Aerotech Automation1 XC4e Manuel utilisateur

Revision 2.01

Automation1 XC4e High-Performance

PWMDigital Drive

HARDWAREMANUAL

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Table of Contents

Automation1 XC4e High-Performance PWMDigital Drive 1

Table of Contents 3

List of Figures 5

List of Tables 7

EU Declaration of Conformity 9

Agency Approvals 11

Safety Procedures and Warnings 13

Installation Overview 15

Chapter 1: Introduction 17

1.1. Electrical Specifications 20

1.1.1. System Power Requirements 21

1.2. Mechanical Specifications 22

1.2.1. Mounting and Cooling 22

1.2.2. Dimensions 23

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. Motor Supply Connector 29

2.1.3. Transformer Options 30

2.1.4. Minimizing Noise for EMC/CECompliance 37

2.2. Motor Power Output Connector 38

2.2.1. Brushless Motor Connections 39

2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 40

2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 41

2.2.2. DCBrush Motor Connections 42

2.2.2.1. DC Brush Motor Phasing 43

2.2.3. Stepper Motor Connections 44

2.2.3.1. Stepper Motor Phasing 45

2.3. Feedback Connector 46

2.3.1. Primary Encoder Inputs 47

2.3.1.1. Square WaveEncoder 48

2.3.1.2. Absolute Encoder 49

2.3.1.3. Sine Wave Encoder [-MX2/-MX3 Option] 50

2.3.1.4. Encoder Phasing 52

2.3.2. Hall-Effect Inputs 53

2.3.3. Thermistor Input 54

2.3.4. Encoder Fault Input 55

2.3.5. End of Travel and Home Limit Inputs 56

2.3.5.1. End of Travel and Home Limit Phasing 58

2.3.6. Brake Outputs 59

2.4. Safe Torque Off Input (STO) 60

2.4.1. STOStandards 62

2.4.2. STO Functional Description 63

2.4.3. STO Startup Validation Testing 64

2.4.4. STO Diagnostics 65

2.5. Auxiliary I/O Connector 66

2.5.1. Auxiliary Encoder Inputs 67

2.5.1.1. Square WaveEncoder 68

2.5.1.2. Absolute Encoder 69

2.5.1.3. Sine Wave Encoder [-MX3 Option] 70

2.5.2. Position Synchronized Output (PSO) 72

2.5.3. Digital Outputs 74

2.5.4. Digital Inputs 77

2.5.5. High-Speed Inputs 79

2.5.6. Analog Output 0 80

XC4e Hardware Manual Table of Contents

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2.5.7. Analog Input 0 (Differential) 81

