Marzhauser Sensotech TANGO 3 mini User manual

Operating Manual TANGO 3 mini
Stepper Motor Controller for Micropositioning Systems

Document version
Original operating manual
Version 3.1, Date: 09.01.2018
First published: 13.10.2016
Product
TANGO 3 mini
Order no.: 00-76-100-5800
Manufacturer
Märzhäuser Sensotech GmbH
An den Fichten 35
35579 Wetzlar (Germany)
Tel.: [phone]
Fax: [phone]
[e-mail]
www.marzhauser-st.com
© 2018 | All rights reserved. Reproduction, even in part, is only permitted following written permission from
Märzhäuser Sensotech GmbH.

TANGO Desktop Table of Contents
Märzhäuser Sensotech GmbH 3
Table of Contents
1Basics of the Operating Manual.................................................................................................................5
2Safety............................................................................................................................................................5
2.1Intended Use .........................................................................................................................................5
2.2Installation Requirements ......................................................................................................................5
2.3Hazard Symbols ....................................................................................................................................5
2.4General Safety Notes ............................................................................................................................6
3Scope of Delivery ........................................................................................................................................8
4Product Description ....................................................................................................................................8
4.1Identification...........................................................................................................................................8
4.2Area of Application.................................................................................................................................8
4.3Compliance with Directives and Standards...........................................................................................9
4.4Ports and Status LEDs ..........................................................................................................................9
5Putting into Service...................................................................................................................................10
5.1Putting the Controller into Service.......................................................................................................10
5.2Establishing Connection to a PC.........................................................................................................11
5.3Installing SwitchBoard .........................................................................................................................13
5.4Familiarising Yourself with SwitchBoard .............................................................................................13
5.5Connecting the Controller to SwitchBoard ..........................................................................................13
6Port Assignment........................................................................................................................................15
6.1Motor 1-3: D-Sub 26-Pin Socket..........................................................................................................15
6.2HDI: 5-Pin Mini-USB............................................................................................................................16
6.3USB: 4-Pin USB Socket, Type B .........................................................................................................16
6.4Encoder 1-3: HD D-Sub 26-Pin Plug...................................................................................................16
6.5AUX mini: HD D-Sub 15-Pin Plug........................................................................................................18
6.6DC IN: 2.1 mm DC Plug ......................................................................................................................18
7Technical Data ...........................................................................................................................................19
8Accessories ...............................................................................................................................................22
8.1External Power Supply ........................................................................................................................22
8.2Start-up Adapter AUX mini ..................................................................................................................23
8.3Joystick Digital (Optional) ....................................................................................................................24
8.4ERGODRIVE Digital (Optional) ...........................................................................................................26
8.5Mounting Plate.....................................................................................................................................28
8.6Mounting Adapter for 35 mm Top-Hat Rail (optional)..........................................................................29
9Cleaning......................................................................................................................................................30
10Maintenance...............................................................................................................................................30
11Service........................................................................................................................................................31
12Taking out of Service ................................................................................................................................31
13Disposal......................................................................................................................................................32
14Declaration of Conformity ........................................................................................................................33

Basics of the Operating Manual Operating Manual
4

TANGO Desktop Basics of the Operating Manual
Märzhäuser Sensotech GmbH 5
1 Basics of the Operating Manual
This operating manual provides you with the information required for trouble-free and safe use of the stepper
motor controller TANGO 3 mini, termed controller from here on in this document. You must have fully read
and understood this operating manual and especially the safety instructions before you unpack, put into
service, operate, clean, take out of service or dispose of the controller.
This operating manual is directed at people with basic technical knowledge related to handling equipment
such as is described here. If you do not have any experience with such equipment, have experienced people
help you.
Märzhäuser Sensotech accepts no liability for damage and operating faults which result from ignoring this
operating manual.
2 Safety
2.1 Intended Use
The controller has been designed and constructed exclusively for the connection of 2- and 4-phase stepper
motors and such input devices which have been approved by Märzhäuser Sensotech for operation with this
controller.
Märzhäuser Sensotech accepts no liability for faults which can be traced back to unusual or exceptional use
or improper treatment.
2.2 Installation Requirements
Category Condition
Ambient temperature +5…+45 °C (ext. power supply: 0…+40 °C),
protect from direct sunli
g
ht
Cooling Normal convection,
refer also to chapter 2.4 General Safet
y
Notes, pa
g
e 6
Humidity Max. 85 % (ext. power supply: max. 80 %),
non-condensin
g
Installation height Max. 2,000 m
Installation location Closed rooms, no risk of explosion
Protection class See chapter 8.1 External Power Supply, page 22
(
GND and TANGO housin
g
are connected
)
Protection type IP20
2.3 Hazard Symbols
This operating manual contains symbols which warn the operator and point out dangers.
Danger for the user
Crushing hazard
Danger due to electrical current

