Aerotech Ndrive HPe 10 User manual

Revision: 4.09.00
Ndrive HPe 10/20/30
Hardware Manual

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Copyright © 2008-2019, Aerotech, Inc., All rights reserved.

Table of Contents Ndrive HPe 10/20/30
Table of Contents
Ndrive HPe 10/20/30 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 19
1.2. Electrical Specifications 20
1.2.1. System Power Requirements 21
1.2.2. Power Dissipation 22
1.3. Mechanical Design 23
1.4. Environmental Specifications 25
Chapter 2: Installation and Configuration 27
2.1. Communication Channel Settings 27
2.2. Power Connections 29
2.2.1. Control Supply Connections (TB101) 29
2.2.2. Motor Supply Connections (TB102) 30
2.2.3. Transformer Options 31
2.2.4. Minimizing Conducted, Radiated, and System Noise for EMC/CE Compliance 38
2.3. Motor Output Connections 39
2.3.1. Brushless Motor Connections 40
2.3.1.1. Powered Motor Phasing 41
2.3.1.2. Unpowered Motor and Feedback Phasing 42
2.3.2. DC Brush Motor Connections 43
2.3.2.1. DC Brush Motor Phasing 44
2.3.3. Stepper Motor Connections 45
2.3.3.1. Stepper Motor Phasing 46
2.4. Motor Feedback Connector (J207) 47
2.4.1. Encoder Interface (J207) 48
2.4.1.1. RS-422 Line Driver Encoder (Standard) 49
2.4.1.2. Absolute Encoder Interface (J207) 50
2.4.1.3. Analog Encoder Interface 51
2.4.1.4. Encoder Phasing 53
2.4.2. Hall-Effect Interface (J207) 55
2.4.3. Thermistor Interface (J207) 56
2.4.4. Encoder Fault Interface (J207) 57
2.4.5. End Of Travel Limit Input Interface (J207) 58
2.4.5.1. End Of Travel Limit Phasing 60
2.4.6. Brake Output (J207) 61
2.5. Emergency Stop Sense Input Connector (TB201) 62
2.5.1. Typical ESTOP Interface 63
2.6. Auxiliary I/O Connector (J205) 64
2.6.1. Auxiliary Encoder Channel (J205) 65
2.6.2. Position Synchronized Output (PSO)/Laser Firing (J205) 67
2.6.3. Digital Outputs 8-11 (J205) 69
2.6.4. Digital Inputs 8-11 (J205) 71
2.6.5. High-Speed User Inputs 12-13 (J205) 73
2.6.6. Analog Output 0 (J205) 74
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2.6.7. Differential Analog Input 0 (J205) 75
2.7. Brake Power Supply Connector (TB202) 76
2.8. FireWire Interface 78
2.9. RS-232 Interface (J206) 79
2.10. -EXTSHUNT Option (TB103) 80
2.11. PC Configuration and Operation Information 82
Chapter 3: -I/O Expansion Board 83
3.1. Relay Connector (TB301) 84
3.2. PSO Output Interface (TB302) 86
3.2.1. -DUALPSO and -TRIPLEPSO Laser Firing Options 87
3.2.1.1. Multi-Axis Firing 87
3.3. Analog Outputs (TB303) 89
3.4. Differential Analog Inputs (TB304) 90
3.5. User Power (TB305, TB306) 91
3.6. Opto In Connectors (Digital Inputs) (TB305, TB306) 92
3.7. Opto Out Connectors (Digital Outputs) (TB307, TB308) 95
3.8. SSINET (J302/J303) 99
Chapter 4: -RDP Expansion Board 101
Chapter 5: Standard Interconnection Cables 105
5.1. Joystick Interface 106
5.2. Handwheel Interface 109
Chapter 6: Maintenance 111
6.1. Power Board 112
6.2. Control Board 113
6.3. Preventative Maintenance 115
Appendix A: Warranty and Field Service 117
Appendix B: Revision History 119
Index 121
Ndrive HPe 10/20/30 Table of Contents

Table of Contents Ndrive HPe 10/20/30
List of Figures
Figure 1-1: Ndrive HPe 10/20/30 Networked Digital Drive 15
Figure 1-2: Functional Diagram 18
Figure 1-3: Power Dissipation vs. Output Current 22
Figure 1-4: Ambient Temperature vs. Power Dissipation 22
Figure 1-5: Dimensions (Slim Version) 23
Figure 1-6: Dimensions (Full Version with -IO and -RDPoptions) 24
Figure 2-1: Control Supply Connections 29
