Aerotech Automation1 SI4-2P1 Manuel utilisateur

Revision 1.04

Automation1 SI4 Stepper Controller

HARDWAREMANUAL

GLOBALTECHNICALSUPPORT

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This manual contains proprietary information and may not be reproduced,

disclosed, or used in whole or in part without the express written permission of

Aerotech, Inc. Product names mentioned herein are used for identification purposes

only and may be trademarks of their respective companies.

Table of Contents

Automation1 SI4 Stepper Controller 1

Table of Contents 3

List of Figures 4

List of Tables 5

EU Declaration of Conformity 6

Safety Procedures and Warnings 7

Handling and Storage 9

Installation Overview 10

Chapter 1: SI4 Overview 13

1.1. Electrical Specifications 17

1.2. Mechanical Specifications 18

1.2.1. Mounting and Cooling 18

1.2.2. Dimensions 19

1.2.3. DIN Rail Mounting 23

1.2.4. OEMMounting 24

1.3. Environmental Specifications 25

1.4. Drive and Software Compatibility 25

Chapter 2: Installation and Configuration 27

2.1. Input Power Connections 27

2.1.1. Control Supply Connector 27

2.1.2. Minimizing Noise for EMC/CECompliance 28

2.2. Axis Connector 29

2.2.1. Stepper Clock and Stepper Direction Signals 30

2.2.2. End of Travel Limits 32

2.2.2.1. End of Travel Limit Phasing 33

2.2.3. Amplifier Fault Inputs 34

2.2.4. Amplifier Enable Output 35

2.2.5. Primary Encoder Inputs 36

2.2.5.1. Square WaveEncoder 37

2.2.5.2. Absolute Encoder 38

2.2.5.3. Encoder Phasing 39

2.2.5.4. Stepper Motor Phasing 40

2.3. Digital I/O Connector 41

2.3.1. Digital Outputs 42

2.3.2. Digital Inputs 45

2.3.3. High-Speed User Input 47

2.4. HyperWire Interface 48

2.5. System Interconnection 49

2.6. PC Configuration and Operation Information 50

Chapter 3: Maintenance 51

3.1. Preventative Maintenance 52

Appendix A: Warranty and Field Service 53

Appendix B: Revision History 55

Index 57

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List of Figures

Figure 1-1: SI4 Stepper Controller 13

Figure 1-2: SI4-OEM Stepper Controller 14

Figure 1-3: Functional Diagram 16

Figure 1-4: Dimensions [-2P1 (Standard 2-Axis)] 19

Figure 1-5: Dimensions [-4P1 (Standard 4-Axis)] 20

Figure 1-6: Dimensions [-2P2 (OEM2-Axis)] 21

Figure 1-7: Dimensions [-4P2 (OEM 4-Axis)] 22

Figure 1-8: Din Rail Clip Dimensions 23

Figure 2-1: Control Supply Connections 27

Figure 2-2: Stepper Clock and Stepper Direction Timing 30

Figure 2-3: Stepper Clock and Stepper Direction Output Schematic 31

Figure 2-4: End of Travel Limit Input Connections 32

Figure 2-5: End of Travel Limit Input Schematic 32

Figure 2-6: End of Travel Limit Input Diagnostic Display 33

Figure 2-7: Fault Input Schematic 34

Figure 2-8: Amplifier Enable Output Schematic 35

Figure 2-9: Square Wave Encoder Schematic (Axis Connector) 37

Figure 2-10: Absolute Encoder Schematic (Axis Connector) 38

Figure 2-11: Encoder Phasing Reference Diagram (Standard) 39

Figure 2-12: Position Feedback in the DiagnosticDisplay 39

Figure 2-13: Positive Motor Direction 40

Figure 2-14: Digital Outputs Schematic 43

Figure 2-15: Digital Outputs Connected in Current Sourcing Mode 44

Figure 2-16: Digital Outputs Connected in Current Sinking Mode 44

Figure 2-17: Digital Inputs Schematic 45

Figure 2-18: Digital Inputs Connected to Current Sourcing (PNP) Devices 46

Figure 2-19: Digital Inputs Connected to Current Sinking (NPN) Devices 46

Figure 2-20: High-Speed Input 47

Figure 2-21: System Interconnection Drawing (Best Practice) 49

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List of Tables

Table 1-1: FeatureSummary 15

Table 1-2: Electrical Specifications 17

Table 1-3: Mounting Specifications 18

Table 1-4: Mounting Parts 23

Table 1-5: OEMMounting Parts 24

Table 1-6: Environmental Specifications 25

Table 1-7: Drive and Software Compatibility 25

Table 2-1: Control Supply Connector Pinout 27

Table 2-2: Control Supply Mating Connector Ratings 27

Table 2-3: Axis Connector Pinout 29

Table 2-4: Axis Mating Connector Ratings 29

Table 2-5: Clock and Direction Pins on the Axis Connector 30

Table 2-6: Stepper Clock and Stepper Direction Signal Output Specifications 30

Table 2-7: Stepper Direction Signal Output Polarity 30

Table 2-8: End of Travel Limit Pins on the Axis Connector 32

Table 2-9: Amplifier Fault Input Specifications 34

Table 2-10: Amplifier Enable Connector Pin on the Axis Connector 35

Table 2-11: Amplifier Enable Output Specifications 35

Table 2-12: Primary Encoder Pins on the Axis Connector 36

Table 2-13: Square Wave Encoder Specifications 37

Table 2-14: Digital I/O ConnectorPinout 41

Table 2-15: Digital I/OMating Connector Ratings [-EB1] 41

Table 2-16: Digital Output Specifications 42

Table 2-17: Digital Output Pins on Digital I/OConnector 42

Table 2-18: Digital Input Specifications 45

Table 2-19: Digital Input Pins on the Digital I/O Connector 45

Table 2-20: High-Speed Input Specifications 47

Table 2-21: High-Speed Input Pins on the Digital I/O Connector 47

Table 2-22: HyperWire Card Part Number 48

Table 2-23: HyperWire Cable Part Numbers 48

Table 2-24: LEDDescription 51

Table 2-25: Troubleshooting 51

Table 2-26: Preventative Maintenance 52

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EU Declaration of Conformity

Manufacturer Aerotech, Inc.

