Ensemble MP

Introduction Ensemble MP

Chapter 1: Introduction

Aerotech’s Ensemble MP (Ultra-Compact "Micro" PWM) network digital drive is a high performance amplifier.The drive provides deterministic behavior, auto-identification, and easy software setup. The

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

1AMP MAX

24-80VDC

TM

AEROTECH.

COM

J201

S/N -

J106

AERONET

OUTPUT

Y

OL TR

TB103

SUPPL

CON

DC-

DC+

J102

ENA

MRK

J103

CTL

1

POS

4

TB201

TB202

1

4

1

J107

AERONET

INPUT

P/N -

TB105

RS232 TX

RS232 RX

GND

WARNING:

DISCONNECT POWER

BEFORE SERVICING

TB104

DANGER!

High Voltage

ESTOP

10

TB203

1

DC+

DC-

A

B

C

80VDC MAX

10AMP MAX

10

TB204

Standard

Connector Description

J102

J103

J106

Ethernet Port

Motor Feedback

Aeronet Output

J107

TB102

TB102

TB103

TB104

TB105

Aeronet Input

Motor Supply

Motor Output

Control Supply

Emergency Stop

Sense Input (ESTOP)

RS-232

-IO Board Option

Connector Description

J201

TB201

Auxiliary Encoder

Interface

Brake Relay

TB202

TB203

TB204

Analog I/O

Opto-Inputs

Opto-Outputs

Figure 1-1: Ensemble MP Networked Digital Drive

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Chapter 1 1

Ensemble MP Introduction

Table 1-1: Feature Summary

Standard Features l l l l l l l l

Line driver square wave quadrature encoder input for position and velocity feedback

One 16-bit differential analog input (± 10 V)

Dedicated 5-24 V Emergency Stop sense input

10 - 80 VDC motor supply inputs

24 - 80 VDC control supply inputs

Calibration (refer to the Ensemble Help file for more information)

Camming (refer to the Ensemble Help file for more information)

10/100 BASE-T Ethernet port for use with Ethernet I/O modules

Options

-IO l l l l l

One 16-bit analog output (±5 V)

One 12-bit differential analog input

One fail-safe brake or user relay output

8 optically isolated logic inputs (5 - 24 VDC), may be connected in current sourcing or sinking mode

8 optically isolated logic outputs (5 - 24 VDC), user defined as current sourcing or sinking

-MXU Interpolation circuit allowing for analog sine wave input on the standard encoder channel. Interpolation factor: 4,096

Table 1-2: Accessories

Accessories

JI

PS24-1

BRAKE24-2

Industrial Joystick (NEMA12 (IP54) rated); refer to

Section 4.1.

24 VDC, 1 A power supply for optional brake/relay output

24 VDC, 2 A power supply for optional brake

External Power Supply Options

Refer to

Section 2.1.3.

for more information

Cables

Interconnection A complete list of Aerotech cables can be found on the website at http://www.aerotechmotioncontrol.com/manuals/index.aspx

Joystick/Handwheel Refer to

Section 4.1.

or

Section 4.2.

2 Chapter 1 www.aerotech.com

Introduction Ensemble MP

The following block diagram shows a connection summary. For detailed connection information, refer to

Chapter 2 and Chapter 3.

-IO Option

J102

Ethernet Port

J107

Aeronet Input

Encoder +5V / Common

PSO Output, Encoder Echo

SIN, COS, MRK (RS422)

J201

Secondary

Encoder

Interface

J106

TB105

RS232

TB104

ESTOP

J103

Motor

Feedback

Aeronet Output

Analog Input 1 +/-

Analog Output 1

RS232

+5V / Common

Emergency Stop Sense Input

8 Opto Outputs

(Sinking or Sourcing)

-MXU

Option

SIN, COS, MRK (RS422)

CW, CCW, Home Limits;

Encoder Fault; Hall A, B, C;

Motor Over Temperature

Brake ± (with the -IO Option)

Encoder +5V / Common

Analog Input 0 +/-

8 Opto Inputs

(Sinking or Sourcing)

TB202

TB204

Opto Out

TB203

Opto In

TB103

Control Supply

DC+

DC-

DC+

DC-

Isolated

Power Supply

Brake Power

Input or Relay

TB201

Brake

Relay

TB102

Motor

Supply

DC+

DC-

DC+

DC-

Heatsink Over

Temperature

PWM Power

Amplifier

A

B

C

A

B

C

TB102

Motor

Output

Figure 1-2: Functional Diagram

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Chapter 1 3

Ensemble MP Introduction

1.1. Drive and Software Compatibility

The following table lists the available Ensemble drives and which version of the Ensemble 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 1-3: Ensemble Drive and Software Compatibility

Drive Type

CL

CP

Epaq

(1)

Firmware Revision

-

A

A

B

-

A

First Software Version

1.01

2.55

1.00

2.54

1.00

2.55

Last Software Version

Current

Current

Current

Current

Current

Current

HLe

HPe

LAB

ML

MP

QDe/QL/QLe

QLAB

-

-

-

-

-

A

-

-

2.51

2.51

4.04

3.00

1.00

2.55

5.01

4.07

Current

Current

Current

Current

Current

Current

Current

Current

(1) This section does not apply to the Epaq MR. The Epaq MR contains multiple ML or MP drives. Refer to either the ML or MP drive type to determine the value for your Epaq MR.

