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Aerotech Ensemble HLe User Manual
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Table of Contents
Default Chapter
1
Ensemble Hle 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
Figure 1-1: Ensemble Hle Networked Digital Drive
15
Table 1-1: Feature Summary
16
Table 1-2: Ordering Options
16
Table 1-3: Ordering Options (Continued)
17
Table 1-4: Accessories
17
Figure 1-2: Functional Diagram
18
Drive and Software Compatibility
19
Table 1-5: Drive and Software Compatibility
19
Electrical Specifications
20
Table 1-6: Electrical Specifications
20
System Power Requirements
21
Figure 1-3: Dimensions (Slim Version)
22
Mechanical Design
22
Figure 1-4: Dimensions (Full Version with -IO and -RDP Options)
23
Table 1-7: Physical Specifications
23
Environmental Specifications
24
Chapter 2: Installation and Configuration
25
Power Connections
25
Control Supply Connections
25
Figure 2-1: Control Supply Connections
25
Table 2-1: Control Supply AC Input Wiring
25
Table 2-2: Mating Connector Part Numbers for the Control Supply Connector
25
Motor Supply Connections
26
Figure 2-2: Motor Bus Input Connections
26
Motor Output Connections
27
Table 2-3: Motor Power Output Connections
27
Table 2-4: Mating Connector Part Numbers for the Motor Power Output Connector
27
Brushless Motor Connections
28
Figure 2-3: Brushless Motor Configuration
28
Table 2-5: Wire Colors for Aerotech Supplied Cables (Brushless)
28
Figure 2-4: Encoder and Hall Signal Diagnostics
29
Powered Motor Phasing
29
Figure 2-5: Motor Phasing Oscilloscope Example
30
Figure 2-6: Brushless Motor Phasing Goal
30
Unpowered Motor and Feedback Phasing
30
DC Brush Motor Connections
31
Figure 2-7: DC Brush Motor Configuration
31
Figure 2-8: DC Brush Motor Configuration with RT Connection
31
Table 2-6: DC Brush Voltage Output Configuration
31
Table 2-7: Wire Colors for Aerotech Supplied Cables (DC Brush)
31
DC Brush Motor Phasing
32
Figure 2-9: Clockwise Motor Rotation
32
Figure 2-10: Stepper Motor Configuration
33
Table 2-8: Wire Colors for Aerotech Supplied Cables (Stepper)
33
Figure 2-11: Clockwise Motor Rotation
34
Stepper Motor Phasing
34
Stepper Motor Connections
33
Motor Feedback Connections (J207)
35
Table 2-10: Mating Connector Part Numbers for the Motor Feedback Connector
35
Table 2-9: Motor Feedback Connector Pinout (J207)
35
Encoder Interface (J207)
36
Table 2-11: Encoder Pins on the Motor Feedback Connector
36
Figure 2-12: Line Driver Encoder Interface (J207)
37
Line Driver Encoder (Standard)
37
Table 2-12: Encoder Specifications
37
Absolute Encoder Interface (J207)
38
Figure 2-13: Serial Data Stream Interface
38
Analog Encoder Interface
39
Figure 2-14: Analog Encoder Phasing Reference Diagram
39
Table 2-13: Analog Encoder Specifications
39
Figure 2-15: Analog Encoder Interface (J207)
40
Encoder Phasing
41
Figure 2-16: Encoder Phasing Reference Diagram (Standard)
41
Figure 2-17: Position Feedback in the Diagnostic Display
42
Figure 2-18: Hall-Effect Inputs (J207)
43
Hall-Effect Interface (J207)
43
Table 2-14: Hall-Effect Feedback Pins on the Motor Feedback Connector (J207)
43
Figure 2-19: Thermistor Interface Input (J207)
44
Table 2-15: Thermistor Pin on the Motor Feedback Connector (J207)
44
Thermistor Interface (J207)
44
Encoder Fault Interface (J207)
45
Figure 2-20: Encoder Fault Interface Input (J207)
45
Table 2-16: Encoder Fault Pin on the Motor Feedback Connector (J207)
45
End of Travel Limit Input Interface (J207)
46
Figure 2-21: End of Travel Limit Input Connections
46
Table 2-17: End of Travel Limit Input Pins on the Motor Feedback Connector (J207)
46
Figure 2-22: End of Travel Limit Interface Input (J207)
47
End of Travel Limit Phasing
48
Figure 2-23: Limit Input Diagnostic Display
48
Brake Output (J207)
49
Table 2-18: Brake Output Pins on the Motor Feedback Connector (J207)
49
Emergency Stop Sense Input (TB201)
50
Figure 2-24: ESTOP Sense Input (TB201)
50
Table 2-19: Electrical Noise Suppression Devices
50
Table 2-20: Mating Connector Part Numbers for the ESTOP Connector
50
Figure 2-25: Typical Emergency Stop Circuit
51
Table 2-21: Typical ESTOP Relay Ratings
51
Typical ESTOP Interface
51
Auxiliary I/O Connector (J205)
52
Table 2-22: Auxiliary I/O Connector Pinout (J205)