Figure 2-2: Motor Bus Input Connections 30
Figure 2-3: Transformer Examples 31
Figure 2-4: 40 VDC Motor Power with a TV0.3-28-56-ST Transformer 32
Figure 2-5: 80 VDC Motor Power with a TV0.3-28-56-ST Transformer 33
Figure 2-6: 40 Volt DC Bus from 115 and 230 VAC Source 34
Figure 2-7: 80 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) 35
Figure 2-8: 160 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) 36
Figure 2-9: Control and Motor Power Wiring using a TM3 or TM5 Transformer 37
Figure 2-10: Brushless Motor Configuration 40
Figure 2-11: Encoder and Hall Signal Diagnostics 41
Figure 2-12: Motor Phasing Oscilloscope Example 42
Figure 2-13: Brushless Motor Phasing Goal 42
Figure 2-14: DC Brush Motor Configuration 43
Figure 2-15: Clockwise Motor Rotation 44
Figure 2-16: Stepper Motor Configuration 45
Figure 2-17: Clockwise Motor Rotation 46
Figure 2-18: Line Driver Encoder Interface (J207) 49
Figure 2-19: Serial Data Stream Interface 50
Figure 2-20: Analog Encoder Phasing Reference Diagram 51
Figure 2-21: Analog Encoder Interface (J207) 52
Figure 2-22: Encoder Phasing Reference Diagram (Standard) 53
Figure 2-23: Position Feedback in the DiagnosticDisplay 54
Figure 2-24: Hall-Effect Inputs (J207) 55
Figure 2-25: Thermistor Interface Input (J207) 56
Figure 2-26: Encoder Fault Interface Input (J207) 57
Figure 2-27: End of Travel Limit Input Connections 58
Figure 2-28: End of Travel Limit Interface Input (J207) 59
Figure 2-29: Limit Input Diagnostic Display 60
Figure 2-30: ESTOPSenseInput (TB201) 62
Figure 2-31: Typical Emergency Stop Circuit 63
Figure 2-32: Auxiliary Encoder Channel (J205) 66
Figure 2-33: PSOInterface 68
Figure 2-34: Digital Outputs Connected in Current Sourcing Mode (J205) 70
Figure 2-35: Digital Outputs Connected in Current Sinking Mode (J205) 70
Figure 2-36: Digital Inputs Connected in Current Sourcing Mode (J205) 72
Figure 2-37: Digital Inputs Connected in Current Sinking Mode (J205) 72
Figure 2-38: High-Speed User Inputs (J205) 73
Figure 2-39: Analog Output 0 (J205) 74
Figure 2-40: Analog Input 0 (J205) 75
Figure 2-41: Brake Connected to J207 77
Figure 2-42: Brake Connected to TB202 77
Figure 3-1: Ndrive HPe 10/20/30 with -IO Option Board 83
Figure 3-2: Brake Connected to J207 85
Figure 3-3: Brake Connected to TB301 85
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Figure 3-4: PSO Output Sources Current 86
Figure 3-5: PSOOutput Sinks Current 86
Figure 3-6: Two/Three Axis Laser Firing Interconnection 88
Figure 3-7: Analog Output Connector (TB303) 89
Figure 3-8: Analog Input Typical Connection (TB304) 90
Figure 3-9: Digital Inputs 93
Figure 3-10: Digital Inputs Connected to a Current Sourcing Device 94
Figure 3-11: Digital Inputs Connected to a Current Sinking Device 94
Figure 3-12: Digital Opto-Isolated Outputs (-IOBoard) 97
Figure 3-13: Digital Outputs Connected in Current Sourcing Mode 98
Figure 3-14: Digital Outputs Connected in Current Sinking Mode 98
Figure 3-15: J302/J303 100
Figure 4-1: -RDPOption Board 101
Figure 4-2: Resolver/Inductosyn Recommended Wiring 103
Figure 4-3: Resolver Inputs 103
Figure 4-4: Encoder Emulation Outputs 104
Figure 5-1: Single Axis Joystick Interface (to Aux I/O) 106
Figure 5-2: Two Axis Joystick Interface (to the Aux I/O of two drives) 107
Figure 5-3: Two Axis Joystick Interface (to the Aux I/O and I/O Board) 107
Figure 5-4: Two Axis Joystick Interface (to the I/OBoard) 108
Figure 5-5: Handwheel Interconnection (to Aux I/O) 109
