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Aerotech NDrive CP10 Manuals
Manuals and User Guides for Aerotech NDrive CP10. We have
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Aerotech NDrive CP10 manual available for free PDF download: User Manual
Aerotech NDrive CP10 User Manual (152 pages)
Digital Servo Drive
Brand:
Aerotech
| Category:
Servo Drives
| Size: 27 MB
Table of Contents
Revision History
3
Table of Contents
4
List of Figures
9
List of Tables
10
Declaration of Conformity
12
Regulatory Information
12
Chapter 1: Introduction
14
Figure 1-1. Ndrive HP 10/20/30 Networked Digital Drives
14
Feature Summary
15
Connection Overview
16
Figure 1-2. Ndrive HP Hardware
16
Functional Diagram
17
Figure 1-3. Functional Diagram
17
Ordering Information
18
Table 1-1. Models, Options, and Voltage Configurations
18
Table 1-2. Accessories
19
Specifications
20
Electrical Specifications
20
Table 1-3. Electrical Specifications
20
Mechanical Specifications
21
Figure 1-4. Ndrive HP Dimensions (with -IO Option)
21
Figure 1-5. Ndrive HP Dimensions (Without the -IO Option)
22
Environmental Specifications
23
CHAPTER 2: INSTALLATION and CONFIGURATION
24
Safety Procedures and Warnings
24
Wiring, Grounding, and Shielding Techniques
25
Minimizing EMI Interference
25
Table 2-1. Ferrite Bead Part Numbers
25
Minimizing 50/60 HZ Line Interference
26
Figure 2-1. Back-Propagation Line Filter Connection
26
Figure 2-2. Isolation Transformer Connection (Eliminates 50/60 Hz AC Coupling)
26
Power Connections
27
Control Power Connections (TB101)
27
Table 2-2. TB101 Auxiliary AC Supply Input
27
Motor Power Connections (TB102)
28
Figure 2-4. Bus Power
28
Table 2-3. TB102 Main AC Power Input and Motor Power Output
28
40/80 VDC Power Transformers
29
Figure 2-5. TM3 and TM5 Transformer Options
29
Typical AC Wiring with AUXPWR Option
30
Motor and Feedback Connections
33
DC Brush Motor in Torque Mode Configuration
33
Figure 2-9. DC Brush Motor (Torque Mode) Configuration
33
DC Brush Motor Phasing
34
DC Brush Motor with Tachometer Feedback Configuration
35
Figure 2-10. DC Brush Motor Wiring with Tachometer
35
Brushless Motor Configuration
36
Figure 2-11. Brushless Motor Configuration
36
Brushless Motor Phasing
37
Brushless Motor Hall-Effect Feedback Connections
38
Figure 2-12. Hall-Effect Feedback Connections
38
Figure 2-13. Hall-Effect Feedback Inputs in the Nstat Utility
38
Hall-Effect Phasing
39
Figure 2-14. Motor Phasing
40
Stepper Motor Configuration
41
Stepper Motor Phasing Process
41
Figure 2-15. Stepper Motor Configuration
41
Encoder Feedback Connections
42
Figure 2-16. Encoder Feedback Connections
42
Encoder Phasing
43
Figure 2-17. Encoder Phasing Reference Diagram
43
Figure 2-18. Encoder and Hall Signals in the Nstat Utility Program
43
End of Travel (EOT) Limit Input Connections
44
End of Travel (EOT) Limit Phasing
44
Communication Channel Settings
45
Table 2-4. Ndrive HP Switch Settings (S2)
45
Connecting Multiple Drives
46
Figure 2-21. Recommended Star Daisy Chain Configuration
46
Table 2-5. Firewire Card and Cable Part Numbers
46
I/O and Signal Wiring Requirements
47
Figure 2-22. Firewire Daisy Chain
47
Emergency Stop Sense Input (TB201)
