Soloist HPe 10/20/30 Hardware Manual

Transcription

1 Soloist HPe 0/0/30 Hardware Manual Revision: V~ 50/60Hz A MAX NC C NO TB V~ 50/60Hz A MAX CONTROL SUPPLY MOTOR SUPPLY MOTOR OUTPUT EXTERNAL SHUNT AC AC AC AC A B C 40V~ MAX 50/60Hz 5A MAX DANGER! High Voltage TB0 TB0 TB03 ENET J04 ENB/FLT MARKER AUX I/O J05 TM AEROTECH.COM e PWR POS TB303 TB304 RELAY SSINET J30 J303 HSO-P PSO-N HSO-M AOUT0 AOUT AOUT AOUT3 AGND AIN0+ AIN0- AIN+ AIN- AGND AIN+ AIN- AIN3+ AIN3- CONTROL SUPPLY MOTOR SUPPLY MOTOR OUTPUT EXTERNAL SHUNT AC AC AC AC A B C 40V~ MAX 50/60Hz 5A MAX DANGER! High Voltage TB0 TB0 TB03 ENET J04 ENB/FLT MARKER AUX I/O J05 TM AEROTECH.COM e PWR POS RS3 J06 ESTOP TB0 TB305 TB306 C GND C V OPTO IN OPTO IN RS3 J06 ESTOP TB0 MOTOR FEEDBACK J07 TB307 TB308 OP OM OP OM OPTO OUT OPTO OUT MOTOR FEEDBACK J07

2 Global Technical Support Go to for information and support about your Aerotech products. The website provides downloadable resources (such as up-to-date software, product manuals, and Help files), training schedules, and PCto-PC remote technical support. You can also complete Product Return (RMA) forms and get information about repairs and spare or replacement parts. For immediate help, contact a service office or your sales representative. Have your customer order number available before you call or include it in your . Phone: Fax: service@aerotech.com United Kingdom Phone: +44 (0) Fax: +44 (0) service@aerotech.co.uk Germany Phone: +49 (0) Fax: +49 (0) service@aerotechgmbh.de France Phone: sales@aerotech.co.uk United States (World Headquarters) 0 Zeta Drive Pittsburgh, PA Japan Phone: +8 (0) Fax: +8 (0) service@aerotechkk.com.jp China Phone: +86 () saleschina@aerotech.com Taiwan Phone: +886 (0) service@aerotech.tw This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies. Copyright , Aerotech, Inc. All rights reserved.

3 Table of Contents Soloist HPe 0/0/30 Table of Contents Table of Contents List of Figures List of Tables EC Declaration of Conformity Agency Approvals Safety Procedures and Warnings Quick Installation Guide Chapter : Introduction.. Drive and Software Compatibility 5.. Electrical Specifications 6... System Power Requirements 7... Power Dissipation 8.3. Mechanical Design 9.4. Environmental Specifications Chapter : Installation and Configuration 3.. Power Connections 3... Control Supply Connections (TB0) 4... Motor Supply Connections (TB0) Transformer Options Minimizing Conducted, Radiated, and System Noise 3.. Motor Output Connections 4... Brushless Motor Connections 5... Powered Motor Phasing 6... Unpowered Motor and Feedback Phasing 8... DC Brush Motor Connections 3... DC Brush Motor Phasing Stepper Motor Connections Stepper Motor Phasing Motor Feedback Connections (J07) Encoder Interface (J07) RS-4 Line Driver Encoder (Standard) EnDat Encoder Interface (J07) Resolute Encoder Interface (J07) Analog Encoder Interface Encoder Phasing Hall-Effect Interface (J07) Thermistor Interface (J07) Encoder Fault Interface (J07) End Of Travel Limit Input Interface (J07) End Of Travel Limit Phasing Brake Output (J07) Emergency Stop Sense Input (TB0) Typical ESTOP Interface 5.5. Auxiliary I/O Connector (J05) Auxiliary Encoder Channel (J05) Position Synchronized Output (PSO)/Laser Firing (J05) Opto-Isolated Outputs 0-3 (J05) Opto-Isolated Inputs 0-3 (J05) High Speed User Inputs 4-5 (J05) 6 iii v vii ix x xi xiii iii

4 Soloist HPe 0/0/30 Table of Contents.5.6. Analog Output 0 (J05) Analog Input 0 (J05) Brake Power Supply (TB0) Solid State Relay Specifications (TB0) RS-3 Interface (J06) EXTSHUNT Option (TB03) PC Configuration and Operation Information 73 Chapter 3: -I/O Expansion Board Brake / Mechanical Relay (TB30) Brake Configuration Jumpers Mechanical Relay Specifications Brake / Mechanical Relay Interface Connector PSO Output Interface (TB30) PSO Opto Output PSO Opto Output (Archive) Analog Outputs (TB303) Analog Inputs (TB304) User Power (TB305, TB306) Opto-Isolated Inputs (TB305, TB306) Opto-Isolated Outputs (TB307, TB308) 89 Chapter 4: -RDP Expansion Board 93 Chapter 5: Standard Interconnection Cables Joystick Interface Handwheel Interface 0 Chapter 6: Maintenance Power Board Control Board Preventative Maintenance 07 Appendix A: Warranty and Field Service 09 Appendix B: Revision History Index 3 iv

5 Table of Contents Soloist HPe 0/0/30 List of Figures Figure -: Soloist HPe 0/0/30 Networked Digital Drive Figure -: Functional Diagram 4 Figure -3: Power Dissipation vs. Output Current 8 Figure -4: Ambient Temperature vs. Power Dissipation 8 Figure -5: Dimensions (Slim Version) 9 Figure -6: Dimensions (Full Version with -IO and -RDP options) 0 Figure -: Control Supply Connections 4 Figure -: Motor Bus Input Connections 5 Figure -3: Transformer Examples 6 Figure -4: 40 VDC Motor Power with a TV ST Transformer 7 Figure -5: 80 VDC Motor Power with a TV ST Transformer 8 Figure -6: 40 Volt DC Bus from 5 and 30 VAC Source 9 Figure -7: 80 Volt DC Bus from 5 and 30 VAC Source (TV0.3-56) 0 Figure -8: 60 Volt DC Bus from 5 and 30 VAC Source (TV0.3-56) Figure -9: Control and Motor Power Wiring using a TM3 or TM5 Transformer Figure -0: AC Line Filter (UFM-ST) 3 Figure -: Brushless Motor Configuration 5 Figure -: Encoder and Hall Signal Diagnostics 7 Figure -3: Motor Phasing Oscilloscope Example 8 Figure -4: Hall Phasing with Oscilloscope 9 Figure -5: Brushless Motor Phasing Goal 30 Figure -6: DC Brush Motor Configuration 3 Figure -7: Clockwise Motor Rotation 3 Figure -8: Stepper Motor Configuration 33 Figure -9: Clockwise Motor Rotation 34 Figure -0: Line Driver Encoder Interface (J07) 37 Figure -: Serial Data Stream Interface 38 Figure -: Serial Data Stream Interface 39 Figure -3: Analog Encoder Phasing Reference Diagram 40 Figure -4: Analog Encoder Interface (J07) 4 Figure -5: Encoder Phasing Reference Diagram (Standard) 4 Figure -6: Position Feedback in the Diagnostic Display 43 Figure -7: Hall-Effect Inputs (J07) 44 Figure -8: Thermistor Interface Input (J07) 45 Figure -9: Encoder Fault Interface Input (J07) 46 Figure -30: End of Travel Limit Input Connections 47 Figure -3: End of Travel Limit Interface Input (J07) 48 Figure -3: Limit Input Diagnostic Display 49 Figure -33: ESTOP Sense Input (TB0) 5 Figure -34: Typical Emergency Stop Circuit 5 Figure -35: Auxiliary Encoder Channel (J05) 55 Figure -36: PSO Interface 57 Figure -37: Outputs Connected in Current Sinking Mode (J05) 59 Figure -38: Outputs Connected in Current Sourcing Mode (J05) 59 Figure -39: Inputs Connected in Current Sinking Mode (J05) 6 Figure -40: Inputs Connected in Current Sourcing Mode (J05) 6 Figure -4: High Speed User Inputs (J05) 6 Figure -4: Analog Output 0 (J05) 63 Figure -43: Analog Input 0 (J05) 64 Figure -44: Brake Connected to J07 66 Figure -45: Brake Connected to TB v

6 Soloist HPe 0/0/30 Table of Contents Figure -46: RS-3 Interface (J06) 69 Figure 3-: Soloist HPe 0/0/30 with -IO Option Board 75 Figure 3-: Brake Connected to J07 77 Figure 3-3: Brake Connected to TB30 78 Figure 3-4: PSO Output Sources Current 80 Figure 3-5: PSO Output Sinks Current 80 Figure 3-6: PSO Interface (Sinking) 8 Figure 3-7: PSO Interface (Sourcing) 8 Figure 3-8: PSO Opto-Chip Installation 8 Figure 3-9: Analog Output Connector (TB303) 83 Figure 3-0: Analog Input Typical Connection (TB304) 84 Figure 3-: Opto-Isolated Inputs 87 Figure 3-: Inputs Connected to a Current Sourcing Device 88 Figure 3-3: Inputs Connected to a Current Sinking Device 88 Figure 3-4: Opto-Isolated Outputs (-IO Board) 90 Figure 3-5: Outputs Connected in Current Sourcing Mode 9 Figure 3-6: Outputs Connected in Current Sinking Mode 9 Figure 4-: -RDP Option Board 93 Figure 4-: Resolver/Inductosyn Recommended Wiring 95 Figure 4-3: Resolver Inputs 95 Figure 4-4: Encoder Emulation Outputs 96 Figure 4-: Single Axis Joystick Interface (to Aux I/O) 98 Figure 4-: Two Axis Joystick Interface (to the Aux I/O of two drives) 99 Figure 4-3: Two Axis Joystick Interface (to the Aux I/O and I/O Board) 99 Figure 4-4: Handwheel Interconnection (to Aux I/O) 0 Figure 4-5: Handwheel Interconnection (to Aux I/O via a BBA3 Module) 0 Figure 5-: Power Board Assembly 04 Figure 5-: Control Board Assembly 05 vi

