Aerotech A3200 Nmark GCL User manual

Patent Number: US 8,426,768 B2
Revision: 1.04.00
NmarkGCL Hardware Manual

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Pittsburgh, PA 15238-2811
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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 © 2015-2019, Aerotech, Inc., All rights reserved.

Nmark GCL Hardware Manual Table of Contents
Table of Contents
NmarkGCL 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 15
1.2. Mechanical Design 16
1.3. Environmental Specifications 17
1.4. Drive and Software Compatibility 18
Chapter 2: Installation and Configuration 19
2.1. Communication Channel Settings 19
2.2. Power Connections 20
2.2.1. Control Supply Connections (TB104) 20
2.2.2. Motor Supply Connections (TB201) 21
2.2.3. External Power Supply Options 22
2.2.4. Minimizing ConductedRadiated and System Noise 23
2.3. FireWire Interface 24
2.4. Laser / PSOOutput (TB101) 25
2.4.1. Position Synchronized Output (PSO) 30
2.5. Encoder Output (J103) 31
2.6. Galvo Connections (J201 and J202) 33
2.6.1. Analog Encoder Inputs (J201 and J202) 34
2.6.2. Galvo Motor Connection (J201 and J202) 34
2.6.3. End of Travel Limit Input Interface 35
2.6.3.1. End of Travel Limit Phasing 37
2.6.4. Thermistor Interface 38
2.7. Digital and Analog I/O (TB102 A/B) 39
2.7.1. Digital Outputs (TB102 A) 40
2.7.2. Digital Inputs (TB102 B) 42
2.7.3. Analog Outputs (TB102B) 44
2.7.4. Differential Analog Input (TB102 A) 45
2.8. Encoder Input (TB103) 46
2.8.1. Emergency Stop Sense Input (TB103) 48
2.9. Switch S1 (Laser Output Polarity) 49
2.10. PC Configuration and Operation Information 50
Chapter 3: Maintenance 51
3.1. Board Assembly 52
3.2. Preventative Maintenance 54
Appendix A: Warranty and Field Service 55
Appendix B: Revision History 57
Index 59
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Table of Contents Nmark GCL Hardware Manual
List of Figures
Figure 1-1: NmarkGCL Networked Digital Galvo Controller 13
Figure 1-2: Functional Diagram 14
Figure 1-3: Dimensions 16
Figure 2-1: Control Supply Connections 20
Figure 2-2: Motor Bus Input Connections 21
Figure 2-3: Control and Motor Power Wiring using a TM3 Transformer 22
Figure 2-4: Third Party Power Supply Connection 23
Figure 2-5: Laser Interface Outputs (TB101) 26
Figure 2-6: Current Sinking Configuration (with Isolation) 27
Figure 2-7: Current Sinking Configuration (without Isolation) 27
Figure 2-8: Current Sourcing Configuration (with Isolation) 28
Figure 2-9: Current Sourcing Configuration (without Isolation) 28
Figure 2-10: TTLOutput 29
Figure 2-11: Encoder Outputs 31
Figure 2-12: PSOExternal Sync Input 32
Figure 2-13: End of Travel Limit Input Connections 36
Figure 2-14: End of Travel Limit Interface Input 36
Figure 2-15: Limit Input Diagnostic Display 37
Figure 2-16: Thermistor Interface Input 38
Figure 2-17: Outputs Connected in Current Sourcing Mode 41
Figure 2-18: Outputs Connected in Current Sinking Mode 41
Figure 2-19: Inputs Connected to a Current Sourcing Device 43
Figure 2-20: Inputs Connected to a Current Sinking Device 43
Figure 2-21: Analog Outputs (TB102 B) 44
Figure 2-22: Analog Inputs (TB102) 45
Figure 2-23: Encoder Connections (TB103 A/B) 47
Figure 2-24: ESTOP Sense Input (TB103) 48
Figure 2-25: Switch S1 (Laser Output Polarity) 49
Figure 3-1: Control Board Assembly 52
Figure 3-2: Power Board Assembly 53
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Nmark GCL Hardware Manual Table of Contents
List of Tables
Table 1-1: FeatureSummary 13
Table 1-2: Electrical Specifications 15
Table 1-3: Unit Weight 16
Table 1-4: Drive and Software Compatibility 18
Table 2-1: Device Number Switch Settings 19
Table 2-2: Control Supply Input Wiring (TB104) 20
Table 2-3: Control Supply Mating Connector (TB104) 20
Table 2-4: Motor Supply Input Wiring 21
Table 2-5: Motor Supply Mating Connector (TB201) 21
Table 2-6: FireWire Card Part Numbers 24
Table 2-7: FireWire Repeaters (for cables exceeding 4.5 m (15 ft) specification) 24
Table 2-8: FireWire Cables (copper and glass fiber) 24
Table 2-9: Laser Output Interface Pinout (TB101 A) 25
Table 2-10: Laser Output Interface Pinout (TB101 B) 25
Table 2-11: Laser Interface Connector Mating Connector (TB101) 25
Table 2-12: Output Specifications (TB101) 26
Table 2-13: PSO Specifications 30
Table 2-14: PSOOutput Pinout TB101 (A) 30
Table 2-15: Encoder Output Connector Pinout (J103) 31
Table 2-16: Mating Connector Part Numbers for the Encoder Output Connector (J103) 31
Table 2-17: PSOExternal Sync Specifications 32
Table 2-18: Galvo Connector Pinout (J201 and J202) 33
Table 2-19: Mating Connector Part Numbers for the Galvo Connector (J201 and J202) 33
Table 2-20: Analog Encoder Specifications 34
Table 2-21: End of Travel Limit Input Interface Pinout 35
Table 2-22: Thermistor Interface Pinout 38
Table 2-23: Digital Outputs and Differential Analog Input Pinout (TB102 A) 39
Table 2-24: Digital Inputs and Analog Output Pinout (TB102 B) 39
