Subscribe to Our Youtube Channel
Related Manuals for Aerotech MPGA32
Summary of Contents for Aerotech MPGA32
- Page 1 MPGA32 Hardware Manual P/N: EDO115 (Revision: 1.03a) Dedicated to the Science of Motion Aerotech, Inc. 101 Zeta Drive, Pittsburgh, PA, 15238 Phone: 412-963-7470 Fax: 412-963-7459 www.aerotech.com...
-
Page 2: Revision History
May 15, 2005 1.01 June 28, 2005 1.02 January 19, 2005 1.02a September 8, 2006 1.03a February 8, 2007 Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies. © Aerotech, Inc. 2006... -
Page 3: Table Of Contents
1.7. Mechanical Specifications............1-7 1.8. Environmental Specifications............1-8 CHAPTER 2: INSTALLATION and CONFIGURATION ... 2-1 2.1. Safety Procedures and Warnings ..........2-1 2.2. Connecting the MPGA32 ............2-2 2.3. DC Power Connections.............2-6 2.4. Emergency Stop Connections ..........2-7 2.5. Configuration Information............2-8 2.6. Operation Information .............2-20 CHAPTER 3: TROUBLESHOOTING ........ - Page 4 Table of Contents MPGA32 Hardware Manual www.aerotech.com...
- Page 5 MPGA32 Hardware..............1-3 Figure 1-2: Functional Diagram..............1-4 Figure 1-3: Dimensions ................1-7 Figure 2-1: MPGA32 to Ndrive HP Cable Drawing ........2-2 Figure 2-2: MPGA32 to Npaq Cable Drawing ..........2-3 Figure 2-3: MPGA32 to Ndrive CP Cable Drawing ........2-4 Figure 2-4: MPGA32 to Nservo Cable Drawing ..........2-5 Figure 2-5: DC Power Connections (BRAKE24-2 Option)......2-6...
-
Page 6: List Of Figures
List of Figures MPGA32 Hardware Manual www.aerotech.com... - Page 7 MPGA32 Hardware Manual List of Tables LIST OF TABLES Table 1-1: MPGA32 models ...............1-5 Table 1-2: Accessories................1-5 Table 1-3: Electrical Specifications ............1-6 Table 2-1: Input Power ................2-6 Table 3-1: Symptoms and Solutions ............3-1 Table 3-2: Preventative Maintenance ............3-2 Table C-1: Current Changes..............
-
Page 8: List Of Tables
List of Tables MPGA32 Hardware Manual viii www.aerotech.com... -
Page 9: Chapter 1: Introduction
ESTOP circuit. A dead-man thumb-switch is provided on the side of the unit to prevent inadvertent motion. This switch must be depressed to allow operation. An LED indicator lamp is provided to indicate when the MPGA32 is active. -
Page 10: Mpga32 Requirements
1.2. MPGA32 Requirements The MPGA32 utilizes 9 user digital input bits and one digital output bit. Additionally, a 24 Volt DC power supply is required (500ma). The BRAKE23-2 option may be used to power the MPGA32. Additionally, the following requirements/restrictions apply: Ndrive HP/HL Requires the -IO option. -
Page 11: Device Overview
MPGA32 Hardware Manual Introduction 1.3. Device Overview The MPGA32 connects to the Automation 3200 series drive through a 5.8 m cable. Refer to Figure 1-1 for part locations. Figure 1-1: MPGA32 Hardware www.aerotech.com... -
Page 12: Block Diagram
Introduction MPGA32 Hardware Manual 1.4. Block Diagram The MPGA32 contains a pulse generator, switches and an ESTOP switch as illustrated in the following figure. Figure 1-2: Functional Diagram www.aerotech.com... -
Page 13: Ordering Information
The MPGA 32 is available in four models as shown in Table 1-1. See Table 1-2 for a list of available accessories. Table 1-1: MPGA32 models Model Description MPGA32-Ndrive MPGA32 with cabling for an Ndrive HP/HL MPGA32-Npaq MPGA32 with cabling for an Npaq MPGA32-NCdrive MPGA32 with cabling for an Ndrive CP MPGA32-Nservo MPGA32 with cabling for an Nservo... -
Page 14: Electrical Specifications
Introduction MPGA32 Hardware Manual 1.6. Electrical Specifications The electrical specifications for the MPGA32 are listed in Table 1-3. Table 1-3: Electrical Specifications Description Units MPGA32 Provided by the Ndrive (Ndrive HP/Ndrive HL), NCdrive (Ndrive 5 Volts DC CP), Npaq, or Nservo... -
