Aerotech Ensemble CP Series User manual

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SM
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Instra

MOTOR FEEDBACK
J103
ESTOP
TB101
ENB/FLT
MARKER
AUX I/O
J104
MOTOR FEEDBACK J103
ESTOP TB101
ENB/FLT
MARKER
RELAY TB206
NC
C
NO
OPTO IN TB205
OPTO IN TB204
C
0
1
2
3
4
5
6
7
GND
OPTO OUT TB203
OPTO OUT TB202
OP
OM
0
1
2
3
4
5
6
7
TB201
AGND
AIN+
AIN-
AOUT
AUX I/O J104
ETHERNET
J102
AEROTECH.AEROTECH.
COMCOM
TMTM
C
0
1
2
3
4
5
6
7
+5V
OP
OM
0
1
2
3
4
5
6
7
AEROTECH.AEROTECH.
COMCOM
TMTM
ETHERNET J102
High Voltage
DANGER!
MOTOR SUPPLY MOTOR OUTPUT
AC1
AC2
A
B
C
240V~
MAX
50/60Hz
15A MAX
PWR
INPOS
TB102
High Voltage
DANGER!
MOTOR SUPPLY MOTOR OUTPUT
AC1
AC2
A
B
C
240V~
MAX
50/60Hz
15A MAX
PWR
INPOS
TB102
Revision: 4.07.00
Ensemble CPHardware Manual
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Global Technical Support
Go to www.aerotech.com/global-technical-support 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 Japan
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Germany China
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Phone: [phone]
Email: [e-mail]
France Taiwan
Phone: [phone]
Email: [e-mail]
Phone: [phone]
Email: [e-mail]
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 © 2006-2017, Aerotech, Inc., All rights reserved.
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Table of Contents Ensemble CP
Table of Contents
Ensemble CP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 18
1.2. Electrical Specifications 19
1.2.1. System Power Requirements 20
1.2.2. Power Dissipation 21
1.3. Mechanical Design 22
1.4. Environmental Specifications 23
Chapter 2: Installation and Configuration 25
2.1. Power Connections 25
2.1.1. Control Supply Connections (TB106) 26
2.1.2. Motor Supply Connections (TB102) 27
2.1.3. Transformer Options 28
2.1.4. Minimizing Conducted, Radiated, and System Noise 35
2.2. Motor Output Connections 36
2.2.1. Brushless Motor Connections 37
2.2.1.1. Powered Motor Phasing 38
2.2.1.2. Unpowered Motor and Feedback Phasing 39
2.2.2. DC Brush Motor Connections 40
2.2.2.1. DC Brush Motor Phasing 41
2.2.3. Stepper Motor Connections 42
2.2.3.1. Stepper Motor Phasing 43
2.3. Motor Feedback Connections (J103) 44
2.3.1. Encoder Interface (J103) 45
2.3.1.1. RS-422 Line Driver Encoder (Standard) 46
2.3.1.2. EnDat Encoder Interface (J103) 47
2.3.1.3. Resolute Encoder Interface (J103) 48
2.3.1.4. Analog Encoder Interface 49
2.3.1.5. Encoder Phasing 51
2.3.2. Hall-Effect Interface (J103) 53
2.3.3. Thermistor Interface (J103) 54
2.3.4. Encoder Fault Interface (J103) 55
2.3.5. End Of Travel Limit Input Interface (J103) 56
2.3.5.1. End Of Travel Limit Phasing 58
2.3.6. Brake Output (J103) 59
2.4. Emergency Stop Sense Input (TB101) 60
2.4.1. Typical ESTOP Interface 61
2.5. Auxiliary I/O Connector (J104) 62
2.5.1. Auxiliary Encoder Channel (J104) 63
2.5.2. Position Synchronized Output (PSO)/Laser Firing (J104) 65
2.5.3. Opto-Isolated Outputs (J104) 67
2.5.4. Opto-Isolated Inputs (J104) 69
2.5.5. High-Speed User Inputs 4-5 (J104) 71
2.5.6. Analog Output 0 (J104) 72
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2.5.7. Differential Analog Input 0 (J104) 73
2.6. Brake Power Supply (TB103) 74
2.6.1. Solid State Relay Specifications (TB103) 77
2.7. Aeronet Interface (J107/J108) 78
2.8. RS-232 Interface (TB103) 79
2.9. -EXTSHUNT Option (TB104) 80
2.10. PC Configuration and Operation Information 83
