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1. 3122 EY Em JST 31 89 3123 20 JSW2 de sole eme CD Cum i BE Trag 02 43 ue 83 B HALLZATNG 32 4 S m HALL2BIINT 14 B HALLBIINT E E Cnm HERAUS ES s I 1 B HALLSAIINGT 115 92 BI RACES sas SHALSEINIU 1525 74 8642 Can j J1 93 TZ 1 M Jg JSCusLock GNI 10 E 7795 T573 J15 95 755 ANI W 4212 yid mst Tror BRAKE BRAKE OUT E F uar BRAKE Ev ESTOP Cur 5 I HATTAN 210 B HALLANINTA 7730 TEST BE EHATABINTS ESE 3 SERLLACINT HAS mo B3 7 E HALLACINTS 356 J Crs 78177 7 71598 OPTOA A CE TET 9642 i ee BRAKE OUT 10 15702 des 21 62 IN J11 13 opT_cwi 2 2K INS Gia 71371 gs M 31862 ma C ron D12 1N4148 m Camere J13 2 INE mpm Tes ros andi ccc hi zem 2 m 11 59 1 CH o aun 3 14 CONTI Crea OPT_CCW1 x 2134 13 110 33 TED Us I aA Min t m DES OPT_HMt 2 2K mA 113 5 R51 AE pura mA PR D10 1N4148 10 p 113 6 Cum P s Cm OPT_CW2 22K 3137 PS2501L 4 FINDS Cra 1N4148 Cung PT
2. FRAME GROUND WIRED INTO THE SYSTEM AS SHOWN IN NOTE 1 AC VOL QUT User Optional use 4 _ nude a or s oan untu I TV04 WIRING CTRANSFORWEREAX 02 i i prey OA enc MOTOR ROTATION pe i CW ROTATION IS VIEWED FROM THE MOTOR MOUNTING FLANGE CONNECT TO THis FORS0VDC BUS STD roam A E em AA BA SERIES cw 8 asi ROTATION l CONNECT TO THIS TAP FORGOVDC I 28 BUS OPTIONAL UT ACH Pru l INPUT zac _ owm seas fA Soo HZ SAFEIYGD 6GYEL 2 77 Eu 4 FRAME N BRAKE INFORMATION OPTIONAL GROUND EACH BRAKE ASSEMBLY LOAD IS 24VDC AT 250 350 mA 97 368 OHMS I B BRAKE IS FAILSAFE OFF WHEN ENERGIZED TRANSFORMER SPECIFICATIONS TYPICAL TRANSFORMER SECONDARY WIRING C BRK amp BRK IS AVAILABLE ON ALL AXIS FEEDBACK CONNECTORS BB501 J2 J3 J4 J5 j 56VAC TAP 5 04 UNCOOLED 6 5A COOLED SHOWN FOR REFERENCE WIRES SHOULD BE BRK IS ON PIN 13 BRK IS ON PIN 25 TAP 6 34 UNCOOLED 8 3A COOLED PARALLELED FROM TRANSFORMER SECONDARY Z30VAC TAP 12 UNCOOLED 16 COOLED AS REQUIRED FOR MULTIPLE AXES AEROTECH PROVIDED SECONDARY WIRING fN U500 BRAKE CONTROL OUTPUT IS OPTIONAL gt THE 0500 CONTROL BOARD SENDS OUT A LOGIC SIGNAL THAT CAN
3. BA SERIES CONNECT TO THIS AMPLIFIER TAP FOR 60VDC BUS OPTIONAL 18 YEL 56V CONNECT TO THIS TAP FOR 40VDC BUS OPTIONAL auss A C 18 RED 28V INPUT acht 100 112VAC 2 4 3 2 AMPS AC LO NEUTRAL 16 BLU Lo 50 60 HZ 9 SAFETY GND 16 G YEL Aj FRAME GROUND N TRANSFORMER SPECIFICATIONS N TYPICAL TRANSFORMER SECONDARY WIRING SHOWN 56VAC TAP 6A RMS FOR REFERENCE WIRES SHOULD BE PARALLELED 28VAC TAP 9A RMS FROM TRANSFORMER SECONDARY AS REQUIRED FOR MULTIPLE AXES AEROTECH PROVIDED SECONDARY WIRING IS OPTIONAL LIMITS CW LMT N SIGNAL INDICATES OVERTRAVEL IN THE CLOCKWISE DIRECTION CCW LMT N SIGNAL INDICATES OVERTRAVEL IN THE COUNTER CLOCKWISE DIRECTION A OPTIONAL BA SERIES CONTROL AC INPUT PCB FOR USE WHEN BUSS VOLTAGE IS BELOW 80VDC REFER TO ES13063 SHEETS 1 TO 3 TYPICAL LIMIT LMT 6V SWITCH WIRING AC INPUT TO BOARD IS 115VAC OR 230VAC LMT COM NO Se CW LMT N NO 5 o cw LIMIT 12 TURNS OF EACH MOTOR WIRE THROUGH TOROID FERROXCUBE 500T600 3C81 ECZ00280 COWLMTN NO 5 cow LIMIT HOME LMT N A NO S HOME LIMIT A MOTOR ENCODERILIMITS CABLE CAN BE INTEGRAL TO MOTOR OR A DISCRETE CABLE BRAKE INFORMATION OPTIONAL gt gt gt N HOME LIMITS OPTIONAL ALL AEROTECH CONTROLS ARE CONFIGURED TO ACCEPT HOME LIMIT INPUTS THIS MAY COME FROM AN INDEPENDENT SWITCH CAM OPTION ON ROTARY STAGES OR BE B
4. 0500 69081470 0500 EFN154 USOOPLUS EFN180 OP500 USOQULTRA EFN181 pi 5990 09 SEE 512411 1 SORTZFT P5 DRC OPTIONAL J10 vo DIOSR 6301626 HALL EFFECT 630B1627 12 FT OPTIONAL CUSTOMER P C 1 JP4EXTENSION CABLE J12 Joystick E 630B1358 LENGTH A R OPTIONAL JBV DIGITIZING JOYSTICK OPTIONAL NEED BRAKE misc vo OPTO22 BOARD fal PBB PB16A PB24 OPES m SIONAL DIGITAL 1 0 yO 63081505 es SEE 630C1564 OPTIONAL J2 AXIS 1 FDBK J6 AXIS 1 AMP AXIS 2 FDBK T AXIS 2 AMP BB501 690D 1504 EFN188 SEE ES12411 12 T AXIS 3 FDBK J8 T AXIS 3 AMP AXIS 4 FDBK J9 AXIS 4 AMP 2 ENC V 22 EXTPWR LMT V 44 SUPPLY COMMON 3 3 COMMON 5 5 T1 MXC 3 MX MULTIPLIER OPTIONAL 115 230VAC a 69001598 98081510 630B1596 4 MX MX MULTIPLIER 63001538 4 630B1596 4 AX OPTIONAL Mo t 115 230VAC ies T MXC 3 MX MULTIPLIER 10 630C 1538 MOTOR ENCODER LIMITS CABLING PER ES13067 BA SERIES AMPLIFIER BA10 XX EFA487 BA20 XX EFA488 BA30 XX EFA489 IP 69001499 SEE ES12889 FRAME WHT yso GRN IK RED ORN YEL zh c el BLU TO Jn Lo TRANSFORMER MOTOR ENCODER LIMITS CABLING PER ES 13067
5. PROVIDED SECONDARY WIRING gt tel I 3 CW LMT N eo CW LIMIT A oro 9 D SPN 5 COWLMTN CCW LIMIT TRANSFORMER PRIMARY SETUP wae FOR 100VAG JUMPER AB amp INPUT TO ABD Fh A FEMALE D 4 HOMELMEN FOR 115VAC JUMPER A B amp E F INPUT TOA amp F E 115 FOR 208 JUMPER B C INPUT TOAD mU Na Boy LL MES TO FOR 230VAC JUMPER B E INPUT TOA amp F m LIMIT WIRING TRANSFORMER SECONDARY WIRING FOR HADE AUN USE AO MATE 9 PIN MALE D DE 9P ECK137 FOR 80VDC BUS USE SGVAC TAPS AA s BACKSHELL DE24657 ECK612 AEROTECH PROVIDED SECONDARY WIRING IS OPTIONAL JACKSOCKETS 207952 3 ECK363 gt 3 3 53 gt gt gt TRANSFORMER SPECIFICATIONS Refer to 68241025 for specications d AC BASERES TV 15 RATING 1 5KVA g INPUT AMPLIFIER TV25 RATING 25KVA TV5 RATING 5 0KVA E HOME LMT OPTIONAL 9 AS STANDARD THE CCW CW LIMIT SWITCH IS USED AS THE A n LIMIT SWITCH THIS SELECTION IS MADE VIA SOFTWARE PARAMETER x74 BEING SET TO NO IF INDEPENDANT SWITCH IS REQUIRED FOR THE HOME LIMIT THIS PARAMETER SHOULD BE SET TO YES AND A SEPARATE SWITCH FOR 100VDC BUS USE7OVAC TAPS u L
6. AMAN U600 BA Series Amps System Interconnect with TV 03 TV 04 Transformer Rev B 620D1276 3 Sheet 1 Figure 1 20 www aerotech com Introduction and Configuration BB501 Option User s Manual TVLSIV2SIVSWRNG TRANSFORMER demum A ums MB Se LMT N SIGNAL INDICATES OVERTRAVEL IN THE CLOCKWISE DIRECTION PRIMARY ES GN CCW LMT N SIGNAL INDICATES OVERTRAVEL IN THE COUNTER CLOCKWISE DIRECTION AC BASERIES TYPICAL TRANSFORMER SECONDARY WIRING F 115 43 INPUT AMPLIFIER AYENCAL OMIT Acre marco mrs SWITCH WIRING PARALLELED FROM TRANSFORMER SECONDARY ASREQURED FOR MULTIPLE AXES OR LMTCOM NO AEROTECH PROVIDED SECONDARY WIRING CW LMT N OWLMT A IS OPTIONAL COWIMTN oo CCW LIMT TRANSFORMER PRIMARY SETUP 7 MNO HOME eo HOME LEN A FORTISVAG JUMPER AS amp E F NPUTTOASE 9 sem FOR 208VAC JUMPERB C INPUT TOAD TOSTAGE FOR 230VAC JUMPERB E INPUT 108 LIMIT WIRING TRANSFORMER SECONDARY WIRING FOR 160VDC BUS 115VAC TAPS AO MATE 9 PIN MALE D DE 9P ECK137 EE EE BACKSHELL DE24657 ECK612 AEROTECH PROVIDED SECONDARY WIRING IS OPTIONAL JACKSOCKETS 207952 3 ECK363 A ER Refer to 682 1025 for specifications 200 A AC BA
7. J3 AXIS2 JP29 FDBK 7 5h 68K AXIS 3 AMP J4 Lvs 3 JP29 FDBK secos s CR 6 JP28 5 ENC V LMT V COMMON COMMON go U500 690B1470 i 0500 EFN154 OP500 TO 0500 PLUS EFN180 Pi U500 ULTRA EFN181 5 OR 12 FT SEE ES12411 1 P5 DIOSR STD 63081627 DRC STD 10 HALL 630B1628 mE 5 OR 12FT CUSTOMER P C J L JP4 EXTENSION CABLE J12 630B1358 LENGTH AR JOYSTICK OPTIONAL JBV DIGITIZING JOYSTICK OPTIONAL TBI MISC VO 22 BOARD PB amp PBIGA PB 55 an OPTIONAL Ez a DIGITAL SEE 630C1564 63081505 OPTIONAL J14 BRAKE 24 6 3 Ltt COMMON COMMON C J TI COMMON J BRAKE NOUT J A CONNECTION OPR GRNORORN 3 PMC630C1590 4 n BA SERIES _ BLK 630C1581 1 AMPLIFIER RED O BA10 320 EFA487 MOTOR B AXIS 1 09 630B1596 2 3 BA20 320 EFA488 c ORBRN BRUSHLESS 1 BA30 320 EFA489 MOTOR LL O
8. BA SERIES AMPLIFIER BA10 XX 487 BA20 XX EFA488 EFA489 69001499 P1 SEE 512889 AC INPUT PCB amr GIYEL FRAME O WHT ISHLD 1 GRN RED ria MOTOR ORN YEL AN BLU GNEL ac TRANSFORMER Hi BRN MOTOR ENCODER LIMITS CABLING PER ES13067 BA SERIES AMPLIFIER BA10 XX EFA487 BA20 XX EFA488 BA30 XX EFA489 5 69001499 630B1596 4 SEE ES12889 OPTIONAL x Ax erro AE 115 230VAC H We BA SERIES MXC 3 AMPLIFIER MX MULTIPLIER 630C 1538 69081510 630B1596 4 OPTIONAL TO 115 230VAC 18 AWG 1 mm a OPTIONAL LOGIC COMMON TO FRAME GROUND CONNECTION OPTIONAL 5VDC ni 4 SV Y POWER COM SUPPLY BA10 XX EFA487 BA20 XX EFA488 BA30 XX EFA489 690D1499 512889 AC INPUT USER SEE NOTE GIYEL FRAME WHT 65 ISHLD GRN pu RED ORN YEL BLU MOTOR BUSS 7 TO AC Lo 8 2 E TRANSFORMER INPUT MOTOR ENCODER LIMITS CABLING PER ES13067 GIYEL FRAME WHT ISHLD L GRN RED A ORN MOTOR YEL BLU TO TRANSFORMER AXIS 1 X AEROTECH 1000DC SERIES DC BRUSH MOTOR AXIS 2 Y AEROTECH 1000DC SERIES DC BRUSH MOTOR AXIS 3 Z AEROTECH 1000DC SERIES DC B
9. icoM t e COMMON s PME OPTIONAL POWER SUPPLY L EGER SIGNAL COMMON A 24 613 s z T84MISC 77 TO FRAME GROUND 777777777 T CONNECTION OPTIONAL CUSTOMER SUPPLIED NORMALLY CLOSEDBRAKE RELAY COMMON ES De RELAY CLOSED BRAKE OFF RELAY OPEN BRAKE ON COMMON A COMMON 0 TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY 24VDC VDO TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY COMMON BRAKE N OUT AA AXIS 1 X BRUSHLESS MOTOR AXIS 2 Y BRUSHLESS MOTOR AXIS 3 Z BRUSHLESS MOTOR WI OPTIONAL BRAKE OPTIONAL BRAKE ASSEMBLY AXIS 4 U BRUSHLESS MOTOR U500 BA Series Amps System Interconnect with Transformer Rev B 620D1273 3 Sheet 1 Figure 1 14 1 31 www aerotech com Introduction and Configuration BB501 Option User s Manual TVLSIV2SINS WIRING TRANSFORMER N uwrs EAX141 EAX159 EAX 43 PUN DEEST j CW LMT N SIGNAL INDICATES OVERTRAVEL IN THE CLOCKWISE DIRECTION PRIMARY n 3 CCW LMT N SIGNAL INDICATES OVERTRAVEL IN THE COUNTER CLOCKWISE DIRECTION A Cage 3 A GP TYPICAL LIMIT TYPICAL TRANSFORMER SECONDARY WIRING EMS INPUT AMPLIFIER SHOWN FOR REFERENCE WIRES SHOULD Peso j feo 1 LMT 5V SWITCH WIRING PARALLELED FROM TRANSFORMER SECONDARY 5 Dua 2 LMTCOM AS REQUIRED FOR MULTIPLE AXES
10. Cum SN N SINS Jn 3M SM er 15 23 SINS ss SINS mae N C 5 18 1527 SNS sne 25 CWA Tag cost COS4t Gr COS CHE 908 cost CEW 15 26 95 maL Cara es MR CET NIE D MER MKR 557 01527 15 35 Carag R9 MES CES MARE MAR eg Cnsz Jig MR jiag HMLMT3 Jig HMLMI4 HLM T E HEMIS HVLMTS m Comes HMLMT4 a IA CHS ME ME MLE MISE Jia GWM Lom OMMTA MEE Mus Mos Mets MISE Cara cona GOMMS Tg COWLMTS 717177743 N TS42 COWLMT3 COMMI J CCWLMT4 COMMI Cung Ese gj aD 715 83 g CBRE TES 15 85 048 aD BRK4 3535 Come 0 08 _ 15 84 20 21586 OMA 3520 Tea Gaps 01 72 EA l I iD ABS 75 AM ua and 444 dol Ej 11 76 amp 759 amp 01575 21576 4 HALL3BIINTO HALLABIIN S HALL2B INT ES 55 SIENTES HALLSAINTI Jig ALLAN HALL2INS Cu yao HALLSCIINI2 HALL2CIING HALLANINIT Fi m J15 22 RGE3Q ENC3 V J15 37 RGE390 ENC4 V reno eT ANS Ganon TACHS aS HALLACINIS H 575 9 2 mrav 2 22 LMT3 V 25716 3
11. DIOPB STD 63081610 CUSTOMER P C OPTO22BOARD 24 OPTIONAL H SEE 630C1566 4 EXTENSION CABLE 63081358 LENGTH AR J12 JOYSTICK OPTIONAL JBV DIGITIZING JOYSTICK OPTIONAL TB1 MISC VO OPTO22 BOARD PB16A PB24 5 OPTIONAL 63081505 OPTIONAL DIGITAL J14 BRAKE JP29 L wi BRE 4 7229 4 4 JP28 3 A 6JP28 5 A JP29 8JP28 7 A TB2 EXT PWR SUPPLY 248135 12 11 MISC BR aso ERK obs 8 7 a s Bas J2 AXIS 1 FDBK MOTOR ENCODER LIMITS CABLING PER 513067 SERIES AMPLIFIER BA10 XX EFA487 BA20 XX EFA488 BA30 XX EFA489 se BAC4 AMP 630B1596 4 Eo SEE ES 12889 AC CONTROL eur BA SERIES AMPLIFIER BA10 XX EFA487 BA20 XX EFA488 EFA489 Z N OPTIONAL 4 115 230VAC AXIS 3 FDBK J8 AXIS 3 He 690D 1499 AMP 630B1596 4 SEE ES12889 E OPTIONAL E 4 TO 5 20 115 230VAC AXIS 4 FDBK mo asas 9 FRAME AMPLIFIER 2 JP28 1 1 BA10 XX EFA487 SHLD BA20 XX EFA488 A BA30 XX EFA489 us 1 1 69001499 6308 1596 4 SEE ES 12889 3
12. V ouo T OPT_CCW2 Cae 22K ANK 1N4148 Gss PL ccwz tery 1 15 Cao TBI 3 4 m T Us00 POS LATCH TBiS i yx E A SE E 3 14 HMLMT2 Dm wv D7 1N4148 x ES Tur OPT_HM2 1 Lam 1 8 5 12 CWLMT3 oae 22K Da Ropo 2 T pO y A 5 chi A K 6 11 0600 3 1 4 6 D6 1N4148 1 10 COWLMT3 a 4 5 Cus FLW e TEE s OPECCWS yy 22K PS2501L 4 5 Ri M14 tne 15 DS 1N4148 R11 yy SO 2 1 Come orcs V AN Ay Nc 5 OPT_HM3 2 2K tnc 5 TBS R45 AK 6N136 D4 1N4148 Cr OPS JP28 A p 88K 162 BRK 1 16 HMLMT3 m BEN amp D 3 JP28 B OPT Tis OP OWA a 2 28 I 6 ANK JP28 C 3 14 CWLMT4 BR 54 Qs D3 1N4148 ale 21320 L 4 13 p BR 16 58 5 12 OPT_CCW4 22K 4D a r4 N JP29 A 6 n JP29 B 10 HMLMT4 OPT CCW4 1 Om AJ Dy BRE 3 ot GE Y m 1 8 JP29 C aso 56 uz et PS2501L 4 JP29 D AK apet 15 Crea OPE He D1 1N4148 V Figure 1 31 71175 152 JZ 215 51 JEST 215 67 MEA Ci 12VACTBS 11 JEEP 12VA 12VA 12 55 12VA C20 41 001 TED we 2 2 4 o g d JP30 2 1 4 0 BB501 Interface Board Schemat
13. 501 Interface Board Jumper Configurations 1 7 1 6 2 501 Interface Board Test Points 1 10 1 7 BB501 Interface Board Connectors 1 11 1 7 1 U500 U600 Interface Connector 1 1 11 1 7 2 Axis Feedback Connectors J2 J5 1 13 1 7 3 Axis Amp Connectors J6 J9 1 13 1 7 4 U500 I O Hall Effect Connector 10 1 14 1 7 5 U600 ISA I O Hall Effect Connector J10 1 15 1 7 6 Digital I O Connector J11 1 16 1 7 7 Joystick Connector J12 1 18 1 7 8 Brake Connector 14 1 18 1 7 9 Miscellaneous I O Connector TB1 1 19 1 7 9 1 Opto Isolated Limit Inputs J13 1 20 1 7 9 2 Opto Isolated Enable Input TB1 9 10 1 21 1 7 9 3 Opto Isolated Fault Output 11 12 1 21 1 7 10 External Power Supply Connector TB2 1 22 1 7 11 D A Output Connector TB3 1 22 1 7 12 0600 Miscellaneous Connector TB4 1 23 1 8 Power Requireinietits sie E E R 1 24 1 9 System Interconnections
14. A sno mE ere RB MR as N reserare voters SE rS EG Boc IA 43VAC TAP 6 3A UNCOOLED 8 COOLED PARALLELED FROM TRANSFORMER SECONDARY TAP 24A UNGCOLED 3 2A COOLED FEQUAED FOR MUL AXES IS OPTIONAL Figure 1 21 U600 BA Series Amps System Interconnect with TV 03 TV 04 Transformer Rev B 620D1276 3 Sheet 2 1 38 www aerotech com Introduction and Configuration BB501 Option User s Manual 0500 69081470 0500 0500 PLUS 0500 ULTRA P1 SEE ES12411 1 P5 63081627 OTIONAL l CUSTOMER P C OPTO22 BOARD PB8 PB16A PB24 OPTIONAL 500 A TO U500 U600 2 Pi BE DRE IDiGiTAL vo uiv mE SFTORI2FT 63081828 IBI LI Joystick BRAKE TB MISC vo 088__f n Subse JDIGITAL vo 63081506 OPTIONAL BB501 69001504 EFN188 SEE ES12411 12 COM t Axis 32 AXIS 1 FDBK 7 AXIS 2 AXIS 2 FDBK J8 AXIS 3 AMP J4 AXIS 3 FDBK
15. BAC AMPLIFIERS MOT E P1 BA10 5 L H SAI AMP leen c AXIS 3 Z BRUSHLESS m MOTOR AXIS 3 2 us LIMITS FRAME LRH 5 ri 9 AMPLIFIERS MOTOR AXIS 4 URH BA10 BA20 les PUT AXIS 4 U L 1 BRUSHLESS J5 qu MOTOR IS 4 U desc LIMITS m OPTIONAL LOGIC COMMON TO FRAME EXT PWR l GEN ETY UN GROUND CONNECTION RE GRD Ac BRN HI TI5VAC Figure 1 8 System Interconnect with BB501 Breakout Board The following figures are interconnect drawings between the BB501 and the U500 U600 and BA Series Amplifiers www aerotech com 1 25 Introduction and Configuration BB501 Option User s Manual ui MB BMCHPD 15 X MOTOR TO AXIS 1 X OUTPUT SOSTE MOTOR ALS20010 M 10 m 15 LTI0AS NG XYCMS X50 MULT USODPCI ULTRA PSO OP500 5 93081538 L es13210 J 630016501 LI FEEDBACK 690D1546 P1 From See ES12411 20 0500 BMCHPD 15 r1 7 AXIS 2 wee TO AXIS 2 Y 0 d MOS 630C1695 1 ALS20010 M 10 a wxca WDM
