Aerotech Ndrive HL User manual

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Dedicated to the Science of Motion
Aerotech, Inc.
101 Zeta Drive, Pittsburgh, PA, 15238
Phone: [phone] Fax: [phone]
www.aerotech.com
Ndrive HL
User’s Manual
P/N: EDU176 (Revision: 1.08b)
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Product names mentioned herein are used for identification purposes only and may be trademarks of their respective
companies.
©Aerotech, Inc. 2005-2007
Product Registration Register online at: http://www.aerotech.com/prodreg.cfm
United States Headquarters:
Phone: [phone]
Fax: [phone]
Email: [email protected]
United Kingdom:
Phone: [phone]
Fax: [phone]
Email: [email protected]
Technical Support
Germany:
Phone: [phone]
Fax: [phone]
Email: [email protected]
1.00 June 20, 2003
1.01 February 9, 2004
1.02 May 27, 2004
1.03 July 26, 2004
1.04 September 1, 2004
1.05 September 23, 2004
1.06 November 22, 2005
1.07 January 4, 2006
1.08b October 31, 2007
Revision History
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Ndrive HL User’s Manual Table of Contents
www.aerotech.com iii
TABLE OF CONTENTS
CHAPTER 1: INTRODUCTION ................................................1-1
1.1. Feature Summary .....................................................................1-2
1.2. Connection Overview................................................................1-3
1.3. Ndrive HL Block Diagram..........................................................1-4
1.4. Ordering Information .................................................................1-5
1.5. Electrical Specifications ............................................................1-6
1.6. Mechanical Specifications.........................................................1-9
1.7. Environmental Specifications..................................................1-10
CHAPTER 2: INSTALLATION and CONFIGURATION ..............2-1
2.1. Safety Procedures and Warnings .............................................2-1
2.2. Power Connections...................................................................2-2
2.2.1. Control Power Connections (-AUXPWR) ....................2-2
2.2.2. Motor Power Connections ...........................................2-3
2.2.3. Motor Connections (TB101).........................................2-4
2.2.4. I/O and Signal Wiring Requirements ...........................2-4
2.3. Emergency Stop Sense Input (TB201) .....................................2-5
2.3.1. Typical ESTOP Interface .............................................2-6
2.4. Motor and Feedback Connections............................................2-7
2.4.1. DC Brush Motor in Torque Mode Configuration ..........2-7
2.4.2. DC Brush Motor with Tachometer Feedback
Configuration................................................................2-8
2.4.3. Brushless Motor Configuration ....................................2-9
2.4.4. Stepper Motor Configuration......................................2-14
2.5. Encoder Feedback Connections.............................................2-15
2.5.1. Encoder Phasing........................................................2-16
2.6. End of Travel (EOT) Limit Input Connections .........................2-17
2.6.1. End of Travel (EOT) Limit Phasing ............................2-17
2.7. Communication Channel Settings ..........................................2-18
2.8. Connecting Multiple Ndrive HLs .............................................2-19
2.9. PC Configuration and Operation Information..........................2-20
CHAPTER 3: TECHNICAL DETAILS....................................... 3-1
3.1. Auxiliary I/O Connector (J205)..................................................3-1
3.1.1. Secondary Encoder Channel (J205)............................3-3
3.1.2. User Outputs 8-11 (J205) ............................................3-4
3.1.3. User Inputs 8-11 (J205) ...............................................3-5
3.1.4. High Speed User Inputs 12-13 (J205) .........................3-6
3.1.5. Analog Input 0 (J205)...................................................3-6
3.1.6. Analog Output 0 (J205)................................................3-6
3.2. Position Synchronized Output (PSO) / Laser Firing .................3-7
3.2.1. Single Axis Laser Firing .............................................3-11
3.3. Motor Feedback (J207)...........................................................3-12
3.3.1. End of Travel Limit Inputs ..........................................3-13
3.3.2. Hall-Effect and Thermistor Inputs ..............................3-14
3.3.3. Brake Output..............................................................3-15
3.3.4. Encoder Interface.......................................................3-15
3.4. RS-232 / RS-422 Port (J206)..................................................3-20
3.5. FireWire Bus (J201, J202, J203) ............................................3-22
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Table of Contents Ndrive HL User’s Manual
iv www.aerotech.com
3.6. Voltage-to-Current Mode Operation .......................................3-23
3.6.1. Parameter Setup and Hardware Configuration ......... 3-24
3.6.2. Saving Parameters to the Flash Memory on the
Drive...........................................................................3-24
3.6.3. Operation ...................................................................3-25
3.6.4. Faults .........................................................................3-25
CHAPTER 4: OPTIONS ........................................................... 4-1
4.1. –IOPSO and –IOPSOH Option Boards ....................................4-1
4.1.1. Brake Configuration Jumpers ......................................4-2
4.1.2. Analog Outputs (TB301) ..............................................4-3
