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Aerotech XC4 Hardware Manual

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XC4 Hardware Manual

Revision: 1.00.00

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Summary of Contents for Aerotech XC4

  • Page 1: Xc4 Hardware Manual

    XC4 Hardware Manual Revision: 1.00.00...
  • Page 2 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.

  • Page 3: Table Of Contents

    XC4 Hardware Manual Table of Contents Table of Contents XC4 Hardware Manual Table of Contents List of Figures List of Tables EU Declaration of Conformity Safety Procedures and Warnings Quick Installation Guide Chapter 1: Introduction 1.1. Electrical Specifications 1.1.1. System Power Requirements 1.2.
  • Page 4 Table of Contents XC4 Hardware Manual 2.5.5. High-Speed Inputs 4-5 2.5.6. Analog Output 0 2.5.7. Analog Input 0 (Differential) 2.6. Brake Power Supply Connector 2.7. HyperWire Interface 2.8. External Shunt Option [-SX1] 2.9. Sync Port 2.10. System Interconnection 2.11. PC Configuration and Operation Information Chapter 3: -EB1 I/O Option Board 3.1.

  • Page 5: List Of Figures

    Digital Inputs Connected to Current Sourcing Devices Figure 2-42: High-Speed Inputs Figure 2-43: Analog Output 0 Schematic Figure 2-44: Analog Input 0 Schematic Figure 2-45: System Interconnection Drawing (Best Practice) Figure 3-1: XC4 with -EB1 I/O Option Board Connectors Figure 3-2: Digital Outputs Schematic [-EB1] www.aerotech.com...
  • Page 6 List of Figures XC4 Hardware Manual Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1] Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1] Figure 3-5: Digital Inputs Schematic [-EB1] Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1]...

  • Page 7: List Of Tables

    Motor Power Output Connector Pinout Table 2-8: Mating Connector Part Numbers for the Motor Power Output Connector Table 2-9: Wire Colors for Aerotech-Supplied Brushless Motor Cables  Table 2-10: Wire Colors for Aerotech-Supplied DC Brush Motor Cables Table 2-11: Wire Colors for Aerotech-Supplied Stepper Motor Cables...
  • Page 8 List of Tables XC4 Hardware Manual Table 2-47: Brake Power Supply Connector Pinout Table 2-48: Mating Connector Part Numbers for the Brake Power Supply Connector Table 2-49: HyperWire Card Part Number Table 2-50: HyperWire Cable Part Numbers Table 2-51: -SX1 Component Information...

  • Page 9: Eu Declaration Of Conformity

    XC4 Hardware Manual EU Declaration of Conformity EU Declaration of Conformity Manufacturer Aerotech, Inc. Address 101 Zeta Drive Pittsburgh, PA 15238-2811 Product Model/Types This is to certify that the aforementioned product is in accordance with the applicable requirements of the...
  • Page 10 EU Declaration of Conformity XC4 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 11: Safety Procedures And Warnings

    Safety Procedures and Warnings This manual tells you how to carefully and correctly use and operate the XC4. Read all parts of this manual before you install or operate the XC4 or before you do maintenance to your system. To prevent injury to you and damage to the equipment, obey the precautions in this manual.
  • Page 12 Safety Procedures and Warnings XC4 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 13: Quick Installation Guide

    Quick Installation Guide Quick Installation Guide This image shows the order in which to make connections and settings that are typical to the XC4. If a custom interconnect drawing was supplied with your system, that drawing is on your Storage Device and shows as a line item on your Sales Order in the Integration section.
  • Page 14 Quick Installation Guide XC4 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 15: Chapter 1: Introduction

    Chapter 1: Introduction Chapter 1: Introduction The XC4 is a high performance digital drive based on the HyperWire communication protocol. The drive provides deterministic behavior, auto-identification, is fully software configurable. A double precision floating point DSP controls the digital PID and current loops in the XC4.

  • Page 16: Table 1-1: Features And Options

    Chapter 1: Introduction XC4 Hardware Manual Table 1-1: Features and Options Standard Features 100 - 240 VAC control supply inputs Section 2.1.1. 240 VAC motor supply inputs (producing 340 VDC) Section 2.1.2. Line driver square wave quadrature encoder input for position and velocity Section 2.3.1.

