Aerotech Ndrive QL Series User manual

J104
J105
High Voltage
DANGER!
FIREWIRE
S1
DEVICE
NUMBER
ON
0
1
2
3
4
5
STAGE
J106
SYNC
J103
PWRENB/FLT
POWER INPUT
AC1
AC2
AUX I/O
J108
TB101
100-240V~
50/60Hz
2A MAX
ANALOG
I/O
J107
A B
Revision: 1.03.00
Ndrive QL
Hardware Manual

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 15238-2811
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
may be trademarks of their respective companies.
Copyright © 2015-2018, Aerotech, Inc., All rights reserved.

Ndrive QL Hardware Manual Table of Contents
Table of Contents
Ndrive QL Hardware Manual 1
Table of Contents 3
List of Figures 4
List of Tables 5
EU Declaration of Conformity 7
Agency Approvals 8
Safety Procedures and Warnings 9
Quick Installation Guide 11
Chapter 1: Introduction 13
1.1. Electrical Specifications 16
1.2. Mechanical Design 17
1.3. Environmental Specifications 18
Chapter 2: Installation and Configuration 19
2.1. Unpacking the Chassis 19
2.2. Electrical Installation 20
2.2.1. Power Input (TB101) 20
2.2.2. I/O and Signal Wiring Requirements 21
2.2.3. Communication Channel Settings 22
2.3. Stage Power and Feedback Connections (J106) 23
2.4. Auxiliary I/O Connector (J108) 25
2.4.1. Position Synchronized Output (PSO) 26
2.4.2. Opto-Isolated Outputs 0-3 28
2.4.3. Opto-Isolated Inputs 0-3 30
2.4.4. High-Speed User Inputs 4-5 32
2.4.5. Analog Output 0 33
2.4.6. Differential Analog Input 0 34
2.5. Analog I/O Connector (J107) 35
2.5.1. Voltage Monitor Output 36
2.5.2. External Voltage Command 37
2.6. Communication 38
2.6.1. FireWire Interface 38
2.6.2. SYNC Interface 40
2.7. PC Configuration and Operation Information 41
Chapter 3: Maintenance 43
3.1. Preventative Maintenance 44
Appendix A: Warranty and Field Service 45
Appendix B: Revision History 47
Index 49
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Table of Contents Ndrive QL Hardware Manual
List of Figures
Figure 1-1: Functional Diagram 15
Figure 1-2: Dimensions 17
Figure 2-1: Power Input Connections 20
Figure 2-2: Connection to Third Party Stage 24
Figure 2-3: PSOInterface 27
Figure 2-4: Outputs Connected in Current Sourcing Mode (J108) 29
Figure 2-5: Outputs Connected in Current Sinking Mode (J108) 29
Figure 2-6: Inputs Connected in Current Sourcing Mode (J108) 31
Figure 2-7: Inputs Connected in Current Sinking Mode (J108) 31
Figure 2-8: High Speed User Inputs (J108) 32
Figure 2-9: Analog Input 0 (J108) 34
Figure 2-10: FireWire Interface 38
Figure 2-11: Sync Interface 40
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Ndrive QL Hardware Manual Table of Contents
List of Tables
Table 1-1: Configuration and Options 14
Table 1-2: Electrical Specifications 16
Table 1-3: Physical Specifications 17
Table 2-1: Power Supply Wiring (TB101) 20
Table 2-2: I/Oand Signal Wiring Specifications 21
Table 2-3: Device Number Switch Settings (S1) 22
Table 2-4: Power and Feedback Connector (J106) 23
Table 2-5: Auxiliary I/O Interface Pin Assignment (J108) 25
Table 2-6: PSO Specifications 26
Table 2-7: PSOOutput Pin Assignment (J108) 26
Table 2-8: Digital Output Specifications 28
Table 2-9: Digital Output Connector Pin Assignment (J108) 28
Table 2-10: PS2815-4 Opto-Device Specifications 30
Table 2-11: Digital Input Connector Pin Assignment (J108) 30
Table 2-12: High Speed Digital Input Connector Pin Assignment (J108) 32
Table 2-13: High-Speed Digital Input Specifications 32
Table 2-14: Analog Output Specifications (J108) 33
Table 2-15: Analog Output 0 Connector Pin Assignment (J108) 33
Table 2-16: Differential Analog Input Specifications (J108) 34
Table 2-17: Analog Input Connector Pin Assignment (J108) 34
Table 2-18: Analog I/O Connector Pin Assignment (J107) 35
Table 2-19: Voltage Monitor Output Connector Pin Assignment (J107) 36
Table 2-20: Voltage Monitor Output Scaling 36
Table 2-21: Voltage Monitor Output Specifications 36
Table 2-22: External Voltage Command Connector Pin Assignment (J107) 37
Table 2-23: External Voltage Command Scaling 37
Table 2-24: External Voltage Command Specifications 37
Table 2-25: FireWire Card Part Numbers 38
Table 2-26: FireWire Repeaters (for cables exceeding 4.5 m (15 ft) specification) 38
Table 2-27: FireWire Cables (copper and glass fiber) 39
Table 3-1: LEDDescription 43
Table 3-2: Troubleshooting 43