4.1.3. Brake / Relay (TB301) .................................................4-4
4.1.4. Analog Inputs (TB302)................................................. 4-9
4.1.5. User Power Connector (TB303) ................................4-10
4.1.6. Opto-Isolated Outputs (TB304)..................................4-10
4.1.7. Opto-Isolated Inputs (TB305) ....................................4-12
4.1.8. PSO / Absolute Encoder Interface (J301) .................4-14
4.1.9. SSI Net (2 channel) (J302, J303) .............................4-17
4.2. –DUALPSO and –TRIPLEPSO Laser Firing Options............. 4-19
4.2.1. PSO Tracking Rate Configuration .............................4-20
4.3. –ENET (Ethernet) Option J204...............................................4-22
4.4. –RDP Resolver Input ..............................................................4-23
4.4.1. Resolver/Inductosyn Setup........................................4-24
CHAPTER 5: ACCESSORIES.................................................. 5-1
5.1. Standard Interconnection Cables .............................................5-1
5.2. Joystick Interface ......................................................................5-5
5.3. Handwheel Interface.................................................................5-9
CHAPTER 6: TROUBLESHOOTING ....................................... 6-1
6.1. Problems, Causes, and Solutions.............................................6-1
6.2. Ndrive HL Control Board Test Points ....................................... 6-2
6.3. Ndrive HL Control Board Assembly ..........................................6-3
6.4. Ndrive HL Motor Power Board Assembly .................................6-5
6.5. Ndrive HL Power Supply Board Assembly ...............................6-7
6.6. LED Indicators ..........................................................................6-9
6.7. JTAG Programming Connector ..............................................6-10
6.8. Fuse / Battery Replacement ...................................................6-11
6.9. Preventative Maintenance ......................................................6-12
6.9.1. Cleaning.....................................................................6-12
APPENDIX A: GLOSSARY of TERMS..................................... A-1
APPENDIX B: WARRANTY and FIELD SERVICE .................. B-1
APPENDIX C: MANUAL UPDATES ......................................... C-1
B.1. Current Changes...................................................................... C-1
B.2. Archive of Changes.................................................................. C-2
INDEX ...................................................................................Index-1
READER’S COMMENTS...............................................Comment-1
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Ndrive HL User’s Manual List of Figures
www.aerotech.com v
LIST OF FIGURES
Figure 1-1. Ndrive HL Networked Digital Drive ...........................................1-1
Figure 1-2. Ndrive HL Hardware .................................................................1-3
Figure 1-3. Ndrive HL Functional Diagram..................................................1-4
Figure 1-4. Ndrive HL Dimensions ..............................................................1-9
Figure 2-1. -AUXPWR Option .....................................................................2-2
Figure 2-2. Motor Power Connections.........................................................2-3
Figure 2-3. ESTOP Sense Input (TB201)....................................................2-5
Figure 2-4. Typical Emergency Stop Circuit................................................2-6
Figure 2-5. DC Brush Motor in Torque Mode Configuration .......................2-7
Figure 2-6. DC Brush Motor Wiring with Tachometer .................................2-8
Figure 2-7. Brushless Motor Configuration .................................................2-9
Figure 2-8. Hall-Effect Feedback Connections .........................................2-11
Figure 2-9. Hall-Effect Feedback Inputs in the Nstat Utility.......................2-11
Figure 2-10. Motor Phasing.........................................................................2-13
Figure 2-11. Stepper Motor Configuration...................................................2-14
Figure 2-12. Encoder Feedback Connections.............................................2-15
Figure 2-13. Encoder Phasing Reference Diagram ....................................2-16
Figure 2-14. Encoder and Hall signals in the Nstat.exe Utility Program .....2-16
Figure 2-15. End of Travel Limit input Connections ....................................2-17
Figure 2-16. Limit Inputs in the Nstat Utility.................................................2-17
Figure 2-17. Recommended Star Daisy Chain Configuration.....................2-19
Figure 2-18. FireWire Daisy Chain ..............................................................2-20
Figure 3-1. Secondary Encoder Channel (J205).........................................3-3
Figure 3-2. User Outputs (J205)..................................................................3-4
Figure 3-3. All User Inputs 8-13 (J205) .......................................................3-5
Figure 3-4. Advanced 1 - 3 Axis Firing ........................................................3-9
Figure 3-5. Data Capture/Data Update Modes .........................................3-10
Figure 3-6. PSO Diagram – Basic Single Axis Firing ................................3-11
Figure 3-7. End of Travel Limit Inputs .......................................................3-13
Figure 3-8. Hall-Effect and Thermistor Inputs (J207) ................................3-14