Figure 5-6: Handwheel Interconnection (to Aux I/O via a BBA32 Module) 109
Figure 6-1: Power Board Assembly 112
Figure 6-2: Control Board Assembly 113
Ndrive HPe 10/20/30 Table of Contents

Table of Contents Ndrive HPe 10/20/30
List of Tables
Table 1-1: FeatureSummary 16
Table 1-2: Ordering Options 16
Table 1-3: Ordering Options (continued) 17
Table 1-4: Accessories 17
Table 1-5: Drive and Software Compatibility 19
Table 1-6: Electrical Specifications 20
Table 1-7: Physical Specifications 24
Table 2-1: Device Number Switch Settings (S1) 28
Table 2-2: Control Supply ACInput Wiring 29
Table 2-3: Mating SupplyConnector Part Numbers for the Control Supply Connector 29
Table 2-4: Motor Supply Input Connections (TB102) 30
Table 2-5: Mating Supply Part Numbers for the Motor Supply Connector (TB102) 30
Table 2-6: Nominal Motor Operating Voltages / Required ACVoltages 31
Table 2-7: TransformerOptions 31
Table 2-8: Motor Power Output Connections (TB102) 39
Table 2-9: Mating Connector Part Numbers for the Motor Output Connector (TB102) 39
Table 2-10: Wire Colors for Aerotech Supplied Cables (Brushless) 40
Table 2-11: Wire Colors for Aerotech Supplied Cables (DCBrush) 43
Table 2-12: Wire Colors for Aerotech Supplied Cables (Stepper) 45
Table 2-13: Motor Feedback Connector Pinout (J207) 47
Table 2-14: Mating Connector Part Numbers for the Motor Feedback Connector 47
Table 2-15: Encoder Interface Pins on the Motor Feedback Connector 48
Table 2-16: Encoder Specifications 49
Table 2-17: Analog Encoder Specifications 51
Table 2-18: Hall-Effect Feedback Interface Pins on the Motor Feedback Connector (J207) 55
Table 2-19: Thermistor Interface Pins on the Motor Feedback Connector (J207) 56
Table 2-20: Encoder Fault Interface Pins on the Motor Feedback Connector (J207) 57
Table 2-21: End of Travel Limit Input Interface Pins on the Motor Feedback Connector (J207) 58
Table 2-22: Brake Output Pins on the Motor Feedback Connector (J207) 61
Table 2-23: Electrical Noise Suppression Devices 62
Table 2-24: Mating Connector Part Numbers for the ESTOP Connector (TB201) 62
Table 2-25: Typical ESTOPRelay Ratings 63
Table 2-26: Auxiliary I/O Connector Pinout (J205) 64
Table 2-27: Mating Connector Part Numbers for the Auxiliary I/OConnector 64
Table 2-28: Auxiliary Encoder Specifications 65
Table 2-29: Auxiliary Encoder Channel Pins on the Auxiliary I/OConnector (J205) 65
Table 2-30: PSO Specifications 67
Table 2-31: PSOOutput Pins on the Auxiliary I/OConnector (J205) 67
Table 2-32: Digital Output Specifications 69
Table 2-33: Digital Output Connector Pins on the Auxiliary I/OConnector (J205) 69
Table 2-34: Digital Input Specifications 71
Table 2-35: Digital Input Connector Pins on the Auxiliary I/OConnector (J205) 71
Table 2-36: High-Speed Input Specifications 73
Table 2-37: High Speed Digital Input Connector Pins on the Auxiliary I/OConnector (J205) 73
Table 2-38: Input Voltage Jumper Configuration 73
Table 2-39: Analog Output 0 Specifications (TB102B) 74
Table 2-40: Analog Output Connector Pins on the Auxiliary I/OConnector (J205) 74
Table 2-41: Differential Analog Input 0 Specifications 75
Table 2-42: Analog Input Connector Pins on the Auxiliary I/OConnector (J205) 75
Table 2-43: Relay Specifications 76
Table 2-44: Brake Output Connector Pinout (TB202) 76
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Table 2-45: Mating Connector Part Numbers for the Brake Power Supply Connector (TB202) 76
Table 2-46: FireWire Card Part Numbers 78
Table 2-47: FireWire Repeaters (for cables exceeding 4.5 m (15 ft) specification) 78
