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Aerotech NCdrive10 User Manual

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NC
10/20/30 Rev. 0
DRIVE
USER'S MANUAL
P/N: EDU178 (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)
http://www.aerotech.com/

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  • Page 1 10/20/30 Rev. 0 DRIVE USER'S MANUAL P/N: EDU178 (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) http://www.aerotech.com/...
  • Page 2 Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies. The NCdrive User’s Manual Revision History: V1.1 October 31, 2003 V1.2 May 24, 2004 V1.3 August 4, 2004 © Aerotech, Inc., 2003, 2004...

  • Page 3: Table Of Contents

    User Digital Outputs (J104)..........3-4 3.1.3. User Digital Inputs (J104) ........... 3-6 3.1.4. User Analog Output (J104)..........3-8 3.1.5. User Analog Input (J104) ............ 3-9 3.2. Motor Feedback (J103) ..............3-10 3.3. FireWire Bus (J101, J102) ..............3-13 CHAPTER 4: NCDRIVE OPTIONS...............4-1 4.1. Introduction..................4-1 www.aerotech.com...
  • Page 4 NCdrive Board Assembly ..............6-5 6.5. Preventative Maintenance ..............6-7 6.5.1. Cleaning................6-7 APPENDIX A: GLOSSARY OF TERMS ..............A-1 APPENDIX B: WARRANTY AND FIELD SERVICE ..........B-1 APPENDIX C: TECHNICAL CHANGES...............C-1 C.1. Current Changes.................C-1 C.2. Archive of Changes................C-2 INDEX ∇ ∇ ∇ www.aerotech.com...

  • Page 5: List Of Figures

    Handwheel Interconnection to J104 of the NCdrive......5-7 Figure 5-5. Handwheel with Flying Leads (No Connector) ........5-8 Figure 5-6. BBA32 Interface Used to Connect a Handwheel with Flying Leads (No Connector).................5-8 NCdrive Board Assembly (690D1591 Rev. -)........6-5 Figure 6-1. ∇ ∇ ∇ www.aerotech.com...
  • Page 6 List of Figures NCdrive User’s Manual www.aerotech.com...
  • Page 7 Individual Feedback Cables..............5-4 Table 6-1. Amplifier Faults, Causes, and Solutions..........6-2 Table 6-2. NCdrive Control Board Test Points............6-3 Table 6-3. NCdrive Fuse Information...............6-4 Table 6-4. NCdrive Jumper Selections ..............6-6 Table 6-5. Preventative Maintenance................6-7 Table C-1. Current Changes ..................C-1 ∇ ∇ ∇ www.aerotech.com...
  • Page 8 List of Tables NCdrive User’s Manual viii www.aerotech.com...

  • Page 9: Regulatory Information

    NCdrive 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: NCdrive Conforms to the following product specifications, with the exceptions listed below. Safety: EN 61010-1:1993 Safety Requirements and complies with EMC directive 89/336/EEC and 73/23/EEC low voltage directive.
  • Page 10 Regulatory Information NCdrive User’s Manual www.aerotech.com...

  • Page 11: Introduction

    • Mechanical Dimensions .......... 1-7 • Environmental Specifications ........1-8 1.1. Product Overview Aerotech’s NCdrive10, NCdrive20 and NCdrive30 (see Figure 1-1) Network Digital Drives (Ndrive, NLdrive, Nservo and Npaq also) complement the Automation 3200 ® System. Connected via the IEEE-1394 (FireWire...

  • Page 12: Feature Summary

    4 opto-isolated user outputs standard • 6 opto-isolated user inputs standard, 2 of which are high speed • 1 differential analog input standard • 1 analog output standard • Dedicated 24 V Emergency Stop sense input standard (5 volt optional) www.aerotech.com...

  • Page 13: Connection Overview

    The NCdrive consists of two power connections (motor power and input power), two FireWire ports, LED indicator lamps and a high density D-Style connector (26 pin) for Auxiliary I/O and Motor Feedback (25 pin). Refer to Figure 1-2 for locations. Figure 1-2. NCdrive Hardware www.aerotech.com...

