2-IN- TB4-1 INA105 Figure 4-4. Optional Analog Input Connector (TB4) Aerotech, Inc. Version 1.3...

  • Page 55: User Power Connector (Tb5)

    Output Table 4-9. Output Specifications (TB6) Specification Value Maximum Power Dissipation 160 mWatts / Channel Maximum Output Voltage 40 Volt Maximum Maximum Output Current 150 mAmps / Channel Output Saturation Voltage ~ 0.7 – 0.9 Volts Aerotech, Inc. Version 1.3...

  • Page 56: Figure 4-5. Connecting Outputs In Current Sinking Mode (-Iopso, -Iopso2)

    Output 1 5 Volts OUT-COM-M Figure 4-5. Connecting Outputs in Current Sinking Mode (-IOPSO, -IOPSO2) TB6-10 390 Ohm (Typical) TB6-9 TB6-8 TB6-7 PS2506L-4 TB6-5 TB6-4 TB6-3 TB6-6 PS2506L-4 OUT-COM-M TB6-2 Figure 4-6. -IOPSO, -IOPSO2 Sinking Outputs (TB6) Aerotech, Inc. Version 1.3...

  • Page 57: Figure 4-7. Connecting Outputs In Current Sourcing Mode (-Iopso3, -Iopso4)

    Output 1 5 Volts Common Figure 4-7. Connecting Outputs in Current Sourcing Mode (-IOPSO3, -IOPSO4) 390 Ohm (Typical) TB6-10 TB6-9 TB6-8 TB6-7 PS2506L-4 TB6-5 TB6-4 TB6-3 TB6-6 PS2506L-4 OUT-COM-P TB6-1 Figure 4-8. -IOPSO3, -IOPSO4 Sourcing Outputs (TB6) Aerotech, Inc. Version 1.3...

  • Page 58: Opto-Isolated Inputs (Tb7)

    Input 6 Input 6 (Optically-Isolated) Input Input 7 Input 7 (Optically-Isolated) Input Input 8 Input 8 (Optically-Isolated) Input Plus Common Input 1 5 - 24 6200 Ohm Volts Input 2 6200 Ohm Figure 4-9. Connecting Inputs Aerotech, Inc. Version 1.3...

  • Page 59: Laser Firing / Position Synchronized Output (Pso)

    Table 4-14. Additionally, the PSO options provide Data Capture and Data Update capabilities, also shown in Figure 4-11 and Figure 4-12. programming information, refer to the NView MMI Help file or the NView MMI Programming Manual, EDU174. Aerotech, Inc. 4-10 Version 1.3...

  • Page 60: Table 4-11. Laser Output Opto-Isolator Specifications

    The output pulse is also user programmable. It may be a single, or multiple pulses per trigger event. It too is generated in hardware and fed from a 255 level queue, allowing trigger events to advance thru the queue, varying the output pulse per trigger event. Aerotech, Inc. Version 1.3 4-11...
  • Page 61 Data Capture mode allows position, digital inputs, etc. to be captured. Data Update mode allows analog or digital outputs to be set by the same trigger. The capture and update modes are defined in Figure 4-12. For Aerotech, Inc. 4-12 Version 1.3...

  • Page 62: Figure 4-12. Data Capture/Data Update Modes

    Analog Output 1, Aux. 1 and 2 Outputs Outputs 1 - 4 Analog Input 2 Analog Output 1 8 General Purpose Outputs 4 Auxiliary Outputs General Purpose Outputs 1 - 4 Auxiliary 1 and 2 Outputs Figure 4-12. Data Capture/Data Update Modes Aerotech, Inc. Version 1.3 4-13...

  • Page 63: Single Axis Laser Firing

    SSI Net 2 (255) (255) Software Primary Encoder Trigger Secondary Encoder Pulse Skip Tracking Distance Trigger Pulse Counter PSO Output Generator (1 axis) Pulse Output Switching Multiplex Figure 4-13. PSO Diagram – Basic Single Axis Firing Aerotech, Inc. 4-14 Version 1.3...

  • Page 64: Two/Three-Axis Laser Firing

    SSINet Cable Part Numbers Part # Description NConnect-SSINet-4500 4.5 M (15 FT) SSINet Cable NConnect-SSINet-3000 3.0 M (10 FT) SSINet Cable NConnect-SSINet-1500 1.5 M (5 FT) SSINet Cable NConnect-SSINet-900 490 M (3 FT) SSINet Cable Aerotech, Inc. Version 1.3 4-15...

  • Page 65: Pso / Absolute Encoder Interface (J8)

    (from laser firing pulses) from being conducted through the NDrive! This requires the user to power the opto-isolator at TB5 (see Section 4.2.5. for more information). The mating connector is a male 15-pin D-Style connector (Aerotech P/N ECK100, Keltron P/N DN-15PYSH-G; Backshell: Aerotech P/N ECK1022, Amphenol P/N 17- 1725-2).