52
Table 2-23: Mating Connector Part Numbers for the Auxiliary I/O Connector
52
Auxiliary Encoder Channel (J205)
53
Table 2-24: Auxiliary Encoder Specifications
53
Table 2-25: Auxiliary Encoder Channel Pins on the Auxiliary I/O Connector (J205)
53
Figure 2-26: Auxiliary Encoder Channel (J205)
54
Position Synchronized Output (Pso)/Laser Firing (J205)
55
Table 2-26: PSO Specifications
55
Table 2-27: PSO Output Pins on the Auxiliary I/O Connector (J205)
55
Figure 2-27: PSO Interface
56
Digital Outputs 0-3 (J205)
57
Table 2-28: Digital Output Specifications
57
Table 2-29: Port 0 Digital Output Pins on the Auxiliary I/O Connector (J205)
57
Figure 2-28: Outputs Connected in Current Sourcing Mode (J205)
58
Figure 2-29: Outputs Connected in Current Sinking Mode (J205)
58
Digital Inputs 0-3 (J205)
59
Table 2-30: Digital Input Specifications
59
Table 2-31: Port 0 Digital Input Pins on the Auxiliary I/O Connector (J205)
59
Figure 2-30: Inputs Connected in Current Sourcing Mode (J205)
60
Figure 2-31: Inputs Connected in Current Sinking Mode (J205)
60
Figure 2-32: High-Speed User Inputs (J205)
61
High-Speed User Inputs 4-5 (J205)
61
Table 2-32: High-Speed Input Specifications
61
Table 2-33: Port 0 High Speed Digital Input Pins on the Auxiliary I/O Connector (J205)
61
Table 2-34: Input Voltage Jumper Configuration
61
Analog Output 0 (J205)
62
Figure 2-33: Analog Output 0 (J205)
62
Table 2-35: Analog Output 0 Specifications (TB102 B)
62
Table 2-36: Analog Output Pins on the Auxiliary I/O Connector (J205)
62
Differential Analog Input 0 (J205)
63
Figure 2-34: Analog Input 0 (J205)
63
Table 2-37: Differential Analog Input 0 Specifications
63
Table 2-38: Analog Input Pins on the Auxiliary I/O Connector (J205)
63
Brake Power Supply Connector (TB202)
64
Table 2-39: Relay Specifications
64
Table 2-40: Brake Output Connector Pinout (TB202)
64
Table 2-41: Mating Connector (TB202)
64
Figure 2-35: Brake Connected to J207
65
Figure 2-36: Brake Connected to TB202
65
Aeronet Interface (J209/J210)
66
Figure 2-37: Aeronet Connection with Three Discrete Drives
66
Table 2-42: Aeronet Cable Part Numbers
66
Interface (J206)
67
Table 2-44: Mating Connector Part Numbers for the the RS-232 Connector (J206)
67
PC Configuration and Operation Information
68
Chapter 3: -I/O Expansion Board
69
Figure 3-1: Ensemble Hle with -IO Option Board
69
Table 3-1: -IO Expansion Board Jumper Configuration
70
Relay Connector (TB301)
71
Figure 3-2: Brake Connected to J207
72
Figure 3-3: Brake Connected to TB301
72
Figure 3-4: PSO Output Sources Current
73
Figure 3-5: PSO Output Sinks Current
73
DUALPSO and -TRIPLEPSO Laser Firing Options
74
Multi-Axis Firing
74
Figure 3-6: Two/Three Axis Laser Firing Interconnection
75
PSO Output Interface (TB302)
73
Analog Outputs (TB303)
76
Figure 3-7: Analog Output Connector (TB303)
76
Analog Inputs (TB304)
77
Figure 3-8: Analog Input Typical Connection (TB304)
77
User Power (TB305, TB306)
78
Opto in Connector (Digital Inputs) (TB305, TB306)
79
Figure 3-9: Digital Inputs (TB305 Shown)
80
Figure 3-10: Digital Inputs Connected to a Current Sourcing Device
81
Opto out Connector (Digital Outputs) (TB307, TB308)
82
Table 3-25: Port 1 Opto out Connector Pinout (TB307)
83
Figure 3-12: Digital Outputs (-IO Board)
84
Figure 3-13: Digital Outputs Connected in Current Sourcing Mode
85
Ssinet (J302/J303)
86
Figure 3-15: J302/J303
87
Chapter 4: -RDP Expansion Board
89
Table 4-2: -RDP Connector Pin Assignment (J401/J402)
90
Figure 4-2: Resolver/Inductosyn Recommended Wiring
91
Figure 4-4: Encoder Emulation Outputs
92
Chapter 5: Standard Interconnection Cables
93
Joystick Interface
94
Figure 5-2: Two Axis Joystick Interface (to the aux I/O of Two Drives)
95
Table 5-2: Cable Part Numbers
96
Handwheel Interface
97
Chapter 6: Maintenance
99
Power Board
100
Table 6-2: Fuse Information
101
Control Board
102
Table 6-5: Control Board Fuse Information
103
Preventative Maintenance
104
Appendix A: Warranty and Field Service
105
Appendix B: Revision History
107
Index
109
4
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Aerotech Ensemble HLe Specifications
General
Brand
Aerotech
Model
Ensemble HLe
Category
Controller
Language
English
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