7 Table of Contents Soloist HPe 0/0/30 List of Tables Table -: Feature Summary Table -: Accessories 3 Table -3: Soloist Drive and Software Compatibility 5 Table -4: Electrical Specifications 6 Table -5: Physical Specifications 0 Table -: Control Supply AC Input Wiring 4 Table -: Control Supply Mating Connector 4 Table -3: Motor Supply Mating Connector 5 Table -4: Nominal Motor Operating Voltages / Required AC Voltages 6 Table -5: Transformer Options 6 Table -6: Motor Supply Input Wiring 3 Table -7: UFM-ST Electrical Specifications 3 Table -8: Motor Power Output Connections (TB0) 4 Table -9: Motor Power Output Mating Connector 4 Table -0: Wire Colors for Aerotech Supplied Cables (Brushless) 5 Table -: Wire Colors for Aerotech Supplied Cables (DC Brush) 3 Table -: Wire Colors for Aerotech Supplied Cables (Stepper) 33 Table -3: Motor Feedback Connector Pin Assignment (J07) 35 Table -4: Encoder Interface Pin Assignment 36 Table -5: Analog Encoder Specifications 40 Table -6: Hall-Effect Feedback Interface Pin Assignment (J07) 44 Table -7: Hall-Effect Feedback Interface Pin Assignment (J07) 45 Table -8: Encoder Fault Interface Pin Assignment (J07) 46 Table -9: End of Travel Limit Input Interface Pin Assignment (J07) 47 Table -0: Brake Output Pin Assignment (J07) 50 Table -: Electrical Noise Suppression Devices 5 Table -: Electrical Noise Suppression Devices 5 Table -3: TB0 Mating Connector 5 Table -4: Typical ESTOP Relay Ratings 5 Table -5: Auxiliary I/O Connector Pin Assignment (J05) 53 Table -6: Auxiliary Encoder Channel Pin Assignment (J05) 54 Table -7: PSO Output Pin Assignment (J05) 56 Table -8: PSO Output Sources 56 Table -9: Port 0 Digital Output Connector Pin Assignment (J05) 58 Table -30: Digital Output Specifications 58 Table -3: Port 0 Digital Input Connector Pin Assignment (J05) 60 Table -3: PS806-4 Opto-Device Specifications 60 Table -33: Port 0 High Speed Digital Input Connector Pin Assignment (J05) 6 Table -34: Input Voltage Jumper Configuration 6 Table -35: Analog Output Connector Pin Assignment (J05) 63 Table -36: Analog Input Connector Pin Assignment (J05) 64 Table -37: Brake Output Connector Pin Assignment (TB0) 65 Table -38: Mating Connector (TB0) 65 Table -39: Brake Output Connector Pin Assignment (J07) 65 Table -40: Relay Specifications 68 Table -4: RS-3 Connector Pin Assignment (J06) 69 Table -4: RS-3 Port Connector Mating Connector (J06) 69 Table -43: Recommended Shunt Resistors and Wire Gauge 70 Table -44: External Shunt Mating Connector 70 Table -45: Maximum Storage Energy 7 Table 3-: -IO Expansion Board Jumper Configuration 75 vii

8 Soloist HPe 0/0/30 Table of Contents Table 3-: -IO Option Board Fuse Information 75 Table 3-3: -IO Expansion Board Brake Jumper Configuration 76 Table 3-4: Voltage and Current Specifications (TB30) 76 Table 3-5: Brake / Mechanical Relay Connector Pin Assignment (TB30) 77 Table 3-6: Mating Connector 77 Table 3-7: Brake / Mechanical Relay Connector Pin Assignment (J07) 77 Table 3-8: PSO Output Interface Connector Pin Assignment (TB30) 79 Table 3-9: PSO Output Mating Connector 79 Table 3-0: PSO Output Polarity Settings for JP 80 Table 3-: Output Specifications 80 Table 3-: Laser Output Opto-Isolator Specifications 8 Table 3-3: Analog Output Connector Pin Assignment (TB303) 83 Table 3-4: Analog Output Mating Connector 83 Table 3-5: Analog Inputs Connector Pin Assignment (TB304) 84 Table 3-6: Analog Input Mating Connector 84 Table 3-7: User Common Connector Pin Assignment (TB305) 85 Table 3-8: +5 Volt Power Connector Pin Assignment (TB306) 85 Table 3-9: PS806-4 Opto-Device Specifications 86 Table 3-0: Port Opto-Isolated Input Connector Pin Assignment (TB305) 86 Table 3-: Port Opto-Isolated Input Connector Pin Assignment (TB306) 86 Table 3-: Opto-Isolated Input Mating Connector 86 Table 3-3: Port Opto-Isolated Output Connector Pin Assignment (TB307) 89 Table 3-4: Port Opto-Isolated Output Connector Pin Assignment (TB308) 89 Table 3-5: Opto-Isolated Output Mating Connector 89 Table 3-6: Output Specifications (TB307, TB308) 9 Table 4-: -RDP Expansion Board Jumper Configuration 93 Table 4-: -RDP Connector Pin Assignment (J40/J40) 94 Table 4-3: Resolver Mating Connector 94 Table 4-4: External Power Pin Assignment (J403) 96 Table 4-5: External Power Mating Connector 96 Table 4-6: Resolver Test Points 96 Table 4-: Standard Interconnection Cables 97 Table 4-: Cable Part Numbers 00 Table 5-: LED Description 03 Table 5-: Power Board Jumper Configuration 04 Table 5-3: Fuse Information 04 Table 5-4: Control Board Jumper Configuration 05 Table 5-5: Control Board Fuse Information 06 Table 5-6: LED Description 06 Table 5-7: Preventative Maintenance 07 viii

9 Declaration of Conformity Soloist HPe 0/0/30 EC Declaration of Conformity Manufacturer Address Aerotech, Inc. 0 Zeta Drive Pittsburgh, PA USA Product Soloist HPe 0/0/30 Model/Types All This is to certify that the aforementioned product is in accordance with the applicable requirements of the following Directive(s): 006/95/EC 0/65/EU Low Voltage Directive RoHS Directive and has been designed to be in conformity with the applicable requirements of the following documents when installed and used in accordance with the manufacturer s supplied installation instructions. EN EN 600- Radiated RFI/EMI Immunity Safety requirements for electrical equipment Name / Alex Weibel Position Engineer Verifying Compliance Location Pittsburgh, PA Date July 9, 05 ix

10 Soloist HPe 0/0/30 Declaration of Conformity Agency Approvals Aerotech, Inc. Model Soloist HPe 0/0/30 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 #: U File / Report #: Standards: UL 600-; CAN/CSA-C. No x

11 Electrical Safety Soloist HPe 0/0/30 Safety Procedures and Warnings The following statements apply wherever the Warning or Danger symbol appears within this manual. Failure to observe these precautions could result in serious injury to those individuals performing the procedures and/or damage to the equipment. N O T E : Read this manual in its entirety before installing, operating, or servicing this product. If you do not understand the information contained herein, contact an Aerotech representative before proceeding. Strictly adhere to the statements given in this section and other handling, use, and operational information given throughout the manual to avoid injury to you and damage to the equipment. 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 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.. Disconnect electrical power before servicing equipment.. Disconnect electrical power before performing any wiring. 3. Access to the Soloist HPe 0/0/30 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 Soloist HPe 0/0/30 inside a rack or enclosure. 6. Do not connect or disconnect any electrical components or connecting cables while connected to a power source. 7. Make sure the Soloist HPe 0/0/30 and all components are properly grounded in accordance with local electrical safety requirements. 8. Operator safeguarding requirements must be addressed during final integration of the product. D A N G E R : The Soloist HPe 0/0/30 case temperature may exceed 70 C in some applications. xi

12 Soloist HPe 0/0/30 Electrical Safety W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the following precautions must be followed.. Use of this equipment in ways other than described by this manual can cause personal injury or equipment damage.. 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 the Soloist HPe 0/0/30 to environments or conditions outside of the listed specifications. Exceeding environmental or operating specifications can cause damage to the equipment. 5. If the Soloist HPe 0/0/30 is used in a manner not specified by the manufacturer, the protection provided by the Soloist HPe 0/0/30 can be impaired and result in damage, shock, injury, or death. 6. Operators must be trained before operating this equipment. 7. All service and maintenance must be performed by qualified personnel. 8. The Soloist HPe 0/0/30 is intended for light industrial manufacturing or laboratory use. Use of the Soloist HPe 0/0/30 for unintended applications can result in injury and damage to the equipment. xii

