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Npaq DL 4010 Series
Aerotech Npaq DL 4010 Series User Manual
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R
evisi
on
:
3.08.
00
N
paq
Hardw
ar
e
M
an
u
a
l
2
Table of Contents
Default Chapter
1
Npaq 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: Npaq Drive Chassis
15
Table 1-1: Feature Summary
16
Table 1-2: Configurations and Options
17
Figure 1-2: Functional Diagram
20
Electrical Specifications
21
Table 1-3: Chassis Electrical Specifications
21
Table 1-4: Servo Amplifier Electrical Specifications
22
System Power Requirements
23
Mechanical Specifications
24
Figure 1-3: Dimensions
25
Environmental Specifications
26
Drive and Software Compatibility
27
Table 1-5: Drive and Software Compatibility
27
Chapter 2: Installation and Configuration
29
Unpacking the Chassis
29
Electrical Installation
30
Figure 2-1: Power and Control Connections
30
Figure 2-2: Power Switch
30
AC Power Connections
32
Figure 2-3: Power Supply Connection
32
Table 2-1: Main AC Power Input Voltages and Current Requirements
32
I/O and Signal Wiring Requirements
33
Minimizing Conducted, Radiated, and System Noise
33
Communication Channel Settings
34
Figure 2-4: Device Number (S2) Location
34
Table 2-2: Device Number Switch Settings (S2)
35
Soft Start / Voltage Selection Overview
36
Soft-Start Operation
36
Figure 2-5: Soft-Start / Voltage Board
36
Table 2-3: AC Input Power Connector (J1) Pin Assignment
36
Table 2-4: +24 VDC Power Connector (J2) Pin Assignment
37
Table 2-5: Transformer Interface Connectors (J3, J5) Pin Assignment
37
Table 2-6: Fan Interface Connector (J4) Pin Assignment
37
Table 2-7: AC Input Power Connector (J1/MXR Board) Pin Assignment
37
Voltage Selection Operation
38
Table 2-8: AC Input Power Connector (J1) Pin Assignment
38
Motor Output Connectors
39
Figure 2-6: Motor Output Connections
39
Table 2-10: Mating Connector Part Numbers for the Motor Power Output Connector
39
Table 2-9: Motor Power Output Connector Pinout
39
Brushless Motor Connections
40
Figure 2-7: Brushless Motor Configuration
40
Figure 2-8: Encoder and Hall Signal Diagnostics
41
Powered Motor Phasing
41
Figure 2-10: Brushless Motor Phasing Goal
42
Figure 2-9: Motor Phasing Oscilloscope Example
42
Unpowered Motor and Feedback Phasing
42
DC Brush Motor Connections
43
DC Brush Motor Phasing
43
Figure 2-11: DC Brush Motor Configuration
43
Figure 2-12: Clockwise Motor Rotation
43
Stepper Motor Connections
44
Stepper Motor Phasing
44
Figure 2-13: Stepper Motor Configuration
44
Figure 2-14: Clockwise Motor Rotation
44
Motor Feedback Connectors
45
Table 2-11: Motor Feedback Connector Pinout
45
Table 2-12: Mating Connector Part Numbers for the Motor Feedback Connector
45
Encoder Interface (J1-J6)
46
Table 2-13: Encoder Interface Pins on the Motor Feedback Connector
46
Figure 2-15: Line Driver Encoder Interface
47
Line Driver Encoder (Standard)
47
Table 2-14: Encoder Specifications
47
Figure 2-16: Analog Encoder Phasing Reference Diagram (-MXR Option)
48
MXR Option (Analog Encoder Interface)
48
Table 2-15: Analog Encoder Specifications
48
Figure 2-17: MXR Analog Encoder Interface
49
Encoder Phasing
50
Figure 2-18: Encoder Phasing Reference Diagram (Standard)
50
Figure 2-19: Position Feedback in the Diagnostic Display
51
Figure 2-20: Hall-Effect Inputs
52
Hall-Effect Interface
52
Table 2-16: Hall-Effect Feedback Pins on the Motor Feedback Connector
52
Figure 2-21: Thermistor Interface Input
53
Table 2-17: Thermistor Pin on the Motor Feedback Connector
53
Thermistor Interface
53
End of Travel Limit Input Interface
54
Figure 2-22: End of Travel Limit Input Connections
54
Table 2-18: End of Travel Limit Input Pins on the Motor Feedback Connector
54
Figure 2-23: End of Travel Limit Interface Input
55
End of Travel Limit Phasing
56
Figure 2-24: Limit Input Diagnostic Display
56
Encoder Fault Interface
57
Figure 2-25: Encoder Fault Interface Input
57
Table 2-19: Encoder Fault Pin on the Motor Feedback Connector
57
Brake Output
58
Table 2-20: Brake Output Pins on the Motor Feedback Connector
58
Position Synchronized Output (PSO) Connector
59
Table 2-21: PSO Interface Connector Pinout (J7)
59
Table 2-22: Mating Connector Part Numbers for the PSO Connector
59
Figure 2-26: PSO Output Sources Current
60