Figure 3-9. Line Driver Encoder Interface – Standard (J207) ...................3-16
Figure 3-10. Optional MXH Analog Encoder Interface (J207) ....................3-19
Figure 3-11. RS-232/RS-422 Connector (J206)..........................................3-21
Figure 3-12. Normal Operation....................................................................3-23
Figure 3-13. Stand-Alone Configuration......................................................3-23
Figure 4-1. –IOPSO Option Board Location................................................4-1
Figure 4-2. –IOPSO Option Board (690D1579 Rev. A) ..............................4-1
Figure 4-3. –IOPSOH Option Board (690D1623 Rev. 0) ............................4-2
Figure 4-4. Analog Output Connector (TB301) ...........................................4-3
Figure 4-5. Brake Connected to TB301.......................................................4-5
Figure 4-6. Brake Connected to J207 .........................................................4-6
Figure 4-7. Diode Suppression for DC Brake Systems...............................4-7
Figure 4-8. RC Suppression for DC Brake Systems ...................................4-8
Figure 4-9. Optional Analog Input Connector (TB302)................................4-9
Figure 4-10. Connecting Outputs in Current Sinking Mode ........................4-11
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List of Figures Ndrive HL User’s Manual
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Figure 4-11. Connecting Outputs in Current Sourcing Mode...................... 4-11
Figure 4-12. Inputs Connected in Current Sourcing Mode .........................4-13
Figure 4-13. Inputs Connected in Current Sinking Mode............................4-13
Figure 4-14. Absolute Encoder Interface (J301) .........................................4-15
Figure 4-15. PSO Interface (J301 and TB303) ........................................... 4-16
Figure 4-16. (RS-485) Absolute Encoder Interface (J301) .........................4-16
Figure 4-17. J301/J302/J303.......................................................................4-18
Figure 4-18. Two / Three Axis Laser Firing Interconnection .......................4-19
Figure 4-19. PSO Tracking Rate Block Diagram ........................................4-20
Figure 4-20. Ethernet Interface (J204) ........................................................ 4-22
Figure 4-21. Resolver Option Assembly (690D1599 Rev. 0)......................4-24
Figure 4-22. Analog Output Connector (TB301) .........................................4-25
Figure 4-23. Resolver Located at Maximum of SIN Signal .........................4-27
Figure 4-24. Rotating the Resolver (to see a circle) ...................................4-28
Figure 4-25. Optimized Resolver Feedback Configuration.........................4-29
Figure 5-1. Joystick Interface ......................................................................5-5
Figure 5-2. Single Axis Joystick Interface to J205 of the Ndrive HL ...........5-6
Figure 5-3. Single Axis Joystick Interconnect to J205 of the Ndrive
HL.............................................................................................. 5-7
Figure 5-4. Two-Axis Joystick Interface to the I/O on the –IOPSO
Option........................................................................................5-7
Figure 5-5. Two-Axis Joystick Connection to the I/O on the –IOPSO
Option........................................................................................5-8
Figure 5-6. Handwheel Interconnection to J205 of the Ndrive HL ..............5-9
Figure 5-7. Handwheel with Flying Leads (no connector).........................5-10
Figure 5-8. BBA32 Interface used to connect a Handwheel with
flying leads (no connector)......................................................5-10
Figure 6-1. Ndrive HL Control Board Assembly (690D1577 Rev. A).......... 6-3
Figure 6-2. Ndrive HL Motor Power Board, (690D1589 Rev 0) ..................6-5
Figure 6-3. Ndrive HL Power Supply Board, (690D1588 Rev -) .................6-7
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Ndrive HL User’s Manual List of Tables
www.aerotech.com vii
LIST OF TABLES
Table 1-1. Ndrive HL Models and Voltage Configurations.........................1-5
Table 1-2. Electrical Specifications ............................................................1-6
Table 1-3. Ndrive HL Series Amplifier Current Limitations ........................1-8
Table 2-1. Optional Aux Supply AC Input (for external E-Stop).................2-2
Table 2-2. Main Supply AC Power Input Connections...............................2-3
Table 2-3. TB101 Motor Power Output Connections .................................2-4
Table 2-4. Electrical Noise Suppression Devices ......................................2-5
Table 2-5. Ndrive HL Switch Settings (S2)...............................................2-18
Table 2-6. FireWire Card and Cable Part Numbers.................................2-19
Table 3-1. Auxiliary I/O Connector Pin Assignment (J205) .......................3-1
Table 3-2. Auxiliary I/O Mating Connector (J205)......................................3-2
Table 3-3. Auxiliary Encoder Pin Assignment on Connector (J205)..........3-3
Table 3-4. User Outputs Pin Assignment on Connector (J205).................3-4
Table 3-5. User Inputs Pin Assignment on Connector (J205) ...................3-5
Table 3-6. High Speed User Inputs Pin Assignment on Connector
J205 ..........................................................................................3-6
Table 3-7. Auxiliary I/O Connector Pin Assignment (J205) .......................3-6
Table 3-8. Auxiliary I/O Connector Pin Assignment (J205) .......................3-6
Table 3-9. PSO Encoder Signal Sources and Pre-Scaling Methods .........3-7