  • Page 14: Ncdrive Block Diagram

    A secondary 85 - 240 VAC connection is necessary if the DC ½ J104 bus power is required to operate below 120 VDC (AC input below 85 VAC) ** The shunt regulator is optional on the NCDrive10/20 Figure 1-3. Functional Diagram www.aerotech.com...

  • Page 15: Ordering Information

    Table 1-1. NCdrive Models and Voltage Configurations Model Peak Output Current Continuous Output Current (peak) NCdrive10 NCdrive20 NCdrive30-S Options Shunt resistor network, standard on NCdrive30 Auxiliary 85/240 VAC input to power logic circuitry. Required for keep-alive power or 20-80 VDC bus operation. 20-80 VDC...

  • Page 16: Electrical Specifications

    1.6. Electrical Specifications The electrical specifications for the NCdrive are listed in Table 1-3. Table 1-3. Electrical Specifications Description Units NCdrive10 NCdrive20 NCdrive30 Main Supply Input Volts 85 - 240 VAC Main Supply Input Frequency 50-60 Main Supply Inrush Current...

  • Page 17: Mechanical Dimensions

    Allow atleast 4" for connectors and cable clearance Mounting Hole Layout 4.7 [0.19] 4.7 [0.19] 6.4 [0.25] (TYP.) (TYP.) 167.4 [6.59] 178.2 [7.02] Figure 1-4. NCdrive Dimensions The NCdrive case temperature may exceed 75 °C in some applications www.aerotech.com...

  • Page 18: Environmental Specifications

    Maximum relative humidity is 80% for Humidity: temperatures up to 31°C. Decreasing linearly to 50% relative humidity at 40°C. Non-condensing. • Up to 2000 meters. Altitude • Pollution degree 2 (normally only Pollution non-conductive pollution). • Indoor use only. ∇ ∇ ∇ www.aerotech.com...

  • Page 19: Installation And Configuration

    Aside from the obvious requirements of AC input and motor wiring, the only other typical requirement is to set the NCdrive’s drive number via switch S1, as defined in Section 2.9. www.aerotech.com...

  • Page 20: Safety Procedures And Warnings

    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. www.aerotech.com...

  • Page 21: Motor And Ac Power Connections

    3 Amps). Table 2-2. -AUXPWR AC Input Option (when TB102 AC input < 85 VAC) Pin # Description In/Out/Bi. Optional 85-240 VAC Control Power Input Input Optional 85-240 VAC Control Power Input Input Protective Ground (Required for Safety) Input www.aerotech.com...

  • Page 22: 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. www.aerotech.com...

  • Page 23: Auxpwr (Auxiliary Power) Option

    NCdrive requires a minimum of 85 VAC input to operate properly. The figure below shows the required connection to the -AUXPWR option, when it is present. The connection is made via a three terminal connector (Aerotech Part #ECK00213), provided. See Section 2.5. for the various typical AC wiring options.

  • Page 24: Typical Ac Wiring With Auxpwr Option

    0v BLU BLK 0v FRAME GROUND NCDrive AUXPWR INTERCONNECT (40VDC BUS / TV0.3-28) TV0.3-28 WIRING 620B1346-1 PRIMARY = 230VAC SECONDARY = 28VAC (40VDC BUS) 620B1346-101.DWG TRANSFORMER P/N EAX01007 Figure 2-2. 40 Volt DC Bus from 115 and 230 VAC Source www.aerotech.com...
  • Page 25 80 Volt DC Bus from 115 and 230 VAC Source Figure 2-3 is shown for reference only and was complete and accurate as of this manual’s release. The most recent .Dwg files and a viewer may be found on your software CD ROM. www.aerotech.com...
  • Page 26 160 Volt DC Bus from 115 and 230 VAC Source Figure 2-4 is shown for reference only and was complete and accurate as of this manual’s release. The most recent .Dwg files and a viewer may be found on your software CD ROM. www.aerotech.com...