  • Page 17: Figure 1-2: Functional Diagram

    XC4 Hardware Manual Chapter 1: Introduction The block diagram that follows shows a summary of the connector signals. Figure 1-2: Functional Diagram www.aerotech.com...

  • Page 18: Electrical Specifications

    Chapter 1: Introduction XC4 Hardware Manual 1.1. Electrical Specifications Table 1-2: Electrical Specifications Description XC410 XC420 XC430 Input Voltage 240 VAC Input Frequency 50-60 Hz Inrush Current 64 A @ 230 VAC; 32 A @ 115 VAC Motor Supply Maximum...

  • Page 19: System Power Requirements

    XC4 Hardware Manual Chapter 1: Introduction 1.1.1. System Power Requirements The following equations can be used to determine total system power requirements. The actual power required from the mains supply will be the combination of actual motor power (work), motor resistance losses, and efficiency losses in the power electronics or power transformer.

  • Page 20: Mechanical Specifications

    1.2. Mechanical Specifications The XC4 must be installed in an IP54 compliant enclosure to comply with safety standards. Mount the XC4 so free airflow is available at the front, top, and along the sides of the chassis for cooling. You must also allow space for connections and cables along the front, top, and bottom.

  • Page 21: Figure 1-4: Dimensions [-Eb1]

    XC4 Hardware Manual Chapter 1: Introduction Figure 1-4: Dimensions [-EB1] www.aerotech.com...

  • Page 22: Environmental Specifications

    Chapter 1: Introduction XC4 Hardware Manual 1.3. Environmental Specifications Table 1-4: Environmental Specifications Operating: 0° to 40°C (32° to 104° F) Ambient Temperature Storage: -30° to 85°C (-22° to 185° F) Humidity The maximum relative humidity is 80% for temperatures that are less Non-condensing than 31°C and decreases linearly to 50% relative humidity at 40°C.

  • Page 23: Drive And Software Compatibility

    XC4 Hardware Manual Chapter 1: Introduction 1.4. Drive and Software Compatibility This table shows the available drives and which version of the software first supported each drive. In the Last Software Version column, drives that show a specific version number are not supported after that version.
  • Page 24 Chapter 1: Introduction XC4 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 25: Chapter 2: Installation And Configuration

    For a full list of electrical specifications, refer to Section 1.1. 2.1.1. Control Supply Connector The Control Supply input supplies power to the communications and logic circuitry of the XC4 . The L input is connected to an internal fuse. Refer to Table 5-2 for the internal fuse value and part number.

  • Page 26: Motor Supply Connector

    XC4 Hardware Manual 2.1.2. Motor Supply Connector Motor power is applied to the AC1 and AC2 terminals of the XC4 Motor Supply connector. Wires must be properly matched to the branch protection and must be sized to meet local electrical safety codes.

  • Page 27: Transformer Options

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.1.3. Transformer Options You can connect an external isolation transformer to the Motor Supply AC Input to reduce the operating voltage of the motor. Using a transformer can also reduce electrical noise. Table 2-5: Nominal Motor Operating Voltages / Required AC Voltages ...

  • Page 28: Vdc Motor Power With A Tv0.3-28-56-St Transformer

    Chapter 2: Installation and Configuration XC4 Hardware Manual Figure 2-4: 40 VDC Motor Power with a TV0.3-28-56-ST Transformer www.aerotech.com...

  • Page 29: Vdc Motor Power With A Tv0.3-28-56-St Transformer

    XC4 Hardware Manual Chapter 2: Installation and Configuration Figure 2-5: 80 VDC Motor Power with a TV0.3-28-56-ST Transformer www.aerotech.com...

  • Page 30: Volt Dc Bus From 115 And 230 Vac Source

    Chapter 2: Installation and Configuration XC4 Hardware Manual Figure 2-6: 40 Volt DC Bus from 115 and 230 VAC Source www.aerotech.com...
  • Page 31 XC4 Hardware Manual Chapter 2: Installation and Configuration Figure 2-7: 80 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) www.aerotech.com...
  • Page 32 Chapter 2: Installation and Configuration XC4 Hardware Manual Figure 2-8: 160 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) www.aerotech.com...

