Aerotech Ndrive FCL, Hardware Manual

Page 1: ...Revision 1 02 00 Ndrive FCL Hardware Manual ...

Page 2: ... 967 6870 101 Zeta Drive Pittsburgh PA 15238 2811 www aerotech com United Kingdom Japan Email Support aerotech com Phone 44 0 1256 855055 Fax 44 0 1256 855649 Email Support aerotech com Phone 81 0 50 5830 6814 Fax 81 0 43 306 3773 Germany China Email Support aerotech com Phone 49 0 911 967 9370 Fax 49 0 911 967 93720 Email Support aerotech com Phone 86 21 5508 6731 France Taiwan Email Support aero...

Page 3: ...ly Connections TB201 21 2 2 3 External Power Supply Options 22 2 2 4 Minimizing Conducted Radiated and System Noise 24 2 3 FireWire Interface 25 2 4 Motor and Feedback Connections J201 26 2 4 1 Analog Encoder Inputs J201 27 2 5 Position Synchronized Output PSO TB101 28 2 6 Encoder Input TB103 A B 29 2 6 1 Emergency Stop Sense Input 31 2 7 Encoder Output J103 32 2 8 Digital and Analog I O 34 2 8 1 ...

Page 4: ... 23 Figure 2 5 Encoder Connections TB103 A B 30 Figure 2 6 Emergency Stop Sense Input 31 Figure 2 7 Encoder Outputs 32 Figure 2 8 PSO External Sync Input 33 Figure 2 9 Inputs Connected to a Current Sourcing Device 36 Figure 2 10 Inputs Connected to a Current Sinking Device 36 Figure 2 11 Outputs Connected in Current Sourcing Mode 38 Figure 2 12 Outputs Connected in Current Sinking Mode 38 Figure 2...

Page 5: ...A 29 Table 2 17 Encoder Input Connector Pinout TB103 B 29 Table 2 18 6 Pin Terminal Block Mating Connector Specifications for TB103 A B 29 Table 2 19 Cable Part Numbers 29 Table 2 20 ESTOP Pins on the Encoder Input TB103 A Connector 31 Table 2 21 Electrical Noise Suppression Devices 31 Table 2 22 Encoder Output Connector Pinout J103 32 Table 2 23 15 Pin D Style Mating Connector Specifications for ...

Page 6: ...Table of Contents Ndrive FCL Hardware Manual 6 www aerotech com This page intentionally left blank ...

Page 7: ...e Directive 2011 65 EU RoHS 2 Directive and has been designed to be in conformity with the applicable requirements of the following Standard s when installed and used in accordance with the manufacturer s supplied installation instructions EN 61010 1 2010 Safety Requirements for Electrical Equipment Authorized Representative Simon Smith European Director Address Aerotech Ltd The Old Brick Kiln Ram...

Page 8: ...oval Certification CUS NRTL Approving Agency TUV SUD America Inc Certificate U8 16 06 68995 021 Standards UL 61010 1 2012 CAN CSA C22 2 No 61010 1 2012 EN 61010 1 2010 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 8 www aerotech com...

Page 9: ...before servicing equipment 2 Disconnect electrical power before performing any wiring 3 To minimize the possibility of electrical shock and bodily injury extreme care must be exercised when any electrical circuits are in use Suitable precautions and protection must be provided to warn and prevent persons from making contact with live circuits 4 Do not connect or disconnect any electrical component...

Page 10: ...Ndrive FCL Electrical Safety 10 www aerotech com This page intentionally left blank ...

Page 11: ...ound on your installation device Figure 1 Quick Start Connections Quick Start Summary Topic Section Set the Device Number Section 2 1 Communication Channel Settings Connect the FireWire Section 2 3 FireWire Interface Connect to the axis motor and feedback Section 2 6 Encoder Input TB103 A B Section 2 7 Encoder Output J103 and Section 2 4 Motor and Feedback Connections J201 Connect to the Control S...

Page 12: ...Quick Installation Guide Ndrive FCL Hardware Manual 12 www aerotech com This page intentionally left blank ...

Page 13: ... dedicated analog and digital I O and separate power connections for motor and control supply voltages Figure 1 1 Ndrive FCL Controller Table 1 1 Feature Summary Standard Features l Two auxiliary channels of 40 MHz line driver quadrature encoder inputs l Four optically isolated digital inputs 5 24V l Four optically isolated digital outputs sinking or sourcing 5 24V l Dual Axis PSO firing l Three a...

Page 14: ...Ndrive FCL Hardware Manual The following block diagram shows a connection summary refer to Chapter 2 and Chapter 3 for more detailed connection information Figure 1 2 Functional Diagram 14 Chapter 1 www aerotech com ...

