Aerotech UNIDEX 11 User manual

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UNIDEX" 11
MOTION CONTROLLER
HARDWARE' MANUAL
PN: EDU106
INC., 101 Zeta Drive, Pittsburgh, PA 15238 AEROTECH,
[phone] TWX 710-795-3125 FAX[phone]
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Copyright Q 1988 by Aerotech, Inc.
December,
1988
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DISCLAIMER:
Theinformationcontained in this manual is subjectto change dueto
improvements
in design.Though this documenthas been checkedfor
inaccuracies,Aerotech doesnot assume responsibilityfor any errors
containedherein.
TRADEMARKS:
Unidex is aregistered trademarkof Aerotech, Inc.
IBM PW/ATare registered trademarks of the InternationalBusi-
ness Machines Corporation.
ORGANIZATIONOF DOCUMENTATIONFOR UNIDEX 11:
Uptofour manuals may have been shippedwith your Unidex 11 Con-
troller,dependingonthe optionsordered. Of thefourmanuals, two
supplybasic data regarding programmingand hardwaresupportinfor-
mation. Thesemanualsare respectively:
a Unidex11 Motion ControllerProgramming Manual
a Unider I1 Motion Controller Hardware Manual - which is this
manual
Depending
on the optionssuppliedwith your Unidex 11, oneorboth'
of
the following documents may have alsobeen supplied:
Unidex 11 Motion ControllerOptionsManual
a Unidex11 Interactive ControlSoftware Manual (SSPI)
Please review, in detail, Unidex11 Motion ControllerProgramming
Manual,
beforeproceeding tothis or any otherdocumentationsup-
plied with your Unidex
11.
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ORGANIZATION OFTHIS MANUAL:
Thismanual is comprisedof general electrical and mechanical infor-
mationregarding the Unidex
11 Family Of Controllers,which include
the following:
Unidex 11 4-Axis Desktop Configuration - Model UllS
Unidex 11 4-Axis 19"Rack Mount Configuration- Model UllR
0 Unidex 11 4-Axis Heavy-Duty 19" Rack Mount
Configuration
- Model U11H
Unidex 11 2-Axis Desktop Configuration - ModelUllM
An overview of the Unidex 11 Family of Controllersis provided in
Part I, Chapter 1 of the Unik 11 Motion ControllerProgramming
Marrual. (Photographsof these controllers are shown in figure 1-1 of
this samesection.)
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Table of Contents
CHAPTER 1 : INTRODUCTION ........................................................................... I
SECTION 1-1 ABOUT THIS MANUAL
....................................................................... 2
CHAPTER 2:
UNIDEX REAR PANELCONNECTIONS ...................................... 5
SECTION2-1 UNIDEX 11CONTROLCONNECTIONS
.......................................... 10
SECTION2-2 LIMITSWITCH, MARKER AND ENCODER
.................................... 11
SECTlON2-3 AUXILIARY CONTROLCONNECTIONS
......................................... 19
SECTION2-4 INPUT/OUTPUT INTERFACECONNECTOR
................................ :..24
SECTION2-5 OPTO-INTERFACECONNECTOR
................................................... 26
SECTION2-6 JOYSTICK INTERFACECONNECTOR ............................................ 28
SECTION2-7 RS-232 INTERFACECONNECTOR
.................................................. 30
SECTION2-8 IEEE-488INTERFACECONNECTOR ............................................... 30
SECTION2-9 DIGITALI/OPORT
& TDTTHUMBWHEEL .......... ;; ........................... 31
SECTION2-10 HIGHSPEEDBINARYINTERFACE
................................................. 31
SECTION2-1
1
SERIALOUTPUT (SEO) INTERFACE ............................................ 32
SECTION2-12 UNIDEX 11POWER CONNECTIONS
............................................ 37
CHAPTER 3: INTERNALSTRUCTUREOF UNIDEX 11 .................................. 43
CHAPTER 4: STEPPINGIDCSERVO DRIVE MODULES ................................ 53
SECTION4-1 D3001/D1401STEPPING DRIVES
........................................ - ........... 53
SECTION4-2 DM4001, 4005 & 1501STEPPING DRIVES ..................................... 64
SECTION4-3 DM6006STEPPING DRIVEMODULE .............................................. 77
SECTION4-4 DMV8008AND DMV16008DRIVEMODULES ................................ .@
SECTION4-5 DSL802ODRIVEMODULE ............................................................... 101
SECTION4-6 POWER SUPPLY BOARD
.............................................................. 120
SECTION4-7: CONTROL BOARD
........................................... . .............................. 123
CHAPTER 5: STEPPINGAND DC SERVO MOTORS .................................... 127
SECTION5-1 HARDWARESPECIFICATIONS
....................................... . .............. 127
ServiceAnd Repair
Index
Warranty
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CHAPTER 1: INTRODUCTION
This manual containsgeneralinformation,both electricaland
mechanical,regarding the Unidex
11 Family of Controllerswhich in-
clude the following:
a Unidex 11 4-Axis Desktop Configuration - Model Ul lS
Unidex 1 1 4-Axis 19" Rack Mount Configuration - Model
UllR
Unidex 11 Heavy-Duty 19"Rack Mount
Configuration- Model UllH
a Unidex 11 2-Axis DesktopConfiguration- Model UllM
(An overview of the Unidex 11 controllers, as well as aphotograph
of each is included in Part I, chapter 1 of the Unidex 11 Motion Con-
trollerProgramming Manual.)