  • Page 27: Minimizing 50/60 Hz Line Interference

    Earth Ground This configuration is especially important if the NCDrive is operating at DC bus voltages of 100 VDC to 340 VDC (e.g., 115 VAC or 230 VAC input power). Figure 2-6. Isolation Transformer Connection (eliminates 50/60 Hz AC coupling) www.aerotech.com...

  • Page 28: I/O And Signal Wiring Requirements

    If the ESTOP bit is enabled in the FaultMask axis parameter, the ESTOP input must be driven to prevent the ESTOP fault condition. For typical ESTOP wiring, see the following schematic and interface drawing. Figure 2-7. ESTOP Sense Input (TB101) 2-10 www.aerotech.com...

  • Page 29: Typical Estop Interface

    AC LO 50/60 HZ INPUT SAFTEY TB101 "ESTOP" PORT E-STOP +24V USER control relay SUPPLIED coil +24VDC SUPPLY NCDrive AUXPWR OPTION 15A Slow-Blow TB101 "ESTOP" PORT NC DRIVE AUXPWR INTERCONNECT (WITH E-STOP) 620B1358-4 Figure 2-8. Typical Emergency Stop Circuit www.aerotech.com 2-11...

  • Page 30: Motor And Feedback Connections

    2.7.1. DC Brush Motor in Torque Mode Configuration The DC brush motor configuration is shown in Figure 2-9. See section 2.8.2. for the correct encoder phasing information if Aerotech’s standard cabling is not used. NCDrive See A.C. Power Wiring Red &...

  • Page 31: Brushless Motor Configuration

    NCdrive User’s Manual Installation and Configuration 2.7.2. Brushless Motor Configuration This mode is used with a brushless motor only. See section 2.8., if Aerotech’s standard cabling is not used, for information on correctly phasing the motor, encoder and Hall feedback devices.

  • Page 32: Stepper Motor Configuration

    Installation and Configuration NCdrive User’s Manual 2.7.3. Stepper Motor Configuration This mode is used with a stepper motor only. See section 2.8.2., if Aerotech’s standard cabling is not used, for information on correctly phasing the motor feedback devices. NCDrive See A.C. Power...

  • Page 33: Motor Phasing Process

    A “0” for the given 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 NCdrive, motor phase and HALL connections can be easily determined by referring to the system interconnection drawing in Figure 2-10.

  • Page 34: Determining Phase/Hall Sequence

    Hall sequences applied to HALL A, HALL B, and HALL C connections at connector J103. For proper operation, the CEMF generated motor phase voltages should be aligned to the amplifier’s output generated voltage with the given Hall effect sequence shown in Figure 2-12. 2-16 www.aerotech.com...

  • Page 35: Encoder Phasing

    Linear Motor FORCER WIRES + MOVE (Clockwise) COS-N FORCER MAGNET TRACK Rotary Motor SIN-N Motor Shaft MKR-N Motor Mounting Flange (Front View) CW Rotation + MOVE (Clockwise) (Positive Direction) Figure 2-13. Encoder Phasing Reference Diagram www.aerotech.com 2-17...

  • Page 36: Figure 2-14. Encoder And Hall Signals In The Nstat.exe Utility Program

    Installation and Configuration NCdrive User’s Manual Pos Fdbk, to monitor encoder position Hall A, B and C signals Figure 2-14. Encoder and Hall signals in the NStat.exe Utility Program 2-18 www.aerotech.com...

  • Page 37: Communication Channel Settings

    21st 22nd 23rd 24th 25th 26th 27th 28th 29th 30th 31st 32nd * Off is indicated by “ - ” ** The shaded cells (columns 9 through 5) should be left in their factory-preset positions (normally all on). www.aerotech.com 2-19...

