Aerotech Ensemble HLe User manual

Revision: 4.09.00
Ensemble HLe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.
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Email: [e-mail]
Phone: [phone]
Fax: [phone]
101 Zeta Drive
Pittsburgh, PA 15238-2811
www.aerotech.com
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Email: [e-mail]
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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 © 2008-2019, Aerotech, Inc., All rights reserved.

Table of Contents Ensemble HLe
Table of Contents
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
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 24
Chapter 2: Installation and Configuration 25
2.1. Power Connections 25
2.1.1. Control Supply Connections 25
2.1.2. Motor Supply Connections 26
2.2. Motor Output Connections 27
2.2.1. Brushless Motor Connections 28
2.2.1.1. Powered Motor Phasing 29
2.2.1.2. Unpowered Motor and Feedback Phasing 30
2.2.2. DC Brush Motor Connections 31
2.2.2.1. DC Brush Motor Phasing 32
2.2.3. Stepper Motor Connections 33
2.2.3.1. Stepper Motor Phasing 34
2.3. Motor Feedback Connections (J207) 35
2.3.1. Encoder Interface (J207) 36
2.3.1.1. RS-422 Line Driver Encoder (Standard) 37
2.3.1.2. Absolute Encoder Interface (J207) 38
2.3.1.3. Analog Encoder Interface 39
2.3.1.4. Encoder Phasing 41
2.3.2. Hall-Effect Interface (J207) 43
2.3.3. Thermistor Interface (J207) 44
2.3.4. Encoder Fault Interface (J207) 45
2.3.5. End Of Travel Limit Input Interface (J207) 46
2.3.5.1. End Of Travel Limit Phasing 48
2.3.6. Brake Output (J207) 49
2.4. Emergency Stop Sense Input (TB201) 50
2.4.1. Typical ESTOP Interface 51
2.5. Auxiliary I/O Connector (J205) 52
2.5.1. Auxiliary Encoder Channel (J205) 53
2.5.2. Position Synchronized Output (PSO)/Laser Firing (J205) 55
2.5.3. Digital Outputs 0-3 (J205) 57
2.5.4. Digital Inputs 0-3 (J205) 59
2.5.5. High-Speed User Inputs 4-5 (J205) 61
2.5.6. Analog Output 0 (J205) 62
2.5.7. Differential Analog Input 0 (J205) 63
2.6. Brake Power Supply Connector (TB202) 64
2.7. Aeronet Interface (J209/J210) 66
2.8. RS-232 Interface (J206) 67
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2.9. PC Configuration and Operation Information 68
Chapter 3: -I/O Expansion Board 69
3.1. Relay Connector (TB301) 71
3.2. PSO Output Interface (TB302) 73
3.2.1. -DUALPSO and -TRIPLEPSO Laser Firing Options 74
3.2.1.1. Multi-Axis Firing 74
3.3. Analog Outputs (TB303) 76
3.4. Analog Inputs (TB304) 77
3.5. User Power (TB305, TB306) 78
3.6. Opto In Connector (Digital Inputs) (TB305, TB306) 79
3.7. Opto Out Connector (Digital Outputs) (TB307, TB308) 82
3.8. SSINET (J302/J303) 86
Chapter 4: -RDP Expansion Board 89
Chapter 5: Standard Interconnection Cables 93
5.1. Joystick Interface 94
5.2. Handwheel Interface 97
Chapter 6: Maintenance 99
6.1. Power Board 100
6.2. Control Board 102
6.3. Preventative Maintenance 104
Appendix A: Warranty and Field Service 105
Appendix B: Revision History 107
Index 109
Ensemble HLe Table of Contents

Table of Contents Ensemble HLe
List of Figures
Figure 1-1: Ensemble HLe Networked Digital Drive 15
Figure 1-2: Functional Diagram 18
Figure 1-3: Dimensions (Slim Version) 22
Figure 1-4: Dimensions (Full Version with -IO and -RDPoptions) 23
Figure 2-1: Control Supply Connections 25
Figure 2-2: Motor Bus Input Connections 26
Figure 2-3: Brushless Motor Configuration 28
Figure 2-4: Encoder and Hall Signal Diagnostics 29
Figure 2-5: Motor Phasing Oscilloscope Example 30
Figure 2-6: Brushless Motor Phasing Goal 30
Figure 2-7: DC Brush Motor Configuration 31
Figure 2-8: DC Brush Motor Configuration with RTConnection 31
Figure 2-9: Clockwise Motor Rotation 32
Figure 2-10: Stepper Motor Configuration 33
Figure 2-11: Clockwise Motor Rotation 34
Figure 2-12: Line Driver Encoder Interface (J207) 37
