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.