Table 3-10. PSO Output Sources ................................................................3-7
Table 3-11. Motor Feedback Connector Pin Assignment (J207)...............3-12
Table 3-12. Motor Feedback Mating Connector (J207) .............................3-12
Table 3-13. End of Travel Limit Inputs Pin Assignment on Connector
J207 ........................................................................................3-13
Table 3-14. Hall-Effect Inputs Pin Assignment on Connector J207...........3-14
Table 3-15. Brake Output Pin Assignment on ConnectorJ207 ..................3-15
Table 3-16. Motor Feedback Connector Pin Assignment (J207)..............3-15
Table 3-17. MXH Option Specifications .....................................................3-18
Table 3-18. J206 RS-232 / RS-422 Connector Pin Assignment................3-20
Table 3-19. RS-232 / RS-422 Port Mating Connector (J206) ....................3-20
Table 3-20. J201, J202, J203 FireWire Connector Pin Assignment ..........3-22
Table 4-1. –IOPSO Option Board Jumpers ...............................................4-1
Table 4-2. –IOPSOH Output Device Numbers ..........................................4-2
Table 4-3. Analog Output Connector Pin Assignment (TB301) .................4-3
Table 4-4. Voltage and Current Specifications (TB301) ............................4-4
Table 4-5. Brake / Relay Connector Pin Assignment (TB301) ..................4-5
Table 4-6. Brake / Relay Connector Pin Assignment (J207) .....................4-5
Table 4-7. Optional Analog Input Connector Pin Assignmentt
(TB302) .....................................................................................4-9
Table 4-8. User Power Connector Pin Assignment (TB303) ...................4-10
Table 4-9. Opto-Isolated Output Connector Pin Assignment
(TB304) ...................................................................................4-10
Table 4-10. Output Specifications (TB304)................................................4-11
Table 4-11. Opto-Isolated Input Connector Pin Assignment (TB305) .......4-12
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List of Tables Ndrive HL User’s Manual
viii www.aerotech.com
Table 4-12. PSO/Absolute Encoder Interface Connector Pin
Assignment (J301)..................................................................4-14
Table 4-13. PSO / Absolute Encoder Mating Connector (J301)................4-14
Table 4-14. Laser Output Opto-Isolator Specifications..............................4-15
Table 4-15. J302, J303 2-Channel SSI Net Connector Pin
Assignment .............................................................................4-17
Table 4-16. SSI Net Cable Part Numbers.................................................. 4-20
Table 4-17. Ethernet Connector Pin Assignment (J204) ...........................4-22
Table 4-18. NConnect I/O Cable part Numbers......................................... 4-22
Table 4-19. Resolver Connector Pin Assignment (J1, J2)......................... 4-23
Table 4-20. Resolver Mating Connector (15-Pin Male D-Style) ................4-23
Table 4-21. Resolver Jumper Configuration ..............................................4-23
Table 4-22. Resolver Test Points............................................................... 4-24
Table 4-23. External Power Pin Assignment (J403) ..................................4-24
Table 5-1. Standard Interconnection Cables .............................................5-1
Table 5-2. Combined Motor & Feedback Cables.......................................5-2
Table 5-3. Individual Motor Cables ............................................................5-3
Table 5-4. Individual Feedback Cables...................................................... 5-4
Table 6-1. Amplifier Faults, Causes, and Solutions...................................6-1
Table 6-2. Ndrive HL Control Board Test Point ......................................... 6-2
Table 6-3. Ndrive HL Control Board Jumper Selections............................ 6-4
Table 6-4. Ndrive HL Motor Power Board Jumper Selections ................... 6-6
Table 6-5. Ndrive HL Motor Power Board Fuse Information...................... 6-6
Table 6-6. Ndrive HL Motor Power Board Test Point Information .............6-6
Table 6-7. Jumper Selections (Line Voltage) on Power Supply
Board.........................................................................................6-7
Table 6-8. Jumper Selections (Bus Voltage) on Power Supply
Board.........................................................................................6-7
Table 6-9. Ndrive HL Power Supply Board Jumper Selections ................. 6-8
Table 6-10. Ndrive HL Power Supply Board Fuse Information....................6-8
Table 6-11. LED Indicator Description ......................................................... 6-9
Table 6-12. JTAG Programming Connector – Internal (P10) ....................6-10
Table 6-13. Ndrive HL Power Supply Board Fuse Information,
(690D1588) .............................................................................6-11
Table 6-14. Ndrive HL Motor Power Board Fuse Information,
(690D1589) .............................................................................6-11
Table 6-15. Battery Replacement Part Number (Ndrive HL Control
Board) .....................................................................................6-11
Table 6-16. Preventative Maintenance ......................................................6-12
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Ndrive HL Users Manual Declaration of Conformity
www.aerotech.com ix
DECLARATION OF CONFORMITY
Manufacturer’s Name
and Address: Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2897
Declares that the product: Ndrive HL
Conforms to the following product specifications, with the exceptions listed below.
