Aerotech Ensemble CP Series Bedienungsanleitung

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View

Instra

MOTOR FEEDBACK

J103

ESTOP

TB101

ENB/FLT

MARKER

AUX I/O

J104

MOTOR

FEEDBACK

J103

ESTOP

TB101

ENB/FLT

MARKER

RELAY TB206

OPTO IN TB205

OPTO IN TB204

GND

OPTO OUT TB203

OPTO OUT TB202

TB201

AGND

AIN+

AIN-

AOUT

AUX I/O

J104

ETHERNET

J102

AEROTECH.AEROTECH.

COMCOM

TMTM

+5V

AEROTECH.AEROTECH.

COMCOM

TMTM

ETHERNET

J102

High Voltage

DANGER!

MOTOR SUPPLY MOTOR OUTPUT

AC1

AC2

240V~

MAX

50/60Hz

15A MAX

PWR

INPOS

TB102

High Voltage

DANGER!

MOTOR SUPPLY MOTOR OUTPUT

AC1

AC2

240V~

MAX

50/60Hz

15A MAX

PWR

INPOS

TB102

Revision: 4.07.00

Ensemble CPHardware Manual

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Global Technical Support

Go to www.aerotech.com/global-technical-support for information and support about your Aerotech products. The website

provides downloadable resources (such as up-to-date software, product manuals, and Help files), training schedules, and

PC-to-PC remote technical support. You can also complete Product Return (RMA) forms and get information about repairs

and spare or replacement parts. For immediate help, contact a service office or your sales representative. Have your

customer order number available before you call or include it in your email.

United States (World Headquarters)

Phone: +1-412-967-6440

Fax: +1-412-967-6870

Email: service@aerotech.com

101 Zeta Drive

Pittsburgh, PA 15238-2897

www.aerotech.com

United Kingdom Japan

Phone: +44 (0)1256 855055

Fax: +44 (0)1256 855649

Email: service@aerotech.co.uk

Phone: +81 (0)50 5830 6814

Fax: +81 (0)43 306 3773

Email: service@aerotechkk.com.jp

Germany China

Phone: +49 (0)911 967 9370

Fax: +49 (0)911 967 93720

Email: service@aerotechgmbh.de

Phone: +86 (21) 3319 7715

Email: saleschina@aerotech.com

France Taiwan

Phone: +33 1 64 93 58 67

Email: sales@aerotech.co.uk

Phone: +886 (0)2 8751 6690

Email: service@aerotech.tw

This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the

express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and

may be trademarks of their respective companies.

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Table of Contents Ensemble CP