Table 3-3: Preventative Maintenance 44
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Table of Contents Ndrive QL Hardware Manual
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Ndrive QL Hardware Manual Declaration of Conformity
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product Ndrive QL
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
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 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
www.aerotech.com 7

Declaration of Conformity Ndrive QL Hardware Manual
Agency Approvals
Aerotech, Inc. Model Ndrive QL 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 16 06 68995 019
Standards: UL 61010-1:2012; CAN/CSA-C22.2 No. 61010-1:2012; EN 61010-
1:2010
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Ndrive QL Hardware Manual Declaration of Conformity
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.
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. Operators must be trained before allowing them to operate the equipment.
2. All service and maintenance must be performed by qualified personnel.
3. Modification or use of this product in an unspecified manner may result in equipment
damage or bodily injury (shock or death).
4. The user must read this manual and related documentation thoroughly before operating the
equipment.
5. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid
potential hazards.
6. This product must be mounted securely. Improper mounting can result in injury and
damage to the equipment.
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. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
2. Disconnect electrical power before making any mechanical adjustments or performing
maintenance.
3. Do not remove the stage connection (J106) while the controller is engaged. Always remove
ACmains power before making a connection to the controller.
4. To avoid the risk of electric shock, do not touch the piezo stage while it is energized.
5. Make sure the system is properly grounded in accordance with local electrical safety
requirements.
6. Operator safeguarding requirements must be addressed during final integration of the
product.
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Declaration of Conformity Ndrive QL Hardware Manual
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Ndrive QL Hardware Manual Quick Installation Guide
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the Ndrive
QL. 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 Software or Documentation DVD.
J104
J105
High Voltage
DANGER!
FIREWIRE
S1
DEVICE
NUMBER
ON
0
1
2
3
4
5
STAGE
J106
SYNC
J103
PWRENB/FLT
POWER INPUT
AC1
AC2
AUX I/O
J108
TB101
100-240V~
50/60Hz
2A MAX
ANALOG
I/O
J107
A B
2
3
1
5
Set the Communication Channel Device Number (S1)
Connect to the Firewire (J104 and J105).
Connect any additional I/O as required (not shown, user-specific).
Connect to the Power Input (TB101).
1
3
Connect to the Stage (J106).
2
4
5
Figure 1: Quick Start Connections
Topic Section
Connect to J106 Refer to Section 2.3.
Set the Device Number Refer to Section 2.2.3.
Connect the FireWire Refer to Section 2.6.1.
Connect to TB101 Refer to Section 2.2.1.
Connect to J107 Refer to Section 2.5.
Connect to J108 Refer to Section 2.4.
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Quick Installation Guide Ndrive QL Hardware Manual
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Ndrive QL Hardware Manual Introduction
Chapter 1: Introduction
The Ndrive QL is a panel-mount nanopositioning piezo drive that connects to any A3200 controller network
enabling a high rate of coordinated motion between piezo stages and servo axes.
QL drives feature a dual-core 456 MHz, double-precision, floating-point DSP that provides extreme
processing power over a wide variety of applications including point-to-point motion, linear and circular
interpolation, multi-axis error correction, and auto-focusing. High-speed interrupts and data logging
capabilities provide a real-time link to external systems. The QL also offers high-speed positioning latching
capability and single-axis position synchronized output (PSO) for generation of pulses based on actual
position feedback in applications ranging from laser firing to data acquisition system triggering.