16. Commutation A precision device for translating rotary motion into linear motion A lead screw is a low cost lower performance device performing the same function Unit consists of an externally threaded screw and an internally threaded ball nut The linear distance a carriage will travel for one revolution of the ball screw lead screw A measurement expressed in frequency hertz of the range which an amplifier or motor can respond to an input command from DC to 3dB on a frequency sweep The number of bits transmitted per second on a serial communication channel such as RS 232 or modem Binary Coded Decimal A number system using four bits to represent 0 F 15 A support mechanism allowing relative motion between two surfaces loaded against each other This can be a rotary ball bearing linear slide bearing or air bearing zero friction See Repeatability A technique used to perform nonlinear motion that is electronically similar to the motion achieved with mechanical cams A load not symmetrically mounted on a stage A broad term relating to any system where the output is measured and compared to the input Output is adjusted to reach the desired condition Computer Numerical Control A computer based motion control device programmable in numerical word address format Defined as the ratio of the force required to move a given load to the magnitude of that load Nonuniform angular linear velocity Cogging
17. J9 AXIS 4 J5 AXIS 4 FDBK FRAME WHT 0 SHLD ig GRA RED MOTOR ENCODER LIMITS CABLING r Jal PER ES13067 d AXIS 1 X ORN BASERIES MOTOR YEL P1 AMPLIFIER V 690D1499 LT A SEE ES12889 A GYEL CONTROL 7 56VAC BUS F FROM AC TRANSFORMER G YEL mmo FRAME WHT sup 1 03 GRN uu RED MOTOR ENCODERILIMITS CABLING ORN PER ES13067 d AXIS 1 X L x BASERIES MOTOR YEL g P1 AMPLIFIER BLU A 69001499 L E SEE 512889 A r aveL CONTROL 56VAC Bus 3 H FROM BRN Ac Hi TRANSFORMER G YEL FRAME WHT SHLD 15 GRN A RED MOTOR ENCODERILIMITS CABLING PER ES13067 AXIS 1 X BASERIES MOTOR YEL 15 AMPLIFIER BLU A 69001499 SEE ES12889 A r 56VA conor L FROM AC BRN TRANSFORMER G YEL FRAME sup OH T RED MOTOR ENCODERILIMITS CABLING PART PERES13067 AXIS 1 X O A SERIES MOTOR YEL Z qu P1 AMPLIFIER BLU 69001499 L A SEE ES12889 r G YEL A 56VAC CONTROL BLU Bus Ld FROM Hi BEN TRANSFORMER 4 LOGIC COMMON TO FRAME GROUND CONNECTION AXIS 1 X AEROTECH 10000 SERIES DC BRUSH MOTOR AXIS 2 Y AEROTECH 10000 SERIES DC BRUSH MOTOR AXIS 3 Z AEROTECH 10000 SERIES DC BRUSH MOTOR AXIS 4
18. d vo C13 3 w I Pir I Fl V mr 3 2 PS RXE250 1 1 LMT V_FUSED S V 4 EN Lars LME CTEzi 1822 ENC V m SIN3 SIN 15 182 3 J838 2918 48 8 Tei 053 57 6084 55 TB2 1 Tug HALL3AIN11 HALL3AINII Hz PALANINIA ALLANINIA d EE em ire HALLSBIINIO 1 S ES HALLABIIN13 16 zs Um N CE Caoa E17 Tr GIN 2917 J924 JE3T 11 HALLSCINIZ 3g os HALLACANTS q gt FALGAINTT HALLAAINI2 ICMDSA ICMDAA 556 1838 ICMD3B ICMD4B CTB37 TB39 2 2 15S o gt 5 JP22 TO WR 6 2 10 9 9 2 P m 13 12 2 5 1k 8 m R56 TAAC32 L 13 TASA AELTS AFLT 1 13 Av 7406 40K Y 12 5523 plied 13 OFER 2 R64 nsa Figure 1 30 PS COM RA 2 3 N c4N33 CTET ENABLE COM 1 5 BB501 Interface Board Schematic Rev D 690D1504 Sheet 2 www aerotech com 1 47 Introduction and Configuration BB501 Option User s Manual JSA
19. o oO Z e Z g www aerotech com BB501 Option User s Manual Introduction and Configuration 1 7 5 U600 ISA I O Hall Effect Connector J10 The U600 ISA I O Hall effect connector is a 50 pin ribbon type and 15 used for Hall effect and additional I O signals This connector may not be required in all applications Table 1 7 lists the pinouts and descriptions for J10 The mate to this connector is a 3M P N 3425 6050 or Aerotech P N ECK332 Table 1 7 U600 1 Hall Effect Connector J10 Pinouts E ee Reserved Output 1 ROUTI Reserved Output 2 ROUT2 Output 15 OUTIS Output 14 Output 13 O Output 12 OU 212121212 2 2 29 31 33 35 37 39 4l 43 45 47 49 www aerotech com 1 15 Introduction and Configuration BB501 Option User s Manual 1 7 6 Digital I O Connector J11 The Digital I O connector J11 is 50 pin Champ connector and is the digital input output port Table 1 8 lists the pinouts for the digital I O connector J11 when interfacing with the U500 Table 1 9 lists the pinouts when interfacing with the U600 The mate to this connector is a 3M P N 3564 1001 or Aerotech P N ECK353 Table 1 8 BB501 Digital I O Connector J11 Pinouts with 0500 1 Hall Effect C4 Input 15 HC4 II5 2 Hall Effect A4 I
20. 30 days of shipment of incorrect materials No product may be returned whether in warranty or out of warranty without first obtaining approval from Aerotech No credit will be given nor repairs made for products returned without such approval Any returned product s must be accompanied by a return authorization number The return authorization number may be obtained by calling an Aerotech service center Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than 30 days after the issuance of a return authorization number will be subject to review After Aerotech s examination warranty or out of warranty status will be determined If upon Aerotech s examination a warranted defect exists then the product s will be repaired at no charge and shipped prepaid back to the buyer If the buyer desires an air freight return the product s will be shipped collect Warranty repairs do not extend the original warranty period Laser Products Return Procedure Returned Product Warranty Determination www aerotech com Appendix B BB501 Option User s Manual Returned Product Non warranty Determination Rush Service On site Warranty Repair On site Non warranty Repair Company Address After Aerotech s examination the buyer shall be notified of the repair cost At such time the buyer must issue a valid purchase order to cover the cos
21. Actual distance between graduations on an encoder Feedback device HED used in a brushless servo system to provide information for the amplifier to electronically commutate the motor Hall Effect Device See Hall Effect Sensors Human Machine Interface Used as a means of getting operator data into the system See MMI Reference position for all absolute positioning movements Usually defined by a home limit switch and or encoder marker A sensor used to determine an accurate starting position for the home cycle A component of bidirectional repeatability Hysteresis 1s the deviation between actual and commanded position and is created by the elastic forces in the drive systems Input Output The reception and transmission of information between control devices using discrete connection points A set of codes and formats to be used by devices connected via a parallel bus system This standard also defines communication protocols that are necessary for message exchanges and further defines common commands and characteristics See G P I B A move referenced from its starting point relative move The physical property of an object to resist changes in velocity when acted upon by an outside force Inertia is dependent upon the mass and shape of an object The deviation of a lead screw or ball screw from its nominal pitch A device for translating rotary motion into linear motion Unit consists of an externally th
22. BB501 Interface Board Connectors The BB501 board contains seventeen connectors consisting of two U500 U600 interface connectors four amp connectors four encoder connectors three I O connectors one D A connector one joystick connector one brake connector and an external power supply connector The following sections describe the pinouts for each of these connectors 1 7 1 0500 0600 Interface Connector J1 The U500 U600 Interface connector is a 100 pin AMPLIMITE connector that provides the majority of the signals to and from the U500 or U600 control board Refer to Table 1 3 for a description of the pinouts for connector J1 www aerotech com 1 11 Introduction and Configuration BB501 Option User s Manual Table 1 3 BB501 U500 U600 ISA Interface Connector J1 Pinouts macies 5 EncoderGround Hall1B GND EncoderGroud Halll A GND n 9 Encoder COS Axis COSI 10 Encoder COS Axis COSI Encoder Ground Hall 2B Encoder Ground Hall 2A 19 21 23 25 COS3 27 MRK3 29 GND 31 SIN4 33 COS4 35 36 MRK4 37 38 GND 39 40 CCWI 41 42 CCW2 43 44 CCW3 45 46 ccw4 47 48 HOME2 49 50 4 51 52 GND 53 54 12V 55 56 12V 57 58 Reserved 59 INI 61 62 IN3 63 64 OUTI 65 OUT3 67 Reserved 70 AEN2 71 72 AEN4 73 74 AFLT2 75 76 AFLT4 77 78 GND 79 Axis 1 Primary Current Cmd ICMDIB 80 Axis 1 Secondary Current Cm
23. RAMIS ALBAE DER MEN ENERGIES 250 350 mA 97 3 68 OHMS PARADES EO FROMTHE CONS TANDARDIOEUCNOPTIORADILIMITISWITERES C BRK amp BRK IS AVAILABLE ON ALL AXIS FEEDBACK CONNECTORS BB501 J2 J3 J4 J6 BRK IS ON PIN 13 BRK IS ON PIN 25 8 U600 BRAKE CONTROL OUTPUT THE U600 CONTROL BOARD SENDS OUT A LOGIC SIGNAL THAT CAN BE USED TO CONTROL AN EXTERNAL BRAKE CIRCUIT THIS LINE IS AN OPEN COLLECTOR OUTPUT A STANDARD MOTOR ROTATIONAL REFERENCE FROM A 7407 BUFFER THAT IS CURRENT SINKING LOGIC 0 WHEN THE ASSOCIATED BRAKE IS OFF RELEASED AND IS HIGH IMPEDANCE WHEN THE BRAKE IS ON THIS CW ROTATIONS VIEWED EROM THE MO TOR MOUNTING FLANGE LINE IS ENABLED BY SETTING THE BRAKE MASK IN THE AXIS PARAMETERS THIS 7407 DRIVER HAS A 30mA SINK CAPABILITY WITH A MAX 30VDC COLLECTOR VOLTAGE N 5VDC IS REQUIRED FOR ENCODER AND LIMIT OPERATION THIS 5V IS TYPICALLY SUPPLIED BY THE BA SERIES AMPLIFIER AND IS ROUTED BY JUMPERS THROUGH THE BB501 REFERENCE ES12411 12 OR THE BB501 OPERATOR S MANUAL P N EDO00107 FOR JUMPER DEFINITIONS THIS 5VDC MAY BE SUPPLIED BY A SEPARATE POWER SUPPLY AS SHOWN AT LEFT THE ABOVE MENTIONED JUMPERS MUST THEN BE RECONFIGURED 2228 m 500 OPTION SEE 630C1662 2 ROTATION SS JP28 AND JP29 PIN NUMBERS ARE INCORRECTLY LABELED ON SOME REV D BOARDS SEE FIGURE 1 4 FOR CORRECT IDENTIFICATION gt gt Figure 1 28 U600 BA Series Amps Brush System Interconnect with Transformer Rev O 620D1301 1
24. Sheet 3 www aerotech com 1 45 Introduction and Configuration BB501 Option User s Manual E E E p JP4 54K 1K ae 51K 1k 1 os x 2 R4 XTFLT2 v Beran Mug RE cs TAAC32 TAM 5 2 SIN2 SINt Cars Cx sine Tes es sna Tore SN Cae 7878 cose i resi cost Cost 324 Cun gt 9518 cosa cosi cery m le cos2 J3 15 cost Cost C t COS2 cos CERO 3 Meo Meno mm MUS CET Cans Y Cs men 1 2 M TET wo Meo MERI 2 6 Cun 415 12 MERI HMLMT2 Canem wre CEE Ts LL BB un CS Casa CWLMT2 CURAS oum cwm E t ORC S Caes enam ut ar a CCWLMTI Comum e CCWLMT2 Tecno 521 NLT C Rs CCWLMTI a C 028
25. Stiction Straightness of Travel Torque Torque Continuous Torque Peak Torque rms Torque Stall Total Indicated Reading TIR Tuning Unidirectional Repeatability Velocity Command Time required for a motion system to cease motion once the command for motion has ended Maximum radial load that can be applied to the end of the motor shaft at maximum motor speed Deviation from straight line travel Describes the type of laminations used in a motor that eliminates cogging torque due to magnetic attraction of the rotor to the stator slots Non rotating part of a magnetic structure In a motor the stator usually contains the mounting surface bearings and non rotating windings Friction encountered when accelerating an object from a stationary position Static friction 1s always greater than moving friction and limits the smallest possible increment of movement Measure of the side to side deviation of a stage as it travels in a horizontal plane Rotary equivalent to force Equal to the product of the force perpendicular to the radius of motion and distance from the center of rotation to the point where the force 15 applied Torque needed to drive a load over a continuous time Maximum amount of torque a motor can deliver when the highest allowable peak currents are applied Root Mean Square is a mathematical method to determine a steadfast or average torque for a motor The maximum torque witho
26. U AEROTECH 1000DC SERIES DC BRUSH MOTOR 1 39 U500 BB501 BA Amps System with DC Brush Motors Rev A 620D1285 1 Sheet 1 Figure 1 22 www aerotech com Introduction and Configuration BB501 Option User s Manual AUTO TRANSFORMER WIRING ISOLATION TRANSFORMER WIRING AC HI AC HI HI 115VAC 115VAC OR HI OR 56VAC 230VAC 230VAC TO BA AMP 56VAC LO TO BA AMP AC LO LO AC LO N AA MOTOR ROTATION CW ROTATION IS VIEWED FROM THE MOTOR MOUNTING FLANGE CW ROTATION gt FOR CURRENT COMMAND OPERATION NO TACHOMETER BAC4 CABLE 630B1596 4 MUST BE USED FOR VELOCITY COMMAND OPERATION WITH TACHOMETER 5 CABLE 630B1596 5 MUST USED MOTOR ENCODERILIMITS CABLE CAN BE INTEGRAL TO MOTOR OR A DISCRETE CABLE 12 TURNS OF EACH MOTOR WIRE THROUGH TOROID FERROXCUBE 500T600 3C81 ECZ280 APPROPRIATE TRANSFORMER MUST BE SELECTED FOR USE WITH 115VAC OR230VAC LINE TRANSFORMER MUST BE CAPABLE OF CONTINUOUS OUTPUT CURRENT OF MOTOR PER AXIS BEING SUPPLIED pie Be p WHEN USING AN ISOLATION TRANSFORMER EARTH GROUNDING LO OUTPUT TAP INPUT OF BA AMP REDUCES ELECTRICAL AND AUDIBLE NOISE EMISSIONS AND PROVIDES INCREASED SERVO PERFORMANCE Figure 1 23 U500 BB501 BA Amps System with DC Brush Motors Rev A 620D1285 1 Sheet 2 1 40 www aerotech com Introduction and Configuration BB501 Option User s Manual
27. U600 69081502 OP500 TO EFN187 Pty SOR 12 FT U500 U600 SEE ES13016 1 P1 J2 BFC 630 1529 1 AXIS 1 X AXIS 1 LIMITS Fe FDBK REV OR ABOVE A p BRK 313 FRAME p y gt ass ISHLD gt PMC630C1580 1 I 281 BA SERIES a A lal PMC 1 630C1581 1 BA10 160 BA10 320 MOTOR B AXIS 2 Y Fl J7 BAC 630B1596 2 3 BA20 160 BA20 320 1 c BRUSHLESS DIOSR STD AXIS 2 1 BA30 160 BA30 320 Y J10 AMP MOTOR 630B1627 LL DRC STD Vo 690D1499 GIVEL HALL SEE ES12889 4 63081628 EFFECT BLU 5OR 12FT 98 BFC 630C1529 1 AXIS 2 Y M AXIS 2 LIMITS DIOSR STD pd JP29 un REV C OR ABOVE BRK FRAME 4 ar wo BRKO los os Q3 PMC630C1580 1 1 OR n A BA SERIES x PMC1630C1581 1 Al AMPLIFIER AXIS 3 Z penu fore DIOPB STD 3 aie _ BA10 160 BA10 320 MOTOR B BRUSHLESS 63081610 AXIS 3 630B1596 2 3 BA20 160 BA20 320 ht MOTOR AMP 1 BA30 160 BA30 320 WI OPTIONAL 69001499 of LI BRAKE SEE ES12889 r 4 Lo BLU i OPTO22 BOARD INPUT ab BRN PB16A PB24 HESA OPTIONAD OPTIONAL A A ASSEMBLY SEE 630C1586 Pe BFC 630C1529 1 AXIS 3 Z AXIS 3 LIMITS JP29 REV OR ABOVE L A 1 87s 4 BRK FRAME 2525 PMC630C1580 1 6 JP28 5 L OR n2
