Aerotech MPG User manual

Revision 2.00
MPG Handwheel Pendant
HARDWAREMANUAL

GLOBALTECHNICALSUPPORT
Go to https://support.aerotech.com/servicedesk/customer/portal/1 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.
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 © 2009-2020, Aerotech, Inc., All rights reserved.

Table of Contents
MPG Handwheel Pendant 1
Table of Contents 3
List of Figures 5
List of Tables 7
EU Declaration of Conformity 9
Safety Procedures and Warnings 11
Chapter 1: Introduction 13
1.1. Mechanical Design 14
1.2. Environmental Specifications 15
Chapter 2: Installation and Configuration 17
2.1. MPG Connections 17
2.1.1. Connect the MPG to the Automation1 XR3 19
2.1.2. Connect the MPG to the Automation1 XC4/XC4e 22
2.1.3. Connect the MPG to the HPe/HLe 25
2.1.4. Connect the MPG to the CP/CL 27
2.1.5. Connect the MPG to the MP/ML 29
2.1.6. Connect the MPG to the Nservo 31
2.1.7. Connect the MPG to the Npaq 33
2.1.8. Connect the MPG to the Epaq 35
2.1.9. Connect the MPG to the Epaq MR/Npaq MR 37
2.2. A3200 Configuration Information 39
2.2.1. Software Version 3.00.000 and Above 39
2.2.2. Software Version 2.55 or Lower 51
2.3. Ensemble Configuration Information 63
2.4. Operation Information 77
Chapter 3: Troubleshooting 79
3.1. Preventative Maintenance 80
Appendix A: Warranty and Field Service 81
Appendix B: Revision History 83
Index 85
www.aerotech.com 3
MPG Hardware Manual Table of Contents

This page intentionally left blank.
Table of Contents MPG Hardware Manual
4 www.aerotech.com

List of Figures
Figure 1-1: Dimensions 14
Figure 2-1: DC Power Connections (BRAKE24-2 Option) 17
Figure 2-2: ESTOPDetail 18
Figure 2-3: Bypass Plug 18
Figure 2-4: MPG to XR3 Cable Drawing 20
Figure 2-5: Automation1 XR3 Safety Device Connection Detail 21
Figure 2-6: MPG to XC4/XC4e Cable Drawing 23
Figure 2-7: Automation1 XC4/XC4e Safety Device Connection Detail 24
Figure 2-8: MPG to HPe/HLe Cable Drawing 26
Figure 2-9: MPG to CP/CL Cable Drawing 28
Figure 2-10: MPG to MP/ML Cable Drawing 30
Figure 2-11: MPG to Nservo Cable Drawing 32
Figure 2-12: MPG to Npaq Cable Drawing 34
Figure 2-13: MPG to Epaq Cable Drawing 36
Figure 2-14: MPG to Epaq MR/Npaq MR Cable Drawing 38
Figure 2-15: Opening the MPG Folder 39
Figure 2-16: MPG Program Options 40
Figure 2-17: Set the Correct Include File 41
Figure 2-18: Assigning Axis Names 42
Figure 2-19: Defining Incremental Distance 43
Figure 2-20: Defining the MPG Handwheel Connection (Npaq example shown) 44
Figure 2-21: Defining the MPG I/O Connection (Npaq example shown) 45
Figure 2-22: Define Multiplier Switch Inputs (4.05.000 and MP/ML only) 46
Figure 2-23: Save Program Changes 47
Figure 2-24: Opening the Program Automation Page 48
Figure 2-25: Configure Program Automation (MPG.Pgm) 49
Figure 2-26: Completed Program Automation Configuration 49
Figure 2-27: Opening the Sample Program (MPGSample.pgm) 50
Figure 2-28: Opening the MPG Folder 51
Figure 2-29: MPG Program Options 52
Figure 2-30: Assigning Axis Names 53
Figure 2-31: Defining Incremental Distance 54
Figure 2-32: Defining the MPG Handwheel Connection (Npaq example shown) 55
Figure 2-33: Defining the MPG I/O Connection (Npaq example shown) 56
Figure 2-34: Save Program Changes 57
Figure 2-35: Opening the Program Automation Page 58
Figure 2-36: Configuring Program Automation 59
Figure 2-37: Configure Program Automation (MPG_INCLUDE.Pgm) 59
Figure 2-38: Configure Program Automation (MPG.Pgm) 60
Figure 2-39: Completed Program Automation Configuration 60
Figure 2-40: Reset to Activate Program Automation 61
Figure 2-41: Confirm Reset Results 61
Figure 2-42: Opening the Sample Program (MPG_Sample.Pgm) 62
Figure 2-43: Opening the MPG Folder 63
Figure 2-44: MPG Program Options 64
Figure 2-45: Open the MPG_Include.abi Include File 65
Figure 2-46: Assigning Axis Names 66
Figure 2-47: Defining Handwheel scaling 67
www.aerotech.com 5
MPG Hardware Manual List of Figures