Safety: EN 61010-1:2001 Safety Requirements
Use: This product is intended for light industrial manufacturing or laboratory use.
and complies with 73/23/EEC low voltage directive.
Notes concerning EN 61010-1:
• Voltages greater than 60 Volts may be present inside the unit after a discharge time
of 5 seconds.
•The unit must be installed within an enclosure with construction compliant unlimited
circuits.
•The end user is responsible for meeting the final protective ground requirements.
•The AC power inlet located on the front (and control power on the top, if present) of
the unit is the power disconnect. The end user is responsible for determining and
providing a supply disconnect for the system.
•The end user is responsible for preventing unexpected startup.
•Connection requirements are described in the technical documentation provided with
the product. The end user is responsible for making the proper connections and
meeting any required interlock requirements for the product application.
•The end user must provide protection concerning power interruption / restoration, if
required.
•The end user must provide earth fault current protection, if required.
•The end user must provide protection against lightning and power switching surges, if
required.
•Control and Emergency Stop requirements are to be determined and provided by the
end user.
•Wire and cabling provided with the unit meet Aerotech’s electrical and listed
environmental requirements. The end user must meet the final requirements.
Pittsburgh, PA David F. Kincel_________________________
April, 2004 Quality Assurance Manager
Alex R. Weibel ___________________________
Engineer Verifying Compliance
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Ndrive HL Users Manual Declaration of Conformity
www.aerotech.com x
EMC Requirements:
The use of shielded cables is required to reduce radiated emissions. The cable shields must be connected to
the metal back shell of D-type connectors, or to the nearest frame ground connection for other type
connectors.
The following modifications will help ensure CE compliance:
•Install a snap-on Ferrishield ferrite attenuator, P/N SS28B2034, on the FireWire cable at the unit.
•Use a FireWire card with inductive common mode filters, such as the Aerotech NFIRE-PCI or Siig
NN-403P12.
These modifications may not be necessary in the final installation of the product. Since the unit is a
component, designed to be integrated with other electronics, EMC testing must be conducted on the final
product configuration.
Failure to follow these procedures may result in serious
injury, damage and/or excessive emissions or reduced
immunity of the equipment.
∇∇∇
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Ndrive HL User’s Manual Introduction
www.aerotech.com 1-1
CHAPTER 1: INTRODUCTION
Aerotech’s Network Digital Linear Drive (Figure 1-1) (and PWM Ndrive CP, HP, MP,
and Nservo, Npaq) complement the Automation 3200 System. Connected via the IEEE-
1394 (FireWire®) communication bus, these drives provide deterministic behavior, auto-
identification, and easy software setup from the Nmotion SMC software controller.
Featuring a high-speed Harvard architecture DSP, the drives are linear for eliminating
EMI/RFI emissions and have fully digital current and servo loops providing up to an 8
kHz servo loop closure, 32 MHz line driver encoder data rate, and an optional Ethernet
port for access to third party networked I/O solutions. Additionally, one 18 bit analog
output and one 16 bit analog input is standard. The Ndrive HL also features an optional
on-board brake relay, programmable resolution multiplication up to x65,536, with a 200
kHz maximum amplified sine wave input frequency, and up to three-axis Position
Synchronized Outputs (laser firing). In addition, the use of the commercially standard
FireWire communication link makes integration to the Automation 3200 network plug-n-
play easy.
