Aerotech DR500 Manuel utilisateur

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DR500

DRIVE CHASSIS

OPERATION & TECHNICAL MANUAL

P/N: EDA120 (V1.6)

AEROTECH, Inc. •101 Zeta Drive •Pittsburgh, PA. 15238-2897 •USA

Phone (412) 963-7470 •Fax (412) 963-7459

Product Service: (412) 967-6440; (412) 967-6870 (Fax)

www.aerotech.com

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If you should have any questions about the DR500 and/or comments regarding the documentation, please refer to

Aerotech online at:

http://www.aerotech.com.

For your convenience, a product registration form is available at our web site.

Our web site is continually updated with new product information, free downloadable software, and special pricing

on selected products.

The DR500 Drive Chassis Operation and Technical Manual Revision History:

Rev 1.1 January 31, 1994

Rev 1.2 May 4, 1995

Rev 1.3 November 6, 1996

Rev 1.3a June 2, 1997

Rev 1.4 March 12, 1998

Rev 1.4a February 15, 2000

Rev 1.5 December 12, 2000

Rev 1.6 May 28, 2002

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DR500 Operation and Techincal Manual

Table of Contents

Version 1.6 Aerotech, Inc. iii

TABLE OF CONTENTS

CHAPTER 1: INTRODUCTION............................................................................ 1-1

1.1. Product Overview............................................................................... 1-1

1.1.1. DR500 Functions ................................................................. 1-2

1.1.2. DR500 Configurations ......................................................... 1-2

1.2. DR500 Options................................................................................... 1-3

1.2.1. The SHUNT500 Regulator Board........................................ 1-3

1.2.2. DRC I/O Cable..................................................................... 1-5

1.2.3. DR500 Brake Option............................................................ 1-7

1.3. Safety Procedures and Warnings........................................................ 1-8

CHAPTER 2: SET UP.............................................................................................. 2-1

2.1. Unpacking the DR500 Drive Package................................................ 2-1

2.2. DR500 Jumper Selections and Configurations...................................2-2

2.2.1. Rear Panel Interface Board Internal Jumpers....................... 2-3

2.2.2. Drive Interface Board Internal Jumpers............................... 2-3

2.2.3. Bus Configuration ................................................................ 2-8

2.2.3.1. Bus Type (Unipolar/Bipolar Configuration) ...... 2-8

2.2.3.2. Bus #1, Unipolar ................................................ 2-8

2.2.3.3. Bus #1, Bipolar................................................... 2-8

2.2.3.4. Bus #2, Unipolar ................................................ 2-8

2.2.3.5. Bus #2, Bipolar................................................... 2-8

2.2.3.6. Bus Voltage Configuration................................. 2-9

2.2.4. Installing A Drive Module in the DR500........................... 2-10

2.2.5. Brush Drive Configuration (DS16020 or DS16030).......... 2-11

2.2.5.1. Electrical Specifications................................... 2-12

2.2.5.2. Fault Output...................................................... 2-12

2.2.5.3. Personality Module........................................... 2-13

2.2.5.4. Setting the Current Limit.................................. 2-16

2.2.5.5. Pre-Amplifier Gain Characteristics .................. 2-16

2.2.5.6. The Post-Amplifier........................................... 2-16

2.2.5.7. Troubleshooting the DS160 Series................... 2-20

2.2.6. Stepper Drive Configuration (AM16007) ..........................2-22

2.2.7. AC Brushless Drive Configuration (AS32020 or

AS32030)........................................................................... 2-24

2.2.8. AC Brushless Linear Drive Configuration (AS3005)......... 2-26

2.2.9. Internal System Wiring....................................................... 2-27

2.3. Power Supply Fusing........................................................................ 2-28

2.4. Motor Fusing.................................................................................... 2-29

2.5. External Device Power..................................................................... 2-30

2.6. Mechanical Installation..................................................................... 2-30

2.7. Electrical Installation........................................................................ 2-31

2.7.1. DR500 Power Up............................................................... 2-32

2.8. DR500 Interface............................................................................... 2-33

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Table of Contents

DR500 Operation and Technical Manual

iv Aerotech, Inc. Version 1.6

CHAPTER 3: TECHNICAL DETAILS..................................................................3-1

3.1. Connector Pinouts and OP500 Interconnect Cable

Specifications......................................................................................3-1