13 TM Quick Installation Guide Soloist HPe 0/0/30 Quick Installation Guide This chapter describes the order in which connections and settings should typically be made to the Soloist HPe 0/0/30. 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. J CONTROL SUPPLY MOTOR SUPPLY MOTOR OUTPUT EXTERNAL SHUNT AC AC AC AC A B C 85-40V~ 50/60Hz A MAX 40V~ MAX 50/60Hz 5A MAX DANGER! High Voltage TB0 TB0 TB03 e AEROTECH.COM ENET J04 ENB/FLT MARKER AUX I/O J05 RS3 J06 ESTOP TB0 MOTOR FEEDBACK J07 PWR POS TB303 TB304 TB305 TB306 TB307 TB308 NC C NO RELAY SSINET C GND C V OP OM OP OM TB30 J30 J303 HSO-P PSO-N HSO-M AOUT0 AOUT AOUT AOUT3 AGND AIN0+ AIN0- AIN+ AIN- AGND AIN+ AIN- AIN3+ AIN3-3 OPTO IN OPTO IN OPTO OUT OPTO OUT WARNING: DISCONNECT POWER BEFORE SERVICING +V -V COM HAZARDOUS VOLTAGES PRESENT UP TO 8 MIN. AFTER POWER IS DISCONNECTED J40 CHANNEL R/D J40 CHANNEL R/D USB J08 TB0 BRAKE PS+ Connect to the Motor Output (TB0) and Motor Feedback (J07). Connect the PC to either the Ethernet (J04) or the USB (J08). Connect any additional I/O as required (not shown / user-specific). Connect to the Control Supply (TB0). Connect to the Motor Supply (TB0). Note: Connect to ESTOP (TB0) in this step if applicable. BRAKE PS- S/N - P/N - Figure : Quick Start Connections Topic Motor Output Motor Feedback Ethernet / USB Control Supply Motor Supply Additional I/O Section Section.. Motor Output Connections Section.3. Motor Feedback Connections (J07) No Section / Standard Connection Section... Control Supply Connections (TB0) Section... Motor Supply Connections (TB0) User / Application dependent xiii

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15 Introduction Soloist HPe 0/0/30 Chapter : Introduction Aerotech s Soloist HPe 0/0/30 (High Power PWM) network digital drive is a high performance amplifier.the drive provides deterministic behavior, auto-identification, and easy software setup. The Soloist HPe 0/0/30 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 Soloist HPe 0/0/30 is offered with an optional encoder interpolation feature (-MXH), an auxiliary square wave encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -IO option), a resolver input (-RDP option), and separate power connections for motor and control supply voltages. J403 CONTROL SUPPLY MOTOR SUPPLY MOTOR OUTPUT EXTERNAL SHUNT AC AC AC AC A B C 85-40V~ 50/60Hz A MAX 40V~ MAX 50/60Hz 5A MAX DANGER! High Voltage TB0 TB0 TB03 AEROTECH.COM ENET J04 ENB/FLT MARKER AUX I/O J05 RS3 J06 ESTOP TB0 TM e PWR POS TB303 TB304 TB305 TB306 NC C NO RELAY SSINET C GND C V TB30 J30 J303 HSO-P PSO-N HSO-M AOUT0 AOUT AOUT AOUT3 AGND AIN0+ AIN0- AIN+ AIN- AGND AIN+ AIN- AIN3+ AIN3-3 OPTO IN OPTO IN WARNING: DISCONNECT POWER BEFORE SERVICING +V -V COM HAZARDOUS VOLTAGES PRESENT UP TO 8 MIN. AFTER POWER IS DISCONNECTED J40 CHANNEL R/D J40 CHANNEL R/D USB J08 Standard (Slim or Full Version) Connector Description -IO/-IOH Board Option (Full Version) Connector Description TB0 Control Supply TB30 Relay TB0 Motor Supply and Motor Output TB30 Dedicated PSO Output TB03 External Shunt TB303 Analog Outputs J04 Ethernet Port TB304 Analog Inputs J05 Auxiliary I/O TB305 Opto-Inputs J06 RS-3 TB306 Opto-Inputs TB0 Emergency Stop Sense Input (ESTOP) TB307 Opto-Outputs J07 Motor Feedback TB308 Opto-Outputs J08 USB Port TB0 Brake Power -RDP Option (Full Version) Connector Description J40 R/D Channel J40 R/D Channel J403 R/D Power TB0 BRAKE PS+ BRAKE PS- S/N - P/N - MOTOR FEEDBACK J07 TB307 TB308 OP OM OP OM OPTO OUT OPTO OUT Figure -: Soloist HPe 0/0/30 Networked Digital Drive Chapter

16 Soloist HPe 0/0/30 Introduction Table -: Feature Summary Standard Features Line driver square wave quadrature encoder input for position and velocity feedback Line driver square wave auxiliary quadrature encoder input or output for PSO Four opto-isolated user outputs Six opto-isolated user inputs (two high speed) One 6-bit differential analog input (± 0 V) One 6-bit analog output (±0 V) Dedicated 5-4 V Emergency Stop sense input 4-40 VAC motor supply inputs (producing 0-30 VDC) VAC control supply inputs Single axis Position Synchronized Output (PSO) Absolute Encoder support Calibration (refer to the Soloist Help file for more information) Camming (refer to the Soloist Help file for more information) 0/00 BASE-T Ethernet port for use with Ethernet I/O modules Options -S Internal shunt resistor network (standard on HPe 30). A shunt circuit prevents the bus voltage from causing damage to the amplifier (available for high-energy systems). 40 W Continuous; 400 W Peak (5 seconds) -IO Three 6-bit analog outputs (±0 V) Three 6-bit differential analog inputs (±0 V) One fail-safe brake or user relay output 6 optically isolated logic inputs (5-4 VDC), may be connected in current sourcing or sinking mode 6 optically isolated logic outputs (5-4 VDC), user defined as current sourcing or sinking Optically isolated laser firing (PSO) output -PSOOPTO Opto isolator for PSO (5V, high speed, high current, HCPL60), standard -PSOOPTO Opto isolator for PSO (5VDC, high speed, low current, 6N36) -PSOOPTO3 Opto isolator for PSO (30VDC, low speed, high current, 4N33) -PSOOPTO4 Opto isolator for PSO (5-5VDC, 40kHz, 50mA, TIL7-M) -PSONC PSO Output normally closed -MXH Interpolation circuit allowing for analog sine wave input on the standard encoder channel. Interpolation factor: 65,536 -EXTSHUNT Connection provided for an external shunt resistor network. A shunt circuit prevents the bus voltage from causing damage to the amplifier (available for highenergy systems). -RDP Resolver to digital converter input Chapter

17 Introduction Soloist HPe 0/0/30 Table -: Accessories Accessories UFM-ST AC Line Filter Module (required for CE compliance; refer to Section..) MCK-NDRIVE Mating connector kit for J06 (J05 mate is always provided) JI Industrial Joystick (NEMA (IP54) rated); refer to Section 5.. PS4-4 VDC, A power supply for optional brake/relay output BRAKE4-4 VDC, A power supply for optional brake Transformers Refer to Section..3. for listings, wiring, and specifications Cables Interconnection A complete list of Aerotech cables can be found on the website at Joystick/Handwheel Refer to Section 5.. or Section Chapter 3

18 Soloist HPe 0/0/30 Introduction The following block diagram shows a connection summary. For detailed connection information, refer to Chapter and Chapter 3. -IO Option J08 USB J04 ENET USB.0 Port Ethernet Port Relay (jumper configurable) TB30 RELAY TB0 ESTOP TB0 BRAKE PS ± J05 AUX I/O J06 Serial Communication Emergency Stop Sense Input Brake Supply Input Encoder +5V / Common PSO Output SIN, COS, MRK (RS4) 4 Opto Outputs 4 Opto Inputs High Speed Opto Inputs Analog Input 0 +/- Analog Output 0 RS-3 (RS-4/RS-485) PSO Opto-Output 4* Analog Outputs 4* Analog Inputs +/- 6 Opto Inputs TB30 PSO Output TB303 AOUT TB304 AIN TB305/TB306 OPTO IN J07 MOTOR FEEDBACK TB03 -EXTSHUNT option TB0 CONTROL SUPPLY AC AC AC AC -MXH Option SIN, COS, MRK (RS4) CW, CCW, Home Limits; Encoder Fault; Hall A, B, C; Motor Over Temperature Brake +/- Encoder +5V / Common + Isolated Power Supply 6 Opto Outputs (Sinking or Sourcing) +V -V REF SIN COS -RDP Option TB307/TB308 OPTO OUT J403 Resolver Power (opt) J40 Channel R/D J40 Channel R/D TB0 MOTOR SUPPLY AC AC AC AC Inrush Limiting Heatsink Over Temperature PWM Power Amplifier A B C A B C TB0 MOTOR OUTPUT * There are a total of four analog inputs and four analog outputs available if the -IO Option has been purchased.the analog I/O normally available on J05 is accessed through TB303 and TB304. Figure -: Functional Diagram 4 Chapter

19 Introduction Soloist HPe 0/0/30.. Drive and Software Compatibility The following table lists the available Soloist drives and which version of the Soloist software first provided support for a given drive. Drives that list a specific version number in the Last Software Version column will not be supported after the listed version. Table -3: Soloist Drive and Software Compatibility Drive Type Firmware Revision First Software Version Last Software Version CL -.06 Current A.55 Current -.00 Current CP A.0 Current B.54 Current HLe -.5 Current HPe -.5 Current ML Current MP -.0 Current A.55 Current Chapter 5

