Aerotech Automation1 iXC4e Manuel utilisateur

Revision 2.06

Automation1 iXC4e and XC4e

PWMHigh-Performance Digital Drives

HARDWAREMANUAL

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Table of Contents

Automation1 iXC4e and XC4e PWMHigh-Performance Digital Drives 1

Table of Contents 3

List of Figures 5

List of Tables 7

EU Declaration of Conformity 9

Agency Approvals 10

Safety Procedures and Warnings 11

Handling and Storage 13

Installation Overview 14

Chapter 1: iXC4e/XC4e Overview 17

1.1. Electrical Specifications 21

1.1.1. System Power Requirements 22

1.2. Mechanical Specifications 23

1.2.1. Mounting and Cooling 23

1.2.2. Dimensions 24

1.3. Environmental Specifications 26

1.4. Drive and Software Compatibility 26

Chapter 2: Installation and Configuration 27

2.1. Input Power Connections 27

2.1.1. Control Supply Connector 27

2.1.2. Motor Supply Connector 28

2.1.3. Transformer Options 29

2.1.4. Minimizing Noise for EMC/CECompliance 36

2.2. Motor Power Output Connector 37

2.2.1. Brushless Motor Connections 38

2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 39

2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 40

2.2.2. DCBrush Motor Connections 41

2.2.2.1. DC Brush Motor Phasing 41

2.2.3. Stepper Motor Connections 42

2.2.3.1. Stepper Motor Phasing 42

2.2.4. Three Phase Stepper Motor Connections 43

2.2.4.1. Stepper Motor Phasing 43

2.3. Feedback Connector 44

2.3.1. Primary Encoder Inputs 45

2.3.1.1. Square WaveEncoder (Primary) 46

2.3.1.2. Absolute Encoder (Primary) 47

2.3.1.3. Sine Wave Encoder (Primary) [-MX2/-MX3 Option] 48

2.3.1.4. Encoder Phasing 50

2.3.2. Hall-Effect Inputs 51

2.3.3. Thermistor Input 52

2.3.4. Encoder Fault Input 53

2.3.5. End of Travel and Home Limit Inputs 54

2.3.5.1. End of Travel and Home Limit Phasing 56

2.3.6. Brake Outputs 57

2.4. Safe Torque Off Input (STO) 58

2.4.1. STOStandards 60

2.4.2. STO Functional Description 61

2.4.3. STO Startup Validation Testing 62

2.4.4. STO Diagnostics 63

2.5. Auxiliary I/O Connector 64

2.5.1. Auxiliary Encoder Interface 65

2.5.1.1. Square WaveEncoder (Auxiliary) 66

2.5.1.2. Absolute Encoder (Auxiliary) 67

2.5.1.3. Sine Wave Encoder (Auxiliary) [-MX3 Option] 68

2.5.2. Position Synchronized Output (PSO) 70

2.5.3. Digital Outputs 72

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2.5.4. Digital Inputs 75

2.5.5. High-Speed Inputs 77

2.5.6. Analog Output 0 78

2.5.7. Analog Input 0 (Differential) 79

2.6. Brake Power Supply Connector 80

2.7. HyperWire Interface 81

2.8. External Shunt Option [-SX1] 82

2.9. Sync Port 84

2.10. Industrial Ethernet (iXC4e Only) 84

2.11. System Interconnection 85

2.12. PC Configuration and Operation Information 88

Chapter 3: -EB1 Option Expansion Board 89

3.1. Digital Outputs [-EB1] 90

3.2. Digital Inputs [-EB1] 94

3.3. Analog Outputs [-EB1] 97

3.4. Analog Inputs [-EB1] 98

3.5. PSOInterface [-EB1] 99

Chapter 4: Cables and Accessories 101

4.1. Joystick Interface 102

4.2. Handwheel Interface 104

Chapter 5: Maintenance 105

5.1. Preventative Maintenance 106