28. line Operation Rev B 620D1276 2 Sheet 1 1 35 Figure 1 19 U600 BA Series Amps System Interconnect 230 VAC Off line Operation Rev B 620D1276 2 Sheet 2 1 36 Figure 1 20 U600 BA Series Amps System Interconnect with TV 03 TV 04 Transformer Rev B 620D1276 3 Sheet 1 1 37 Figure 1 21 U600 BA Series Amps System Interconnect with TV 03 TV 04 Transformer Rev B 620D1276 3 Sheet 2 1 38 Figure 1 22 U500 BB501 BA Amps System with DC Brush Motors Rev 4620D1285 1 Sheet 1 ish ceret teet tette cete 1 39 Figure 1 23 U500 BB501 BA Amps System with DC Brush Motors Rev A 620D1285 1 Sheet 2 1 40 Figure 1 24 U500 BA Series Amps Brush System Interconnect Rev A 620D1285 2 Sheet nre 1 41 Figure 1 25 U500 BA Series Amps Brush System Interconnect Rev 620D1285 2 Sheet 2 Jani eee ete eret ertet ed 1 42 Figure 1 26 U600 BA Series Amps Brush System Interconnect with Transformer Rev 620D1301 1 Sheet 1 1 43 Figure 1 27 U600 BA Series Amps Brush System Interconnect with Transformer Rev 620D1301 1 Sheet 2 1 44 Figure 1 28 U600 BA Series Amps Brush System Interconnect with Transformer Rev 620D1301 1 Sheet 3 1 45 Figure 1 29 BB501 Interface Board Schematic Rev D 69001504 Shee
29. os mp p r 9 Gnd 22 Current www aerotech com 1 13 Introduction and Configuration BB501 Option User s Manual 1 7 4 0500 VO Hall Effect Connector J10 The U500 I O Hall effect connector 15 a 50 pin ribbon type and is used for Hall effect and additional I O signals This connector may not be required in all applications Table 1 6 lists the pinouts and descriptions for J10 The mate to this connector is a 3M P N 3425 6050 or Aerotech P N ECK332 Table 1 6 0500 I O Hall Effect Connector J10 Pinouts i oe eo s maj natan ond 5 s s numi io Ger mao ac 14 crows ond ond 2 Gee ond 2 crowns Ex ond s mes 26 cron Gb x me mi Em me i p Ger Pat meo mo Gb our as Tours ours s crams Gb ours ou sx Grama ond La Tours ou 2 Ger ano om our 4 Gee ovi 50 Gee ond e J
30. r 5 ICMDIB e BRK1 213 1 2 518 JE pum TEST y CMD2B a co BRGY 25 TST m CUT eub TE aon Cem Care 3221 2770 Ba 15 69 pent 2 4 J3 4 AFLT2 Cs un z ES Cae AFLT2 TIER FETE 27 INT s CED 110 23 HALL2B IN7 2 8 73107 Tie Cum 2 HALL2C IN TLLA HALLIAIING HALLIC IN6 Xe Cams HALE 33 11 HALL1A INS T F1 15 13 tGE300 ENC2 V Ces RGE300 ENCIWV gt aa 27 HALLICINS ES Taon C 10 19 T ACHT S 12 18 HALL2C IN9 2378 tALLICINS D Cnss eem 2 LMT1 V 2 LMT2 V 3 16 i ze 3 gt P oe So EN 39 m 1 T TL lt 2 Ed E a r 3 1 g v V af FUSED E AY L3 B 5 m SNP e n rcm Tap PALINS ji 07 EET LT xi L2B IN7 5 HALLIBIING quem 2 AS Cane ma HALLZCINS Parcs HALLICING Hautes 22 Cu zu So HALLICIING 1 B S 1 m i HALL2ATNS B Bl aen INPUT2 3 ot 1 INPUT 3 q 1 4 Carm TEIL Cm ee 2 57 832 ICMD28 ICMD2B 182 5 IOMDIB 25 CES Cum TB3 3 ENABLE2 C PUTES 3 gt a FAULT PARTI 1 Can E 2 TACHI 2 2 4 8 A
31. 69001499 512889 H ac RU INPUT x BFC 630C 1529 1 AXIS 100 LIMITS REV C OR ABOVE 13113 N FRAME 2529 CaN PMC630C 1580 1 c OR BA SERIES 630C1581 1 AMPLIFIER O BA10 320 EFA487 MOTOR B AXIS 2 Y BAC 630B1596 2 3 BA20 320 EFA488 c BRUSHLESS 1 0 320 EFA489 MOTOR LE 690D1499 SEE ES12889 r dm U nur 7 A 630C1529 1 AXIS 2 Y LIMITS REV C OR ABOVE FRAME RME iex 1580 1 BA SERIES 630C1581 1 AMPUFIER AXIS 3 Z 10 320 EFA487 MOTOR B BRUSHLESS BAC 630B1596 2 3 BA20 320 EFA488 MOTOR 1 0 320 EFA489 W OPTIONAL 69001499 BRAKE SEE ES12889 tq BLU INPUT H BRN OPTIONAL BRAKE A ASSEMBLY 630 1529 1 83 2 LIMITS REV C OR ABOVE A 1413413 2825 PMC630C1580 1 A OR n BA SERIES 630C1581 1 AMPLIFIER A O BA10 320 EFA487 MOTOR B AXIS 4 U 630 1596 2 3 BA20 320 EFA488 ci BRUSHLESS IP1 BA30 320 EF A489 MOTOR L I 69001499 SEE ES12889 Lu AC il BLU J inpuT 0 630 1529 1 AXIS 4 9 LIMITS REV C OR ABOVE A 2 18AWG 1 p 4 e EL IL sk GNEL_ SAFETY FS OPTIONAL GROUND INPUT SIGNAL COMMON wy Lo 2006 TO FRAME GROUND BRN H OPTIONAL CUSTOMER SUPPLIED NORMALLY CLOSED BRAKE RELAY RELAY CLOSED BRAKE OFF REL
32. A BA SERIES 1630 1581 1_ JOYSTICK AMPLIFIER A O 63081358 LENGTH AR i5 BA10 160 BA10 320 MOTOR B AXIS 4 U OPTIONAL AXIS 4 s BA20 160 BA20 320 c BRUSHLESS JBV 1 BA30 160 BA30 320 MOTOR DIGITIZING 690D1499 JOYSTICK SEE ES12889 p eveL OPTIONAL AG INPUT i RN BU Fr 45 FT1 BFC 630C1529 1 AXIS 4 U 1 AXIS 4 LIMITS MISC IO FDBK QS ee REV C OR ABOVE AN puse i 9 7v ph pm 25 25 18 AWG 1 5 8JP287 OPTO22 BOARD J11 A irt PB16A PB24 DIGITAL TB2 encev 2 amp OPTIONAL 63081505 vo EXT PWR OPTIONAL OPTIONAL SUPPLY COMMON 51 y USER 5VDC SAFETY AC COMMON s POWER SUPPLY GROUND INPUT 414 BRAKE S OPTIONAL BLU T SIGNAL COMMON 115VAC 24 6 13 s 2 11 7 FRAME GROUND BRN T CONNECTION Hl OPTIONAL CUSTOMER SUPPLIED NORMALLY CLOSEDBRAKE RELAY A RELAY CLOSED BRAKE OFF RELAY OPEN BRAKE ON COMMON COMMON Jit A COMMON G 0 TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY 24VDC CONDO I etc ee j L TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY COMMON BRAKE N OUT AA U600 BA Series Amps System Interconnect 115 VAC Off line Operation Rev B 620D1276 1 Sheet 1 Figu
33. Introduction and Configuration 1 6 1 BB501 Interface Board Jumper Configurations The BB501 contains configuration jumpers used to configure the axis and certain options Table 1 1 is a list of the jumpers on the BB501 interface board Refer to Figure 1 4 for jumper locations Table 1 1 BB501 Jumper Descriptions 1 2 External global enable required 2 3 default External global enable defeated 1 2 default Brake Control from Brake J1 96 2 3 Brake Control from Out 0 J1 63 1 2 default Axis 1 External fault input defeated J2 2 is Gnd 2 3 Axis 1 External fault input enabled 2 3 3 1 2 default Axis 1 Encoder 5V J2 3 from J6 2 20 amp Axis 1 Encoder 5V J2 3 from TB2 2 1 2 default Axis 1 Limit 5V J2 16 from J6 2 20 amp 2 Axis 1 Limit 5V 12 16 from TB2 4 Axis 1 ICMDIB to Amplifier Inputl J6 21 Axis 1 ICMDIB to Amplifier Inputl J6 8 Note Setting JP7 to 1 2 requires JP24 to be set to 2 3 1 2 2 3 default T 1 2 default Axis 2 External fault input defeated J3 2 is Gnd 3 Axis 2 External fault input enabled P9 J 1 2 default 3 2 2 3 default 1 2 default 2 3 1 2 default 1 2 default Axis 2 Limit 1 5V J3 16 from J7 2 20 amp Axis 2 Limit 1 5V J3 16 from TB2 4 Axis 2 ICMD2B to Amplifier Input2 J7 21 Axis 2 ICMD2B to Amplifier Input2 J7 8 2 1 2 default Axis 2 Encoder 5V J3 3 from J7 2 2
34. RELEASED AND IS HIGH IMPEDANCE WHEN THE BRAKE IS ON THIS LINE IS ENABLED BY SETTING PARAMETER x61 ENABLE BRAKE MASK FOR A PARTICULAR AXIS THIS 7406 DRIVER HAS A 30mA SINK CAPABILITY WITH AMAX 30VDC COLLECTOR VOLTAGE 5VDC IS REQUIRED FOR ENCODER AND LIMIT OPERATION THIS 5V IS TYPICALLY SUPPLIED BY THE BA SERIES AMPLIFIER AND IS ROUTED BY JUMPERS THROUGH THE BB501 REFERENCE ES12411 12 OR THE BB501 OPERATOR S MANUAL P N EDOO00107 FOR JUMPER DEFINITIONS THE 5VDC MAY BE SUPPLIED BY A SEPARATE POWER SUPPLY THE ABOVE MENTIONED JUMPERS MUST THEN BE RECONFIGURED BRAKE501 OPTION SEE 630C1662 2 JP28 AND JP29 PIN NUMBERS ARE INCORRECTLY LABELED ON SOME REV D BOARDS SEE FIGURE 1 4 FOR CORRECT IDENTIFICATION U500 BA Series Amps System Interconnect 115 VAC Off line Operation Rev B SS aes www aerotech com Introduction and Configuration BB501 Option User s Manual BB501 69001504 EFN188 REV C amp ABOVE SEE ES12411 12 JP29 J6 AXIS 1 AMP J2 AXIS 1 FDBK 24 BRK 2 JP28 1 A EXTPWR SUPPLY 11 TB4MISC p FRAME f 7 AXIS2
35. appears as a jerkiness especially at low speeds and is due to magnetic poles attracting to steel laminations The action of steering currents to the proper motor phases to produce optimum motor torque force In brush type motors commutation is done electromechanically via the brushes and commutator A brushless motor is electronically commutated using a position feedback device such as an encoder or Hall effect devices Stepping motors are electronically commutated without feedback in an open loop fashion www aerotech com BB501 Option User s Manual Commutation 6 Step Commutation Modified 6 Step Commutation Sinusoidal Coordinated Motion Critical Speed Current Command Current Peak Current rms www aerotech com Also referred to as trapezoidal commutation The process of switching motor phase current based on three Hall effect signals spaced 120 electrical degrees beginning 30 degrees into the electrical cycle This method is the easiest for commutation of brushless motors Also referred to as modified sine commutation The process of switching motor phase current based on three Hall effect signals spaced 120 electrical degrees beginning at 0 electrical degrees This method is slightly more difficult to implement than standard 6 step but more closely approximates the motor s back emf The result is smoother control and less ripple Aerotech s BA series self commutate using this method The p
36. in the following On Site Non Warranty Repair section apply If any Aerotech product cannot be made functional by telephone assistance or purchased replacement parts and cannot be returned to the Aerotech service center for repair then the following field service policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs and the prevailing labor cost including travel time necessary to complete the repair Aerotech Inc Phone 412 963 7470 101 Zeta Drive Fax 412 963 7459 Pittsburgh 15238 2897 TWX 710 795 3125 USA V V V www aerotech com BB501 Option User s Manual Appendix C APPENDIX C TECHNICAL CHANGES In This Section e Current Changes e Archive of Changes C 1 Current Changes Manual V1 6 Change Reason Sections Updated A ffected Figure 1 4 JP28 and JP29 Pin Pin Numbers incorrectly listed Table 1 1 Numbers on Rev D board Figure 1 10 through Figure 1 21 Figure 1 26 and Figure 1 28 www aerotech com C 1 Appendix C BB501 Option User s Manual C 2 Archive of Changes Nothing to Archive C 2 www aerotech com BB501 Option User s Manual Index I Installation A Electrical 1 5 Mechanical 1 4 Axis Amplifier Connectors 1 13 Axis Feedback Connector 1 13 J B Joystick Connector 1 18 Jumpe
37. motion of a carriage around an axis parallel to the motion direction and perpendicular to the yaw axis Positioning error resulting from a roll motion The rotating part of a magnetic structure In a motor the rotor is connected to the motor shaft Industry standard for sending signals utilizing a single ended driver receiver circuit As such the maximum distance is limited based on the baud rate setting but is typically 50 100 feet This standard defines pin assignments handshaking and signal levels for receiving and sending devices Industry standard programming language Also referred to as G code machine programming A command set specific for the machine tool industry that defines geometric moves Industry communication standard for sending signals over distances up to 4000 feet Standard line driver encoder interfaces utilize RS 422 because of the noise immunity The deviation from the desired form of a surface during full rotation 360 degrees about an axis Run out is measured as total indicated reading TIR For a rotary stage axis run out refers to the deviation of the axis of rotation from the theoretical axis of rotation Refers to a closed loop control system where a command Is issued for a change in position and the change 1s then verified via a feedback system www aerotech com BB501 Option User s Manual Glossary of Terms Settling Time Shaft Radial Load Shaft Runout Slotless Stator
38. www aerotech com Introduction and Configuration BB501 Option User s Manual FRAME p JSHLD Ley _ BA SERIES BLK 630C1581 1 BB501 AMPLIFIER A RED 69001504 10 160 8 10 320 MOTOR B AXIS 1 X EFN188 J6 BAC 630B 1596 2 3 BA20 160 BA20 320 WHTOR ERN REV C amp ABOVE AXIS 1 BA30 160 BA30 320 MOTOR SEE ES12411 12 69001499 SEE ES12889 oe U U500 BRN 69081470 INPUT 0500 EFN154 500 To U500 PLUS EFN180 P1 U500 U600 A 0500 ULTRA EFN181 12FT Pi 12 ra BFC 6300 1529 1 SEE ES12411 1 PS AXIS 1 JP29 REV COR ABOVE I 8 73 BR FRAME p i 55 1 PMC630C1580 1 2J
39. 0 amp 2 3 Axis 2 Encoder 5V J3 3 from TB2 2 2 1 Note Setting JP11 to 1 2 requires JP25 to be set to 2 3 Axis 3 External fault input defeated J4 2 is Gnd Axis 3 External fault input enabled Axis 3 Encoder 5V 14 3 from J8 2 20 amp Axis 3 Encoder 5V J4 3 from TB2 2 Axis 3 Limit 5V J4 16 from J8 2 20 amp Axis 3 Limit 5V J4 16 from TB2 4 www aerotech com Introduction and Configuration BB501 Option User s Manual Table 1 1 BB501 Jumper Descriptions Continued T Axis 3 ICMD3B to Amplifier Input3 J8 21 JP15 Axis 3 ICMD3B to Amplifier Input3 J8 8 2 3 default Note Setting JP15 to 1 2 requires JP26 to be set to 2 3 wie 1 2 default Axis 4 External fault input defeated J5 2 is Gnd 2 3 Axis 4 External fault input enabled wi 1 2 default Axis 4 Encoder 5V J5 3 from J9 2 20 amp 2 3 Axis 4 Encoder 5V J5 3 from TB2 2 ipii 1 2 default Axis 4 Limit 5V J5 16 from J9 2 20 amp 2 3 Axis 4 Limit 5V J5 16 from TB2 4 T Axis 4 ICMD4B to Amplifier Input4 J9 21 JP19 I Axis 4 ICMD4B to Amplifier Input4 J9 8 2 3 default Note Setting JP19 to 1 2 requires JP27 to be set to 2 3 IP20 1 2 default Axis 1 Amp Fault J6 23 enabled 2 3 Axis 1 Amp Fault J6 23 defeated P21 1 2 default Axis 2 Amp Fault 17 23 enabled 2 3 Axis 42 Amp Fault J7 23 defeated P22 1 2 default Axis 3 Amp Fault 78 23 enabled 2 3 Axis 3 Amp Fault J8 23
40. 1 axis 2 Y poo AXIS 2 X50 MULT DRSOOR B 160 160 Gsosisss scies FEEDBACK m IX2 A832020C F3 5 f E 63081628 pcc AXIS BMOHPD 46 AXIS 3 2 MOTOR 630C1695 1 MOTOR TO AXIS 3 2 DIOSR AVS105 M BMS NC 63081627 15 Axis 3 2 E1418603 AXIS 3 ENC LMT 6300 1650 1 FEEDBACK an UM BMCHPD 15 7 I OP500 12 MR 630 1695 1 MOTOR ART310 M G54 BMS me HC RBS10M 35 rj OH AXIS 4 AXIS 4 U 1418603 JOYSTICK uo NOBUS INLET 630C 1650 1 LI FEEDBACK LINE CORD gt 230VAC Q 5A CUSTOMER P C OPTO 22 G4PB24 MOUNTING RACK POSITION 0 7 540005 En POSITION 8 23 941065 f 110 240VAC Q 2A AC 501 PDS 13 2 g INLET 69001504 J6 DRIVE CABLE rie E See ES14186 AXIS 1 PDS13 2 a AMP 15 STEPPER DRIVE 3 See 514186 U500PCI SYSTEM To FOR SETUP AXIS 5 A INTERCONNECT 500 ATS50 25 M 1 E1418601 Pt E1418606 REV 12 1 AXIS 1 MISC 1 0 FDBK USER PSO INTERFACE 0500 Description BB501 P9 44 TTL Fire Out 1 2 COM 1 5 P9 47 LaserCommon TB1 6 P9 48 Laser Fire Output TB1 7 P9 49 Laser 5V TB1 8 Figure 1 9 U500PCI System Interconnect w Steppers 1 26
