Aerotech Ndrive MP Ultra Compact PWM Digital Servo Driver

ESTOP input TB101 is used to monitor external safety circuits, with an input of 5-24 V. If ESTOP is enabled in FaultMask, this input must be driven to avoid faults. Emergency stop should cut off the motor power supply while maintaining the control power supply to achieve controlled stop and communication maintenance. If connected to a relay or inductive load, RC network or varistor suppression should be added.

Engineering process for replacing discontinued modules

When replacing discontinued Ndrive MP or other brands of miniature servo modules, it is recommended to follow the following sequence:

Record the original module parameters: model, peak/continuous current, bus voltage, control power supply, motor power supply, feedback type, communication interface, I/O quantity, PSO capability, encoder multiplier, brake output, ESTOP logic, size, and heat dissipation.

Match motor: confirm brushless, brushed, or stepper; Confirm pole pairs Hall、 Encoder resolution, analog encoder, or absolute encoder. If the original system uses a rotary converter and MP does not support it, it should be switched to models with RDP such as HPe/HLe.

Confirm power supply: MP requires 24-80 VDC control power supply and 10-80 VDC motor power supply. If the original system is powered by AC, an external DC power source such as PS-MP or TM3 needs to be added. If the original system relies on internal shutdowns and MP does not provide them, external processing of regenerated energy is necessary.

Confirm feedback and network: FireWire topology, S1 device number, controller axis mapping. Multiple drives must have a unique communication channel, usually numbered sequentially starting from 1. FireWire has a speed of 400 Mbps, and if the cable exceeds 4.5 meters, a repeater is required.

Confirm I/O and PSO: select - IO when standard I/O is insufficient; select - MXU when encoder multiplication is required, but note that PSO is not available; When PSO is required, avoid - MXU or use - IO board to assist the encoder channel.

Mechanical and heat dissipation: MP has a small volume, but still requires heat dissipation when outputting continuously for 5 A. Installing on a metal plate or adding a fan can reduce temperature rise. The working temperature should not exceed 50 ° C, and the chassis temperature may exceed 70 ° C. Pay attention to burns.

Power on test: Do not connect the motor first, check the LED, FireWire, and control power supply ESTOP； Connect the motor for low-speed testing of phase, feedback direction, limit, and PSO; Finally, gradually load and check the current, temperature, and tracking error.

Common troubleshooting

No display or CTL flashing when powered on: Check if the control power supply 24-80 VDC is normal and if the 5V user power supply is overloaded. The CTL light keeps flashing and not working, which may be due to excessive 5V current or low control power supply voltage.

ENB/FLT red light or flashing: ENB/FLT green indicates axis enable, red indicates fault, and alternating red and green indicates enable and fault. Check for FaultMask, ESTOP, Hall faults, encoder faults, RMS overcurrent, overheating, and bus overvoltage. If the ESTOP bit is enabled, it must drive the TB101 input.

Motor runaway or shaking: Check if the encoder Sin/Cos is connected in reverse, if the feedback direction is incorrect, and if the commutation phase is correct. The brushless motor does not rotate, and the common reason is that the relative order of motor A/B/C and Hall A/B/C is incorrect. Swap any two-phase motor wires or Hall wires and perform phase testing again. The analog encoder needs to check the gain, offset, and phase balance.

Over current or over temperature: Check if the acceleration is too fast, if the load is stuck, if the motor is short circuited, if the gain is too high, and if the commutation is correct. Reduce continuous current, improve ventilation, and check if the ambient temperature exceeds 50 ° C. MP does not have internal shutdowns, and if frequent braking occurs, external treatment of regenerative energy is required.

Bus overvoltage: The motor power supply of MP is 10-80 VDC, and regenerative energy may cause the bus voltage to rise. If bus overvoltage is frequently reported, external braking resistors or regeneration modules should be added, and it should be confirmed that the power supply can absorb feedback energy.

Communication failure: Check the FireWire cable, ports, node sequence, and S1 device number. FireWire speed of 400 Mbps, recommended star daisy chain. If the cable exceeds 4.5 meters, a repeater is required. After replacing the drive, confirm that the firmware version and configuration file are compatible.

PSO not triggered: Confirm if MXU is optional. The PSO of MP is not compatible with - MXU. Check the PSO output wiring, line receiver or opto isolator, trigger position, and controller configuration. The maximum output of PSO is 12.5 MHz, with a single axis delay of 160 ns.

ESTOP alarm: TB101 input 5-24 V, driven by external fail safe emergency stop circuit. If connected to a relay or inductive load, RC network or varistor suppression should be added. Emergency stop should cut off the motor power supply while maintaining the control power supply.