Figure 2-13: Serial Data Stream Interface 38
Figure 2-14: Analog Encoder Phasing Reference Diagram 39
Figure 2-15: Analog Encoder Interface (J207) 40
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
Figure 2-19: Thermistor Interface Input (J207) 44
Figure 2-20: Encoder Fault Interface Input (J207) 45
Figure 2-21: End of Travel Limit Input Connections 46
Figure 2-22: End of Travel Limit Interface Input (J207) 47
Figure 2-23: Limit Input Diagnostic Display 48
Figure 2-24: ESTOPSenseInput (TB201) 50
Figure 2-25: Typical Emergency Stop Circuit 51
Figure 2-26: Auxiliary Encoder Channel (J205) 54
Figure 2-27: PSOInterface 56
Figure 2-28: Outputs Connected in Current Sourcing Mode (J205) 58
Figure 2-29: Outputs Connected in Current Sinking Mode (J205) 58
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
Figure 2-33: Analog Output 0 (J205) 62
Figure 2-34: Analog Input 0 (J205) 63
Figure 2-35: Brake Connected to J207 65
Figure 2-36: Brake Connected to TB202 65
Figure 2-37: Aeronet Connection with Three Discrete Drives 66
Figure 2-38: RS-232 Interface (J206) 67
Figure 3-1: Ensemble HLe with -IO Option Board 69
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
Figure 3-6: Two/Three Axis Laser Firing Interconnection 75
Figure 3-7: Analog Output Connector (TB303) 76
Figure 3-8: Analog Input Typical Connection (TB304) 77
Figure 3-9: Digital Inputs (TB305 shown) 80
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Figure 3-10: Digital Inputs Connected to a Current Sourcing Device 81
Figure 3-11: Digital Inputs Connected to a Current Sinking Device 81
Figure 3-12: Digital Outputs (-IOBoard) 84
Figure 3-13: Digital Outputs Connected in Current Sourcing Mode 85
Figure 3-14: Digital Outputs Connected in Current Sinking Mode 85
Figure 3-15: J302/J303 87
Figure 4-1: -RDPOption Board 89
Figure 4-2: Resolver/Inductosyn Recommended Wiring 91
Figure 4-3: Resolver Inputs 91
Figure 4-4: Encoder Emulation Outputs 92
Figure 5-1: Single Axis Joystick Interface (to Aux I/O) 94
Figure 5-2: Two Axis Joystick Interface (to the Aux I/O of two drives) 95
Figure 5-3: Two Axis Joystick Interface (to the Aux I/O and I/O Board) 95
Figure 5-4: Two Axis Joystick Interface (to the I/OBoard) 96
Figure 5-5: Handwheel Interconnection (to Aux I/O) 97
Figure 5-6: Handwheel Interconnection (to Aux I/O via a BBA32 Module) 97
Figure 6-1: Power Board Assembly 100
Figure 6-2: Control Board Assembly 102
Ensemble HLe Table of Contents

Table of Contents Ensemble HLe
List of Tables
Table 1-1: FeatureSummary 16
Table 1-2: Ordering Options 16
Table 1-3: Ordering Options (continued) 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 23
Table 2-1: Control Supply ACInput Wiring 25
Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 25
Table 2-3: Motor Power Output Connections 27
Table 2-4: Mating Connector Part Numbers for the Motor Power Output Connector 27
Table 2-5: Wire Colors for Aerotech Supplied Cables (Brushless) 28
Table 2-6: DCBrush Voltage Output Configuration 31
Table 2-7: Wire Colors for Aerotech Supplied Cables (DCBrush) 31
Table 2-8: Wire Colors for Aerotech Supplied Cables (Stepper) 33
Table 2-9: Motor Feedback Connector Pinout (J207) 35
Table 2-10: Mating Connector Part Numbers for the Motor Feedback Connector 35
Table 2-11: Encoder Pins on the Motor Feedback Connector 36
Table 2-12: Encoder Specifications 37
Table 2-13: Analog Encoder Specifications 39
Table 2-14: Hall-Effect Feedback Pins on the Motor Feedback Connector (J207) 43
Table 2-15: Thermistor Pin on the Motor Feedback Connector (J207) 44
Table 2-16: Encoder Fault Pin on the Motor Feedback Connector (J207) 45
Table 2-17: End of Travel Limit Input Pins on the Motor Feedback Connector (J207) 46
Table 2-18: Brake Output Pins on the Motor Feedback Connector (J207) 49