Table of Contents

Ensemble CPHardware Manual 1

Table of Contents 3

List of Figures 5

List of Tables 7

EU Declaration of Conformity 9

Agency Approvals 10

Safety Procedures and Warnings 11

Quick Installation Guide 13

Chapter 1: Introduction 15

1.1. Drive and Software Compatibility 18

1.2. Electrical Specifications 19

1.2.1. System Power Requirements 20

1.2.2. Power Dissipation 21

1.3. Mechanical Design 22

1.4. Environmental Specifications 23

Chapter 2: Installation and Configuration 25

2.1. Power Connections 25

2.1.1. Control Supply Connections (TB106) 26

2.1.2. Motor Supply Connections (TB102) 27

2.1.3. Transformer Options 28

2.1.4. Minimizing Conducted, Radiated, and System Noise 35

2.2. Motor Output Connections 36

2.2.1. Brushless Motor Connections 37

2.2.1.1. Powered Motor Phasing 38

2.2.1.2. Unpowered Motor and Feedback Phasing 39

2.2.2. DC Brush Motor Connections 40

2.2.2.1. DC Brush Motor Phasing 41

2.2.3. Stepper Motor Connections 42

2.2.3.1. Stepper Motor Phasing 43

2.3. Motor Feedback Connections (J103) 44

2.3.1. Encoder Interface (J103) 45

2.3.1.1. RS-422 Line Driver Encoder (Standard) 46

2.3.1.2. EnDat Encoder Interface (J103) 47

2.3.1.3. Resolute Encoder Interface (J103) 48

2.3.1.4. Analog Encoder Interface 49

2.3.1.5. Encoder Phasing 51

2.3.2. Hall-Effect Interface (J103) 53

2.3.3. Thermistor Interface (J103) 54

2.3.4. Encoder Fault Interface (J103) 55

2.3.5. End Of Travel Limit Input Interface (J103) 56

2.3.5.1. End Of Travel Limit Phasing 58

2.3.6. Brake Output (J103) 59

2.4. Emergency Stop Sense Input (TB101) 60

2.4.1. Typical ESTOP Interface 61

2.5. Auxiliary I/O Connector (J104) 62

2.5.1. Auxiliary Encoder Channel (J104) 63

2.5.2. Position Synchronized Output (PSO)/Laser Firing (J104) 65

2.5.3. Opto-Isolated Outputs (J104) 67

2.5.4. Opto-Isolated Inputs (J104) 69

2.5.5. High-Speed User Inputs 4-5 (J104) 71

2.5.6. Analog Output 0 (J104) 72

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2.5.7. Differential Analog Input 0 (J104) 73

2.6. Brake Power Supply (TB103) 74

2.6.1. Solid State Relay Specifications (TB103) 77

2.7. Aeronet Interface (J107/J108) 78

2.8. RS-232 Interface (TB103) 79

2.9. -EXTSHUNT Option (TB104) 80

2.10. PC Configuration and Operation Information 83

Chapter 3: -I/O Expansion Board 85

3.1. Analog Output (TB201) 86

3.2. Analog Input (TB201) 87

3.3. Opto-Isolated Inputs (TB204, TB205) 88

3.4. Opto-Isolated Outputs (TB202, TB203) 91

3.5. User Power (TB204, TB205) 95

3.6. Brake / Mechanical Relay (TB206) 96

3.6.1. Brake Configuration Jumpers 96

3.6.2. Mechanical Relay Specifications 96

3.6.3. Brake / Mechanical Relay Interface Connector 97

Chapter 4: Standard Interconnection Cables 99

4.1. Joystick Interface 100

4.2. Handwheel Interface 103

Chapter 5: Maintenance 105

5.1. Control Board 106

5.2. Preventative Maintenance 108

Appendix A: Warranty and Field Service 109

Appendix B: Revision History 111

Index 113

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Table of Contents Ensemble CP

