AEROTECHNdrive HP 10/20/30 USER'S MANUAL

General notes concerning the test setup

This product was tested at F-Squared Laboratories, in Burton, OH on April 16-18, 2002. The report numbers are NY011602-01-01E and NY011602-01-02E. The Ndrive HP was tested while powered from a 230VAC source with a brushless servomotor, connected via PMC-15 and BFC-15 (15 foot) cables. In order for the product to conform to the radiated emission standards, the motor cable must be shielded and the shield must be connected to the earth ground. A metal D-style connector with a metal backshell must be used when connecting to the D-style connectors on the Ndrive HP. The shield of the feedback cable must be connected to the metal backshell.

The following modifications ensure compliance:

• Install a snap-on Ferrishield ferrite attenuator, P/N SS28B2034, on the FireWire cable at the unit. 

• Install a Curtis, P/N F1600CA-10, EMI line filter on the AC input. 

• Install two snap-on Ferrishield ferrite attenuators, P/N SS28B2032 and CS28B1984, on the AC cable between the EMI line filter and the Ndrive. 

• Connect earth ground to the mounting screw at the AC input. 

• Install a SCI, 25-pin, D-style, Spectrum EMI filter adapter, P/N SCI-56-725-001, in series with the motor feedback cable at the unit. Current generation units (Revision A) have integral filtering built-in, which should preclude the use of this EMI filter, based upon similar product testing.

Safety related requirements to ensure compliance (exceptions to EN 61010-1):

• The Ndrive must be installed within an enclosure with construction compliant unlimited circuits. 

• The end user is responsible for meeting the final protective ground requirements. • The AC power inlet located on the front of the Ndrive is the power disconnect. The end user is responsible for determining and providing a supply disconnect for the system. 

• The end user is responsible for preventing unexpected startup. 

• Connection requirements are described in the technical documentation provided with the product. The end user is responsible for making the proper connections and meeting any required interlock requirements for the product application. 

• Voltages greater than 60V may be present inside the Ndrive after a discharge time of 5 seconds. 

• The end user must provide protection for power interruption / restoration, if required. 

• The end user must provide earth fault current protection, if required. • The end user must provide protection against lightning and power switching surges, if required. 

• Control and Emergency Stop requirements are to be determined and provided by the end user. 

• Wire and cabling provided with the Ndrive meet Aerotechís electrical and listed environmental requirements. The end user must meet the final requirements.

CHAPTER 1: INTRODUCTION

Aerotechís Network Digital Drives (Ndrive HP) complement the Automation 3200 System (see Figure 1-1). Connected via the IEEE-1394 (FireWireÆ) communication bus, these drives provide deterministic behavior, auto-identification, and easy software setup from the Nmotion SMC software controller. Featuring a high-speed Harvard architecture DSP, the drives have fully digital current and servo loops providing selectable 1-20 kHz servo loop closure, 40 MHz line driver encoder data rate, and an optional Ethernet port for access to third party networked I/O solutions. The Ndrive HP also features an optional on-board brake relay, programmable resolution multiplication up to x 65,536, with a 200 kHz maximum amplified sine wave input frequency, and up to three-axis Position Synchronized Outputs (laser firing). In addition, the use of the commercially standard FireWire communication link makes integration to the Automation 3200 network plug-n-play easy

1.1. Feature Summary

• Software configurable for brush, brushless and stepper motor operation 

• Standard 100 VDC ñ 320 VDC Bus, optional 20 VDC ñ 80 VDC Bus, requires the -AUXPWR option 

• Fully isolated power stage 

• 5 VDC, 500 mA fused user output power for encoder and Hall effect signals, etc. 

• Two mounting orientations optimized for heat transfer or minimal panel space utilization 

• Full protection against the following failure modes:

1. Control supply under voltage

   2. Continuous current overload

   3. Power stage bias supply under-voltage

   4. Power stage output short circuit (phase to phase and phase to ground)

   5. DC bus over voltage

   6. IGBT device over temperature sense

   • Line driver square wave or analog sine wave quadrature encoder primary position and velocity feedback

   • Line driver square wave auxiliary quadrature encoder input or output for PSO (laser firing), etc.

   • 4 opto-isolated user outputs standard

   • 6 opto-isolated user inputs standard, 2 of which are high speed

   • 2 differential analog inputs (one standard and one available with the ñIOPSO option)

   • 2 analog outputs (one standard and one available with the ñIOPSO option)

1.2. Connection Overview

The Ndrive HP consists of two power connections (motor power and input power), three FireWire ports, an optional Ethernet connection, an RS-232/RS-422 connector, LED indicator lamps and two D-Style connectors for Auxiliary I/O (15 and 26 pin) and Motor Feedback (25 pin). An ñIOPSO or -IOPSOH option is also available, which has connectors for PSO, absolute encoder, SSI Net, analog I/O, digital I/O, and user power. Refer to Figure 1-2 for connector locations.