Safety Operating Manual
6
Danger due to substances which are harmful to health
Possible damage of devices and parts
2.4 General Safety Notes
The controller may only be used for the purposes which are described in this operating manual. The
operating manuals of connected peripheral devices (positioning systems, microscope, operating elements,
PC etc.) must be heeded.
Never open the housing of the controller or the power supply. In case of violation, all
warranty and liability claims will become void. Only have repair work carried out by our
Customer Service Center.
If the controller is not connected to the mains properly, the operator can suffer an
electric shock and damage can be caused to the controller. Make sure that your mains
voltage corresponds to that printed on the power supply. Only plug the mains plug into
sockets which have a proper protective ground terminal. Make sure that the protective
effect is not suspended e.g. by extension cables which do not have a protective
ground conductor.
If other power supplies than the one provided are used, the operator can suffer an
electric shock and damage can be caused to the controller. In addition, the
electromagnetic properties of the controller might be changed. For this reason, only
use the 24 V wide range power supply provided. In case of violation, all warranty and
liability claims will become void.
If unsuitable peripheral devices are connected, the operator can suffer an electric
shock and damage can be caused to the controller. The controller itself does not have
a protective ground terminal. Ensure that no dangerous voltages or currents are
induced by peripheral devices into the controller. These can be routed from there to
connected devices and cause a hazard there.
Controller and peripheral devices may only be operated by trained personnel who
have been instructed about the hazards which can occur during operation of the
controller and peripheral devices.
There can be a danger of hands being crushed by the positioning systems connected
e.g. a microscope stage. Moving parts of the positioning system can collide with other
microscope components or sample holders and cause damage. Please note that the
operating element (Joystick digital, ERGODRIVE digital) is active after the controller
has been switched on. Ensure that no potentially dangerous movement can occur
either in manual mode or in automatic mode.
Note: You can configure the controller in such a way that the operating element
connected is inactive after switch-on.
Controller and accessories are not suitable for use in a potentially explosive
atmosphere.

TANGO Desktop Safety
Märzhäuser Sensotech GmbH 7
Ensure that no chips, liquids or other objects can get into the housing of the controller
or the power supply. Protect the controller and the power supply from dirt and dust as
far as possible.
The controller and accessories are not protected against corrosive, infectious,
radioactive or other substances which are harmful to health. When handling such
substances, ensure that all legal requirements are fulfilled, especially the national
regulations on accident prevention.
Ensure that the controller, in conjunction with your application, meets the applicable
safety regulations and legal requirements.
This controller was developed and manufactured in compliance with the standard DIN
EN 61010-1:2011-07 Safety requirements for electrical equipment for measurement,
control and laboratory use - Part 1: General requirements.
Note that the effective motor voltage value can correspond to the DC voltage at the
plu
g
24V DC/4A max..
In the event of malfunction, faults or safety risks related to the controller or the power
supply, switch off all the devices concerned and disconnect them from the mains
supply by removing all plugs, for example. Secure the devices concerned to prevent
them bein
g
switched back on a
g
ain and contact our Customer Service Center.
The controller can become damaged if ventilation is prevented. Set the controller down
on a firm, level surface. Keep other objects at least 1.5 cm away on all sides. Do not
place any objects on the controller. When the mounting plate is used, the controller
must not be fixed to thermall
y
insulatin
g
bodies
(
e.
g
. made of plastic
)
.
Disconnect the controller from the voltage supply before you connect a PC or other
peripheral devices to the controller or disconnect them from the controller.
An improper load or violent treatment of the control stick can lead to incertitudes and
damage to the joystick. Protect the joystick from falling, impact and forced deflection.
Do not store the
j
o
y
stick with the bottom facin
g
upwards.