Chapter 3: -I/O Expansion Board 85
3.1. Analog Output (TB201) 86
3.2. Analog Input (TB201) 87
3.3. Opto-Isolated Inputs (TB204, TB205) 88
3.4. Opto-Isolated Outputs (TB202, TB203) 91
3.5. User Power (TB204, TB205) 95
3.6. Brake / Mechanical Relay (TB206) 96
3.6.1. Brake Configuration Jumpers 96
3.6.2. Mechanical Relay Specifications 96
3.6.3. Brake / Mechanical Relay Interface Connector 97
Chapter 4: Standard Interconnection Cables 99
4.1. Joystick Interface 100
4.2. Handwheel Interface 103
Chapter 5: Maintenance 105
5.1. Control Board 106
5.2. Preventative Maintenance 108
Appendix A: Warranty and Field Service 109
Appendix B: Revision History 111
Index 113
Ensemble CP Table of Contents
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Table of Contents Ensemble CP
List of Figures
Figure 1-1: Ensemble CP Networked Digital Drive 15
Figure 1-2: Functional Diagram 17
Figure 1-3: Power Dissipation vs. Output Current 21
Figure 1-4: Ambient Temperature vs. Power Dissipation 21
Figure 1-5: Dimensions 22
Figure 2-1: Control Supply Connections 26
Figure 2-2: Motor Bus Input Connections 27
Figure 2-3: Transformer Examples 28
Figure 2-4: 40 VDC Motor Power with a TV0.3-28-56-ST Transformer 29
Figure 2-5: 80 VDC Motor Power with a TV0.3-28-56-ST Transformer 30
Figure 2-6: 40 Volt DC Bus from 115 and 230 VAC Source 31
Figure 2-7: 80 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) 32
Figure 2-8: 160 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) 33
Figure 2-9: Control and Motor Power Wiring using a TM3 or TM5 Transformer 34
Figure 2-10: ACLine Filter (UFM-ST) 35
Figure 2-11: Brushless Motor Configuration 37
Figure 2-12: Encoder and Hall Signal Diagnostics 38
Figure 2-13: Motor Phasing Oscilloscope Example 39
Figure 2-14: Brushless Motor Phasing Goal 39
Figure 2-15: DC Brush Motor Configuration 40
Figure 2-16: Clockwise Motor Rotation 41
Figure 2-17: Stepper Motor Configuration 42
Figure 2-18: Clockwise Motor Rotation 43
Figure 2-19: Line Driver Encoder Interface (J103) 46
Figure 2-20: Serial Data Stream Interface 47
Figure 2-21: Serial Data Stream Interface 48
Figure 2-22: Analog Encoder Phasing Reference Diagram 49
Figure 2-23: Analog Encoder Interface (J103) 50
Figure 2-24: Encoder Phasing Reference Diagram (Standard) 51
Figure 2-25: Position Feedback in the DiagnosticDisplay 52
Figure 2-26: Hall-Effect Inputs (J103) 53
Figure 2-27: Thermistor Interface Input (J103) 54
Figure 2-28: Encoder Fault Interface Input (J103) 55
Figure 2-29: End of Travel Limit Input Connections 56
Figure 2-30: End of Travel Limit Interface Input (J103) 57
Figure 2-31: Limit Input Diagnostic Display 58
Figure 2-32: ESTOPSenseInput (TB101) 60
Figure 2-33: Typical Emergency Stop Circuit 61
Figure 2-34: Auxiliary Encoder Channel (J104) 64
Figure 2-35: PSOInterface 66
Figure 2-36: Outputs Connected in Current Sourcing Mode (J104) 68
Figure 2-37: Outputs Connected in Current Sinking Mode (J104) 68
Figure 2-38: Inputs Connected in Current Sourcing Mode (J104) 70
Figure 2-39: Inputs Connected in Current Sinking Mode (J104) 70
Figure 2-40: High-Speed User Inputs (J104) 71
Figure 2-41: Analog Output 0 (J104) 72
Figure 2-42: Analog Input 0 (J104) 73
Figure 2-43: Brake Connected to J103 75
Figure 2-44: Brake Connected to TB103 76
Figure 2-45: Aeronet Connection with Three Discrete Drives 78
Figure 2-46: RS-232 Interface (TB103) 79