41. 1 25 1 10 Troubleshooting and Technical Support 1 49 1 10 1 Common Problems and Causes 1 49 110 2 45 Volt Supply ys as e ceret te oet e o eres 1 50 1 10 3 Connectors uu u e oerte E 1 50 1 10 4 Technical Support y a l an uu Sau a 1 50 APPENDIX A GLOSSARY OF TERNMS A 1 APPENDIX B WARRANTY AND FIELD SERVICE B 1 APPENDIX C TECHNICAL CHANGES C 1 Current Changes Manual 1 6 C 1 C2 Archive of Changes 0 2 INDEX www aerotech com Table of Contents iii Table of Contents BB501 Option User s Manual www aerotech com BB501 Option User s Manual List of Figures LIST OF FIGURES Figure 1 1 BB501 Interface Board ns 1 1 Figure 1 2 Mounting the BB501 Interface Boatrd 1 4 Figure 1 3 BB501 Interface Board Dimensions 1 4 Figure 1 4 BB501 Interface Board Connector and Jumper Locations 1 6 Figure 1 5 Opto Isolated Inputs nn nn na 1 20 Figure 1 6 Opto Isolated Enable Input Interface 1 21 Figure 1 7 Opto
42. 15 A H 70 BA SERIES 56 AMPLIFIER e 43 A BUSS 28 AC INPUT i AA E A FRAME 43 GROUND 56 70 115 5 115 SERIES 5 7 AMPLIFIER 230 BUSS vac WAG AC 115 INPUT 0 v A FRAME GROUND ar GROUND ISOLATED AC VOLTS OUT PERFORMANCE USER OPTIONAL STANDARD MOTOR ROTATIONAL REFERENCE PANTS s PRIMARY JN CW ROTATION IS VIEWED FROM THE MOTOR MOUNTING FLANGE d A Ed o CONNECT TO THIS TAP FOR 00VDC BUS OPTIONAL i 8RN CONNECT To THIS SERIES TAP FOR 00VDC AMBLIFIER Bus oPTIONAL A 2 CONNECT TO THIS TAP FOR 40VDC Buss BUS OPTIONAL AS 200 224VAC b A 1 2 1 6 AMPS AC LO NEUTRAL 2 m HZ DENIM moov FRAME GROUND TRANSFORMER SPECIFICATIONS TYPICAL TRANSFORMER SECONDARY WIRING TI2VAC TAP RMS SHOWN FOR REFERENCE WIRES SHOULD BE SOVAG TAP 6A RUS PARALLELED FROM TRANSFORMER TEMA OA MS RES AEHOTECH PROVIDED SECONDARY AN OPTIONAL BA SERIES CONTROL AC INPUT PCB WIRING IS OPTIONAL FOR USE WHEN BUSS VOLTAGE IS BELOW 80VDC REFER TO ES13063 SHEETS 1 TO 3 AC PRIMARY TV03 EAX227 INPUT TO BOARD IS 115VAC OR 230VAC TRANSFORMER EAX227 FUSE TRANSFORMER AUTOTRANSFORMER BASE Paya q AN 12 TURNS OF EACH MOTOR WIRE THROUGH TOROID FERROXCUBE 500T600 3C81 ECZ00280 SERIES C
43. 2 Warranty Information B 1 C 1 Warranty Policy B 1 ii www aerotech com READER S COMMENTS BB501 Interface Board Option User s Manual P N EDO 107 July 2004 Please answer the questions below and add any suggestions for improving this document Is the information Adequate to the subject Well organized Clearly presented Well illustrated Would you like to see more illustrations Would you like to see more text How do you use this document in your job Does it meet your needs What improvements if any would you like to see Please be specific or cite examples Your name Your title Company name Address Remove this page from the document and fax or mail your comments to the technical writing department of Aerotech AEROTECH INC Technical Writing Department 101 Zeta Drive Pittsburgh PA 15238 2897 U S A Fax number 412 967 6870 AEROTECH
44. 5 volts The pinouts for the external power supply connector are listed in Table 1 14 Table 1 14 501 External Power Supply Connector TB2 Pinouts i 77 77 Shield SHIELD Optional Encoder power ENCDR power Ps Reserved E 1 7 11 D A Output Connector TB3 The D A output connector TB3 is a 12 pin terminal board connector This connector provides eight current command or D A outputs available as D A output when not used as current command on U500 The pinouts for the D A Output connector are listed in Table 1 15 Table 1 15 BB501 D A Output Connector TB3 Pinouts Pin Function Description Ground GND 2 Axis 1 Current A ICMDIA 3 Axis 1 Current ICMDIB 4 Axis2 Current Cmd A ICMD2A 5 Axis 2 Current B ICMD2B 6 Axis 3 Current Cmd A ICMD3A 7 Axis 3 Current Cmd B ICMD3B 8 Axis 4 Current A ICMD4A 9 Axis 4 Current Cmd B ICMD4B 10 Ground Ext DAC com GND 11 U500 PCI Ext DAC 12V See Note 12 U500 PCI Ext DAC 12V See Note These are for use with the U500 PCI only You must set jumpers JP30 JP31 and the jumpers on the U500 PCI card appropriately See the schematic Figure 1 31 1 22 www aerotech com BB501 Option User s Manual Introduction and Configuration 1 7 12 U600 Miscellaneous Connector TB4 The U600 Miscellaneous connector TB4 is a 12 pin terminal board c
45. 581 1 BB501 AMPLIFIER A RED 690D1504 BA10 80 MOTOR B AXIS 1 X EFN188 J6 63081596 2 3 T 20 80 WHTORERN BRUSHLESS REV C amp ABOVE AXIS 1 P1 BA30 80 MOTOR SEE ES12411 12 AMP L L 69001499 T SEE ES12889 ip SEL AC Lo BLU 35 BRN U600 INPUT TRANSFORMER 69081502 OP500 T EFN187 P1 0500 0600 SEE ES13016 1 FORTAPT 2 630 1529 1 AXIS 1 00 P9 P10 AXIS 1 LIMITS JP29 FDBK REV C OR ABOVE gt BRK FRAME p M So fBRK SHLD eo BA SERIES P A AMPLIFIER _ A 630C1581 1 7 BA 10 80 MOTOR B AXIS 2 Y 7 C4 63081596 2 3 7 20 80 4 DIOSR STD AXIS 2 P1 BA30 80 MOTOR 630B1627 DRC STD J10 VO 690D 1499 I HALL SEE ES12889 p E 63081628 EFFECT Lo BLEU TO 5 OR 12FT INPUT BRN TRANSFORMER El 8 BFC 630 1529 1 AXIS 2 Y DIOSR STD AXIS 2 LIMITS FDBK REV C OR ABOVE JP29 630B1627 ge 2 enl AN P Ll BR MN FRAME cur ase 4 rii ees ps os PMC630C1580 1 BA SERIES 630C1581 1 CUSTOMER P C AMPLIFIER AXIS 3 2 ae eed a ERN DIOPB STD J8 5 10 80 MOTOR B 1 BRUSHLESS 630B1610 AXIS 3 BAC 630B1596 2 3 BA20 80 L e 6 MOTOR AMP BA30 80 WI OPTIONAL L 690D1499 LI BRAKE SEE ES12889 r p lexer AC 22 BOARD
46. AXIS 4 LIMITS FDBK 29 E REV C OR ABOVE A b ee qoom ERR 2 T eet 2525 18 AWG 1 mm A PM ENG EXIEWR LMTA E OPTIONAL SUPPLY COMMON Yu ape Hn 7 ENC LMT SAFETY AC COMMON s POWER SUPPLY PU OPTIONAL guy GROUND INPUT Seah SIGNAL COMMON LO 230VAC 12 11 h TO FRAME GROUND 7777777777 BRN T CONNECTION Hi OPTIONAL CUSTOMER SUPPLIED NORMALLY CLOSED BRAKE RELAY A RELAY CLOSED BRAKE OFF RELAY OPEN BRAKE ON L 9 0 TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY 24VDC TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY COMMON U600 BA Series Amps System Interconnect 230 VAC Off line Operation Rev B 620D1276 Sheet 1 Figure 1 18 1 35 www aerotech com Introduction and Configuration BB501 Option User s Manual LIMITS CW LMT N SIGNAL INDICATES OVERTRAVEL IN CLOCKWISE DIRECTION CCW LMT SIGNAL INDICATES OVERTRAVEL IN THE COUNTER CLOCKWISE DIRECTION TYPICAL LIMIT ce SWITCH WIRING 2 LMTCOM l CW LMT N ami CW LIMIT O PIN 5 COWLMTN VA CCW LIMIT FEMALE D 4 HOME LMT N 9 HOME LIMIT TO STAGE A LIMIT WIRING MATE 9 PIN MALE D DE9P ECK137 BACKSHELL DE24657 ECK612 JACKSOCKETS 207952 3 ECK363 A HOME LIMIT OPTIONAL AS A STANDARD THE CCW OR CW LIMIT SWITCH IS USED AS THE HOME LIMIT SWITCH THIS SELECTION IS MADE BY SOFTWARE PA
47. AY OPEN BRAKE ON L_ 0 0 t TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY 24VDC gt TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY COMMON ANY A U500 BA Series Amps System Interconnect 230 VAC Off line Operation Rev B 620D1273 2 Sheet 1 Figure 1 12 1 29 www aerotech com Introduction and Configuration BB501 Option User s Manual LIMITS A CW LMT N SIGNAL INDICATES OVERTRAVEL IN THE CLOCKWISE DIRECTION CCW LMT SIGNAL INDICATES OVERTRAVEL IN THE COUNTER CLOCKWISE DIRECTION TYPICAL LIMIT ness SWITCH WIRING 2 LMTCOM NO 3 CWLMT N CW LIMIT 9 PIN 5 COWLMT N j CCW LIMIT FEMALE 0 4 HOMELMT N A HOME LIMIT TO STAGE LIMIT WIRING MATE 9 PIN MALE D DE9P ECK137 BACKSHELL DE24657 ECK612 JACKSOCKETS 207952 3 ECK363 HOME LIMIT OPTIONAL AS A STANDARD THE CCW OR CW LIMIT SWITCH IS USED AS THE HOME LIMIT SWITCH THIS SELECTION IS MADE BY SOFTWARE PARAMETER x74 BEING SET TO NO IF AN INDEPENDENT SWITCH IS REQUIRED FOR THE HOME LIMIT THIS PARAMETER SHOULD BE SET TO YES AND A SEPARATE SWITCH WIRED INTO THE SYSTEM AS SHOWN IN NOTE 1 j STANDARD A C FUSING BA30 20A A MOTOR ROTATION CW ROTATION IS VIEWED FROM THE MOTOR MOUNTING FLANGE Qo ROTATION 9 Figure 1 13 Sheet 2 INRUSH LIMITING METHOD 1 DUE TO CAPACITIVE NATURE OF AMPLIFIER INPUT CIRCUIT CURRENT INRUSH LIMITING IS RECOMMENDED NEGATIVE TEMPERATURE COEFF
48. BB501 INTERFACE BOARD OPTION MANUAL P N EDO107 V1 6 AEROTECH Inc e 101 Zeta Drive e Pittsburgh PA 15238 2897 e USA Phone 412 963 7470 e Fax 412 963 7459 Product Service 412 967 6440 412 967 6870 Fax www aerotech com AEROTECH Our web site is continually updated with new product information manual updates free downloadable software and special pricing on selected products If you should have any questions about the BB501 board 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 The BB501 UNIDEX 500 UNIDEX 600 PC based motion controllers are products of Aerotech Inc The BB501 Interface Board Option User s Manual Revision History Rev 1 0 January 22 1995 Rev 1 1 April 16 1998 Rev 1 2 December 28 1999 Rev 1 3 March 28 2000 Rev 1 4 September 13 2000 Rev 1 5 May 2 2001 Rev 1 6 July 7 2004 Aerotech Inc 2004 BB501 Option User s Manual TABLE OF CONTENTS CHAPTER 1 INTRODUCTION AND CONFIGURATION 1 1 1 1 Introductions i oe Dose e oS 1 1 1 2 Safety Procedures and Warnings a 1 2 1 3 Unpacking the BB501 Board 1 3 1 4 Mechanical Installation eese 1 4 1 5 Electrical Installation nani 1 5 1 6 Hardware Configurations essen 1 6 1 6 1
49. BE USED TO CONTROL ey ee Ie OR ME DR UR EXTERNAL BRAKE CIRCUIT THIS LINE IS AN OPEN COLLECTOR OUTPUT FROM A 7406 BUFFER in Ces SSS SSeS iori eum 3 THAT IS CURRENT SINKING LOGIC 0 WHEN THE ASSOCIATED BRAKE IS OFF RELEASED IS HIGH IMPEDANCE WHEN THE BRAKE IS ON THIS LINE IS ENABLED VIA SETTING TRANSFORMEREAX183 sci OF PARAMETER x61 ENABLE BRAKE MASK FOR A PARTICULAR AXIS THIS 7406 DRIVER TRANSFORMER HAS 30mA SINK CAPABILITY WITH A 30VDC COLLECTOR VOLTAGE SASB N gt wt 5 0 15 REQURED FOR ENCODER AND LIMIT OPERATION THIS 5V IS TYPICALLY SUPPLIED BY THE BA SERIES AMPLIFIER AND IS ROUTED VIA JUMPERS THROUGH BB501 REFERENCE CONNECT TO THis ES12411 12 OR BB501 OPERATOR S MANUAL PIN 00107 FOR JUMPER DEFINITION OPTIONALLY means THIS 5VDC MAY BE SUPPLIED BY A SEPARATE POWER SUPPLY AS SHOWN AT LEFT THE ABOVE MENTIONED JUMPERS MUST THEN BE RECONFIGURED i sem A E Ad BRAKESO OPTION SEE 630C1662 2 BA SERIES TN MEON JP28 AND JP29 PIN NUMBERS ARE INCORRECTLY LABELED ON SOME REV D BOARDS SEE FIGURE 1 4 FOR CORRECT IDENTIFICATION CONNECT TO THIS TAPFORGNDS BUS OPTIONAL ACH NOT USED QUSS LLL UN M roe a 7 FRAME GROUND A Temsronven seconcanons JS Seen Terie ERE WI 56VAC TAP 5 0A UNCOOLED 6 5 C
50. BRUSH MOTOR AXIS 3 Z W BRAKE AEROTECH 1000DC SERIES DC BRUSH MOTOR AXIS 4 U AEROTECH 1000DC SERIES DC BRUSH MOTOR U600 BA Series Amps Brush System Interconnect with Transformer Rev O 620D1301 1 Sheet 1 Figure 1 26 1 43 www aerotech com Introduction and Configuration BB501 Option User s Manual TV1 5 TV2 5 TV5 WIRING TRANSFORMER EAX141 EAX159 EAX143 ISOLATION TRANSFORMER 115 A Pa PRIMARY 70 BA SERIES TYPICAL TRANSFORMER SECONDARY WIRING 58 AMPLIFIER SHOWN FOR REFERENCE WIRES SHOULD BE 115 id 43 A PARALLELED FROM TRANSFORMER SECONDARY BUSS AS REQUIRED FOR MULTIPLE AXES AEROTECH D 104 25 incur PROVIDED SECONDARY WIRING IS OPTIONAL AA TRANSFORMER PRIMARY SETUP B 0 0 FOR 100VAC JUMPER A B amp C D INPUT TO A amp D A A FOR 115VAC JUMPER amp E F INPUT TO A amp F f 28 FOR 208VAC JUMPER B C INPUT TO A amp D E 115 m FRAME FOR 230VAC JUMPER B E INPUT TO A amp F me GROUND 56 TRANSFORMER SECONDARY WIRING FOR 160VDC BUS USE 115VAC TAPS 2 1 FOR 100VDC BUS USE 70VAC TAPS 415 AA FOR 80VDC BUS USE 56VAC TAPS A m FOR 60VDC BUS USE 43VAC TAPS FOR 40VDC BUS USE 28VAC TAPS BA SERIES AEROTECH PROVIDED SECONDARY WIRING IS OPTIONAL 0 A AMPLIFIER AG TRANSFORMER SPECI
51. BY SOFTWARE PARAMETER x74 BEING SET TO NO IF AN INDEPENDENT SWITCH IS REQUIRED FOR THE HOME LIMIT THIS PARAMETER SHOULD BE SET TO YES AND A SEPARATE SWITCH WIRED INTO THE SYSTEM AS SHOWN IN NOTE 1 STANDARD A C FUSING BA10 10A BA20 20A BA30 20A MOTOR ROTATION CW ROTATION IS VIEWED FROM THE MOTOR MOUNTING FLANGE cw ROTATION Figure 1 11 620D1273 1 Sheet 2 1 28 P BB501 Option User s Manual INRUSH LIMITING METHOD 1 DUE TO CAPACITIVE NATURE OF AMPLIFIER INPUT CIRCUIT CURRENT INRUSH LIMITING IS RECOMMENDED NEGATIVE TEMPERATURE COEFFICIENT THERMISTORS ARE USED FOR THIS PURPOSE THERMISTORS ARE TO BE PLACED IN AC HI ANDAC LO LINES RECOMMENDED MODELS ARE RODAN SURGE GIARD 50100 20A RMS KEYSTONE CL 10 12A RMS INRUSH LIMITING METHOD 2 ALTERNATELY ONE THERMISTOR MAY BE PLACED IN AC HI LINE ALONE IF LIMITING IS PERFORMED SEPARATELY ON EACH AMPLIFIER BRAKE INFORMATION OPTIONAL A EACH BRAKE ASSEMBLY LOAD IS 24VDC AT 250 35 Ma 97 3 88 OHMS B BRAKE IS FAILSAFE OFF WHEN ENERGIZED C BRK amp BRAKE ARE AVAILABLE ON ALL AXIS FEEDBACK CONNECTORS BB501 J2 J3 J4 J5 BRK IS ON PIN13 BRK IS ON PIN 25 U500 BRAKE CONTROL OUTPUT THE U500 CONTROL BOARD SENDS OUT A LOGIC SIGNAL THAT CAN BE USED TO CONTROL AN EXTERNAL BRAKE CIRCUIT THIS LINE IS AN OPEN COLLECTOR OUTPUT FROM A 7406 BUFFER THAT IS CURRENT SINKING LOGIC 0 WHEN THE ASSOCIATED BRAKE IS OFF
52. Buss Iru OPTiONAL 1 AC ro no Pur p BRN TRANSFORMER ee ae 118230 d AXIS 2 FDBK FRAME WHT 7 GRN _ FAL RED ORN MOTOR YEL BLU 1 GNE 2 Lo BLU TO TRANSFORMER MOTOR ENCODERILIMITS CABLING PER ES13067 FRAME 4 lt MOTOR BUSS AC Lo BLU Lro INPUT TRANSFORMER BA SERIES AMPLIFIER BA10 XX EFA487 BA20 XX EFA488 9 BA30 XX EFA489 AXIS 4 m 63081 596 4 6900 1499 SEE 512889 oPTioNAL 1 Ao 115 230 18 AWG 1 mm ENC V 2 ay 45V LMTsV 4 3 N COM ME _ lt 2 OPTIONAL ENC LMT USER i LOGIC COMMON TO 5VDC POWER COMMON COMMON COMMON 5VDC BRAKE N OUT AA A CONNECTION La o CUSTOMER SUPPLIED NORMALLY CLOSED BRAKE RELAY RELAY CLOSED BRAKE OFF RELAY OPEN BRAKE ON TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY 24VDC gt TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY COMMON OAK ern f r MOTOR NI avg Buss INPUT HILBRN TRANSFORMER AXIS 1 X AEROTECH 1000DC SERIES DC BRUSH MOTOR AXIS 2 Y AEROTECH 1000DC SERIES DC
53. FICATIONS 115 INPUT REFER TO 682A1025 682A1027 682A1028 FOR SPECS TV1 5 RATING 1 5Kva A TV2 5 RATING 2 5Kva TV5 RATING 5 0KVa 4 A FRAME WHEN USING AN ISOLATION TRANSFORMER GROUND FRAME EARTH GROUNDING OF AC LO INPUT TAP GROUND REDUCES ELECTRICAL AND AUDIBLE NOISE PSAE EMISSIONS AND PROVIDES INCREASED SERVO OUT TV0 4 WIRING PRIMARY TV0 4 EAX228 TRANSFORMER EAX228 FUSE BASE TRANSFORMER N AUTOTRANSFORMER 18 BRN 224V 18 WHT 200V CONNECT TO THIS r TAP FOR 60VDC BUS OPTIONAL 18 BLK 112V 16 BRN __ CONNECT TO THIS BA SERIES TAP FOR 60VDC AMPLIFIER BUS OPTIONAL A 18 YEL 56V e HI CONNECT TO THIS TB1 TAP FOR 40VDC BUSS BUS OPTIONAL AC 18 RED 28V INPUT INPUT AC HI 200 224VAC A A 1 2 1 6 AMPS 16 BLU HZ AC LO NEUTRAL LO SAFETY GND 16 G YEL FRAME GROUND TRANSFORMER SPECIFICATIONS TYPICAL TRANSFORMER SECONDARY WIRING SHOWN 112VAC TAP 3A RMS FOR REFERENCE WIRES SHOULD BE PARALLELED 56VAC TAP 6A RMS FROM TRANSFORMER SECONDARY AS REQUIRED FOR 28VAC TAP 9A RMS MULTIPLE AXES AEROTECH PROVIDED SECONDARY WIRING IS OPTIONAL Figure 1 27 Sheet 2 U600 BA Series Amps Brush System Interconnect with Transformer Rev O 620D1301 1 1 44 www aerotech com BB501 Option User s Manual Introduction and Configuration TVO 3 PRIMARY TVO 3 EAX227 TRANSFORMER EAX227 FUSE BASE TRANSFORMER 9N AUTOTRANSFORMER 18 BRN 112V