Scope of Delivery Operating Manual
8
3 Scope of Delivery
Standard scope of deliver
y
Quantit
y
TANGO 3 mini 1
Mountin
g
plate
(
pre-fitted
)
1
USB interface cable 1.8 m 1
Start-up adapter AUX mini 1
External 24 V power suppl
y
incl. mains cable 1
Operatin
g
manual 1
Optional components Article no.
A
ctivation encoder interface 00-76-650-5800
A
ctivation Snapshot/Tri
gg
er 00-76-801-5800
Motor cable for 3 axes 2 m 00-76-700-5800
Encoder cable for 2 axes 2 m 00-76-650-5801
RS-232 cable On request
A
dapter cable LED 100 00-76-700-5801
ERGODRIVE 2 di
g
ital 00-27-322-7000
ERGODRIVE 3 di
g
ital 00-27-322-8000
2-
A
xes Jo
y
stick di
g
ital 00-76-200-1820
3-
A
xes Jo
y
stick di
g
ital 00-76-300-1820
3-
A
xes Jo
y
stick di
g
ital with Multi-Function Wheel 00-76-300-1821
4-
A
xes Jo
y
stick di
g
ital with Multi-Function Wheel 00-76-400-1820
Mountin
g
adapter for 35 mm top-hat rail 00-76-100-0800
4 Product Description
4.1 Identification
You can find all required information for clear identification of the controller on the identification plate.
4.2 Area of Application
The controller can be operated in 2 different modes:
Manual mode: Control of the connected axes exclusively via operating element
(Joystick digital or ERGODRIVE digital)
Automatic mode: Control of the connected axes via an external PC
(USB-/RS-232 interface, optional: CAN interface)
or via operating element (Joystick digital or ERGODRIVE digital)
There are 2 limit switch inputs available per axis for travel range limitation and for calibration. There is a
trigger signal input and an output for a motor brake available at the port Motor 1-3.
Further digital and analog inputs/outputs at the port AUX mini, the special functions “Snapshot” and “Trigger”
as well as an encoder interface for evaluating measuring systems of the type Märzhäuser nanoScale
(MR/analogue 5Vpp), 1Vpp or RS-422 are available, depending on the order.

TANGO Desktop Product Description
Märzhäuser Sensotech GmbH 9
4.3 Compliance with Directives and Standards
We hereby declare that the controller is not a device ready for use or connection in the sense of the EMC,
Low Voltage or Machinery Directive, or the Equipment and Product Safety Act, rather that it is a component.
The final mode of function is only defined when the controller is integrated in the overall system. Compliance
of the overall system with existing safety regulations and legal requirements is the responsibility of the
system integrator.
Information and recommendations on installation and intended use are included in this operating manual.
The controller must not be put into service until it has been established that all the legal protective and safety
regulations are kept.
The Declaration of Conformity for the controller can be found in chapter 14 Declaration of Conformity, page
33.
4.4 Ports and Status LEDs
4.4.1 Ports
Fig. 1: Rear panel (port Encoder 1-3 optional)
All the controller’s ports are located on the rear panel. The assignment of the ports and the respective
technical data can be found in chapter 6 Port Assignment, page 15.
4.4.2 Status LED
Status Description
Off Controller is not read
y
On Controller is read
y
Flashes approx. 1x/sec. Bootloader active1
Flashes approx. 3x/sec. Output sta
g
es switched off2
Flashes approx. 6x/sec. Status not OK, e.
g
. wron
g
instruction
Flashes approx. 10x or 20x/sec. Bootloader active, firmware update in pro
g
ress1
1If a firmware update is being loaded to the controller with the aid of the Firmware Update Tool, the bootloader is active.
The controller must not be switched off during this time.
2The output stages can be switched off for the following reasons:
The PSE input (Power Stage Enable) is open or switched to 0 V.
The start-up adapter AUX mini is not inserted.
The closed-loop collision detection has tripped (if configured accordingly).
The overcurrent switch-off of an output stage has responded.
An operating voltage is outside of its specification.
The temperature is too high.
There has been a short-circuit.
The power supply is faulty.

Putting into Service Operating Manual
10
5 Putting into Service
5.1 Putting the Controller into Service
1Read and make sure you understand chapter 2 Safety before you start putting the controller into service.
2Mount the controller using the mounting plate (see chapter 8.5 Mounting Plate, page 28) or use the
optional mounting adapter for 35 mm top-hat rail (see chapter 8.6 Mounting Adapter for 35 mm Top-Hat
Rail (optional), page 29).
Note: Do not mount the controller on thermally insulating bodies (e.g. made of plastic).
The controller could become too hot and switch the output sta
g
es off.
Equipment damage possible through putting into/taking out of service with existing
mains power connection.
While the controller is connected to the voltage supply, connection and disconnection of
cables can cause damage to the controller ports and the peripheral devices.
Ensure that the controller is not connected to the power supply before you connect a
PC or other peripheral devices to the controller or disconnect them from the controller.
3Connect the motor ports of your positioning system (scanning stage and/or focus drive) to the port Motor
1-3. Use a suitable motor cable from Märzhäuser Sensotech for this.
4Encoder interface option: Connect the encoder ports of your positioning systems to the port Encoder 1-
3. Use a suitable encoder cable from Märzhäuser Sensotech for this.
5Operating element option: Connect the operating element (Joystick digital or ERGODRIVE digital) to
the port HDI.
Heed the following warning if you use a Joystick digital as an operating element. Continue with step 6 if you
are using an ERGODRIVE digital or no operating element at all.
Crushing/shearing hazard when actuating the joystick during controller switch-
on.
If the joystick is deflected before the status LED on the controller lights up, the zero
point of the joystick will not be calibrated correctly. The connected positioning systems
can move unintentionally when the joystick is released. Fingers and objects can
become crushed and sheared. Moving parts of the positioning systems can collide
with other microscope components or sample holders and cause damage.
Do not hold the joystick when switching the controller on.
Do not deflect the joystick when switching the controller on.
To calibrate the
j
o
y
stick a
g
ain, switch the controller off and on a
g
ain.

