Aerotech HPe 200 Bedienungsanleitung

Revision: 4.08.00

Soloist HPe 150/200Hardware

Manual

Global Technical Support

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

website supplies software, product manuals, Help files, training schedules, and PC-to-PC remote technical support. If

necessary, you can complete Product Return (RMA) forms and get information about repairs and spare or replacement parts.

To get help immediately, contact a service office or your sales representative. Include your customer order number in your

email or have it available before you call.

United States (World Headquarters)

Email: Support@aerotech.com

Phone: +1-412-967-6440

Fax: +1-412-967-6870

101 Zeta Drive

Pittsburgh, PA 15238-2811

www.aerotech.com

United Kingdom China

Email: Support@aerotech.com

Phone: +44 (0)1256 855055

Fax: +44 (0)1256 855649

Email: Support@aerotech.com

Phone: +86 (21) 5508 6731

Germany Taiwan

Email: Support@aerotech.com

Phone: +49 (0)911 967 9370

Fax: +49 (0)911 967 93720

Email: Support@aerotech.com

Phone: +886 (0)2 8751 6690

France

Email: Support@aerotech.com

Phone: +33 2 37 21 87 65

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.

Table of Contents Soloist HPe 150/200

Table of Contents

Soloist HPe 150/200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 19

1.2. Electrical Specifications 20

1.2.1. System Power Requirements 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 25

2.1.2. Motor Supply Connections 26

2.1.3. Minimizing Conducted, Radiated, and System Noise 27

2.2. Motor Output Connections 28

2.2.1. Brushless Motor Connections 29

2.2.1.1. Powered Motor Phasing 30

2.2.1.2. Unpowered Motor and Feedback Phasing 31

2.2.2. DC Brush Motor Connections 32

2.2.2.1. DC Brush Motor Phasing 33

2.2.3. Stepper Motor Connections 34

2.2.3.1. Stepper Motor Phasing 35

2.3. Motor Feedback Connections (J207) 36

2.3.1. Encoder Interface (J207) 37

2.3.1.1. RS-422 Line Driver Encoder (Standard) 38

2.3.1.2. Absolute Encoder Interface (J207) 39

2.3.1.3. Analog Encoder Interface 40

2.3.1.4. Encoder Phasing 42

2.3.2. Hall-Effect Interface (J207) 44

2.3.3. Thermistor Interface (J207) 45

2.3.4. Encoder Fault Interface (J207) 46

2.3.5. End Of Travel Limit Input Interface (J207) 47

2.3.5.1. End Of Travel Limit Phasing 49

2.3.6. Brake Output (J207) 50

2.4. Emergency Stop Sense Input (TB201) 51

2.4.1. Typical ESTOP Interface 52

2.5. Auxiliary I/O Connector (J205) 53

2.5.1. Auxiliary Encoder Channel (J205) 54

2.5.2. Position Synchronized Output (PSO)/Laser Firing (J205) 56

2.5.3. Digital Outputs 0-3 (J205) 58

2.5.4. Digital Inputs 0-3 (J205) 60

2.5.5. High-Speed Digital Inputs 4-5 (J205) 62

2.5.6. Analog Output 0 (J205) 63

2.5.7. Differential Analog Input 0 (J205) 64

2.6. Brake Power Supply (TB202) 65

2.7. RS-232 Interface (J206) 67

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2.8. -EXTSHUNT Option (TB101) 68

