Aerotech AUTOMATION1-GL4 User manual

Patent Number: US 8,426,768 B2
Revision: 1.04.00
AUTOMATION1-GL4
HARDWAREMANUAL

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101 Zeta Drive
Pittsburgh, PA 15238-2811
www.aerotech.com
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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.
Copyright © 2016-2019, Aerotech, Inc., All rights reserved.

GL4 Hardware Manual Table of Contents
Table of Contents
AUTOMATION1-GL4 HARDWAREMANUAL 1
Table of Contents 3
List of Figures 4
List of Tables 5
EU Declaration of Conformity 7
Agency Approvals 9
Safety Procedures and Warnings 11
Quick Installation Guide 13
Chapter 1: Introduction 15
1.1. Electrical Specifications 17
1.2. Mechanical Specifications 18
1.3. Environmental Specifications 19
1.4. Drive and Software Compatibility 20
Chapter 2: Installation and Configuration 21
2.1. Input Power Connections 21
2.1.1. Control Supply Connector 21
2.1.2. Motor Supply Connector 22
2.1.3. External Power Supply Options 23
2.1.4. Minimizing Conducted,Radiated, and System Noise for EMC/CECompliance 25
2.2. HyperWire Interface 26
2.3. Laser Output Connectors 27
2.3.1. Position Synchronized Output (PSO) 32
2.4. Encoder Output Connector 33
2.5. Galvo Motor Connectors 35
2.5.1. Analog Encoder Inputs 36
2.5.2. Galvo Motor Connection 36
2.5.3. End of Travel Limit Input Interface 37
2.5.3.1. End of Travel Limit Phasing 39
2.5.4. Thermistor Interface 40
2.6. Digital and Analog I/O Connectors 41
2.6.1. Digital Outputs 42
2.6.2. Digital Inputs 44
2.6.3. Analog Outputs 45
2.6.4. Analog Inputs (Differential) 46
2.7. Encoder Input Connectors 47
2.7.1. Emergency Stop Sense Input 49
2.8. Laser Output Polarity Switches 50
2.9. Sync Port 51
2.10. PC Configuration and Operation Information 52
Chapter 3: Maintenance 53
3.1. Preventative Maintenance 53
3.2. Board Assembly 54
Appendix A: Warranty and Field Service 57
Appendix B: Revision History 59
Index 61
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List of Figures GL4 Hardware Manual
List of Figures
Figure 1-1: GL4 Networked Digital Galvo Controller 15
Figure 1-2: Functional Diagram 16
Figure 1-3: Dimensions 18
Figure 2-1: Control Supply Connections 21
Figure 2-2: Motor Supply Connections 22
Figure 2-3: Control and Motor Power Wiring using a TM3 Transformer 23
Figure 2-4: Third-Party Power Supply Connection 24
Figure 2-5: Laser Interface Outputs 28
Figure 2-6: Current Sinking Configuration with Isolation 29
Figure 2-7: Current Sinking Configuration without Isolation 29
Figure 2-8: Current Sourcing Configuration with Isolation 30
Figure 2-9: Current Sourcing Configuration without Isolation 30
Figure 2-10: TTLOutput 31
Figure 2-11: Encoder Outputs 33
Figure 2-12: PSOExternal Sync Input 34
Figure 2-13: End of Travel Limit Input Connections 38
Figure 2-14: End of Travel Limit Interface Input Schematic 38
Figure 2-15: Limit Input Diagnostic Display 39
Figure 2-16: Thermistor Interface Input Schematic 40
Figure 2-17: Digital Outputs Connected in Current Sourcing Mode 43
Figure 2-18: Digital Outputs Connected in Current Sinking Mode 43
Figure 2-19: Digital Inputs Connected to Current Sinking Devices 44
Figure 2-20: Digital Inputs Connected to Current Sourcing Devices 44
Figure 2-21: Analog Outputs Schematic 45
Figure 2-22: Analog Inputs Schematic 46
Figure 2-23: Encoder Input Connections Schematic 48
Figure 2-24: ESTOP Sense Input Schematic 49
Figure 2-25: Laser Output Polarity Switches 50
Figure 3-1: Control Board Assembly 54
Figure 3-2: Power Board Assembly 55
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GL4 Hardware Manual List of Tables
List of Tables
Table 1-1: FeatureSummary 15
Table 1-2: Electrical Specifications 17