Page 15: Mechanical Specifications
MPGA32 Hardware Manual Introduction 1.7. Mechanical Specifications The outline dimensions for the MPGA32 are shown in Figure 1-3. Figure 1-3: Dimensions www.aerotech.com... -
Page 16: Environmental Specifications
Introduction MPGA32 Hardware Manual 1.8. Environmental Specifications The environmental specifications for the MPGA32 are listed below. Temperature: Ambient Operating: 5° - 40°C (41° - 104°F) ° ° Storage :-20 - 70 C (-4 - 158 Humidity: Maximum relative humidity is 80% for temperatures up to 31°C. -
Page 17: Chapter 2: Installation And Configuration
24 volt DC input power, the only other requirement may be to wire the E- STOP switch in series with the user’s emergency stop circuit. Should the MPGA32 need to be disconnected, an E-STOP defeat plug is provided. The bypass plug will close the users E-STOP circuit, allowing the machine to operate without the MPGA32. -
Page 18: Connecting The Mpga32
Installation and Configuration MPGA32 Hardware Manual 2.2. Connecting the MPGA32 Each model of the MPGA32 is provided with labeled cables that identify the receiving connector on the drive (Ndrive HP, Ndrive CP, Nservo, or Npaq). MPGA32-NDRIVE Pendant Handheld Controller Interface... - Page 19 MPGA32 Hardware Manual Installation and Configuration MPGA32-NPAQ Pendant Handheld Controller Interface Drawing #: 620D1378-2 Refer to your software CD-Rom for the full drawing. TO J9 NPAQ Figure 2-2: MPGA32 to Npaq Cable Drawing www.aerotech.com...
-
Page 20: Figure 2-3: Mpga32 To Ndrive Cp Cable Drawing
Installation and Configuration MPGA32 Hardware Manual MPGA32-NDRIVE CP (NCDRIVE) Pendant Handheld Controller Interface Drawing #: 620D1378-3 Refer to your software CD-Rom for the full drawing. Figure 2-3: MPGA32 to Ndrive CP Cable Drawing www.aerotech.com... -
Page 21: Figure 2-4: Mpga32 To Nservo Cable Drawing
MPGA32 Hardware Manual Installation and Configuration MPGA32-NSERVO Pendant Handheld Controller Interface Drawing #: 620D1378-4 Refer to your software CD-Rom for the full drawing. Figure 2-4: MPGA32 to Nservo Cable Drawing www.aerotech.com... -
Page 22: Dc Power Connections
Installation and Configuration MPGA32 Hardware Manual 2.3. DC Power Connections The MPGA32 requires 24 volts DC at 500 milliamperes. Power can be supplied through the BRAKE24-2 option (Figure 2-5) or a user-provided power supply. Figure 2-5: DC Power Connections (BRAKE24-2 Option) -
Page 23: Emergency Stop Connections
MPGA32 Hardware Manual Installation and Configuration 2.4. Emergency Stop Connections The emergency stop (E-STOP) switch on the MPGA32 can be connected in series with the user’s E-STOP circuit. Two normally closed switch contacts are provided: NC1 and NC2. Figure 2-6: Connecting the E-STOP Switch www.aerotech.com... -
Page 24: Configuration Information
The MPGA32 requires a CNC G-Code program running on a secondary task to monitor the MPGA32 switches and command the axes to move when the user rotates the manual pulse generator (MPG or handwheel). This program and other required files are distributed with the Automation 3200 software. -
Page 25: Figure 2-8: Mpga32 Program Options
MPGA32 Hardware Manual Installation and Configuration There are five sub-folders under MPGA32. Four sub-folders contain variations of the HandWheelC.Pgm program required for the four models of the MPGA32. The HandWheelC.pgm defines the parameters by which the handwheel operates. The Include sub-folder contains MPGA32_INCLUDE.pgm. - Page 26 Installation and Configuration MPGA32 Hardware Manual Step 1: Open the HandWheelC.pgm for the model of your MPGA32 (Npaq, Nservo, Ndrive, or NCdrive). Modify the first six lines of the program beginning with “#define”, changing the second column of axis names to match the names of the axes in your system.