Page 15: ...Description Ndrive FCL Motor Supply Input Voltage 40 VDC max Input Current continuous 10 A Control Supply Input Voltage 85 240 VAC Input Frequency 50 60 Hz Inrush Current 16 A Input Current 0 35 A max Output Voltage 76 V Peak Output Current 20 A Continuous Output Current 5 A Minimum Load Resistance 0 5 Ω User Power Supply Output 5 VDC 500 mA www aerotech com Chapter 1 15 ...

Page 16: ... The following figure shows the Ndrive FCL package dimension as well as the typical mounting orientation Refer to Section 2 3 for FireWire interconnection cable options Table 1 3 Unit Weight Weight 2 9 kg 6 4 lb Figure 1 3 Dimensions 16 Chapter 1 www aerotech com ...

Page 17: ... 185 F Humidity Maximum relative humidity is 80 for temperatures up to 31 C Decreasing linearly to 50 relative humidity at 40 C Non condensing Altitude Operating 0 m to 2 000 m 0 ft to 6 562 ft above sea level Contact Aerotech if your specific application involves use above 2 000 m or below sea level Pollution Pollution degree 2 normally only non conductive pollution Use Indoor use only www aerote...

Page 18: ...e software first supported the drive Drives that list a specific version number in the Last Software Version column will not be supported after the listed version Table 1 4 Drive and Software Compatibility Drive Type Firmware Revision First Software Version Last Software Version Ndrive FCL 6 01 Current A 6 02 Current 18 Chapter 1 www aerotech com ...

Page 19: ...are typically configured using sequential communication channels Table 2 1 Device Number Switch Settings S2 Device Switch Settings Off is indicated by Switch Location 4 3 2 1 0 1 ON ON ON ON ON 2 ON ON ON ON 3 ON ON ON ON 4 ON ON ON 5 ON ON ON ON 6 ON ON ON 7 ON ON ON 8 ON ON 9 ON ON ON ON 10 ON ON ON 11 ON ON ON 12 ON ON 13 ON ON ON 14 ON ON 15 ON ON 16 ON 17 ON ON ON ON 18 ON ON ON 19 ON ON ON 2...

Page 20: ...ns and logic circuitry Both AC1 and AC2 inputs are fused internally The control power supply contains an internal filter and does not require an external filter for CE compliance Figure 2 1 Control Supply Connections Table 2 2 Control Supply Input Wiring TB104 Pin Description Recommended Wire Size AC1 Line 85 240 Volt AC Input Range 1 3 mm2 16 AWG AC2 Neutral 0V or 85 240 Volt AC Input Range 1 3 m...

Page 21: ...thout the safety ground connection in place Figure 2 2 Motor Bus Input Connections Table 2 4 Motor Supply Input Wiring TB201 Pin Description Recommended Wire Size DC 0 to 40 Volt DC Input Range 2 1 mm2 14 AWG RET Return for DC Input 2 1 mm2 14 AWG DC 0 to 40 Volt DC Input Range 2 1 mm2 14 AWG Protective Ground Required for Safety 2 1 mm2 14 AWG N OTE Wire insulation rated for 300 V Table 2 5 4 Pin...

Page 22: ...as their output is not ground referenced and are specified to be used in either positive or negative polarity refer to Figure 2 4 The Ndrive FCL controller is capable of sourcing 10 A peak to each motor This current must be supplied by the external power supply Switching power supplies must be rated for the peak current requirement of the application since they will typically shut down if overload...

Page 23: ...Ndrive FCL Hardware Manual Installation and Configuration Figure 2 4 Third Party Power Supply Connection www aerotech com Chapter 2 23 ...

Page 24: ...elded cables with metal D style connectors and back shells The shield of the cables must be connected to the metal back shell in order for the product to conform to radiated emission standards The Ndrive FCL is a component designed to be integrated with other electronics EMC testing must be conducted on the final product configuration 24 Chapter 2 www aerotech com ...

Page 25: ...or cables exceeding 4 5 m 15 ft specification Part Number Description NFIRE RPTR 1394A 1394A Extender for copper cable lengths greater than 4 5 m 15 feet NFIRE RPTR 1394A GOF Glass Optical Fiber FireWire Repeater Qty 1 Fiber Cable not included Table 2 8 FireWire Cables copper and glass fiber Part Number Description NCONNECT 60 6 m 20 ft long 6 pin to 6 pin NCONNECT 45 4 5 m 15 ft long 6 pin to 6 p...

Page 26: ...4 2 Cosine Input 3 Encoder Ground N A 4 Reserved 5 Reserved 6 Reserved 7 Marker Input 8 Encoder Power 5V N A 9 Reserved 10 Flash Configuration Input 11 Shield N A 12 Motor Output 13 Motor Output 14 Sine Input 15 Cosine Input 16 Encoder Ground N A 17 Reserved 18 Reserved 19 Reserved 20 Marker Input 21 Encoder Ground N A 22 Reserved 23 Shield N A 24 Motor Output 25 Motor Output Table 2 10 25 Pin D S...