Figure 2-48: Defining the MPG Handwheel Connection 68
Figure 2-49: Defining the MPG I/O Connection 69
Figure 2-50: Save Program Changes 70
Figure 2-51: Copying Files to the Controller 71
Figure 2-52: Opening the Configuration Manager 72
Figure 2-53: Select the Auto-Run Task parameters 73
Figure 2-54: Configure the Auto-Run Task parameters 74
Figure 2-55: Activating Task 2 and Task 3 on the controller 75
Figure 2-56: Sending the new parameters and Resetting the controller 76
Figure 2-57: Using the MPG 77
List of Figures MPG Hardware Manual
6 www.aerotech.com

List of Tables
Table 1-1: Electrical Specifications 13
Table 2-1: XR3 Adapter Cable Connector Pinout 19
Table 2-2: XC4/XC4e Adapter Cable Connector Pinout 22
Table 2-3: HPe/HLe Adapter Cable Connector Pinout 25
Table 2-4: CP/CLAdapter Cable Connector Pinout 27
Table 2-5: MP/ML Adapter Cable Connector Pinout 29
Table 2-6: Nservo Adapter Cable Connector Pinout 31
Table 2-7: Npaq Adapter Cable Connector Pinout 33
Table 2-8: Epaq Adapter Cable Connector Pinout 35
Table 2-9: MR Adapter Cable Connector Pinout 37
Table 3-1: Troubleshooting 79
Table 3-2: Preventative Maintenance 80
www.aerotech.com 7
MPG Hardware Manual List of Tables

This page intentionally left blank.
List of Tables MPG Hardware Manual
8 www.aerotech.com

EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product MPG
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
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
EN60947-5-5 Control circuit devices and switching elements
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 7/23/2020
www.aerotech.com 9
MPG Hardware Manual EU Declaration of Conformity

This page intentionally left blank.
EU Declaration of Conformity MPG Hardware Manual
10 www.aerotech.com

Safety Procedures and Warnings
IMPORTANT: This manual tells you how to carefully and correctly use and operate the
MPG.
lRead all parts of this manual before you install or operate the MPG or before you do
maintenance to your system.
lTo prevent injury to you and damage to the equipment, obey the precautions in this
manual.
lAll specifications and illustrations are for reference only and were complete and
accurate as of the release of this manual. To find the newest information about this
product, refer to www.aerotech.com.
If you do not understand the information in this manual, contact AerotechGlobal Technical
Support
WARNING: 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.
WARNING: To prevent damage to the equipment and decrease the risk of electrical shock,
injury, and death, you must obey the precautions that follow.
1. Make sure that all system cables are correctly attached and positioned.
2. Use this product only in environments and operating conditions that are approved
in this manual.
3. Only operators who have received training can operate this equipment. All servicing
and maintenance must be done only by approved personnel.
www.aerotech.com 11
MPG Hardware Manual Safety Procedures and Warnings

This page intentionally left blank.
Safety Procedures and Warnings MPG Hardware Manual
12 www.aerotech.com