Figure 2-27: PSO Output Sinks Current
60
PSO Opto Output (J7)
60
Table 2-23: PSO Output Polarity Settings for JP16
60
Table 2-24: Output Specifications
60
Figure 2-28: PSO Output 1 and 2 Differential Outputs
61
Figure 2-29: PSO Opto-Isolated Output and PSO Open Collector Outputs
61
PSO Differential Outputs (J7)
61
Figure 2-30: PSO Interlock Opto Input and Reset Output
62
PSO Interlock (J7)
62
Table 2-25: PSO Interlock Specifications
62
Table 2-26: Reset Specifications
62
Figure 2-31: SYNCOUT (1-6) Outputs
63
Figure 2-32: SYNCIN (1-6) Outputs
63
Pso Sync Io (J7)
63
Table 2-27: SYNCOUT Specifications
63
Table 2-28: SYNCIN Specifications
63
High-Speed I/O Connector (J8)
64
Table 2-29: High-Speed I/O Connector Pinout (J8)
64
Table 2-30: Mating Connector Part Numbers for the High-Speed I/O Connector
64
High-Speed Differential Outputs (J8)
65
Table 2-31: High-Speed Differential Output Pins on the High-Speed I/O Connector (J8)
65
Figure 2-33: High Speed Differential Outputs
66
High-Speed Differential Inputs (J8)
67
Table 2-32: High-Speed Differential Input Pins on the High-Speed I/O Connector (J8)
67
Figure 2-34: High-Speed Differential Inputs
68
Figure 2-35: High-Speed Bidirectional I/O
69
High-Speed Bidirectional I/O (J8)
69
Digital Opto-Isolated I/O Connector (J9)
70
Table 2-33: Digital Opto-Isolated I/O Connector Pinout (J9)
70
Table 2-34: Mating Connector Part Numbers for the Digital Opto-Isolated I/O Connector
70
Digital Outputs (J9)
71
Table 2-35: Digital Output Specifications (Outputs 0-7)
71
Table 2-36: Digital Output Pins on the Digital Opto-Isolated Output Connector (J9)
71
Figure 2-36: Digital Outputs Connected in Current Sinking Mode
72
Figure 2-37: Digital Outputs Connected in Current Sourcing Mode
72
Digital Inputs (J9)
73
Table 2-37: Digital Input Specifications
73
Table 2-38: Digital Input Pins on the Digital Opto-Isolated I/O Connector (J9)
73
Figure 2-38: Digital Inputs Connected in Current Sinking Mode
74
Figure 2-39: Digital Inputs Connected in Current Sourcing Mode
74
Analog I/O Connector (J10)
75
Table 2-39: Analog I/O Connector Pinout (J10)
75
Table 2-40: Mating Connector Part Numbers for the Analog I/O Connector (J10)
75
Analog Outputs (J10)
76
Figure 2-40: Analog Outputs (J10)
76
Table 2-41: Analog Output Specifications (J10)
76
Table 2-42: Analog Output Pins on the Analog I/O Connector (J10)
76
Analog Inputs (J10)
77
Figure 2-41: Analog Inputs (J10)
77
Table 2-43: Differential Analog Input 1 Specifications (J10)
77
Table 2-44: Analog Input Pins on the Analog I/O Connector (J10)
77
Joystick Connector (J11)
78
Table 2-45: Joystick Connector Pinout
78
Table 2-46: Mating Connector Part Numbers for the Joystick Connector
78
Figure 2-42: Joystick Inputs (J11)
79
Figure 2-43: Joystick Interface
80
Miscellaneous I/O Connector (J12)
81
User Interrupt Input (UINT) (J12)
82
Figure 2-44: User Interrupt Inputs (J12)
82
Emergency Stop Sense Input (J12)
83
Figure 2-45: Emergency Stop Sense Input Connections (J12)
83
Brake Option (J12)
84
Figure 2-46: Brake Option Connections (Internal) (J12)
84
Solid State Relay Specifications
86
Firewire Interface
87
Ethernet Interface
88
Figure 2-47: Ethernet Connection
88
PC Configuration and Operation Information
89
Chapter 3: Options
91
External / Fan Tray Cooling Options
92
AC Line Filter Option
93
Emergency Stop Options (ESTOP1,2,3)
94
Figure 3-1: ESTOP Option Interface
95
Shunt Option
98
Analog I/O Board Option [Archive]
99
Power Configuration for the -AIO Option [Archive]
100
Analog Inputs on the -AIO Option Board (AIN4-AIN6) [Archive]
101
Analog Outputs on the -AIO Option Board (AOUT4-AOUT9) [Archive]
102
Resolver Option [Archive]
103
Chapter 4: Maintenance
105
Control Board
107
Drive Interface Board Assembly
109
Rear Panel Interface Board Assembly
111
MXR Board Assembly
113
Soft-Start Board Assembly
114
Analog I/O Board Assembly [Archive]
115
RDP Board Assembly [Archive]
116
Fuse Replacement
117
Preventative Maintenance
118
Appendix A: Warranty and Field Service
119
Appendix B: Revision History
121
Appendix C: Avertissements
123
Index
129
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Aerotech Npaq DL 4010 Series Specifications
General
Brand
Aerotech
Model
Npaq DL 4010 Series
Category
Industrial Equipment
Language
English
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