2.6. Brake Power Supply Connector 82

2.7. HyperWire Interface 83

2.8. External Shunt Option [-SX1] 84

2.9. Sync Port 86

2.10. System Interconnection 87

2.11. PC Configuration and Operation Information 89

Chapter 3: -EB1 I/O Option Board 91

3.1. Digital Outputs [-EB1] 92

3.2. Digital Inputs [-EB1] 96

3.3. Analog Outputs [-EB1] 99

3.4. Analog Inputs [-EB1] 100

3.5. Position Synchronized Output Interface [-EB1] 101

Chapter 4: Cables and Accessories 103

4.1. Joystick Interface 104

4.2. Handwheel Interface 106

Chapter 5: Maintenance 107

5.1. Preventative Maintenance 108

5.2. Fuse Specifications 109

Appendix A: Warranty and Field Service 111

Appendix B: Revision History 113

Index 115

Table of Contents XC4e Hardware Manual

4 www.aerotech.com

List of Figures

Figure 1-1: XC4e Digital Drive 17

Figure 1-2: Functional Diagram 19

Figure 1-3: Dimensions 23

Figure 1-4: Dimensions [-EB1] 24

Figure 2-1: Control Supply Connections 28

Figure 2-2: Motor Supply Connections 29

Figure 2-3: Transformer Examples 30

Figure 2-4: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (40 VDC Bus) 31

Figure 2-5: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (80 VDC Bus) 32

Figure 2-6: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (160 VDC Bus) 33

Figure 2-7: TV0.3-28 Transformer Control and Motor Power Wiring (40 VDC Bus) 34

Figure 2-8: TV0.3-56 Transformer Control and Motor Power Wiring (80 VDC Bus) 35

Figure 2-9: TM3/TM5 Transformer Control and Motor Power Wiring 36

Figure 2-10: Brushless Motor Configuration 39

Figure 2-11: Positive Motor Direction 40

Figure 2-12: Encoder and Hall Signal Diagnostics 40

Figure 2-13: Brushless Motor Phasing Oscilloscope Example 41

Figure 2-14: Brushless Motor Phasing Goal 41

Figure 2-15: DC Brush Motor Configuration 42

Figure 2-16: Positive Motor Direction 43

Figure 2-17: Stepper Motor Configuration 44

Figure 2-18: Positive Motor Direction 45

Figure 2-19: Square Wave Encoder Schematic (Feedback Connector) 48

Figure 2-20: Absolute Encoder Schematic (Feedback Connector) 49

Figure 2-21: Sine Wave Encoder Phasing Reference Diagram 50

Figure 2-22: Sine Wave Encoder Schematic (Feedback Connector) 51

Figure 2-23: Encoder Phasing Reference Diagram (Standard) 52

Figure 2-24: Position Feedback in the DiagnosticDisplay 52

Figure 2-25: Hall-Effect Inputs Schematic (Feedback Connector) 53

Figure 2-26: Thermistor Input Schematic (Feedback Connector) 54

Figure 2-27: Encoder Fault Input Schematic (Feedback Connector) 55

Figure 2-28: End of Travel and Home Limit Input Connections 57

Figure 2-29: End of Travel and Home Limit Input Schematic (Feedback Connector) 57

Figure 2-30: End of Travel and Home Limit Input Diagnostic Display 58

Figure 2-31: Brake Connected to the 25-Pin Feedback Connector (Typical) 59

Figure 2-32: Typical Configuration 61

Figure 2-33: STO Timing 65

Figure 2-34: Square Wave Encoder Interface (Aux I/OConnector) 68

Figure 2-35: Absolute Encoder Schematic (Auxiliary I/O Connector) 69

Figure 2-36: Sine Wave Encoder Phasing Reference Diagram 70

Figure 2-37: Sine Wave Encoder Schematic (Auxiliary I/OConnector) 71

Figure 2-38: PSOInterface 73

Figure 2-39: Digital Output Schematic (Aux I/OConnector) 75

Figure 2-40: Digital Outputs Connected in Current Sourcing Mode 76

Figure 2-41: Digital Outputs Connected in Current Sinking Mode 76

Figure 2-42: Digital Inputs Schematic (Aux I/OConnector) 77

Figure 2-43: Digital Inputs Connected to Current Sinking Devices 78

Figure 2-44: Digital Inputs Connected to Current Sourcing Devices 78

XC4e Hardware Manual List of Figures

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Figure 2-45: High-Speed Inputs 79