Table 2-19: Electrical Noise Suppression Devices 50
Table 2-20: Mating Connector Part Numbers for the ESTOPConnector 50
Table 2-21: Typical ESTOPRelay Ratings 51
Table 2-22: Auxiliary I/O Connector Pinout (J205) 52
Table 2-23: Mating Connector Part Numbers for the Auxiliary I/OConnector 52
Table 2-24: Auxiliary Encoder Specifications 53
Table 2-25: Auxiliary Encoder Channel Pins on the Auxiliary I/O Connector (J205) 53
Table 2-26: PSO Specifications 55
Table 2-27: PSOOutput Pins on the Auxiliary I/O Connector (J205) 55
Table 2-28: Digital Output Specifications 57
Table 2-29: Port 0 Digital Output Pins on the Auxiliary I/O Connector (J205) 57
Table 2-30: Digital Input Specifications 59
Table 2-31: Port 0 Digital Input Pins on the Auxiliary I/O Connector (J205) 59
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
Table 2-35: Analog Output 0 Specifications (TB102B) 62
Table 2-36: Analog Output Pins on the Auxiliary I/O Connector (J205) 62
Table 2-37: Differential Analog Input 0 Specifications 63
Table 2-38: Analog Input Pins on the Auxiliary I/O Connector (J205) 63
Table 2-39: Relay Specifications 64
Table 2-40: Brake Output Connector Pinout (TB202) 64
Table 2-41: Mating Connector (TB202) 64
Table 2-42: Aeronet Cable Part Numbers 66
Table 2-43: RS-232 Connector Pinout (J206) 67
Table 2-44: Mating Connector Part Numbers for the the RS-232 Connector (J206) 67
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Table 3-1: -IO Expansion Board Jumper Configuration 70
Table 3-2: -IO Option Board Fuse Information 70
Table 3-3: Voltage and Current Specifications (TB301) 71
Table 3-4: Brake / Mechanical Relay Connector Pinout (TB301) 71
Table 3-5: Mating Connector Part Numbers for the Relay Connector (TB301) 71
Table 3-6: -IO Expansion Board Brake Jumper Configuration 71
Table 3-7: PSO Output Interface Connector Pin Assignment (TB302) 73
Table 3-8: Mating Connector Part Numbers for the PSO Output Connector (TB302) 73
Table 3-9: PSO Output Polarity Settings for JP2 73
Table 3-10: PSOOutput Specifications 73
Table 3-11: SSINet Cable Part Numbers 74
Table 3-12: Analog Output Specifications (TB102B) 76
Table 3-13: Analog Output Connector Pin Assignment (TB303) 76
Table 3-14: Mating Connector Part Numbers for the Analog Output Connector 76
Table 3-15: Differential Analog Input 1 Specifications 77
Table 3-16: Analog Inputs Connector Pin Assignment (TB304) 77
Table 3-17: Mating Connector Part Numbers for the Analog Input Connector 77
Table 3-18: User Common Pin on the Opto In Connector (TB305) 78
Table 3-19: +5 Volt Power Pin on the Opto In Connector (TB306) 78
Table 3-20: Digital Input Device Specifications 79
Table 3-21: Port 1 Opto In Connector Pinout (TB305) 79
Table 3-22: Port 2 Opto In Connector Pinout (TB306) 79
Table 3-23: Mating Connector Part Numbers for the Opto In Connectors (TB305/TB306) 79
Table 3-24: Digital Output Specifications (TB307, TB308) 82
Table 3-25: Port 1 Opto Out Connector Pinout (TB307) 83
Table 3-26: Port 2 Opto Out Connector Pinout (TB308) 83
Table 3-27: Mating Connector Part Numbers for the Opto Out Connectors (TB307/TB308) 83
Table 3-28: J302, J303 2-Channel SSINet Connector Pin Assignment 86
Table 4-1: -RDP Expansion Board Jumper Configuration 89
Table 4-2: -RDP Connector Pin Assignment (J401/J402) 90
Table 4-3: Resolver Mating Connector 90
Table 4-4: External Power Pin Assignment (J403) 92
Table 4-5: External Power Mating Connector 92
Table 4-6: Resolver Test Points 92
Table 5-1: Standard Interconnection Cables 93
Table 5-2: Cable Part Numbers 96
Table 6-1: LEDDescription 99
Table 6-2: Fuse Information 101
Table 6-3: Line Voltage Fuse Information 101
Table 6-4: Control Board Jumper Configuration 102
Table 6-5: Control Board Fuse Information 103
Table 6-6: LEDDescription 103
Table 6-7: Preventative Maintenance 104