-
Page 27: Figure 2-10: Defining Incremental Distance
MPGA32 Hardware Manual Installation and Configuration Step 2: Define the distance (metric) of an axis move equal to one tick of the handwheel. If this distance is too large, Position Errors or other faults will occur as the axis motion is commanded by the MPGA32. - Page 28 Installation and Configuration MPGA32 Hardware Manual Step 3: Define the name of the axis that the MPGA32 handwheel is connected to. If connecting an MPGA32 to an Npaq, the A3200 system will expect the encoder channel of the MPGA32 to be connected to the second axis of the Npaq (typically designated as the Y axis).
-
Page 29: Figure 2-12: Defining The Mpga I/O Connection
Installation and Configuration Step 4: Define the name of the axis that the MPGA32 I/O is connected to. If connecting an MPGA32 to an Npaq, the A3200 system will expect the I/O of the MPGA32 to be connected to the first axis of the Npaq (typically designated as the X axis). -
Page 30: Figure 2-13: Save Program Changes
Installation and Configuration MPGA32 Hardware Manual Step 5: Save any program changes before continuing and then return to the Nview HMI home page. Figure 2-13: Save Program Changes 2-14 www.aerotech.com... -
Page 31: Figure 2-14: Opening The Program Automation Page
MPGA32 Hardware Manual Installation and Configuration Step 6: Open the Program Automation page. From the main screen of the Nview HMI, select F7- Setup page, then select F8-Program Automation. Figure 2-14: Opening the Program Automation Page www.aerotech.com 2-15... -
Page 32: Figure 2-15: Configuring Program Automation
(Figure 2-16). Figure 2-15: Configuring Program Automation Navigate to the “C:\A3200\Samples\Gcode\MPGA32\Include” folder and select/open the MPGA32_Include.Pgm file. Set the Execute Type field to “Auto Include” and set the Task of Execution to all tasks (check all task boxes). Click F3-Ok, when complete. - Page 33 MPGA32 Hardware Manual Installation and Configuration Step 8: Add the HandWheelC.pgm to the Program Automation Page. Open the Auto Program Setup dialog box (Figure 2-17). Navigate “C:\A3200\Samples\Gcode\MPGA32” folder select HandWheelC.pgm based on the model of the MGPA32 (choose from Ndrive, Npaq, Nservo, and NCdrive).
-
Page 34: Figure 2-19: Reset To Activate Program Automation
Installation and Configuration MPGA32 Hardware Manual Step 9: Press the “ESC” button to return to the main page of the Nview HMI. When prompted to Reset, select Yes. Figure 2-19: Reset to Activate Program Automation Step 10: After the Reset routine has completed, run the MPGA32_SAMPLE.pgm. -
Page 35: Figure 2-21: Opening The Sample Program (Mpga32_Sample
MPGA32 Hardware Manual Installation and Configuration Figure 2-21: Opening the Sample Program (MPGA32_Sample.pgm) www.aerotech.com 2-19... -
Page 36: Operation Information
Operation Information After configuring the Automation 3200 controller for the MPGA32 and enabling the MPGA32 (for example, running the sample program as described in Step 10 of Section 2.5, above) the LED will light to indicate the MPGA32 is enabled. -
Page 37: Chapter 3: Troubleshooting
TROUBLESHOOTING 3.1. Problems, Causes, and Solutions This section covers symptoms, probable causes, and solutions related to MPGA32 operation. Table 3-1 lists the most common symptoms of irregular operation and the possible causes and solutions for these faults. Before performing the tests described in Table 3-1, be aware of lethal voltages inside the MPGA32 and at the input and output power connections. -
Page 38: Preventative Maintenance
The electrical power must be disconnected from the MPGA32 while cleaning. Do not allow cleaning substances or other fluids to enter the MPGA32 or to get on to any of the connectors. Cleaning labels should be avoided to prevent removing label information. -
Page 39: Appendix A: Glossary Of Terms
MPGA32 Hardware Manual Appendix A APPENDIX A: GLOSSARY OF TERMS The positioning error resulting from angular motion and an offset Abbe Error between the measuring device and the point of interest. The value of the offset between the measuring device and the Abbe Offset point of interest. - Page 40 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. The process of switching motor phase current based on motor Commutation, Sinusoidal position information, usually from an encoder.
