Aerotech Ndrive ML Series Bedienungsanleitung

Revision: 1.11.00

Ndrive ML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 Ndrive ML

Table of Contents

Ndrive ML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. Communication Channel Settings 25

2.2. Power Connections 26

2.2.1. Control Supply Connections (TB103) 27

2.2.2. Motor Supply Connections (TB102) 28

2.2.3. External Power Supply Options 29

2.3. Motor Output Connections 33

2.3.1. Brushless Motor Connections 34

2.3.1.1. Powered Motor Phasing 35

2.3.1.2. Unpowered Motor and Feedback Phasing 36

2.3.2. DC Brush Motor Connections 37

2.3.2.1. DC Brush Motor Phasing 38

2.3.3. Stepper Motor Connections 39

2.3.3.1. Stepper Motor Phasing 40

2.4. Motor Feedback Connections (J103) 41

2.4.1. Encoder Interface (J103) 42

2.4.1.1. RS-422 Line Driver Encoder (Standard) 43

2.4.1.2. Analog Encoder Interface 44

2.4.1.3. Encoder Phasing 46

2.4.2. Hall-Effect Interface (J103) 48

2.4.3. Thermistor Interface (J103) 49

2.4.4. Encoder Fault Interface (J103) 50

2.4.5. End Of Travel Limit Input Interface (J103) 51

2.4.5.1. End Of Travel Limit Phasing 53

2.4.6. Brake Output (J103) 54

2.4.7. Differential Analog Input 0 (J103) 55

2.5. Emergency Stop Sense Input (TB101) 56

2.5.1. Typical ESTOP Interface 57

2.6. FireWire Interface 58

2.7. PC Configuration and Operation Information 59

Chapter 3: -I/O Expansion Board 61

3.1. User Power (TB201) 62

3.2. Brake Relay Connector (TB201) 63

3.3. Analog I/O Connector (TB202) 65

3.3.1. Analog Output 1 (TB202) 66

3.3.2. Differential Analog Input 1 (TB202) 67

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3.4. OptoIn Connector (Digital Inputs) (TB203) 68