A
ENB/FLT (Enable/Fault)Indicator
PWR(Power)Indicator
J104
J105
High Voltage
DANGER!
FIREWIRE
S1
DEVICE
NUMBER
ON
0
1
2
3
4
5
STAGE
J106
SYNC
J103
PWRENB/FLT
POWER INPUT
AC1
AC2
AUX I/O
J108
TB101
100-240V~
50/60Hz
2A MAX
ANALOG
I/O
J107
A B
A
E
G
F
B
C
D
H
B
AUXI/O(J108) Connector
C
ANALOGI/O (J107)Connector
D
POWERINPUT(TB101)
E
SYNC(J103)
F
DEVICENUMBER (S1)
G
FIREWIRE (J104, J105)
H
STAGE (J106)Connector
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Introduction Ndrive QL Hardware Manual
Table 1-1: Configuration and Options
Ndrive QL
Ndrive QL250-C Cost-effective, discrete panel-mount piezo drive with capacitive sensor
feedback, 250 mA peak current, 50 mA continuous current, -30 to +150 V
output.
Ndrive QL500-C Cost-effective, discrete panel-mount piezo drive with capacitive sensor
feedback, 500 mA peak current, 175 mA continuous current, -30 to +150 V
output.
Features
lConfigurable input/outputs; 4 opto-isolated inputs, two high-speed
digital inputs, 4 opto-isolated outputs, one 16-bit analog input, and one
16-bit analog output.
lSingle-axis Position Synchronized Output (PSO) standard
lMotion Designer software is used to graphically generate and edit
motion profiles that execute on the controller, providing the ability to
import, run and evaluate motion profiles (trajectories). Included in the
Motion Designer software is learning control that reduces tracking
errors by as much as 1000 times.
Software Options
-DYNAMIC CONTROLS
TOOLBOX
The Dynamic Controls Toolbox provides control algorithms that increase
system performance such as settle time, accuracy, in-position stability
and/or velocity stability.
-LABVIEW LabVIEW® VI samples
-MATLAB Includes MATLAB® library for motion, parameters, and data collection.
14 Chapter 1 www.aerotech.com

Ndrive QL Hardware Manual Introduction
The following block diagram shows a connection summary (refer to Chapter 2 and Chapter 3 for more
detailed connection information).
STAGE
J106
Motor (+, -)
Logic Power
Sensor Position
Flash Config
Power
Supply High Voltage
Amplifier
Heatsink Over
Temperature
AUX I/O
J108
Analog Input 0
Analog Output 0
2 High Speed Opto Inputs
4 Opto Inputs
4 Opto Outputs
PSO Output
SIN, COS, MRK
SYNC
J103 Proprietary Bus
ANALOG
I/O
J107
Voltage Command
Voltage Monitor
POWER
INPUT
TB101
POWER
INPUT
TB101
DEVICE
NUMBER
S1
FIRWIRE
J104/J105 FireWire Port
Figure 1-1: Functional Diagram
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Introduction Ndrive QL Hardware Manual
1.1. Electrical Specifications
The electrical specifications for the Ndrive QL are listed below.
Table 1-2: Electrical Specifications
Description Ndrive QL250-C Ndrive QL500-C
Power
Supply
Input Voltage
[Nominal Range] 100-240 VAC (auto-ranging) 100-240 VAC (auto-ranging)
Input Voltage
[Maximum Range] 85-264 VAC (auto-ranging) 85-264 VAC (auto-ranging)
Input Frequency 47-63 Hz 47-63 Hz
Peak Inrush Current 25 A / 115 VAC;
50 A / 230 VAC
25 A / 115 VAC;
50 A / 230 VAC
Input Power 75 W 75 W
Piezo Actuator Output Voltage -30 to +150 V -30 to +150 V
Peak Output Current 250 mA 500 mA
Continuous Output Current 50 mA 175 mA
Warm Up Time 15 Minutes 15 Minutes
Sensor Resolution 17-Bit (closed-loop) 17-Bit (closed-loop)
Voltage Resolution 18-Bit (open-loop) 18-Bit (open-loop)
High-Speed Data Capture 50 ns latency 50 ns latency
Servo Loop Update 24kHz 24kHz
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Ndrive QL Hardware Manual Introduction
1.2. Mechanical Design
The following figure shows the Ndrive QL package dimension as well as the typical mounting orientation.