3.1.1. Pin Descriptions ...................................................................3-3

3.2. DR500 Rear Panel Connectors.........................................................3-10

3.2.1. Motor Axis Connectors ......................................................3-10

Pin # 3-10

3.2.2. Joystick Connector.............................................................3-11

3.2.3. Miscellaneous Input/Output Connector..............................3-12

3.2.4. Brake Connector.................................................................3-12

3.2.5. Digital I/O Connector.........................................................3-13

3.2.6. The Opto-22 Connector......................................................3-14

3.2.7. DAC Outputs Connector ....................................................3-14

3.2.8. Motor Power Connector Pinouts........................................3-15

3.2.9. DR500 Test Points .............................................................3-16

3.3. DR500 Outline Drawings and Mechanical Specifications...............3-17

3.4. Electrical Specifications ...................................................................3-19

3.5. Environmental Specifications...........................................................3-20

3.6. Emergency Stop Sense Input............................................................3-21

CHAPTER 4: SOFT-START / VOLTAGE SELECTOR BOARD ......................4-1

4.1. Soft-Start / Voltage Selector Overview ..............................................4-1

4.2. Soft-Start Operation............................................................................4-2

4.3. Voltage Selector Function ..................................................................4-3

4.4. Connector Pinouts...............................................................................4-4

4.4.1. AC Input Power Connector (J1)...........................................4-4

4.4.2. +24 VDC Power Connector (J2)..........................................4-4

4.4.3. Transformer Interface Connectors (J3, J5)...........................4-4

4.4.4. Fan Interface Connector (J4)................................................4-5

4.5. Fuse Information.................................................................................4-6

CHAPTER 5: TROUBLESHOOTING...................................................................5-1

5.1. Warning and Cautions ........................................................................5-1

5.2. Amplifier Related Problems ...............................................................5-2

5.3. Power Related Problems.....................................................................5-3

5.4. Fuse Replacement...............................................................................5-4

5.5. Preventative Maintenance...................................................................5-5

5.6. Cleaning..............................................................................................5-6

APPENDIX A: WARRANTY AND FIELD SERVICE.......................................... A-1

INDEX

REVISION HISTORY

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DR500 Operation and Technical Manual

List of Figures

Version 1.6 Aerotech, Inc. v

LIST OF FIGURES

Figure 1-1. DR500 Drive Chassis......................................................................... 1-1

Figure 1-2. UNIDEX 500 / UNIDEX 600 System Diagram................................. 1-3

Figure 1-3. SHUNT500 Wiring ............................................................................ 1-4

Figure 1-4. Mounting of the Shunt Board............................................................. 1-4

Figure 1-5. SHUNT500 Board.............................................................................. 1-5

Figure 1-6. DRC I/O Cable................................................................................... 1-6

Figure 1-7. Sample Uses of the DRC Cable.......................................................... 1-6

Figure 1-8. BRAKE OPTION Wiring................................................................... 1-7

Figure 2-1. Rear Panel Interface Board Jumper Locations ...................................2-2

Figure 2-2. Drive Interface Board Internal Jumper Locations .............................. 2-4

Figure 2-3. Drive Module Installation................................................................. 2-10

Figure 2-4. DS16020 / DS16030 Brush Drive Modules..................................... 2-11

Figure 2-5. Simplified Block Diagram of the DS160 Series Servo

Amplifier Module............................................................................. 2-14

Figure 2-6. DS16020 / DS16030 Brush Drive Modules Pre-Amp

Schematic ......................................................................................... 2-15

Figure 2-7. Transfer Function of Pre-Amplifier Circuit...................................... 2-17

Figure 2-8. Outline of Personality Module RCN4 .............................................. 2-18

Figure 2-9. Detailed Electrical Diagram of DS160 Post-Amplifier Circuit ........ 2-19

Figure 2-10. AM16007 Stepper Drive Modules ...................................................2-22

Figure 2-11. AS32020 / AS32030 AC Brushless Drive Modules......................... 2-24

Figure 2-12. AS3005 Brushless Linear Drive Module..........................................2-26

Figure 2-13. Power Supply Fusing 5V Adjust Potentiometer............................... 2-28

Figure 2-14. Drive Module Fuse Mounting ..........................................................2-29

Figure 2-15. DR500 Rear Panel Connector Layout .............................................. 2-30

Figure 2-16. DR500 Electrical Connections ......................................................... 2-31

Figure 2-17. U500/U600 Generic System Interconnect........................................ 2-34

Figure 3-1. DR500 Rear Panel Connector Layout ................................................ 3-1

Figure 3-2. CW Motor Rotation Viewed from Mounting Flange End .................. 3-4

Figure 3-3. Linear Motor (Forcer) CW Direction................................................. 3-4

Figure 3-4. Joystick Interface.............................................................................. 3-11

Figure 3-5. DR500 Desktop Package.................................................................. 3-17

Figure 3-6. DR500 Rack Mount Package ........................................................... 3-18

Figure 4-1. Soft-Start / Voltage Select Board ....................................................... 4-1

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List of Figures

DR500 Operation and Technical Manual

vi Aerotech, Inc. Version 1.6

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DR500 Operation and Techincal Manual

List of Tables

Version 1.6 Aerotech, Inc. vii

LIST OF TABLES

Table 2-1. Rear Panel Interface Board Jumper Selections................................... 2-3

Table 2-2. Drive Interface Board Jumper Selections........................................... 2-5

Table 2-3. Drive Interface Bd. Jumper Selections for AM16007 Stepper

Drive................................................................................................... 2-7

Table 2-4. Drive Interface Bd. Jumper Selections for DS16020 /

DS16030 Servo Drive ........................................................................ 2-7

Table 2-5. Drive Interface Bd. Jumper Selections for AS32020 /

AS32030 Brushless Drive .................................................................. 2-7