Table 2-48: FireWire Cables (copper and glass fiber) 78
Table 2-49: -EXTSHUNTComponent Information 80
Table 2-50: Maximum Additional Storage Energy 81
Table 3-1: -IO Expansion Board Jumper Configuration 83
Table 3-2: -IO Option Board Fuse Information 83
Table 3-3: Voltage and Current Specifications (TB301) 84
Table 3-4: Relay Connector Pinout (TB301) 84
Table 3-5: Mating Connector Part Numbers for the Relay Connector (TB301) 84
Table 3-6: -IO Expansion Board Brake Jumper Configuration 84
Table 3-7: PSO Output Interface Connector Pinout (TB302) 86
Table 3-8: Mating Connector Part Numbers for the PSO Output Connector (TB302) 86
Table 3-9: PSO Output Polarity Settings for JP2 86
Table 3-10: PSOOutput Specifications 86
Table 3-11: SSINet Cable Part Numbers 87
Table 3-12: Analog Output Specifications (TB303) 89
Table 3-13: Analog Output Connector Pinout (TB303) 89
Table 3-14: Mating Connector Part Numbers for the Analog Output Connector (TB303) 89
Table 3-15: Differential Analog Input Specifications 90
Table 3-16: Analog Inputs Connector Pinout (TB304) 90
Table 3-17: Mating Connector Part Numbers for the Analog Input Connector (TB304) 90
Table 3-18: User Common Pin on the Opto In Connector (TB305) 91
Table 3-19: +5 Volt Power Pin on the Opto In Connector (TB306) 91
Table 3-20: Digital Input Device Specifications 92
Table 3-21: Opto In Connector Pinout (TB305) 92
Table 3-22: Opto In Connector Pinout (TB306) 92
Table 3-23: Mating Connector Part Numbers for the Opto In Connectors (TB305/TB306) 92
Table 3-24: Digital Output Specifications (TB307, TB308) 95
Table 3-25: Opto Out Connector Pinout (TB307) 96
Table 3-26: Opto Out Connector Pinout (TB308) 96
Table 3-27: Mating Connector Part Numbers for the Opto Out Connectors (TB307/TB308) 96
Table 3-28: 2-Channel SSINet Connector Pinout (J302/J303) 99
Table 4-1: -RDP Expansion Board Jumper Configuration 101
Table 4-2: -RDP Connector Pinout (J401/J402) 102
Table 4-3: Mating Connector Part Numbers for the Resolver Connectors (J401/J402) 102
Table 4-4: External Power Pinout (J403) 104
Table 4-5: Mating Connector Part Numbers for the External Power Connector (J403) 104
Table 4-6: Resolver Test Points 104
Table 5-1: Standard Interconnection Cables 105
Table 5-2: Cable Part Numbers 108
Table 6-1: LEDDescription 111
Table 6-2: Power Board Jumper Configuration 112
Table 6-3: Fuse Information 112
Table 6-4: Control Board Jumper Configuration 114
Table 6-5: Control Board Fuse Information 114
Table 6-6: LEDDescription 114
Table 6-7: Preventative Maintenance 115
Ndrive HPe 10/20/30 Table of Contents

Declaration of Conformity Ndrive HPe 10/20/30
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product Ndrive HPe 10/20/30
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
2011/65/EU RoHS2 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 61800-3:2004 EMC Requirements for Power Drives
EN 61010-1:2010 Safety Requirements for Electrical Equipment
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 6/20/2019
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Agency Approvals
Aerotech, Inc. Model Ndrive HPe 10/20/30 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: CAN/CSA-C22.2 No. 61010-1:2012; UL 61010-1:2012
Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates. Type
the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech certificates.
Ndrive HPe 10/20/30 Declaration of Conformity

Electrical Safety Ndrive HPe 10/20/30