Ensemble HLe Table of Contents

Declaration of Conformity Ensemble HLe
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product Ensemble HLe
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
UK
Name
/ Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date 5/22/2019
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Agency Approvals
Aerotech, Inc. Model Ensemble HLe Series Linear 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.
Ensemble HLe Declaration of Conformity

Electrical Safety Ensemble HLe
Safety Procedures and Warnings
This manual tells you how to carefully and correctly use and operate the Ensemble HLe. Read all parts of
this manual before you install or operate the Ensemble HLe or before you do maintenance to your system. To
prevent injury to you and damage to the equipment, obey the precautions in this manual. The precautions
that follow apply when you see a Danger or Warning symbol in this manual. If you do not obey these
precautions, injury to you or damage to the equipment can occur. If you do not understand the information in
this manual, contact Aerotech Global Technical Support.
This product has been designed for light industrial manufacturing or laboratory environments. The protection
provided by the equipment could be impaired if the product is used in a manner not specified by the
manufacturer.
N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any
time. All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. Refer to www.aerotech.com for the most up-to-date information.
D A N G E R : This product contains potentially lethal voltages. To reduce the possibility of
electrical shock, bodily injury, or death the following precautions must be followed.
1. Disconnect electrical power before servicing equipment.
2. Disconnect electrical power before performing any wiring.
3. Access to the Ensemble HLe and component parts must be restricted while connected to a
power source.
4. To minimize the possibility of electrical shock and bodily injury, extreme care must be
exercised when any electrical circuits are in use. Suitable precautions and protection must
be provided to warn and prevent persons from making contact with live circuits.
5. Install the Ensemble HLe inside a rack or enclosure.
6. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
7. All components must be properly grounded in accordance with local electrical safety
requirements.
8. Operator safeguarding requirements must be addressed during final integration of the
product.
D A N G E R : The Ensemble HLe case temperature may exceed 70°C in some applications.
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W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the
following precautions must be followed.
1. If the product is used in a manner not specified by the manufacturer, the protection
provided by the product can be impaired and result in damage, shock, injury, or death.
2. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts
must be restricted while connected to a power source.
3. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid
potential hazards.
4. Do not expose this product to environments or conditions outside of the listed
specifications. Exceeding environmental or operating specifications can cause damage to
the equipment.
5. Operators must be trained before operating this equipment.
6. All service and maintenance must be performed by qualified personnel.
Ensemble HLe Electrical Safety

Quick Installation Guide Ensemble HLe
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the
Ensemble HLe. If a custom interconnection drawing was created for your system (look for a line item on your
Sales Order under the heading “Integration”), that drawing can be found on your installation device.