5.2. Fuse Specifications 107

Appendix A: Warranty and Field Service 109

Appendix B: Revision History 111

Index 113

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List of Figures

Figure 1-1: iXC4e Digital Drive-Based Controller 17

Figure 1-2: XC4e Digital Drive 18

Figure 1-3: Functional Diagram 20

Figure 1-4: Dimensions 24

Figure 1-5: Dimensions [-EB1] 25

Figure 2-1: Control Supply Connections 27

Figure 2-2: Motor Supply Connections 28

Figure 2-3: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (40 VDC Bus) 30

Figure 2-4: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (80 VDC Bus) 31

Figure 2-5: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (160 VDC Bus) 32

Figure 2-6: TV0.3-28 Transformer Control and Motor Power Wiring (40 VDC Bus) 33

Figure 2-7: TV0.3-56 Transformer Control and Motor Power Wiring (80 VDC Bus) 34

Figure 2-8: TM3/TM5 Transformer Control and Motor Power Wiring 35

Figure 2-9: Brushless Motor Configuration 38

Figure 2-10: Positive Motor Direction 39

Figure 2-11: Encoder and Hall Signal Diagnostics 39

Figure 2-12: Brushless Motor Phasing Oscilloscope Example 40

Figure 2-13: Brushless Motor Phasing Goal 40

Figure 2-14: DC Brush Motor Configuration 41

Figure 2-15: Positive Motor Direction 41

Figure 2-16: Stepper Motor Configuration 42

Figure 2-17: Positive Motor Direction 42

Figure 2-18: Three Phase Stepper Motor Configuration 43

Figure 2-19: Positive Motor Direction 43

Figure 2-20: Square Wave Encoder Schematic (Feedback Connector) 46

Figure 2-21: Absolute Encoder Schematic (Feedback Connector) 47

Figure 2-22: Sine Wave Encoder Phasing Reference Diagram 48

Figure 2-23: Sine Wave Encoder Schematic (Feedback Connector) 49

Figure 2-24: Encoder Phasing Reference Diagram (Standard) 50

Figure 2-25: Position Feedback in the DiagnosticDisplay 50

Figure 2-26: Hall-Effect Inputs Schematic (Feedback Connector) 51

Figure 2-27: Thermistor Input Schematic (Feedback Connector) 52

Figure 2-28: Encoder Fault Input Schematic (Feedback Connector) 53

Figure 2-29: End of Travel and Home Limit Input Connections 55

Figure 2-30: End of Travel and Home Limit Input Schematic (Feedback Connector) 55

Figure 2-31: End of Travel and Home Limit Input Diagnostic Display 56

Figure 2-32: Brake Connected to the 25-Pin Feedback Connector (Typical) 57

Figure 2-33: Typical STO Configuration 59

Figure 2-34: STO Timing 63

Figure 2-35: Square Wave Encoder Interface (Aux I/OConnector) 66

Figure 2-36: Absolute Encoder Schematic (Auxiliary I/O Connector) 67

Figure 2-37: Sine Wave Encoder Phasing Reference Diagram 68

Figure 2-38: Sine Wave Encoder Schematic (Auxiliary I/OConnector) 69

Figure 2-39: PSO Interface 71

Figure 2-40: Digital Output Schematic (Aux I/OConnector) 73

Figure 2-41: Digital Outputs Connected in Current Sourcing Mode 74

Figure 2-42: Digital Outputs Connected in Current Sinking Mode 74

Figure 2-43: Digital Inputs Schematic (Aux I/OConnector) 75

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Figure 2-44: Digital Inputs Connected to Current Sourcing Devices 76