54. HLESS REV amp ABOVE AXIS 1 BA30 320 d MOTOR SEE ES12411 12 H LL 69001499 SEE ES12889 p ru INPUT M m BFC 630 1529 1 AXIS 1 X AXIS 1 LIMITS FDBK REV C OR ABOVE A 7 ML _ 1 ai FRAME y wo 525 SHLD PMC630C1580 1 24 2 1 BA SERIES zi BA SERIES i 1630 1581 1_ BA10 320 MOTOR B AXIS 2 Y 630B1596 23 20 320 BRUSHLESS AXIS 2 BA30 320 us MOTOR LL LL 690D1499 SEE ES12889 p EXE ac fg BLU INPUT H J3 BFC 630 1529 1 AXIS 2 Y AXIS 2 LIMITS EB FDBK REV C OR ABOVE BRK m FRAME PMC630C1580 1 SHLD 63 Es A BA SERIES 63001581 Al AMPLIFIER AXIS 3 2 BA10320 MOTOR B E BRUSHLESS SS BAC630B1596 23 BA20 320 _ c E MOTOR AME BA30 320 W OPTIONAL 69001499 LI BRAKE SEE ES12889 m j eve 4 l AC g BLU LI INPUT j BRN AAN OPTIONAL E BRAKE A A ASSEMBLY J4 BFC 630 1529 1 _ AXIS 3 Z AXIS 3 LIMITS JP29 FDBK REV C OR ABOVE Li A 16 55 __ RH us us FRAMD PMC630C1580 1 6 285 OR BA SERIES Pag ra 1630 1581 1_ A AMPLIFIER A BA10 320 MOTOR B AXIS 4 U axis 4 BA20 320 Llc BRUSHLESS BA30 320 AMB MOTOR r 690D 1499 SEE ES12889 l INPUT LO BRN 3 45 630 1529 1 AXIS 4 U
55. I LINE ALONE IF LIMITING IS PERFORMED SEPARATELY ON EACH AMPLIFIER BRAKE INFORMATION OPTIONAL A EACH BRAKE ASSEMBLY LOAD IS 24VDC AT 250 35 Ma 97 3 88 OHMS B BRAKE IS FAILSAFE OFF WHEN ENERGIZED C BRK amp BRAKE ARE AVAILABLE ON ALL AXIS FEEDBACK CONNECTORS BB501 J2 J3 J5 BRK IS ON PIN13 BRK IS ON PIN 25 U600 BRAKE CONTROL OUTPUT THE U500 CONTROL BOARD SENDS OUT A LOGIC SIGNAL THAT CAN BE USED TO CONTROL AN EXTERNAL BRAKE CIRCUIT THIS LINE IS AN OPEN COLLECTOR OUTPUT FROM A 7407 BUFFER THAT IS CURRENT SINKING LOGIC 0 WHEN THE ASSOCIATED BRAKE IS OFF RELEASED AND IS HIGH IMPEDANCE WHEN THE BRAKE IS ON THIS LINE IS ENABLED BY SETTING OF THE BRAKE MASK IN THE IN THE AXIS PARAMETERS THIS 7407 DRIVER HAS A 30mA SINK CAPABILITY WITH A MAX 30VDC COLLECTOR VOLTAGE 5VDC IS REQUIRED FOR ENCODER AND LIMIT OPERATION THIS 5V IS TYPICALLY SUPPLIED BY THE BA SERIES AMPLIFIER AND IS ROUTED BY JUMPERS THROUGH THE BB501 REFERENCE ES12411 12 OR THE BB501 OPERATOR S MANUAL P N EDO00107 FOR JUMPER DEFINITIONS 5VDC MAY BE SUPPLIED BY A SEPARATE POWER SUPPLY THE ABOVE MENTIONED JUMPERS MUST THEN BE RECONFIGURED 501 OPTION SEE 630C1662 2 JP28 AND JP29 PIN NUMBERS ARE INCORRECTLY LABELED ON SOME REV D BOARDS SEE FIGURE 1 4 FOR CORRECT IDENTIFICATION U600 BA Series Amps System Interconnect 115 VAC Off line Operation Rev B 620D1276 1 1 34 www aerotech com Introduction and Config
56. ICIENT THERMISTORS ARE USED FOR THIS PURPOSE THERMISTORS ARE TO BE PLACED IN AC HI AND AC LO LINES RECOMMENDED MODELS ARE RODAN SURGE GIARD 50100 20A RMS KEYSTONE CL 10 12A RMS INRUSH LIMITING METHOD 2 ALTERNATELY ONE THERMISTOR MAY BE PLACED IN AC HI LINE ALONE IF LIMITING IS PERFORMED SEPARATELY ON EACH AMPLIFIER BRAKE INFORMATION OPTIONAL A EACH BRAKE ASSEMBLY LOAD IS 24VDC 250 35 97 3 88 OHMS B BRAKE IS FAILSAFE OFF WHEN ENERGIZED C BRK amp BRAKE ARE AVAILABLE ON ALL AXIS FEEDBACK CONNECTORS BB501 J2 J3 J5 BRK IS ON PIN13 BRK IS ON PIN 25 U500 BRAKE CONTROL OUTPUT THE U500 CONTROL BOARD SENDS OUT A LOGIC SIGNAL THAT CAN BE USED TO CONTROL AN EXTERNAL BRAKE CIRCUIT THIS LINE IS AN OPEN COLLECTOR OUTPUT FROM A 7406 BUFFER THAT IS CURRENT SINKING LOGIC 0 WHEN THE ASSOCIATED BRAKE IS OFF RELEASED AND IS HIGH IMPEDANCE WHEN THE BRAKE IS ON THIS LINE IS ENABLED BY SETTING PARAMETER 7x61 ENABLE BRAKE MASK FOR A PARTICULAR AXIS THIS 7406 DRIVER HAS A 30mA SINK CAPABILITY WITH A MAX 30VDC COLLECTOR VOLTAGE 5VDC IS REQUIRED FOR ENCODER AND LIMIT OPERATION THIS 5V IS TYPICALLY SUPPLIED BY THE BA SERIES AMPLIFIER AND IS ROUTED BY JUMPERS THROUGH THE BB501 REFERENCE ES12411 12 OR THE BB501 OPERATOR S MANUAL P N EDO00107 FOR JUMPER DEFINITIONS THE 5VDC MAY BE SUPPLIED BY A SEPARATE POWER SUPPLY THE ABOVE MENTIONED JUMPERS MUST THEN BE RECONFIGURED JP28 AND JP29 PIN
57. INPUT BRN TRANSFORMER PB16A PB24 OPTIONAL ASSEMBLY A SEE 630C1586 630C1529 1 AXIS 3 Z AXIS 3 LIMITS FDBK REV C OR ABOVE A FRAME Re JP4 EXTENSION CABLE P BA SERIES E PMC1 630C1581 1 JOYSTICK AMPLIFIER A EP 63081358 LENGTH AR ETERA BA10 80 MOTOR B AXIS 4 U OPTIONAL 1 BA20 80 c BRUSHLESS JBV AMP 1 BA30 80 MOTOR DIGITIZING 690D1499 JOYSTICK SEE ES12889 GEL T OPTIONAL AC gu TO INPUT id BRN TRANSFORMER 35 BFC 630 1529 1 AXIS4 U TB1 AXIS 4 LIMITS MISC FDBK 62829 B REV C OR ABOVE A ra 25125 18 AWG 1 mm 8 JP28 7 OPTO22 BOARD 5 A PB8 PB16A PB24 DIGITAL 2 2 X fv OPTIONAL 630B1505 EXT PWR LIMEN ala E OPTIONAL SUPPLY icoM ENCLMT AGE 5 POWER SUPPLY J14 BRAKE _ JL OPTIONAL u SIGNAL COMMON A t 6 1 rh TOFRAMEGROUND 777777777 1 T CONNECTION OPTIONAL CUSTOMER SUPPLIED NORMALLY CLOSED BRAKE RELAY COMMON SS Se RELAY CLOSED BRAKE OFF RELAY OPEN BRAKE ON COMMON Judi i A COMMON aM L 0 TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY 24VDC DAD RI zx 5VDC E Loc c TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY COMMON BRAKE N OUT
58. Isolated Fault 1 21 Figure 1 8 System Interconnect with BB501 Breakout Board 1 25 Figure 1 9 US00PCI System Interconnect w Steppers 1 26 Figure 1 10 U500 BA Series Amps System Interconnect 115 VAC Off line Operation Rev B 620D1273 1 Sheet 1 1 27 Figure 1 11 U500 BA Series Amps System Interconnect 115 VAC Off line Operation Rev B 620D1273 1 Sheet 2 1 28 Figure 1 12 U500 BA Series Amps System Interconnect 230 VAC Off line Operation Rev B 620D1273 2 Sheet 1 1 29 Figure 1 13 U500 BA Series Amps System Interconnect 230 VAC Off line Operation Rev B 620D1273 2 Sheet 2 1 30 Figure 1 14 U500 BA Series Amps System Interconnect with Transformer Rev B 620D1273 3 Sheet 1 1 31 Figure 1 15 U500 BA Series Amps System Interconnect with Transformer Rev B 620D1273 3 Sheet 2 1 32 Figure 1 16 U600 BA Series Amps System Interconnect 115 VAC Off line Operation Rev B 620D1276 1 Sheet 1 1 33 Figure 1 17 U600 BA Series Amps System Interconnect 115 VAC Off line Operation Rev B 620D1276 1 Sheet 2 1 34 Figure 1 18 U600 BA Series Amps System Interconnect 230 VAC Off
59. MP2 77 d 3 AMPLSV o PPS a rn s 1 m V 7720 Curr EZ Cmm CES pif rbd ET SIN Me x 378 T Hs Y INPUTS INPUT2 IFDBK2 IFDBK1 J6 12 J7 12 o ML z MK cost TA gosa J7 6 368 C TA ss ii 177 ws yy 2 77 539 yy 5 3 pot M2 A 1 3 E 6 i 3 TANCE 7408 TAREE 7408 x Hans oa Css E Mf 2 E 2 oo uu ALS 5 een 488 gt 7406 T RCOZ TRE Figure 1 29 BB501 Interface Board Schematic Rev D 690D1504 Sheet 1 1 46 www aerotech com BB501 Option User s Manual Introduction and Configuration AXIS 3 AXIS 4 A 54 1 de des 54 1 1 ALPE 2 dn 5 EXTFLT3 24 EXIFLTA TOA 9 CED onal 12 Rey IK CED 40 D 13 2
60. NUMBERS ARE INCORRECTLY LABELED ON SOME REV D BOARDS SEE FIGURE 1 4 FOR CORRECT IDENTIFICATION U500 BA Series Amps System Interconnect 230 VAC Off line Operation Rev B 620D1273 2 1 30 www aerotech com Introduction and Configuration BB501 Option User s Manual FRAME 7 7 GRNOHOEN Pinceadc 158531 BA SERIES E BLK PMC1 630C1581 1 BB501 AMPLIFIER A RED 69001504 BA10 80 B WHT OR BRN EFN188 6 630 1596 2 3 BA20 80 REV amp ABOVE AXIS 1 gt 4 P1 BA30 80 SEE ES12411 12 1 69001499 512889 a AC 0500 input TRANSFORMER 690B1470 J L HI U500 EFN154 OP500 TO U500 PLUS EFN180 P1 0600 0600 5500 ULTRA EENIBAT 5 OR 12 FT P1 J2 BFC 630C1529 1 AXIS 1 X P5 AXIS 1 LIMITS JP29 FDBK REV C OR ABOVE m CEN E A FRAME p DEAS Weed da sao 0K 2JP28 1 BA SERIES OR PARRES Eii PMC1 630 1581 1 BA10 80 MOTOR B J7 BAC 630B1596 2 3 BA20 80 DI
61. ON PBB PB24 Jn OPTIONAL DIGITAL AX pos OPTIONAL SEE 630C1564 63081505 uo EXTPWR USER 5VDC OPTIONAL SUPPLY COMMON MESS common 5 SAFETY F 1 OPTIONAL GROUND INPUT dA BRAKE pc SIGNAL COMMON qo 24 6 13 5 12 11 TO FRAME GROUND BRN T CONNECTION LILLI OPTIONAL CUSTOMER SUPPLIED NORMALLY CLOSED BRAKE RELAY A ee 11111 RELAY CLOSED BRAKE OFF RELAY OPEN BRAKE ON BEN AN COMMON See 11 L 0 t TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY 24VDC J i jp Besse TO CUSTOMER SUPPLIED BRAKE POWER SUPPLY COMMON BRAKE N OUT U500 BA Series Amps System Interconnect 115 VAC Off line Operation Rev B 620D1273 1 Sheet 1 Figure 1 10 1 27 www aerotech com Introduction and Configuration LIMITS A CW LMT N SIGNAL INDICATES OVERTRAVEL IN THE CLOCKWISE DIRECTION CCW LMT SIGNAL INDICATES OVERTRAVEL IN THE COUNTER CLOCKWISE DIRECTION TYPICAL LIMIT LMT 45V SWITCH WIRING LMT COM NO CWLMT N 74 CW LIMIT 9 PIN CCW LMT N No CCW LIMIT FEMALE D 4 HOME LMT N A 389 HOME LIMIT TO STAGE LIMIT WIRING MATE 9 PIN MALE D DE9P ECK137 BACKSHELL DE24657 ECK612 JACKSOCKETS 207952 3 ECK363 A HOME LIMIT OPTIONAL AS A STANDARD THE CCW OR CW LIMIT SWITCH IS USED AS THE HOME LIMIT SWITCH THIS SELECTION IS MADE
62. ON PIN Ts BRIS IS ON 2 230VAC TAP 1 2 UNCOOLED 1 6A COOLED AS REQUIRED FOR MULTIPLE AXES AEROTECH PROVIDED SECONDARY WIRING U500 BRAKE CONTROL OUTPUT IS OPTIONAL THE U500 CONTROL BOARD SENDS OUT A LOGIC SIGNAL THAT CAN BE USED TO CONTROL AN EXTERNAL BRAKE CIRCUIT THIS LINE IS AN OPEN COLLECTOR OUTPUT FROM A 7407 BUFFER THAT IS CURRENT SINKING LOGIC 0 WHEN THE ASSOCIATED BRAKE IS OFF RELEASED ANDIS HIGH IMPEDANCE WHEN THE BRAKE IS ON THIS LINE IS ENABLED SETTING TRANSFORMEREAX189 TEk OF PARAMETER x61 ENABLE BRAKE MASK FOR A PARTICULAR AXIS THIS 7407 DRIVER PRUE TRANSFORMER HAS A 30mA SINK CAPABILITY WITH A MAX 30VDC COLLECTOR VOLTAGE Sb A rA Aw 5 0 15 REQURED FOR ENCODER AND LIMIT OPERATION THIS 5V IS TYPICALLY SUPPLIED BY THE BA SERIES AMPLIFIER AND IS ROUTED VIA JUMPERS THROUGH THE BB501 REFERENCE CONNECTTOTHS ES12411 12 OR THE BB501 OPERATOR S MANUAL PIN EDO00107 FOR JUMPER DEFINITION OPTIONALLY wees THIS 5VDC MAY BE SUPPLIED BY A SEPARATE POWER SUPPLY AS SHOWN AT LEFT THE ABOVE MENTIONED JUMPERS MUST THEN BE RECONFIGURED A n A A BRAKE501 OPTION SEE 630C1662 2 SERIES 2 ANPLFER A JP28 AND JP29 PIN NUMBERS ARE INCORRECTLY LABELED ON SOME REV D BOARDS SEE FIGURE 1 4 FOR CONNECT TO THIS CORRECT IDENTIFICATION tts n BUS OPTIONAL PUT us eu NOTUSED eur Ten NIE S G
63. ONNECT TO THIS AMPLIFIER TAP FOR SOVDE MOTOR ENCODERILIMITS CABLE CAN BE BUS OPTIONAL INTEGRAL TO MOTOR OR A DISCRETE CABLE CONNECT TO THIS TAP FOR 40VDC paren zey PUS OPTIONAL Buss v INPUT INPUT A A N 5 18 REQUIRED FOR ENCODER AND LIMIT OPERATION THIS 5V Q0 M8VAC Ac LO NEUTRAL 9 Hesu TYPICALLY COMES FROM BA SERIES POWER AMPLIFIER AND IS SOROHZ SAFETY GND 16 ove 9 ROUTED VIA JUMPERS THROUGH BB501 BREAKOUT BOARD E REFERENCE ES12411 12 OR THE BB501 OPERATOR S MANUAL EDO107 GROUND FOR JUMPER DEFINITION OPTIONALLY THIS 5VDC MAY COME FROM A ZA TRANSFORMER SPECIFICATIONS TYPICAL TRANSFORMER SECONDARY WIRING SEPARATE POWER SUPPLY USER PROVIDED TO UTILIZE THIS ESVAC TAR GARM SHOWN FOR REFERENCE WIRES SHOULD SEPARATE SUPPLY JUMPERS JP5 6 9 10 13 14 17 AND 18 MUST BE SECONDARY AS REQUIRED FOR MULTIPLE RECONFIGURED ON THE BB501 BOARD AXES AEROTECH PROVIDED SECONDARY WIRING IS OPTIONAL Figure 1 25 U500 BA Series Amps Brush System Interconnect Rev A 620D1285 2 Sheet 2 1 42 www aerotech com Introduction and Configuration BB501 Option User s Manual BB501 690D1504 EFN188 SEE ES12411 12 U600 69081502 n EFN187 EBD TO SEE ES13016 1 Pt U500 U600 5OR12FT P1 P9 P10 DRC OPTIONAL DIOS pepe HALL EFFECT 630B1627 12 FT OPTIONAL DIOSR 630B1627 OPTIONAL LJ
64. OOLED SHOWN FOR REFERENCE WIRES SHOULD BE 43VAC TAP 6 3A UNCOOLED 8 3A COOLED PARALLELED FROM TRANSFORMER SECONDARY TISVAC TAP 24 UNCOOLED 3 2A COOLED AS REQUIRED FOR MULTIPLE AXES AEROTECH PROVIDED SECONDARY WIRING IS OPTIONAL Figure 1 15 U500 BA Series Amps System Interconnect with Transformer Rev B 620D1273 3 Sheet 2 1 32 www aerotech com Introduction and Configuration BB501 Option User s Manual 3 PMC630C1580 1 ISHLD GRN OR ORN OR BA SERIES BLK PMC1630C1581 1 501 AMPLIFIER A RED 69001504 BA10 160 BA10 320 MOTOR EFN188 BAC 63081596 2 3 BA20 160 BA20 320 BRUSHLESS REV C ABOVE AXIS 1 1 BA30 160 BA30 320 MOTOR SEE 512411 12 LJ LL O 690D1499 GIYEL I SEE ES12889 eur BRN
65. OSR STD AXIS 2 P1 BA30 80 630B1627 DRC STD ae AME 69001499 GIVEL HALL SEE ES12889 Fh EFFECT 12 FT INPUT LO BRN TRANSFORMER 630 1529 1 AXIS 2 Y AXIS2 LIMITS JP29 FDBK REV C OR ABOVE A BRK CUSTOMER 1 f lt T L ung osos RIOT FRAME _ PMC630C1580 1 4JP283 DID ES fr OR BA SERIES 2 630 1581 1 AMPLIFIER de BA10 80 MOTOR B Ss 63081596 2 3 20 80 _ c BA30 80 690D 1499 of LI SEE ES12889 lever JP4 EXTENSION CABLE BLU J12 INPUT BRN 63081358 LENGTH AR JOXS TOR OPTIONAL JBV DIGITIZING A BFC 630C1529 1 AXIS 3 Z JOYSTICK AXIS 3 LIMITS FDBK OPTIONAL JP29 REV C OR ABOVE b 1 8 7 d BRK FRAME or PMC630C1580 1 6JP285 SHLD l 9 IN OR BA SERIES ES PMC 1630C1581 1 AMPLIFIER A I J9 630 1596 2 3 T MOTOR P AXIS 4 P1 BA30 80 69001499 SEE ES12889 AG Warmi TRANSFORMER INPUT n BRN J5 630 1529 1 AXIS 4 MISC O eoo FDBK REV C OR ABOVE 87297 BRK 1 8 kamar ks LA Sta S BRE 2 OPTO22 BOARD eee 8 JP28 7 e 18AWG Hmm PB16A PB24 Jn N PER RESET OPTIONAL puma DIGITAL TB2 ENG 2 _ Ser OPTIONAL SEE 68001564 63081505 EXT PWR LMT V jap um USER 5 0 OPTIONAL SUPPLY COMMON s
66. Option User s Manual Introduction and Configuration Table 1 1 BB501 Jumper Descriptions Continued JP30 1 2 default U600 U500 ISA see note 2 3 U500 PCI Ext DAC common TB3 10 JP31 1 2 default U600 U500 ISA see note 2 3 U500 PCI Ext DAC common TB3 10 1 2 Axis 4 Ext Disable input Active Low ee Axis 4 Ext Disable input Active High 1 2 Axis Ext Disable input Active Low 2 3 Axis Ext Disable input Active High 1 2 Axis 2 Ext Disable input Active Low 2 3 Axis 2 Ext Disable input Active High 1 2 Axis 3 Ext Disable input Active Low Axis 3 Ext Disable input Active High JP33 JP34 JP35 JP30 JP31 are set 2 3 only for U500 PCI and if you are using an external power supply for the DAC outputs See the U500 manual for the required jumper settings on the U500 PCI as well JP28 and JP29 Pin Numbers are incorrectly labeled on some Rev D boards See Figure 1 4 for correct identification www aerotech com 1 9 Introduction and Configuration BB501 Option User s Manual 1 6 2 BB501 Interface Board Test Points Test points are located on the top side of the BB501 board near terminal block TB3 Figure 1 4 These test points provide easy access to critical signals on the BB501 board Table 1 2 lists the test points and their description Table 1 2 BB501 Test Points 1 10 www aerotech com BB501 Option User s Manual Introduction and Configuration 1 7