2.9. PC Configuration and Operation Information 70

Chapter 3: -I/O Expansion Board 71

3.1. Relay Connector (TB301) 72

3.2. PSO Output Interface (TB302) 74

3.3. Analog Outputs (TB303) 75

3.4. Analog Inputs (TB304) 76

3.5. User Power (TB305, TB306) 77

3.6. Opto In Connecter (Digital Inputs) (TB305, TB306) 78

3.7. Opto Out Connector (Digital Outputs) (TB307, TB308) 81

Chapter 4: -RDP Expansion Board 85

Chapter 5: Standard Interconnection Cables 89

5.1. Joystick Interface 90

5.2. Handwheel Interface 93

Chapter 6: Maintenance 95

6.1. Power Board 96

6.2. Control Board 97

6.3. Preventative Maintenance 99

Appendix A: Warranty and Field Service 101

Appendix B: Revision History 103

Index 105

Soloist HPe 150/200 Table of Contents

Table of Contents Soloist HPe 150/200

List of Figures

Figure 1-1: Soloist HPe 150/200 Networked Digital Drive 15

Figure 1-2: Functional Diagram 18

Figure 1-3: Dimensions 22

Figure 2-1: Control Supply Connections 25

Figure 2-2: Motor Bus Input Connections 26

Figure 2-3: Brushless Motor Configuration 29

Figure 2-4: Encoder and Hall Signal Diagnostics 30

Figure 2-5: Motor Phasing Oscilloscope Example 31

Figure 2-6: Brushless Motor Phasing Goal 31

Figure 2-7: DC Brush Motor Configuration 32

Figure 2-8: Clockwise Motor Rotation 33

Figure 2-9: Stepper Motor Configuration 34

Figure 2-10: Clockwise Motor Rotation 35

Figure 2-11: Line Driver Encoder Interface (J207) 38

Figure 2-12: Serial Data Stream Interface 39

Figure 2-13: Analog Encoder Phasing Reference Diagram 40

Figure 2-14: Analog Encoder Interface (J207) 41

Figure 2-15: Encoder Phasing Reference Diagram (Standard) 42

Figure 2-16: Position Feedback in the DiagnosticDisplay 43

Figure 2-17: Hall-Effect Inputs (J207) 44

Figure 2-18: Thermistor Interface Input (J207) 45

Figure 2-19: Encoder Fault Interface Input (J207) 46

Figure 2-20: End of Travel Limit Input Connections 47

Figure 2-21: End of Travel Limit Interface Input (J207) 48

Figure 2-22: Limit Input Diagnostic Display 49

Figure 2-23: ESTOPSenseInput (TB201) 51

Figure 2-24: Typical Emergency Stop Circuit 52

Figure 2-25: Auxiliary Encoder Channel (J205) 55

Figure 2-26: PSOInterface 57

Figure 2-27: Digital Outputs Connected in Current Sourcing Mode (J205) 59

Figure 2-28: Digital Outputs Connected in Current Sinking Mode (J205) 59

Figure 2-29: Digital Inputs Connected in Current Sourcing Mode (J205) 61

Figure 2-30: Digital Inputs Connected in Current Sinking Mode (J205) 61

Figure 2-31: High-Speed User Inputs (J205) 62

Figure 2-32: Analog Output 0 (J205) 63

Figure 2-33: Analog Input 0 (J205) 64

Figure 2-34: Brake Connected to J207 66

Figure 2-35: Brake Connected to TB202 66

Figure 2-36: RS-232 Interface (J206) 67

Figure 3-1: Soloist HPe 150/200 with -IO Option Board 71

Figure 3-2: Brake Connected to J207 73

Figure 3-3: Brake Connected to TB301 73

Figure 3-4: PSO Output Sources Current 74

Figure 3-5: PSOOutput Sinks Current 74

Figure 3-6: Analog Output Connector (TB303) 75

Figure 3-7: Analog Input Typical Connection (TB304) 76

Figure 3-8: Digital Opto-Isolated Inputs 79

Figure 3-9: Digital Inputs Connected to a Current Sourcing Device 80

Figure 3-10: Digital Inputs Connected to a Current Sinking Device 80

Figure 3-11: Digital Opto-Isolated Outputs (-IOBoard) 83

Figure 3-12: Digital Outputs Connected in Current Sourcing Mode 84

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Figure 3-13: Digital Outputs Connected in Current Sinking Mode 84