This product is intended for light industrial manufacturing or laboratory use.
Figure 1-1. Ndrive HL Networked Digital Drive
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Introduction Ndrive HL User’s Manual
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1.1. Feature Summary
•Software configurable for brush (torque/current and tachometer mode) and
brushless motor operation
•Bipolar 40 or 80 VDC bus power supply
•Fully isolated power stage
•5 VDC, 500 mA user output power for encoder and Hall effect signals, etc.
•Two mounting orientations optimized for heat transfer or minimal panel space
utilization
•Full protection against the following failure modes:
1. Control supply under voltage
2. Continuous current overload
3. Power stage bias supply under-voltage
4. Power stage output short circuit (phase to phase and phase to ground)
5. DC bus over voltage
6. IGBT device over temperature sense
•Line driver square wave or analog sine wave quadrature encoder primary
position and velocity feedback
•Line driver square wave auxiliary quadrature encoder input or output for PSO
(laser firing), etc.
•4 opto-isolated user outputs standard
•6 opto-isolated user inputs standard, 2 of which are high speed
•2 differential analog inputs (one standard and one available with the –IOPSO
option)
•2 analog inputs (one standard and one available with the –IOPSO option)
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Ndrive HL User’s Manual Introduction
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1.2. Connection Overview
The Ndrive HL consists of a power connection (motor power and input power), three
FireWire ports, an optional Ethernet connection, an RS-232/RS-422 connector, LED
indicator lamps and two D-style connectors for Auxiliary I/O (15 and 26 pin) and Motor
Feedback (25 pin). An –IOPSO/-IOPSOH option is also available, shown below (J301-
J303, TB301-TB305), which has connections for PSO, absolute encoder, SSI Net, analog
I/O, digital I/O, and user power. Refer to Figure 1-2 for locations.
Figure 1-2. Ndrive HL Hardware
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Introduction Ndrive HL User’s Manual
1-4 www.aerotech.com
1.3. Ndrive HL Block Diagram
The standard package includes the bus power supply that operates from standard AC line
voltage (100/115/208/230 factory configured). The power supply is included with the
standard package for off-line operation without the need for an isolation transformer.
Figure 1-3 is a functional diagram including options. In addition, a soft start circuit is
included to prevent high inrush currents.
Figure 1-3. Ndrive HL Functional Diagram
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Ndrive HL User’s Manual Introduction
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1.4. Ordering Information
The Ndrive HL is available in three base models with continuous power, ranging from
675 to 1,350 watts. A list of these models, and the available voltage configurations, are
shown in Table 1-1
Table 1-1. Ndrive HL Models and Voltage Configurations
Model Standard Bus
Voltage
Peak Output
Current
Continuous Output
Current (peak)
Ndrive HL-20-40 ±40 VDC 20A 10A
Ndrive HL-10-80 ±80 VDC 10A 5A
Ndrive HL-10-40 ±40 VDC 10A 5A
Options
–IOPSO and
–IOPSOH
- One additional 18-bit analog outputs (±10 Volts)
- One additional 16-bit differential analog inputs (±10 Volts)
- One fail safe brake (or user) relay output
- Eight optically isolated logic inputs (5 – 24 VDC), user defined
as current sourcing or sinking.
- Two bi-directional RS-422 encoder inputs/outputs (SSI Net)
- One absolute/RS-485 encoder interface for secondary encoder
channel
- Optically isolated laser firing (PSO) output
- Eight in/out optically isolated current sourcing/sinking logic
outputs (5 - 24 VDC); rated for 1 ampere on the -IOPSOH
option.
–DUALPSO Two axis Position Synchronized Output (Laser Firing)
–TRIPLEPSO Three axis Position Synchronized Output (Laser Firing)
–PSOOPTO1 Opto-isolator for PSO, requires the –IOPSO option (<5V, high
speed, high current, HCPL2601)
–PSOOPTO2 Opto-isolator for PSO, requires the –IOPSO option (<15V, high
speed, low current, 6N136)
–PSOOPTO3 Opto-isolator for PSO, requires the –IOPSO option (<30V, low
speed, high current, 4N33)
–PSOOPTO4 Opto isolator for PSO (5-25VDC, 40kHz, 50mA, TIL117-M)
–MXH Programmable encoder multiplier up to x2,048, supports PSO
(laser firing) and encoder quadrature output
–ENET 10/100BASE-T Ethernet port for I/O expansion
MCK-NDRIVE Mating connector kit for J206 and J207 (J205 is always provided)
–AUXPWR
Auxiliary 85-240 VAC input to power logic circuitry. Required for
"keep alive" or 20-80 VDC bus operation. 20-120 VDC operation
requires external transformer to generate 15-85 VAC bus power
input.
