Aerotech Ndrive CP maintenance replacement

When wiring a brushed motor, connect the positive motor lead to OA and the negative lead to OC. To determine the phase, use a voltmeter to connect the motor lead and manually rotate clockwise. If the voltage is negative, swap the probe until the reading is positive. The positive probe is connected to the positive motor lead, connected to OA; the other lead is connected to OC. When wiring the stepper motor, pay attention to the common connection and two-phase winding. When equipped with an encoder, the forward motion command should cause the motor to rotate clockwise; If the opposite is true, exchange the motor leads. The direction of the limit switch is related to the direction of motor rotation, and phase errors can cause collision with the limit.

Feedback interface and limit

The motor feedback connector J103 is a 25 pin D-type, including an encoder, limit Hall、 Thermistor, 5V power supply, and optional braking. The main encoder interface accepts RS-422 differential line driven orthogonal signals, with a maximum frequency of 10 MHz. After x4 orthogonal decoding, it can reach 40 million counts/s. If - MXU is selected, the main encoder can be configured as an analog sine encoder input, with a maximum input frequency of 200 kHz and an amplitude of 0.6-2.25 Vpk Vpk. The software can select an interpolation factor of 4096. The gain, offset, and phase balance of the analog encoder can be adjusted through parameters, and it is recommended to use Feedback Tuning from Digital Scope for automatic optimization.

The absolute encoder supports reading position and fault information through serial data streams, and supports interfaces such as EnDat and Resolute. Encoder fault input J103 pin 23 can be used for encoders with fault output, and the effective status can be parameterized. Thermistor input J103 pin 2 is used for motor over temperature detection. Normally, it is about 100 Ω, but exceeding about 1 k Ω triggers an over temperature fault. Hall input J103 pins 5, 10, 11, if the status (0,0,0) or (1,1,1) is invalid, it will trigger a Hall fault.

Limit input J103 pins 12 (CW), 24 (CCW), 22 (Home), accept 5-24 VDC. Positive motion is stopped by CW limit, and negative motion is stopped by CCW limit. The effective limit state can be selected by software. If the limit direction is opposite, switch the CW and CCW wiring. The brake output J103 pins 13 and 25 can be connected to the brake power supply TB103. TB103 provides onboard solid-state brake relays with a maximum voltage of 24 VDC and 2.5 A, with a turn-on time of approximately 3.2 ms and a turn off time of approximately 0.1 ms. The brake power supply must have an external fuse, and the brake coil must be equipped with a variable resistor or suppression circuit. If using - IO board mechanical relays, do not use TB103 solid-state relays at the same time.

Auxiliary I/O, PSO, and expansion options

The auxiliary I/O connector J104 provides 1 analog input, 6 digital inputs, 1 analog output, 4 digital outputs, and an auxiliary RS-422 encoder interface. Digital output optical isolation, maximum 24V, 60 mA/channel, can be sourced or sunk, but the same group must be fully sourced or fully sunk. Digital input optical isolation, 5-24 V, approximately 1 mA at+5 V and 6 mA at+24 V. High speed input 12-13 for data acquisition, 5 V, 10 mA, delay 50 ns. Analog output 0 is ± 10 V, 16 bit, 305 μ V resolution. Differential analog input 0 is ± 10 V, 16 bit, 305 μ V. The maximum frequency of the auxiliary encoder is 10 MHz, with 40 million counts/s after x4, and can be used for handwheel, master-slave, or dual feedback. The auxiliary encoder can also be used to echo the main encoder or as a PSO output, but it cannot echo the main encoder under - MXU.

PSO position synchronization output is used for laser triggering or peripheral timing. Output at pins 19 and 20 of Aux Marker/PSO on J104. Single axis tracking up to 16.6 MHz, standard feedback up to 40 MHz orthogonal output, PSO up to 12.5 MHz output, trigger delay of 160 ns. PSO is not compatible with - MXU, but can be used with - MXH and square wave encoders. It is recommended to use RS-422 line receiver or optical isolator for long cables or noisy environments, and to be close to the receiving end. If PSO does not trigger, first confirm whether MXU is optional; If - MXU is used, PSO is not available.

In terms of expansion options, the IO board has added 16 digital inputs, 16 digital outputs, 1 12 bit analog input, 1 16 bit analog output, and a brake relay. Digital output up to 24 V, 60 mA/channel, input 5-24 V. Analog input 12 bit, 4.88 mV resolution, analog output 16 bit, 305 μ V. -MXU provides the highest x1024 encoder multiplier (4096 after x4), but there is no real-time output. -S is the internal shutout, 50 Ω, 40 W continuous, 400 W peak for 5 seconds. -EXTSHUNT is an external shut-down connection that opens at approximately 380 VDC on the internal bus, making it suitable for high inertia or frequent braking systems; Mutually exclusive with - S. External shuts need to be provided by the user. It is recommended to use a 50 Ω minimum, 300 W, 16 AWG high-temperature wire with a control board F1 fuse of 2.5 A. If the system's regenerative energy exceeds the energy that can be stored in the internal bus capacitor (approximately 71.3 J for a 160 V bus and 25.2 J for a 320 V bus), shuts must be calculated and installed.