  • Page 38: Connecting Multiple Drives

    FireWire cable, 381 mm (15 inches) long, 6 pin to 6 pin NConnect-228-66 FireWire cable, 228 mm (9 inches) long, 6 pin to 6 pin NConnect-228-46 FireWire cable, 228 mm (9 inches) long, 4 pin to 6 pin 2-20 www.aerotech.com...

  • Page 39: Figure 2-16. Firewire Daisy Chain

    FireWire bus. NCdrives, Ndrives, NLdrives, Nservos and Npaqs should always have their FireWire cables connected in a star configuration to minimize the FireWire cable lengths, see Figure 2-15. WARNING www.aerotech.com 2-21...

  • Page 40: User Pc Configuration And Operation Information

    The Nview help included with the software provides additional information for configuring the NCdrive to the PC as well as information on hardware requirements, getting started, programming, utilities and system operation, and on using the Nview HMI application. ∇ ∇ ∇ 2-22 www.aerotech.com...

  • Page 41: Technical Details

    Three user inputs may be used as opto-isolated end of travel limit (EOT) inputs. See the following sub-sections on each type of I/O. Table 3-1. Auxiliary I/O Connector Mating Connector (J104) Aerotech Third Party Source Connector ECK01259...
  • Page 42 Input 11 Input * Total user +5 V power is limited to 500 mA, by an internal re-settable fuse. Please note, that the inputs and outputs on the Auxiliary connector (J104), begin with number 8, as shown in Table 3-2. www.aerotech.com...

  • Page 43: Secondary Encoder Channel (J104)

    Secondary Encoder Channel Input Common Common (+5V Supply Return) Common Common (+5V Supply Return) * Total user +5 V power is limited to 500 mA, by an internal re-settable fuse. Figure 3-1. Primary / Secondary Encoder Channels (J103, J104) www.aerotech.com...

  • Page 44: User Digital Outputs (J104)

    80 milli-Amperes Maximum Frequency 1 kilo-Hertz Maximum Voltage 40 Volts DC Maximum Power Dissipation 90 milli-Watts per (output) channel Typical Rise Time 250 micro-Seconds Saturation Voltage .85 Volt @ 80mAmps, .7 Volt @ 1mAmps Figure 3-2. User Outputs (J104) www.aerotech.com...

  • Page 45: Figure 3-3. Outputs Connected As Current Sinking

    Outputs Connected as Current Sinking Be sure to set the DriveIOConfig axis parameter, to configure the outputs as current sinking or current sourcing! Outputs must be connected all as sourcing, or all as sinking outputs. Figure 3-4. Outputs Connected as Current Sourcing www.aerotech.com...

  • Page 46: User Digital Inputs (J104)

    Input 10 / Home EOT Input Input In 11 Input 11 Input Note: Inputs 8 - 11 must all be used in either current sourcing or current sinking mode. No combination of these modes are allowed. Figure 3-5. Connecting Current Sinking Inputs www.aerotech.com...

  • Page 47: Figure 3-6. Connecting Current Sourcing Inputs

    NCdrive User’s Manual Technical Details Figure 3-6. Connecting Current Sourcing Inputs Figure 3-7. Low Speed and High Speed User Inputs (J104) www.aerotech.com...

  • Page 48: User Analog Output (J104)

    J104-21 or 23. See Section 3.1. for the mating connector part number. Table 3-7. Analog Output Connector Pinouts (J104) Pin # Label Description In/Out/Bi. Analog 0 Out Analog Output 0 Output Common Common N.A. Common Common N.A. Figure 3-8. Analog Output (J104) www.aerotech.com...

  • Page 49: User Analog Input (J104)

    Table 3-8. Optional Analog Input Connector Pinouts (J104) Pin # Label Description In/Out/Bi. Analog0 In + Non-Inverting Analog Input 0 Input Analog0 In - Inverting Analog Input 0 Input Common Common N.A. Common Common N.A. Figure 3-9. Analog Input (J104) www.aerotech.com...