  • Page 66: Figure 4-15. Absolute Encoder Interface (J8)

    R228 ABS-SIN+ R215 J8-7 M54-A C435 100PF C433 100PF R227 R220 ABS-SIN- J8-8 33PF C415 R209 R218 ABS-COS+ R213 J8-9 M54-B C434 100PF C432 100PF R217 R207 ABS-COS- J8-10 Figure 4-15. Absolute Encoder Interface (J8) Aerotech, Inc. Version 1.3 4-17...

  • Page 67: Figure 4-16. Pso Interface (J8)

    Active Low Active High Please note that J8 pin 11 is common between the two outputs, so only one of the interfaces may be used. Figure 4-17. Interfacing to RS-422 or Open-Collector Laser Firing Signal Aerotech, Inc. 4-18 Version 1.3...
  • Page 68 NDrive User’s Manual NDrive Options IRQ-N SHDN-N DOUT H/F-N SCLK CS-N CTS-N 3.6864 MHz RTS-N 33PF 33PF MAX3140 RS485-M RE-N J8-14 RS485-P J8-15 Figure 4-18. (RS-485) Absolute Encoder Interface (J8) Aerotech, Inc. Version 1.3 4-19...

  • Page 69: Ssinet (2 Channel) (J9, J10)

    RS-422 Channel 4 - Bidirectional RS-422-3M RS-422 Channel 3 - Bidirectional RS-422-3P RS-422 Channel 3 + Bidirectional RS-422-4P RS-422 Channel 4 + Bidirectional RS-422-2M RS-422 Channel 2 - Bidirectional RS-422-2P RS-422 Channel 2 + Bidirectional Aerotech, Inc. 4-20 Version 1.3...
  • Page 70 RS-422-1M J8-2 J9-1 J10-1 J10-2 LTC1685 J9-2 RS-422-1P J8-3 RS-422-2M J8-4 J9-7 J10-7 LTC1685 J10-8 J9-8 RS-422-2P J8-5 RS-422-3M J9-4 J10-4 J10-5 LTC1685 RS-422-3P J9-5 RS-422-4M J9-3 J10-3 LTC1685 J10-6 RS-422-4P J9-6 Figure 4-19. J8/J9/J10 Aerotech, Inc. Version 1.3 4-21...

  • Page 71: Ethernet (J4)

    +3.3V +3.3V +3.3V TG110-S050N2 S1CT P1CT TP0+ TP0- TP1+ S2CT P2CT TP1- R140 LEDB LNK-N CNTRL-N R138 R141 LEDA RBIAS LAN91C111 LEDA MTG1 LEDB MTG2 ALIGN1 (NC) ALIGN2 (NC) CON8RJ45GRN-YEL Figure 4-20. Ethernet Interface (J4) Aerotech, Inc. 4-22 Version 1.3...

  • Page 72: Joystick Interface

    The zero velocity null-point for each joystick connection is approximately 2.5 volts. JOY-X Arrows below show axes motion that results when joystick is used. JOY-Y IN914 Exit Slew Mode Speed Select Buttons (all N.O.) Axis Pair Select Figure 4-21. Joystick Interface ∇ ∇ ∇ Aerotech, Inc. Version 1.3 4-23...
  • Page 73 NDrive Options NDrive User’s Manual Aerotech, Inc. 4-24 Version 1.3...

  • Page 74: Chapter 5: Troubleshooting

    1. RMS current exceeded - run at lower current. Amplifier Faults (EN LED 2. Over temperature condition - Turn off and let amplifier cool down. deenergizes). Provide better ventilation. 3. Defective on board power supply - Return for repair. Aerotech, Inc. Version 1.3...

  • Page 75: Fault Status Display

    Unexpected Software Fault Should Never Happen Soft Start Not Engaged Bus Power too low Waiting for Firewire Power Cable Not Connected Unexpected Hardware Trap Hardware Failure The L.E.D. flashes each digit sequentially on the single L.E.D. Aerotech, Inc. Version 1.3...

  • Page 76: Ndrive Control Board Test Points

    MXH/MXU Sine Signal 2.5 Volt Reference Marker Signal after Signal Conditioning (See Figure 3-3) MXH/MXU Cosine Signal 2.5 Volt Reference Sine Signal after Signal Conditioning (See Figure 3-3) TP10 Cosine Signal after Signal Conditioning (See Figure 3-3) Aerotech, Inc. Version 1.3...

  • Page 77: Jtag Programming Connector

    Test Data Input Input Key Position (No Connection) Reset Reset Input Test Mode Select Input Power 3.3 Volt Standard (5 Volt Optional) Output JTAG-TDO Test Data Output Output DE-N Data Enable Input TRST-N Test Reset Input Aerotech, Inc. Version 1.3...

