Aerotech NDrive CP10 Servo Drive Guide

When selecting, it is recommended to confirm in the following order: motor type (brushless, brushed, stepper), peak and continuous current, bus voltage, input power supply, feedback type (encoder, rotary, absolute), encoder frequency, whether MXU/MXH is required, whether PSO and number of axes are required, whether Ethernet is required, number of digital/analog I/O, whether brake relays are required, whether active power supply is required, installation size and heat dissipation conditions. If the original equipment uses a discontinued module, the order number and options of the original module should be recorded first, and then mapped to the NDrive model item by item.

Engineering process for replacing discontinued servo drive modules

When the original servo drive module is discontinued or limited in supply, direct replacement is often not feasible. Engineers should proceed according to the following process.

The first step is to confirm the functionality of the original module. Record the input voltage, output current, feedback type, communication interface, I/O quantity, PSO capability, encoder multiplication, brake output, emergency stop logic, and mechanical dimensions of the original drive. If the original module belongs to Woodward, Honeywell or other brands, it is not enough to just look at the installation size. It is necessary to confirm whether the control mode is speed loop, current loop or position loop, and how the upper controller interacts with the driver.

Step two, confirm the motor parameters. The commutation method, Hall sensor, encoder resolution, pole pairs, back electromotive force constant, continuous current, and peak current of the brushless motor must all be matched. The voltage and current of the brushed motor need to be confirmed. The stepper motor needs to confirm the micro step setting and current waveform. If the original driver uses rotary feedback, it will be very difficult to replace it with CP10 that only supports encoders. HP or HL should be selected and RDP rotary option should be installed.

Step three, confirm the power supply and regeneration. CP10 supports single-phase 7-240 VAC, suitable for 115/240 VAC on-site. If the device uses a DC bus, the DC bus configuration of MP or CP should be selected. If the load inertia is large and frequent braking occurs, it is necessary to evaluate the dissipation capacity of the load. CP10 can choose - S internal shut-down network, but the table in the data indicates that the maximum shut-down dissipation is 40 W, and the ordering option indicates - S as 100 W internal shut-down network. The actual configuration and heat dissipation conditions should prevail. HL does not have an internal shutout and must externally process regenerated energy.

Step four, confirm the network and controller. NDrive uses FireWire network. The replacement module must be able to communicate with the existing Automation 3200 controller and other NDrive nodes. If the original system uses Ethernet or third-party I/O, the - ENET option for HP/HL needs to be selected. CP, CL, and MP do not provide Ethernet and cannot directly replace nodes that require Ethernet.

Step five, confirm I/O and PSO. The CP10 standard has 6 inputs and 4 outputs of digital I/O, 1 channel of 12 bit differential analog input, and 1 channel of 16 bit analog output. If the original system requires more I/O, choose - IO. If PSO is needed, note that PSO is not available when selecting MXU for CP10. If both encoder multiplication and PSO are required, consideration should be given to the MXH or reassignment function of HP/HL.

The sixth step is mechanical and heat dissipation. The weight of CP10 is about 1.64 kg, and the working temperature is 0-50 ° C. The installation direction, spacing, air duct, and heat sink must meet the requirements. HP50/75/100 offers optional heat sinks and fans, while HL has a larger volume and weight. MP has the smallest volume, but both the logic power supply and motor power supply are DC. It is necessary to confirm whether there is a corresponding power supply in the cabinet.

Step seven, power on test. Do not connect the motor yet, check the logic power supply, LED status, FireWire communication, and ESTOP circuit. Then connect the motor and test the commutation and feedback direction at low speed and low current. Gradually increase the speed, acceleration, and load, observe the current waveform, tracking error, and temperature. Finally, verify the PSO, braking, emergency stop, and regeneration processes.

Common troubleshooting and maintenance points

The faults of NDrive are usually concentrated in several categories, including power supply, enable, feedback, communication, heat dissipation, and configuration conflicts.

No display or abnormal LED when powered on

Check whether the AC input is within the range of 7-240 VAC, whether the logic power supply or the active power supply is normal, and whether the fuses and circuit breakers are disconnected. If using the auxiliary power option, it is necessary to confirm the 115-240 VAC single-phase power supply. The LED status indicator can help determine whether the driver is in an enabled, faulty, or communication state.