Aerotech Ndrive ML Series User manual

Revision: 1.11.00
Ndrive MLHardware Manual

Global Technical Support
Go to www.aerotech.com/global-technical-support for information and support about your Aerotech, Inc. products. The
website supplies software, product manuals, Help files, training schedules, and PC-to-PC remote technical support. If
necessary, you can complete Product Return (RMA) forms and get information about repairs and spare or replacement parts.
To get help immediately, contact a service office or your sales representative. Include your customer order number in your
email or have it available before you call.
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101 Zeta Drive
Pittsburgh, PA 15238-2811
www.aerotech.com
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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
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Copyright © 2008-2019, Aerotech, Inc., All rights reserved.

Table of Contents Ndrive ML
Table of Contents
Ndrive ML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
1.3. Mechanical Design 22
1.4. Environmental Specifications 23
Chapter 2: Installation and Configuration 25
2.1. Communication Channel Settings 25
2.2. Power Connections 26
2.2.1. Control Supply Connections (TB103) 27
2.2.2. Motor Supply Connections (TB102) 28
2.2.3. External Power Supply Options 29
2.3. Motor Output Connections 33
2.3.1. Brushless Motor Connections 34
2.3.1.1. Powered Motor Phasing 35
2.3.1.2. Unpowered Motor and Feedback Phasing 36
2.3.2. DC Brush Motor Connections 37
2.3.2.1. DC Brush Motor Phasing 38
2.3.3. Stepper Motor Connections 39
2.3.3.1. Stepper Motor Phasing 40
2.4. Motor Feedback Connections (J103) 41
2.4.1. Encoder Interface (J103) 42
2.4.1.1. RS-422 Line Driver Encoder (Standard) 43
2.4.1.2. Analog Encoder Interface 44
2.4.1.3. Encoder Phasing 46
2.4.2. Hall-Effect Interface (J103) 48
2.4.3. Thermistor Interface (J103) 49
2.4.4. Encoder Fault Interface (J103) 50
2.4.5. End Of Travel Limit Input Interface (J103) 51
2.4.5.1. End Of Travel Limit Phasing 53
2.4.6. Brake Output (J103) 54
2.4.7. Differential Analog Input 0 (J103) 55
2.5. Emergency Stop Sense Input (TB101) 56
2.5.1. Typical ESTOP Interface 57
2.6. FireWire Interface 58
2.7. PC Configuration and Operation Information 59
Chapter 3: -I/O Expansion Board 61
3.1. User Power (TB201) 62
3.2. Brake Relay Connector (TB201) 63
3.3. Analog I/O Connector (TB202) 65
3.3.1. Analog Output 1 (TB202) 66
3.3.2. Differential Analog Input 1 (TB202) 67
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3.4. OptoIn Connector (Digital Inputs) (TB203) 68
3.5. Opto Out Connector (Digital Outputs) (TB204) 71
3.6. Auxiliary Encoder Channel/PSO Output (J201) 74
3.6.1. Position Synchronized Output (PSO)/Laser Firing (J201) 76
Chapter 4: Standard Interconnection Cables 79
4.1. Joystick Interface 80
4.2. Handwheel Interface 82
Chapter 5: Maintenance 83
5.1. Preventative Maintenance 84
Appendix A: Warranty and Field Service 85
Appendix B: Revision History 87
Index 89
Ndrive ML Table of Contents