TANGO Desktop Putting into Service
Märzhäuser Sensotech GmbH 11
6Check whether the mains voltage specified on the power supply corresponds to your mains voltage. If
they do correspond, connect the cable of the power supply to the port 24V DC/4A max. on the controller.
7Then connect the power supply to the mains.
The status LED starts to light up after 2–3 seconds.
8Move the axes of the connected positioning systems carefully using the connected operating element.
Note: If the axes of the connected positioning systems cannot be moved, connect the controller to the PC
and use SwitchBoard to check whether the connected positioning systems have been configured correctly
(
polarit
y
, normall
y
closed/normall
y
open, pull-up/pull-down resistor
)
.
The controller is now ready for use (manual mode only).
9Optional: To configure the controller individually or for operation in automatic mode, connect the
controller to a PC:
5.2.1 Establishing a USB connection, page 11
5.2.2 Establishing an RS-232 connection, page 12
5.2.3 Establishing a CAN connection, page 12
5.2 Establishing Connection to a PC
5.2.1 Establishing a USB connection
Communication between the controller and the PC takes place over a USB connection via a virtual COM
port. To be able to connect the controller to your PC via USB cable, you require Windows 2000, Windows XP
(32/64 bit), Windows Vista (32/64 bit), Windows 7 (32/64 bit), Windows 8 (32/64 bit) or Windows 10 (32/64
bit).
Observe the following notes, regardless of the version of your operating system:
Do not connect to Windows Update.
Continue installing the driver despite the message about the missing Windows-Logo-Test.
If necessary, agree to the change query of the user account control.
1Disconnect the controller from the power supply.
2Switch the PC on.
3Download the current driver for the controller from the Märzhäuser website.
Note: You will find the download section at www.marzhauser.com/downloads.
4Connect the port USB on the controller to a USB port on your PC.
Use the USB interface cable for this.
5Connect the controller to the power supply.
The operating system automatically detects a new device (Tango USB-Controller, USB Serial Port).
6Follow the installation instructions of your operating system.
Note: If the driver is not installed automatically, enter the storage location of the driver (.INF file) manually
or install the driver manually using the Device manager.
Once installation has been completed, the controller is connected to the PC and ready for operation (manual
mode and automatic mode).

Putting into Service Operating Manual
12
5.2.2 Establishing an RS-232 connection
Note: To be able to use the port AUX mini as an RS-232 interface, you require a special RS-232 cable.
Please contact our Customer Service Center in this case.
1Disconnect the controller from the power supply.
2Switch the PC off.
3Connect the port AUX mini on the controller to a serial port on your PC.
Use the RS-232 interface cable for this.
4Switch the PC on.
5Connect the controller to the power supply.
The controller is now connected to the PC and ready for operation (manual mode and automatic mode).
If you are not programming the controller via the software provided by Märzhäuser Sensotech
(SwitchBoard, DLL files), make sure that your RS-232 interface is configured correctly.
57,600 Baud
11 bit frame
1 start bit
8 data bits
2 stop bits
Check the connection of the PC with the controller using the ver instruction, for example.
The controller sends the version number back as the feedback value.
Note: Further instructions can be found in the instruction set documentation (Instruction Set of the TANGO
Controller). The instruction set documentation can be found in the download section of the Märzhäuser
website at www.marzhauser.com/downloads.
5.2.3 Establishing a CAN connection
The CAN interface is a customer-specific interface.
You are welcome to contact our Customer Service Center if you have any questions.