67. P281 OR n BA SERIES f 1 630 1581 1_ 10 160 8 10 320 MOTOR B AXIS 2 Y 63081596 2 3 60 BA20 320 c BRUSHLESS DIOSR STD AXIS2 P1 MOTOR 630B1627 DRC STD io 69001499 HALL SEE ES12889 U 63081628 Ac o BLU 5OR12FT INPUT j BERN S J3 BFC 630C 1529 1 AXIS 2 Y AXIS 2 LIMITS JP29 FDBK REV COR ABOVE A 4 3 CUSTOMER Pq 29 pra Sa SRY L or X PMCG30CI580 1 JSHLD OR BA SERIES PMC1630C1581 1 AMPLIFIER 0 AXIS 3 Z E BA10 160 BA10 320 MOTOR B BRUSHLESS Fisa 6308 1596 2 3 BA20 160 BA20 320 c MOTOR AMP BA30 160 BA30 320 ka 8 W OPTIONAL 690D1499 BRAKE SEE 512889 4 U JP4 EXTENSION CABLE _ BLU 1 enak au OPTIONAL L 63081358 LENGTH AR BRAKE OPTIONAL A A ASSEMBLY DIGITIZING AUS 5 BFC 630C 1529 1 AXIS 22 JOYSTICK ANS OPTIONAL JP29 REV COR ABOVE N 6 5 BRK RES ER sis 889 s ree OO PMCG30C1580 1 6JP285 5 OR n A BA SERIES PMc1630C15811 AMPLIFIER T All fang 10 160 10 320 MOTOR 5 Quei BA30 160 8A30 320 M MOTOR 69001499 SEE ES 12889 U AC BLU INPUT HESA p 35 630C 1529 1 AXIS 4 MISC 1 0 FDBK QS REV COR ABOVE Rd BRK 2 baw 7p OPTO22BOARD s 8 JP28 7 TRANS M
68. RAMETER x74 BEING SET TO NO IF AN INDEPENDENT SWITCH IS REQUIRED FOR THE HOME LIMIT THIS PARAMETER SHOULD BE SET TO YES AND A SEPARATE SWITCH WIRED INTO THE SYSTEM AS SHOWN IN NOTE 1 STANDARD FUSING BA10 10A BA20 20A BA30 20A MOTOR ROTATION CW ROTATION IS VIEWED FROM THE MOTOR MOUNTING FLANGE cw ROTATION Figure 1 19 Sheet 2 PE INRUSH LIMITING METHOD 1 DUE TO CAPACITIVE NATURE OF AMPLIFIER INPUT CIRCUIT CURRENT INRUSH LIMITING IS RECOMMENDED NEGATIVE TEMPERATURE COEFFICIENT THERMISTORS ARE USED FOR THIS PURPOSE THERMISTORS ARE TO BE PLACED IN AC HI AND ACLO LINES RECOMMENDED MODELS ARE RODAN SURGE GIARD 50100 20A RMS KEYSTONE CL 10 12A RMS INRUSH LIMITING METHOD 2 ALTERNATELY ONE THERMISTOR MAY BE PLACED IN AC HI LINE ALONE IF LIMITING IS PERFORMED SEPARATELY ON EACH AMPLIFIER BRAKE INFORMATION OPTIONAL A EACH BRAKE ASSEMBLY LOAD IS 24VDC AT 250 35 Ma 97 3 88 OHMS B BRAKE IS FAILSAFE OFF WHEN ENERGIZED C BRK amp BRAKE ARE AVAILABLE ON ALL AXIS FEEDBACK CONNECTORS BB501 J2 J3 J5 BRK IS ON PIN13 IS ON PIN 25 U600 BRAKE CONTROL OUTPUT THE U600 CONTROL BOARD SENDS OUT A LOGIC SIGNAL THAT CAN BE USED TO CONTROL AN EXTERNAL BRAKE CIRCUIT THIS LINE IS AN OPEN COLLECTOR OUTPUT FROM A 7407 BUFFER THAT IS CURRENT SINKING LOGIC 0 WHEN THE ASSOCIATED BRAKE IS OFF RELEASED AND IS HIGH IMPEDANCE WHEN THE BRAKE IS ON
69. RUSH MOTOR AXIS 4 U AEROTECH 1000DC SERIES DC BRUSH MOTOR Figure 1 24 US00 BA Series Amps Brush System Interconnect Rev A 620D1285 2 Sheet 1 1 41 www aerotech com Introduction and Configuration BB501 Option User s Manual TV1 5 TV2 5 TV5 WIRING EAX141 EAX159 EAX143 ISOLATION TRANSFORMER TRANSFORMER A PRIMARY TYPICAL TRANSFORMER SECONDARY WIRING IN SHOWN FOR REFERENCE WIRES SHOULD BE F 115 PARALLELED FROM TRANSFORMER SECONDARY AS REQUIRED FOR MULTIPLE AXES AEROTECH D 104 PROVIDED SECONDARY WIRING IS OPTIONAL TRANSFORMER PRIMARY SETUP 0 A FOR 100VAC JUMPER A B amp C D INPUT TO A amp D FOR 115VAC JUMPER A B amp E F INPUT TOA amp F FOR 208VAC JUMPER B C INPUT TO A amp D E 115 FOR 230VAC JUMPER B E INPUT TO A amp F C 104 TRANSFORMER SECONDARY WIRING A FOR 160VDC BUS USE 115VAC TAPS 0 FOR 100VDC BUS USE 70VAC TAPS FOR 80VDC BUS USE 56VAC TAPS A FOR 60VDC BUS USE 43VAC TAPS FOR 40VDC BUS USE 28VAC TAPS AEROTECH PROVIDED SECONDARY WIRING IS OPTIONAL TRANSFORMER SPECIFICATIONS A REFER TO 682A1025 682A1027 682A1028 FOR SPECS TV1 5 RATING 1 5Kva TV2 5 RATING 2 5Kva TV5 RATING 5 0KVa A WHEN USING AN ISOLATION TRANSFORMER EARTH GROUNDING OF AC LO INPUT TAP REDUCES ELECTRICAL AND AUDIBLE NOISE EMISSIONS AND PROVIDES INCREASED SERVO 1
70. SERIES OP VSRATNG mo A a A HOME LIMIT OPTIONAL AS A STANDARD CCW OR CW LIMIT SWITCH IS USED AS THE A LIMIT SWITCH THIS SELECTION IS MADE VIA SOFTWARE PARAMETER x74 MEE 5 BEING SET TO NO IF INDEPENDANT SWITCH IS REQUIRED FOR THE HOME ME LIMIT THIS PARAMETER SHOULD BE SET TO YES AND A SEPARATE SWITCH GROUND WIRED INTO THE SYSTEM AS SHOWN IN NOTE 1 AC VOLTS QUT User Optional use pe me MEE MM MCN MN MENDES l TV04 WIRING RANSFORMEREAX192 i PRIMARY TV04 EAX192 A MOTOR ROTATION FUSE TRANSFORMER en A ROTATION IS VIEWED FROM THE MOTOR MOUNTING FLANGE l DX uw 2 CONNECT TO THIS TAPFORBOVDC BUS STD BRN l ze H l BASERES cw a ROTATION CONNECT TO THIS TAPFORGVDC PS 26 BUS OPTIONAL ACH 22 NOT USED INPUT 2 230VAC 0 16 BLU UAE ACLO NEUTRA 0 to Lo Soto 16 GYEL _ _ gt N BRAKE INFORMATION OPTIONAL i EACH BRAKE ASSEMBLY LOAD IS 24VDC AT 250 350 mA 97 3 68 OHMS B BRAKE IS FAILSAFE OFF WHEN ENERGIZED TRANSFORMER SPECIFICATIONS TYPICAL TRANSFORMER SECONDARY WIRING BRK BRK IS AVAILABLE ON ALL AXIS FEEDBACK CONNECTORS BB501 J2 J3 J4 J5 63 COOLED PARAL LELED FROM TRANSFORMER SECONDARY Ene S
71. THIS LINE IS ENABLED BY SETTING OF THE BRAKE MASK IN THE IN THE AXIS PARAMETERS THIS 7407 DRIVER HAS A 30mA SINK CAPABILITY WITH A MAX 30VDC COLLECTOR VOLTAGE 5VDC IS REQUIRED FOR ENCODER AND LIMIT OPERATION THIS 5V IS TYPICALLY SUPPLIED BY THE BA SERIES AMPLIFIER AND IS ROUTED BY JUMPERS THROUGH THE BB501 REFERENCE ES12411 12 OR THE BB501 OPERATOR S MANUAL P N EDO00107 FOR JUMPER DEFINITIONS THE 5VDC MAY BE SUPPLIED BY A SEPARATE POWER SUPPLY THE ABOVE MENTIONED JUMPERS MUST THEN BE RECONFIGURED 501 OPTION SEE 630C1662 2 JP28 AND JP29 PIN NUMBERS ARE INCORRECTLY LABELED ON SOME REV D BOARDS SEE FIGURE 1 4 FOR CORRECT IDENTIFICATION U600 BA Series Amps System Interconnect 230 VAC Off line Operation Rev B 620D1276 2 1 36 www aerotech com Introduction and Configuration 1 37 BB501 Option User s Manual FRAME SHLD 95 SEN EROS A BA SERIES BLK 630C1
72. d ICMDIA 85 Axis 4 Primary Current Cmd ICMD4B 86 Axis 4 Secondary CurrentCmd 89 Joystick Potentiometer 1 AIN1 JSWI AIN1 90 Joystick Potentiometer2 AIN2 JSW2 AIN2 95 Analog Input0 3 AINO 96 AndogInpt 4 AINI 97 Emergency Stop ESTOP 98 User Interrupt UINT 99 Opto Anode for97 amp 98 OPTOA 100 Interlock Receive ILOCKR 1 12 www aerotech com BB501 Option User s Manual Introduction and Configuration 1 7 2 Axis Feedback Connectors J2 J5 The BB501 interface board contains four encoder feedback connectors J2 J5 one for each axis These connectors are 25 pin D type connectors and have the same pinouts for each The pinouts for the axis feedback connectors are listed in Table 1 4 Table 1 4 BB501 Encoder Feedback Connectors J2 J5 Pinouts a e Maker Mnk i Tach a aif croua s Reserved 2 Home Limit 1 7 3 Axis Amp Connectors J6 J9 The BB501 interface board contains four amplifier connectors J6 J9 one for each axis These connectors are 25 pin D type connectors and have the same pinouts for each The pinouts for the axis amplifier connectors are listed in Table 1 5 Table 1 5 BB501 Axis Amp Connectors J6 J9 Pinouts s cos
73. defeated JP23 1 2 default Axis 4 Amp Fault J9 23 enabled 2 3 Axis 4 Amp Fault J9 23 defeated 1 2 default Axis 1 Inputl 16 21 connected to common JP24 2 3 Axis 1 Inputl J6 21 not connected to common Note Setting JP24 to 1 2 requires JP7 to be set to 2 3 Axis 2 Input2 J7 21 connected to common JP25 E n Axis 2 Input2 J7 21 not connected to common Note Setting JP25 to 1 2 requires JP11 to be set to 2 3 Axis 3 Input3 J8 21 connected to common JP26 s P Axis 3 Input3 J8 21 not connected to common Note Setting JP26 to 1 2 requires JP15 to be set to 2 3 Axis 4 Input3 J9 21 connected to common JP27 c E Axis 44 Input3 J9 21 not connected to common Note Setting JP27 to 1 2 requires JP19 to be set to 2 3 IN to connect Brake power to Axis 1 72 25 IN to connect Brake power to Axis 2 73 25 JP28 and w 1 28 IN to connect Brake power to Axis 3 J4 25 ape a IN to connect Brake power to Axis 4 75 25 Note JP28 and JP29 are normally set the same boards See Figure 1 4 for correct identification IN to connect Brake power to Axis 1 J2 13 IN to connect Brake power to Axis 2 J3 13 JP29 IN to connect Brake power to Axis 3 J4 13 IN to connect Brake power to Axis 4 J5 13 Note JP28 and JP29 are normally set the same 1 8 www aerotech com BB501
74. ic commutation rather than brushes to transfer current Specialized motor that allows discrete positioning without feedback Used for non critical low power applications since positional information is easily lost if acceleration or velocity limits are exceeded Numerical Control Automated equipment or process used for contouring or positioning See CNC National Electrical Manufacturer s Association Sets standards for motors and other industrial electrical equipment Memory in a system that maintains information when power is removed A signal output that is performed with a transistor Open collector output acts like a switch closure with one end of the switch at circuit common potential and the other end of the switch accessible Control circuit that has an input signal only and cannot make any corrections based on external influences A 6 www aerotech com BB501 Option User s Manual Glossary of Terms Operator Interface Optical Encoder Opto isolated Orthogonality Overshoot PID Pitch of travel Pitch Error PLC PWM Quadrature Radial Runout Ramp Time Device that allows the operator to communicate with a machine A keyboard or thumbwheel 15 used to enter instructions into a machine See HMI or MMI A linear or angular position feedback device using light fringes to develop position information System or circuit that transmits signal with no direct electrical connections
75. ic Rev D 69001504 Sheet 3 1 48 www aerotech com BB501 Option User s Manual Introduction and Configuration 1 10 Troubleshooting and Technical Support 1 10 1 Common Problems and Causes Table 1 17 lists some common problems and possible causes Table 1 17 Problems and Causes Problem Possible Cause Solution Axis Fault Axis 1 JP4 JP20 AMP Fault J6 23 Axis 2 JP8 JP21 AMP Fault 77 23 Axis 3 JP12 JP22 AMP Fault J8 23 Axis 4 JP16 JP23 AMP Fault J9 23 Encoder not working Check encoder 5 volt supply and encoder supply jumpers JP5 JP9 JP13 and JP17 Limits not working Check limit 5 volt supply and limit supply jumpers JP6 JP10 JP14 and JP18 Motor will not run or fault error Check encoder feedback Hall feedback and fault occurs input Also check ICMD and input jumpers JP7 JP11 JP15 JP19 JP24 JP25 JP26 and JP27 External enable not working Check wiring of external enable See external enable opto circuit example Figure 1 5 JP1 should be in position 1 2 for external operation Opto input is enabled when current flows through opto diode Fault out does not work Check wiring of fault out circuit See the example of fault out Figure 1 6 Brake does not work Check brake control selector jumper JP3 Check external brake wiring Verify brake voltage present at TB4 11 and TB4 12 Examine settings of the brake axis jumpers JP28 and JP29 Chec
76. ill be in the upper left hand corner on a system serial tag 3 We may also need to know the type of PC you are using brand name CPU available memory the current version of the operating system and the contents of your AUTOEXEC BAT and CONFIG SYS files 4 Ifyou are developing your own application we will need to know what compiler and version number you are using e g Borland C v3 1 Microsoft Visual C etc 5 If at all possible try to be in front of the system where the problems are occurring Above information may be needed if software related problems are suspected VV V 1 50 www aerotech com BB501 Option User s Manual Glossary of Terms APPENDIX A In This Section e Glossary GLOSSARY OF TERMS Abbe Error Abbe Offset Absolute Move Absolute Programming AC Brushless Servo Acceleration Accuracy Accuracy Grade 5 Axial Runout Axis of Rotation Back emf Kemf Backlash The positioning error resulting from angular motion and an offset between the measuring device and the point of interest The value of the offset between the measuring device and the point of interest A move referenced to a known point or datum A positioning coordinate reference where all positions are specified relative to a reference or home position A servomotor with stationary windings in the stator assembly and permanent magnet rotor AC brushless generally refers to a sinusoidall
77. k axis brake outputs on pins 13 and 25 of J2 J3 J4 and J5 if selected www aerotech com 1 49 Introduction and Configuration BB501 Option User s Manual 1 10 2 5 Volt Supply The BB501 board requires and distributes 5 volts for system operation If the 5 volt source is not capable of providing the required current axis motion will be unreliable Using a multimeter place the common lead on TP4 and check the 5 volt supply at pin 2 of jumpers 5 JP6 9 JP10 JP13 JP14 JP17 and JP18 The 5 volt supply should be between 4 9 and 5 25 volts Do not remove jumper make check from bottom side of board The on board logic receives power from the U500 U600 control board through J1 pins 3 and 4 Check the 5 volt signal at J14 pin 1 brake connector If the 5 volt signal is not there check for blown fuse on the U500 U600 control board Check jumpers JP1 JP4 JP8 JP12 and JP16 Set default positions to troubleshoot 1 10 3 Connectors Verify that connectors are fully inserted and plugged into the correct sockets Ensure that connector hold in screws are tightened to prevent connectors from pulling out of sockets 1 10 4 Technical Support If you have technical support questions please have the following information available before calling 1 The current version of the Aerotech controller operating software 2 Your customer order number If you have purchased a product from Aerotech this number w
78. lectrical connections www aerotech com Introduction and Configuration BB501 Option User s Manual 1 6 Hardware Configurations This section describes the configuration power and system interconnects requirements for the BB501 interface board This section contains a description of the jumper configurations and connector pinouts for system interfacing J12 Joystick J14 Brake JP Li JP31 30 J13 Opto Isolated Limit Inputs 000000000000 J10 Hall Effect Feedback J11 Digital VO __ 000000 000000 000000 000000 J1 Standard H 4 Axis Interface 5 5 g JP28 JP29 ET E zer E J2 33 J4 35 Axis Feedback vedr N lt Zar A Connectors E EN ome MTM ir corri cdi ccce rid ecce S Al SER DTE ae OM ay Recs N wo A a o fo 29 c Amplifier Interface 1 2 3 4 Connectors Test Points 9 10 11 12 i Test Points Figure 1 4 BB501 Interface Board Connector and Jumper Locations IDAs 1 6 www aerotech com BB501 Option User s Manual