Table of Contents Ndrive ML
List of Figures
Figure 1-1: Ndrive ML Networked Digital Drive 15
Figure 1-2: Functional Diagram 18
Figure 1-3: Dimensions 22
Figure 2-1: Control Supply Connections 27
Figure 2-2: Motor Bus Input Connections 28
Figure 2-3: Control and Motor Power Wiring using a TM3 Transformer 30
Figure 2-4: PS-ML Option (120 W, 24 VDCOutput, with Brake) 31
Figure 2-5: PS-ML Option (240 W, 24 VDCOutput, with Brake) 31
Figure 2-6: PS-ML Option (180 W, 40 VDCOutput, with Brake) 32
Figure 2-7: PS-ML Option (360 W, 40 VDCOutput, with Brake) 32
Figure 2-8: Brushless Motor Configuration 34
Figure 2-9: Encoder and Hall Signal Diagnostics 35
Figure 2-10: Motor Phasing Oscilloscope Example 36
Figure 2-11: Brushless Motor Phasing Goal 36
Figure 2-12: DC Brush Motor Configuration 37
Figure 2-13: Clockwise Motor Rotation 38
Figure 2-14: Stepper Motor Configuration 39
Figure 2-15: Clockwise Motor Rotation 40
Figure 2-16: Line Driver Encoder Interface (J103) 43
Figure 2-17: Analog Encoder Phasing Reference Diagram 44
Figure 2-18: Analog Encoder Interface (J103) 45
Figure 2-19: Encoder Phasing Reference Diagram (Standard) 46
Figure 2-20: Position Feedback in the DiagnosticDisplay 47
Figure 2-21: Hall-Effect Inputs (J103) 48
Figure 2-22: Thermistor Interface Input (J103) 49
Figure 2-23: Encoder Fault Interface Input (J103) 50
Figure 2-24: End of Travel Limit Input Connections 51
Figure 2-25: End of Travel Limit Interface Input (J103) 52
Figure 2-26: Limit Input Diagnostic Display 53
Figure 2-27: Analog Input 0 (J103) 55
Figure 2-28: ESTOPSenseInput (TB101) 56
Figure 2-29: Typical Emergency Stop Circuit 57
Figure 3-1: Ndrive ML with -IO Option Board 61
Figure 3-2: Brake Connected to J103 64
Figure 3-3: Brake Connected to TB201 64
Figure 3-4: Analog Output 1 (TB202) 66
Figure 3-5: Analog Input Typical Connection (TB202) 67
Figure 3-6: Digital Opto-Isolated Inputs 69
Figure 3-7: Digital Inputs Connected to a Current Sourcing Device 70
Figure 3-8: Digital Inputs Connected to a Current Sinking Device 70
Figure 3-9: Digital Opto-Isolated Outputs (-IOBoard) 72
Figure 3-10: Digital Outputs Connected in Current Sourcing Mode 73
Figure 3-11: Digital Outputs Connected in Current Sinking Mode 73
Figure 3-12: Auxiliary Encoder Channel (J201) 75
Figure 3-13: PSOInterface 77
Figure 4-1: Single Axis Joystick Interface 80
Figure 4-2: Two Axis Joystick Interface 81
Figure 4-3: Handwheel Interconnection (to Aux I/O) 82
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Table of Contents Ndrive ML
List of Tables
Table 1-1: FeatureSummary 16
Table 1-2: Ordering Options 16
Table 1-3: MLPower Supply Options 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 22
Table 2-1: Device Number Switch Settings (S1) 25
Table 2-2: Control Supply DCInput Wiring 27
Table 2-3: Mating Connector Part Numbers for the Control Supply Connector 27
Table 2-4: Motor Supply Input Wiring 28
Table 2-5: Mating Connector Part Numbers for the Motor Supply Connector 28
Table 2-6: ExternalPower Supply Options 29