20 Soloist HPe 0/0/30 Introduction.. Electrical Specifications Table -4: Electrical Specifications Description HPe 0 HPe 0 HPe 30 Input Voltage 4-40 VAC Input Frequency Hz Motor Inrush Current 34 A Supply Max Continuous Input Current 5 A rms 0 A rms 0 A rms Input Current Refer to Section... System Power Requirements Input Voltage VAC Control Input Frequency Hz Supply Inrush Current 6 A Input Current A max Output Voltage () VDC Peak Output Current ( second) 0 A 0 A 30 A Continuous Output Current 5 A 0 A 0 A Power Amplifier Bandwidth 500 Hz maximum (software selectable) Power Amplifier Efficiency 85% - 95% () PWM Switching Frequency 0 khz Minimum Load Inductance VDC ( 30 VDC) User Power Supply Output 5 VDC (@ 500 ma) Modes of Operation Brushless; Brush; Stepper Output short circuit; Peak over current; DC bus over voltage; RMS Protective Features over current;over temperature; Control power supply under voltage; Power stage bias supply under voltage Isolation Optical and transformer isolation between control and power stages. () AC input voltage and load dependent. () Dependent on total output power: efficiency increases with increasing output power. 6 Chapter

21 Introduction Soloist HPe 0/0/30... 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 Output Power Rotary Motors Linear Motors Pout [W] = Torque [N m] * Angular velocity[rad/sec] Pout [W] = Force [N] * Linear velocity[m/sec] Rotary or Linear Motors Pout [W] = Bemf [V] * I(rms) * 3 Ploss = 3 * I(rms)^ * R(line-line)/ Pin = SUM ( Pout + Ploss ) / EfficiencyFactor DC Brush Motor Pout [W] = Torque [N m] * Angular velocity[rad/sec] Ploss = I(rms)^ * R Pin = SUM ( Pout + Ploss ) / EfficiencyFactor Chapter 7

22 Soloist HPe 0/0/30 Introduction... Power Dissipation The first figure below shows the amplifier power dissipation under continuous power supply and output current conditions. 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. The second figure 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 Soloist HPe 0/0/30. Mounting it to a large metal plate for extra heat-sinking and providing additional fan flow are suggested. 40 Power Dissipation (W) V Bus 60V Bus 80V Bus 40V Bus Figure -3: Output Current (A) Power Dissipation vs. Output Current Ambient Temperature (C) Figure -4: Absolute Maximum Recommended Amplifier Dissipation (W) Ambient Temperature vs. Power Dissipation EXAMPLE: 30 VDC Bus operation at 5 A Power Dissipation = 47 Watts Maximum Ambient Temperature = 54 C 8 Chapter

23 TM 4 3 Introduction Soloist HPe 0/0/30.3. Mechanical Design Install the unit into a construction compliant for unlimited circuits enclosure. Each unit should be separated from other drives and surrounded by 5 mm (") of free air space. A space of 00 mm (4") should be allowed along the front of the unit for cable connections. S/N - P/N - WARNING: DISCONNECT POWER BEFORE SERVICING HAZARDOUS VOLTAGES PRESENT UP TO 8 MIN. AFTER POWER IS DISCONNECTED USB J08 TB0 BRAKE PS+ BRAKE PS [3.3] 4.3 [0.56] Ø4.7 [Ø0.9] Ø9.7 [Ø0.38] CONTROL SUPPLY MOTOR SUPPLY MOTOR OUTPUT EXTERNAL SHUNT AC AC AC AC A B C 85-40V~ 50/60Hz A MAX 40V~ MAX 50/60Hz 5A MAX 50.8 [.00] TB0 TB0 e AEROTECH.COM ENET J04 ENB/FLT PWR MARKER POS DANGER! High Voltage TB03 AUX I/O J [9.66] 5.4 [9.94] 6.9 [0.3] 3.5 [9.5] 8.7 [0.73] RS3 J06 ESTOP TB0 MOTOR FEEDBACK J07 Drawing Number: 630D76 Rev. - (sheet 5).0 [0.08] 4.7 [0.9] 6.3 [0.5] REC. MTG. HDWR.: M4 [#8] Dimensions: millimeters [inches] 4.7 [0.9] 0.7 [0.4] 67.8 [6.6] 79.3 [7.06] Figure -5: Dimensions (Slim Version) Chapter 9

24 TM Soloist HPe 0/0/30 Introduction S/N - P/N - WARNING: DISCONNECT POWER BEFORE SERVICING HAZARDOUS VOLTAGES PRESENT UP TO 8 MIN. AFTER POWER IS DISCONNECTED USB J08 TB0 J40 CHANNEL R/D J40 CHANNEL R/D +V -V COM BRAKE PS+ BRAKE PS J [0.97] Ø4.7 [Ø0.9] Ø9.7 [Ø0.38] CONTROL SUPPLY MOTOR SUPPLY MOTOR OUTPUT EXTERNAL SHUNT AC AC AC AC A B C 85-40V~ 50/60Hz A MAX 40V~ MAX 50/60Hz 5A MAX 99. [3.90] 50.8 [.00] TB0 TB0 ENB/FLT MARKER DANGER! High Voltage TB03 e AEROTECH.COM ENET J04 AUX I/O J05 RS3 J06 ESTOP TB0 PWR POS TB303 TB304 TB305 TB306 NC C NO C GND C V TB30 RELAY SSINET J30 J303 HSO-P PSO-N HSO-M AOUT0 AOUT AOUT AOUT3 AGND AIN0+ AIN0- AIN+ AIN- AGND AIN+ AIN- AIN3+ AIN3-3 OPTO IN OPTO IN 45.3 [9.66] 5.4 [9.94] 6.9 [0.3] 3.5 [9.5] 8.7 [0.73] MOTOR FEEDBACK J07 TB307 TB308 OP OM OP OM OPTO OUT OPTO OUT Drawing Number: 630D76 Rev. - (sheet 6).0 [0.08] 4.7 [0.9] 6.3 [0.5] REC. MTG. HDWR.: M4 [#8] Dimensions: millimeters [inches] 4.7 [0.9] 0.7 [0.4] 67.8 [6.6] 83.8 [7.3] Figure -6: Dimensions (Full Version with -IO and -RDP options) Table -5: Physical Specifications Weight Slim.7 kg [5.0 lb] w/ -IO option.45 kg [5.4 lb] w/ -RDP option.45 kg [5.4 lb] 0 Chapter

25 Introduction Soloist HPe 0/0/30.4. Environmental Specifications The environmental specifications for the Soloist HPe 0/0/30 are listed below. Ambient Temperature Operating: 0 to 50 C (3 to F) Storage: -30 to 85 C (- to 85 F) Humidity Maximum relative humidity is 80% for temperatures up to 3 C. Decreasing linearly to 50% relative humidity at 40 C. Non condensing. Altitude Up to 000 meters. Pollution Pollution degree (normally only non-conductive pollution). Use Indoor use only. Chapter

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27 Installation and Configuration Soloist HPe 0/0/30 Chapter : Installation and Configuration.. Power Connections The Soloist HPe 0/0/30 has two AC input connectors; one for control power and a second for motor power. For a complete list of electrical specifications, refer to Section.. N O T E : The machine integrator, OEM or end user is responsible for meeting the final protective grounding requirements of the system. Chapter 3

28 Soloist HPe 0/0/30 Installation and Configuration... Control Supply Connections (TB0) N O T E : This product requires two power supply connections. The Motor Supply and Control Supply must both be connected for proper operation. The control power supply input allows the Soloist HPe 0/0/30 to maintain communications if the motor power is removed, such as in an Emergency Stop condition. The control power supply requires a minimum of 85 VAC input to operate properly. The AC input is internally fused. The AC input is not internally fused but can be connected to a voltage source other than Neutral if an external A time-delay fuse is used. Although the control power supply contains an internal filter, an additional external filter located as close as possible to the Soloist HPe 0/0/30 may be required for CE compliance (Aerotech recommends Schaffner FN080 or Aerotech UFM-ST) V~ 50/60Hz A MAX Line (L) Neutral (N) Ground Line Filter CONTROL SUPPLY AC AC TB0 Figure -: Control Supply Connections Table -: Control Supply AC Input Wiring Pin Description Recommended Wire Size AC Line (L): VAC Control Power Input 0.8 mm (#8 AWG) AC Neutral (0V) or VAC Control Power Input with external fuse 0.8 mm (#8 AWG) Protective Ground (Required for Safety) 0.8 mm (#8 AWG) Table -: Control Supply Mating Connector Tightening Type Aerotech P/N Phoenix P/N Torque (Nm) Wire Size: mm [AWG] 3-Pin Terminal Block ECK [-30] 4 Chapter

29 Installation and Configuration Soloist HPe 0/0/30... Motor Supply Connections (TB0) 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 Soloist HPe 0/0/30 Motor Supply connector (refer to Figure - for locations). The AC input is internally fused (5A HPe0, 0A HPe0/30). External fuses or a circuit breaker (5 A maximum, time delay type) are required for the AC and AC inputs. The AC input can be connected directly to Neutral without a fuse for single phase power systems. The recommended wire size is.3 mm (#6 AWG). The wire must be properly matched to the fuses or circuit breakers and must be sized to meet local electrical safety codes. W A R N I N G : Do not operate the Soloist HPe 0/0/30 without the safety ground connection in place. W A R N I N G : Do not operate the Soloist HPe 0/0/30 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..4. Wiring between the filter and drive can be twisted and/or shielded to reduce radiated emissions. 40V~ MAX 50/60Hz 5A MAX Line (L) Neutral (N) Ground Line Filter MOTOR SUPPLY MOTOR OUTPUT AC AC A B C TB0 Figure -: Motor Bus Input Connections Table -3: Motor Supply Mating Connector Tightening Type Aerotech P/N Phoenix P/N Torque (Nm) Wire Size: mm [AWG] 7-Pin Terminal Block ECK [-30] Chapter 5

