Aerotech DR300 Manuale utente

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DR300

DRIVE CHASSIS

OPERATION & TECHNICAL MANUAL

P/N: EDA141 (V1.5)

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

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

If you should have any questions about the DR300 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, manual updates, and

special pricing on selected products.

The DR300 Drive Chassis Operation and Technical Manual Revision History:

Rev 1.0 December 28, 1999

Rev 1.1 May 23, 2000

Rev 1.2 August 24, 2000

Rev 1.3 October 12, 2000

Rev 1.4 September 13, 2001

Rev1.5 July 30, 2002

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DR300 Operation and Technical Manual

Table of Contents

Version 1.5 Aerotech, Inc. iii

TABLE OF CONTENTS

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

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

1.1.1. DR300 Functions ................................................................. 1-2

1.1.2. DR300 Configurations ......................................................... 1-2

1.2. DR300 Options................................................................................... 1-3

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

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

1.2.3. DR300 Brake Option............................................................ 1-7

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

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

2.1. Unpacking the DR300 Drive Package................................................ 2-1

2.2. DR300 Jumper Selections and Configurations................................... 2-2

2.2.1. AC Input Voltage Configuration.......................................... 2-2

2.2.2. Rear Panel Interface Board Internal Jumpers....................... 2-2

2.2.3. Drive Interface Board Internal Jumpers............................... 2-5

2.2.4. Bus Configuration ................................................................ 2-8

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

2.2.4.2. Bus #1, Unipolar.................................................... 2-9

2.2.4.3. Bus #1, Bipolar ...................................................... 2-9

2.2.4.4. Bus #2, Unipolar.................................................... 2-9

2.2.4.5. Bus #2, Bipolar ...................................................... 2-9

2.2.4.6. Bus Voltage Configuration .................................... 2-9

2.2.5. Installing A Drive Module in the DR300........................... 2-10

2.2.6. DS16020 / DS16030 Brush Drive Configuration............... 2-11

2.2.6.1. Electrical Specifications....................................... 2-12

2.2.6.2. Fault Output......................................................... 2-12

2.2.6.3. Personality Module.............................................. 2-13

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

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

2.2.6.6. The Post-Amplifier .............................................. 2-16

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

2.2.7. AM16007 Stepper Drive Configuration............................. 2-22

2.2.8. AS32020 / AS32030 AC Brushless Drive

Configuration ..................................................................... 2-24

2.2.9. AS3005 AC Brushless Linear Drive Configuration ........... 2-26

2.2.10. Internal System Wiring....................................................... 2-27

2.2.11. AC Line Voltage Configuration......................................... 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..................................................................... 2-31

2.7. Electrical Installation........................................................................ 2-32

2.7.1. DR300 Power Up............................................................... 2-33

2.8. DR300 Interface............................................................................... 2-34

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Table of Contents

DR300 Operation and Technical Manual

iv Aerotech, Inc. Version 1.5

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

3.1. OP500 Interconnect Cable Specifications and Connector

Pinouts................................................................................................3-1

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

3.2. DR300 Rear Panel Connectors.........................................................3-10

3.2.1. Axis Encoder Connectors...................................................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. DR300 Drive Interface Board Test Points..........................3-16

3.3. DR300 Outline Drawings and Mechanical Specifications................3-17

3.4. Electrical Specifications ...................................................................3-18

3.5. Environmental Specifications...........................................................3-19

3.6. Emergency Stop Sense Input............................................................3-19

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)................................................4-4

4.5. Fuse Information.................................................................................4-5

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

5.1. Warnings 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..............................................................................................5-5

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

INDEX

REVISION HISTORY

∇∇∇

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DR300 Operation and Technical Manual

List of Figures

Version 1.5 Aerotech, Inc. v

LIST OF FIGURES

Figure 1-1. DR300 Drive Chassis........................................................................1-1

Figure 1-2. UNIDEX 500/U600 System Diagram ...............................................1-2

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

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

Figure 1-5. SHUNT500 Board.............................................................................1-4

Figure 1-6. DRC 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. DR300 Rear Panel Interface Board Jumper Locations......................2-3

Figure 2-2. DR300 Drive Interface Board Jumper Locations ..............................2-5

Figure 2-3. DR300 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 Module....................................................2-22

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

Figure 2-12. AS3005 AC Brushless Linear Drive Configuration.........................2-26

Figure 2-13. Drive Module Fuse Mounting (Generic).........................................2-29

Figure 2-14. DR300 Front Panel..........................................................................2-31

Figure 2-15. DR300 Electrical Connections ........................................................2-32

Figure 2-16. U500/U600 Generic System Interconnect.......................................2-35

Figure 3-1. DR300 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. DR300 Rack Mount Package ..........................................................3-17

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

∇∇∇

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List of Figures

DR300 Operation and Technical Manual

vi Aerotech, Inc. Version 1.5

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DR300 Operation and Technical Manual

List of Tables

Version 1.5 Aerotech, Inc. vii

LIST OF TABLES

Table 2-1. Rear Panel Interface Board Jumper Selections................................... 2-4

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

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

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

Table 2-4. Drive Interface Bd. Jumper Selections for DS16020/16030

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

Table 2-5. Drive Interface Bd. Jumper Selections for AS32020/32030

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

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 Electrical Specifications.................................................. 2-23

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

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

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

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

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

Table 3-1. Pinouts for Connector J1 from 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. DR300 Test Points............................................................................ 3-16

Table 3-13. Weights for DR300 Packages (not including drives)........................ 3-18

Table 3-14. Electrical Specifications................................................................... 3-18

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................................................. 4-4

Table 4-6. Fuse Replacement Part Numbers........................................................ 4-5

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

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

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

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List of Tables

DR300 Operation and Technical Manual

viii Aerotech, Inc. Version 1.5

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

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

∇∇∇

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DR300 Operation and Technical Manual Introduction

Version 1.5 Aerotech, Inc. 1-1

CHAPTER 1: INTRODUCTION

In This Section:

•Product Overview..................................................... 1-1

•DR300 Options......................................................... 1-3

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

1.1. Product Overview

Aerotech’s DR300 Drive Chassis is an integral part in a UNIDEX 500 or UNIDEX 600

based control system. The DR300 is a 19-inch rack mount chassis with provision for

holding up to four individual amplifiers (DC servo, AC brushless, or microstepping) that

are inserted into the front of the DR300 panel. The DR300 also provides bus power for

the amplifier modules and acts as a breakout for all control and I/O signals. The back of

the DR300 contains all the cable connectors as well as descriptions for each. The DR300

Drive Chassis is shown in Figure 1-1.

Figure 1-1. DR300 Drive Chassis

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