Table 2-7: PS-ML ACPower Wiring Requirements 29
Table 2-8: Motor Power Output Connections (TB102) 33
Table 2-9: Mating Connector Part Numbers for the Motor Power Output Connector 33
Table 2-10: Wire Colors for Aerotech Supplied Cables (Brushless) 34
Table 2-11: Wire Colors for Aerotech Supplied Cables (DCBrush) 37
Table 2-12: Wire Colors for Aerotech Supplied Cables (Stepper) 39
Table 2-13: Motor Feedback Connector Pinout (J103) 41
Table 2-14: Mating Connector Part Numbers for the MotorFeedbackConnector (J103) 41
Table 2-15: Encoder Interface Pins on the Motor Feedback Connector (J103) 42
Table 2-16: Encoder Specifications 43
Table 2-17: Analog Encoder Specifications 44
Table 2-18: Hall-Effect Feedback Pins on the Motor Feedback Connector (J103) 48
Table 2-19: Thermistor Pin on the Motor Feedback Connector (J103) 49
Table 2-20: Encoder Fault Pin on the Motor Feedback Connector (J103) 50
Table 2-21: End of Travel Limit Input Pins on the Motor Feedback Connector (J103) 51
Table 2-22: Brake Output Pins on the Motor Feedback Connector (J103) 54
Table 2-23: Differential Analog Input 0 Specifications 55
Table 2-24: Differential Analog Input Pins on the Motor Feedback Connector (J103) 55
Table 2-25: Electrical Noise Suppression Devices 56
Table 2-26: Mating Connector Part Numbers for the ESTOPConnector (TB101) 56
Table 2-27: Typical ESTOPRelay Ratings 57
Table 2-28: FireWire Card Part Numbers 58
Table 2-29: FireWire Repeaters (for cables exceeding 4.5 m (15 ft) specification) 58
Table 2-30: FireWire Cables (copper and glass fiber) 58
Table 3-1: User Common Connector Pins on the Brake Relay Connector (TB201) 62
Table 3-2: Relay Specifications 63
Table 3-3: Brake Relay Connector Pinout (TB201) 63
Table 3-4: Mating Connector Part Numbers for the Brake Relay Connector (TB201) 63
Table 3-5: Analog Output Connector Pinout (TB202) 65
Table 3-6: Mating Connector Part Numbers for the Analog Output Connector (TB202) 65
Table 3-7: Analog Output 1 Specifications (TB202) 66
Table 3-8: Analog Output Pins on the Analog I/OConnector (TB202) 66
Table 3-9: Differential Analog Input 1 Specifications 67
Table 3-10: Differential Analog Input 1 Pins on the Analog I/OConnector (TB202) 67
Table 3-11: Digital Input Specifications 68
Table 3-12: Opto In Connector Pinout (TB203) 68
Table 3-13: Mating Connector Part Numbers for the Opto In Connector (TB203) 68
Table 3-14: Digital Output Specifications (TB204) 71
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Table 3-15: Opto Out Connector Pinout TB204) 71
Table 3-16: Mating Connector for the Opto Out Connector (TB204) 71
Table 3-17: Auxiliary Encoder Specifications 74
Table 3-18: Auxiliary Encoder Channel Pinout (J201) 74
Table 3-19: Mating Connector Part Numbers for the Auxiliary Encoder Connector (J201) 74
Table 3-20: PSO Specifications 76
Table 3-21: PSOOutput Pin Assignment (J201) 76
Table 4-1: Standard Interconnection Cables 79
Table 4-2: Joystick Cable Part Numbers 81
Table 5-1: LEDDescription 83
Table 5-2: Preventative Maintenance 84
Ndrive ML Table of Contents