Table 2-25: Mating Connector Part Numbers for the Digital and Analog I/O (TB102 A/B) 39
Table 2-26: Digital Outputs Pinout (TB102 A) 40
Table 2-27: Digital Output Specifications (TB102) 40
Table 2-28: Digital Input Specifications 42
Table 2-29: Digital Inputs Pinout (TB102 B) 42
Table 2-30: Analog Output Pinout (TB102 B) 44
Table 2-31: Analog Output Specifications (TB102B) 44
Table 2-32: Analog Input Pinout (TB102 A) 45
Table 2-33: Differential Analog Input Specifications (TB102 A) 45
Table 2-34: Encoder Input Specifications (TB103) 46
Table 2-35: Axis 1 Encoder Input Pinout (TB103A) 46
Table 2-36: Axis 2 Encoder Input Pinout (TB103B) 46
Table 2-37: Mating Connector Part Numbers for the Encoder Interface Connector (TB103 A/B) 46
Table 2-38: Nmark GCL to Drive Cable Part Numbers 46
Table 2-39: TB103AESTOPPinout 48
Table 2-40: Electrical Noise Suppression Devices 48
Table 3-1: Control Board Fuse Specifications 52
Table 3-2: Power Board Fuses 53
Table 3-3: Preventative Maintenance 54
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Table of Contents Nmark GCL Hardware Manual
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Nmark GCL Hardware Manual Declaration of Conformity
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product NmarkGCL
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
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 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 8/23/2019
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Declaration of Conformity Nmark GCL Hardware Manual
Agency Approvals
Aerotech, Inc. Model NmarkGCL 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 021
Standards: CAN/CSA-C22.2 No. 61010-1:2012; UL 61010-1:2012;
EN 61010-1:2010
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.
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Electrical Safety Nmark GCL Hardware Manual
Safety Procedures and Warnings
This manual tells you how to carefully and correctly use and operate the NmarkGCL. Read all parts of this
manual before you install or operate the NmarkGCL 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. 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.
4. Refer to local electrical safety requirements to correctly size external system wires.
5. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
6. All components must be properly grounded in accordance with local electrical safety
requirements.
7. Operator safeguarding requirements must be addressed during final integration of the
product.
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.
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Nmark GCL Hardware Manual Electrical Safety
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Nmark GCL Hardware Manual Quick Installation Guide
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the
NmarkGCL. 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.
Device Number Section 2.1. Communication Channel Settings
FireWire Section 2.3. FireWire Interface
Digital / Analog I/O Section 2.7. Digital and Analog I/O (TB102 A/B)
Galvo Connections Section 2.6. Galvo Connections (J201 and J202)
Control Supply Section 2.2.1. Control Supply Connections (TB104)
Motor Supply Section 2.2.2. Motor Supply Connections (TB201)
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Quick Installation Guide Nmark GCL Hardware Manual
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Nmark GCL Hardware Manual Introduction
Chapter 1: Introduction
Aerotech’s NmarkGCL, part of the A3200 product family, is a closed-loop scanner module that allows direct
control of galvo scanner servo motion for marking parts of unlimited size and complexity. The NmarkGCL
has support for CO2 and YAG lasers and includes Position Synchronized Output (PSO) laser firing based on
real-time scanner positional feedback. This allows the marking of large features with continuous motion of
the servo axis and simultaneous marking by the scanner.
Figure 1-1: NmarkGCL Networked Digital Galvo Controller
Table 1-1: FeatureSummary
Standard Features
l85-240 VAC; 50-60 Hz control supply
l±40 VDC max motor supply
lFireWire bus high-speed communications connection
lThree TTL laser outputs
lThree optically-isolated laser outputs
lDual-Axis PSOfiring
lThree-axis Part-Speed PSO firing that uses the PSO firing circuit based off the commanded vector
velocity of three or more axes.
lTwo auxiliary channels of 40 MHz line driver quadrature encoder inputs
lFour optically-isolated digital outputs; 5-24V
lFour optically-isolated digital inputs; 5-24V
lTwo 16-bit single-ended analog outputs; ±10 V
lOne 16-bit differential analog input; ±10 V
lDedicated 5-24V Emergency Stop sense input
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Introduction Nmark GCL Hardware Manual
The following block diagram shows a connection summary (refer to Chapter 2 and Chapter 3 for more
detailed connection information).
