Aerotech XC2e Manuel utilisateur

Revision 1.00

XC2e

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

XC2e 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

Quick Installation Guide 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 27

2.1.1. Control Supply Connector 27

2.1.2. Motor Supply Connector 28

2.1.3. Minimizing Noise for EMC/CECompliance 29

2.2. Motor Power Output Connector 30

2.2.1. Brushless Motor Connections 31

2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 32

2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 33

2.2.2. DCBrush Motor Connections 34

2.2.2.1. DC Brush Motor Phasing 35

2.2.3. Stepper Motor Connections 36

2.2.3.1. Stepper Motor Phasing 37

2.3. Feedback Connector 38

2.3.1. Primary Encoder Inputs 39

2.3.1.1. Square WaveEncoder 40

2.3.1.2. Absolute Encoder 41

2.3.1.3. Sine Wave Encoder [-MX2/-MX3 Option] 42

2.3.1.4. Encoder Phasing 44

2.3.2. Hall-Effect Inputs 45

2.3.3. Thermistor Input 46

2.3.4. Encoder Fault Input 47

2.3.5. End of Travel and Home Limit Inputs 48

2.3.5.1. End of Travel and Home Limit Phasing 50

2.3.6. Brake Outputs 51

2.4. Safe Torque Off Input (STO) 52

2.4.1. STOStandards 54

2.4.2. STO Functional Description 55

2.4.3. STO Startup Validation Testing 56

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XC2e Hardware Manual Table of Contents

2.4.4. STO Diagnostics 57

2.5. HyperWire Interface 58

2.6. System Interconnection 59

2.7. PC Configuration and Operation Information 60

Chapter 3: -EB1 I/O Option Board 61

3.1. Position Synchronized Output (PSO) Interface [-EB1] 62

3.2. Auxiliary Encoder Input [-EB1] 64

3.3. Analog I/O [-EB1] 66

3.3.1. Analog Input (Differential) [-EB1] 67

3.3.2. Analog Output 0 [-EB1] 68

3.4. Digital Inputs [-EB1] 69

3.5. Digital Outputs [-EB1] 71

Chapter 4: Cables and Accessories 75

4.1. DIN Rail Mounting 76

4.2. Joystick Interface 77

4.3. Handwheel Interface 78

Chapter 5: Maintenance 79

5.1. Preventative Maintenance 79

5.2. Fuse Specifications 80

Appendix A: Warranty and Field Service 81

Appendix B: Revision History 83

Index 85

Table of Contents XC2e Hardware Manual

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List of Figures

Figure 1-1: XC2e High Performance PWMAmplifier 17

Figure 1-2: Functional Diagram 19

Figure 1-3: Dimensions 23

Figure 1-4: Dimensions [-EB1] 24

Figure 2-1: Control Supply Connections 27

Figure 2-2: Motor Supply Connections 28

Figure 2-3: Brushless Motor Configuration 31

Figure 2-4: Positive Motor Direction 32

Figure 2-5: Encoder and Hall Signal Diagnostics 32

Figure 2-6: Brushless Motor Phasing Oscilloscope Example 33

Figure 2-7: Brushless Motor Phasing Goal 33

Figure 2-8: DC Brush Motor Configuration 34

Figure 2-9: Positive Motor Direction 35

Figure 2-10: Stepper Motor Configuration 36

Figure 2-11: Positive Motor Direction 37

Figure 2-12: Square Wave Encoder Schematic (Feedback Connector) 40

Figure 2-13: Absolute Encoder Schematic (Feedback Connector) 41

Figure 2-14: Analog Encoder Phasing Reference Diagram 42

Figure 2-15: Analog Encoder Schematic (Feedback Connector) 43

Figure 2-16: Encoder Phasing Reference Diagram (Standard) 44

Figure 2-17: Position Feedback in the DiagnosticDisplay 44

Figure 2-18: Hall-Effect Inputs Schematic (Feedback Connector) 45

Figure 2-19: Thermistor Input Schematic (Feedback Connector) 46

Figure 2-20: Encoder Fault Input Schematic (Feedback Connector) 47

Figure 2-21: End of Travel and Home Limit Input Connections 49

Figure 2-22: End of Travel and Home Limit Input Schematic (Feedback Connector) 49