Page 27: ...t and phase balance of the analog Sine and Cosine encoder input signals can be adjusted by controller parameters Encoder signals should be adjusted using the Feedback Tuning tab of the Digital Scope Utility Table 2 11 Analog Encoder Specifications Specification Value Input Frequency max 500 kHz Input Amplitude 1 0 6 to 1 2 Vpk Vpk Interpolation Factor fixed 262 144 1 Any single ended encoder signa...

Page 28: ...frequency pulse transmission is required It is best to locate the line receiver or opto isolator close to the receiving electronics Table 2 12 PSO Specifications Specification Value Maximum Input Tracking Rate 1 Single Axis Tracking 16 6 MHz Dual Axis Tracking 15 MHz Maximum Quadrature Encoder Output Frequency MXH Feedback 30 MHz Maximum PSO Output Fire Frequency 2 with Differential Output 5 MHz w...

Page 29: ...ec Table 2 16 Encoder Input Connector Pinout TB103 A Pin Label Description In Out Bi Connector 1 SIN1 Encoder SIN Input Input 2 SIN1 Encoder SIN Input Input 3 COS1 Encoder COS Input Input 4 COS1 Encoder COS Input Input 5 ESTOP Emergency Stop Digital Input Input 6 ESTOP Emergency Stop Digital Input Input Table 2 17 Encoder Input Connector Pinout TB103 B Pin Label Description In Out Bi Connector 1 R...

Page 30: ...Installation and Configuration Ndrive FCL Hardware Manual Figure 2 5 Encoder Connections TB103 A B 30 Chapter 2 www aerotech com ...

Page 31: ...n the FaultMask axis parameter the ESTOP input must be driven to prevent the ESTOP fault condition Figure 2 6 Emergency Stop Sense Input Table 2 20 ESTOP Pins on the Encoder Input TB103 A Connector Pin Label Description In Out Bi 5 ESTOP Emergency Stop Digital Input Input 6 ESTOP Emergency Stop Digital Input Input N OTE Connecting the ESTOP input to a relay or other noise producing device requires...

Page 32: ...1 SIN Output 1 8 9 15 2 Reserved 3 COS Output 4 Reserved 5 Reserved 6 Reserved 7 PSO External Sync Input 8 5V Output 9 SIN Output 10 Reserved 11 COS Output 12 Reserved 13 Reserved 14 Reserved 15 Ground Table 2 23 15 Pin D Style Mating Connector Specifications for J103 Mating Connector Aerotech P N 3rd Party P N Backshell ECK01022 Amphenol 17E 1725 2 Connector ECK00326 Amphenol DA15S064TLF Figure 2...

Page 33: ...al Installation and Configuration Table 2 24 PSO External Sync Specifications Specification Value Voltage 3 3 VDC Frequency 25 MHz Maximum On Time 20 ns Minimum Figure 2 8 PSO External Sync Input www aerotech com Chapter 2 33 ...

Page 34: ...ly Isolated Output 5 DOC Digital Output Common Input 6 AI Analog Input Input 7 AI Analog Input Input 8 GND Ground Table 2 26 Digital Inputs and Analog Outputs Pinout TB102 B Pin Label Description In Out Bi Connector 1 DI0 Digital Input 0 Optically Isolated Input 2 DI1 Digital Input 1 Optically Isolated Input 3 DI2 Digital Input 2 Optically Isolated Input 4 DI3 Digital Input 3 Optically Isolated In...

Page 35: ...ly connected to the drive s power supply however doing so will effectively defeat the isolation and will reduce noise immunity Table 2 28 Digital Input Specifications Input Voltage Approximate Input Current Turn On Time Turn Off Time 5 V to 24 V 5 mA 4 usec 1500 usec Table 2 29 Digital Inputs Pins on the TB102 B Connector Pin Label Description In Out Bi 1 DI0 Digital Input 0 Optically Isolated Inp...

Page 36: ...Installation and Configuration Ndrive FCL Hardware Manual Figure 2 9 Inputs Connected to a Current Sourcing Device Figure 2 10 Inputs Connected to a Current Sinking Device 36 Chapter 2 www aerotech com ...

Page 37: ...nnector Pin Label Description In Out Bi 1 DO0 Digital Output 0 Optically Isolated Output 2 DO1 Digital Output 1 Optically Isolated Output 3 DO2 Digital Output 2 Optically Isolated Output 4 DO3 Digital Output 3 Optically Isolated Output 5 DOC Digital Output Common Input Table 2 31 Digital Output Specifications Opto Device Specifications Value Maximum Voltage 24 V Maximum Maximum Sink Source Current...