Drawing Number: 620E1421-
J104
J105
High Voltage
DANGER!
FIREWIRE
S1
DEVICE
NUMBER
ON
0
1
2
3
4
5
STAGE
J106
SYNC
J103
PWRENB/FLT
POWER INPUT
AC1
AC2
AUX I/O
J108
TB101
100-240V~
50/60Hz
2A MAX
ANALOG
I/O
J107
A B
157.5 [6.20]
Ø4.8 [Ø0.19]
Ø10.3 [Ø0.41]
31.8 [1.25]20.8 [0.82]
4.5 [0.18]
4.8 [0.19]
66.3 [2.61]
73.8 [2.90]
REC. MTG. HDWR.: M4 [#8]
2.3 [0.09]
14.5 [0.57]
10.9 [0.43]
203.8 [8.02]
217.4 [8.56]
209.8 [8.26]
233.0 [9.16]
Figure 1-2: Dimensions
Table 1-3: Physical Specifications
Weight
1.4 kg [3.0 lbs]
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Introduction Ndrive QL Hardware Manual
1.3. Environmental Specifications
The environmental specifications for the Ndrive QL are listed below.
Ambient Temperature Operating: 0° to 50°C (32° to 122° F)
Storage: -30° to 85°C (-22° to 185° F)
Humidity Maximum relative humidity is 80% for temperatures up to 31°C.
Decreasing linearly to 50% relative humidity at 40°C. Non condensing.
Altitude Up to 2000 meters.
Pollution Pollution degree 2 (normally only non-conductive pollution).
Use Indoor use only.
18 Chapter 1 www.aerotech.com

Ndrive QL Hardware Manual Installation and Configuration
Chapter 2: Installation and Configuration
This section describes the minimum hardware installation and configuration requirements for the Ndrive QL.
This installation will provide information on AC power connections and motor wiring.
D A N G E R : To minimize the possibility of bodily injury or death, disconnect all electrical
power prior to performing any maintenance or making adjustments to the equipment.
2.1. Unpacking the Chassis
D A N G E R : All electronic equipment and instrumentation are wrapped in antistatic material
and packaged with desiccant. Ensure that the antistatic material is not damaged during
unpacking.
Visually inspect the container of the QL for any evidence of shipping damage. If any such damage exists,
notify the shipping carrier immediately.
Remove the packing list from the QL container. Make sure that all the items specified on the packing list are
contained within the package.
All of the documentation provided with the QL should be saved for future reference. Additional information
about the QL system is provided on the Serial and Power labels that are placed on the QL chassis.
The system serial number label contains important information such as the:
lCustomer order number (please provide this number when requesting product support)
lDrawing number
lSystem part number
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Installation and Configuration Ndrive QL Hardware Manual
2.2. Electrical Installation
The Ndrive QL has one AC input power connector. For a complete list of electrical specifications, refer to
Section 1.1. Electrical Specifications.
2.2.1. Power Input (TB101)
AC input power to the QL is applied to the Input Power (TB101) connector.
The connection requires a minimum of 100 VACinput to operate properly. The AC1 and AC2 inputs are
internally fused. Figure 2-1 shows the required connections to the control power input.
POWER INPUT
AC1
AC2
TB101
100-240V~
50/60Hz
2A MAX
Figure 2-1: Power Input Connections
Table 2-1: Power Supply Wiring (TB101)
Pin Description Recommended WireSize
AC1 100 - 240 VAC Input Range 1.3 mm2(#16 AWG)
AC2 100 - 240 VAC Input Range 1.3 mm2(#16 AWG)
Protective Ground (Required for Safety) 1.3 mm2(#16 AWG)
Type Aerotech P/N Phoenix P/N
Screw Torque
Value: Nm
Wire Size:
AWG [mm2]
3-Pin Terminal Block ECK00213 1754465 0.5 - 0.6 12-30 [3.3 - 0.516]
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