Soloist Position Controller and Servo Amplifier PWM Single axis digital servo controller with integral power supply and amplifier Advanced software architecture shortens customer development time; use C#, VB.Net, C, and LabVIEW combined with our full IDE and multitasking operating system Host-mode operation allows you to send commands with your PC via Ethernet or USB for immediate execution Ethernet or USB permits networked Soloists for remote access Soloist HPe Soloist CP Soloist MP Ideal for simple applications with minimal setup or complex applications that use the full flexibility and scalability Positioning control for brushless, DC brushtype, or stepping motors CE approved and NRTL safety certification; follows the 2011/65/EU RoHS 2 Directive Available in models up to 150 A peak current Allen-Bradley EtherNet/IP TM interface provides full integration with the Soloist; program the Soloist directly from RSLogix TM 5000 Introduction Aerotech s Soloist PWM series are single-axis servo controllers that combine a power supply, amplifier, and position controller in a single package. The Soloist can control up to five tasks simultaneously, as well as handle variables and manage I/O, making it well-suited for demanding production applications. The Soloist has highspeed position latch inputs and advanced data logging capabilities, making it ideal for laboratory, test instrument, and industrial applications. The advanced software architecture shortens customer development time, while including support for C#, VB.Net, C, and LabVIEW, combined with our full IDE and multitasking operating system. Host-mode operation allows you to send commands with your PC via Ethernet or USB for immediate execution. The Soloist MP offers the same advanced software as the CP but in a smaller package designed for OEMs that can supply bus power from existing power supplies. The Soloist HPe can be used for larger systems requiring up to 150 A peak current. Motion Composer, the common integrated development environment for all Aerotech controllers, provides users with Windows -based software with powerful diagnostic, debug, and analysis tools for OEMs and end users alike. Allen-Bradley Interface Combine proven PLC with proven motion control for easier integration, startup, and maintenance of medium- and highend automation projects. The Aerotech EtherNet/IP TM interface enables AB PLCs (MicroLogix, CompactLogix TM, or ControlLogix) to be integrated directly with the Soloist. Motion can be directly programmed in the RSLogix 5000 environment or separate programs can be written on the controller and triggered from the AB PLC. Aerotech has two interfaces: ASCII and Register. Choose the PLC, motion controller, and interface that best fits your application needs. 1
Soloist DESCRIPTION Total Solution The controllers are fully tested and ready to run right out of the box. Aerotech can integrate the Soloist into a complete motion system, removing the burden of parameter setup and axis tuning. Practical Power Each series is capable of driving a wide range of motors including brushless, DC servo, and steppers. Brushless motors are sinusoidally commutated to minimize torque ripple. Using a digital servo loop with feedforward, the Soloist tightly tracks velocity and position trajectories with virtually zero error. On-board autotuning and built-in calculators make servo tuning simple. Application Versatility The Soloist has other built-in features such as axis calibration and backlash compensation, so you can maximize your machine s accuracy and precision. The user units feature makes it easy to customize the Soloist to your specific machine, allowing custom