79. nect using the BB501 and the BA Series amplifiers U500 U600 Pi Spent m 5 10 BRE Hall Effect DIOSR 5 or 12 ft Signals m JP4 EXTENSION CABLE iis JOYSTICK x OPTIONAL DIGITIZING JOYSTICK OPTIONAL BRAKE J14 BOARD BRAKE 1 1 m MISC BRAKE POWER TB1 AC SUPPLY MISC I O POWER 22 BOARD OPC 5 an PB8 PB16 PB24 DIGITAL 1 0 OPTIONAL OPTIONAL T RE Teoh eorom 9088001590 R BA SERIES BLK RED mm LESE s L 151 Pi m BA20 m O LJ Pur AXIS 1 X w L META 9 BRUSHLESS BFC 63001529 MOTOR TYPA PLS AXIS 1 X 1 LIMITS FRAME LON TT BA SERIES Ex I 7 AMPLIFIERS motor B O AXIS 2 lp Lic 1 L BA20 AMP U ac i INPUT BRN AXIS 2 Y BRUSHLESS MOTOR AXIS 2 AXIS 2 Y BB501 LIMITS FRAME Suo LOR 7 BA SERIES ria MOTOR B d
80. nput 14 HA4 I14 Hall Effect Input 13 HB4 113 Hall Effect Input 12 HC3 112 Hall Effect Input 11 HA3 I11 6 Hall Effect B3 Input 10 HB3 I10 Hall Effect C2 Input9 HC2 19 Hall Effect A2 Input8 HA2 I8 9 Hall Effect B2 Input 7 HB2 17 Hall Effect C1 Input6 HC1 16 Hall Effect Input5 1 5 Hall Effect Input4 2 919191 9191919 19 19 19 19 9 19 19 S S 98 9 9 S S 9 18 Ziziziziziziziziziz zizizizizizizizzzZiziziz Q Z g 1 16 www aerotech com BB501 Option User s Manual Introduction and Configuration Table 1 9 BB501 Digital 1 Connector J11 Pinouts with U600 Pm Description Pin Dr mme pee mammam nine um omm s mammam ue s marmam um 81919 J o o o o o o oo o zZz Z Z Z Z Z Z Z Z Z Z Z 2Z 2Z 2Z 2Z 2Z 2Z Z Z Z UI CO OI IO IO oI Q 2 g www aerotech com 1 17 Introduction and Configuration BB501 Option User s Manual 1 7 7 Joystick Connector J12 The joystick connector 112 is 5 pin D type connector This connector contains the Joystick wiper and button signals The pinouts for the joystick connector are listed in Table 1 10 Table 1 10 BB501 Joystick Connector J12 Pinouts m
81. o be free from defects caused by faulty materials or poor workmanship for a minimum period of one year from date of shipment from Aerotech Aerotech s liability 1s limited to replacing repairing or issuing credit at its option for any products which are returned by the original purchaser during the warranty period Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer where or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided or whether or not Aerotech s products are specifically designed and or manufactured for buyer s use or purpose Aerotech s liability or any claim for loss or damage arising out of the sale resale or use of any of its products shall in no event exceed the selling price of the unit Aerotech Inc warrants its laser products to the original purchaser for a minimum period of one year from date of shipment This warranty covers defects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal of the serial tag or improper operation as determined by Aerotech This warranty is also voided for failure to comply with Aerotech s return procedures Claims for shipment damage evident or concealed must be filed with the carrier by the buyer Aerotech must be notified within
82. onnector This connector is used with the U600 and contains additional I O signals The pinouts for the U600 Misc connector are listed in Table 1 16 Table 1 16 BB501 U600 Miscellaneous Connector TB4 Pinouts Shield SHIELD Reserved Output 1 Emitter fon Reset Op Clicr Esop omo anod Reserved ouput tem ouc 12 rake supp www aerotech com 1 23 Introduction and Configuration BB501 Option User s Manual 1 8 Power Requirements The BB501 Interface board requires 5V at less than 5 amp that it obtains through the main signal connector P1 An additional 5 volt supply will be required to power the encoder and limit circuitry if the opto isolated inputs are used If an external power supply is required it should meet the following minimum requirements The following current capacity requirement is for a typical system some systems may require higher amperage supplies 5 Volt Power Supply requirements Nominal Voltage Min Max 4 9 Volts to 5 25 Volts Ripple P P Volts less than 100mv P P Current Capacity 1 0 Amps Axis minimum typical 4 Amps for 4 Axis typical 1 24 www aerotech com BB501 Option User s Manual Introduction and Configuration 1 9 System Interconnections The BB501 provides system interfacing between the U600 or the U500 Control boards and Aerotech s BA Series amplifiers Figure 1 8 shows the system intercon
83. or safety interlock Jumper JP1 must be set to 1 2 to enable this function A forward voltage must be applied to TB1 9 10 in order to enable the amplifiers If the voltage is removed all amplifiers connected to the BB501 will be disabled Refer to Figure 1 6 for an example DISABLE TB1 9 ENABLE 5 2 m V 3 5 R TB1 10 390 V R 5VDC 0 12VDC 620 Ohms W 24VDC 1500 Ohms W Figure 1 6 Opto Isolated Enable Input Interface 1 7 9 3 Opto Isolated Fault Output TBI 11 12 The fault output TB1 11 12 is an optically isolated output that indicates a fault condition Figure 1 7 provides an example interface for this output A fault on any axis will cause the fault out signal TB1 12 to go low R TB1 12 OUTPUT 4N33 1 5 AE K Hm PER 2 T V RN Typ E 4 5VDC 5 1K Ohms W 12VDC 12K Ohms W 24VDC 24K Ohms ZW TB1 11 Figure 1 7 Opto Isolated Fault Output www aerotech com 1 21 Introduction and Configuration BB501 Option User s Manual 1 7 10 External Power Supply Connector TB2 The external power supply connector TB2 15 a 6 pin terminal board connector This connector provides connections for an external power supply to power the encoder and limit circuits possibly at a voltage other than
84. otion using the phase relationship of two signal channels A 1000 line encoder will yield 4000 counts via quadrature Positioning error of the rotary stage in the horizontal direction when the tabletop is oriented in the horizontal plane Radial run out is defined as the total indicator reading on a spherical ball positioned 50 mm above the tabletop and centered on the axis of rotation Time it takes to accelerate from one velocity to another www aerotech com Glossary of Terms Range RDC Repeatability Resolution Retroreflector Roll of travel Roll Error Rotor RS 232C RS 274 RS 422 Runout Servo System BB501 Option User s Manual The maximum allowable travel of a positioning stage Resolver to Digital Converter Electronic component that converts the analog signals from a resolver transmitter type into a digital word representing angular position The maximum deviation from the mean each side when repeatedly approaching a position Unidirectional repeatability refers to the value established by moving toward a position in the same direction Bidirectional repeatability refers to the value established by moving toward a position in the same or opposite direction The smallest change in distance that a device can measure An optical element with the property that an input light beam is reflected and returns along the same angle as the input beam Used with laser interferometers Angular
85. puts J13 Pinouts 1 20 Table 1 14 BB501 External Power Supply Connector TB2 Pinouts 1 22 Table 1 15 BB501 D A Output Connector TB3 Pinouts 1 22 Table 1 16 BB501 U600 Miscellaneous Connector TB4 Pinouts 1 23 Table 1 17 Probl rmis and Causes o 1 49 V V V www aerotech com vii List of Tables BB501 Option User s Manual viil www aerotech com BB501 Option User s Manual Introduction and Configuration CHAPTER 1 INTRODUCTION AND CONFIGURATION In This Section Introduction Safety Procedures and Warnings Unpacking the BB501 Board Mechanical Installation Electrical Installation Hardware Configurations BB501 Interface Board Connectors Power Requirements System Interconnections Troubleshooting and Technical Support 1 1 Introduction The BB501 Interface Board see Figure 1 1 provides the ability to interface an Aerotech U500 or U600 control board to Aerotech s BA Series drives This board provides four axes of amplifier and feedback connectors a joystick port several I O and miscellaneous signal ports a power connector and three U500 U600 connectors Also contained on this board are several jumpers that permit the BB501 to be configured for different options and hardware Figure 1 1 BB501 Interface Board www aerotech com 1 1 Introduction and Configuration BB501 Option User s Manual 1 2 Safet
86. r Configurations 1 7 Board Dimensions 1 4 Jumper Locations 1 6 Brake Connector 1 18 M C I Mechanical Installation 1 4 Configurations Miscellaneous I O Connector 1 19 Hardware 1 7 Jumpers 1 7 Connector Locations 1 6 Connectors 1 11 Opto Isolated Signals 1 20 Axis Amplifier Connectors 1 13 Enable Input 1 21 Axis Feedback 1 13 Fault Output 1 21 Brake 1 18 D A Output 1 22 P Digital I O 1 16 1 17 External Power Supply Connector 1 22 Power Requirements 1 24 Hall Effect 1 14 1 15 Precautions 1 2 Joystick 1 18 Miscellaneous I O 1 19 S U500 U600 Interface 1 11 U600 Miscellaneous 1 23 Safety Procedures 1 2 Customer Order Number 1 50 System Interconnections 1 25 T D A output connector 1 22 Technical Support 1 49 Dimensions 1 4 Questions 1 50 Test points 1 10 E Troubleshooting 1 49 1 50 Connectors 1 50 Electrical Installation 1 5 Power 1 50 External Power Supply Connector 1 22 U F U500 Connectors Field Service Information B 1 C 1 Digital I O 1 16 Field Service Policy B 1 Hall Effect 1 14 11500 Digital I O connector 1 16 H U500 I O Connector 1 14 U500 U600 Interface Connector 1 11 Hall Effect Connector 1 14 1 15 U600 Connectors Hardware Configuration 1 6 Digital I O 1 17 Hall Effect 1 15 U600 Digital I O connector 1 17 www aerotech com i Index BB501 Option User s Manual U600 I O Connector 1 15 U600 Miscellaneous Connector 1 23 w Unpacking instructions 1 3 Warnings 1
87. re 1 16 1 33 www aerotech com Introduction and Configuration BB501 Option User s Manual LIMITS A CW LMT N SIGNAL INDICATES OVERTRAVEL IN THE CLOCKWISE DIRECTION CCW LMT SIGNAL INDICATES OVERTRAVEL IN THE COUNTER CLOCKWISE DIRECTION TYPICAL LIMIT 50 SWITCH WIRING LMT COM l NO CW LMT N CW LIMIT 9 PIN CCW LMT N CCW LIMIT FEMALE D HOME LMT N TO STAGE A LIMIT WIRING MATE 9 PIN MALE D DE9P ECK137 BACKSHELL DE24657 ECK612 JACKSOCKETS 207952 3 ECK363 A HOME LIMIT OPTIONAL AS A STANDARD THE CCW OR CW LIMIT SWITCH IS USED AS THE HOME LIMIT SWITCH THIS SELECTION IS MADE BY SOFTWARE PARAMETER x74 BEING SET TO NO IF AN INDEPENDENT SWITCH IS REQUIRED FOR THE HOME LIMIT THIS PARAMETER SHOULD BE SET TO YES AND A SEPARATE SWITCH WIRED INTO THE SYSTEM AS SHOWN IN NOTE 1 STANDARD A C FUSING BA10 10A BA20 20A BA30 20A MOTOR ROTATION CW ROTATION IS VIEWED FROM THE MOTOR MOUNTING FLANGE cw ROTATION Figure 1 17 Sheet 2 PE INRUSH LIMITING METHOD 1 DUE TO CAPACITIVE NATURE OF AMPLIFIER INPUT CIRCUIT CURRENT INRUSH LIMITING IS RECOMMENDED NEGATIVE TEMPERATURE COEFFICIENT THERMISTORS ARE USED FOR THIS PURPOSE THERMISTORS ARE TO BE PLACED IN AC HI AND ACLO LINES RECOMMENDED MODELS ARE RODAN SURGE GIARD 50100 20A RMS KEYSTONE CL 10 12A RMS INRUSH LIMITING METHOD 2 ALTERNATELY ONE THERMISTOR MAY BE PLACED IN AC H
88. readed screw and an internally threaded carriage nut See Ball Screw www aerotech com Glossary of Terms BB501 Option User s Manual Life Limit Switch Limits Linear Motor Load Carrying Capability Master Slave MMI Motion Profile Motor Brush Motor Brushless Motor Stepping NC NEMA Non Volatile Memory Open Collector Open Loop The minimum rated lifetime of a stage at maximum payload while maintaining positioning specifications A sensor used to determine the end of travel on a linear motion assembly Sensors called limits that alert the control electronics that the physical end of travel is being approached and motion should stop A motor consisting of 2 parts typically a moving coil and stationary magnet track When driven with a standard servo amplifier it creates a thrust force along the longitudinal axis of the magnet track The maximum recommended payload that does not degrade the listed specifications for a mechanical stage Type of coordinated motion control where the master axis position 15 used to generate one or more slave axis position commands Man Machine Interface used as a means of getting operator data into the system See HMI A method of describing a process in terms of velocity time and position The conductive element in a DC brush type motor used to transfer current to the internal windings Type of direct current motor that utilizes electron
89. rocess of switching motor phase current based on motor position information usually from an encoder In this method the three phase currents are switched in very small increments that closely resemble the motor s back emf Sinusoidal commutation requires digital signal processing to convert position information into three phase current values and consequently is most expensive to implement The result however is the best possible control All Aerotech controllers as well as the BAS series amplifiers commutate using this method Multi axis motion where the position of each axis is dependent on the other axis such that the path and velocity of a move can be accurately controlled Drawing a circle requires coordinated motion A term used in the specification of a lead screw or ball screw indicating the maximum rotation speed before resonance occurs This speed limit is a function of the screw diameter distance between support bearings and bearing rigidity Motor driver or amplifier configuration where the input signal is commanding motor current directly which translates to motor torque force at the motor output Brushless motors can be commutated directly from a controller that can output current phase A and B commands An allowable current to run a motor above its rated load usually during starting conditions Peak current listed on a data sheet is usually the highest current safely allowed to the motor Root Mean Square A
90. t 1 1 46 Figure 1 30 BB501 Interface Board Schematic Rev D 69001504 Sheet 2 1 47 www aerotech com List of Figures vi Figure 1 31 BB501 Option User s Manual BB501 Interface Board Schematic Rev D 69001504 Sheet 3 1 48 V V V www aerotech com BB501 Option User s Manual List of Tables LIST OF TABLES Table 1 1 BB501 Jumper Descriptions s 1 7 Table 1 2 501 Fest Potts siia ie preter eerte Hes 1 10 Table 1 3 501 U500 U600 ISA Interface Connector J1 Pinouts 1 12 Table 1 4 BB501 Encoder Feedback Connectors J2 J5 Pinouts 1 13 Table 1 5 BB501 Axis Amp Connectors 16 J9 Pinouts 1 13 Table 1 6 0500 I O Hall Effect Connector J10 Pinouts 1 14 Table 1 7 U600 I O Hall Effect Connector J10 Pinouts 1 15 Table 1 8 BB501 Digital I O Connector J11 Pinouts with U500 1 16 Table 1 9 BB501 Digital I O Connector J11 Pinouts with U600 1 17 Table 1 10 BB501 Joystick Connector 112 Pinouts 1 18 Table 1 11 BB501 Brake Connector 114 Pinouts 1 18 Table 1 12 BB501 Miscellaneous I O Connector TB1 Pinouts 1 19 Table 1 13 BB501 Opto Isolated Connector In