This manual alsoincludesinformationregardingthe operating
specificationsof thesteppingand DCdrive modules that are incor-
porated intothe Unidex
11 Family of Controllers. These drive
modules are:
Stepping Motor DriveModules:
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CHAPTER 1: INTRODUCIlON
DC Motor Drive Module:
DSL8020
An overviewof the steppingand DC motor drive modules is
provided in Part I, chapter 1 of Unik I1 Motion Controller Program-
mingManual. Specificationsfor steppingdrivelmotor combinations
areshown in table 1-2,with torque
vs. speedcurves in figure 1-3of the
samesection. Specificationsfor
DC Servodrivelmotor combinations
areshown in table
1-1, with torque vs. speedcurves in figure 1-2of the
samesection
SECTION 1-1 ABOUT THIS MANUAL
Theinformationprovided inthis manualpertains tohardware
functionalityof the Unidex
11 Family of Controllers. Followingis a
brief descriptionof each chapter:
Chaper 1: Introduction.
Chapter 2:
Chapter 3:
Description of the external characteristicsof the
Unidex
11 Family of Controllers. This informationin-
dudesdescriptionsof therear panelexternalconnec-
tionsincluding
electrical specificationsfor
inputloutputcontrdand powerconnections.
Cross
referencing of inputloutputconnectionstoap
propriatesoftware (programming)informationis
providedwhere necessaryto providethe userwithan
understanding
of theoverallcontrdsystem.
Concisedescriptionof theinternalorganizationof the
UnMex
11 Family of Controllers. This informationin-
dudesinterfacing
of thevarious steppingand DC
servo drive modules withthe Unidex 1 1 chassis.
Simplifiedinputpowerwiringdiagramsfor each
UnMex
11 chassisare also provided. These
diagramsare intendedtoaid indescribingthe inter-
connectingwiring usedto selectthevarious DC bus
voltages(for DMV8008, DMV16008and DSL8020
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Chapter 4:
Chapter 5:
CHAPTER 1: INTRODUCTION
Modules), aswell as wiring interconnectionsfor 115
VAC or 230 VAC inputpower operation.
Providesinformationpertainingtothe setup of the in-
dividualsteppingand DC servo drivemodulesand
Unidex
11 controlboard. This informationisprovided
forthe purposeof troubleshootingor performance
adaptionof theservo drives and controlmodules.
Normally,the user need not concern himselfwiththis
information
if the Unidex 11 systemhas beensup-
pliedwith standard Aerotech motorsand cables.
Forapplicationswhere motorand cablesare notsup-
plied
by Aerotech, the informationprovidedinthis
chapter isintendedtoserveas
a referenceforadjust-
mentof the given drive module.
Outlinesthe various
DC servoand stepping motoras-
semblies normallysuppliedwiththe Unidex
11 Family
of Controllers. Informationisprovidedfor electrical
connectionsof externaltravellimit switchestothe
motorassemblies. (Aerotechmotor cables are
designedtoallowthe usertofeed external limit
switchsignals backtothe Unidex
11 controller).
