Aerotech Ensemble QLAB User manual

Ensemble QLAB Hardware Manual
P/N: EDU224 (Revision 1.00.00)
USB
JOG
1
2
3
4
Dedicated to the Science of Motion
Aerotech, Inc.
101 Zeta Drive,
Pittsburgh, PA 15238-2897
Phone:[phone]
Fax:[phone]
www.aerotech.com

Technical Support
Go to www.aerotech.com/service-and-support.aspx for information and support about your Aerotech
products. The website provides downloadable resources (such as up-to-date software, product manuals,
and Help files), training schedules, and PC-to-PC remote technical support. You can also complete Product
Return (RMA) forms and get information about repairs and spare or replacement parts.
For immediate help, contact a service office or your sales representative. Have your customer order number
available before you call or include it in your email.
United States
(World Headquarters)
Phone: [phone]
Fax: [phone]
Email: [e-mail]
101 Zeta Drive
Pittsburgh, PA 15238-2897
www.aerotech.com
United Kingdom
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Japan
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Germany
Phone: [phone]
Fax: [phone]
Email: [e-mail]
China
Phone: [phone]
Email: [e-mail]
France
Phone: [phone]
Email: [e-mail]
Taiwan
Phone: [phone]
Email: [e-mail]
N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any
time. Refer to the most recent edition of the Aerotech Motion Control Product Guide for the most current
product information at www.aerotech.com.
N O T E : All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. The most recent system drawings and schematics can be found on your software DVD
or on www.aerotech.com.
N O T E : Read this manual in its entirety before installing, operating, or servicing this product. If you do
not understand the information contained herein, contact an Aerotech representative before proceeding.
Strictly adhere to the statements given in this section and other handling, use, and operational information
given throughout the manual to avoid injury to you and damage to the equipment.
N O T E : This product is intended for light industrial manufacturing or laboratory use.
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 2013, Aerotech, Inc., All Rights Reserved.

Ensemble QLAB Hardware Manual Table of Contents
Table of Contents
Table of Contents iii
List of Figures iv
List of Tables v
EC Declaration of Conformity vii
Safety Procedures and Warnings ix
Quick Installation Guide xi
Chapter 1: Introduction 1
1.1. Electrical Specifications 4
1.2. Mechanical Specifications 5
1.3. Environmental Specifications 6
1.4. Drive and Software Compatibility 7
Chapter 2: Installation and Configuration 9
2.1. Unpacking the Chassis 9
2.2. Electrical Installation 10
2.2.1. AC Power Connection 11
2.2.2. IO and Signal Wiring Requirements 11
2.2.3. Minimizing Conducted, Radiated, and System Noise 12
2.3. Motor and Feedback Connections 13
2.4. Emergency Stop Sense Input (TB101) 14
2.5. Auxiliary I/OConnector (J106) 15
2.5.1. Position Synchronized Output (PSO) 16
2.5.2. Opto-Isolated Outputs 0-3 18
2.5.3. Opto-Isolated Inputs 0-3 20
2.5.4. High-Speed User Inputs 4-5 22
2.5.5. Analog Output 4 23
2.6. Joystick Interface (J105) 24
2.6.1. Analog Outputs (0-3) (J105) 26
2.6.2. Analog Inputs (0-3) (J105) 27
2.7. Communication (Ethernet and USB) 28
2.7.1. USB Interface 28
2.7.2. Ethernet Interface 29
2.8. PC Configuration and Operation Information 30
Chapter 3: Maintenance 31
3.1. Preventative Maintenance 31
Appendix A: Warranty and Field Service 33
Appendix B: Revision History 35
Index 37
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Table of Contents Ensemble QLAB Hardware Manual
List of Figures
Figure 1-1: Ensemble QLAB Controller 1
Figure 1-2: Functional Diagram 3
Figure 1-3: Dimensions 5
Figure 2-1: Power and Control Connections 10
Figure 2-2: Power Switch 10
Figure 2-3: ESTOP Sense Input (TB102) 14
Figure 2-4: PSOInterface 17
Figure 2-5: Outputs Connected in Current Sinking Mode (J106) 18
Figure 2-6: Outputs Connected in Current Sourcing Mode (J106) 19
Figure 2-7: Inputs Connected in Current Sinking Mode (J106) 20
Figure 2-8: Inputs Connected in Current Sourcing Mode (J106) 21