Figure 1-2: Functional Diagram
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Nmark GCL Hardware Manual Introduction
1.1. Electrical Specifications
The electrical specifications for the NmarkGCL are listed below.
Table 1-2: Electrical Specifications
Description NmarkGCL
Motor Supply Input Voltage ±40 VDC(max)
Input Current (continuous) 10 A
Control Supply
Input Voltage 85-240 VAC
Input Frequency 50-60 Hz
Inrush Current 16 A
Input Current 0.35A(max)
Output Voltage 38 V
Peak Output Current 20 A
Continuous Output Current 5 A
Minimum Load Resistance 0.5 Ω
User Power Supply Output 5 VDC (@ 500 mA)
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Introduction Nmark GCL Hardware Manual
1.2. Mechanical Design
The following figure shows the NmarkGCL package dimension as well as the typical mounting orientation.
Figure 1-3: Dimensions
Table 1-3: Unit Weight
Weight
2.9 kg [6.4 lb]
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Nmark GCL Hardware Manual Introduction
1.3. Environmental Specifications
The environmental specifications for the NmarkGCL 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
Operating: 0 m to 2,000 m (0 ft to 6,562 ft) above sea level
Contact Aerotech if your specific application involves use above 2,000 m
or below sea level.
Pollution Pollution degree 2 (normally only non-conductive pollution).
Use Indoor use only
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Introduction Nmark GCL Hardware Manual
1.4. 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 1-4: Drive and Software Compatibility
Drive Type Firmware Revision First Software Version Last Software Version
Nmark GCL - 5.04 Current
A 6.02 Current
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Nmark GCL Hardware Manual Installation and Configuration
Chapter 2: Installation and Configuration
2.1. Communication Channel Settings
Use the Device Number switches to assign a communication channel number to the NmarkGCL. If you are
using multiple drives, each drive must be assigned a unique, sequential communication channel. Since the
NmarkGCL is a multi-axis device, the NmarkGCL will automatically claim the next sequential device
number. If a two-axis NmarkGCL is set to Device #2, the next drive must be set to Device #4.
N O T E : The drive assigned to the first communication channel number (all switches set to ON) will be
configured by the Axis 1 parameters defined in the software. The drive assigned to the second com-
munication channel will be configured by the Axis 2 parameters, etc.
Table 2-1: Device Number Switch Settings
Device # Switch Settings (Off is indicated by "-") Switch Location
4 3 2 1 0
1 ON ON ON ON ON
2 ON ON ON ON -
3 ON ON ON - ON
4 ON ON ON - -
5 ON ON - ON ON
6 ON ON - ON -
7 ON ON - - ON
8 ON ON - - -
9 ON - ON ON ON
10 ON - ON ON -
11 ON - ON - ON
12 ON - ON - -
13 ON - - ON ON
14 ON - - ON -
15 ON - - - ON
16 ON - - - -
17 - ON ON ON ON
18 - ON ON ON -
19 - ON ON - ON
20 - ON ON - -
21 - ON - ON ON
22 - ON - ON -
23 - ON - - ON
24 - ON - - -
25 - - ON ON ON
26 - - ON ON -
27 - - ON - ON
28 - - ON - -
29 - - - ON ON
30 - - - ON -
31 - - - - ON
32 - - - - -
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Installation and Configuration Nmark GCL Hardware Manual
2.2. Power Connections
The NmarkGCL has two input power connectors; one for control power (AC) and a second for motor power
(DC). For a complete list of electrical specifications, refer to Section 1.1.
2.2.1. Control Supply Connections (TB104)
N O T E : This product requires two power supply connections. The Motor Supply and Control Supply
must both be connected for proper operation.
The control power supply input supplies power to the NmarkGCL's communications and logic circuitry.Both
AC1 and AC2 inputs are fused internally.
The control power supply contains an internal filter and does not require an external filter for CEcompliance.
Figure 2-1: Control Supply Connections
Table 2-2: Control Supply Input Wiring (TB104)
Pin Description Recommended WireSize
AC1 Line Input:85 - 240 Volt AC Input Range 1.3 mm2(#16 AWG)
AC2 Neutral (0V) or 85 - 240 Volt AC Input Range 1.3 mm2(#16 AWG)
Protective Ground (Required for Safety) 1.3 mm2(#16 AWG)
N O T E : Wire insulation rated for 300V.
Table 2-3: Control Supply Mating Connector (TB104)
Type Aerotech P/N Phoenix P/N
Screw Torque
Value: Nm
Wire Size:
mm2[AWG ]
3-Pin Terminal Block ECK00213 1754465 0.5 - 0.6 3.3 - 0.516 [12-30]
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