Page 38: ...Installation and Configuration Ndrive FCL Hardware Manual Figure 2 11 Outputs Connected in Current Sourcing Mode Figure 2 12 Outputs Connected in Current Sinking Mode 38 Chapter 2 www aerotech com ...

Page 39: ...gnal source should be referenced to the analog common as shown in Figure 2 13 Table 2 32 Analog Input Pins on the TB102 A Connector Pin Label Description In Out Bi 6 AI Analog Input Input 7 AI Analog Input Input 8 GND Ground Table 2 33 Differential Analog Input Specifications Specification Value AI AI 10 V to 10 V 1 Resolution bits 16 bits Resolution volts 305 µV 1 Signals outside of this range ma...

Page 40: ...ystem reset Table 2 34 Analog Output Pins on the TB102 B Connector Pin Label Description In Out Bi 6 AO0 Analog Output 0 Output 7 AO1 Analog Output 1 Output Table 2 35 Analog Output Specifications Specification Value Output Voltage 10 V to 10 V Output Current 5 mA Resolution bits 16 bits Resolution volts 305 µV Figure 2 14 Analog Outputs TB102 B 40 Chapter 2 www aerotech com ...

Page 41: ...Ndrive FCL Hardware Manual Installation and Configuration 2 9 Laser Output Polarity The Laser Output Polarity switches are reserved for future use www aerotech com Chapter 2 41 ...

Page 42: ...ware Manual 2 10 PC Configuration and Operation Information For additional information about Ndrive FCL and PC configuration hardware requirements programming utilities and system operation refer to the A3200 Help file 42 Chapter 2 www aerotech com ...

Page 43: ...and at the input and output power connections A qualified service technician or electrician should perform these tests Table 3 1 LED Description LED Description PWR Turns green when power is applied STAT Turns red to indicate when the PSO output is on If the power light flashes continuously and the unit does not operate there is too much current draw from the 5V power supply or the controlsupply v...

Page 44: ...ny fluids or electrically conductive material must not be permitted to enter the Ndrive FCL Visually inspect all cables and connections Tighten or re secure any loose connections Replace worn or frayed cables Replace broken connectors Cleaning The Ndrive FCL chassis can be wiped with a clean dry soft cloth The cloth may be slightly moistened if required with water or isopropyl alcohol to aid in cl...

Page 45: ...ble 3 3 Control Board Fuse Specifications Fuse Description Size Aerotech P N Manufacturer s P N F1 Control Power at TB109 1 2 A S B EIF01048 Littelfuse 0875002 MXEP F2 Control Power at TB109 1 2 A S B EIF01048 Littelfuse 0875002 MXEP F6 FireWire power at J101 J102 NOTE F6 is a resettable fuse turn off power and remove the short F6 does not require replacement www aerotech com Chapter 3 45 ...

Page 46: ...FCL chassis Figure 3 2 Power Board Assembly Table 3 4 Power Board Fuses Fuse Description Size Aerotech P N Manufacturer s P N F1 Motor Bus Supply 10 A S B EF01020 Littelfuse 215010 P F2 Motor Bus Supply 10 A S B EF01020 Littelfuse 215010 P NOTE F1 and F2 are located on the bottom of the board 46 Chapter 3 www aerotech com ...

Page 47: ...t such approval A Return Materials Authorization RMA number must accompany any returned product s The RMA number may be obtained by calling an Aerotech service center or by submitting the appropriate request available on our website www aerotech com Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than thi...

Page 48: ...rms and conditions stated in the following On Site Non Warranty Repair section apply On site Non Warranty Repair If any Aerotech product cannot be made functional by telephone assistance or purchased replacement parts and cannot be returned to the Aerotech service center for repair then the following field service policy applies Aerotech will provide an on site Field Service Representative in a re...

Page 49: ...nual Revision History Appendix B Revision History Revision Description 1 02 00 Added a new table l Table 2 24 1 01 00 Updates have been made to l EU Declaration of Conformity 1 00 00 New Manual www aerotech com Appendix B 49 ...

Page 50: ...Revision History Ndrive FCL Hardware Manual 50 Appendix B www aerotech com This page intentionally left blank ...

Page 51: ...ncoder Inputs 27 Encoder Specifications 27 Environmental Specifications 17 F Feature Summary 13 Feedback Connections 26 FireWire Cables 25 FireWire Card Part Numbers 25 FireWire Interface 25 FireWire Repeaters 25 Functional Diagram 14 G Global Technical Support 2 H Humidity 17 I Inputs Connected to a Current Sinking Device 36 Inputs Connected to a Current Sourcing Device 36 inspect all cables and ...

Page 52: ...cifications 33 PSO Output Sources 28 Q Quick Installation Guide 11 Quick Start Connections 11 R Revision History 49 S Standard Features 13 Support 2 T TB103 29 TB104 20 TB109 20 TB201 21 Technical Support 2 U unit weight 16 Use 17 52 Index www aerotech com ...