TANGO Desktop Putting into Service
Märzhäuser Sensotech GmbH 13
5.3 Installing SwitchBoard
1Download the current version of SwitchBoard from the Märzhäuser website.
Note: You will find the download section at www.marzhauser.com/downloads.
2Execute the file SwitchBoard_XXX_Setup.exe (file name depends on the version).
3Follow the on-screen installation instructions.
As soon as the installation has been completed you can start SwitchBoard.
5.4 Familiarising Yourself with SwitchBoard
To familiarise yourself with the SwitchBoard functionalities you can connect SwitchBoard to a virtual
positioning system.
1Start SwitchBoard.
2Click the grey display field on the right next to the button Connect.
Offline mode is now displayed in the bottom left-hand corner of the dialogue window next to the display field.
SwitchBoard is now being executed in offline mode. You now have access to the menu on the left-hand side
of the dialogue window.
You will find more information about operation of SwitchBoard in the SwitchBoard Operating Manual:
You can open the SwitchBoard Operating Manual after starting SwitchBoard by pressing the F1 key.
Alternatively, you will also find the SwitchBoard Operating Manual in the download section of the
Märzhäuser website under www.marzhauser.com/downloads.
5.5 Connecting the Controller to SwitchBoard
Identifying the COM port
Before you can connect the controller to SwitchBoard, you must identify the COM port used by the controller.
1Open the Device manager:
Windows 2000, XP: Start > Control panel > System > Hardware > Device manager
Windows Vista: Start > right-click on Computer > Device manager
Windows 7: Start > Control panel > System > Device manager
Windows 8: Right-click in the left, lower corner of the desktop/start screen > Device manager
Windows 10: Right-click the Windows symbol > Device manager
2Expand the category Ports (COM and LPT) by double-clicking.
The COM port used is listed in brackets after the Communication port entry (with an RS-232 connection) or
after the entry Tango USB-Port (with a USB connection).
Depending on the type of connection, please note the following information:
USB connection: The number of the virtual COM port is retained regardless of which USB port is used
on your PC.
RS-232 connection: If your PC has more than one serial port, refer to the operating manual of your PC
for information about the assi
g
nment of COM ports to serial ports.

Putting into Service Operating Manual
14
Establishing a connection to the controller
1Start SwitchBoard.
2Select the identified COM port from the Serial Port drop-down list.
3Enable the check box Show protocol window and Scan for ETS when connecting.
4Enable the radio button Read out setup from controller.
Possible operating errors and device damage due to faulty operation.
If you enable the radio button Send setup to controller, faulty settings can be transferred
to the controller. Operating errors and device damage to your positioning or overall
system can be the result.
Ensure that the radio button Read setup from controller is always enabled.
Only enable the radio button Send setup to controller when our Customer Service
Center requests you to do so.
5Click the button Connect.
When the colour of the display field on the right of the button Connect and the colour of the display field in
the bottom left-hand corner of the dialogue window switches to green, the connection to the controller has
been established successfully.
The COM port used and the connection speed are indicated next to the green display field in the bottom left-
hand corner of the dialogue window.
The controller can now be operated and configured using SwitchBoard.

TANGO Desktop Port Assignment
Märzhäuser Sensotech GmbH 15
6 Port Assignment
Note: With all connections, the cable shield is connected to the controller housin
g
.
6.1 Motor 1-3: D-Sub 26-Pin Socket
Pin Desi
g
nation Function
1 MOT1PH1+ Motor 1, phase 1+
2 MOT1PH1- Motor 1, phase 1-
3 MOT1PH2+ Motor 1, phase 2+
4 MOT1PH2- Motor 1, phase 2-
5 END10 Limit switch axis 1, zero point1
6 END1END Limit switch axis 1, end position1
7 TRIN1 Tri
gg
er IN1
8 +5VEXT1 +5 V2
9 GND GND
10 MOT3PH1+ Motor 3, phase 1+
11 MOT3PH1- Motor 3, phase 1-
12 MOT3PH2+ Motor 3, phase 2+
13 MOT3PH2- Motor 3, phase 2-
14 END30 Limit switch axis 3, zero point1
15 END3END Limit switch axis 3, end position1
16 BRAKE Connection for a brake3
17 +5VEXT1 +5 V2
18 GND GND
19 MOT2PH1+ Motor 2, phase 1+
20 MOT2PH1- Motor 2, phase 1-
21 MOT2PH2+ Motor 2, phase 2+
22 MOT2PH2- Motor 2, phase 2-
23 END20 Limit switch axis 2, zero point1
24 END2END Limit switch axis 2, end position1
25 ETS A Electronic identification plate
A
26 ETS B Electronic identification plate B
1TTL input, 1 kΩpull-up/-down programmable by software, low-pass filter 1 kΩ, 100 nF
2+5VEXT1 can have a max. load of 500 mA
3Output, switches against +24 V, max. current: 0.5 A

