Aerotech Ndrive MP Ultra Compact PWM Digital Servo Driver

Motor wiring and phase adjustment

Ndrive MP can control brushless, brushed, and stepper motors. When wiring the brushless motor, the A/B/C of the motor should be connected to the A/B/C of TB102, and the motor frame and shield should be grounded. Hall signal connected to J103: Hall A pin 10, Hall B pin 5, Hall C pin 11. The forward motion command should cause the motor to rotate clockwise when viewed from the mounting flange. If the direction is opposite, any two-phase motor wires can be exchanged. Brushless motor commutation relies on Hall and back electromotive force alignment. If using non Aerotech motors, it is recommended to confirm using oscilloscope method or power on phase method. The oscilloscope method requires a dual channel oscilloscope, a 5 V power supply, and six 10 k Ω resistors. Connect the three phases of the motor to the Wye neutral point, manually rotate clockwise, and observe the opposite electromotive forces and Hall state. The correct Hall state should be aligned with the back electromotive force, and if necessary, corrected with the Commutation Offset parameter.

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.

The motor feedback connector J103 is a 25 pin D-type, including an encoder, limit Hall、 Thermistor, 5V power supply, analog input, 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.

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. Encoder fault input J103 pin 23 can be used for encoders with fault output, and the effective status can be parameterized. 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. If the limit direction is opposite, switch the CW and CCW wiring. Brake output J103 pins 13 and 25 can be connected to - IO board solid-state relays and TB201. Analog input 0 is located at pins 8 and 19 of J103, with a differential of ± 10 V, 12 bits, and a resolution of 4.88 mV.

Auxiliary I/O, PSO, and - IO expansion

The standard configuration of Ndrive MP includes 1 orthogonal encoder input, Home and limit inputs, 1 12 bit differential analog input, and ESTOP input. Digital and analog I/O can be increased through the - IO expansion board. -The IO board provides 8 optical isolated digital inputs, 8 optical isolated digital outputs, 1 12 bit analog input, 1 16 bit analog output, a second encoder channel, and a brake relay. The maximum digital output is 24 V, 60 mA/channel, which can be sourced or sunk, but the same group must be configured uniformly. Digital input 5-24 V, approximately 1 mA at+5 V and 6 mA at+24 V. Analog output 1 is ± 5 V, 16 bit, 153 μ V resolution. Analog input 1 is ± 10 V, 12 bits, 4.88 mV. The auxiliary encoder interface is located in J201, with a maximum frequency of 10 MHz and 40 million counts/s after x4. It can be used for handwheel, master-slave, or dual feedback.

PSO position synchronization output is used for laser triggering or peripheral timing. The PSO output of MP is on pins 1 and 6 of Aux Marker in J201. Single axis tracking up to 16.6 MHz, PSO output up to 12.5 MHz, trigger delay of 160 ns. PSO is not compatible with MXU; If - MXU is used, PSO is not available. The auxiliary encoder interface can be configured as either encoder input or PSO output, but cannot be used simultaneously. If SIN/COS is used as the encoder input, MRK cannot be used as the PSO output. Since MP does not have other PSO output methods, if the auxiliary encoder is configured as input, PSO triggering cannot be performed. 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.