Figure 4-1: -RDPOption Board 85

Figure 4-2: Resolver/Inductosyn Recommended Wiring 87

Figure 4-3: Resolver Inputs 87

Figure 4-4: Encoder Emulation Outputs 88

Figure 5-1: Single Axis Joystick Interface (to Aux I/O) 90

Figure 5-2: Two Axis Joystick Interface (to the Aux I/O of two drives) 91

Figure 5-3: Two Axis Joystick Interface (to the Aux I/O and I/O Board) 92

Figure 5-4: Handwheel Interconnection (to Aux I/O) 93

Figure 5-5: Handwheel Interconnection (to Aux I/O via a BBA32 Module) 93

Figure 6-1: Power Board Assembly 96

Figure 6-2: Control Board Assembly 97

Soloist HPe 150/200 Table of Contents

Table of Contents Soloist HPe 150/200

List of Tables

Table 1-1: FeatureSummary 16

Table 1-2: Ordering Options 16

Table 1-3: Ordering Options (continued) 17

Table 1-4: Accessories 17

Table 1-5: Drive and Software Compatibility 19

Table 1-6: Electrical Specifications 20

Table 1-7: Physical Specifications 22

Table 2-1: Control Supply ACInput Wiring 25

Table 2-2: FerriteNoise Suppression Part Numbers 27

Table 2-3: Motor Power Output Connections 28

Table 2-4: Wire Colors for Aerotech Supplied Cables (Brushless) 29

Table 2-5: Wire Colors for Aerotech Supplied Cables (DCBrush) 32

Table 2-6: Wire Colors for Aerotech Supplied Cables (Stepper) 34

Table 2-7: Motor Feedback Connector Pinout (J207) 36

Table 2-8: Mating Connector Part Numbers for the Motor Feedback Connector (J207) 36

Table 2-9: Encoder Interface Pins on the Motor Feedback Connector (J207) 37

Table 2-10: Encoder Specifications 38

Table 2-11: Analog Encoder Specifications 40

Table 2-12: Hall-Effect Feedback Interface Pins on the Motor Feedback Connector (J207) 44

Table 2-13: Thermistor Interface Pin on the Motor Feedback Connector (J207) 45

Table 2-14: Encoder Fault Interface Pin on the Motor Feedback Connector (J207) 46

Table 2-15: End of Travel Limit Input Interface Pins on the Motor Feedback Connector (J207) 47

Table 2-16: Brake Output Pinson the Motor Feedback Connector (J207) 50

Table 2-17: Electrical Noise Suppression Devices 51

Table 2-18: Mating Connector Part Numbers for the ESTOPConnector (TB201) 51

Table 2-19: Typical ESTOPRelay Ratings 52

Table 2-20: Auxiliary I/O Connector Pinout (J205) 53

Table 2-21: Mating Connector Part Numbers for the AuxiliaryI/OConnector (J205) 53

Table 2-22: Auxiliary Encoder Specifications 54

Table 2-23: Auxiliary Encoder Channel Pins on the Auxiliary I/OConnector (J205) 54

Table 2-24: PSO Specifications 56

Table 2-25: PSOOutput Pins on the Auxiliary I/OConnector (J205) 56

Table 2-26: Digital Output Specifications 58

Table 2-27: Port 0 Digital Output Pins on the Auxiliary I/OConnector (J205) 58

Table 2-28: Digital Input Specifications 60

Table 2-29: Port 0 Digital Input Pins on the Auxiliary I/OConnector (J205) 60

Table 2-30: High-Speed Input Specifications 62

Table 2-31: Port 0 High-Speed Digital Input Pins on the Auxiliary I/OConnector (J205) 62

Table 2-32: Input Voltage Jumper Configuration 62

Table 2-33: Analog Output 0 Specifications (J205) 63

Table 2-34: Analog Output Pins on the Auxiliary I/OConnector (J205) 63

Table 2-35: Differential Analog Input 0 Specifications 64

Table 2-36: Analog Input Pins on the Auxiliary I/O Connector (J205) 64

Table 2-37: Relay Specifications 65

Table 2-38: Brake Output Connector Pinout (TB202) 65

Table 2-39: Mating Connector Part Numbers for the Brake Power Supply Connector (TB202) 65

