Content
CONTENT............................................................................................................................................... 3
CHAPTER 1 - GENERAL....................................................................................................................... 5
1.1 -INTRODUCTION.......................................................................................................................... 5
1.2 -DESCRIPTION / COMPLIANCE WITH THE STANDARDS......................................................... 5
1.2.1 - General description ............................................................................................................... 5
1.2.2 - Reference to the standards: .......................................................................................... 6
1.3 -OTHER DOCUMENTS................................................................................................................. 6
1.4 -ORDERING CODE....................................................................................................................... 7
1.5 -ACCESSORIES ........................................................................................................................... 7
CHAPTER 2 - SPECIFICATIONS........................................................................................................... 8
2.1 -MAIN TECHNICAL DATA............................................................................................................. 8
2.1.1 - XtrapulsEasy™-ak-60/45-DB ................................................................................................ 8
2.1.2 - Technical specifications......................................................................................................... 8
2.2 -DIMENSIONS AND MOTHERBOARD FOOTPRINT .......................................................................... 11
CHAPTER 3 - INPUTS - OUTPUTS..................................................................................................... 12
3.1 -DISPLAY.................................................................................................................................... 12
3.1.1 - Leds..................................................................................................................................... 12
3.1.2 - CANopen® communication bus .......................................................................................... 13
3.2 -X10 CONNECTOR: FEEDBACK /CAN /TTL HALL /I/O........................................................... 13
3.2.1 Resolver feedback................................................................................................................. 13
3.2.2 Encoder feedback.................................................................................................................. 15
3.2.3 Equivalent input/output circuits.............................................................................................. 15
3.3 -X9: POWER CONNECTORS..................................................................................................... 17
3.4 -MECHANICAL MOUNTING............................................................................................................... 17
CHAPTER 4 - DESIGN RECOMMENDATIONS.................................................................................. 18
4.1 -MOTHERBOARD DESIGN................................................................................................................ 18
4.1.1 - Copper section..................................................................................................................... 18
4.1.2 - Power and signal separation............................................................................................... 18
4.1.3 - External capacitors and decoupling..................................................................................... 18
4.1.3.1 - 24V supply ....................................................................................................................................18
4.1.3.2 - DC Bus Capacitors........................................................................................................................18
4.1.4 - Shielding and grounding...................................................................................................... 19
4.2 -PROTECTIONS .............................................................................................................................. 19
4.2.1 - Auxiliary power supply......................................................................................................... 19
4.2.2 - Power supply....................................................................................................................... 19
4.3 -ACCESSORIES AND CONNECTIONS ..................................................................................... 20
4.3.1 - Connection of a backup battery........................................................................................... 20
4.3.2 - Multi-axis connection of the serial link................................................................................. 20
4.4 -WIRING INSTRUCTIONS.......................................................................................................... 20
4.4.1 - Motor, resolver and encoder cables.................................................................................... 20
4.4.2 - Serial link and CAN communication cables......................................................................... 21
4.4.3 - Very important ..................................................................................................................... 21
4.4.4 - Connection of the 24VDC supply........................................................................................... 22
4.4.5 - Connection of the DC Bus................................................................................................... 22
4.4.6 - Starting procedure............................................................................................................... 22
4.5 -CHAINING DRIVES ......................................................................................................................... 23
4.5.1 - AOK chaining with XtrapulsEasy™ drives only................................................................... 23
4.5.2 - AOK chaining with XtrapulsEasy™ and XtrapulsPac drives together................................. 23