List of Figures

Figure 1-1: Ensemble CP Networked Digital Drive 15

Figure 1-2: Functional Diagram 17

Figure 1-3: Power Dissipation vs. Output Current 21

Figure 1-4: Ambient Temperature vs. Power Dissipation 21

Figure 1-5: Dimensions 22

Figure 2-1: Control Supply Connections 26

Figure 2-2: Motor Bus Input Connections 27

Figure 2-3: Transformer Examples 28

Figure 2-4: 40 VDC Motor Power with a TV0.3-28-56-ST Transformer 29

Figure 2-5: 80 VDC Motor Power with a TV0.3-28-56-ST Transformer 30

Figure 2-6: 40 Volt DC Bus from 115 and 230 VAC Source 31

Figure 2-7: 80 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) 32

Figure 2-8: 160 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) 33

Figure 2-9: Control and Motor Power Wiring using a TM3 or TM5 Transformer 34

Figure 2-10: ACLine Filter (UFM-ST) 35

Figure 2-11: Brushless Motor Configuration 37

Figure 2-12: Encoder and Hall Signal Diagnostics 38

Figure 2-13: Motor Phasing Oscilloscope Example 39

Figure 2-14: Brushless Motor Phasing Goal 39

Figure 2-15: DC Brush Motor Configuration 40

Figure 2-16: Clockwise Motor Rotation 41

Figure 2-17: Stepper Motor Configuration 42

Figure 2-18: Clockwise Motor Rotation 43

Figure 2-19: Line Driver Encoder Interface (J103) 46

Figure 2-20: Serial Data Stream Interface 47

Figure 2-21: Serial Data Stream Interface 48

Figure 2-22: Analog Encoder Phasing Reference Diagram 49

Figure 2-23: Analog Encoder Interface (J103) 50

Figure 2-24: Encoder Phasing Reference Diagram (Standard) 51

Figure 2-25: Position Feedback in the DiagnosticDisplay 52

Figure 2-26: Hall-Effect Inputs (J103) 53

Figure 2-27: Thermistor Interface Input (J103) 54

Figure 2-28: Encoder Fault Interface Input (J103) 55

Figure 2-29: End of Travel Limit Input Connections 56

Figure 2-30: End of Travel Limit Interface Input (J103) 57

Figure 2-31: Limit Input Diagnostic Display 58

Figure 2-32: ESTOPSenseInput (TB101) 60

Figure 2-33: Typical Emergency Stop Circuit 61

Figure 2-34: Auxiliary Encoder Channel (J104) 64

Figure 2-35: PSOInterface 66

Figure 2-36: Outputs Connected in Current Sourcing Mode (J104) 68

Figure 2-37: Outputs Connected in Current Sinking Mode (J104) 68

Figure 2-38: Inputs Connected in Current Sourcing Mode (J104) 70

Figure 2-39: Inputs Connected in Current Sinking Mode (J104) 70

Figure 2-40: High-Speed User Inputs (J104) 71

Figure 2-41: Analog Output 0 (J104) 72

Figure 2-42: Analog Input 0 (J104) 73

Figure 2-43: Brake Connected to J103 75

Figure 2-44: Brake Connected to TB103 76

Figure 2-45: Aeronet Connection with Three Discrete Drives 78

Figure 2-46: RS-232 Interface (TB103) 79

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Figure 3-1: Ensemble CP with -IO Option Board 85

Figure 3-2: Analog Output Connector (TB201) 86

Figure 3-3: Analog Input Typical Connection (TB201) 87

Figure 3-4: Opto-Isolated Inputs 89

Figure 3-5: Inputs Connected to a Current Sourcing Device 90

Figure 3-6: Inputs Connected to a Current Sinking Device 90

Figure 3-7: Opto-Isolated Outputs (-IOBoard) 93

Figure 3-8: Outputs Connected in Current Sourcing Mode 94

Figure 3-9: Outputs Connected in Current Sinking Mode 94

Figure 3-10: Brake Connected to J103 98

Figure 3-11: Brake Connected to TB206 98

Figure 4-1: Single Axis Joystick Interface (to Aux I/O) 100

Figure 4-2: Two Axis Joystick Interface (to the Aux I/O of two drives) 101

Figure 4-3: Two Axis Joystick Interface (to the Aux I/O and I/O Board) 101

Figure 4-4: Two Axis Joystick Interface (to the I/Oboard of two drives) 102

Figure 4-5: Handwheel Interconnection (to Aux I/O) 103

Figure 4-6: Handwheel Interconnection (to Aux I/O via a BBA32 Module) 104

Figure 5-1: Control Board Assembly 106

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Table of Contents Ensemble CP