Table 1-3: Unit Weight 18
Table 1-4: Environmental Specifications 19
Table 1-5: Drive and Software Compatibility 20
Table 2-1: Control Supply Connector Wiring Specifications 21
Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 21
Table 2-3: Motor Supply Wiring Specifications 22
Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector 22
Table 2-5: HyperWire Card Part Number 26
Table 2-6: HyperWire Cable Part Numbers 26
Table 2-7: Laser Output Connector A Pinout 27
Table 2-8: Laser Output Connector B Pinout 27
Table 2-9: Mating Connector Part Numbers for the Laser Output Connectors 27
Table 2-10: Laser Output Specifications 28
Table 2-11: PSOPins on the Laser Output A Connector 32
Table 2-12: PSOPins on the Laser Output B Connector 32
Table 2-13: PSO Specifications 32
Table 2-14: Encoder Output Connector Pinout 33
Table 2-15: Mating Connector Part Numbers for the Encoder Output Connector 33
Table 2-16: PSOExternal Sync Specifications 34
Table 2-17: Galvo Motor Connectors Pinout 35
Table 2-18: Mating Connector Part Numbers for the Galvo Motor Connectors 35
Table 2-19: Analog Encoder Specifications 36
Table 2-20: End of Travel Limit Input Pins on the Galvo Motor Connectors 37
Table 2-21: Thermistor Interface Pins on the Galvo Motor Connectors 40
Table 2-22: Digital and Analog I/O Connector APinout 41
Table 2-23: Digital and Analog I/O Connector B Pinout 41
Table 2-24: Mating Connector Part Numbers for the Digital / Analog I/OConnectors 41
Table 2-25: Digital Output Specifications 42
Table 2-26: Digital Output Pins on the Digital/Analog I/O A Connector 42
Table 2-27: Digital Input Specifications 44
Table 2-28: Digital Input Pins on the Digital/Analog I/O B Connector 44
Table 2-29: Analog Output Specifications 45
Table 2-30: Analog Output Pins on the Digital / Analog I/O B Connector 45
Table 2-31: Analog Input Specifications 46
Table 2-32: Analog Input Pins on the Digital / Analog I/O B Connector 46
Table 2-33: Encoder Input Specifications 47
Table 2-34: Axis 1 Encoder Input Pinout (Encoder Input Connector A) 47
Table 2-35: Axis 2 Encoder Input Pinout (Encoder Input Connector B) 47
Table 2-36: Mating Connector Part Numbers for the Encoder Input Connectors 47
Table 2-37: GL4 to Drive Cable Part Numbers 47
Table 2-38: ESTOP Pins on the Encoder Input Connector 49
Table 2-39: Electrical Noise Suppression Devices 49
Table 2-40: Sync-Related Commands 51
Table 2-41: SyncPort Cables 51
Table 3-1: Preventative Maintenance 53
Table 3-2: Control Board Fuse Specifications 54
Table 3-3: Power Board Fuse Specifications 55
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List of Tables GL4 Hardware Manual
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GL4 Hardware Manual EU Declaration of Conformity
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product GL4
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
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 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
UK
Name
/ Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date 11/27/2019
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EU Declaration of Conformity GL4 Hardware Manual
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GL4 Hardware Manual Agency Approvals
Agency Approvals
Aerotech tested its GL4 drives and found that they obey the standards that follow:
Approval / Certification: CUS NRTL
Approving Agency: TUV SUD America Inc.
Certificate #: U8 16 06 68995 021
Standards: UL 61010-1:2012; CAN/CSA-C22.2 No. 61010-1:2012; EN 61010-1:2010
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.
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Agency Approvals GL4 Hardware Manual
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