48
Figure 2-23. ESTOP Sense Input (TB201)
48
Typical ESTOP Interface
49
Figure 2-24. Typical Emergency Stop Circuit
49
PC Configuration and Operation Information
50
Chapter 3: Technical Details
52
Auxiliary I/O Connector (J205)
52
Table 3-1. Auxiliary I/O Connector Pin Assignment (J205)
52
Secondary Encoder Channel (J205)
53
Figure 3-1. Secondary Encoder Channel (J205)
54
User Outputs 8-11 (J205)
55
User Inputs 8-11 (J205)
56
High Speed User Inputs 12-13 (J205)
57
Analog Input 0 (J205)
57
Analog Output 0 (J205)
57
Table 3-6. High Speed User Inputs Pin Assignment on Connector
57
Table 3-7. Auxiliary I/O Connector Pin Assignment (J205)
57
Position Synchronized Output (PSO) / Laser Firing
58
Figure 3-5. Advanced 1 - 3 Axis Firing
60
Single Axis Laser Firing
61
Figure 3-6. Data Capture/Data Update Modes
61
Motor Feedback (J207)
62
Table 3-11. Motor Feedback Connector Pin Assignment (J207)
62
Table 3-12. Motor Feedback Connector Mating Connector (J207)
62
End of Travel Limit Inputs
63
Figure 3-7. End of Travel Limit Inputs
63
Table 3-13. End of Travel Limit Inputs Pin Assignment on Connector
63
Hall Effect and Thermistor Inputs
64
Figure 3-8. Hall-Effect and Thermistor Inputs (J207)
64
Table 3-14. Hall-Effect Inputs Pin Assignment on Connector J207
64
Brake Output
65
Encoder Interface
65
Line Driver Encoder (Standard)
66
Figure 3-9. Line Driver Encoder Interface - Standard (J207)
66
MXH Option
67
Table 3-17. MXH Option Specifications
68
Figure 3-10. Optional MXH Analog Encoder Interface (J207)
69
RS-422 Port (J206)
70
Figure 3-11. RS-232/RS-422 Connector (J206)
71
Firewire Bus (J201, J202, J203)
72
Table 3-20. J201, J202, J203 Firewire Connector Pin Assignment
72
Voltage-To-Current Mode Operation
73
Parameter Setup and Hardware Configuration
74
Saving Parameters to the Flash Memory on the Drive
74
Operation
75
Faults
75
Options
76
IOPSO and -IOPSOH Option Boards
76
Figure 4-1. -IOPSO Option Board (690D1579 Rev. A)
76
Table 4-1. -IOPSO Option Board Jumpers
76
Brake Configuration Jumpers
77
Analog Outputs (TB301)
78
Figure 4-3. Analog Output Connector (TB301)
78
Table 4-3. Analog Output Connector Pin Assignment (TB301)
78
Brake / Relay (TB301)
79
Table 4-4. Voltage and Current Specifications (TB301)
79
Table 4-5. Brake / Relay Connector Pin Assignment (TB301)
79
Table 4-6. Brake / Relay Connector Pin Assignment (J207)
79
Figure 4-4. Brake Connected to TB301
80
Figure 4-5. Brake Connected to J207
80
Figure 4-6. Suppression for DC Brake Systems
81
Figure 4-7. Suppression for AC and DC Brake Systems
82
Analog Inputs (TB302)
83
Figure 4-8. Optional Analog Input Connector (TB302)
83
Table 4-7. Optional Analog Input Connector Pin Assignment (TB302)
83
User Power Connector (TB303)
84
Opto-Isolated Outputs (TB304)
84
Table 4-8. User Power Connector Pin Assignment (TB303)
84
Table 4-9. Opto-Isolated Output Connector Pin Assignment (TB304)
84
Table 4-10. -IOPSO Output Device Specifications (TB304)
84
Figure 4-9. Connecting Outputs in Current Sinking Mode
85
Figure 4-10. Connecting Outputs in Current Sourcing Mode
85
Opto-Isolated Inputs (TB305)
86
Figure 4-11. Inputs Connected in Current Sinking Mode
86