units for both linear and rotary applications. The controller is equipped with dual encoder inputs, so you can tackle master-slave applications or achieve higher accuracies with dual-loop control. Precise registrationbased moves are also possible because of the fast 0.1 microsecond acknowledge time of the Soloist. The Soloist easily handles complex functions such as output-on-the-fly and velocity profiling. Variables, Math and More With variables and math capability, one program can be used to produce a variety of parts by simply prompting the user for new application data. 2
Soloist Series COMPARISON Soloist HPe Width: 99 mm Height: 232.4 mm Soloist CP Width: 63.5 mm Height: 198.2 mm Soloist MP Width: 41.1 mm Height: 141.2 mm Soloist Comparison Chart Soloist HPe Soloist CP Soloist MP PC Interface Ethernet TCP/IP or USB Ethernet TCP/IP or USB Ethernet TCP/IP Current Output, Peak (1) 10-200 A 10-30 A 10 A Current Output, Continuous (1) 5-75 A 5-10 A 5 A Bus Voltage ±10-320 VDC ±10-320 VDC ±40 VDC Amplifier Type PWM PWM PWM Motor Supply Voltage 2 or 3 Phase AC 2 Phase AC DC Standard I/O (2) Expansion I/O (2) (Additional to Base I/O) 4-DO/6-DI 1-AO/1-AI 16-DO/16-DI 3-AO/3-AI 4-DO/6-DI 1-AO/1-AI 16-DO/16-DI 1-AO/1-AI 1-AI 8-DO/8-DI 1-AO/1-AI Single Axis PSO (3) Dual Axis PSO (3) No No Triple Axis PSO (3) No No Ethernet Capable for Third-Party I/O Notes: 1. Peak value of the sine wave; rms current for AC motors is 0.707 * A pk. 2. DO = Digital Output; DI = Digital Input; AO = Analog Output; AI = Analog Input. 3. PSO not available on Ndrive CP/MP when using integral MXU. 3
Soloist HPe SPECIFICATIONS Soloist HPe Units 10 20 30 50 75 100 150 200 Motor Style Brush, Brushless, Stepper (1) Motor Supply VAC Single-Phase 7-240 V; 50/60 Hz Single- or Three-Phase 115 or 230 V; 50/60 Hz Control Supply (2) VAC 85-240 VAC; 50/60 Hz Bus Voltage (3) VDC 10-320 (3) Peak Output Current (1 sec) (4) A pk 10 20 30 50 75 100 150 200 Continuous Output Current (4) A pk 5 10 10 25 37 50 75 75 Digital Inputs Digital Outputs Analog Inputs Analog Outputs Dedicated Axis I/O on Feedback Connector Dedicated I/O on Auxiliary Feedback Connector 6 Optically-Isolated (2 High Speed) 4 Optically-Isolated One 16-bit Differential; ±10 V One 16-bit Single-Ended; ±10 V Three Limit Inputs (CW, CCW, Home); Three Hall Effect Inputs (A, B, C); Three High-Speed Differential Inputs (sin, cos, mkr for encoder); Motor Over-Temperature Input sin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output I/O Expansion Board (5) High Speed Data Capture Automatic Brake Control Emergency Stop Sense Input (ESTOP) (6) Position Synchronized Output (PSO) Can Output Multiplied Encoder Can Output Square Wave Encoder Primary Encoder Input Frequency Secondary Encoder Input Frequency Encoder Multiplication 16/16 Digital Opto-Isolated; 3 Analog In (±10 V, 16-bit Differential); 3 Analog Out (±10 V, 16-bit) (50 ns Latency) Standard; 24 V at 1 A Standard; 24 V Opto-Isolated Single Axis Standard, Two/Three Axis Optional 500 khz Amplified Sine Wave Standard (for onboard multiplier); 40 MHz TTL Square Wave 32 MHz Square Wave Up to x65536 with Quadrature Output (MXH) Absolute Encoder Renishaw Resolute BiSS; EnDat 2.1; EnDat 2.2 Resolver Interface Internal Shunt Resistor External Shunt Ethernet USB RS-232 FireWire Fieldbus 40 W Continuous; 400 W Peak (5 seconds) Optional; 1 or 2 Channel; 16-bit 440 W Continuous Optional No Modbus TCP; Ethernet/IP Current Loop Update Rate khz 20 Servo Loop Update Rate khz 1 to 20 Power Amplifier Bandwidth khz Selectable Through Software Minimum Load Inductance mh 0.1 @ 160 VDC (1.0 mh @ 320 VDC) Operating Temperature C 0 to 50 Storage Temperature C -30 to 85 Weight kg (lb) 2.36 (5.2) 6.64 (14.6) 11.06 (24.4) Standards CE approved, NRTL safety certification, 2011/65/EU RoHS 2 Directive Notes: 1. For stepper motors only, one-half of bus voltage is applied across the motor (e.g., 80 VDC supply results in 40 VDC across stepper motor). 2. "Keep Alive" supply. 3. Output voltage dependent upon input voltage. 4. Peak value of the sine wave; rms current for AC motors is 0.707 * A pk. 5. Requires IO option. 6. Requires external relay to remove motor supply power. 4