Port Assignment Operating Manual
16
6.2 HDI: 5-Pin Mini-USB
HDI = Human Device Interface (Joystick digital or ERGODRIVE digital)
Pin HDI desi
g
nation Controller desi
g
nation
1 VCC
(
+5V
)
VCC_HDI
(
+5V
)
1
2 RXHDI
(
IN
)
TX
(
OUT
)
3 TXHDI
(
OUT
)
RX
(
IN
)
4
–
–
5 GND GND
1max. load: 500 mA
6.3 USB: 4-Pin USB Socket, Type B
Pin Desi
g
nation
1 VCC1
2 USBDM
3 USBDP
4 GND
1only 100nF GND, current consumption: I < 1 mA
6.4 Encoder 1-3: HD D-Sub 26-Pin Plug
Pin Designation Function
1 -U1X1 Axis 1, phase 1 (sine), negative signal, 150 ΩPin 10 + filter1
2 -U2X1 Axis 1, phase 2 (cosine), negative signal, 150 ΩPin 11 + filter1
3 GND –
4 -U1X2 Axis 2, phase 1 (sine), negative signal, 150 ΩPin 13 + filter1
5 -U2X2 Axis 2, phase 2 (cosine), negative signal, 150 ΩPin 14 + filter1
6 GND –
7 -U1X3 Axis 3, phase 1 (sine), negative signal, 150 ΩPin 16 + filter1
8 -U2X3 Axis 3, phase 2 (cosine), negative signal, 150 ΩPin 17 + filter1
9 GND –
10 +U1X1 Axis 1, phase 1 (sine), positive signal, 150 ΩPin 1 + filter1
11 +U2X1 Axis 1, phase 2 (cosine), positive signal, 150 ΩPin 2 + filter1
12 5V_ENC 5V_ENC: Imax = 0.75 A
13 +U1X2 Axis 2, phase 1 (sine), positive signal, 150 ΩPin 4 + filter1
14 +U2X2 Axis 2, phase 2 (cosine), positive signal, 150 ΩPin 5 + filter1
15 5V_ENC 5V_ENC: Imax = 0.75 A
16 +U1X3 Axis 3, phase 1 (sine), positive signal, 150 ΩPin 7 + filter1
17 +U2X3 Axis 3, phase 2 (cosine), positive signal, 150 ΩPin 8 + filter1
18 NASX3 Axis 3, error signal2
19 -U0X1 Axis 1, reference signal, negative input, 150 ΩPin 203
20 +U0X1 Axis 1, reference signal, positive input, 150 ΩPin 193
21 NASX1 Axis 1, error signal2
22 -U0X2 Axis 2, reference signal, negative input, 150 ΩPin 233
23 +U0X2 Axis 2, reference signal, positive input, 150 ΩPin 223
24 NASX2 Axis 2, error signal2
25 -U0X3 Axis 3, reference signal, negative input, 150 ΩPin 263

TANGO Desktop Port Assignment
Märzhäuser Sensotech GmbH 17
26 +U0X3 Axis 3, reference signal, positive input, 150 ΩPin 253
1for differential input voltages from 0.6...5 Vpp, input voltage range Pin GND = 0...5 V,
Filter: each 470 Ω+ 1nF from Pin GND
2Error signal is inactive on delivery, 1 kΩGND + low-pass filter 1kΩ+ 10nF GND
3Switching threshold: max. ±40 mV at a common-mode voltage of 2–3 V DC
Technical data
Pin Description 1Vpp MR/analog
5Vpp:
RS-422 Note
1 Input voltage
position signal
0.6...1.2 Vpp 1.5...5 Vpp > ±0.2 V Difference signals in the
range 0...5 V
2 Reference voltage > ±40 mV > ±40 mV > ±40 mV Common mode range: 0-5
V; 40 mV in the common
mode ran
g
e 2...3 V
3 NAS signal1TTL TTL TTL "H" = Measuring system OK
"L" = Error
1kΩGND
Low-pass 1kΩ/1nF
4 Cutoff frequency
position signal
approx. 250
kHz
approx. 250
kHz
30 ns
flank
clearance
MR and 1Vpp signals are
counted at even higher
frequencies such as
RS-422
5 Max. frequency of
the position signal
durin
g
reference run
6 kHz 6 kHz > 40 ns flank
clearance
Reference signal is
synchronised with the
position si
g
nal
6 Max. achievable
interpolation factor
98,800-fold 205,800-fold 4-fold Related to a signal period
7 Interpolation factor
at max. position
si
g
nal volta
g
e
69,800-fold 145,500-fold 4-fold Related to a signal period,
calculated at the least
favourable position
8 Interpolation factor
at min. position
si
g
nal volta
g
e
34,900-fold 43,600-fold 4-fold Related to a signal period,
calculated at the least
favourable position
9 Input resistance 150 Ω+ filter2150 Ω+ filter2150 Ω+ filter2Input resistance variable,
adaptation on reques
t
10 Suppl
y
volta
g
e +5 V
–
–
–
Max. 0.25 A per encoder
1Input is inactive on delivery
2Filter: each 470 Ω+ 1 nF from Pin GND