Figure 2-23: End of Travel and Home Limit Input Diagnostic Display 50

Figure 2-24: Brake Connected to the 25-Pin Feedback Connector (Typical) 51

Figure 2-25: Typical Configuration 53

Figure 2-26: STO Timing 57

Figure 2-27: System Interconnection Drawing (Best Practice) 59

Figure 3-1: XC2e with -EB1 I/O Option Board Connectors 61

Figure 3-2: PSO Output Sources Current 63

Figure 3-3: PSOOutput Sinks Current 63

Figure 3-4: PSO TTLOutputs Schematic 63

Figure 3-5: Auxiliary Encoder Interface 65

Figure 3-6: Analog Input Schematic [-EB1] 67

Figure 3-7: Analog Output Schematic [-EB1] 68

Figure 3-8: Digital Inputs Schematic [-EB1] 69

Figure 3-9: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 70

Figure 3-10: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 70

Figure 3-11: Digital Outputs Schematic [-EB1] 72

Figure 3-12: Digital Outputs Connected in Current Sourcing Mode [-EB1] 73

Figure 3-13: Digital Outputs Connected in Current Sinking Mode [-EB1] 73

Figure 4-1: Din Rail Clip Dimensions 76

Figure 4-2: Two Axis Joystick Interface 77

Figure 4-3: Handwheel Interconnection to the Aux Connector 78

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List of Figures XC2e Hardware Manual

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List of Tables

Table 1-1: FeatureSummary 18

Table 1-2: Electrical Specifications 20

Table 1-3: Mounting Specifications 22

Table 1-4: Environmental Specifications 25

Table 2-1: Control Supply Connector Wiring Specifications 27

Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 27

Table 2-3: Motor Supply Connector Wiring Specifications 28

Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector 28

Table 2-5: Motor Power Output Connector Pinout 30

Table 2-6: Mating Connector Part Numbers for the Motor Power Output Connector 30

Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables 31

Table 2-8: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 34

Table 2-9: Wire Colors for Aerotech-Supplied Stepper Motor Cables 36

Table 2-10: Feedback Connector Pinout 38

Table 2-11: Mating Connector Part Numbers for the Feedback Connector 38

Table 2-12: Multiplier Options 39

Table 2-13: Primary Encoder Input Pins on the Feedback Connector 39

Table 2-14: Square Wave Encoder Specifications 40

Table 2-15: Analog Encoder Specifications 42

Table 2-16: Hall-Effect Feedback Pins on the Feedback Connector 45

Table 2-17: Thermistor Input Pin on the Feedback Connector 46

Table 2-18: Encoder Fault Input Pin on the Feedback Connector 47

Table 2-19: End of Travel and Home Limit Pins on the Feedback Connector 48

Table 2-20: Brake Output Pins on the Feedback Connector 51

Table 2-21: Brake Control Specifications 51

Table 2-22: STO Connector Pinout 52

Table 2-23: Mating Connector Part Numbers for the STOConnector 52

Table 2-24: STOElectrical Specifications 53

Table 2-25: STOStandards 54

Table 2-26: STOStandards Data 54

Table 2-27: STOSignal Delay 56

Table 2-28: Motor Function Relative to STOInput State 56

Table 2-29: STOTiming 57

Table 2-30: HyperWire Card Part Number 58

Table 2-31: HyperWire Cable Part Numbers 58

Table 3-1: PSO Specifications [-EB1] 62

Table 3-2: PSO Interface Connector Pinout [-EB1] 62

Table 3-3: Mating Connector Part Numbers for the PSO Interface Connector [-EB1] 62

Table 3-4: Auxiliary Encoder RS-422 Specifications 64

Table 3-5: Auxiliary Encoder Connector Pinout 64

Table 3-6: Mating Connector Part Numbers for the AUX Connector 64

Table 3-7: Analog I/O Connector Pinout [-EB1] 66

Table 3-8: Mating Connector Part Numbers for the Analog I/O Connector [-EB1] 66

Table 3-9: Differential Analog Input Specifications [-EB1] 67

Table 3-10: Analog Input Pins on the Analog I/OConnector [-EB1] 67

Table 3-11: Analog Output Specifications [-EB1] 68

Table 3-12: Analog Output Pins on the Analog I/OConnector [-EB1] 68

Table 3-13: Digital Input Specifications [-EB1] 69

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XC2e Hardware Manual List of Tables

Table 3-14: Digital Input Connector Pinout [-EB1] 69

Table 3-15: Mating Connector Part Numbers for the Digital Input Connector [-EB1] 69

Table 3-16: Digital Output Specifications [-EB1] 71

Table 3-17: Digital Output Connector Pinout [-EB1] 71

Table 3-18: Mating Connector Part Numbers for the Digital Output Connector [-EB1] 71

Table 4-1: Standard Interconnection Cables 75

Table 4-2: Mounting Parts 76

Table 5-1: Preventative Maintenance 79

Table 5-2: Control Board Fuse Specifications 80

List of Tables XC2e Hardware Manual

8 www.aerotech.com

EU Declaration of Conformity

Manufacturer Aerotech, Inc.

Address 101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product XC2e

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

EU 2015/863 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 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 5/21/2020

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XC2e Hardware Manual EU Declaration of Conformity

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EU Declaration of Conformity XC2e Hardware Manual

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