Figure 2-45: Digital Inputs Connected to Current Sinking Devices 76

Figure 2-46: High-Speed Inputs 77

Figure 2-47: Analog Output 0 Schematic 78

Figure 2-48: Analog Input 0 Schematic 79

Figure 2-49: Drive-Based System Wiring Drawing (Best Practice) 85

Figure 2-50: PC-Based System Wiring Drawing (Best Practice) 85

Figure 2-51: Drive-Based Controller System Interconnection (Best Practice) 86

Figure 2-52: PC-Based Controller System Interconnection (Best Practice) 87

Figure 3-1: -EB1 I/O Option Board Connectors (iXC4e shown) 89

Figure 3-2: Digital Outputs Schematic [-EB1] 92

Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1] 93

Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1] 93

Figure 3-5: Digital Inputs Schematic [-EB1] 95

Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 96

Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 96

Figure 3-8: Analog Output Typical Connection [-EB1] 97

Figure 3-9: Analog Input Typical Connection [-EB1] 98

Figure 3-10: PSO Output Sources Current 100

Figure 3-11: PSOOutput Sinks Current 100

Figure 3-12: PSO TTLOutputs Schematic 100

Figure 4-1: Two Axis Joystick Interface (to the Aux I/O of two drives) 102

Figure 4-2: Two Axis Joystick Interface (to the I/Oboard) 103

Figure 4-3: Handwheel Interconnection to Aux I/O Connector 104

Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module 104

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List of Tables

Table 1-1: Featuresand Options 19

Table 1-2: Electrical Specifications (Common) 21

Table 1-3: Electrical Specifications (by Ordering Option) 21

Table 1-4: Mounting Specifications 23

Table 1-5: Environmental Specifications 26

Table 1-6: Drive and Software Compatibility 26

Table 2-1: Control Supply Connector Pinout 27

Table 2-2: Control Supply Mating Connector Ratings 27

Table 2-3: Motor Supply Connector Pinout 28

Table 2-4: Motor Supply Mating Connector Ratings 28

Table 2-5: Nominal Motor Operating Voltages / Required ACVoltages 29

Table 2-6: TransformerOptions 29

Table 2-7: Motor Power Output Connector Pinout 37

Table 2-8: Motor Power Output Mating Connector Ratings 37

Table 2-9: Wire Colors for Aerotech-Supplied Brushless Motor Cables 38

Table 2-10: Hall Signal Diagnostics 39

Table 2-11: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 41

Table 2-12: Wire Colors for Aerotech-Supplied Stepper Motor Cables 42

Table 2-13: Feedback Connector Pinout 44

Table 2-14: Feedback Mating Connector Ratings 44

Table 2-15: Multiplier Options 45

Table 2-16: Primary Encoder Pins on the Feedback Connector 45

Table 2-17: Square Wave Encoder Specifications 46

Table 2-18: Sine Wave Encoder Specifications 48

Table 2-19: Hall-Effect Feedback Pins on the Feedback Connector 51

Table 2-20: Thermistor Input Pin on the Feedback Connector 52

Table 2-21: Encoder Fault Input Pin on the Feedback Connector 53

Table 2-22: End of Travel and Home Limit Pins on the Feedback Connector 54

Table 2-23: Brake Output Pins on the Feedback Connector 57

Table 2-24: Brake Control Specifications 57

Table 2-25: STO Connector Pinout 58

Table 2-26: STOMating ConnectorRatings 58

Table 2-27: STOElectrical Specifications 59

Table 2-28: STOStandards 60

Table 2-29: STOStandards Data 60

Table 2-30: STOSignal Delay 62

Table 2-31: Motor Function Relative to STOInput State 62

Table 2-32: STOTiming 63

Table 2-33: Auxiliary I/O Connector Pinout 64

Table 2-34: Auxiliary I/OMating Connector Ratings 64

Table 2-35: Auxiliary Encoder Pins on the Auxiliary I/OConnector 65

Table 2-36: Square Wave Encoder Specifications 66

Table 2-37: Sine Wave Encoder Specifications 68

Table 2-38: PSO Specifications 70

Table 2-39: PSOPins on the Auxiliary I/OConnector 70

Table 2-40: Digital Output Specifications 72

Table 2-41: Digital Output Pins on the Auxiliary I/O Connector 72

Table 2-42: Digital Input Specifications 75

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Table 2-43: Digital Input Pins on the Auxiliary I/O Connector 75