91. t of the repair and freight or authorize the product s to be shipped back as 1s at the buyer s expense Failure to obtain a purchase order number or approval within 30 days of notification will result in the product s being returned as 15 at the buyer s expense Repair work is warranted for 90 days from date of shipment Replacement components are warranted for one year from date of shipment At times the buyer may desire to expedite a repair Regardless of warranty or out of warranty status the buyer must issue a valid purchase order to cover the added rush service cost Rush service 1s subject to Aerotech s approval If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts and cannot be returned to the Aerotech service center for repair and if Aerotech determines the problem could be warranty related then the following policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs For warranty field repairs the customer will not be charged for the cost of labor and material If service 15 rendered at times other than normal work periods then special service rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated
92. uction and Configuration BB501 Option User s Manual 1 4 Mechanical Installation The BB501 interface board must be mounted in an area free of electrical noise The board is mounted using five 187 diameter mounting holes refer to Figure 1 2 and Figure 1 3 Mounting Holes Mounting Surface Figure 1 2 Mounting the BB501 Interface Board Using a metal enclosure will help minimize any electrical noise pickup The BB501 can be mounted horizontally or vertically on a panel or wall TB3 1 712 TB1 7 787 m 237 13 787 14 05 Figure 1 3 501 Interface Board Dimensions Sa www aerotech com BB501 Option User s Manual Introduction and Configuration 1 5 Electrical Installation The electrical installation 1s dependent on the user s system and options Each Axis requires an amplifier connection J6 J9 and a feedback connection J2 J5 Refer to Figure 1 4 Additional connections are required to utilize other available options such as brake joystick miscellaneous I O or external power supply Additional installation information can be found in the hardware section of this manual and in other Aerotech product manuals To minimize the risk of electrical shock and bodily injury make certain that all of the electrical power switches are in the off position prior to making any e
93. umm nma _ uina 1 5Vols 2 Joystick Button A 10 Reserved Reserved 6 Joystick Wiper2 JSW2 14 Reserved Reserved 8 Reserved Reserved 1 7 8 Brake Connector J14 The brake connector J14 is a 6 pin IDC locking connector and provides a brake control signal The pinouts for the brake connector are listed in Table 1 11 The mate to this connector in an Amp P N 640440 6 and 640550 6 or an Aerotech P N EIK297 and EIK298 Table 1 11 BB501 Brake Connector J14 Pinouts LINE seem ITI 1 18 www aerotech com BB501 Option User s Manual Introduction and Configuration 1 7 9 Miscellaneous I O Connector TB1 The Miscellaneous I O connector TB1 is a 12 pin terminal board connector This connector provides various system control and input signals The pinouts for the Miscellaneous I O connector are listed in Table 1 12 Table 1 12 BB501 Miscellaneous I O Connector TB1 Pinouts m am mem s Opo Anode 5 Enable Common ENBCOM www aerotech com 1 19 Introduction and Configuration BB501 Option User s Manual 1 7 9 1 Opto Isolated Limit Inputs J13 The Opto Isolated Limit Inputs connector J13 is a 24 Pin terminal board connector This connector provides opto isolated inputs for Axis 1 4 CW limits CCW limits and Home limits These inp
94. uration BB501 Option User s Manual 0500 0600 P1 J10 1 0 HALL EFFECT J12 JOYSTICK MISC J11 DIGITAL vo J14 BRAKE U600 690B1502 500 EFN187 SEE ES13016 1 SOR 12FT P9 Al DIOSR STD 630B1627 DRC STD 630B1628 5OR 12 FT 2 L hi DIOSR STD 63081627 CUSTOMER P C mas a S zi DIOPB STD 63081610 OPTO22 BOARD PB 16A 24 OPTIONAL SEE 630C1586 c JP4 EXTENSION CABLE T i x 63081358 LENGTH AR LI OPTIONAL JBV DIGITIZING JOYSTICK OPTIONAL OPTO22BOARD OPC 5 PB PB16A PB24 OPTIONAL 63081505 OPTIONAL COMMON COMMON COMMON BRAKEN OUT AA FRAME GRNORORN PMCS30C 1580 1 BA SERIES zl BLK 630C1581 1 BB501 AMPLIFIER a RED l O 690D1504 BA10 320 MOTOR B AXIS 1 X EFN188 J6 BAC 630B1596 2 3 BA20 320 GL WHT OR BRN BRUS
95. using photoelectric coupling between elements The condition of a surface or axis which is perpendicular offset 90 degrees to a second surface or axis Orthogonality specification refers to the error from 90 degrees from which two surfaces of axes are aligned In a servo system referred to the amount of velocity and or position overrun from the input command Overshoot is a result of many factors including mechanical structure tuning gains servo controller capability and inertial mismatch A group of gain terms in classical control theory Proportional Integral Derivative used in compensation of a closed loop system The terms are optimally adjusted to have the output response equal the input command Aerotech controllers utilize the more sophisticated PID FVFA loop which incorporates additional terms for greater system performance Angular motion of a carriage around an axis perpendicular to the motion direction and perpendicular to the yaw axis Positioning error resulting from a pitching motion Programmable Logic Controller A programmable device that utilizes ladder logic to control a number of input and output discrete devices Pulse Width Modulation Switch mode technique used in amplifiers and drivers to control motor current The output voltage is constant and switched at the bus value 160 VDC with a 115 VAC input line Refers to the property of position transducers that allows them to detect direction of m
96. ut burning out the motor The full indicator reading observed when a dial indicator Is in contact with the part surface during one full revolution of the part about its axis of rotation In a servo system the process of optimizing loop gains usually PID terms to achieve the desired response from a stage or mechanism from an input command See Repeatability Motor driver or amplifier configuration where the input signal is commanding motor velocity Motors with analog tachometers are normally driven by this driver configuration www aerotech com A 9 Glossary of Terms BB501 Option User s Manual Wobble Yaw of travel Yaw Error An irregular non repeatable rocking or staggering motion of the table top of a rotary stage Wobble is defined as an angular error between the actual axis of rotation and the theoretical axis of rotation Rotation about the vertical axis perpendicular to the axis of travel Angular movement error that affects straightness and positioning accuracy Positioning error resulting from a yaw motion 10 www aerotech com BB501 Option User s Manual Appendix B APPENDIX B WARRANTY AND FIELD SERVICE In This Section Laser Product Warranty Return Products Procedure Returned Product Warranty Determination Returned Product Non warranty Determination Rush Service On site Warranty Repair On site Non warranty Repair Aerotech Inc warrants its products t
97. uts are used when isolation is required for the limit inputs Connectors J2 J3 J4 and J5 provide un isolated connections for the limit inputs These limit connections must not be used when the Opto Isolated Limit Inputs are used These opto isolated inputs are configured for 12 24V logic level inputs They have 3 900 Ohm series resistors limiting the current through the opto to 5mA An external series resistor should be used if a voltage greater than 24V 15 to be applied Figure 1 5 shows the opto isolator inputs for J13 The pinouts for the Opto Isolated Limit Inputs 713 are listed in Table 1 13 Table 1 13 BB501 Opto Isolated Connector Inputs J13 Pinouts rin asiHomerMr 1 1 _ Axs4CWIMT aszccwiwre J13 J13 J13 ANN 1 9 17 N y V 2 10 18 N 3 1 19 N V N A 4 12 20 W 5 13 21 NY 6 14 22 ANN 7 15 23 A V A 3 9 1 8 16 24 4148 1 PS2501 48K V Only One Opto Isolation Circuit is Shown Figure 1 5 Opto Isolated Inputs 1 20 www aerotech com BB501 Option User s Manual Introduction and Configuration 1 7 9 2 Opto Isolated Enable Input TB1 9 10 The enable input TB1 9 10 can be used as a global amplifier shutdown It can be connected to emergency stop circuit
98. verage of effective currents over an amount of time This current is calculated based on the load and duty cycle of the application Glossary of Terms Glossary of Terms Cycle DC Brushless Servo Deceleration Duty Cycle Dwell Time Efficiency Electronic Gearing Encoder Marker Encoder Resolution Encoder Incremental Feedback Flatness of travel Force Continuous Force Peak Friction BB501 Option User s Manual When motion is repeated move and dwell such as repetitive back and forth motion A servomotor with stationary windings in the stator assembly and permanent magnet rotor See AC Brushless Servo The change in velocity as a function of time For a repetitive cycle the ratio of on time to total cycle time used to determine a motor s rms current and torque force Time in a cycle at which no motion occurs Used in the calculation of rms power Ratio of input power vs output power Technique used to electrically simulate mechanical gearing Causes one closed loop axis to be slaved to another open or closed loop axis with a variable ratio Once per revolution signal provided by some incremental encoders to accurately specify a reference point within that revolution Also known as Zero Reference Signal or Index Pulse Measure of the smallest positional change which can be detected by the encoder A 1000 line encoder with a quadrature output will produce 4000 counts per re
99. volution Position encoding device in which the output 1s a series of pulses relative to the amount of movement Signal that provides process or loop information such as speed torque and position back to the controller to produce a closed loop system Measure of the vertical deviation of a stage as it travels in a horizontal plane The value of force that a particular motor can produce in a continuous stall or running as calculated by the rms values condition The maximum value of force that a particular motor can produce When sizing for a specific application the peak force 15 usually that required during acceleration and deceleration of the move profile The peak force is used in conjunction with the continuous force and duty cycle to calculate the rms force required by the application The resistance to motion between two surfaces in contact with each other www aerotech com BB501 Option User s Manual Glossary of Terms G P I B Gain Grating Period Hall Effect Sensors HED HMI Home Home Switch Hysteresis IEEE 488 Incremental Move Inertia Lead Error Lead Screw A standard protocol analogous to RS 232 for transmitting digital information The G P I B interface IEEE 488 transmits data in parallel instead of serial format See IEEE 488 Comparison or ratio of the output signal and the input signal In general the higher the system gain the higher the response
100. y 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 performing the procedures and or damage to the equipment To minimize the risk of electrical shock and bodily injury make certain that all of the electrical power switches are in the off position prior to making any electrical connections To minimize the risk of electrical shock and bodily injury when any electrical circuit Is in use ensure that no person comes into contact with the circuitry When this controller is installed within a system mechanical motion will occur Care must be exercised that all personnel remain clear of any moving parts To minimize the possibility of bodily injury make certain that all electrical power switches are in the off position prior to making any mechanical adjustments pem 1 2 www aerotech com BB501 Option User s Manual Introduction and Configuration 1 3 Unpacking the BB501 Board Before unpacking any components visually inspect the container of the BB501 board for any evidence of shipping damage If any such damage exists notify the shipping carrier immediately All electronic equipment is wrapped in antistatic material and packaged with desiccant a drying agent used to reduce moisture Make certain that the antistatic material is not damaged during unpacking www aerotech com Introd
101. y wound motor such as BM series to be commutated via sinusoidal current waveform see DC Brushless Servo The change in velocity as a function of time An absolute measurement defining the difference between actual and commanded position In reference to an encoder grating accuracy grade is the tolerance of the placement of the graduations on the encoder scale American Standard Code for Information Interchange This code assigns a number to each numeral and letter of the alphabet Information can then be transmitted between machines as a series of binary numbers Positioning error of the rotary stage in the vertical direction when the tabletop is oriented in the horizontal plane Axial runout is defined as the total indicator reading on a spherical ball positioned 50 mm above the tabletop and centered on the axis of rotation A center line about which rotation occurs The voltage generated when a permanent magnet motor is rotated This voltage is proportional to motor speed and is present whether or not the motor windings are energized A component of bidirectional repeatability it is the non responsiveness of the system load to reversal of input command www aerotech com Glossary of Terms BB501 Option User s Manual Ball Screw Ball Screw Lead Bandwidth Baud Rate BCD Bearing Bidirectional Repeatability CAM Profile Cantilevered Load Closed Loop CNC Coefficient of Friction Cogging

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