  • Page 78: Using The Rs-232 Boot Loader On The Ndrive

    To store this code permanently to flash, press the “Burn” button in the Flash window. The indicator bar at the bottom of the window will indicate when loading is finished. Aerotech, Inc. Version 1.3...

  • Page 79: When Finished Loading

    5.5.3. When finished loading Power down the NDrive and be sure to put switch S1 back to its original state (position 3 “off”, position 4 “on”). Power the drive back on and the new firmware should be active. Aerotech, Inc. Version 1.3...

  • Page 80: Fuse / Battery Replacement

    NDrive User’s Manual Troubleshooting 5.6. Fuse / Battery Replacement Table 5-5 lists the manufacturer and Aerotech’s part number for typical replacement fuses. Additional fuse information can be found on the system drawing supplied with the unit. Table 5-5. Fuse Replacement Part Numbers (NDrive Power Board)

  • Page 81: Preventative Maintenance

    Table 5-7 lists the recommended checks that should be made during these inspections. The NDrive (all Aerotech equipment) is not to be used in a manner not specified by Aerotech, Inc.

  • Page 82: Appendix A: Glossary Of Terms

    HED - Hall effect device. IGBT - Insulated Gate Bipolar Transistor. PWM - Pulse Width Modulation. RMS - Root Mean square - The effective DC value of AC voltage or current. TTL - Transistor - Transistor Logic. Aerotech, Inc. Version 1.3...
  • Page 83 Glossary of Terms NDrive User’s Manual Aerotech, Inc. Version 1.3...
  • Page 84 Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer, where 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 products are specifically designed and/or manufactured for buyer’s use...

  • Page 85: Appendix B: Warranty And Field Service

    Warranty and Field Service Returned Product Non- After Aerotech’s examination, the buyer shall be notified of the repair cost. At such time, warranty Determination the buyer must issue a valid purchase order to cover the cost of the repair and freight, or authorize the product(s) to be shipped back as is, at the buyer’s expense.

  • Page 86: Index

    Brushless Motor Configuration, 2-6, 2-7, 2-9 EMI Interference, 2-3 Bus Power Supply, 1-4 EN LED Indicator, 3-16 Encoder Phasing, 2-10 -ENET, 1-2, 3-1, 4-1, 4-22 Capabilities, 4-1 Capacitive Coupling, 2-3 Ethernet (J4), 4-22 CEMF, A-1 Cleaning, 5-8 Aerotech, Inc. Version 1.3...
  • Page 87 Integrated, 2-6 L1 Input Terminal, 2-2, 2-5 Integrated Configurations, 2-6 L2 Input Terminal, 2-2, 2-5 -IOPSO, 1-2, 3-1, 4-1, 4-7 L3 Input Terminal, 2-2 Capabilities, 4-1 Laser Output Opto-Isolator Specifications, 4-11, 4-15, -IOPSO#, 4-1 4-17 Capabilities, 4-1 Aerotech, Inc. Version 1.3...
  • Page 88 Power Connections, 1-6, 2-2 -MXU65536, 1-2, 3-1, 4-1 Precautions, 2-1 Preventative Maintenance, 5-8 Product Overview, 1-1 PSO / Absolute Encoder Interface (J8), 4-16 NDrive Connection Test, 2-9 PSO / Absolute Encoder Interface (J8) NDrive Hardware, 1-6 Pinouts, 4-16 Aerotech, Inc. Version 1.3...
  • Page 89 Standard Encoder Input, 3-7 Standard Package, 1-4 Stepper Motor Configuration, 2-6, 2-8 Warnings, 2-1, 2-11 Switch S2, 2-14 Warranty Policy, B-1 Switching Rate, 2-3 Wiring Techniques, 2-3 TB1, 2-2, 2-4 ZR LED Indicator, 3-16 AL1, 2-2 ∇ ∇ ∇ Aerotech, Inc. Version 1.3...

  • Page 90: Revision History

    Figure 3-7 updated (fuse removed). Table 3-9 updated (F1 information). 4.2.10. SSINet cable information added (Figure 4-16 and Table 4-15). 4.4. Figure 4-18 wiring updated. 5.5. File names updated 5.5.2. File names updated F1 and F2 fuse information updated. Aerotech, Inc. Version 1.3...
  • Page 91 Figure 3-7, Table 3-8, Table 3-9: Updated (F4 and JP5 deleted) 4.2.3. Figure 4-3: Updated 4.2.8. Figure 4-14: Updated 4.2.9. Figure 4-15: Updated 5.2. Table 5-2. Updated 5.6. Table 5-5: Updated (F4 deleted) ∇ ∇ ∇ Aerotech, Inc. Version 1.3...
  • Page 92 Company name ________________ Address ________________ ________________ Remove this page from the document and fax or mail your comments to the technical writing department of Aerotech. AEROTECH, INC. Technical Writing Department 101 Zeta Drive Pittsburgh, PA. 15238-2897 U.S.A. Fax number (412) 967-6870...

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