Aerotech Ndrive HPe 10/20/30 High Performance PWM Digital Servo Drive

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 J207 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 - MXH is selected, the main encoder can be configured as an analog sine encoder input, with a maximum input frequency of 500 kHz and an amplitude of 0.6-2.25 Vpk Vpk. The software can select an interpolation factor of 65536 and an interpolation delay of approximately 3.25 μ s. 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 J207 pin 23 can be used for encoders with fault output, and the effective state can be parameterized. Thermistor input J207 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 J207 pins 5, 10, 11, if the status (0,0,0) or (1,1,1) is invalid, it will trigger a Hall fault.

Limit input J207 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 J207 pins 13 and 25 can be connected to the brake power supply TB202. TB202 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 TB202 solid-state relays at the same time.

Auxiliary I/O, PSO, and expansion options

The auxiliary I/O connector J205 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, approximately 1 mA at 5-24 V,+5 V, and 6 mA at+24 V. High speed input 12-13 is used for data acquisition, with 5 V or 24 V selectable via jumper and a delay of 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 - MXH.

PSO position synchronization output is used for laser triggering or peripheral timing. Output on Aux Marker/PSO pins 19 and 20 of J205, and can also be output through - IO board TB302. Single axis tracking up to 16.6 MHz, dual axis and three-axis up to 8.33 MHz, PSO output up to 12.5 MHz, single axis trigger delay of 160 ns, dual axis and three-axis 220 ns. MXH encoder multiplication additional delay is less than 3.25 μ s. PSO is not compatible with MXU, but HPe is compatible when using MXH. If PSO does not trigger, first confirm whether MXU is optional; If - MXU is used, PSO is not available. PSO output can be optically isolated. It is recommended to use RS-422 line receiver or optical isolator for long cables or noisy environments.

In terms of expansion options, the IO board has added 16 digital inputs, 16 digital outputs, 2 SSINETs, 3 16 bit analog inputs, 3 16 bit analog outputs, and brake relays. Digital output up to 24 V, 60 mA/channel, input 5-24 V. Analog input 16 bit, 305 μ V resolution, analog output 16 bit, 305 μ V. SSINET is used for multi axis PSO daisy chain, sending the second/third axis encoder to the driver with - DUALPSO/- TRIPLEPSO. SSINET has a maximum data rate of 20 MHz and requires the use of dedicated cables and parameter configuration. -The RDP option provides rotary or Inductosyn input, 1 or 2 channels, carrier frequency of 5/7.5/10 kHz, and can output encoder simulation signals. -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 power board F2 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.