30 Soloist HPe 0/0/30 Installation and Configuration..3. Transformer Options An external isolation transformer can be connected to the motor supply AC input. This is done to reduce the operating voltage of the motor and may also reduce electrical noise. Table -4: Nominal Motor Operating Voltages / Required AC Voltages AC Voltage DC Voltage Table -5: Transformer Options Transformer TV ST TM3 TM5 TV0.3-8 TV Description Generate 8 or 56 VAC from 5 VAC or 30 VAC input source voltage. When rectified by the drive, it produces a 40 or 80 VDC power bus. Power up to 4 drives, providing 300 watts of power Power up to 4 drives providing 500 watts of power Generate 8 VAC from 5 VAC or 30 VAC input source voltage. When rectified by the drive, it produces a 40 VDC power bus. Generate 56 VAC from 5 VAC or 30 VAC input source voltage. When rectified by the drive, it produces an 80 VDC power bus. TV.5, TV.5, or TV5.5 kva,.5 kva, or 5 kva isolation transformer; 5/30 VAC input; 8, 43, 56, 70, 5 VAC output Figure -3: Transformer Examples 6 Chapter

31 Installation and Configuration Soloist HPe 0/0/30 Drive Motor Supply AC AC Internal Thermal Switch 8V 0V 8V Integral Fuse 3.5A Slow-Blow F-OUT 5V 00V 0V 5V 00V F-IN 4 AC HI AC LO SAFETY 5 VAC 50/60 HZ INPUT 0V 0V Frame Ground Control Supply AC AC 6 TV ST Wiring 5 VAC INPUT Secondary = 8 VAC (40 VDC Bus) Drive Motor Supply AC AC Internal Thermal Switch 8V 0V 8V Integral Fuse 3.5A Slow-Blow F-OUT 5V 00V 0V 5V 00V F-IN 4 AC HI AC LO SAFETY 30 VAC 50/60 HZ INPUT 0V 0V Frame Ground Control Supply AC AC 6 HAZARDOUS VOLTAGES PRESENT TV ST Wiring 30 VAC INPUT CONNECT ALL WIRING BEFORE POWERING TRANSFORMER Secondary = 8 VAC (40 VDC Bus) FOLLOW ALL APPLICABLE WIRING AND SAFETY CODES.. For 00 VAC primary input, parallel the 00 VAC taps and leave the 5 VAC taps unterminated.. For 00 VAC primary input, series the 00 VAC taps and leave the 5 VAC taps unterminated. 3. When using an isolation transformer, earth grounding of the AC input tap reduces electrical and audible noise emissions and provides increased servo performance. 4. Transformer Primary Wiring: 0.8 mm (#8 AWG) 300 V wire. 5. Transformer Secondary Wiring:.3 mm (#6 AWG) 300 V wire. 6. AC line filters are for CE compliance. Filters may also be located on the primary side of the transformer. Drawing: 60B346-8, Rev. - Figure -4: 40 VDC Motor Power with a TV ST Transformer Chapter 7

32 Soloist HPe 0/0/30 Installation and Configuration Drive AC 5 Internal Thermal Switch 8V Integral Fuse 3.5A Slow-Blow 5V F-IN F-OUT AC HI AC LO SAFETY 5 VAC 50/60 HZ INPUT Motor Supply AC 3 6 0V 8V 00V 0V 5V 00V 4 0V 0V Frame Ground Control Supply AC AC 6 TV ST Wiring 5 VAC INPUT Secondary = 8+8 = 56 VAC (80 VDC Bus) Drive AC 5 Internal Thermal Switch 8V Integral Fuse 3.5A Slow-Blow 5V F-IN F-OUT AC HI AC LO SAFETY 30 VAC 50/60 HZ INPUT Motor Supply AC 3 6 0V 8V 00V 0V 5V 00V 4 0V 0V Frame Ground Control Supply AC AC 6 HAZARDOUS VOLTAGES PRESENT TV ST Wiring 30 VAC INPUT CONNECT ALL WIRING BEFORE POWERING TRANSFORMER Secondary = 8+8 = 56 VAC (80 VDC Bus) FOLLOW ALL APPLICABLE WIRING AND SAFETY CODES.. For 00 VAC primary input, parallel the 00 VAC taps and leave the 5 VAC taps unterminated.. For 00 VAC primary input, series the 00 VAC taps and leave the 5 VAC taps unterminated. 3. When using an isolation transformer, earth grounding of the AC input tap reduces electrical and audible noise emissions and provides increased servo performance. 4. Transformer Primary Wiring: 0.8 mm (#8 AWG) 300 V wire. 5. Transformer Secondary Wiring:.3 mm (#6 AWG) 300 V wire. 6. AC line filters are for CE compliance. Filters may also be located on the primary side of the transformer. Drawing: 60B346-9, Rev. - Figure -5: 80 VDC Motor Power with a TV ST Transformer 8 Chapter

33 Installation and Configuration Soloist HPe 0/0/30 Drive AC 7 8V RED Internal Thermal Switch #8 WHT #8 WHT 5V BLK Primary Fuse 4A Slow-Blow splice 4 AC HI AC LO SAFETY 5 VAC 50/60 HZ INPUT Motor Supply AC 3 5 0V GRN 8V YEL 00V ORN 0V GRY 5V BRN 00V GRN 6 0V BLK 0V BLU splice Frame Ground Control Supply AC AC 5 TV0.3-8 Wiring 5 VAC INPUT Secondary = 8 VAC (40 VDC Bus) Drive AC 7 Internal Thermal Switch 8V RED #8 WHT #8 WHT 5V BLK Primary Fuse 4A Slow-Blow splice 4 AC HI AC LO SAFETY 30 VAC 50/60 HZ INPUT Motor Supply AC 3 5 0V GRN 8V YEL 00V ORN 0V GRY 5V BRN 00V GRN splice 6 0V BLK 0V BLU Frame Ground Control Supply AC AC 5 HAZARDOUS VOLTAGES PRESENT TV0.3-8 Wiring 30 VAC INPUT CONNECT ALL WIRING BEFORE POWERING TRANSFORMER Secondary = 8 VAC (40 VDC Bus) FOLLOW ALL APPLICABLE WIRING AND SAFETY CODES.. For 00 VAC primary input, parallel the 00 VAC taps and leave the 5 VAC taps unterminated.. For 00 VAC primary input, series the 00 VAC taps and leave the 5 VAC taps unterminated. 3. When using an isolation transformer, earth grounding of the AC input tap reduces electrical and audible noise emissions and provides increased servo performance. 4. Additional or alternative fusing may be required for optimum protection 5. AC line filters are required for CE compliance. Filters may also be located on the primary side of the transformer. 6. Transformer Primary Wiring: 0.8 mm (#8 AWG) 300 V wire. 7. Transformer Secondary Wiring:.3 mm (#6 AWG) 300 V wire. Drawing: 60B346- Figure -6: 40 Volt DC Bus from 5 and 30 VAC Source Chapter 9

34 Soloist HPe 0/0/30 Installation and Configuration Drive AC 7 56V RED Internal Thermal Switch #8 WHT #8 WHT 5V BLK Primary Fuse 4A Slow-Blow splice 4 AC HI AC LO SAFETY 5 VAC 50/60 HZ INPUT Motor Supply AC 3 5 0V GRN 56V YEL 00V ORN 0V GRY 5V BRN 00V GRN 6 0V BLK 0V BLU splice Frame Ground Control Supply AC AC 5 TV Wiring 5 VAC INPUT Secondary = 56 VAC (80 VDC Bus) Drive AC 7 Internal Thermal Switch 56V RED #8 WHT #8 WHT 5V BLK Primary Fuse 4A Slow-Blow splice 4 AC HI AC LO SAFETY 30 VAC 50/60 HZ INPUT Motor Supply AC 3 5 0V GRN 56V YEL 00V ORN 0V GRY 5V BRN 00V GRN splice 6 0V BLK 0V BLU Frame Ground Control Supply AC AC 5 HAZARDOUS VOLTAGES PRESENT TV Wiring 30 VAC INPUT CONNECT ALL WIRING BEFORE POWERING TRANSFORMER Secondary = 56 VAC (80 VDC Bus) FOLLOW ALL APPLICABLE WIRING AND SAFETY CODES. For 00 VAC primary input, parallel the 00 VAC taps and leave the 5 VAC taps unterminated.. For 00 VAC primary input, series the 00 VAC taps and leave the 5 VAC taps unterminated. 3. When using an isolation transformer, earth grounding of the AC input tap reduces electrical and audible noise emissions and provides increased servo performance. 4. Additional or alternative fusing may be required for optimum protection 5. AC line filters are required for CE compliance. Filters may also be located on the primary side of the transformer. 6. Transformer Primary Wiring: 0.8 mm (#8 AWG) 300 V wire. 7. Transformer Secondary Wiring:.3 mm (#6 AWG) 300 V wire. Figure -7: 80 Volt DC Bus from 5 and 30 VAC Source (TV0.3-56) 0 Chapter

