Marzhauser Sensotech TANGO 3 mini Bedienungsanleitung

Operating Manual TANGO 3 mini

Stepper Motor Controller for Micropositioning Systems

Document version

Original operating manual

Version 3.1, Date: 09.01.2018

First published: 13.10.2016

Product

TANGO 3 mini

Order no.: 00-76-100-5800

Manufacturer

Märzhäuser Sensotech GmbH

An den Fichten 35

35579 Wetzlar (Germany)

Tel.: +49 6441 67106-24

Fax: +49 6441 67106-28

info@marzhauser-st.com

www.marzhauser-st.com

Märzhäuser Sensotech GmbH.

TANGO Desktop Table of Contents

Märzhäuser Sensotech GmbH 3

Table of Contents

1Basics of the Operating Manual.................................................................................................................5

2Safety............................................................................................................................................................5

2.1Intended Use .........................................................................................................................................5

2.2Installation Requirements ......................................................................................................................5

2.3Hazard Symbols ....................................................................................................................................5

2.4General Safety Notes ............................................................................................................................6

3Scope of Delivery ........................................................................................................................................8

4Product Description ....................................................................................................................................8

4.1Identification...........................................................................................................................................8

4.2Area of Application.................................................................................................................................8

4.3Compliance with Directives and Standards...........................................................................................9

4.4Ports and Status LEDs ..........................................................................................................................9

5Putting into Service...................................................................................................................................10

5.1Putting the Controller into Service.......................................................................................................10

5.2Establishing Connection to a PC.........................................................................................................11

5.3Installing SwitchBoard .........................................................................................................................13

5.4Familiarising Yourself with SwitchBoard .............................................................................................13

5.5Connecting the Controller to SwitchBoard ..........................................................................................13

6Port Assignment........................................................................................................................................15

6.1Motor 1-3: D-Sub 26-Pin Socket..........................................................................................................15

6.2HDI: 5-Pin Mini-USB............................................................................................................................16

6.3USB: 4-Pin USB Socket, Type B .........................................................................................................16

6.4Encoder 1-3: HD D-Sub 26-Pin Plug...................................................................................................16

6.5AUX mini: HD D-Sub 15-Pin Plug........................................................................................................18

6.6DC IN: 2.1 mm DC Plug ......................................................................................................................18

7Technical Data ...........................................................................................................................................19

8Accessories ...............................................................................................................................................22

8.1External Power Supply ........................................................................................................................22

8.2Start-up Adapter AUX mini ..................................................................................................................23

8.3Joystick Digital (Optional) ....................................................................................................................24

8.4ERGODRIVE Digital (Optional) ...........................................................................................................26

8.5Mounting Plate.....................................................................................................................................28

8.6Mounting Adapter for 35 mm Top-Hat Rail (optional)..........................................................................29

9Cleaning......................................................................................................................................................30

10Maintenance...............................................................................................................................................30

11Service........................................................................................................................................................31

12Taking out of Service ................................................................................................................................31

13Disposal......................................................................................................................................................32

14Declaration of Conformity ........................................................................................................................33

Basics of the Operating Manual Operating Manual

TANGO Desktop Basics of the Operating Manual

Märzhäuser Sensotech GmbH 5

1 Basics of the Operating Manual

This operating manual provides you with the information required for trouble-free and safe use of the stepper

motor controller TANGO 3 mini, termed controller from here on in this document. You must have fully read

and understood this operating manual and especially the safety instructions before you unpack, put into

service, operate, clean, take out of service or dispose of the controller.

This operating manual is directed at people with basic technical knowledge related to handling equipment

such as is described here. If you do not have any experience with such equipment, have experienced people

help you.

Märzhäuser Sensotech accepts no liability for damage and operating faults which result from ignoring this

operating manual.

2 Safety

2.1 Intended Use

The controller has been designed and constructed exclusively for the connection of 2- and 4-phase stepper

motors and such input devices which have been approved by Märzhäuser Sensotech for operation with this

controller.

Märzhäuser Sensotech accepts no liability for faults which can be traced back to unusual or exceptional use

or improper treatment.

2.2 Installation Requirements

Category Condition

Ambient temperature +5…+45 °C (ext. power supply: 0…+40 °C),

protect from direct sunli

Cooling Normal convection,

refer also to chapter 2.4 General Safet

Notes, pa

e 6

Humidity Max. 85 % (ext. power supply: max. 80 %),

non-condensin

Installation height Max. 2,000 m

Installation location Closed rooms, no risk of explosion

Protection class See chapter 8.1 External Power Supply, page 22

(

GND and TANGO housin

are connected

)

Protection type IP20

2.3 Hazard Symbols

This operating manual contains symbols which warn the operator and point out dangers.