Safety Procedures and Warnings
This manual tells you how to carefully and correctly use and operate the Ndrive HPe 10/20/30. Read all parts
of this manual before you install or operate the Ndrive HPe 10/20/30 or before you do maintenance to your
system. To prevent injury to you and damage to the equipment, obey the precautions in this manual. The
precautions that follow apply when you see a Danger or Warning symbol in this manual. If you do not obey
these precautions, injury to you or damage to the equipment can occur. If you do not understand the
information in this manual, contact Aerotech Global Technical Support.
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.
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 Ndrive HPe 10/20/30 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 Ndrive HPe 10/20/30 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 Ndrive HPe 10/20/30 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. 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.
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. Operators must be trained before operating this equipment.
6. All service and maintenance must be performed by qualified personnel.
Ndrive HPe 10/20/30 Electrical Safety

Quick Installation Guide Ndrive HPe 10/20/30
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the Ndrive
HPe 10/20/30. 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.
Figure 1: Quick Start Connections
Topic Section
Device Number Section 2.1. Communication Channel Settings
Motor Output Section 2.3. Motor Output Connections
Motor Feedback Section 2.4. Motor Feedback Connector (J207)
FireWire Section 2.8. FireWire Interface
Control Supply Section 2.2.1. Control Supply Connections (TB101)
Motor Supply Section 2.2.2. Motor Supply Connections (TB102)
Additional I/O User / Application dependent
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Ndrive HPe 10/20/30 Quick Installation Guide
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Introduction Ndrive HPe 10/20/30
Chapter 1: Introduction
Aerotech’s Ndrive HPe 10/20/30(High Power PWM) network digital drive is a high performance amplifier.
The drive provides deterministic behavior, auto-identification, and easy software setup. The Ndrive HPe
10/20/30’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 Ndrive HPe 10/20/30 is offered with an optional encoder interpolation feature (-MXH), an auxiliary
square wave encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -IO
option), a resolver input, and separate power connections for motor and control supply voltages.
Figure 1-1: Ndrive HPe 10/20/30 Networked Digital Drive
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Table 1-1: FeatureSummary
Standard Features
l85 - 240 VAC control supply inputs Section 2.2.1.
l14 - 240 VAC motor supply inputs (producing 20-320 VDC) Section 2.2.2.
lPrimary quadrature encoder input channels Section 2.4.1.
lAbsolute Encoder support Section 2.4.1.2.
lDedicated Home and Limit inputs Section 2.4.5.
lDedicated 5-24 V Emergency Stop sense input Section 2.5.
lAuxiliary quadrature encoder input channels Section 2.6.1.
lSingle-axis PSO capability Section 2.6.2.
lFour digital outputs (opto-isolated) Section 2.6.3.
lFour digital inputs (opto-isolated) Section 2.6.4.
lTwo high-speed digital inputs (opto-isolated) Section 2.6.5.
lOne 16-bit analog output (±10 VDC) Section 2.6.6.
lOne 16-bit analog differential input (±10 VDC) Section 2.6.7.
lOne 24 VDC, 1 A brake relay Section 2.7.