35 Installation and Configuration Soloist HPe 0/0/30 Drive AC 7 56V RED Internal Thermal Switch #8 WHT #8 WHT 5V BLK Primary Fuse 4A Slow-Blow splice 4 AC HI AC LO SAFETY 5 VAC 50/60 HZ INPUT Motor Supply AC 3 5 0V GRN splice 56V YEL 00V ORN 0V GRY 5V BRN 00V GRN 6 0V BLK 0V BLU splice Frame Ground Control Supply AC AC 5 TV ST Wiring 5 VAC INPUT Secondary = 5 VAC (60 VDC Bus) Drive AC 7 Internal Thermal Switch 56V RED #8 WHT #8 WHT 5V BLK Primary Fuse 4A Slow-Blow splice 4 AC HI AC LO SAFETY 30 VAC 50/60 HZ INPUT Motor Supply AC 3 5 0V GRN splice 56V YEL 00V ORN 0V GRY 5V BRN 00V GRN splice 6 0V BLK 0V BLU Frame Ground Control Supply AC AC 5 HAZARDOUS VOLTAGES PRESENT TV ST Wiring 30 VAC INPUT CONNECT ALL WIRING BEFORE POWERING TRANSFORMER Secondary = 5 VAC (60 VDC Bus) FOLLOW ALL APPLICABLE WIRING AND SAFETY CODES. For 00 VAC primary input, parallel the 00 VAC taps and leave the 5 VAC taps unterminated.. For 00 VAC primary input, series the 00 VAC taps and leave the 5 VAC taps unterminated. 3. When using an isolation transformer, earth grounding of the AC input tap reduces electrical and audible noise emissions and provides increased servo performance. 4. Additional or alternative fusing may be required for optimum protection 5. AC line filters are for CE compliance. Filters may also be located on the primary side of the transformer. 6. Transformer Primary Wiring: 0.8 mm (#8 AWG) 300 V wire. 7. Transformer Secondary Wiring:.3 mm (#6 AWG) 300 V wire. Drawing: 60B346-3 Figure -8: 60 Volt DC Bus from 5 and 30 VAC Source (TV0.3-56) Chapter

36 Soloist HPe 0/0/30 Installation and Configuration MOTOR SUPPLY MOTOR OUTPUT CONTROL SUPPLY ST HPe AC AC A B C AC AC TB0 TB0 TM3/TM5 TRANSFORMER MODULE TB3 TB MAIN SUPPLY CONTROL SUPPLY 8~ 8~ 0~ 0~ L L 5~ 5~ N N MAIN SUPPLY CONTROL SUPPLY TB4 TB AC AC AC AC 3rd HPe MOTOR SUPPLY TB0 CONTROL SUPPLY TB0 MOTOR SUPPLY TB0 AC AC MAIN SUPPLY 8~ 0~ 8~ 0~ MAIN SUPPLY AC AC MOTOR SUPPLY TB0 CONTROL SUPPLY TB0 AC AC nd HPe CONTROL SUPPLY L 5~ N L 5~ N CONTROL SUPPLY AC AC 4th HPe CONTROL SUPPLY TB0 4VDC A MAX + Use to power User-Supplied ESTOP circuitry Transformer Module AEROTECH.COM DANGER! High Voltage ON O OFF HAZARDOUS VOLTAGES PRESENT CONNECT ALL WIRING BEFORE POWERING TRANSFORMER FOLLOW ALL APPLICABLE WIRING AND SAFETY CODES.. Wiring Specifications:.3 mm (#6 AWG) 300 V wire.. Control Supply output voltage (5 VAC in this example) is always the same as the AC Input Voltage to the unit. Figure -9: Control and Motor Power Wiring using a TM3 or TM5 Transformer Chapter

37 Installation and Configuration Soloist HPe 0/0/ Minimizing Conducted, Radiated, and System Noise The Soloist HPe 0/0/30 generates conducted (AC line) and radiated noise. Conducted emissions are minimized by using line filters and should be located as close to the drive as possible for maximum effectiveness. User connections to the product must be made using shielded cables with metal D-style connectors and back shells. The shield of the cables must be connected to the metal back shell in order for the product to conform to the radiated emission standards. Ferrite beads (Aerotech s FBF- or FBF- filter adapters) can be used on the motor leads to reduce the effects of PWM noise. The Soloist HPe 0/0/30 is a component designed to be integrated with other electronics. EMC testing must be conducted on the final product configuration. Table -6: Motor Supply Input Wiring Wire Size Aerotech P/N Third Party P/N 3.3 mm (#6 AWG) N/A # Elna Fair-Rite Products 8.3 mm (#8 AWG) ECZ0085 # Elna Fair-Rite Products.0 mm (#4 AWG) EIZ007 # Elna Fair-Rite Products.3 mm (#6 AWG) EIZ005 # Elna Fair-Rite Products 0.8 mm (#8 AWG) EIZ000 # Elna Fair-Rite Products Aerotech's UFM-ST AC line filter and isolation transformers connected to the motor supply AC input are also effective in reducing PWM generated noise and improving performance (refer to Section..3.). Table -7: UFM-ST Electrical Specifications Specification Input Voltage Range Output Voltage Range Maximum Continuous Current Frequency Phases Leakage Current Fuse Protection Value 0-40 VAC 0-40 VAC 8 A rms with convection cooling 0 A rms with forced air cooling 50/60 Hz Single Phase. ma (max) Internal 0 A fuses on AC and AC inputs AC AC TB- TB- F 0 ASB 3AG F 0 ASB 3AG JP4 JP3 LINE INTERNAL FILTER COMPONENTS LOAD TB- TB- AC AC TO MAINS GND TB-3 QVR V0E385P QVR V0E385P TO DRIVE TB-3 GND Figure -0: AC Line Filter (UFM-ST) Chapter 3

38 Soloist HPe 0/0/30 Installation and Configuration.. Motor Output Connections The Soloist HPe 0/0/30 is capable of controlling three motor types: Brushless (see Section...) DC Brush (see Section...) Stepper (see Section..3.) For a complete list of electrical specifications, refer to Section.. Table -8: Motor Power Output Connections (TB0) Pin Description Recommended Wire Size ØA Phase A Motor Lead.3 mm (#6 AWG) ØB Phase B Motor Lead.3 mm (#6 AWG) ØC Phase C Motor Lead.3 mm (#6 AWG) Earth Ground to Motor (required for safety).3 mm (#6 AWG) Table -9: Motor Power Output Mating Connector Tightening Type Aerotech P/N Phoenix P/N Torque (Nm) Wire Size: mm [AWG] 7-Pin Terminal Block ECK [-30] 4 Chapter

39 Installation and Configuration Soloist HPe 0/0/30... Brushless Motor Connections The configuration shown in Figure - is an example of a typical brushless motor connection. MOTOR SUPPLY MOTOR OUTPUT AC AC A B C 40V~ MAX 50/60Hz 5A MAX TB0 Install Aerotech FBF- or FBF-, or 0 Beads per wire at drive (Elna Fair-Rite # , or # ) Motor Frame Green/Yellow & Shield Black Red White AC Brushless Motor NOTE: Listed wire colors are for Aerotech supplied cables. Figure -: Brushless Motor Configuration Table -0: Wire Colors for Aerotech Supplied Cables (Brushless) Pin Wire Color Set () Wire Color Set Wire Color Set 3 Wire Color Set 4 Green/Yellow & Shield () Green/Yellow & Shield Green/Yellow & Shield Green/Yellow & Shield A Black Blue & Yellow Black # Black & Brown B Red Red & Orange Black # Red & Orange C White White & Brown Black #3 Violet & Blue () Wire Color Set # is the typical Aerotech wire set used by Aerotech. () & (Red & Orange) indicates two wires; / (Green/White) indicates a single wire N O T E : Brushless motors are commutated electronically by the controller. The use of Hall effect devices for commutation is recommended. The drive requires that the Back-EMF of each motor phase be aligned with the corresponding Hall-effect signal. To ensure proper alignment, motor, Hall, and encoder connections should be verified. There are two methods for verifying motor connections: powered, through the use of a test program; and an unpowered method using an oscilloscope. Both methods will identify the A, B, and C Hall/motor lead sets and indicate the correct connections to the drive. N O T E : If using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. Chapter 5

40 Soloist HPe 0/0/30 Installation and Configuration... Powered Motor Phasing To test the initial set of motor connections, run the MotorVerification.ab test program. The program will attempt to move the motor forward in a positive (CW) direction. Depending on the information that the program gathers during the test, you may be prompted to rearrange motor lead connections and run the test again. Refer to Section... for connector pin output information. W A R N I N G : The MotorVerification.ab program moves the motor in Open-Loop mode, bypassing many of the standard safety faults. W A R N I N G : It is recommended that rotary motors be disconnected from the stage/load before running this test. Linear motor systems must be free from obstruction to prevent damage to other components. Operators must remain clear of all moving parts during the test. Hall Signal Phasing (connections to J07): With the information gathered while the program is running, the Hall signal wires may have to be swapped. After the Hall sequence is correct, the program will determine if a commutation offset is required (and calculate a value for the CommutationOffset parameter that will have to be entered into the parameter editor). Refer to Section.3.. for more information and connector pin output assignments. Encoder Phasing (connections to J07): The MotorVerification.ab program also determines if the feedback wiring is correct. Follow the program prompts to establish the correct feedback wiring. Refer to Section.3. for connector pin output assignments and Section for phasing information. Feedback Monitoring: The state of the encoder and Hall-effect device signals can be observed in the Motion Composer. A 0 for the given Hall input indicates zero voltage or logic low, where a indicates 5V or logic high. CommutationOffset has replaced CfgMotOffsetAng in software version Chapter