Table 2-44: High-Speed Input Specifications 77

Table 2-45: High-Speed Input Pins on the Auxiliary I/O Connector 77

Table 2-46: Analog Output Specifications 78

Table 2-47: Analog Output Pins on the Auxiliary I/O Connector 78

Table 2-48: Analog Input Specifications 79

Table 2-49: Analog Input Pins on the Auxiliary I/O Connector 79

Table 2-50: Brake Power Supply Connector Pinout 80

Table 2-51: Brake Power Supply Mating Connector Ratings 80

Table 2-52: HyperWire Card Part Number 81

Table 2-53: HyperWire Cable Part Numbers 81

Table 2-54: -SX1Component Information 82

Table 2-55: Maximum Additional Storage Energy for a Standard iXC4e/XC4e 83

Table 2-56: Sync-Related Functions 84

Table 2-57: SyncPort Cables 84

Table 3-1: Digital Output Specifications [-EB1] 90

Table 3-2: Digital Output 1 Connector Pinout [-EB1] 91

Table 3-3: Digital Output 2 Connector Pinout [-EB1] 91

Table 3-4: Digital Output 1 and 2 Mating Connector Ratings [-EB1] 91

Table 3-5: Digital Input Specifications [-EB1] 94

Table 3-6: Digital Input 1 Connector Pinout [-EB1] 94

Table 3-7: Digital Input 2 Connector Pinout [-EB1] 95

Table 3-8: Digital Input 1 and 2 Mating Connector Ratings [-EB1] 95

Table 3-9: Analog Output Specifications [-EB1] 97

Table 3-10: Analog Output Connector Pinout [-EB1] 97

Table 3-11: Analog Output Mating Connector Ratings [-EB1] 97

Table 3-12: Differential Analog Input Specifications [-EB1] 98

Table 3-13: Analog Input Connector Pinout [-EB1] 98

Table 3-14: Analog Input Mating Connector Ratings [-EB1] 98

Table 3-15: PSO Specifications [-EB1] 99

Table 3-16: PSO Interface Connector Pinout [-EB1] 99

Table 3-17: PSO Interface Mating Connector Ratings [-EB1] 99

Table 4-1: Standard Interconnection Cables 101

Table 5-1: LEDDescription 105

Table 5-2: Troubleshooting 105

Table 5-3: Preventative Maintenance 106

Table 5-4: Control Board Fuse Specifications 107

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EU Declaration of Conformity

Manufacturer Aerotech, Inc.

Address 101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product iXC4e/XC4e

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)

2014/35/EU Low Voltage Directive

2006/42/EC Machinery Directive

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 61010-1:2010/AMD1:2016 Safety Requirements for Electrical Equipment

EN 61800-3:2004/A1:2011 EMCRequirements for Power Drives

IEC 61800-5-1:2016 Electrical Safety for Power Drive Systems

IEC 61800-5-2:2016 Functional Safety for Power Drive Systems

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 7/25/2022

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Agency Approvals

Aerotech tested its XC4e drives and found that they obey the standards that follow:

Approval: CUS NRTL

Approving Agency: TUV SUD America Inc.

Certificate #: U10 068995 0033 Rev. 00

Standards: CSA C22.2 No. 61010-1:2012/A1:2018-11,

UL 61010-1:2012/R2019-07

Certificate #: N8AUS 068995 0032 Rev. 01

Standards: CE Attestation of Conformity,

Low Voltage Directive 2014/35/EU,

EN 61010-1:2010/AMD1:2019

IMPORTANT: The safety components (STO) certification is pending for the iXC4e.

Approval: Safety Components (STO)

Approving Agency: TUVSUD

Certificate #: Z10 068995 0030 Rev. 00

Standards: EN ISO 13849-1:2015 (up to PL e),

IEC 61508-1:2010 (up to SIL3),

IEC 61508-2:2010 (up to SIL3),

IEC 61800-5-2:2016,

IEC 62061:2005 (up to SILCL3),

IEC 62061:2005/AMD1:2012 (up to SILCL3),

IEC 62061:2005/AMD2:2015 (up to SILCL3)

Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates.

Type the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech

certificates.

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