Soloist CP SPECIFICATIONS Soloist CP Units 10 20 30 Motor Style Brush, Brushless, Stepper (1) Motor Supply VAC Single-Phase 7-240 VAC; 50/60 Hz Control Supply (1) VAC 85-240 VAC; 50/60 Hz Bus Voltage (2) VDC 10-320 (3) Peak Output Current (1 sec) (3,4) Apk 10 20 30 Continuous Output Current (3,4) Apk 5 10 10 Digital Inputs Digital Outputs Analog Inputs Analog Outputs 6 Optically-Isolated (2 High Speed) 4 Optically-Isolated One 16-bit Differential; ±10 V One 16-bit Single-Ended; ±10 V Dedicated Axis I/O on Feedback Connector Three Limit Inputs (CW, CCW, Home); Three Hall Effect Inputs (A, B, C); Three High-Speed differential Inputs (sin, cos, mkr for encoder); Motor Over-Temperature Input Dedicated I/O on Auxiliary Feedback Connector sin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output I/O Expansion Board (5) 16/16 Digital Opto-Isolated; 1 Analog In (±10 V, 12-bit Differential); 1 Analog Out (±10 V, 16-bit) High Speed Data Capture (50 ns Latency) Automatic Brake Control Standard; 24 V at 1 A Emergency Stop Sense Input (ESTOP) (6) Standard; 24 V Opto-Isolated Position Synchronized Output (PSO) Single Axis Only Can Output Multiplied Encoder No Can Output Square Wave Encoder Primary Encoder Input Frequency 200 khz Amplified Sine Wave Standard (for onboard multiplier); 40 MHz TTL Square Wave Secondary Encoder Input Frequency 32 MHz Square Wave Encoder Multiplication Up to x4096 (MXU) Absolute Encoder Renishaw Resolute BiSS; EnDat 2.1; EnDat 2.2 Resolver Interface Internal Shunt Resistor 40 W Continuous; 400 W Peak (5 seconds) External Shunt Optional Ethernet USB RS-232 FireWire No Fieldbus Modbus TCP; Ethernet/IP Current Loop Update Rate khz 20 Servo Loop Update Rate khz 1 to 20 Power Amplifier Bandwidth khz Selectable Through Software Minimum Load Inductance mh 0.1 @ 160 VDC (1.0 mh @ 320 VDC) Operating Temperature C 0 to 50 Storage Temperature C -30 to 85 Weight kg (lb) 1.64 (3.6) Standards CE approved, NRTL safety certification, 2011/65/EU RoHS 2 Directive Notes: 1. For stepper motors only, one-half of bus voltage is applied across the motor (e.g., 80 VDC supply results in 40 VDC across stepper motor). 2. "Keep Alive" supply. 3. Output voltage dependent upon input voltage. 4. Peak value of the sine wave; rms current for AC motors is 0.707 * A pk. 5. Requires IO option. 6. Requires external relay to remove motor supply power. 5
Soloist MP SPECIFICATIONS Soloist MP Units Motor Style Brush, Brushless, Stepper (1) Motor Supply VDC 10-80 Control Supply (1) VDC 24-80 Bus Voltage (2) VDC 10-80 Peak Output Current (1 sec) (3,4) Apk 10 Continuous Output Current (3,4) Apk 5 Digital Inputs Digital Outputs Analog Inputs Analog Outputs Dedicated Axis I/O on Feedback Connector Dedicated I/O on Auxiliary Feedback Connector I/O Expansion Board (5) High Speed Data Capture One 16-bit Differential; ±10 V Three Limit Inputs (CW, CCW, Home); Three Hall Effect Inputs (A, B, C); Three High-Speed differential Inputs (sin, cos, mkr for encoder); Motor Over-Temperature Input 8/8 Digital Opto-Isolated; 1 Analog In (±10 V, 12-bit Differential); 1 Analog Out (±5 V, 16-bit); sin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output (50 ns