41 Installation and Configuration Soloist HPe 0/0/30 Figure -: Encoder and Hall Signal Diagnostics Chapter 7

42 Soloist HPe 0/0/30 Installation and Configuration... Unpowered Motor and Feedback Phasing Disconnect the motor from the controller and connect the motor in the test configuration (as shown in Figure -3). This method will require a two-channel oscilloscope, a 5V power supply, and six resistors (0,000 ohm, /4 watt). All measurements should be made with the probe common of each channel of the oscilloscope connected to a neutral reference test point (TP4, shown in Figure -3). To determine the relative phasing/order of the three motor lead signals in relation to each other, connect channel of the oscilloscope to TP. Connect channel to TP and move the motor in the positive direction (CW) by hand. Note the peak of the sine wave signal of channel in comparison to the peak of the sine wave signal of channel. Next, disconnect channel from TP and reconnect it to TP3 and again move the motor in the positive direction. Note the peak of the sine wave signal of channel 3 in comparison to the peak of the sine wave signal of channel. Aerotech phasing configuration expects ØC to be the lead signal (in time), ØB to follow it, and ØA to follow ØB. This means that whichever signal has its sine wave peak farthest to the left should be designated as the ØC signal. Channel at TP and Channel at TP Channel at TP and Channel at TP3 TP (CH) TP3 (CH) TP (CH) TP (CH) Signals Combined for Comparison ØC ØB ØA ØC ØB CHANNEL CHANNEL TP TP TP3 TP4 Power Supply COM +5V TP5 TP6 TP7 In this example: The peak of the sine wave signal at TP precedes the peaks of the sine wave signals at TP and TP3. The peak of the sine wave signal at TP precedes the peak of the sine wave signals at TP3. TP = Motor Lead = ØC signal TP = Motor Lead = ØB signal TP3 = Motor Lead 3 = ØA signal B After the phasing process is complete, C the ØA, ØB, and ØC signal motor leads should be connected to their respective TB0 Motor Outputs (A to A, B to B and C to C). 0K OHM TYP "Wye" Configuration 0K OHM TYP Motor Lead = ØB Motor Lead = ØC Motor Lead 3 = ØA COM +5V Hall Hall Hall 3 MOTOR SUPPLY MOTOR OUTPUT AC AC A TB0 Figure -3: Motor Phasing Oscilloscope Example 8 Chapter

43 Installation and Configuration Soloist HPe 0/0/30 After the motor leads have been tested, the next step is to determine the phase of the Hall signals. The required (by an Aerotech system) relationship between motor and Hall leads is that the peak of a motor lead signal should correspond to the low voltage phase of the Hall signal (as shown in Figure -4). With channel still connected to one of the motor leads, connect channel of the oscilloscope to TP5, TP6, and then TP7, while advancing the motor in the positive direction after each connection. Note which of the three Hall signals has the complimentary phase relationship to the motor lead that channel is connected to (as shown in Figure -4). Move channel of the oscilloscope to the second motor lead and repeat the steps from above. Note which Hall signal corresponds to the currently selected motor lead and repeat the process for the 3rd motor lead. Channel at TP and Channel at TP5, TP6, and TP7 TP TP5 (CH) TP6 (CH) TP7 (CH) Hall B CHANNEL TP TP3 TP4 TP (CH) ØB Power Supply COM +5V Channel at TP and Channel at TP5, TP6, and TP7 TP5 (CH) TP6 (CH) TP7 (CH) TP (CH) Channel at TP3 and Channel at TP5, TP6, and TP7 TP5 (CH) TP6 (CH) TP7 (CH) TP3 (CH) Hall C ØC Hall A ØA TP5 TP6 CHANNEL TP7 In this example: The low voltage phase of the TP6 Hall signal corresponds with the peak phase of the motor sine wave of TP (in the previous example designated as ØB). The signal at TP6 should be designated as Hall B. Motor Feedback Hall Pin Assignemt The low voltage phase of the TP7 Hall signal corresponds with the peak phase of the motor sine wave of TP (in the previous example designated as ØC). The signal at TP7 should be designated as Hall C. The low voltage phase of the TP5 Hall signal corresponds with the peak phase of the motor sine wave of TP3 (in the previous example designated as ØA). The signal at TP5 should be designated as Hall A. After the phasing process is complete, the Hall A, Hall B, and Hall C signal leads should be connected to their respective Motor Feedback connector inputs (Hall A to Pin 0, Hall B to Pin 5, and Hall C to Pin ). Pin Hall C Hall A Hall B Hall Positions Hall A Hall B Hall C Figure -4: Hall Phasing with Oscilloscope Chapter 9

44 Soloist HPe 0/0/30 Installation and Configuration With the designations of the motor and Hall leads of a third party motor determined, the motor can now be connected to an Aerotech system. Connect motor lead A to motor connector A, motor lead B to motor connector B, and motor lead C to motor connector C. Connect Hall lead A to Pin 0 of the feedback connector. Hall lead B should connected to Pin 5 and Hall lead C should connect to Pin of the feedback connector. The motor is correctly phased when the Hall states correspond to the states at each of the electrical angles. The Hall signal leads must be associated with its corresponding motor leads Hall A Hall B +5V 0V Hall C ØC ØB ØA ØC ØB +V Motor Back EMF 0V -V Motor Feedback Connector Hall Positions Corresponding Motor Lead Motor Output Connector Pin 0 Pin 5 Pin Hall A Hall B Hall C ØA ØB ØC Figure -5: Brushless Motor Phasing Goal 30 Chapter

45 Installation and Configuration Soloist HPe 0/0/30... DC Brush Motor Connections The configuration shown in Figure -6 is an example of a typical DC brush motor connection. Refer to Section... for information on motor phasing. MOTOR SUPPLY MOTOR OUTPUT AC AC A B C 40V~ MAX 50/60Hz 5A MAX TB0 Install Aerotech FBF- or FBF-, or 0 Beads per wire at drive (Elna Fair-Rite # , or # ) no connection Green & White & Shield Red & Orange Yellow & Blue Motor Frame + DC Brush - Motor NOTE: Listed wire colors are for Aerotech supplied cables. Figure -6: DC Brush Motor Configuration Table -: Wire Colors for Aerotech Supplied Cables (DC Brush) Pin Wire Color Set () Wire Color Set Wire Color Set 3 Green & White & Shield () Green/Yellow & Shield Green/Yellow & Shield A Red & Orange Red Red & Orange C Yellow & Blue Black Yellow & Blue () Wire Color Set # is the typical Aerotech wire set used by Aerotech. () & (Red & Orange) indicates two wires; / (Green/White) indicates a single wire Chapter 3

46 Soloist HPe 0/0/30 Installation and Configuration... DC Brush Motor Phasing A properly phased motor means that the positive motor lead should be connected to the ØA motor terminal and the negative motor lead should be connected to the ØC motor terminal. To determine if the motor is properly phased, connect a voltmeter to the motor leads of an un-powered motor:. Connect the positive lead of the voltmeter to the one of the motor terminals.. Connect the negative lead of the voltmeter to the other motor terminal. 3. Rotate the motor clockwise by hand. ROTARY MOTOR Motor Mounting Flange (Front View) Motor Shaft POSITIVE MOTION Figure -7: Clockwise Motor Rotation 4. If the voltmeter indicates a negative value, swap the motor leads and rotate the motor (CW, by hand) again. When the voltmeter indicates a positive value, the motor leads have been identified. 5. Connect the motor lead from the voltmeter to the ØA motor terminal on the Soloist HPe 0/0/30. Connect the motor lead from the negative lead of the voltmeter to the ØC motor terminal on the Soloist HPe 0/0/30. N O T E : If using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. 3 Chapter

47 Installation and Configuration Soloist HPe 0/0/ Stepper Motor Connections The configuration shown in Figure -8 is an example of a typical stepper motor connection. Refer to Section..3.. for information on motor phasing. In this case, the effective motor voltage is half of the applied bus voltage. For example, an 80V motor bus supply is needed to get 40V across the motor. MOTOR SUPPLY MOTOR OUTPUT AC AC A B C 40V~ MAX 50/60Hz 5A MAX TB0 Install Aerotech FBF- or FBF-, or 0 Beads per wire at drive (Elna Fair-Rite # , or # ) Green/Yellow & Shield Black Red White NOTE: Listed wire colors are for Aerotech supplied cables. Motor Frame B B' A Stepper Motor A' Note the common connection of A and B phases. Figure -8: Stepper Motor Configuration Table -: Wire Colors for Aerotech Supplied Cables (Stepper) Pin Wire Color Set () Wire Color Set Green/Yellow & Shield () Green/Yellow & Shield A Black Brown B Red Yellow C White White & Red () Wire Color Set # is the typical Aerotech wire set used by Aerotech. () & (Red & Orange) indicates two wires; / (Green/White) indicates a single wire Chapter 33

