Ndrive CP Hardware Manualvvv

Agency Approvals

Aerotech, Inc. Model Ndrive CP Series Digital Drives have been tested and found to be in accordance to the following listed Agency Approvals:

Approval / Certification: CUS NRTL Approving Agency: TUV SUD America Inc. Certificate #: U8 17 01 68995 023 Standards: CAN/CSA-C22.2 No. 61010-1:2012; UL 61010-1:2012

Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates. Type the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech certificates.

Safety Procedures and Warnings

This manual tells you how to carefully and correctly use and operate the Ndrive CP. Read all parts of this manual before you install or operate the Ndrive CP or before you do maintenance to your system. To prevent injury to you and damage to the equipment, obey the precautions in this manual. The precautions that follow apply when you see a Danger or Warning symbol in this manual. If you do not obey these precautions, injury to you or damage to the equipment can occur. If you do not understand the information in this manual, contact Aerotech Global Technical Support.

This product has been designed for light industrial manufacturing or laboratory environments. The protection provided by the equipment could be impaired if the product is used in a manner not specified by the manufacturer.

N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any time. All drawings and illustrations are for reference only and were complete and accurate as of this manual’s release. Refer to www.aerotech.com for the most up-to-date information.

D A N G E R :

: This product contains potentially lethal voltages. To reduce the possibility of electrical shock, bodily injury, or death the following precautions must be followed.

1. Disconnect electrical power before servicing equipment. 2. Disconnect electrical power before performing any wiring. 3. Access to the Ndrive CP and component parts must be restricted while connected to a power source. 4. To minimize the possibility of electrical shock and bodily injury, extreme care must be exercised when any electrical circuits are in use. Suitable precautions and protection must be provided to warn and prevent persons from making contact with live circuits. 5. Install the Ndrive CP inside a rack or enclosure. 6. The shunt resistor temperature can exceed 70°C during normal operation and contains lethal voltage on its terminals and surface. It must be properly enclosed and shielded to avoid risk of fire and operator shock. 7. Do not connect or disconnect any electrical components or connecting cables while connected to a power source. 8. All components must be properly grounded in accordance with local electrical safety requirements. 9. Operator safeguarding requirements must be addressed during final integration of the product.

D A N G E R : The Ndrive CP case temperature may exceed 70°C in some applications

W A R N I N G :  To minimize the possibility of electrical shock, bodily injury or death the following precautions must be followed

1. If the product is used in a manner not specified by the manufacturer, the protection provided by the product can be impaired and result in damage, shock, injury, or death. 

2. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts must be restricted while connected to a power source. 

3. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid potential hazards. 

4. Do not expose this product to environments or conditions outside of the listed specifications. Exceeding environmental or operating specifications can cause damage to the equipment. 

5. Operators must be trained before operating this equipment. 

6. All service and maintenance must be performed by qualified personnel.

Quick Installation Guide

This chapter describes the order in which connections and settings should typically be made to the Ndrive CP. If a custom interconnection drawing was created for your system (look for a line item on your Sales Order under the heading “Integration”), that drawing can be found on your installation device.

Chapter 1: Introduction

Aerotech’s Ndrive CP (Compact PWM) network digital drive is a high performance amplifier. The drive provides deterministic behavior, auto-identification, and easy software setup. The Ndrive CP’s high performance double precision floating point DSP controls the digital PID and current loops. All system configuration is done using software-settable parameters, including control loop gains and system safety functions.

The Ndrive CP is offered with an optional encoder interpolation feature (-MXU), an auxiliary square wave encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -IO option), and separate power connections for motor and control supply voltages.

1.1. Drive and Software Compatibility

The following table lists the available drives and which version of the software first supported the drive. Drives that list a specific version number in the Last Software Version column will not be supported after the listed version

1.2.1. System Power Requirements

The following equations can be used to determine total system power requirements. The actual power required from the mains supply will be the combination of actual motor power (work), motor resistance losses, and efficiency losses in the power electronics or power transformer. An EfficiencyFactor of approximately 90% should be used in the following equations.

Brushless Motor

rushless Motor Output Power Rotary Motors Pout [W] = Torque [N·m] * Angular velocity[rad/sec] Linear Motors Pout [W] = Force [N] * Linear velocity[m/sec] Rotary or Linear Motors Pout [W] = Bemf [V] * I(rms) * 3 Ploss = 3 * I(rms)^2 * R(line-line)/2 Pin = SUM ( Pout + Ploss ) / EfficiencyFactor

DC Brush Motor Pout [W] = Torque [N·m] * Angular velocity[rad/sec] Ploss = I(rms)^2 * R Pin = SUM ( Pout + Ploss ) / EfficiencyFactor

1.2.2. Power Dissipation

The amplifier power dissipation under continuous power supply and output current conditions is shown in Figure 1-3. The values on the graph represent the peak current that the amplifier would provide during operation. When the bus voltage and output current are known, the amplifier power dissipation is found using this graph. Figure 1-4 shows the maximum recommended ambient temperature as a function of amplifier power dissipation. Use this graph along with the power dissipation obtained from the first graph to determine the maximum ambient temperature. If the result is lower than the known operating ambient temperature, additional measures are required to cool the Ndrive CP. Mounting it to a large metal plate for extra heatsinking and providing additional fan flow are suggested

1.3. Mechanical Design

Install the unit into a construction compliant for unlimited circuits enclosure. Each unit should be separated from other drives and surrounded by 25 mm (1") of free air space. A space of 100 mm (4") should be allowed along the front of the unit for cable connections.

Environmental Specifications

The environmental specifications for the Ndrive CP are listed below

Chapter 2: Installation and Configuration2.1. Communication Channel SettingsUse the Device Number switches to assign a communication channel number to the Ndrive CP. If you are using multiple drives, each drive must be assigned a unique communication channel. Multiple drives are typically configured using sequential communication channels.

N O T E : The drive assigned to the first communication channel number (all switches set to ON) will be configured by the Axis 1 parameters defined in the software. The drive assigned to the second communication channel will be configured by the Axis 2 parameters, etc.

Motor Supply Connections (TB102)

N O T E : This product requires two power supply connections. The Motor Supply and Control Supply must both be connected for proper operation.

Motor power is applied to the Ndrive CP Motor Supply connector (refer to Figure 2-2 for locations). Refer to local electrical safety requirements to correctly size external system wires and match wires to fuses or circuit breakers. The AC1 input is internally fused (5A CP10, 10A CP20/30). External fuses or a circuit breaker (15 A maximum, time delay type) are required for the AC1 and AC2 inputs. The AC2 input can be connected directly to Neutral without a fuse for single phase power systems

W A R N I N G : Do not operate the Ndrive CP without the safety ground connection in place

W A R N I N G : Do not operate the Ndrive CP without proper branch protection.An AC Line Filter may be required for CE compliance and should be located as close as possible to the drive. For more information about the AC Line Filter, refer to Section 2.2.4. Wiring between the filter and drive can be twisted and/or shielded to reduce radiated emissions