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Figure 3-1: Ensemble CP with -IO Option Board 85
Figure 3-2: Analog Output Connector (TB201) 86
Figure 3-3: Analog Input Typical Connection (TB201) 87
Figure 3-4: Opto-Isolated Inputs 89
Figure 3-5: Inputs Connected to a Current Sourcing Device 90
Figure 3-6: Inputs Connected to a Current Sinking Device 90
Figure 3-7: Opto-Isolated Outputs (-IOBoard) 93
Figure 3-8: Outputs Connected in Current Sourcing Mode 94
Figure 3-9: Outputs Connected in Current Sinking Mode 94
Figure 3-10: Brake Connected to J103 98
Figure 3-11: Brake Connected to TB206 98
Figure 4-1: Single Axis Joystick Interface (to Aux I/O) 100
Figure 4-2: Two Axis Joystick Interface (to the Aux I/O of two drives) 101
Figure 4-3: Two Axis Joystick Interface (to the Aux I/O and I/O Board) 101
Figure 4-4: Two Axis Joystick Interface (to the I/Oboard of two drives) 102
Figure 4-5: Handwheel Interconnection (to Aux I/O) 103
Figure 4-6: Handwheel Interconnection (to Aux I/O via a BBA32 Module) 104
Figure 5-1: Control Board Assembly 106
Ensemble CP Table of Contents
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Table of Contents Ensemble CP
List of Tables
Table 1-1: FeatureSummary 16
Table 1-2: Drive and Software Compatibility 18
Table 1-3: Electrical Specifications 19
Table 1-4: Physical Specifications 22
Table 2-1: Control Supply ACInput Wiring 26
Table 2-2: Control Supply Mating Connector 26
Table 2-3: Motor Supply Mating Connector 27
Table 2-4: Nominal Motor Operating Voltages / Required ACVoltages 28
Table 2-5: TransformerOptions 28
Table 2-6: FerriteNoise Suppression Numbers 35
Table 2-7: UFM-STElectrical Specifications 35
Table 2-8: Motor Power Output Connections (TB102) 36
Table 2-9: Motor Power Output Mating Connector 36
Table 2-10: Wire Colors for Aerotech Supplied Cables (Brushless) 37
Table 2-11: Wire Colors for Aerotech Supplied Cables (DCBrush) 40
Table 2-12: Wire Colors for Aerotech Supplied Cables (Stepper) 42
Table 2-13: Motor Feedback Connector Pin Assignment (J103) 44
Table 2-14: Encoder Interface Pin Assignment 45
Table 2-15: Encoder Specifications 46
Table 2-16: Analog Encoder Specifications 49
Table 2-17: Hall-Effect Feedback Interface Pin Assignment (J103) 53
Table 2-18: Thermistor Interface Pin Assignment (J103) 54
Table 2-19: Encoder Fault Interface Pin Assignment (J103) 55
Table 2-20: End of Travel Limit Input Interface Pin Assignment (J103) 56
Table 2-21: Brake Output Pin Assignment (J103) 59
Table 2-22: Electrical Noise Suppression Devices 60
Table 2-23: TB101 Mating Connector 60
Table 2-24: Typical ESTOPRelay Ratings 61
Table 2-25: Auxiliary I/O Connector Pin Assignment (J104) 62
Table 2-26: Auxiliary Encoder Specifications 63
Table 2-27: Auxiliary Encoder Channel Pin Assignment (J104) 63
Table 2-28: PSO Specifications 65
Table 2-29: PSOOutput Pin Assignment (J104) 65
Table 2-30: Digital Output Specifications 67
Table 2-31: Port 0 Digital Output Connector Pin Assignment (J104) 67
Table 2-32: Opto-Isolated Input Specifications 69
Table 2-33: Port 0 Digital Input Connector Pin Assignment (J104) 69
Table 2-34: High-Speed Input Specifications 71
Table 2-35: Port 0 High Speed Digital Input Connector Pin Assignment (J104) 71
Table 2-36: Input Voltage Jumper Configuration 71
Table 2-37: Analog Output 0 Specifications (TB102B) 72
Table 2-38: Analog Output Connector Pin Assignment (J104) 72
Table 2-39: Differential Analog Input 0 Specifications 73