Figure 2-9: High Speed User Inputs (J106) 22
Figure 2-10: Analog Output 4 (J106) 23
Figure 2-11: Joystick Interface 24
Figure 2-12: Analog Outputs 0-3 (J105) 26
Figure 2-13: Analog Input (J105) 27
Figure 2-14: USB Connection Location (for PCCommunication) 28
Figure 2-15: Ethernet Connection Location 29
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Ensemble QLAB Hardware Manual Table of Contents
List of Tables
Table 1-1: Ordering Options 2
Table 1-2: Electrical Specifications 4
Table 1-3: Physical Specifications 5
Table 1-4: Ensemble Drive and Software Compatibility 7
Table 2-1: Main AC Power Input Voltages and Current Requirements 11
Table 2-2: Ferrite Bead Part Numbers 12
Table 2-3: Motor Power and Feedback Connector 13
Table 2-4: TB101ESTOPPin Assignment 14
Table 2-5: Electrical Noise Suppression Devices 14
Table 2-6: Auxiliary I/O Interface Pin Assignment (J106) 15
Table 2-7: Auxiliary I/O(J106) Mating Connector 15
Table 2-8: PSOOutput Pin Assignment 16
Table 2-9: Port 0 Digital Output Connector Pin Assignment 18
Table 2-10: Digital Output Specifications 18
Table 2-11: Port 0 Digital Input Connector Pin Assignment (J106) 20
Table 2-12: PS2815-4 Opto-Device Specifications 20
Table 2-13: Port 0 High Speed Digital Input Connector Pin Assignment (J106) 22
Table 2-14: Analog Output Connector Pin Assignment (J106) 23
Table 2-15: Joystick Connector Pin Assignment (J105) 25
Table 2-16: Joystick Interface (J105) Mating Connector 25
Table 2-17: Analog Output Connector Pin Assignment (J105) 26
Table 2-18: Analog Input Connector Pin Assignment (J105) 27
Table 3-1: Preventative Maintenance 31
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Table of Contents Ensemble QLAB Hardware Manual
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Ensemble QLAB Hardware Manual Declaration of Conformity
EC Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2897
USA
Product Ensemble QLAB
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
2006/95/EC Low Voltage Directive
and has been designed to be in conformity with the applicable requirements of the following documents when
installed and used in accordance with the manufacturer’s supplied installation instructions.
EN 61010-1 Safety requirements for electrical equipment
Name / Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date November 8, 2013
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Declaration of Conformity Ensemble QLAB Hardware Manual
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Ensemble QLAB Hardware Manual Safety Procedures and Warnings
Safety Procedures and Warnings
The following statements apply wherever the Warning or Danger symbol appears within this manual. Failure
to observe these precautions could result in serious injury to those individuals performing the procedures
and/or damage to the equipment.
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. Operators must be trained before allowing them to operate the equipment.
2. All service and maintenance must be performed by qualified personnel.
3. If the Ensemble QLAB is used in a manner not specified by the manufacturer, any
protection provided by the Ensemble QLAB can be impaired and result in damage, shock,
injury, or death.
4. The user must read this manual, EnsembleHelp file, and related documentation
thoroughly before operating the equipment.
5. Use of this product in a manner other than its intended use may result in bodily injury
and/or damage to the equipment.
6. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid
potential hazards.
7. This product must be mounted securely. Improper mounting can result in injury and
damage to the equipment.
DANGER:
This product contains potentially lethal voltages. To reduce the possibility of electrical shock,
bodily injury or death the following precautions must be followed.
1. Risk of injury during operation due to moving parts connected to the Ensemble QLAB.
2. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
3. Disconnect electrical power before making any mechanical adjustments or performing
maintenance.
4. Make sure the system is properly grounded in accordance with local electrical safety
requirements.