Table 2-40: RS-232 Connector Pin Assignment (J206) 67

Table 2-41: RS-232 Port Connector Mating Connector (J206) 67

Table 2-42: -EXTSHUNTComponent Information 68

Table 2-43: Maximum Additional Storage Energy 69

Table 3-1: -IO Expansion Board Jumper Configuration 71

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Table 3-2: -IO Option Board Fuse Information 71

Table 3-3: Voltage and Current Specifications (TB301) 72

Table 3-4: Relay Connector Pinout (TB301) 72

Table 3-5: Mating Connector Part Numbers for the Relay Connector (TB301) 72

Table 3-6: -IO Expansion Board Brake Jumper Configuration 72

Table 3-7: PSO Output Connector Pinout (TB302) 74

Table 3-8: Mating Connector Pin Numbers for the PSOOutput Connector (TB302) 74

Table 3-9: PSO Output Polarity Settings for JP2 74

Table 3-10: PSOOpto Output Specifications 74

Table 3-11: Analog Output Specifications (TB303) 75

Table 3-12: Analog Output Connector Pinout (TB303) 75

Table 3-13: Mating Connector Part Numbers for the Analog Output Connector (TB303) 75

Table 3-14: Differential Analog Input 1 Specifications (TB304) 76

Table 3-15: Analog Inputs Connector Pinout (TB304) 76

Table 3-16: Analog Input Mating Connector Part Numbers for the Analog Input Connector (TB304) 76

Table 3-17: User Common Pin on the Opto In Connector (TB305) 77

Table 3-18: +5 Volt Power Pin on the Opto In Connector (TB306) 77

Table 3-19: Digital Input Device Specifications 78

Table 3-20: Port 1 Opto In Connector Pinout (TB305) 78

Table 3-21: Port 2 Opto In Connector Pinout (TB306) 78

Table 3-22: Mating Connector Part Numbers for the Opto In Connector (TB305/TB306) 78

Table 3-23: Digital Output Specifications (TB307, TB308) 81

Table 3-24: Port 1 Opto Out Connector Pinout (TB307) 82

Table 3-25: Port 2 Opto Out Connector Pinout (TB308) 82

Table 3-26: Mating Connector for the Opto Out Connector (TB307/TB308) 82

Table 4-1: -RDP Expansion Board Jumper Configuration 85

Table 4-2: -RDP Connector Pin Assignment (J401/J402) 86

Table 4-3: Resolver Mating Connector 86

Table 4-4: Resolver Test Points 88

Table 5-1: Standard Interconnection Cables 89

Table 5-2: Cable Part Numbers 92

Table 6-1: LEDDescription 95

Table 6-2: Fuse Information 96

Table 6-3: Control Board Jumper Configuration 97

Table 6-4: Control Board Fuse Information 98

Table 6-5: LEDDescription 98

Table 6-6: Preventative Maintenance 99

Soloist HPe 150/200 Table of Contents

Declaration of Conformity Soloist HPe 150/200

EU Declaration of Conformity

Manufacturer

Aerotech, Inc.

Address

101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product

Soloist HPe 150/200

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

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 61800-3:2004 EMC Requirements for Power Drives

EN 61326-1:2013 EMC Requirements for Measurement, Control,

&Laboratory Use

EN 61010-1:2010 Safety Requirements for Electrical Equipment

Authorized Representative:

Simon Smith, European Director

Address:

Aerotech Ltd

The Old Brick Kiln, Ramsdell, Tadley

Hampshire RG26 5PR

Name

/ Alex Weibel

Position

Engineer Verifying Compliance

Location

Pittsburgh, PA

Date

6/20/2019

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Agency Approvals

Aerotech, Inc. Model Soloist HPe 150/200 Series Digital Drives have been tested and found to be in

accordance to the following listed Agency Approvals:

Approval / Certification: CUS NRTL

Approving Agency: TUV SUD America Inc.

Certificate #: U8 17 01 68995 023

Standards: CAN/CSA-C22.2 No. 61010-1:2012; UL 61010-1:2012

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.

Soloist HPe 150/200 Declaration of Conformity

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