Table 2-40: Analog Input Connector Pin Assignment (J104) 73
Table 2-41: Brake Output Connector Pin Assignment (TB103) 74
Table 2-42: Mating Connector (TB103) 74
Table 2-43: Brake Output Connector Pin Assignment (J103) 74
Table 2-44: Relay Specifications 77
Table 2-45: Aeronet Cable Part Numbers 78
Table 2-46: RS-232 Connector Pin Assignment (TB103) 79
Table 2-47: RS-232 Port Connector Mating Connector (TB103) 79
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Table 2-48: -EXTSHUNTComponent Information 80
Table 2-49: Maximum Storage Energy 81
Table 3-1: -IO Expansion Board Jumper Configuration 85
Table 3-2: -IO Option Board Fuse Information 85
Table 3-3: Analog Output Specifications (TB102B) 86
Table 3-4: Analog Output Connector Pin Assignment (TB201) 86
Table 3-5: Analog Output Mating Connector 86
Table 3-6: Differential Analog Input 1 Specifications 87
Table 3-7: Analog Inputs Connector Pin Assignment (TB201) 87
Table 3-8: Analog Input Mating Connector 87
Table 3-9: Opto-Isolated Input Device Specifications 88
Table 3-10: Port 1 Opto-Isolated Input Connector Pin Assignment (TB204) 88
Table 3-11: Port 2 Opto-Isolated Input Connector Pin Assignment (TB205) 88
Table 3-12: Opto-Isolated Input Mating Connector 88
Table 3-13: Output Specifications (TB202, TB203) 91
Table 3-14: Port 1 Opto-Isolated Output Connector Pin Assignment (TB202) 92
Table 3-15: Port 2 Opto-Isolated Output Connector Pin Assignment (TB203) 92
Table 3-16: Opto-Isolated Output Mating Connector 92
Table 3-17: User Common Connector Pin Assignment (TB204) 95
Table 3-18: +5 Volt Power Connector Pin Assignment (TB205) 95
Table 3-19: -IO Expansion Board Brake Jumper Configuration 96
Table 3-20: Voltage and Current Specifications (TB206) 96
Table 3-21: Brake / Mechanical Relay Connector Pin Assignment (TB206) 97
Table 3-22: Mating Connector for TB206 97
Table 3-23: Brake / Mechanical Relay Connector Pin Assignment (J103) 97
Table 4-1: Standard Interconnection Cables 99
Table 4-2: Cable Part Numbers 102
Table 5-1: LEDDescription 105
Table 5-2: Control Board Jumper Configuration 107
Table 5-3: Control Board Fuse Information 107
Table 5-4: LEDDescription 107
Table 5-5: Preventative Maintenance 108
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Declaration of Conformity Ensemble CP
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2897
USA
Product Ensemble CP
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 LVD
2011/65/EU RoHS2 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 55011:1998 RFI Limits and Measurement
EN 61800-3:2004 EMC requirements for power drives
EN 61000-3-2:2000 Harmonic Current Emissions
EN 61000-3-3:1995 Voltage Fluctuation and Flicker
EN 61000-4-2:1995 ESD Immunity
EN 61000-4-3:2002 Radiated RFI/EMI Immunity
EN 61000-4-4:1995 EFT/Burst Immunity
EN 61000-4-5:1995 Surge Immunity
EN 61000-4-6:1996 Conducted Immunity
EN 61000-4-11:1994 Voltage Dips and Interruptions
EN 61010-1:2010 Safety requirements for electrical equipment
Name
/ Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
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Agency Approvals
Aerotech, Inc. Model Ensemble CP Series Digital 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: UL 61010-1:2004; CAN/CSA-C22.2 No. 61010-1:2004; EN 61010-
1:2010
Ensemble CP Declaration of Conformity
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Electrical Safety Ensemble CP
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.