Danger for the user

Crushing hazard

Danger due to electrical current

Safety Operating Manual

Danger due to substances which are harmful to health

Possible damage of devices and parts

2.4 General Safety Notes

The controller may only be used for the purposes which are described in this operating manual. The

operating manuals of connected peripheral devices (positioning systems, microscope, operating elements,

PC etc.) must be heeded.

Never open the housing of the controller or the power supply. In case of violation, all

warranty and liability claims will become void. Only have repair work carried out by our

Customer Service Center.

If the controller is not connected to the mains properly, the operator can suffer an

electric shock and damage can be caused to the controller. Make sure that your mains

voltage corresponds to that printed on the power supply. Only plug the mains plug into

sockets which have a proper protective ground terminal. Make sure that the protective

effect is not suspended e.g. by extension cables which do not have a protective

ground conductor.

If other power supplies than the one provided are used, the operator can suffer an

electric shock and damage can be caused to the controller. In addition, the

electromagnetic properties of the controller might be changed. For this reason, only

use the 24 V wide range power supply provided. In case of violation, all warranty and

liability claims will become void.

If unsuitable peripheral devices are connected, the operator can suffer an electric

shock and damage can be caused to the controller. The controller itself does not have

a protective ground terminal. Ensure that no dangerous voltages or currents are

induced by peripheral devices into the controller. These can be routed from there to

connected devices and cause a hazard there.

Controller and peripheral devices may only be operated by trained personnel who

have been instructed about the hazards which can occur during operation of the

controller and peripheral devices.

There can be a danger of hands being crushed by the positioning systems connected

e.g. a microscope stage. Moving parts of the positioning system can collide with other

microscope components or sample holders and cause damage. Please note that the

operating element (Joystick digital, ERGODRIVE digital) is active after the controller

has been switched on. Ensure that no potentially dangerous movement can occur

either in manual mode or in automatic mode.

Note: You can configure the controller in such a way that the operating element

connected is inactive after switch-on.

Controller and accessories are not suitable for use in a potentially explosive

atmosphere.

TANGO Desktop Safety

Märzhäuser Sensotech GmbH 7

Ensure that no chips, liquids or other objects can get into the housing of the controller

or the power supply. Protect the controller and the power supply from dirt and dust as

far as possible.

The controller and accessories are not protected against corrosive, infectious,

radioactive or other substances which are harmful to health. When handling such

substances, ensure that all legal requirements are fulfilled, especially the national

regulations on accident prevention.

Ensure that the controller, in conjunction with your application, meets the applicable

safety regulations and legal requirements.

This controller was developed and manufactured in compliance with the standard DIN

EN 61010-1:2011-07 Safety requirements for electrical equipment for measurement,

control and laboratory use - Part 1: General requirements.

Note that the effective motor voltage value can correspond to the DC voltage at the

plu

24V DC/4A max..

In the event of malfunction, faults or safety risks related to the controller or the power

supply, switch off all the devices concerned and disconnect them from the mains

supply by removing all plugs, for example. Secure the devices concerned to prevent

them bein

switched back on a

ain and contact our Customer Service Center.

The controller can become damaged if ventilation is prevented. Set the controller down

on a firm, level surface. Keep other objects at least 1.5 cm away on all sides. Do not

place any objects on the controller. When the mounting plate is used, the controller

must not be fixed to thermall

insulatin

bodies

(

. made of plastic

)

Disconnect the controller from the voltage supply before you connect a PC or other

peripheral devices to the controller or disconnect them from the controller.

An improper load or violent treatment of the control stick can lead to incertitudes and

damage to the joystick. Protect the joystick from falling, impact and forced deflection.

Do not store the

stick with the bottom facin

upwards.

Scope of Delivery Operating Manual

3 Scope of Delivery

Standard scope of deliver

Quantit

TANGO 3 mini 1

Mountin

plate

(

pre-fitted

)

USB interface cable 1.8 m 1

Start-up adapter AUX mini 1

External 24 V power suppl

incl. mains cable 1

Operatin

manual 1

Optional components Article no.

ctivation encoder interface 00-76-650-5800

ctivation Snapshot/Tri

er 00-76-801-5800

Motor cable for 3 axes 2 m 00-76-700-5800

Encoder cable for 2 axes 2 m 00-76-650-5801

RS-232 cable On request

dapter cable LED 100 00-76-700-5801

ERGODRIVE 2 di

ital 00-27-322-7000

ERGODRIVE 3 di

ital 00-27-322-8000

xes Jo

stick di

ital 00-76-200-1820

xes Jo

stick di

ital 00-76-300-1820

xes Jo

stick di

ital with Multi-Function Wheel 00-76-300-1821

xes Jo

stick di

ital with Multi-Function Wheel 00-76-400-1820

Mountin

adapter for 35 mm top-hat rail 00-76-100-0800

4 Product Description

4.1 Identification

You can find all required information for clear identification of the controller on the identification plate.