Figure 1: Quick Start Connections
Topic Section
Motor Output Section 2.2. Motor Output Connections
Motor Feedback Section 2.3. Motor Feedback Connections (J207)
Aeronet Section 2.7. Aeronet Interface (J209/J210)
Ethernet / USB No Section / Standard Connection
Control Supply Section 2.1.1. Control Supply Connections
Motor Supply Section 2.1.2. Motor Supply Connections
Additional I/O User / Application dependent
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Introduction Ensemble HLe
Chapter 1: Introduction
Aerotech’s Ensemble HLe network digital drive is a high performance linear amplifier designed to eliminate
the nonlinearities common with PWMamplifiers. The drive provides deterministic behavior, auto-
identification, and easy software setup. The Ensemble HLe’s high performance double precision floating
point DSP controls the digital PID and current loops. All system configuration is done using software-
settable parameters, including control loop gains and system safety functions.
The Ensemble HLe is offered with an optional encoder interpolation feature (-MXH), an auxiliary square wave
encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -IO option), a
resolver input (-RDP option), and separate power connections for motor and control supply voltages.
Figure 1-1: Ensemble HLe Networked Digital Drive
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Table 1-1: FeatureSummary
Standard Features
Ensemble HLe series linear digital drive with Ethernet TCP/IP and USB interface, 10-20 A peak, 5-10 A
continuous, ±40 VDC to ±80 VDC bus, and control supply 115/230 VAC input to power logic circuitry;
supports voice coil and brushless, brush, and stepper motors. Includes:
l85 - 240 VAC control supply inputs Section 2.1.1.
lPrimary quadrature encoder input channels Section 2.3.1.
lAbsolute Encoder support Section 2.3.1.2.
lDedicated Home and Limit inputs Section 2.3.5.
lDedicated 5-24 V Emergency Stop sense input Section 2.4.
lAuxiliary quadrature encoder input channels Section 2.5.1.
lSingle-axis PSO capability Section 2.5.2.
lFour digital outputs (opto-isolated) Section 2.5.3.
lFour digital inputs (opto-isolated) Section 2.5.4.
lTwo high-speed digital inputs (opto-isolated) Section 2.5.5.
lOne 16-bit analog output (±10 VDC) Section 2.5.6.
lOne 16-bit analog differential input (±10 VDC) Section 2.5.7.
lOne 24 VDC, 1 A brake relay Section 2.6.
lCalibration Refer to the Help file
lCamming Refer to theHelp file
l10/100 BASE-T Ethernet port for use with Ethernet I/O modules Refer to the Help file
Table 1-2: Ordering Options
Options
Power Stage Options (Section 1.2.)
10-40 10 A peak; 5 A continuous; ±40 VDC bus
20-40 20 A peak; 10 A continuous; ±40 VDC bus
10-60 10 A peak; 5 A continuous; ±60 VDC bus
10-80 10 A peak; 5 A continuous; ±80 VDC bus
Line Voltage Options
-A 115 VAC input
-B 230 VAC input
-C 100 VAC input
-D 200/208 VAC input
I/O(Chapter 3) and Feedback (Section 2.3.1.3.) Options
-IO Expansion board with 16 digital inputs; 16 digital outputs; three 16-bit differential
analog inputs (±10 V); three 16-bit analog outputs (±10 V); 2 SSI Net; absolute
encoder interface; one mechanical brake relay
-MXH Programmable encoder multiplier up to x16384 (x65,536 after quadrature);
supports single/dual axis PSO and real-time encoder quadrature output
PSO Options (Section 3.2.)