JI Optional Industrial Joystick
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1.5. Electrical Specifications
The electrical specifications for the Ndrive HL are listed in Table 1-2.
Table 1-2. Electrical Specifications
Description Units 20-40 10-40 10-80
Main Supply Input Voltage VAC 100, 115, 200, 230
(model dependent)
Main Supply Input Frequency Hz 50-60
Main Supply Inrush Current A 23 23 23
Optional Supply Input Voltage VAC 85-240
Optional Supply Input Frequency Hz 50-60
Optional Supply Maximum Input Power Watts 100
Voltage Output (brushless)(1) VDC 80 80 160
Output Voltage (brush) VDC 40 40 80
Current Peak Output (2) A
pk 20 10 10
Current Continuous Output(2) Apk 10 5 5
Power Peak Dissipation (per phase) Watts 360
Power Peak Output (3) Watts 1,350 675 1,350
Power Continuous Output Watts 675 337 675
Power Amplifier Gain (each phase) A/V 2 1 1
Power Amplifier Bandwidth(4) kHz 2
Minimum Load Inductance mH 0
Minimum Load Resistance (line-to-neutral) Ohms 0.5
Operating Temperature °C 0 to 50
Storage Temperature °C -30 to 85
Standard 22.0 (9.98)
Weight –IOPSO or -IOPSOH option lb (kg) 22.2 (10.07)
1. Ndrive HLs can drive each of its phases rail to rail since the drive supply for each phase is
not derived from the +/- bus voltages.
2. Peak and continuous output current is load dependent, see Table 1-3.
3. This specification based on the output power transistors in the saturated (e.g., full on)
condition.
4. Into an Aerotech BLM-203-A linear forcer (RLL = 4Ω, LLL = 3.2 mH)
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Table 1-2. Electrical Specifications (continued)
Specification Description
Brushless
Modes of
Operation Brush (Current/Torque and tachometer Mode)
Hall A-Pin 10, Hall B-Pin 5, Hall C-Pin 11: Hall effect device
inputs for commutation, 0 to 5 VDC, internal pull-up, 10K input.
Commutation signals used with brushless motors to provide
motor rotation position information to the amplifier. This allows
the amplifier to steer the three phases of the motor currents in
such a fashion to provide rotation of the motor in the desired
direction at the desired speed. TTL level input.
Feedback Inputs
Sine/Sine-N, Pin 17/Pin 18, Cosine/Cosine-N, Pin 14/Pin 15:
Encoder input 0 to 5VDC, internal pull-up, 10K input.
Power Inputs
(AC1, AC2) AC input: AC1, AC2, earth ground ( ), 50-60 Hz, single phase.
5V-Pin 16: On board 5V power supply. 250 mA max. output.
Auxiliary Power
Outputs (AL1, AL2)
5V-Pin 3: On board 5V power supply. Pin 3 is intended for
powering an encoder. Ndrive HL can supply up to 500 mA of
current total to user devices.
Output short circuit Peak over current
DC bus over voltage RMS over current
Over temperature Control power supply under
voltage
Protective
Features
Power stage bias supply
under voltage Designed to EN61010/UL3101
Isolation Optical and transformer isolation between control and power
stages.
Indicator (Power) LED indicates drive power.
Indicator (Enabled) LED indicates drive enabled.