3.5. Opto Out Connector (Digital Outputs) (TB204) 71

3.6. Auxiliary Encoder Channel/PSO Output (J201) 74

3.6.1. Position Synchronized Output (PSO)/Laser Firing (J201) 76

Chapter 4: Standard Interconnection Cables 79

4.1. Joystick Interface 80

4.2. Handwheel Interface 82

Chapter 5: Maintenance 83

5.1. Preventative Maintenance 84

Appendix A: Warranty and Field Service 85

Appendix B: Revision History 87

Index 89

Ndrive ML Table of Contents

Table of Contents Ndrive ML

List of Figures

Figure 1-1: Ndrive ML Networked Digital Drive 15

Figure 1-2: Functional Diagram 18

Figure 1-3: Dimensions 22

Figure 2-1: Control Supply Connections 27

Figure 2-2: Motor Bus Input Connections 28

Figure 2-3: Control and Motor Power Wiring using a TM3 Transformer 30

Figure 2-4: PS-ML Option (120 W, 24 VDCOutput, with Brake) 31

Figure 2-5: PS-ML Option (240 W, 24 VDCOutput, with Brake) 31

Figure 2-6: PS-ML Option (180 W, 40 VDCOutput, with Brake) 32

Figure 2-7: PS-ML Option (360 W, 40 VDCOutput, with Brake) 32

Figure 2-8: Brushless Motor Configuration 34

Figure 2-9: Encoder and Hall Signal Diagnostics 35

Figure 2-10: Motor Phasing Oscilloscope Example 36

Figure 2-11: Brushless Motor Phasing Goal 36

Figure 2-12: DC Brush Motor Configuration 37

Figure 2-13: Clockwise Motor Rotation 38

Figure 2-14: Stepper Motor Configuration 39

Figure 2-15: Clockwise Motor Rotation 40

Figure 2-16: Line Driver Encoder Interface (J103) 43

Figure 2-17: Analog Encoder Phasing Reference Diagram 44

Figure 2-18: Analog Encoder Interface (J103) 45

Figure 2-19: Encoder Phasing Reference Diagram (Standard) 46

Figure 2-20: Position Feedback in the DiagnosticDisplay 47

Figure 2-21: Hall-Effect Inputs (J103) 48

Figure 2-22: Thermistor Interface Input (J103) 49

Figure 2-23: Encoder Fault Interface Input (J103) 50

Figure 2-24: End of Travel Limit Input Connections 51

Figure 2-25: End of Travel Limit Interface Input (J103) 52

Figure 2-26: Limit Input Diagnostic Display 53

Figure 2-27: Analog Input 0 (J103) 55

Figure 2-28: ESTOPSenseInput (TB101) 56

Figure 2-29: Typical Emergency Stop Circuit 57

Figure 3-1: Ndrive ML with -IO Option Board 61

Figure 3-2: Brake Connected to J103 64

Figure 3-3: Brake Connected to TB201 64

Figure 3-4: Analog Output 1 (TB202) 66

Figure 3-5: Analog Input Typical Connection (TB202) 67

Figure 3-6: Digital Opto-Isolated Inputs 69

Figure 3-7: Digital Inputs Connected to a Current Sourcing Device 70

Figure 3-8: Digital Inputs Connected to a Current Sinking Device 70

Figure 3-9: Digital Opto-Isolated Outputs (-IOBoard) 72

Figure 3-10: Digital Outputs Connected in Current Sourcing Mode 73

Figure 3-11: Digital Outputs Connected in Current Sinking Mode 73

Figure 3-12: Auxiliary Encoder Channel (J201) 75

Figure 3-13: PSOInterface 77

Figure 4-1: Single Axis Joystick Interface 80

Figure 4-2: Two Axis Joystick Interface 81

Figure 4-3: Handwheel Interconnection (to Aux I/O) 82

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Ndrive ML Table of Contents

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Table of Contents Ndrive ML

List of Tables

Table 1-1: FeatureSummary 16

Table 1-2: Ordering Options 16

Table 1-3: MLPower Supply Options 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: Device Number Switch Settings (S1) 25

Table 2-2: Control Supply DCInput Wiring 27

Table 2-3: Mating Connector Part Numbers for the Control Supply Connector 27

Table 2-4: Motor Supply Input Wiring 28

Table 2-5: Mating Connector Part Numbers for the Motor Supply Connector 28

Table 2-6: ExternalPower Supply Options 29

Table 2-7: PS-ML ACPower Wiring Requirements 29

Table 2-8: Motor Power Output Connections (TB102) 33

Table 2-9: Mating Connector Part Numbers for the Motor Power Output Connector 33

Table 2-10: Wire Colors for Aerotech Supplied Cables (Brushless) 34

Table 2-11: Wire Colors for Aerotech Supplied Cables (DCBrush) 37

Table 2-12: Wire Colors for Aerotech Supplied Cables (Stepper) 39

Table 2-13: Motor Feedback Connector Pinout (J103) 41

Table 2-14: Mating Connector Part Numbers for the MotorFeedbackConnector (J103) 41

Table 2-15: Encoder Interface Pins on the Motor Feedback Connector (J103) 42

Table 2-16: Encoder Specifications 43

Table 2-17: Analog Encoder Specifications 44

Table 2-18: Hall-Effect Feedback Pins on the Motor Feedback Connector (J103) 48

Table 2-19: Thermistor Pin on the Motor Feedback Connector (J103) 49

Table 2-20: Encoder Fault Pin on the Motor Feedback Connector (J103) 50

Table 2-21: End of Travel Limit Input Pins on the Motor Feedback Connector (J103) 51

Table 2-22: Brake Output Pins on the Motor Feedback Connector (J103) 54

Table 2-23: Differential Analog Input 0 Specifications 55

Table 2-24: Differential Analog Input Pins on the Motor Feedback Connector (J103) 55

Table 2-25: Electrical Noise Suppression Devices 56

Table 2-26: Mating Connector Part Numbers for the ESTOPConnector (TB101) 56

Table 2-27: Typical ESTOPRelay Ratings 57

Table 2-28: FireWire Card Part Numbers 58

Table 2-29: FireWire Repeaters (for cables exceeding 4.5 m (15 ft) specification) 58

Table 2-30: FireWire Cables (copper and glass fiber) 58

Table 3-1: User Common Connector Pins on the Brake Relay Connector (TB201) 62

Table 3-2: Relay Specifications 63

Table 3-3: Brake Relay Connector Pinout (TB201) 63

Table 3-4: Mating Connector Part Numbers for the Brake Relay Connector (TB201) 63

Table 3-5: Analog Output Connector Pinout (TB202) 65

Table 3-6: Mating Connector Part Numbers for the Analog Output Connector (TB202) 65

Table 3-7: Analog Output 1 Specifications (TB202) 66

Table 3-8: Analog Output Pins on the Analog I/OConnector (TB202) 66

Table 3-9: Differential Analog Input 1 Specifications 67

Table 3-10: Differential Analog Input 1 Pins on the Analog I/OConnector (TB202) 67

Table 3-11: Digital Input Specifications 68

Table 3-12: Opto In Connector Pinout (TB203) 68

Table 3-13: Mating Connector Part Numbers for the Opto In Connector (TB203) 68

Table 3-14: Digital Output Specifications (TB204) 71

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Table 3-15: Opto Out Connector Pinout TB204) 71

Table 3-16: Mating Connector for the Opto Out Connector (TB204) 71

Table 3-17: Auxiliary Encoder Specifications 74

Table 3-18: Auxiliary Encoder Channel Pinout (J201) 74

Table 3-19: Mating Connector Part Numbers for the Auxiliary Encoder Connector (J201) 74

Table 3-20: PSO Specifications 76

Table 3-21: PSOOutput Pin Assignment (J201) 76

Table 4-1: Standard Interconnection Cables 79

Table 4-2: Joystick Cable Part Numbers 81

Table 5-1: LEDDescription 83

Table 5-2: Preventative Maintenance 84

Ndrive ML Table of Contents

Declaration of Conformity Ndrive ML

EU Declaration of Conformity

Manufacturer

Aerotech, Inc.

Address

101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product

Ndrive ML

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 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

11/26/2019

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Agency Approvals

Aerotech, Inc. Model Ndrive ML 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.

Ndrive ML Declaration of Conformity

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