Aerotech Automation1 SI4 Series Manuel utilisateur

Revision 1.01

Automation1 SI4 Stepper Controller

HARDWAREMANUAL

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This manual contains proprietary information and may not be reproduced, disclosed, or

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Table of Contents

Automation1 SI4 Stepper Controller 1

Table of Contents 3

List of Figures 4

List of Tables 5

EU Declaration of Conformity 7

Safety Procedures and Warnings 9

Installation Overview 11

Chapter 1: Introduction 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 26

Chapter 2: Installation and Configuration 27

2.1. Input Power Connections 28

2.1.1. Control Supply Connector 28

2.1.2. Minimizing Noise for EMC/CECompliance 29

2.2. Axis Connector 30

2.2.1. Stepper Clock and Stepper Direction Signals 31

2.2.2. End of Travel Limits 33

2.2.2.1. End of Travel Limit Phasing 34

2.2.3. Amplifier Fault Inputs 35

2.2.4. Amplifier Enable Output 36

2.2.5. Primary Encoder Inputs 37

2.2.5.1. Square WaveEncoder 38

2.2.5.2. Absolute Encoder 39

2.2.5.3. Encoder Phasing 40

2.2.5.4. Stepper Motor Phasing 41

2.3. Digital I/O Connector 42

2.3.1. Digital Inputs 43

2.3.2. Digital Outputs 45

2.3.3. High-Speed User Input 48

2.3.4. Position Synchronized Output (PSO) Interface 49

2.4. HyperWire Interface 50

2.5. System Interconnection 51

2.6. PC Configuration and Operation Information 52

Chapter 3: Maintenance 53

3.1. Preventative Maintenance 54

Appendix A: Warranty and Field Service 55

Appendix B: Revision History 57

Index 59

SI4 Hardware Manual Table of Contents

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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 28

Figure 2-2: Stepper Clock and Stepper Direction Timing 31

Figure 2-3: Stepper Clock and Stepper Direction Output Schematic 32

Figure 2-4: End of Travel Limit Input Connections 33

Figure 2-5: End of Travel Limit Input Schematic 33

Figure 2-6: End of Travel Limit Input Diagnostic Display 34

Figure 2-7: Fault Input Schematic 35

Figure 2-8: Amplifier Enable Output Schematic 36

Figure 2-9: Square Wave Encoder Schematic (Axis Connector) 38

Figure 2-10: Absolute Encoder Schematic (Axis Connector) 39

Figure 2-11: Encoder Phasing Reference Diagram (Standard) 40

Figure 2-12: Position Feedback in the DiagnosticDisplay 40

Figure 2-13: Positive Motor Direction 41

Figure 2-14: Digital Inputs Schematic 43

Figure 2-15: Digital Inputs Connected to Current Sourcing (PNP) Devices 44

Figure 2-16: Digital Inputs Connected to Current Sinking (NPN) Devices 44

Figure 2-17: Digital Outputs Schematic 46

Figure 2-18: Digital Outputs Connected in Current Sourcing Mode 47

Figure 2-19: Digital Outputs Connected in Current Sinking Mode 47

Figure 2-20: High-Speed Input 48

Figure 2-21: PSO TTLOutputs Schematic 49

Figure 2-22: System Interconnection Drawing (Best Practice) 51

List of Figures SI4 Hardware Manual

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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 26

Table 2-1: Control Supply Connector Wiring Specifications 28

Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 28

Table 2-3: Axis Connector Pinout 30

Table 2-4: Mating Connector Part Numbers for the Axis Connector 30

Table 2-5: Clock and Direction Pins on the Axis Connector 31

Table 2-6: Stepper Clock and Stepper Direction Signal Output Specifications 31

Table 2-7: Stepper Direction Signal Output Polarity 31

Table 2-8: End of Travel Limit Pins on the Axis Connector 33

Table 2-9: Amplifier Fault Input Specifications 35

Table 2-10: Amplifier Enable Connector Pin on the Axis Connector 36

Table 2-11: Amplifier Enable Output Specifications 36

Table 2-12: Primary Encoder Input Pins on the Axis Connector 37

Table 2-13: Square Wave Encoder Specifications 38

Table 2-14: Digital I/O ConnectorPinout 42

Table 2-15: Mating Connector Part Numbers for the Digital I/OConnector 42

Table 2-16: Digital Input Specifications 43

Table 2-17: Digital Input Pins on the Digital I/O Connector 43

Table 2-18: Digital Output Specifications 45

Table 2-19: Digital Output Pins on Digital I/OConnector 45

Table 2-20: High-Speed Input Specifications 48

Table 2-21: High-Speed Input Pins on the Digital I/O Connector 48

Table 2-22: PSO Specifications 49

Table 2-23: PSOOutput Pins on the Digital I/O Connector 49

Table 2-24: HyperWire Card Part Number 50

Table 2-25: HyperWire Cable Part Numbers 50

Table 2-26: LEDDescription 53

Table 2-27: Troubleshooting 53

Table 2-28: Preventative Maintenance 54

SI4 Hardware Manual List of Tables

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List of Tables SI4 Hardware Manual

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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):

2014/35/EU Low Voltage Directive

EU 2015/863 Directive, Restricted Substances (RoHS 3)

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.

IEC 61010-1:2010 Safety Requirements for Electrical Equipment for

Measurement, Control, and Laboratory Use

Authorized Representative: Simon Smith, European Director

Address: Aerotech Ltd

The Old Brick Kiln, Ramsdell, Tadley

Hampshire RG26 5PR

Name / Alex Weibel

Position Engineer Verifying Compliance

Location Pittsburgh, PA

Date 3/25/2021

SI4 Hardware Manual EU Declaration of Conformity

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EU Declaration of Conformity SI4 Hardware Manual

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Safety Procedures and Warnings

IMPORTANT: This manual tells you how to carefully and correctly use and operate the SI4

drive.

lRead all parts of this manual before you install or operate the SI4 drive 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.

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.

SI4 Hardware Manual Safety Procedures and Warnings

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Safety Procedures and Warnings SI4 Hardware Manual

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