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Table 1-3. Ndrive HL Series Amplifier Current Limitations
Ndrive HL10-40
Tambient = 25OC
Ndrive HL10-40
Tambient = 50OC
Ndrive HL20-40
Tambient = 25OC
Ndrive HL20-40
Tambient = 50OC
Ndrive HL10-80
Tambient = 25OC
Ndrive HL10-80
Tambient = 50OC
RL-L IPK
1)
Limit
IPK-CONT
2)
Limit
IPK
Limit
IPK-CONT
Limit
IPK
Limit
IPK-CONT
Limit
IPK
Limit
IPK-CONT
Limit
IPK
Limit
IPK-CONT
Limit
IPK
Limit
IPK-CONT
Limit
(Ohms) (Amps) (Amps) (Amps) (Amps) (Amps) (Amps) (Amps) (Amps) (Amps) (Amps) (Amps) (Amps)
0.5 10.0 5.00 10.0 4.50 14.5 6.50 14.5 4.50 6.5 3.25 6.5 2.25
1 10.0 5.00 10.0 4.50 16.0 7.00 16.0 4.50 7.0 3.25 7.0 2.25
1.5 10.0 5.00 10.0 4.75 18.5 7.50 18.5 4.75 7.0 3.25 7.0 2.25
2 10.0 5.00 10.0 4.75 20.0 7.75 20.0 4.75 7.0 3.25 7.0 2.25
2.5 10.0 5.00 10.0 5.00 20.0 8.25 20.0 5.00 7.5 3.25 7.5 2.25
3 10.0 5.00 10.0 5.00 20.0 9.00 20.0 5.25 7.5 3.50 7.5 2.25
3.5 10.0 5.00 10.0 5.00 20.0 10.00 20.0 5.25 7.5 3.50 7.5 2.25
4 10.0 5.00 10.0 5.00 20.0 10.00 20.0 5.50 8.0 3.50 8.0 2.25
4.5 10.0 5.00 10.0 5.00 * 10.00 * 6.00 8.0 3.50 8.0 2.25
5 10.0 5.00 10.0 5.00 * 10.00 * 6.50 8.5 3.50 8.5 2.25
5.5 10.0 5.00 10.0 5.00 * 10.00 * 7.25 8.5 3.50 8.5 2.25
6 10.0 5.00 10.0 5.00 * 10.00 * 10.00 9.0 3.75 9.0 2.25
6.5 10.0 5.00 10.0 5.00 * 10.00 * 10.00 10.0 3.75 10.0 2.25
7 10.0 5.00 10.0 5.00 * 10.00 * 10.00 10.0 3.75 10.0 2.25
7.5 10.0 5.00 10.0 5.00 * 10.00 * 10.00 10.0 3.75 10.0 2.25
8 10.0 5.00 10.0 5.00 * 10.00 * 10.00 10.0 3.00 10.0 2.50
8.5 * 5.00 * 5.00 * * * * 10.0 4.00 10.0 2.50
9 * 5.00 * 5.00 * * * * 10.0 4.00 10.0 2.50
9.5 * 5.00 * 5.00 * * * * 10.0 4.00 10.0 2.50
10 * 5.00 * 5.00 * * * * 10.0 4.25 10.0 2.50
10.5 * 5.00 * 5.00 * * * * 10.0 4.25 10.0 2.50
11 * 5.00 * 5.00 * * * * 10.0 4.25 10.0 2.50
11.5 * 5.00 * 5.00 * * * * 10.0 4.50 10.0 2.50
12 * 5.00 * 5.00 * * * * 10.0 4.50 10.0 2.50
12.5 * 5.00 * 5.00 * * * * 10.0 4.75 10.0 2.50
13 * 5.00 * 5.00 * * * * 10.0 4.75 10.0 2.50
13.5 * 5.00 * 5.00 * * * * 10.0 5.00 10.0 2.50
14 * 5.00 * 5.00 * * * * 10.0 5.00 10.0 2.50
14.5 * 5.00 * 5.00 * * * * 10.0 5.00 10.0 2.75
15 * 5.00 * 5.00 * * * * 10.0 5.00 10.0 2.75
15.5 * 5.00 * 5.00 * * * * 10.0 5.00 10.0 2.75
16 * 5.00 * 5.00 * * * * 10.0 5.00 10.0 2.75
16.5 * * * * * * * * * * * *
*Limited by: VBUS/(RLL/2)
Definitions:
RLL motor resistance (line-to-line)
IPK peak output current that the amplifier will sustain for 1 second when running a three phase
commutated motor
IPK-CONT peak value of a continuous sine wave
Notes:
IPK limit ensures that an instantaneous current pulse does not harm the output transistors.
IPK-CONT limit ensures that the temperature of the amplifier does not reach a value that would harm the
semiconductor devices.
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1.6. Mechanical Specifications
Units should be separated from each other and surrounded by one inch of free air space.
This will also allow the standard nine-inch (228 mm) FireWire cable to interconnect
them.
76.2 [3.00]25.4 [1.00] 23.8 [0.94]
127.0 [5.00]
188.0 [7.40]
248.5 [9.79]
256.2 [10.09]
11.2 [0.44]
273.1 [10.75]
4.7 [0.19] 2.3 [0.09]
230.1 [9.06]
255.0 [10.04]
234.3 [9.22]
79.9 [3.15]
169.3 [6.67]
40.6 [1.60]
43.8 [1.73]
20.7 [0.81]18.1 [0.71]
Ø4.7 [Ø0.19]
Figure 1-4. Ndrive HL Dimensions
The Ndrive HL case temperature may exceed 75°C in
some applications.
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