Chapter 1: Introduction
The MPG (Manual Pulse Generator) input device for the A3200 and Ensemble provides the capability to
manually fine-position up to six axes.
lSix axis selector switch (Axis Select)
lThree position distance multiplier
switch, x1, x10 and x100 (Distance Mul-
tiplier)
lEmergency stop switch for user-
provided ESTOP circuit (ESTOP)
l400 count per revolution handwheel
(100x4)
lUser programmable from within
AeroScript, AeroBasic, or a
G-Code program
lDead-man, thumb-operated safety
switch (ENABLE)
lProgrammatically activated (or manu-
ally from the software)
Refer to Section 2.1. for connection information and Aerotech cable part numbers.
Table 1-1: Electrical Specifications
Description MPG
5 VDC Provided by the Automation1, A3200, or Ensemble drive
24VDC 500 mA, supplied by the user or by Aerotech accessory: BRAKE24-2 (refer to Section
2.1. for DCPower Connections)
IMPORTANT: The user must provide a 24 VDC (500 mA) power supply.
www.aerotech.com 13
MPG Hardware Manual Chapter 1: Introduction

1.1. Mechanical Design
IMPORTANT: All specifications and illustrations are for reference only and were complete
and accurate as of the release of this manual. To find the newest information about this
product, refer to www.aerotech.com.
Figure 1-1: Dimensions
1.1. Mechanical Design MPG Hardware Manual
14 www.aerotech.com

1.2. Environmental Specifications
The environmental specifications for the MPG are listed below.
Ambient Temperature Operating: 5° to 40°C (41° to 104° F)
Storage: -20° to 70°C (-4° to 158° 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.
www.aerotech.com 15
MPG Hardware Manual 1.2. Environmental Specifications

This page intentionally left blank.
1.2. Environmental Specifications MPG Hardware Manual
16 www.aerotech.com

Chapter 2: Installation and Configuration
2.1. MPG Connections
Each MPG adapter cable is labeled to identify the receiving connector on the drive.
IMPORTANT: The 7th axis position of the axis select switch is not supported.
DC Power Connections
The MPG requires 24 VDC at 500 mA. Power can be supplied through the BRAKE24-2 option (Figure 2-1)
or a user-provided power supply. Refer to the drive sub-sections for specific wire colors.
Figure 2-1: DC Power Connections (BRAKE24-2 Option)
www.aerotech.com 17
MPG Hardware Manual Chapter 2: Installation and Configuration

Emergency Stop Connections
The emergency stop (ESTOP) switch on the MPG can be connected in series with the user-supplied
ESTOPand Safe Torque Off (STO)circuit. There are two normally-closed switch contacts: ESTOPNC1 and
ESTOPNC2. Refer to drive hardware manual for ESTOPswitch connection information. Refer to the drive
sub-sections for specific wire colors.
Figure 2-2: ESTOPDetail
Aerotech provides an ESTOPbypass connector that you can connect to the adapter cable. The bypass
plug will close the user’s ESTOP circuit and allow the machine to operate without the MPG.
Figure 2-3: Bypass Plug
2.1. MPG Connections MPG Hardware Manual
18 www.aerotech.com

2.1.1. Connect the MPG to the Automation1 XR3
Connect to the Aux Encoder, DIN, and STOconnectors and use digital input bits 0 through 8. The
handwheel uses the second auxiliary encoder input channel.
Table 2-1: XR3 Adapter Cable Connector Pinout
Connector Pin Description
DIN
25 Key
23 Input0 (XAxis)
22 Input1 (YAxis)
21 Input2 (ZAxis)
20 Input3 (4Axis)
18 Input4 (5Axis)
17 Input5 (6Axis)
16 Input6 (x1 Multiplier Distance)
15 Input7 (x10 Multiplier Distance)
12 Input8 (x100 Multiplier Distance)
19 Port 1 Input Common
24 Port 0 Input Common
13 Port 2 Input Common
AUXENCODER
8 Cosine
3 Cosine-N
4 5V
1 Sine
6 Sine-N
2 Common
STO
6 STO 1-
7 STO2-
1 STO 1+
2 STO 2+
To:User-Supplied Power Supply
(Flying Leads)
GRN/WHT Ground
WHT ESTOPNC2
GRN ESTOPNC1
PNK 24VDC
GRY Common
www.aerotech.com 19
MPG Hardware Manual 2.1.1. Connect the MPG to the Automation1 XR3

Figure 2-4: MPG to XR3 Cable Drawing
2.1.1. Connect the MPG to the Automation1 XR3 MPG Hardware Manual
20 www.aerotech.com