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Introduction Ensemble MP

1.2. Electrical Specifications

Table 1-4: Electrical Specifications

Motor Supply Input Voltage

Maximum Continuous

Input Current

Input Current

Control

Supply

Input Voltage

Input Current

Output Voltage

(1)

Refer to

MP 10

10-80 VDC

5 A rms

Section 1.2.1. System Power Requirements

24-80 VDC (±10%)

1 A max

10-80 VDC

Peak Output Current (1 second)

Continuous Output Current

Power Amplifier Bandwidth

Power Amplifier Efficiency

PWM Switching Frequency

Minimum Load Inductance

User Power Supply Output

10 A

5 A

2500 Hz maximum (software selectable)

85% - 95%

(2)

20 kHz

0.1 mH @ 80 VDC

5 VDC (@ 500 milliamps)

Modes of Operation

Protective Features

Brushless; Brush; Stepper

Output short circuit; Peak over current, DC bus over voltages; RMS 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.

(1) AC input voltage and load dependent. 

(2) Dependent on total output power: efficiency increases with increasing output power.

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Chapter 1 5

Ensemble MP Introduction

1.2.1. System Power Requirements

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

Brushless Motor

Output Power

Rotary Motors

Linear Motors

Rotary or Linear Motors

Pout [W] = Torque [N·m] * Angular velocity[rad/sec]

Pout [W] = Force [N] * Linear velocity[m/sec]

Pout [W] = Bemf [V] * I(rms) * 3

Ploss = 3 * I(rms)^2 * R(line-line)/2

Pin = SUM ( Pout + Ploss ) / EfficiencyFactor

DC Brush Motor

Pout [W] = Torque [N·m] * Angular velocity[rad/sec]

Ploss = I(rms)^2 * R

Pin = SUM ( Pout + Ploss ) / EfficiencyFactor

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Introduction Ensemble MP

1.2.2. 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 Ensemble MP. Mounting it to a large metal plate for extra heat-sinking and providing additional fan flow are suggested.

18

16

14

12

10

8

6

4

2

0

0

80V Bus

40V Bus

0.6

1.2

1.8

2.4

3

Output Current (A)

3.6

4.2

Figure 1-3: Power Dissipation vs. Output Current 

4.8

120

100

80

60

40

20

0

0

Absolute Maximum

Recommended

2 4 6 8 10

Amplifier Dissipation (W)

12 14 16

Figure 1-4: Ambient Temperature vs. Power Dissipation

EXAMPLE: 

80 VDC Bus operation at 2.4 A

Power Dissipation = 7.5 Watts

Maximum Ambient Temperature = 53°C www.aerotech.com

Chapter 1 7

Ensemble MP Introduction

1.3. Mechanical Design

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

7.6 [0.30]

41.1 [1.62]

25.4 [1.00]

DIMENSIONS: MM [INCH]

Dimensions apply to the standard and I/O version (shown) of the MP drive.

TM

AEROTECH.

COM

J201

J102

ENA

MRK

CTL

POS

1

4

TB201

TB202

1

4

1

J103

10

TB203

1

DC+

DC-

A

B

C

80VDC MAX

10AMP MAX

10

TB204

4.0 [0.16] (TYP.)

REC. MTG. HDWR: M3.5 [#6]

Figure 1-5: Dimensions

Table 1-5: Physical Specifications

Standard w/ -IO option w/ -MXH option

Weight

0.454 kg (1.0 lb)

0.544 kg (1.2 lb)

0.544 kg (1.2 lb)

107.0 [4.21]

121.4 [4.78]

Typical Size 100 mm x 125 mm x 2.4 mm (4 in x 5 in x 0.094 in)

Drawing Number: 630D2077

2.5 [0.10]

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Introduction Ensemble MP

1.4. Environmental Specifications

The environmental specifications for the Ensemble MP are listed below.

Ambient Temperature Operating: 0° to 50°C (32° to 122° F)

Storage: -30° to 85°C (-22° to 185° F)

Humidity

Altitude

Maximum relative humidity is 80% for temperatures up to 31°C. Decreasing linearly to 50% relative humidity at 40°C. Non condensing.

Up to 2000 meters.

Pollution

Use

Pollution degree 2 (normally only non-conductive pollution).

Indoor use only.

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Ensemble MP Introduction

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