Port Assignment Operating Manual
18
6.5 AUX mini: HD D-Sub 15-Pin Plug
Possible device damage caused by insertion/removal of the plug at the port AUX
mini with 24VBUS port active (pin 15).
If a plug is inserted or removed at the port AUX mini with the port 24VBUS active, pin 15
(24 V) may be applied first. There is a danger of a voltage of up to 24 V being applied to
other pins as well through connected peripheral devices. This can lead to damage to the
controller and the connected peripheral devices.
Do not connect the controller to the voltage supply until all the plugs have been
inserted!
Pin Desi
g
nation Function Note
1 TAKT_IN TTL, PUD, FI 1 kΩ,1 nF Clock input for T, V/R operation of an axis2
2 SNAPSHOT_IN TTL, PUD, FI 1 kΩ,1 nF Save position2
3 +5VEXT2 +5 V Imax = 500 m
A
4 GND
5 PSE Power Stage Enable UPSE 3.5...6.6 V:
Output stages can be enabled,
UPSE < 0.8 V: Output stages are switched off by
hardware,
Input filter (low pass) 470 Ω+ 100 nF, then Ri> 6.8
kΩ
6 TAKT_OUT HCMOS-output 5 V Clock output for T,
V/R operation of an external axis2
7 V/R_OUT HCMOS-output 5 V Forward/backward output for T,
V/R operation of an external axis2
8 SHUTTER_OUT HCMOS-output 5 V
A
ctuation of an external shutter control2
9 TRIGGER_OUT HCMOS-output 5 V S
y
nchronous tri
gg
er2
10 CANH CANH CAN-Bus port CANH
11 ANOUT0 Analog out Resolution: 16 bit in the range 0-5 V,
Ua= 0…4.9 V, Ri= approx. 150 Ω
12 TXD_AU
X
RS232 TXD RS-232 V24 transmitter
13 RXD_AU
X
RS232 RXD RS-232 V24 receiver
14 CANL CANL CAN-Bus port CANL
15 24VBUS +24 V +24 V output switchable via software,
max. 1 A
1TTL = TTL input, PUD = pull-up (4,7 kΩ+5V) or pull-down (4.7 kΩGND) can be selected by software, FI = low-pass filter
2Other functions on request, these inputs can be read and outputs written via application software,
Level HCMOS output 5 V: H-level: U,out > 3.7 V @ I,out = -6 mA, L-level: U,out < 0.4 V @ I,out = 6 mA
6.6 DC IN: 2.1 mm DC Plug
Desi
g
nation Function Description
Pin, inside +24 V
(
20.1…28.9 V
)
Protected in the controller by an SMD fuse 4 A
Housin
g
, external 0 V, GND Connected with the housin
g