Declaration of Conformity Ndrive ML
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product Ndrive ML
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 11/26/2019
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Agency Approvals
Aerotech, Inc. Model Ndrive ML 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 ML Declaration of Conformity

Electrical Safety Ndrive ML
Safety Procedures and Warnings
This manual tells you how to carefully and correctly use and operate the Ndrive ML. Read all parts of this
manual before you install or operate the Ndrive ML 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 ML 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 ML inside a rack or enclosure.
6. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
7. All components must be properly grounded in accordance with local electrical safety
requirements.
8. Operator safeguarding requirements must be addressed during final integration of the
product.
D A N G E R : The Ndrive ML 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 ML Electrical Safety

Quick Installation Guide Ndrive ML
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the Ndrive
ML. 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 Connections (J103)
FireWire Section 2.6. FireWire Interface
Control Supply Section 2.2.1. Control Supply Connections (TB103)
Motor Supply Section 2.2.2. Motor Supply Connections (TB102)
Additional I/O User / Application dependent
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Ndrive ML Quick Installation Guide
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Introduction Ndrive ML
Chapter 1: Introduction
Aerotech’s Ndrive ML(Ultra-Compact "Micro" Linear) network digital drive is a high performance linear
amplifier designed to eliminate the nonlinearities common with PWMamplifiers. The drive provides
deterministic behavior, auto-identification, and easy software setup. The Ndrive ML’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 ML is offered with an optional encoder interpolation feature (-MXH or -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.
Figure 1-1: Ndrive ML Networked Digital Drive
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Table 1-1: FeatureSummary
Standard Features
l18 - 36 VDCcontrol supply inputs (700 mA max) Section 2.2.1.
l±40 VDC motor supply inputs (10 A max) Section 2.2.2.
lPrimary quadrature encoder input channel Section 2.4.1.
lDedicated Home and Limit inputs Section 2.4.5.
lDedicated 5-24 V Emergency Stop sense input Section 2.5.
lOne 16-bit analog differential input (±10 VDC) Section 2.4.7.
lSingle-axis PSO capability (I/O board required) Section 3.6.1.
Table 1-2: Ordering Options
Options
Power Stage Options (Section 1.2.)
10-40 10 A peak; 5 A continuous, ±40 VDC input
I/O(Chapter 3) and Feedback (Section 2.4.1.2.) Options
-IO Expansion board with 8 digital inputs (opto-isolated); 8 digital outputs (opto-
isolated); one 12-bit analog input; one 16-bit analog output
-MXU Programmable encoder multiplier up to x1024 (x4096 after quadrature); no real-
time output
-MXH Programmable encoder multiplier up to x4096 (x65536 after quadrature) with real-
time output
PSOOptions (Section 3.6.1.)
-DUALPSO Two-axis PSO firing
Power Supply Option (Section 2.2.3.)
-PS-ML DC power supply for one or two axes; mounted to DIN rail
Ndrive ML Introduction

Introduction Ndrive ML
Table 1-3: MLPower Supply Options
Options
Power Supply Options
-DR-120-24-A 120 W; ±24 VDC; 100-120 VAC supply; peak current = 5 A
-DR-120-24-B 120 W; ±24 VDC; 200-240 VAC supply; peak current = 5 A
-DR-240-24-A 240 W; ±24 VDC; 100-120 VAC supply; peak current = 10 A
-DR-240-24-B 240 W; ±24 VDC; 200-240 VAC supply; peak current = 10 A
-DR-120-40-A 120 W; ±40 VDC; 100-120 VAC supply; peak current = 2.5 A
-DR-120-40-B 120 W; ±40 VDC; 200-240 VAC supply; peak current = 2.5 A
-DR-240-40-A 240 W; ±40 VDC; 100-120 VAC supply; peak current = 5 A
-DR-240-40-B 240 W; ±40 VDC; 200-240 VAC supply; peak current = 5 A
Note: Aerotech will set the peak current parameters in the controller to try to prevent the power supply from shutting off due to
overcurrent condition.
Axes
-1AX 1 axis of wiring
-2AX 2 axes of wiring
Brake
-BRAKE-1 Axis 1 brake
-BRAKE-2 Axis 2 brake
Table 1-4: Accessories
Accessories
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
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.
FireWire Refer to Section 2.6.
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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 ML Introduction

Introduction Ndrive ML
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 ML - 3.00 Current
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1.2. Electrical Specifications
The safe operating range is load dependent.
Table 1-6: Electrical Specifications
Description ML 10
Motor Supply
Input Voltage ±40 VDC (max)
Input Current
(continuous) 5 A
Input Current (peak) 10 A
Input Current Refer to Section 1.2.1. System Power Requirements
Control Supply Input Voltage 24 VDC typical(18-36 VDC)
Input Current 700 mA (max)
Output Voltage (1) ±38V @ 10 A
Peak Output Current (2) 10
Continuous Output Current (2) 5
Power Amplifier Bandwidth 2500 Hz maximum (software selectable)
Minimum Load Resistance 0.5 Ω
Output Impedance 0.2 Ω (each phase)
User Power Supply Output 5 VDC (@ 500 mA)
Modes of Operation Brushless; Brush; Stepper
Protective Features Peak current limit; Over temperature; RMScurrent limit;
Dynamic power dissipation limit
Isolation Isolation between control and power stages.
1. Load Dependent
2. Peak and continuous output current is load dependent (the amplifier will limit its output current based on motor speed and motor
resistance).
Ndrive ML Introduction