  • Page 50: Motor Feedback (J103)

    (x 4) quadrature decoding. See Figure 3-1 for typical input circuitry of the encoder signals. The NCdrive accepts a line driver encoder. See Section 2.8.2. Encoder Phasing, for information on interfacing to non-Aerotech motors. Two of the three limit inputs are end-of-travel sensing (CW Limit and CCW Limit) while the third is an optional reference limit (Home Limit).
  • Page 51 All external power provided by the NCdrive to the user is protected by a re-settable fuse. Should an over-current condition occur, the device would open to provide protection against the overload. To reset the device, remove the over-current condition. www.aerotech.com 3-11...

  • Page 52: Figure 3-10. Limit, Thermistor And Hall-Effect Inputs (J103)

    Technical Details NCdrive User’s Manual Figure 3-10. Limit, Thermistor and Hall-Effect Inputs (J103) 3-12 www.aerotech.com...

  • Page 53: Firewire Bus (J101, J102)

    Chassis Frame The FireWire connector’s J101-J102 have pin 1, the power pin, protected by a re-settable fuse. Should an over-current condition occur, the device will open to protect against the overload. To reset the device, remove the overload condition. www.aerotech.com 3-13...
  • Page 54 Technical Details NCdrive User’s Manual ∇ ∇ ∇ 3-14 www.aerotech.com...

  • Page 55: Ncdrive Options

    The NCdrive is a cost effective model with very few options. Table 4-1. NCdrive Options Option Capabilities Separate control power input for the 20-80VDC bus as described in –AUXPWR Chapter 2, section 2.4.2. –S Shunt regulator for regenerative energy dissipation Industrial Joystick www.aerotech.com...
  • Page 56 NCdrive Options NCdrive User’s Manual ∇ ∇ ∇ www.aerotech.com...

  • Page 57: Chapter 5: Accessories

    Joystick Extension Cable with Flying Leads (JSXT-FLY-XX) C19792 Joystick Extension Cable with D Style Connectors (JSXT- 26HD-XX) C19851 Hi-Flex Motor Cable (BL MTR-FL-4DU-HF-46DM) C20251-xx* Stepper Motor Cable ECZ01231 BBA32 Interconnect Cable * The “-xx” indicates length in decimeters “-yy” would indicate length in feet. www.aerotech.com...
  • Page 58 Any stage having a stepper motor with a single 23 pin Burndy style connector for motor power, encoder, limits and brake. Motor/Encoder / Limits / Brake Motor Feedback * The “-xx” indicates length measured in decimeters “-yy” indicates length measured in feet. www.aerotech.com...

  • Page 59: Table 5-3. Individual Motor Cables

    ALS130, 135, 2200, 3600, 5000, 5000WB, 20000, Motor Output & 25000 series Motor ARA125 series ASR1000, 1100, & 2000 series (with –HPD option) ATS1100-H series LMA & LMAC series * The “-xx” indicates length measured in decimeters “-yy” indicates length measured in feet. www.aerotech.com...

  • Page 60: Table 5-4. Individual Feedback Cables

    Any stage having a BM/BMS motor with a 17 pin “MS” style connector for encoder, halls, & brake and a 9 pin “D” connector for limits. Motor Feedback Limits * The “-xx” indicates length measured in decimeters “-yy” indicates length measured in feet. www.aerotech.com...

  • Page 61: Joystick Interface

    5.2. Joystick Interface The user may connect an Aerotech JI (not JBV, or JP4) joystick or their own joystick and switches to the NCdrive (Refer to Figure 5-1). The joystick interlock input in the logic low state indicates the connection of the joystick. The zero velocity null-point for each joystick is approximately 2.5 volts.
  • Page 62 Accessories NCdrive User’s Manual A standard Aerotech JI joystick may be connected to J104 of the NCdrive as a single axis joystick via the following cable, shown below (Figure 5-2 and Figure 5-3). Figure 5-2 indicates the required cable and Figure 5-3 indicates the interconnection of the joystick to the NCdrive.