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CHAPTER 2: UNJDEX REAR PANEL CONNECTIONS
Outlinedrawings forthe rear panels of the Unidex 11 Controllers
are shown
in figures2-1,2-2 and 2-3. For additional reference,
photographsof
the Unidex 11 Family of Controllers can be found in
Part I, chapter 1 of the Unidex 11 Motion ControllerProgramming
Manual.
Control and Power connectionsfor all four chassis shown in figure
2-1,2-2and 2-3 are similar.
A brief descriptionof thevarious connec-
tors is outlined below,
using theUllSand UllRchassis in figure2-1
as an example.
XJ1, YJ1, UJI*, VJl* Powerconnectionsfor steppingor DC servo
motors. Connector isof twotypes, dependingon
the
typeof chassisused. (See section2-1 2 and
figure2-7 for moreinformation.)
Limit, marker,
(and inthe case of DC servo control,
encoderinterface) connectorsfor the X,Y,U and V
drivesare connectedhere. (See section2-1 and 2-
2, aswell as figure 24for moreinformation).
Auxiliary controlconnectionsfortheX,Y,U and
V
drives. The useof theseconnectorsdiffers,
dependingonthetype of Unidex
11 chassis used.
(For Unidex11 chassisU11
R, U1ISor U11 H, see
section
23 andfigure 2-4 for moreinformation.
For Unidex11chassisU11
M, see section2-3and
figure
2-4 for moreinformation.)
Application for 4-axis chassis, Ull-12, U11-S, and Ull-H.
This connectionisforthe optionalUnidex 11Joys-
tick control(see section2-6andfigure 2-4for more
information).
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CHAPTER 2: UNIDEX 11 REAR PANEL CONNECTIONS
The interfaceforthefour conditionalinputs
(11,12,13,14) andfour programmableoutputs
(01,02,03,04) are madeatthis connector (see
section2-4andfigure24for moreinformation).
The connectionforthe RS-232Cserialcommunica-
tionport ismadeat this connector(see section
2-7
andfigure 2-4for moreinformation).
The connectionfortheoptionaliEEE-488parallel
communicationsport ismadeat this connector
(see section
2-8 and figure 24for moreinforma-
tion).
This connector
is suppliedfor direct interfaceto
Opto-22PB8, PB16and PB24Opto-Isdatedinter-
face boards. (Theseboardscan' be supplied by
Aerotechas anoption.) The inputJoutputconnec-
tions describedfor connector
J5 above, aswell as
other contrdconnections, are broughtout onthis
connector. (See section2-5and figure
2-4 ofthis
chapterfor moreInformation.)
This connector providesforthe Digital
I10 Portand
--
Two-DigitThumbwheel InterfaceOption (see Part
IV
of theUnidex 11 MotionControlierOptions
Manualand section
2- 9 andfigure 2-4 of thischap-
ter for moreinformation).
This connector providesforthe High
Speed Binary
Interfaceoption. (See PartV
of the Unidex 11 Me
tionConfrollerOptionsManualand section
2-1 0
andfigure2-4 of thischapterfor moreinformation.)
NOTE:
Connectors J21 or 524 are mutually exclusive. Both connectorscannot be
present at the same time.
These connectorsare suppliedforthe serialoutput
(SEO) Optionfor UnMex 1
1. These optionalcon-
nectorsprovideopto-coupledpositioningdataand
statusoutput signals relathreto
X, Y, UandVaxes.
(See section2-1
1 andfigure 2-4 for moreinforma-
tion.)
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CHAPTER 2: UNIDEX 11 REAR PANEL CONNECTIONS
A-
External Control Connections
H,
DIO or HSBl
U/V SBO
/ - Motor Connections
Ventilation
Fan
Input
Power
(BW flgure 2-11)
*
On certain chassi~,the positions of XJ1, YJl. UJ1 and VJ1
may differ from those shown here.
Figure 2- 1: Rear Panel Outline of Unidex 11 4- Axis Desktop & 19"Rack Chassis (Models U11s & UI1R)
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CHAPTER 2: UNIDEX 11 REAR PANEL CONNEmONS
External Control
Connections
r / \ \
Motor
Connections
Input
Power
k X/Y SEO
up' seo
(see figure 2-11)
On certain chassis, positions of XJ1. YJ1. UJ1 and VJ1
may differ from what is shown here.