-DUALPSO Two axis Position Synchronized Output (PSO)
-TRIPLEPSO Three axis Position Synchronized Output (PSO); requires I/O option
-PSONC Normally closed PSO output (default normally open); requires I/O option
Ensemble HLe Introduction

Introduction Ensemble HLe
Table 1-3: Ordering Options (continued)
Options
Software Options (refer to the EnsembleHelp file for more information)
-5AX Enable Five-Axis Contouring on the master drive; ENSEMBLE-MC software must
be configured with the FIVE AXIS CONTOURING option
-EIP Enable EtherNet/IP™ on the master drive; ENSEMBLE-MC software must be
configured with the ETHERNET/IP option
-DCT Enable the Dynamic Controls Toolbox on the master drive; ENSEMBLE-MC
software must be configured with the DYNAMIC CONTROLS TOOLBOX option
-ETM Enable the Enhanced Throughput Module on the master drive; ENSEMBLE-MC
software must be configured with the ENHANCED THROUGHPUT MODULE
option
-ETC Enhanced Tracking Control for reduced dynamic following error and settling times;
effectiveness may be limited for low-resolution axes. Refer to the Help file.
-LCK Locked drive; firmware and calibration data on the drive cannot be modified by the
user after the product leaves Aerotech; the drive must be returned to Aerotech if
firmware/calibration updates are required; read/write access to parameters and
programs is supported
Resolver Options (Chapter 4)
-RDP1-10K One-channel resolver to digital converter input; 10 kHz carrier frequency
-RDP1-7.5K One-channel resolver to digital converter input; 7.5 kHz carrier frequency
-RDP1-5K One-channel resolver to digital converter input; 5 kHz carrier frequency
-RDP2-10K Two-channel resolver to digital converter input; 10 kHz carrier frequency
-RDP2-7.5K Two-channel resolver to digital converter input; 7.5 kHz carrier frequency
-RDP2-5K Two-channel resolver to digital converter input; 5 kHz carrier frequency.
Table 1-4: Accessories
Accessories
MCK-NDRIVE Mating connector kit for J206 (J205 mate is always provided)
JI Industrial Joystick (NEMA12 (IP54) rated); refer to Section 5.1.
PS24-1 24 VDC, 1Apower supply for optional brake/relay output
BRAKE24-2 24 VDC, 2 A power supply for optional brake
Cables
Interconnection A complete list of Aerotech cables can be found on the website at
http://www.aerotechmotioncontrol.com/manuals/index.aspx
Joystick/Handwheel Refer to Section 5.1. or Section 5.2.
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The following block diagram shows a connection summary. For detailed connection information, refer to
Chapter 2 and Chapter 3.
Figure 1-2: Functional Diagram
Ensemble HLe Introduction

Introduction Ensemble HLe
1.1. Drive and Software Compatibility
The following table lists the available drives and which version of the software first supported the drive.
Drives that list a specific version number in the Last Software Version column will not be supported after
the listed version.
Table 1-5: Drive and Software Compatibility
Drive Type Firmware Revision First Software Version Last Software Version
HLe - 2.51 Current
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1.2. Electrical Specifications
The safe operating range is load dependent.
Table 1-6: Electrical Specifications
HLe 20-40 HLe 10-40 HLe 10-60 HLe 10-80
Motor Supply
Input Voltage 100, 115, 200, 230 VAC (model dependent)
Input
Frequency 50-60 Hz
Inrush Current 10, 11.5, 20, 23 A (model dependent)
Maximum
Continuous
Input Current
5.66 Arms 2.83 Arms 5.66 Arms 5.66 Arms
Input Current Refer to Section 1.2.1. System Power Requirements
Control Supply
Input Voltage 85-240 VAC
Input
Frequency 50-60 Hz
Inrush Current 16 A
Input Current .25 A max
Output Voltage (1) ±36 V @ 20A ±38 V @ 10A ±58 V @ 10A ±78 V @ 10A
Peak Output Current (2) 20 10 10 10
Continuous Output Current (2) 10 5 5 5
Power Amplifier Bandwidth (selectable
via parameters) 2500 Hz maximum (software selectable)
Minimum Load Resistance 0.5 Ω
Output Impedance 0.2 Ω (each phase)
User Power Supply Output 5 VDC (@ 500 mA)
Modes of Operation Brushless; Brush; Stepper
Protective Features Peak current limit; Over temperature;
RMScurrent limit; Dynamic power dissipation limit
Isolation Optical and transformer isolation between control and power
stages.
(1) Load Dependent
(2) Peak and continuous output current is load dependent (the amplifier will limit its output current based on velocity and motor
resistance).
Ensemble HLe Introduction