4.2 Area of Application

The controller can be operated in 2 different modes:

Manual mode: Control of the connected axes exclusively via operating element

(Joystick digital or ERGODRIVE digital)

Automatic mode: Control of the connected axes via an external PC

(USB-/RS-232 interface, optional: CAN interface)

or via operating element (Joystick digital or ERGODRIVE digital)

There are 2 limit switch inputs available per axis for travel range limitation and for calibration. There is a

trigger signal input and an output for a motor brake available at the port Motor 1-3.

Further digital and analog inputs/outputs at the port AUX mini, the special functions “Snapshot” and “Trigger”

as well as an encoder interface for evaluating measuring systems of the type Märzhäuser nanoScale

(MR/analogue 5Vpp), 1Vpp or RS-422 are available, depending on the order.

TANGO Desktop Product Description

Märzhäuser Sensotech GmbH 9

4.3 Compliance with Directives and Standards

We hereby declare that the controller is not a device ready for use or connection in the sense of the EMC,

Low Voltage or Machinery Directive, or the Equipment and Product Safety Act, rather that it is a component.

The final mode of function is only defined when the controller is integrated in the overall system. Compliance

of the overall system with existing safety regulations and legal requirements is the responsibility of the

system integrator.

Information and recommendations on installation and intended use are included in this operating manual.

The controller must not be put into service until it has been established that all the legal protective and safety

regulations are kept.

The Declaration of Conformity for the controller can be found in chapter 14 Declaration of Conformity, page

33.

4.4 Ports and Status LEDs

4.4.1 Ports

Fig. 1: Rear panel (port Encoder 1-3 optional)

All the controller’s ports are located on the rear panel. The assignment of the ports and the respective

technical data can be found in chapter 6 Port Assignment, page 15.

4.4.2 Status LED

Status Description

Off Controller is not read

On Controller is read

Flashes approx. 1x/sec. Bootloader active1

Flashes approx. 3x/sec. Output sta

es switched off2

Flashes approx. 6x/sec. Status not OK, e.

. wron

instruction

Flashes approx. 10x or 20x/sec. Bootloader active, firmware update in pro

ress1

1If a firmware update is being loaded to the controller with the aid of the Firmware Update Tool, the bootloader is active.

The controller must not be switched off during this time.

2The output stages can be switched off for the following reasons:

The PSE input (Power Stage Enable) is open or switched to 0 V.

The start-up adapter AUX mini is not inserted.

The closed-loop collision detection has tripped (if configured accordingly).

The overcurrent switch-off of an output stage has responded.

An operating voltage is outside of its specification.

The temperature is too high.

There has been a short-circuit.

The power supply is faulty.

Putting into Service Operating Manual

5 Putting into Service

5.1 Putting the Controller into Service

1Read and make sure you understand chapter 2 Safety before you start putting the controller into service.

2Mount the controller using the mounting plate (see chapter 8.5 Mounting Plate, page 28) or use the

optional mounting adapter for 35 mm top-hat rail (see chapter 8.6 Mounting Adapter for 35 mm Top-Hat

Rail (optional), page 29).

Note: Do not mount the controller on thermally insulating bodies (e.g. made of plastic).

The controller could become too hot and switch the output sta

es off.

Equipment damage possible through putting into/taking out of service with existing

mains power connection.

While the controller is connected to the voltage supply, connection and disconnection of

cables can cause damage to the controller ports and the peripheral devices.

Ensure that the controller is not connected to the power supply before you connect a

PC or other peripheral devices to the controller or disconnect them from the controller.

3Connect the motor ports of your positioning system (scanning stage and/or focus drive) to the port Motor

1-3. Use a suitable motor cable from Märzhäuser Sensotech for this.

4Encoder interface option: Connect the encoder ports of your positioning systems to the port Encoder 1-

3. Use a suitable encoder cable from Märzhäuser Sensotech for this.

5Operating element option: Connect the operating element (Joystick digital or ERGODRIVE digital) to

the port HDI.

Heed the following warning if you use a Joystick digital as an operating element. Continue with step 6 if you

are using an ERGODRIVE digital or no operating element at all.

Crushing/shearing hazard when actuating the joystick during controller switch-

on.

If the joystick is deflected before the status LED on the controller lights up, the zero

point of the joystick will not be calibrated correctly. The connected positioning systems

can move unintentionally when the joystick is released. Fingers and objects can

become crushed and sheared. Moving parts of the positioning systems can collide

with other microscope components or sample holders and cause damage.

Do not hold the joystick when switching the controller on.

Do not deflect the joystick when switching the controller on.

To calibrate the

stick a

ain, switch the controller off and on a

ain.

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