Address 101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product SI4

Model/Types All

This is to certify that the aforementioned product is in accordance with the applicable requirements

of the following directive(s):

2014/30/EU Electromagnetic Compatibility (EMC)

2011/65/EU RoHS 2 Directive

EU 2015/863 Amendment RoHS 3 Directive

and has been designed to be in conformity with the applicable requirements of the following

standard(s) when installed and used in accordance with the manufacturer’s supplied installation

instructions.

EN 55011:2000/A2:2003 Conducted and Radiated Emissions

EN 55022:1998 Conducted and Radiated Emissions

Authorized

Representative / Simon Smith, European Director

Aerotech Ltd

The Old Brick Kiln, Ramsdell, Tadley

Hampshire RG26 5PR

Engineer Verifying

Compliance / Alex Weibel

Aerotech, Inc.

101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Date 7/19/2022

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Safety Procedures and Warnings

IMPORTANT: This manual tells you how to carefully and correctly use and operate the

controller.

lRead all parts of this manual before you install or operate the controller or before

you do maintenance to your system.

lTo prevent injury to you and damage to the equipment, obey the precautions in this

manual.

lAll specifications and illustrations are for reference only and were complete and

accurate as of the release of this manual. To find the newest information about this

product, refer to www.aerotech.com.

If you do not understand the information in this manual, contact Aerotech Global

Technical Support.

IMPORTANT: This product has been designed for light industrial manufacturing or

laboratory environments. If the product is used in a manner not specified by the

manufacturer:

lThe protection provided by the equipment could be impaired.

lThe life expectancy of the product could be decreased.

Safety notes and symbols are placed throughout this manual to warn you of the potential risks at the

moment of the safety note or if you fail to obey the safety note.

The voltage can cause shock, burn, or death.

You are at risk of physical injury.

You could damage the controller.

A surface can be hot enough to burn you.

Your actions, the temperature of the system, or the condition of the atmosphere

that surround the system could start a fire.

Components are sensitive to electrostatic discharge.

Unsecured cables could cause you to:

ltrip and fall

ldrag the product off of its mounting location

ldamage the cable connections.

A blue circle symbol is an action or tip that you should obey. Some examples

include:

lGeneral tip

lRead the manual/section

lWear protective safety equipment (eye protection, ear protection, gloves)

lIf applicable, do not lift unassisted

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WARNING: To prevent damage to the equipment and decrease the risk of electrical

shock and injury, obey the precautions that follow.

1. Supply each operator with the necessary protection from live electrical circuits.

2. Install the necessary precautions to supply safety and protection to the operator.

3. Do not connect or disconnect electrical components, wires, and cables while this

product is connected to a power source.

4. Before you connect wires to this product, disconnect the electrical power.

5. Make sure that all components are grounded correctly and that they obey the local

electrical safety requirements.

6. Before you do maintenance to the equipment, disconnect the electrical power.

7. Make sure that all system cables are correctly attached and positioned.

8. Do not use the cables or the connectors to lift or move this product.

9. Use this product only in environments and operating conditions that are approved

in this manual.

10. Only trained operators should operate this equipment.

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Handling and Storage

Unpacking the controller

IMPORTANT: All electronic equipment and instrumentation is wrapped in antistatic

material and packaged with desiccant. Ensure that the antistatic material is not

damaged during unpacking.

Inspect the shipping container for any evidence of shipping damage. If any damage exists, notify the

shipping carrier immediately.

Remove the packing list from the shipping container. Make sure that all the items specified on the

packing list are contained within the package.

The documentation for the controller is on the included installation device. The documents include

manuals, interconnection drawings, and other documentation pertaining to the system. Save this

information for future reference. Additional information about the system is provided on the Serial

and Power labels that are placed on the chassis.

The system serial number label contains important information such as the:

lCustomer order number (please provide this number when requesting product support)

lDrawing number

lSystem part number

Handling

IMPORTANT: It is the responsibility of the customer to safely and carefully lift and

move the controller.

lBe careful when you move or transport the controller.

lRefer to Section 1.2. Mechanical Specifications for dimensions and weight spe-

cifications.

lRetain the shipping materials for future use.

lTransport or store the controller in its protective packaging.

WARNING: Electrostatic Discharge (ESD) Sensitive Components!

You could damage the power supply or drives if you fail to observe the correct

ESDpractices.

Wear an ESDwrist strap when you handle, install, or do service to the system assembly.

Storage

Store the controller in the original shipping container. If the original packaging included

ESDprotective packaging, make sure to store the controller in it. The storage location must be dry,

free of dust, free of vibrations, and flat.

Refer to Section 1.3. Environmental Specifications.

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Installation Overview

The images that follow show the order in which to make connections and settings that are typical to

the SI4. If a custom interconnect drawing was supplied with your system, that drawing is on your

Storage Device and shows as a line item on your Sales Order in the Integration section.

Figure 1: Installation ConnectionOverview(4 Axis Shown)

1Connect the motor feedback and amplifier to the Axis Connectors. Section 2.2.

2Connect the PCHyperWire to the HyperWire Inport. Section 2.4.

3Connect additional I/O as required by your application. Section 2.3.

4Connect the power supply to the Control Supply. Section 2.1.1.

SI4 Hardware Manual

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