Latency) Automatic Brake Control Optional (6) Emergency Stop Sense Input (ESTOP) (6) Standard; 24 V Opto-Isolated Position Synchronized Output (PSO) Optional (5) Can Output Multiplied Encoder No Can Output Square Wave Encoder No Primary Encoder Input Frequency 200 khz Amplified Sine Wave Standard (for onboard multiplier); 40 MHz TTL Square Wave Secondary Encoder Input Frequency 32 MHz Square Wave Encoder Multiplication Up to x4096 (MXU) Resolver Interface Internal Shunt Resistor External Shunt Ethernet USB No RS-232 FireWire No Fieldbus Modbus TCP; Ethernet/IP Current Loop Update Rate khz 20 Servo Loop Update Rate khz 1 to 20 Power Amplifier Bandwidth khz Selectable Through Software Minimum Load Inductance mh 0.1 @ 80 VDC Operating Temperature C 0 to 50 Storage Temperature C -30 to 85 Weight kg (lb) 0.45 (1.0) Standards CE approved, NRTL safety certification, 2011/65/EU RoHS 2 Directive Notes: 1. For stepper motors only, one-half of bus voltage is applied across the motor (e.g., 80 VDC supply results in 40 VDC across stepper motor). 2. "Keep Alive" supply. 3. Output voltage dependent upon input voltage. 4. Peak value of the sine wave; rms current for AC motors is 0.707 * A pk. 5. Requires IO option. 6. Requires external relay to remove motor supply power. 6
Soloist HPe DIMENSIONS Soloist HPe10/20/30 7
Soloist HPe DIMENSIONS Soloist HPe10/20/30 with additional I/O 8
Soloist HPe DIMENSIONS Soloist HPe50/75/100 with additional I/O 168.1 [6.62] 17.8 [0.70] 26.0 [1.02] 217.9 [8.58] Ø4.7[Ø0.19] 212.6 [8.37] 87.8 [3.46] 124.8 [4.91] 24.2 [0.95] 76.2 [3.00] Ø10.3[Ø0.41] 22.6 [0.89] 245.3 [9.66] 252.4 [9.94] 261.9 [10.31] 234.8 [9.24] 17.5 [0.69] 4.7 [0.19] REC. MTG. HDWR.: M4[#8] 4.7 [0.19] 9.6 [0.38] 214.0 [8.43] 244.5 [9.63] 2.3 [0.09] 9
TB102 POWER EXTERNAL SHUNT TM COM MOTOR OUTPUT ENB/FLT MARKER AUX I/O J205 RS232 J206 ESTOP TB201 MOTOR FEEDBACK J207 USB J208 DC BUS ENET J204 PWR POS NC C TB301 NO RELAY HSO-P PSO-N HSO-M AOUT0 AOUT1 AOUT2 AOUT3 AGND AIN0+ AIN0- AIN1+ AIN1- AGND AIN2+ AIN2- AIN3- AIN3+ C 0 1 2 3 4 5 6 7 GND C 0 1 2 3 4 5 6 7 +5V OP OM 0 1 2 3 4 5 6 7 BRAKE CH 2 J402 CH 1 J401 PS + PS - TB202 OPTO IN TB305 OPTO IN TB306 OPTO OUT TB307 OP OM 0 1 OPTO 2 OUT 3 4 TB308 5 7 6 Soloist HPe DIMENSIONS Soloist HPe150 with additional I/O 167.9 [6.61] 42.6 [1.68] 393.8 [15.50] 33.3 [1.31] 27.3 [1.08] 97.1 [3.82] 229.7 [9.04] 132.7 [5.22] 76.2 [3.00] AEROTECH. 6.9 [0.27] REC. MTG. HDWR.: M6[1/4"] T302 TB303 TB304 423.8 [16.69] 435.9 [17.16] 452.4 [17.81] 9.5 [0.38] Ø6.9 [Ø0.27] Ø15.2 [Ø0.60] 19.2 [0.76] 406.1 [15.99] 27.1 [1.07] 2.3 [0.09] 239.4 [9.43] 277.5 [10.93] 10
Soloist CP DIMENSIONS Soloist CP 65.7 [2.59] 63.5 [2.50] 31.8 [1.25] 15.9 [0.63] (TYP.) Ø4.7 [Ø0.19] (TYP.) Ø10.3 [Ø0.41] (TYP.) 233.0 [9.18] 218.6 [8.61] 198.2 [7.81] 9.8 [0.39] 4.7 [0.19] (TYP.) REC. MTG. HDWR: M4 [#8] 16.1 [0.64] 167.4 [6.59] 178.2 [7.02] 6.4 [0.25] 11
Soloist CP DIMENSIONS Soloist CP with Additional I/O 65.7 [2.59] 63.5 [2.50] 31.8 [1.25] 15.9 [0.63] (TYP.) Ø4.7 [Ø0.19] (TYP.) Ø10.3 [Ø0.41] (TYP.) 233.0 [9.18] 218.6 [8.61] 9.8 [0.39] 198.2 [7.81] 4.7 [0.19] (TYP.) REC. MTG. HDWR: M4 [#8] 16.1 [0.64] 167.4 [6.59] 178.2 [7.02] 6.4 [0.25] 12
Soloist MP DIMENSIONS Soloist MP 13
Soloist MP DIMENSIONS Soloist MP with additional I/O 7.6 [0.30] 41.1 [1.62] 25.4 [1.00] ETHERNET J102 J201 ENA MRK CTL POS TB201 TB202 157.5 [6.20] 149.2 [5.88] 4.1 [0.16] MOTOR FEEDBACK J103 80VDC MAX 10AMP MAX MOTOR MOTOR SUPPLY TB102 OUTPUT 4.0 [0.16] (TYP.) OPTO-IN OPTO-OUT TB203 TB204 REC. MTG. HDWR: M3.5 [#6] 8.1 [0.32] 141.2 [5.56] 107.0 [4.21] 121.4 [4.78] 2.5 [0.10] Soloist Ordering Information Visit Aerotech s website for complete ordering information. 14