  • Page 63: Handwheel Interface

    Handwheel Interconnection to J104 of the NCdrive A handwheel with flying leads (no connector) may also be connected to the NCdrive via the Aerotech BBA32 to J104, per the next two drawings. The following drawings (Figure 5-5 and Figure 5-6) are shown for reference only and were complete and accurate as of this manual’s release.

  • Page 64: Figure 5-6. Bba32 Interface Used To Connect A Handwheel With Flying Leads (No Connector)

    16. EXT_OUT4 25. EXT_IN3 INTERFACE 8. EXT_OUT2 17. EXT_IN1 26. EXT_IN4 9. EXT_OUT3 18. EXT_IN2 NCDrive BBA32 AUX I/O INTERCONNECT 620B1343-1 BBA32 620B1343-101.DWG Figure 5-6. BBA32 Interface Used to Connect a Handwheel with Flying Leads (No Connector) ∇ ∇ ∇ www.aerotech.com...

  • Page 65: Chapter 6: Troubleshooting

    Voltages must be mechanically secured before applying power. DANGER Motors must be mechanically secured before applying power. Risk of electric shock. DANGER Residual voltages inside the NCdrive controller may exceed 60 Volts after AC power has been disconnected for 10 seconds. DANGER www.aerotech.com...

  • Page 66: Table 6-1. Amplifier Faults, Causes, And Solutions

    Bus over-voltage detected (NCdrive10/20). This Amplifier faults (“ENB” condition indicates an excessive bus supply regeneration LED de-energizes) when condition. The NCdrive10/20 requires that a shunt motor decelerates. regulator option be mounted in the unit. 1. RMS current exceeded - run at lower current.

  • Page 67: Ncdrive Test Points

    6.2. NCdrive Test Points The following test points are available internally to the NCdrive, refer to Section 6.4. for their locations. All test points not shown are for Aerotech internal use only. Table 6-2. NCdrive Control Board Test Points Test Point...

  • Page 68: Fuse Replacement

    NCdrive User’s Manual 6.3. Fuse Replacement Table 6-3 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. See Section 6.4. for fuse location information.

  • Page 69: Ncdrive Board Assembly

    Table 6-4 lists the jumpers and the default configurations for the NCdrive board. S1 defines the NCdrive communication channel number and is the only user configured switch/jumper on the control board (see Table 2-3). Figure 6-1. NCdrive Board Assembly (690D1591 Rev. -) www.aerotech.com...

  • Page 70: Table 6-4. Ncdrive Jumper Selections

    NCdrive User’s Manual Table 6-4. NCdrive Jumper Selections Jumpers Positions Function 1-2 * No Shunt Option Present (Standard, NCdrive10, 20) Shunt Option Present (Optional, except NCdrive30) 1-2 * Watch dog enabled (Standard) Watch dog disabled 1-2 * 24 Volt Emergency Stop (Standard) 5 Volt Emergency Stop (-ESTOP05 option) •...

  • Page 71: Preventative Maintenance

    Table 6-5 lists the recommended checks that should be made during these inspections. The NCdrive (all Aerotech equipment) is not to be used in a manner not specified by Aerotech, Inc.
  • Page 72 Troubleshooting NCdrive User’s Manual ∇ ∇ ∇ www.aerotech.com...