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 : 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 CP 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 CP inside a rack or enclosure.
6. The shunt resistor temperature can exceed 70°C during normal operation and contains
lethal voltage on its terminals and surface. It must be properly enclosed and shielded to
avoid risk of fire and operator shock.
7. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
8. All components must be properly grounded in accordance with local electrical safety
requirements.
9. Operator safeguarding requirements must be addressed during final integration of the
product.
D A N G E R : The Ensemble CP 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. Use of this equipment in ways other than described by this manual can cause personal
injury or equipment damage.
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. 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.
6. Operators must be trained before operating this equipment.
7. All service and maintenance must be performed by qualified personnel.
8. This product is intended for light industrial manufacturing or laboratory use. Use of this
product for unintended applications can result in injury and damage to the equipment.
Ensemble CP Electrical Safety
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Quick Installation Guide Ensemble CP
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the
Ensemble CP. 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.
S/N -
P/N -
MOTOR FEEDBACK J103
ESTOP TB101
ENB/FLT
MARKER
RELAY TB206
NC
C
NO
OPTO IN TB205
OPTO IN TB204
C
0
1
2
3
4
5
6
7
GND
OPTO OUT TB203
OPTO OUT TB202
OP
OM
0
1
2
3
4
5
6
7
TB201
AGND
AIN+
AIN-
AOUT
AUX I/O J104
EXTERNAL SHUNT TB104
1 2
50/60Hz
85-240V~
0.25A MAX
TB106
CONTROL
SUPPLY
AC2AC1
1 2 3
C
0
1
2
3
4
5
6
7
+5V
OP
OM
0
1
2
3
4
5
6
7
AEROTECH.AEROTECH.
COMCOM
TMTM
ETHERNET J102
AERONET
OUTPUT
AERONET
INPUT J107
J108
TB103
+5V / 0.5A
RS232 TX
RS232 RX
GND
BRAKE PS –
BRAKE PS +
USB J101
WARNING:
DISCONNECT POWER BEFORE
SERVICING
HAZARDOUS VOLTAGES PRESENT
UP TO 8 MIN. AFTER POWER IS
DISCONNECTED
High Voltage
DANGER!
MOTOR SUPPLY MOTOR OUTPUT
AC1
AC2
A
B
C
240V~
MAX
50/60Hz
15A MAX
PWR
INPOS
TB102
Connect the Motor Outputs (TB102) and Motor Feedback (J103).
Connect the PC to either the Ethernet (J102) or the USB (J101).
Connect any additional I/O as required (not shown).
Connect to the Control Supply (TB106).
Connect to the Motor Supply (TB102).
Note: Connect to ESTOP (TB101) in this step if applicable.
1
6
1
1
3
Connect a multi-axis Ensemble system with Aeronet (J107, J108).
2
4
5
6
3
6
5
3
2
Figure 1: Quick Start Connections
Topic Section
Motor Output Section 2.2. Motor Output Connections
Motor Feedback Section 2.3. Motor Feedback Connections (J103)
Aeronet Section 2.7. Aeronet Interface (J107/J108)
Ethernet / USB No Section / Standard Connection
Control Supply Section 2.1.1. Control Supply Connections (TB106)
Motor Supply Section 2.1.2. Motor Supply Connections (TB102)
Additional I/O User / Application dependent
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Introduction Ensemble CP
Chapter 1: Introduction
Aerotech’s Ensemble CP(Compact PWM) network digital drive is a high performance amplifier. The drive
provides deterministic behavior, auto-identification, and easy software setup. The Ensemble CP’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 CP is offered with an optional encoder interpolation feature (-MXU), an auxiliary square wave
encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -IO option), and
separate power connections for motor and control supply voltages.