TANGO Desktop Technical Data
Märzhäuser Sensotech GmbH 19
7 Technical Data
General data
Dimensions
A
pprox. 165 × 29 × 67 mm
(
W × H × D, without mountin
g
accessories
)
Wei
g
ht
A
pprox. 500
g
(
incl. mountin
g
plate, without cables/plu
g
s
)
Motor unit
Number of axes 3
Motor t
y
pe 2-/4-phase stepper motor, e.
g
. 100, 200 or 400 full steps per revolution
Step resolution 4,096 micro-steps/full step
819,200 steps per revolution
(
with 200-step motor
)
Output sta
g
e
A
utomatic adaptation to man
y
motor t
y
pes
Max. phase curren
t
1.25
A
Motor curren
t
0.03…1.25 A, ad
j
ustable b
y
software
Motor current reduction
at standstill
0…100 % of the set motor current
Delay
in motor current reduction
Adjustable from 0...65,000 ms
Motor volta
g
e 20.1…28.9 V
Travel modes Vector or individual axis movement possible
Max. vectors/s with PC 250 vectors/s
(
dependin
g
on PC and software used
)
Speed ran
g
e 0.000001…70 revolutions/s
A
cceleration 0.0001…20 m/s², pro
g
rammable with onl
y
one instruction per axis
Travel range depends on motor and ball screw pitch (e.g. max. ±2.6 m with 200-step
motor and 1 mm ball screw pitch
)
Instruction set TANGO native, Venus-1, Venus-2
(
others on request
)
Safet
y
functions
Voltage monitoring
3.3 V + Rese
t
Monitors 3.3 V, triggers reset in the event of undervoltage
Voltage monitoring
VCC5
Monitors 5.0 V, triggers PSE in the event of undervoltage
Undervoltage monitoring
DC IN
Controller on: Ue> 18.6...20.1 V
Controller off: Ue< 16.9...19.0 V
Overvoltage monitoring
DC IN
Controller off: Ue> 28.9...31.3 V
Overcurrent/short-circuit
protection output sta
g
e
Phase/phase and phase/ground, output stage switches off, can be reset
usin
g
software
Overcurrent/short-circuit
protection ext. voltages
VCC_HDI, +5VEXT1 (Motor 1-3), +5VEXT2 (AUX mini): automatic reset after
fault
5V_ENC (Encoder 1-3), 24VBUS (AUX mini): switch-off after fault, reset by
software or power c
y
cle
Limit switch input 2 per axis, TTL-level, normally closed or normally open, switch after 0 V or
+5 V, pull-up or pull-down resistors can be programmed separately for each
inpu
t
Travel ran
g
e limits Pro
g
rammable within ±2.6 m
Software stop Stops the movement
PSE Power Stage Enable, contacted to +5V: Output stages can be switched on,
open or contacted to GND: Output sta
g
es 1-3 are switched off b
y
hardware

Technical Data Operating Manual
20
Brake connection
(
Port Motor 1-
3
)
Output brake (24 V, max. 0.5 A, short-circuit proof), switches off in the case
of excess load, can be controlled b
y
software
Temperature monitoring Temperature measurement of the board by software, switch-off of the output
sta
g
es in the event of over-temperature
Interfaces
Human Device Interface
(
HDI, di
g
ital
)
For connection of Joystick digital or ERGODRIVE digital; automatic detection
(
plu
g
& pla
y)
Encoder interface
(Encoder 1-3)
Up to 3 measuring systems can be connected, encoder type: 1Vpp /
Märzhäuser nanoScale (MR/analog 5Vpp) / RS-422, selectable via software,
analog resolution: 16 bit, max. frequency with RS-422: 33 MHz
Note: The encoder interface is optionally available and can be activated later
if required.
USB interface
(
USB
)
For connection of the controller to a PC, USB 2.0, t
y
pe B
RS-232 interface
(AUX mini)
For connection of the controller to a PC; RS-232 V24,
max. 115 kBaud (can also be used as a command interface)
Note: To be able to use the port AUX mini as an RS-232 interface, you
require a special RS-232 cable. Please contact our Customer Service Center
in this case.
CAN interface
(AUX mini)
For connection of the controller to other peripheral devices,
max. 1 MBaud
Note: The CAN interface is a customer-specific interface. Please contact our
Customer Service Center if
y
ou have an
y
questions.
Special functions at the port Motor 1-3
TRIN1 TTL input, can be read via software
(
e.
g
. to release the motor brake
)
1
BRAKE Port for motor brake, 24 V, max. 0.5 A, can be controlled via software
ETS Interface for an electronic identification plate
1Pull-up/pull-down resistor can be selected via software
Special functions at the port AUX mini
Clock, V/R OUT Clock and direction si
g
nal, e.
g
. in order to control an ext. axis controller
Clock IN1Pulses can be counted
Tri
gg
er OUT Position-s
y
nchronous tri
gg
er e.
g
. in order to tri
gg
er a camera
Shutter OUT Si
g
nal can tri
gg
er e.
g
. a shutter uni
t
Snapshot IN1Snapshot input, saves the current position, position can be read later
PSE Power Stage Enable, contacted to +5V: Output stages can be switched on,
open or contacted to GND: Output sta
g
es are off
Analog OUT Outputs: 0...4.9 V, e.g. for control of the microscope lighting, resolution: 16
bit
TTL IN1Up to 2 TTL inputs readable b
y
the user
TTL OUT Up to 4 TTL outputs that can be written b
y
the user
24VBUS Voltage supply for any external modules such as axis 4, LED etc., can be
switched b
y
software, Imax = 1
A
1Pull-up/pull-down resistor can be selected via software