Table 1-2: Ordering Options
Options
Power Stage Options (Section 1.2.)
10 10 A peak; 5 A continuous
20 20 A peak; 10 A continuous
30-S 30 A peak; 10 A continuous; 40 W continuous internal shunt resistor
I/O(Chapter 3) and Feedback (Section 2.4.1.3.) Options
-IO Expansion board with 16 digital inputs (opto-isolated); 16 digital outputs (opto-
isolated); three 16-bit differential analog inputs (±10 V); three 16-bit analog outputs
(±10 V); 2 SSI Net; absolute encoder interface; one mechanical brake relay
-MXH Programmable encoder multiplier up to x16384 (x65,536 after quadrature);
supports single/dual axis PSO and real-time encoder quadrature output
PSO Options (Section 3.2.)
-DUALPSO Two axis Position Synchronized Output (PSO)
-TRIPLEPSO Three axis Position Synchronized Output (PSO); requires I/O option
-PSONC Normally closed PSO output (default normally open); requires I/O option
Ethernet Option (refer to the Help file)
-ENET 10/100 BASE-T Ethernet port for use with Ethernet I/O modules
Drive Options
-S Internal shunt resistor (standard on HPe 30).
50 Ohm, 40 W Continuous; 400 W Peak (5 seconds),
(Manufacturer's P/N:Ohmite F40J50RE or equivalent)
NOTE:Excludes -EXTSHUNToption
-EXTSHUNT Two-pin connector for external shunt resistor network (Section 2.10.).
NOTE:Excludes -S option.
Ndrive HPe 10/20/30 Introduction

Introduction Ndrive HPe 10/20/30
Table 1-3: Ordering Options (continued)
Options
Resolver Options (Chapter 4)
-RDP1-10K One-channel resolver to digital converter input; 10 kHz carrier frequency
-RDP1-7.5K One-channel resolver to digital converter input; 7.5 kHz carrier frequency
-RDP1-5K One-channel resolver to digital converter input; 5 kHz carrier frequency
-RDP2-10K Two-channel resolver to digital converter input; 10 kHz carrier frequency
-RDP2-7.5K Two-channel resolver to digital converter input; 7.5 kHz carrier frequency
-RDP2-5K Two-channel resolver to digital converter input; 5 kHz carrier frequency.
Table 1-4: Accessories
Accessories
UFM-ST AC Line Filter Module (required for CE compliance; refer to Section 2.2.)
MCK-NDRIVE Mating connector kit for J206 (J205 mate is always provided)
JI Industrial Joystick (NEMA12 (IP54) rated); refer to Section 5.1.
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 2.2.3. 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 5.1. or Section 5.2.
FireWire Refer to Section 2.8.
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The following block diagram shows a connection summary. For detailed connection information, refer to
Chapter 2 and Chapter 3.
Figure 1-2: Functional Diagram
Ndrive HPe 10/20/30 Introduction

Introduction Ndrive HPe 10/20/30
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 1-5: Drive and Software Compatibility
Drive Type Firmware Revision First Software Version Last Software Version
Ndrive HPe - 2.22 Current
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1.2. Electrical Specifications
Table 1-6: Electrical Specifications
Description HPe 10 HPe 20 HPe 30
Motor
Supply
Input Voltage 14-240 VAC
Input Frequency 50-60 Hz
Inrush Current 34 A
Max 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 16 A
Input Current 1 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.
Ndrive HPe 10/20/30 Introduction