S/N -
P/N -
MOTOR FEEDBACK J103
ESTOP TB101
ENB/FLT
MARKER
RELAY TB206
NC
C
NO
OPTO IN TB205
OPTO IN TB204
C
0
1
2
3
4
5
6
7
GND
OPTO OUT TB203
OPTO OUT TB202
OP
OM
0
1
2
3
4
5
6
7
TB201
AGND
AIN+
AIN-
AOUT
AUX I/O J104
EXTERNAL SHUNT TB104
1 2
50/60Hz
85-240V~
0.25A MAX
TB106
CONTROL
SUPPLY
AC2AC1
1 2 3
C
0
1
2
3
4
5
6
7
+5V
OP
OM
0
1
2
3
4
5
6
7
AEROTECH.AEROTECH.
COMCOM
TMTM
ETHERNET J102
AERONET
OUTPUT
AERONET
INPUT J107
J108
TB103
+5V / 0.5A
RS232 TX
RS232 RX
GND
BRAKE PS –
BRAKE PS +
USB J101
WARNING:
DISCONNECT POWER BEFORE
SERVICING
HAZARDOUS VOLTAGES PRESENT
UP TO 8 MIN. AFTER POWER IS
DISCONNECTED
Standard
Connector Description
J101 USB Port
J102 Ethernet Port
J103 Motor Feedback
J104 Auxiliary I/O
J107 Aeronet Input
J108 Aeronet Output
TB102 Motor Supply
TB102 Motor Output
TB106 Control Supply Output
TB101 Emergency Stop Sense Input (ESTOP)
TB103 RS232/Brake Power Supply
TB104 External Shunt
-IO/-IOH Board Option
Connector Description
TB201 Analog I/O
TB202 Opto-Outputs
TB203 Opto-Outputs
TB204 Opto-Inputs
TB205 Opto-Inputs
TB206 Relay
High Voltage
DANGER!
MOTOR SUPPLY MOTOR OUTPUT
AC1
AC2
A
B
C
240V~
MAX
50/60Hz
15A MAX
PWR
INPOS
TB102
Figure 1-1: Ensemble CP Networked Digital Drive
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16 Chapter 1 www.aerotech.com
Table 1-1: FeatureSummary
Standard Features
lLine driver square wave quadrature encoder input for position and velocity feedback
lLine driver square wave auxiliary quadrature encoder input or output for PSO
lFour opto-isolated user outputs
lSix opto-isolated user inputs(two high speed)
lOne 16-bit differential analog input (±10 V)
lOne 16-bit analog output (±10 V)
lDedicated 5-24 V Emergency Stop sense input
l85 - 240 VAC control supply inputs
lOne fail-safe brake
lSingle axis Position Synchronized Output (PSO)
lAbsolute Encoder support
lCalibration (refer to the EnsembleHelp file for more information)
lCamming (refer to the EnsembleHelp file for more information)
l10/100 BASE-T Ethernet port for use with Ethernet I/O modules
Options
-S Internal shunt resistor (standard on CP 30).
50 Ohm, 40 W Continuous; 400 W Peak (5 seconds),
(Manufacturer's P/N:Ohmite F40J50RE or equivalent)
-IO lOne 16-bit analog output (±10 V)
lOne 12-bit differential analog input
lOne fail-safe brake or user relay output
l16 optically isolated logic inputs (5 - 24 VDC), may be connected in current
sourcing or sinking mode
l16 optically isolated logic outputs (5 - 24 VDC), user defined as current
sourcing or sinking
-MXU Interpolation circuit allowing for analog sine wave input on the standard encoder
channel. Interpolation factor: 4,096
-EXTSHUNT Connection provided for an external shunt resistor network.