List of Tables

Table 1-1: FeatureSummary 16

Table 1-2: Drive and Software Compatibility 18

Table 1-3: Electrical Specifications 19

Table 1-4: Physical Specifications 22

Table 2-1: Control Supply ACInput Wiring 26

Table 2-2: Control Supply Mating Connector 26

Table 2-3: Motor Supply Mating Connector 27

Table 2-4: Nominal Motor Operating Voltages / Required ACVoltages 28

Table 2-5: TransformerOptions 28

Table 2-6: FerriteNoise Suppression Numbers 35

Table 2-7: UFM-STElectrical Specifications 35

Table 2-8: Motor Power Output Connections (TB102) 36

Table 2-9: Motor Power Output Mating Connector 36

Table 2-10: Wire Colors for Aerotech Supplied Cables (Brushless) 37

Table 2-11: Wire Colors for Aerotech Supplied Cables (DCBrush) 40

Table 2-12: Wire Colors for Aerotech Supplied Cables (Stepper) 42

Table 2-13: Motor Feedback Connector Pin Assignment (J103) 44

Table 2-14: Encoder Interface Pin Assignment 45

Table 2-15: Encoder Specifications 46

Table 2-16: Analog Encoder Specifications 49

Table 2-17: Hall-Effect Feedback Interface Pin Assignment (J103) 53

Table 2-18: Thermistor Interface Pin Assignment (J103) 54

Table 2-19: Encoder Fault Interface Pin Assignment (J103) 55

Table 2-20: End of Travel Limit Input Interface Pin Assignment (J103) 56

Table 2-21: Brake Output Pin Assignment (J103) 59

Table 2-22: Electrical Noise Suppression Devices 60

Table 2-23: TB101 Mating Connector 60

Table 2-24: Typical ESTOPRelay Ratings 61

Table 2-25: Auxiliary I/O Connector Pin Assignment (J104) 62

Table 2-26: Auxiliary Encoder Specifications 63

Table 2-27: Auxiliary Encoder Channel Pin Assignment (J104) 63

Table 2-28: PSO Specifications 65

Table 2-29: PSOOutput Pin Assignment (J104) 65

Table 2-30: Digital Output Specifications 67

Table 2-31: Port 0 Digital Output Connector Pin Assignment (J104) 67

Table 2-32: Opto-Isolated Input Specifications 69

Table 2-33: Port 0 Digital Input Connector Pin Assignment (J104) 69

Table 2-34: High-Speed Input Specifications 71

Table 2-35: Port 0 High Speed Digital Input Connector Pin Assignment (J104) 71

Table 2-36: Input Voltage Jumper Configuration 71

Table 2-37: Analog Output 0 Specifications (TB102B) 72

Table 2-38: Analog Output Connector Pin Assignment (J104) 72

Table 2-39: Differential Analog Input 0 Specifications 73

Table 2-40: Analog Input Connector Pin Assignment (J104) 73

Table 2-41: Brake Output Connector Pin Assignment (TB103) 74

Table 2-42: Mating Connector (TB103) 74

Table 2-43: Brake Output Connector Pin Assignment (J103) 74

Table 2-44: Relay Specifications 77

Table 2-45: Aeronet Cable Part Numbers 78

Table 2-46: RS-232 Connector Pin Assignment (TB103) 79

Table 2-47: RS-232 Port Connector Mating Connector (TB103) 79

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Table 2-48: -EXTSHUNTComponent Information 80

Table 2-49: Maximum Storage Energy 81

Table 3-1: -IO Expansion Board Jumper Configuration 85

Table 3-2: -IO Option Board Fuse Information 85

Table 3-3: Analog Output Specifications (TB102B) 86

Table 3-4: Analog Output Connector Pin Assignment (TB201) 86

Table 3-5: Analog Output Mating Connector 86

Table 3-6: Differential Analog Input 1 Specifications 87

Table 3-7: Analog Inputs Connector Pin Assignment (TB201) 87

Table 3-8: Analog Input Mating Connector 87

Table 3-9: Opto-Isolated Input Device Specifications 88

Table 3-10: Port 1 Opto-Isolated Input Connector Pin Assignment (TB204) 88

Table 3-11: Port 2 Opto-Isolated Input Connector Pin Assignment (TB205) 88

Table 3-12: Opto-Isolated Input Mating Connector 88

Table 3-13: Output Specifications (TB202, TB203) 91

Table 3-14: Port 1 Opto-Isolated Output Connector Pin Assignment (TB202) 92

Table 3-15: Port 2 Opto-Isolated Output Connector Pin Assignment (TB203) 92

Table 3-16: Opto-Isolated Output Mating Connector 92

Table 3-17: User Common Connector Pin Assignment (TB204) 95

Table 3-18: +5 Volt Power Connector Pin Assignment (TB205) 95

Table 3-19: -IO Expansion Board Brake Jumper Configuration 96

Table 3-20: Voltage and Current Specifications (TB206) 96

Table 3-21: Brake / Mechanical Relay Connector Pin Assignment (TB206) 97

Table 3-22: Mating Connector for TB206 97

Table 3-23: Brake / Mechanical Relay Connector Pin Assignment (J103) 97

Table 4-1: Standard Interconnection Cables 99

Table 4-2: Cable Part Numbers 102

Table 5-1: LEDDescription 105

Table 5-2: Control Board Jumper Configuration 107

Table 5-3: Control Board Fuse Information 107

Table 5-4: LEDDescription 107

Table 5-5: Preventative Maintenance 108

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Declaration of Conformity Ensemble CP

EU Declaration of Conformity

Manufacturer

Aerotech, Inc.

Address

101 Zeta Drive

Pittsburgh, PA 15238-2897

USA

Product

Ensemble CP

Model/Types

All

This is to certify that the aforementioned product is in accordance with the applicable requirements of the

following Directive(s):

2014/30/EU Electromagnetic Compatibility Directive

2014/35/EU Low Voltage Directive LVD

2011/65/EU RoHS2 Directive

and has been designed to be in conformity with the applicable requirements of the following documents

when installed and used in accordance with the manufacturer’s supplied installation instructions.

EN 55011:1998 RFI Limits and Measurement

EN 61800-3:2004 EMC requirements for power drives

EN 61000-3-2:2000 Harmonic Current Emissions

EN 61000-3-3:1995 Voltage Fluctuation and Flicker

EN 61000-4-2:1995 ESD Immunity

EN 61000-4-3:2002 Radiated RFI/EMI Immunity

EN 61000-4-4:1995 EFT/Burst Immunity

EN 61000-4-5:1995 Surge Immunity

EN 61000-4-6:1996 Conducted Immunity

EN 61000-4-11:1994 Voltage Dips and Interruptions

EN 61010-1:2010 Safety requirements for electrical equipment

Name

/ Alex Weibel

Position

Engineer Verifying Compliance

Location

Pittsburgh, PA

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