- Page 41 MPGA32 Hardware Manual Appendix A Motor driver or amplifier configuration where the input signal is Current Command commanding motor current directly, which translates to motor torque/force at the motor output. Brushless motors can be commutated directly from a controller that can output current phase A and B commands.
- Page 42 Appendix A MPGA32 Hardware Manual Comparison or ratio of the output signal and the input signal. In Gain general, the higher the system gain, the higher the response. Actual distance between graduations on an encoder. Grating Period Feedback device (HED) used in a brushless servo system to...
- Page 43 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 44 Appendix A MPGA32 Hardware Manual Pulse Width Modulation. Switch-mode technique used in amplifiers and drivers to control motor current. The output voltage is constant and switched at the bus value (160 VDC with a 115 VAC input line). Refers to the property of position transducers that allows them to...
- Page 45 MPGA32 Hardware Manual Appendix A via a feedback system. Time required for a motion system to cease motion once the Settling Time command for motion has ended. Maximum radial load that can be applied to the end of the motor Shaft Radial Load shaft at maximum motor speed.
- Page 46 Appendix A MPGA32 Hardware Manual ∇ ∇ ∇ www.aerotech.com...
-
Page 47: 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... - Page 48 Appendix B MPGA32 Hardware Manual On-site Warranty If an Aerotech product cannot be made functional by telephone assistance or by sending Repair 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...
-
Page 49: Appendix C: Technical Changes
MPGA32 Hardware Manual Appendix C APPENDIX C: TECHNICAL CHANGES C.1. Current Changes Table C-1: Current Changes Revision Section(s) Affected Description Revised, updated with new graphics. 1.03 MPGA Npaq note updated Step 3 of Section 2.5 For Aerotech Use: IT ID#979 www.aerotech.com... -
Page 50: Archived Changes
Appendix C MPGA32 Hardware Manual C.2. Archived Changes Table C-2: Archived Changes Version Section(s) Description Affected 1.02 Chapters 1-3 Added Nservo (minor notes only) 1.01 Chapter 2 Corrected program file paths 1.00 New Manual ∇ ∇ ∇ www.aerotech.com... -
Page 51: Index
MPGA32 Hardware Manual Index INDEX Accessories ..........1-5 Hardware Function........1-3 Amplifier Faults........3-1 Hardware Overview ........ 1-3 Cleaning..........3-2 Models............. 1-5 Configuration Information ...... 2-8 MPGA32 Hardware......... 1-3 DC Power Connections......2-6 Options ............ 1-5 Dimensions ..........1-7 Drive Package ......... 1-4 Power Connections........ - Page 52 Index MPGA32 Hardware Manual Index-2 www.aerotech.com...
-
Page 53: Reader's Comments
READER’S COMMENTS MPGA32 Hardware Manual P/N EDO115, February 7, 2007 Revision 1.03a Please answer the questions below and add any suggestions for improving this document. Is the manual: Adequate to the subject Well organized Clearly presented Well illustrated How do you use this document in your job? Does it meet your needs? What improvements, if any, would you like to see? Please be specific or cite examples.
Need help?
Do you have a question about the MPGA32 and is the answer not in the manual?
Questions and answers