Accessories
UFM-ST AC Line Filter Module (required for CE compliance; refer to Section 2.1.)
MCK-NDRIVE Mating connector kit for J103 (J104 mate is always provided)
JI Industrial Joystick (NEMA12 (IP54) rated); refer to Section 4.1.
PS24-1 24 VDC, 1Apower supply for optional brake/relay output
BRAKE24-2 24 VDC, 2 A power supply for optional brake
Transformers
Refer to Section 2.1.3. for listings, wiring, and specifications
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 4.1. or Section 4.2.
Ensemble CP Introduction
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Introduction Ensemble CP
The following block diagram shows a connection summary. For detailed connection information, refer to
Chapter 2 and Chapter 3.
Isolated
Power Supply
TB106
Control Supply
Encoder +5V / Common
Brake ±
SIN, COS, MRK (RS422)
CW, CCW, Home Limits
Encoder Fault
Hall A, B, C
Motor Over Temperature
-MXU
Option
J103
Motor
Feedback
Analog Output 0
Analog Input 0 +/-
2 High Speed Opto Inputs
4 Opto Inputs
4 Opto Outputs
SIN, COS, MRK (RS422)
Encoder +5V / Common
PSO Output, Encoder Echo
Emergency Stop Sense Input
J104
Aux I/O
Aeronet Input
J107
Aeronet Output
J108
USB 1.1 Port
J101 Ethernet Port J102
Analog Input 1 +/-
Analog Output 1
16 Opto Outputs
(Sinking or Sourcing)
16 Opto Inputs
Brake Power
Input or Relay
(jumper configurable)
TB201
-IO Option
TB202 /
TB203
Opto Out
TB204 /
TB205
Opto In
TB206
Relay
TB103
RS232 /
Brake Supply
Brake Supply
Input
RS232
+5V /
Common
PWM Power
Amplifier
Heatsink Over
Temperature A
B
C
Inrush
Limiting
TB102
Motor
Supply
TB102
Motor
Output
TB101
ESTOP
TB104
-EXTSHUNT
option
+
AC1
AC2
AC1
AC2
A
B
C
AC1
AC2
AC1
AC2
Figure 1-2: Functional Diagram
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18 Chapter 1 www.aerotech.com
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 1-2: Drive and Software Compatibility
Drive Type Firmware Revision First Software Version Last Software Version
CL - 1.01 5.02
A 2.55 5.02
CP A 1.00 Current
B 2.54 Current
Epaq - 1.00 Current
A 2.55 Current
Epaq MR with ML drives - 3.00 Current
Epaq MR with MP drives - 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
QDe/QL/QLe - 5.01 Current
QLAB - 4.07 Current
Ensemble CP Introduction
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Introduction Ensemble CP
1.2. Electrical Specifications
Table 1-3: Electrical Specifications
Description CP 10 CP 20 CP 30
Motor
Supply
Input Voltage 14-240 VAC
Input Frequency 50-60 Hz
Inrush Current 32 A @ 230 VAC; 16 A @ 115 VAC
Maximum
Continuous Input
Current
5 Arms 10 Arms 10 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 26 A
Input Current .25 A max
Output Voltage (1) 20-340 VDC
Peak Output Current (1 second) 10 A 20 A 30 A
Continuous Output Current 5 A 10 A 10 A
Power Amplifier Bandwidth 2500 Hz maximum (software selectable)
Power Amplifier Efficiency 85% - 95% (2)
PWM Switching Frequency 20 kHz
Minimum Load Inductance 0.1 mH @160 VDC (1 mH @ 320 VDC)
User Power Supply Output 5 VDC (@ 500 mA)
Modes of Operation Brushless; Brush; Stepper
Protective Features
Output short circuit; Peak over current; DC bus over voltage; RMS
over current; Over temperature; Control power supply under voltage;
Power stage bias supply under voltage
Isolation Optical and transformer isolation between control and power stages.
(1) AC input voltage and load dependent.
(2) Dependent on total output power: efficiency increases with increasing output power.
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