Figure 2-2: Rear Panel Outline of the UnMex 11 Four Axis HeaycDuly 19"Rack Chassis(Model U11H)
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CHAPTER 2: UNIDEX 11 REAR PANEL CONNECI'IONS
Motor Connections kternal Control Connections
Figure 2-3: Rear Panel Outlineof the Unidex I1 2-Axis Desktop Chassis (Model UIIM)
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CHAPTER 2: UNIDEX 11 REAR PANEL CONNECTIONS
SECTION 2-1
UNIDEX 11 CONTROLCONNECTIONS
The outline of the external control connectorsshown in figures2-1,
2-2and
2-3 is detailed in figure 2-4. Aerotechsuppliesthe mating con-
nectorsfor eachexternal control connectoruponrequest.
For convenience,
a list of mating connectors (and their manufac-
turers) for those connectorsshown
in figure 2-4 is presented in table 2-
Matingconnectorfor 25
pin"female"
"D connec-
torsJ13.514, J19 andJ20
Matingconnectorfor25
pin "male" "D" connectorJ2
Matingconnectorfor 15
pinYemale"
"D" connector
J5,J21,J24
Matingconnectorfor 15
pin"male"
"D connectors
J10, J11, J17, J18, J22. J23
Matingconnectorfor
50
pin"female""Champ" con-
nectorJ6
Matingconnectorfor 24
pin"female""Champ1'con-
nectorJ15
Mddedcabletype "male", Beldon, No. 49670
Sdder
pot type "male", TRW-CINCH, No. DBM-25P
Ribbonconnector
type "male", TRW-CINCH, No.
FC25P
Mddedcable
type "female", Beldon, No. 49675
Solder pot
type "female",TRW-CINCH, No. DBM-
25s
Ribbonconnectortype"female"TRW-CINCH, No.
FC25S
Moldedcabletype"male", Beldon, No. 49722
Sdder
pot type "male", TRW-CINCH, No. DAM-15P
Ribbonconnector
type "male", TRW-CINCH, No.
FClSP
Moldedcabletype 'Yemale", Beldon, No. 49727
Solder
pot type "female",TRW-CINCH, No. DAM-
15s
Ribbonconnector
type "female",TRW-CINCH, No.
FC15S
Ribboncable
type "male", 3M, No. 3564
Moldedcable
type "male", Beldon, No. 49644
Table 2- 1: List of Mating Connectorsfor External Control ConnectorsShownin Figure 2-4
-1 0-
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CHAPTER 2: UNIDEX 11REAR PANEL CONNECTIONS
SECTION 2-2
LIMITSWITCH, MARKER AND ENCODER
Connectionsfor X, Y, U, V Drives
NOTE:
The followingsectiondescribes the external control co~ectionsof the
Unidex11(figures2-1,2-52-3,2-4)
in more detail.
A. CONNECTOR SPECIFICATION
For J13, J14, J19 and 520 for UllS,U11R and U11H Chassis
NOTE:
This subsectiondescribesthe connectionsfor the UllS,UllRandU1lH
chassis. The UllMchassisconnectionsare described
in the next subsec-
tion
(B).
Connectors513,514,J19 and 520 provide forthe terminationof the
basic controlinterface signalsbetweenthe
X,Y,U and V stepping
motor and/orDCservomotor and the Unidex
11. Motor travel limits
and homing signals for eachaxis are terminatedat these receptacles,
as weu as encodersignalsfor DC motor control. Thepinouts are as
follows (seefigure2-4 forreceptacle outline).
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CHAPTER 2: UNIDEX 11 REARPANEL CONNECTIONS
Female Receptacle
J5. 53. 521. 524
.......
Male Receptacle
510, Jll, 517*, J18*, 522, 523
Female Receptacle
513, 514, J19*, J20*
13 12 11 10 9
L.~.ii&5iiii)
Male Receptacle
52
9 10 11 12 13
(i3iii&ih..e.)
Female Receptacle
J6
1 25
Female Receptacle
13
Figure 2-4: Outlineof Unidex 11 Ektemal Control Connectors
-1 2-
* Applicable to 4-axis
chaasLI UIlR. UllS
and UIlH.