Table 2-6. Drive Interface Board Jumper Selections for AS3005

Brushless Drive .................................................................................. 2-8

Table 2-7. DS160 Series Electrical Specifications ............................................ 2-12

Table 2-8. DS160 Series Potentiometer Descriptions........................................ 2-13

Table 2-9. DS160 Series Personality Module RCN4 Modes............................. 2-18

Table 2-10. DS160 Series Environmental Specifications .................................... 2-20

Table 2-11. Power Stage Specifications...............................................................2-20

Table 2-12. DS160 Series Troubleshooting Guide .............................................. 2-21

Table 2-13. DS160 Series Replacement Parts......................................................2-21

Table 2-14. AM16007 Series Electrical Specifications....................................... 2-23

Table 2-15. AM16007 Series Test Points............................................................ 2-23

Table 2-16. AS32020 / AS32030 Series Electrical Specifications ......................2-25

Table 2-17. AS32020/AS32030 Series Test Points............................................. 2-25

Table 2-18. AS3005 Series Electrical Specifications........................................... 2-27

Table 2-19. AS3005 Series Test Points ............................................................... 2-27

Table 3-1. Pinouts for Connector J1 (Interface to U500/U600 Connector

P1) ...................................................................................................... 3-2

Table 3-2. Pinouts for Axis 1 Through Axis 4 (J2 - J5)..................................... 3-10

Table 3-3. Pinouts for the Joystick Interface Connector (J12)........................... 3-11

Table 3-4. Pinouts for the Miscellaneous I/O Connector (J13).......................... 3-12

Table 3-5. Pinouts for Optional Brake Connector (J14) .................................... 3-12

Table 3-6. Pinouts for the Digital I/O Connector (J10)...................................... 3-13

Table 3-7. Pinouts for the I/O Bus or Opto-22 Connector (J11)........................ 3-14

Table 3-8. Pinouts for the DAC Outputs Connector (J16)................................. 3-14

Table 3-9. Motor Connector (Stepper)...............................................................3-15

Table 3-10. Motor Connector (Brush)................................................................. 3-15

Table 3-11. Motor Connector (Brushless) ........................................................... 3-15

Table 3-12. DR500 Rear Panel InterfaceTest Points........................................... 3-16

Table 3-13. DR500 Drive InterfaceTest Points, Fuses, and L.E.D.s.................... 3-16

Table 3-14. Weights for DR500 Packages (not including drives)........................ 3-18

Table 3-15. Electrical Specifications................................................................... 3-19

Table 4-1. Voltage Selector Switch Settings........................................................ 4-3

Table 4-2. AC Input Power Connector (J1) Pinouts ............................................ 4-4

Table 4-3. +24 VDC Power Connector (J2) Pinouts............................................4-4

Table 4-4. Transformer Interface Connectors (J3, J5) Pinouts............................ 4-4

Table 4-5. Fan Interface Connector (J4) Pinouts................................................. 4-5

Table 4-6. Fuse Replacement Part Numbers........................................................ 4-6

Table 5-1. Amplifier Problems ............................................................................ 5-2

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List of Tables

DR500 Operation and Technical Manual

viii Aerotech, Inc. Version 1.6

Table 5-2. Power Checks.....................................................................................5-3

Table 5-3. Fuse Replacement Part Numbers........................................................5-4

Table 5-4. Preventative Maintenance...................................................................5-5

Table R-1. Revisions ............................................................................................R-1

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DR500 Operation and Technical Manual

Regulatory Information

Version 1.6 Aerotech, Inc. ix

DECLARATION OF CONFORMITY

Manufacturer’s Name and Address

Aerotech, Inc.

101 Zeta Drive

Pittsburgh, PA 15238-2897

Declares that the product:

Product Name: DR500

Conforms to the following product specifications:

• Electrostatic Discharge in accordance with IEC 1000-4-2

as specified by EN50082-2

• Electrical Fast Transients in accordance with

IEC 1000-4-3 as specified in EN50082-2

• Immunity to radiated electromagnetic fields in accordance

with IEC 1000-4-3 as specified in EN50082-2

• Immunity to conducted RF in accordance with EN 501041

• Radiated emission in accordance with EN55011; Group 1,

Class A

• Conducted Emission in accordance with EN550100;

Group 1, Class A

• EN61010-1:93 - safety of electrical equipment for

measurement, control, and laboratory use

and complies with EMC directive 89/336/EEC and 73/23/EEC low voltage directive.

Pittsburgh, PA David F. Kincel_________________________

March, 1998 Quality Assurance Manager

Alex Weibel__________________________

Engineer Verifying Compliance

General notes concerning the test setup.

This product was tested at Compliance Labs in Middlefield, Ohio on December 16, 1997.

The report number is 1050.

The DR500 was tested with a CE-compliant, class B personal computer and it controlled

four brushless AC motors. The DR500 requires a line filter (Aerotech P/N UFM) to meet

conducted emission requirements. This filter may not be necessary if the DR500 is used

by the OEM in a system that has a line filter.

Not all configurations of the DR500 are CE compliant. Compliant versions are indicated

by the "CE" symbol on the back of the unit.

∇∇∇

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