Figure 4-12. Inputs Connected in Current Sourcing Mode
87
PSO / Absolute Encoder Interface (J301)
88
Figure 4-13. Absolute Encoder Interface (J301)
89
Figure 4-14. PSO Interface
90
Figure 4-15. (RS-485) Absolute Encoder Interface (J301)
90
SSI Net (2 Channels) (J302, J303)
91
Table 4-15. J302, J303 2-Channel SSI Net Connector Pin
91
DUALPSO and -TRIPLEPSO Laser Firing Options
93
PSO Tracking Rate Configuration
94
ENET (Ethernet) Option J204
96
Figure 4-19. Ethernet Interface (J204)
96
Table 4-17. Ethernet Connector Pin Assignment (J204)
96
Table 4-18. Nconnect I/O Cable Part Numbers
96
RDP Resolver Input
97
Table 4-19. Resolver Connector Pin Assignment (J401, J402)
97
Table 4-20. Resolver Mating Connector
97
Table 4-21. Resolver Jumper Configuration
97
Figure 4-20. Resolver Option Assembly (690D1599 Rev. 0)
98
Table 4-22. Resolver Test Points
98
Table 4-23. External Power Pin Assignment (J403)
98
Resolver/Inductosyn Setup
99
Configuring the Hardware
99
Configuring the Analog Feedback Signals
100
Figure 4-21. Analog Output Connector (TB301)
100
Figure 4-22. Resolver Located at Maximum of sin Signal
102
Figure 4-23. Rotating the Resolver (to See a Circle)
102
Figure 4-24. Optimized Resolver Feedback Configuration
103
Configuring the Commutation Initialization
104
Accessories
106
Standard Interconnection Cables
106
Table 5-1. Standard Interconnection Cables
106
Table 5-2. Combined Motor & Feedback Cables
107
Table 5-3. Individual Motor Cables
108
Table 5-4. Individual Feedback Cables
109
Joystick Interface
110
Figure 5-2. Single Axis Joystick Interface to J205 of the Ndrive
111
Extension Cable
113
Figure 5-1. Joystick Interface
114
Figure 5-5. Two-Axis Joystick Connection to the I/O on the -IOPSO Option
114
Handwheel Interface
115
Figure 5-6. Handwheel Interconnection to J205 of the Ndrive
115
Figure 5-8. BBA32 Interface Used to Connect a Handwheel with Flying Leads (no Connector)
117
Troubleshooting
118
Problems, Causes, and Solutions
118
Ndrive HP Control Board Test Points
119
Ndrive HP Control Board Assembly
120
Figure 6-1. Ndrive HP Control Board Assembly (690D1577 Rev. A)
120
Table 6-3. Ndrive HP Control Board Jumper Selections
121
Ndrive HP Power Board Assembly
122
Figure 6-2. Ndrive HP Power Board Assembly (690D1576 Rev. A)
122
Table 6-4. Ndrive HP Power Board Jumper Selections
123
Table 6-5. Ndrive HP Power Board Fuse Information
123
LED Indicators
124
Table 6-6. LED Indicator Description
124
JTAG Programming Connector
125
Table 6-7. JTAG Programming Connector - Internal (P10)
125
Fuse / Battery Replacement
126
Table 6-10. Battery Replacement Part Number (Ndrive HP Control Board)
126
Preventative Maintenance
127
Cleaning
127
Appendix A: Glossary of Terms
128
APPENDIX B: WARRANTY and FIELD SERVICE
136
Table C-1. Current Technical Changes
138
Appendix C: Technical Changes
139
Table C-2. Technical Change Archive
139
APPENDIX D: REV. 0 to REV a COMPARISON
140
Figure D-1. Connector/Led Comparison
140
Connector Renumbering
141
Option Changes
142
E-Stop Interface for Rev. 0
144
Figure D-2. Typical Emergency Stop Circuit (Rev. 0
144
Index
146
Reader's Comments
150
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