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CHAPTER 2: UNIDEX 11 REAR PANEL CONNECTIONS
J13, J14, J19 and 520 (UllS, UllR,U11H Chassis):
Pin
#
13
12 *
25 *
24 *
23 *
22 *
7
6
3, 16
9,20,21
4
1
14
15
17
18
19
8
Descri~tion Commentg
FORM C
FORM A (normally open) or FORM B (normally closed)
CW Umit (in) NoConnection
ICWUmit (in) ICWor CW Limit (in)
CCW Limit (in) NoConnection
/CCW Limit (in) /CCW or
CCW Limit (in)
HomeUmit (in) NoConnection
/Home Limit (in) /Home or HomeLimit (in)
Marker (in) Encodermarker (or index pulse, see fol-
lowingdiagram) for DC servo motor
/Marker (in) or separate marker (indexpulsefor step-
pingmotorcontrol). See chapter
4 for
additionalinformation.
+ 5VDC (200mA max)
SignalCommon
Optional
+ 5VDC (For
Aerotechuse only)
Shield (ConnectorRetain-
ingScrewsarealsocon-
nectedtochassisframe)
COS(in)
ICOS (in)
r
Encoderquadrature signals (see follow-
ingdiagram) for DC servo motorcon-
trol. (Notapplicablefor stepping motor
control).
SIN (in)
/SIN (in)
+ Tach Input
I
Optionaltachfor DC servo only
- Tach Input Polarityindicatedfor
CW motorrotation
Form C Limit connectionsare "factory select" only. Form A Limit connec-
tions
are the standardconfiationshipped. Form B Limit connections
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CHAPTER 2: UNlDEX 11 REAR PANEL CONNECTIONS
can be field selected on the given DC or steppingdrivemodule (see chap-
ter 4 for driver module specifications).
Encoder Input Specifications:
TheUnidex 11 DSL8020 DC servomodule canbe factorysetfor:
1. Differential amplifiedsinewave encoderoperation, or
2. Single-ended or differentialsquarewave (line driver or TI'L) en-
coderoperation.
(Seechapter
4, DSL8020 drivemodule specificationsforinforma-
tiononencoder interfaceselection.) Electricalspecificationsforboth
sineand squarewave encodertypes areshown below:
S uare Wave Encoder
COS.
/SIN. and /Marker not shown. but similar)
(9
Sin Wave Encoder
(/COS.
/SIN. and /Marker not shown. but similar)
V w (Offset Voltage)
- V a (Offset Voltage)
Marker
- , - , -
Motor rotational reference. CW, im looking into
the motor mounting flange. Encoder is assumed
to be mounted on mu of motor.
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CHAPTER 2: UNIDEX 11 REAR PANEL CONNECTIONS
EncoderVoltage Specifications:
Specification Sine Wave
VOH
3.0 VMIN
VOL
1 VMAX
VOFF
1.75 - 2.25 VrVP
EncoderTiming Specifications:
Specification Sine Wave
A(S~mmetr~) 180" +110"Max
~(~itter)(') st WMax
~(~uadrature)(') SO0
+- U)"Max
D (Marker ~idth)(~) 90•‹Min/270"Max
~(~eriod)(~) 25pSec
Min (40KHz)
NOTE 1:
NOTE 2:
NOTE 3:
Square Wave
2.4 VMIN
.4 VMAX
-
Square Wave
1 80" st 1O"Max
+ SOMax
SO0
+ mMax
90•‹MinM0"Max
13.3pSec
Mi (75KHz)
Quadraturejitter at 35 KHz.
TheDSL8020 DC servodrive moduleinternallymasks the marker to"one"
machine step,based on thelogical
"and" of the"positive"Sineand Cos
singlestates.
The
maximum encoderfrequencystatedabove is based onone full output
cycleof theencoder
(XI mode). TheDSLSMO can be fieldselectedfor
XI, X2, or X4 interpolationof the encoder signals. Themaximum data
rate of theUnidex
11 system is WkHz Whena sinewave encoder is
used in the X4 mode, the maximum systemdatarate is 160lcHz, When a
squarewave encoder
is used in the X4 mode, themaximum systemdata
rate would
be 250kI-k
Single-endedsquarewave encoders can be accommodated by appropriate-
ly connectingthe encoderto the sin,cos and marker connections,while
leavingthe
/Sin, /Cos and/Marker pointsunconnected. (See chapter 4,
DSLSOUl Drive Moduleformore informationregardingsingle-ended en-
coderoperation.) (NOTE: For "noisy"environments,differentialoutput
encodersarerecommended.)
Themarker inputsconnections are applicablefor stepping as well
as DC servomotor control. However, the electrical specifications for
the marker inputs (pin
7 and 6) when used with steppingmotor con-
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