48 Soloist HPe 0/0/30 Installation and Configuration..3.. Stepper Motor Phasing A stepper motor can be run with or without an encoder. If an encoder is not being used, phasing is not necessary. With an encoder, test for proper motor phasing by running a positive motion command. If there is a positive scaling factor (determined by the CountsPerUnit parameters) and the motor moves in a clockwise direction, as viewed looking at the motor from the front mounting flange, the motor is phased correctly. If the motor moves in a counterclockwise direction, swap the motor leads and re-run the command. Proper motor phasing is important because the end of travel (EOT) limit inputs are relative to motor rotation. ROTARY MOTOR Motor Mounting Flange (Front View) Motor Shaft POSITIVE MOTION Figure -9: Clockwise Motor Rotation N O T E : If using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. N OT E : After the motor has been phased, use the ReverseMotionDirection parameter to change the direction of positive motion. CountsPerUnit has replaced PosScaleFactor in software version ReverseMotionDirection has replaced the functionality of reversing the sign on the PosScaleFactor to change the direction of positive motion in software version Chapter

49 Installation and Configuration Soloist HPe 0/0/30.3. Motor Feedback Connections (J07) The motor feedback connector (a 5-pin, D-style connector) has inputs for an encoder, limit switches, Halleffect devices, motor over-temperature device, 5 Volt encoder and limit power, and optional brake connection. The connector pin assignment is shown below with detailed connection information in the following sections. Table -3: Motor Feedback Connector Pin Assignment (J07) Pin# Description In/Out/Bi Connector Chassis Frame Ground N/A Motor Over Temperature Thermistor Input 3 +5V Power for Encoder (500 ma max) Output 4 Reserved N/A 5 Hall-Effect Sensor B (brushless motors only) Input 6 Encoder Marker Reference Pulse - Input Absolute Encoder Interface Clock - Output 7 Encoder Marker Reference Pulse + Input Absolute Encoder Interface Clock + Output 8 Absolute Encoder Interface Data - Bidirectional 9 Reserved N/A 0 Hall-Effect Sensor A (brushless motors only) Input Hall-Effect Sensor C (brushless motors only) Input Clockwise End of Travel Limit Input 3 Optional Brake - Output Output 4 Encoder Cosine + Input 5 Encoder Cosine - Input 6 +5V Power for Limit Switches (500 ma max) Output 7 Encoder Sine + Input 8 Encoder Sine - Input 9 Absolute Encoder Interface Data + Bidirectional 0 Signal Common for Limit Switches N/A Signal Common for Encoder N/A Home Switch Input Input 3 Encoder Fault Input Input 4 Counterclockwise End of Travel Limit Input 5 Optional Brake + Output Output 3 5 Mating Connector Aerotech P/N Third Party P/N 5-Pin D-Connector ECK000 FCI DB5P064TXLF Backshell ECK00656 Amphenol 7E Chapter 35

50 Soloist HPe 0/0/30 Installation and Configuration.3.. Encoder Interface (J07) The Soloist HPe 0/0/30 is equipped with standard and auxiliary encoder feedback channels. The standard encoder interface is accessible through the Motor Feedback (J07) connector. The standard encoder interface will accept an RS-4 differential line driver signal. If the Soloist HPe 0/0/30 has been purchased with the -MXH option, the standard encoder interface can optionally be configured for an analog encoder input via parameter settings. Refer to Section for encoder feedback phasing. Refer to Section.5. for the auxiliary encoder channel. N O T E : Encoder wiring should be physically isolated from motor, AC power, and all other power wiring. Table -4: Encoder Interface Pin Assignment Pin# Description In/Out/Bi Chassis Frame Ground N/A 3 +5V Power for Encoder (500 ma max) Output 6 Encoder Marker Reference Pulse - Input Absolute Encoder Interface Clock - Output 7 Encoder Marker Reference Pulse + Input Absolute Encoder Interface Clock + Output 4 Encoder Cosine + Input 5 Encoder Cosine - Input 7 Encoder Sine + Input 8 Encoder Sine - Input Signal Common for Encoder N/A 36 Chapter

51 0K 0K 0K 0K Installation and Configuration Soloist HPe 0/0/ RS-4 Line Driver Encoder (Standard) The standard encoder interface accepts an RS-4 differential quadrature line driver signal in the range of 0 to 5 Volts. It accepts a 0 MHz (max) encoder signal frequency (5 nsec minimum edge separation), producing 40 million counts per second after times four (x4) quadrature decoding. An analog encoder is used with the -MXH option (refer to Section for more information). +3.3V +V +3.3V J07-4 J07-5 J07-7 J07-8 PRI COS+ IN PRI COS- IN PRI SIN+ IN PRI SIN- IN 0 0 MAX3L ENCODER FAULT DETECTION DS6LV3 +5V. J07-6 J07-7 PRI MRK- IN PRI MRK+ IN 80 ADM485 MAX3L -V Figure -0: Line Driver Encoder Interface (J07) Chapter 37

52 Soloist HPe 0/0/30 Installation and Configuration.3... EnDat Encoder Interface (J07) The Soloist HPe 0/0/30 retrieves absolute position data along with encoder fault information via a serial data stream from the absolute encoder. See Figure - for the serial data stream interface. Set up of this interface requires setting parameters EnDatEncoderResolution, EnDatEncoderSetup, EnDatEncoderTurns 3. The encoder interface pin assignment is indicated in Section V ABS CLK- J07-6 ABS CLK+ J07-7 ADM485 ABS DATA- J07-8 ABS DATA+ J ADM485 Figure -: Serial Data Stream Interface EnDatEncoderResolution has replaced CfgFbkEncAbsPosBits in software version EnDatEncoderSetup has replaced CfgFbkEncAbsSetup in software version EnDatEncoderTurns has replaced CfgFbkEncAbsRevBits in software version Chapter

53 Installation and Configuration Soloist HPe 0/0/ Resolute Encoder Interface (J07) The Soloist HPe 0/0/30 retrieves absolute position data along with encoder fault information via a serial data stream from the resolute encoder. See Figure - for the serial data stream interface. Set up of this interface requires setting parameters ResoluteEncoderResolution, ResoluteEncoderSetup, and ResoluteEncoderUserResolution. The encoder interface pin assignment is indicated in Section V ABS CLK- J07-6 ABS CLK+ J07-7 ADM485 ABS DATA- J07-8 ABS DATA+ J ADM485 Figure -: Serial Data Stream Interface Chapter 39

54 Soloist HPe 0/0/30 Installation and Configuration Analog Encoder Interface If the -MXH option has been purchased, the standard encoder channel will accept an analog encoder input signal. The multiplication (interpolation) factor is determined by the EncoderMultiplicationFactor parameter. Table -5: Analog Encoder Specifications Specification Description Input Frequency (max) 500 khz Input Amplitude 0.6 to.5 Vpk-Vpk Interpolation Factor (software selectable) 65,536 Refer to Figure -3 for the typical input circuitry. The encoder interface pin assignment is indicated in Section.3.. The gain, offset, and phase balance of the analog Sine and Cosine encoder input signals can all be adjusted via controller parameters. Encoder signals should be adjusted using the Feedback Tuning tab of the Digital Scope, which will automatically adjust the encoder parameters for optimum performance. See the Soloist Help file for more information. SIN LINEAR MOTOR Forcer Wires Positive MOVE (Clockwise) SIN-N Magnet Track Forcer COS Vpk-pk COS-N ROTARY MOTOR MRK Motor Shaft MRK-N Positive MOVE (Clockwise) CW Rotation (Positive Direction) Motor Mounting Flange (Front View) Figure -3: Analog Encoder Phasing Reference Diagram N O T E : The input amplitude is measured peak to peak for any encoder signal (sin, sin-n, cos, cos-n) relative to signal common. These signals have a typical offset voltage of V to.5v. EncoderMultiplicationFactor has replaced CfgFbkEncMultFactorMxu in software version Chapter

55 Installation and Configuration Soloist HPe 0/0/30 J07-7 SIN+ K 8PF K 8PF K J07-8 SIN- K 8PF 8PF K - + AD UF 6.3V J07-4 COS+ K A 8PF K 8PF K J07-5 COS- K 8PF 8PF K - + AD UF 6.3V A J07-7 MRK+ K 8PF K 8PF K J07-6 MRK- K 8PF 8PF K - + AD UF 6.3V A Figure -4: Analog Encoder Interface (J07) Chapter 4

56 Soloist HPe 0/0/30 Installation and Configuration Encoder Phasing Incorrect encoder polarity will cause the system to fault when enabled or when a move command is issued. Figure -5 illustrates the proper encoder phasing for clockwise motor rotation (or positive forcer movement for linear motors). To verify, move the motor by hand in the CW (positive) direction while observing the position of the encoder in the diagnostics display (see Figure -6). The MotorVerification.ab program can be used if the motor can not be moved by hand. If the program causes the Position Feedback to count more negative, swap the connections to the controllers SIN and the SIN-N encoder inputs. For dual loop systems, the velocity feedback encoder is displayed in the diagnostic display (Figure -6) SIN LINEAR MOTOR Forcer Wires Positive MOVE (Clockwise) SIN-N Magnet Track Forcer COS Vpk-pk COS-N ROTARY MOTOR MRK MRK-N Motor Shaft CW Rotation (Positive Direction) Motor Mounting Flange (Front View) Positive MOVE (Clockwise) Figure -5: Encoder Phasing Reference Diagram (Standard) N O T E : Encoder manufacturers may refer to the encoder signals as A, B, and Z. The proper phase relationship between signals is shown in Figure Chapter

57 Installation and Configuration Soloist HPe 0/0/30 Figure -6: Position Feedback in the Diagnostic Display Chapter 43