  • Page 73: Appendix A: Glossary Of Terms

    This voltage is proportional to motor speed and is present whether or not the motor windings are energized. Backlash A component of bidirectional repeatability, it is the non- responsiveness of the system load to reversal of input command. www.aerotech.com...
  • Page 74 A brushless motor is electronically commutated using a position feedback device such as an encoder or Hall effect devices. Stepping motors are electronically commutated without feedback in an open-loop fashion. www.aerotech.com...
  • Page 75 0 electrical degrees. This method is slightly more difficult to implement than standard 6-step, but more closely approximates the motor’s back emf. The result is smoother control and less ripple. Aerotech’s BA series self-commutate using this method. Commutation, Sinusoidal The process of switching motor phase current based on motor position information, usually from an encoder.
  • Page 76 The peak force is used in conjunction with the continuous force and duty cycle to calculate the rms force required by the application. The resistance to motion between two surfaces in Friction contact with each other. www.aerotech.com...
  • Page 77 The deviation of a lead screw or ball screw from its nominal pitch. Lead Screw A device for translating rotary motion into linear motion. Unit consists of an externally threaded screw and an internally threaded carriage (nut). (See Ball Screw) www.aerotech.com...
  • Page 78 Open collector output acts like a switch closure with one end of the switch at circuit common potential and the other end of the switch accessible. Control circuit that has an input signal only, and thus Open Loop cannot make any corrections based on external influences. www.aerotech.com...
  • Page 79 (Proportional Integral Derivative) used in compensation of a closed-loop system. The terms are optimally adjusted to have the output response equal the input command. Aerotech controllers utilize the more sophisticated PID FVFA loop which incorporates additional terms for greater system performance.
  • Page 80 Refers to a closed loop control system where a command Servo System is issued for a change in position and the change is then verified via a feedback system. www.aerotech.com...
  • Page 81 (usually PID terms) to achieve the desired response from a stage or mechanism from an input command. Unidirectional See Repeatability Repeatability Velocity Command Motor driver or amplifier configuration where the input signal is commanding motor velocity. Motors with analog tachometers are normally driven by this driver configuration. www.aerotech.com...
  • Page 82 Yaw (of travel) Rotation about the vertical axis, perpendicular to the axis of travel. Angular movement (error) that affects straightness and positioning accuracy. Yaw Error Positioning error resulting from a yaw motion. ∇ ∇ ∇ A-10 www.aerotech.com...

  • Page 83: Appendix B: 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, where or not such use or purpose has been disclosed...
  • Page 84 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 85: Appendix C: Technical Changes

    • Archive of Changes ..............C-2 C.1. Current Changes Table C-1. Current Changes Version Section(s) Affected General Information Updated manual for Revision A NCdrive Updated F4 fuse values Added MCK-NCDRIVE option "Mating connector kit for J103” Re-organization of manual www.aerotech.com...

  • Page 86: Archive Of Changes

    Technical Changes NCdrive User’s Manual C.2. Archive of Changes Nothing to Archive. ∇ ∇ ∇ www.aerotech.com...
  • Page 87 Minimizing Cable Lengths, 2-20, 2-21 Part Numbers, 2-20 FireWire, 3-13 Preferred Configuration, 2-20, 2-21 J103, 3-11 FireWire Bus, 3-13 J104, 3-2 FireWire Port Location, 1-3 Secondary Encoder, 3-3 User Digital Inputs, 3-6 FireWire:, 2-20, 2-21 Fuse Replacement, 6-4 User Digital Outputs, 3-4 www.aerotech.com...
  • Page 88 Analog Output Connector, 3-8 Optional Analog Input Connector, 3-9 Power, 1-5 Power Connections, 1-3, 2-3 LED indicator, 1-3 Preventative Maintenance, 6-7 Limit and Hall Effect Inputs, 3-12 Product Overview, 1-1 Line Filter Connection, 2-9 Line Interference, 2-9 Logic High, 2-15 www.aerotech.com...
  • Page 89 Standard Encoder Input, 3-10 Standard Interconnection Cables, 5-1 Standard Package, 1-4 Stepper Motor Configuration, 2-12, 2-14 Voltage configurations, 1-5 Switching Rate, 2-4 Warnings, 2-2, 2-21 TB101, 2-10 Warranty Policy, B-1 TB102, 2-3 Wiring Techniques, 2-4 Test Points, 6-3 ∇ ∇ ∇ www.aerotech.com...
  • Page 90 Index NCdrive User’s Manual www.aerotech.com...
  • Page 91 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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