5. Operator safeguarding requirements must be addressed during final integration of the
product.
N O T E : All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. The most recent system drawings and schematics can be found on your software CD
ROM or on www.aerotech.com.
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Safety Procedures and Warnings Ensemble QLAB Hardware Manual
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Ensemble QLAB Hardware Manual Quick Installation Guide
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the
Ensemble QLAB. 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 software or
documentation disc.
J103J104
J105J106 TB101
ETHERNET
USBESTOPJOYSTICK
AXIS
4 3 2 1
AUX I/O
B
A
Topic Section
A
Connect the ACPower Section 2.2.
B
Connect the Motor Power and Feedback Section 2.3.
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Quick Installation Guide Ensemble QLAB Hardware Manual
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Ensemble QLAB Hardware Manual Introduction
Chapter 1: Introduction
Aerotech’s Ensemble QLAB is a one to four axis desktop standalone motion controller with an integrated
power supply. The Ensemble QLAB is designed for applications where ease of operation is desired without
sacrificing overall system capability. For simple operations the front-panel interface allows an operator to
quickly execute simple operations such as jogging, homing, and moving to fixed positions. For more
complex operations the Ensemble QLAB has on-board memory for storing programs that can be accessed
from the front panel or through remote control.
Number of Axes 4 Maximum
Digital Inputs Four Optically Isolated; Two High Speed; One ESTOP
Digital Outputs Four Optically Isolated
Analog Inputs Four 16-Bit analog inputs (±10V; configurable for external feedback or
external command input)
Analog Outputs Five 16-Bit differential analog outputs (±10V; configurable for position or
voltage monitoring)
Communication Interfaces 10/100 Base T Ethernet; USB 2.0
Expansion Interface USB 1.1
Servo Loop Update 20 kHz
Programming Environment Multi-Tasking AeroBasic
Host Operating System Windows 7 (for Remote Programming and Diagnostic Tools)
USB
JOG
1
2
3
4
J103J104
J105J106 TB101
ETHERNET
USBESTOPJOYSTICKAUX I/O
AXIS
4 3 2 1
JK
I
F
B
C
D
E
A
L
H
G
A
Touch Screen
D
Power Switch
G
Auxiliary I/Oport
(J106)
J
USB (host) port
(J104)
B
Keypad
E
USB(device) port
H
Joystick port (J105)
K
Ethernet port (J103)
C
Jog Buttons
F
Motor / Feedback
Connector (1-4)
I
ESTOP port
(TB101)
L
ACPower
Figure 1-1: Ensemble QLAB Controller
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Introduction Ensemble QLAB Hardware Manual
Table 1-1: Ordering Options
Number of Axes (required)
-2AX Configured for 2 axis motor operation
-3AX Configured for 3 axis motor operation
-4AX Configured for 4 axis motor operation
Line Voltage (required)
-A 115 VAC input
-B 230 VAC input
-C 100 VAC input
-D 200/208 VAC input
Feedback Type (optional)
-MXC1 Configured for 1 axis of capacitance sensor feedback
-MXC2 Configured for 2 axes of capacitance sensor feedback
-MXC3 Configured for 3 axes of capacitance sensor feedback
-MXC4 Configured for 4 axes of capacitance sensor feedback
Note: All closed-loop channels must occur on the controller axis count before the open-loop channels. For
example, if 2 axes of closed-loop and 1 axis of open-loop are desired, 3 axes are selected (-3AX) and -MXC2 is
selected which will give channels 1 and 2 as cap feedback and channel 3 as open-loop.
PSOOutput (optional)
-PSO Single axis Position Synchronized Output.
Line Cord (required)
-ENGLAND U.K. compatible line cord
-GERMANY German compatible line cord
-ISRAEL Israel compatible line cord
-INDIA India compatible line cord
-AUSTRALIA Australia compatible line cord
-US-115VAC US 115VACcompatible line cord
-US-230VAC US230 VACcompatible line cord
-NO-LINECORD No line cord
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Ensemble QLAB Hardware Manual Introduction
The following block diagram shows a connection summary (refer to Chapter 2 for more detailed connection
information).