Figure 2-46: Analog Output 0 Schematic 80

Figure 2-47: Analog Input 0 Schematic 81

Figure 2-48: System Wiring Drawing (Best Practice) 87

Figure 2-49: PC-Based Controller System Interconnection (Best Practice) 88

Figure 3-1: XC4e with -EB1 I/O Option Board Connectors 91

Figure 3-2: Digital Outputs Schematic [-EB1] 94

Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1] 95

Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1] 95

Figure 3-5: Digital Inputs Schematic [-EB1] 97

Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 98

Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 98

Figure 3-8: Analog Output Typical Connection [-EB1] 99

Figure 3-9: Analog Input Typical Connection [-EB1] 100

Figure 3-10: PSO Output Sources Current 102

Figure 3-11: PSOOutput Sinks Current 102

Figure 3-12: PSO TTLOutputs Schematic 102

Figure 4-1: Two Axis Joystick Interface (to the Aux I/O of two drives) 104

Figure 4-2: Two Axis Joystick Interface (to the I/Oboard) 105

Figure 4-3: Handwheel Interconnection to Aux I/O Connector 106

Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module 106

List of Figures XC4e Hardware Manual

6 www.aerotech.com

List of Tables

Table 1-1: Featuresand Options 18

Table 1-2: Electrical Specifications 20

Table 1-3: Mounting Specifications 22

Table 1-4: Environmental Specifications 25

Table 1-5: Drive and Software Compatibility 26

Table 2-1: Control Supply Wiring Specifications 28

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

Table 2-3: Motor Supply Connector Wiring Specifications 29

Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector 29

Table 2-5: Nominal Motor Operating Voltages / Required ACVoltages 30

Table 2-6: TransformerOptions 30

Table 2-7: Motor Power Output Connector Pinout 38

Table 2-8: Mating Connector Part Numbers for the Motor Power Output Connector 38

Table 2-9: Wire Colors for Aerotech-Supplied Brushless Motor Cables 39

Table 2-10: Hall Signal Diagnostics 40

Table 2-11: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 42

Table 2-12: Wire Colors for Aerotech-Supplied Stepper Motor Cables 44

Table 2-13: Feedback Connector Pinout 46

Table 2-14: Mating Connector Part Numbers for the Feedback Connector 46

Table 2-15: Multiplier Options 47

Table 2-16: Primary Encoder Input Pins on the Feedback Connector 47

Table 2-17: Square Wave Encoder Specifications 48

Table 2-18: Sine Wave Encoder Specifications 50

Table 2-19: Hall-Effect Feedback Pins on the Feedback Connector 53

Table 2-20: Thermistor Input Pin on the Feedback Connector 54

Table 2-21: Encoder Fault Input Pin on the Feedback Connector 55

Table 2-22: End of Travel and Home Limit Pins on the Feedback Connector 56

Table 2-23: Brake Output Pins on the Feedback Connector 59

Table 2-24: Brake Control Specifications 59

Table 2-25: STO Connector Pinout 60

Table 2-26: Mating Connector Part Numbers for the STOConnector 60

Table 2-27: STOElectrical Specifications 61

Table 2-28: STOStandards 62

Table 2-29: STOStandards Data 62

Table 2-30: STOSignal Delay 64

Table 2-31: Motor Function Relative to STOInput State 64

Table 2-32: STOTiming 65

Table 2-33: Auxiliary I/O Connector Pinout 66

Table 2-34: Mating Connector Part Numbers for the Auxiliary I/OConnector 66

Table 2-35: Auxiliary Encoder Pins on the Auxiliary I/OConnector 67

Table 2-36: Square Wave Encoder Specifications 68

Table 2-37: Sine Wave Encoder Specifications 70

Table 2-38: PSO Specifications 72

Table 2-39: PSOPins on the Auxiliary I/OConnector 72

Table 2-40: Digital Output Specifications 74

Table 2-41: Digital Output Pins on the Auxiliary I/O Connector 74

Table 2-42: Digital Input Specifications 77

Table 2-43: Digital Input Pins on the Auxiliary I/O Connector 77

XC4e Hardware Manual List of Tables

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Table 2-44: High-Speed Input Specifications 79

Table 2-45: High-Speed Input Pins on the Auxiliary I/O Connector 79

Table 2-46: Analog Output Specifications 80

Table 2-47: Analog Output Pins on the Auxiliary I/O Connector 80

Table 2-48: Analog Input Specifications 81

Table 2-49: Analog Input Pins on the Auxiliary I/O Connector 81

Table 2-50: Brake Power Supply Connector Pinout 82

Table 2-51: Mating Connector Part Numbers for the Brake Power Supply Connector 82

Table 2-52: HyperWire Card Part Number 83

Table 2-53: HyperWire Cable Part Numbers 83

Table 2-54: -SX1Component Information 84

Table 2-55: Maximum Additional Storage Energy for a Standard XC4e 85

Table 2-56: Sync-Related Functions 86

Table 2-57: SyncPort Cables 86

Table 3-1: Digital Output Specifications [-EB1] 92

Table 3-2: Digital Output 1 Connector Pinout [-EB1] 93

Table 3-3: Mating Connector Part Numbers for the Digital Output 1 Connector [-EB1] 93

Table 3-4: Digital Output 2 Connector Pinout [-EB1] 93

Table 3-5: Mating Connector Part Numbers for the Digital Output 2 Connector [-EB1] 93

Table 3-6: Digital Input Specifications [-EB1] 96

Table 3-7: Digital Input 1 Connector Pinout [-EB1] 96

Table 3-8: Mating Connector Part Numbers for the Digital Input 1 Connector [-EB1] 96

Table 3-9: Digital Input 2 Connector Pinout [-EB1] 97

Table 3-10: Mating Connector Part Numbers for the Digital Input 2 Connector [-EB1] 97

Table 3-11: Analog Output Specifications [-EB1] 99

Table 3-12: Analog Output Connector Pinout [-EB1] 99

Table 3-13: Mating Connector Part Numbers for the Analog Output Connector [-EB1] 99

Table 3-14: Differential Analog Input Specifications [-EB1] 100

Table 3-15: Analog Input Connector Pinout [-EB1] 100

Table 3-16: Mating Connector Part Numbers for the Analog Input Connector [-EB1] 100

Table 3-17: PSO Specifications [-EB1] 101

Table 3-18: PSO Interface Connector Pinout [-EB1] 101

Table 3-19: Mating Connector Part Numbers for the PSO Interface Connector [-EB1] 101

Table 4-1: Standard Interconnection Cables 103

Table 5-1: LEDDescription 107

Table 5-2: Troubleshooting 107

Table 5-3: Preventative Maintenance 108

Table 5-4: Control Board Fuse Specifications 109

List of Tables XC4e Hardware Manual

8 www.aerotech.com

EU Declaration of Conformity

Manufacturer Aerotech, Inc.

Address 101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product 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

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.

EN 61326-1:2013 EMCRequirements for Electrical Equipment

EN 61010-1:2010/A1:2019 Safety Requirements for Electrical Equipment

EN ISO 13849-1:2015 SafetyRelated Parts of Control Systems

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 3/24/2021

XC4e Hardware Manual EU Declaration of Conformity

www.aerotech.com 9

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EU Declaration of Conformity XC4e Hardware Manual

10 www.aerotech.com

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