Controller Amplifier
MOTOR POWER
and FEEDBACK
J1-J4
AUX I/O
J106
LCD Touch
Display
Motor (+, -)
Logic Power
-MXC Option
Identification
Amplifier
Control
Power
Control
Power
Supply
AC Power
Input Linear Amplifier
Heatsink Over
Temperature
Analog Output (AO4)
Input Common
2 High Speed Opto Inputs
4 Opto Inputs
4 Opto Outputs
Output Common
PSO Output
Motor
Power
USB Port
USB
J104
Ethernet Port
Ethernet
J103
JOYSTICK
J105
4 Analog Output (AO0-AO3)
4 Analog Inputs (AI0-AI3)
ESTOP
External
Interface
(/ESTOP1)
TB101
USB Port
USB
(Front)
Keypad
Figure 1-2: Functional Diagram
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Introduction Ensemble QLAB Hardware Manual
1.1. Electrical Specifications
The electrical specifications for the Ensemble QLAB are listed below.
Table 1-2: Electrical Specifications
Description Ensemble QLAB
Power
Supply
Input Voltage 100 VAC 115 VAC 200 VAC 230 VAC
Input Frequency 50-60 Hz
Inrush Current 7 A 8 A 13 A 15 A
Maximum Continuous
Input Current
2 A 2 A 1 A 1 A
Output Voltage (1) -30 to +150 V
Peak Output Current (1) 300 mA/channel
Continuous Output Current (1) 130 mA/channel
Continuous Power Output 20 Watts/channel (80 Watts total)
Sensor Resolution 20-Bit (open loop or capacitive sensor (closed-loop))
Power Amplifier Bandwidth (1) 2500 Hz Maximum (software selectable)
User Power Supply Output 5 VDC (@ 500 mA)
(1) Load Dependent
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Ensemble QLAB Hardware Manual Introduction
1.2. Mechanical Specifications
The following figure shows the Ensemble QLAB package dimensions.
USB
JOG
1
2
3
4
J103J104
J105J106 TB101
ETHERNET
USBESTOPJOYSTICKAUX I/O
AXIS
4 3 2 1
2.3 [0.09]272.5 [10.73]4.9 [0.19]
98.4 [3.88]
370.2 [14.58]
304.4 [11.99]32.9 [1.29]
44.8 [1.76]
95.6 [3.76]
13.3 [0.52]
DRAWING NUMBER: 620E1415B
DIMENSIONS: MM [IN]
Figure 1-3: Dimensions
Table 1-3: Physical Specifications
Weight
12.6 lbs
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Introduction Ensemble QLAB Hardware Manual
1.3. Environmental Specifications
The environmental specifications for the Ensemble QLAB are listed below.
Ambient Temperature Operating: 0° to 50°C (32° to 122° F)
Storage: -30° to 85°C (-22° to 185° F)
Humidity Maximum relative humidity is 80% for temperatures up to 31°C.
Decreasing linearly to 50% relative humidity at 40°C. Non condensing.
Altitude Up to 2000 meters.
Pollution Pollution degree 2 (normally only non-conductive pollution).
Use Indoor use only.
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Ensemble QLAB Hardware Manual Introduction
1.4. Drive and Software Compatibility
The following table lists the available Ensemble drives and which version of the Ensemble software first
provided support for a given drive. Drives that list a specific version number in the Last Version column will
not be supported after the listed version.
Table 1-4: Ensemble Drive and Software Compatibility
Drive Type Firmware Revision First Software Version Last Software Version
CL - 1.01 Current
A 2.55 Current
CP A 1.00 Current
B 2.54 Current
Epaq(1) - 1.00 Current
A 2.55 Current
HLe - 2.51 Current
HPe - 2.51 Current
LAB - 4.04 Current
ML - 3.00 Current
MP - 1.00 Current
A 2.55 Current
QLAB - 4.07 Current
(1) This section does not apply to the Epaq MR. The Epaq MR contains multiple ML or MP drives. Refer
to either the ML or MP drive type section to determine the value for your Epaq MR.
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Introduction Ensemble QLAB Hardware Manual
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