  • Page 33: Figure 2-9: Control And Motor Power Wiring Using A Tm3 Or Tm5 Transformer

    XC4 Hardware Manual Chapter 2: Installation and Configuration Figure 2-9: Control and Motor Power Wiring using a TM3 or TM5 Transformer www.aerotech.com...

  • Page 34: Minimizing Conducted, Radiated, And System Noise For Emc/Ce Compliance

    2.1.4. Minimizing Conducted, Radiated, and System Noise for EMC/CE Compliance NOTE: The XC4 is a component designed to be integrated with other electronics. EMC testing must be conducted on the final product configuration. To reduce electrical noise, observe the following motor and input power wiring techniques.

  • Page 35: Motor Power Output Connector

    DANGER: Disconnect power before doing maintenance to the equipment. Wait at least ten (10) minutes after removing the power supply before doing maintenance or an inspection. Otherwise, there is the danger of electric shock. The XC4 can be used to drive the following motor types: Brushless (refer to Section 2.2.1.)

  • Page 36: Brushless Motor Connections

    Black #3 Violet & Blue (1) Wire Color Set #1 is the wire set typically used by Aerotech. (2) “&” indicates two wires (Red & Orange); “ / ” indicates a single wire (Green/White). Brushless motors are commutated electronically by the controller. The use of Hall effect devices for commutation is recommended.

  • Page 37: Brushless Motor Powered Motor And Feedback Phasing

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing Refer to the Motor Phasing Calculator in the Configuration Manager for motor, Hall, and encoder phasing. Figure 2-11: Positive Motor Direction Feedback Monitoring The state of the encoder and Hall-effect device signals can be observed in the Status Utility.

  • Page 38: Brushless Motor Unpowered Motor And Feedback Phasing

    With the designations of the motor and Hall leads of a third party motor determined, the motor can now be connected to an Aerotech system. Connect motor lead A to motor connector A, motor lead B to motor connector B, and motor lead C to motor connector C. Hall leads should also be connected to their respective feedback connector pins (Hall A lead to the Hall A feedback pin, Hall B to Hall B, and Hall C to Hall C).

  • Page 39: Dc Brush Motor Connections

    Red & Orange Red & Orange Yellow & Blue Black Yellow & Blue (1) Wire Color Set #1 is the typical wire set used by Aerotech. (2) “&” (Red & Orange) indicates two wires; “ / ” (Green/White) indicates a single wire. www.aerotech.com...

  • Page 40: Dc Brush Motor Phasing

    5. Connect the motor lead from the positive lead of the voltmeter to the ØA motor terminal on the XC4. Connect the motor lead from the negative lead of the voltmeter to the ØC motor terminal on the XC4.

  • Page 41: Stepper Motor Connections

    Green/Yellow & Shield Green/Yellow & Shield Black Brown Yellow White White & Red (1) Wire Color Set #1 is the typical wire set used by Aerotech. (2) “&” (Red & Orange) indicates two wires; “ / ” (Green/White) indicates a single wire. www.aerotech.com...

  • Page 42: Stepper Motor Phasing

    Proper motor phasing is important because the end of travel (EOT) limit inputs are relative to motor rotation. Figure 2-18: Positive Motor Direction For Aerotech-supplied systems, the motor, encoder and Hall sensors are correctly configured and connection adjustments are not necessary. NOTE: After the motor has been phased, use the ReverseMotionDirection parameter to change the direction of “positive”...

  • Page 43: Feedback Connector

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.3. Feedback Connector The Feedback connector (a 25-pin, D-style connector) has inputs for an encoder, limit switches, Hall-effect devices, motor over-temperature device, 5 V encoder and limit power, and optional brake connections. The...

  • Page 44: Encoder Interface

    VelocityFeedbackType parameters configure the XC4 to accept RS-422 differential line driver signals or analog signals, as permitted by the multiplier option. There are two multiplier options (consult your order information to determine which option your XC4 has been configured with): ...

  • Page 45: Line Driver Encoder

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.3.1.1. RS-422 Line Driver Encoder NOTE: Aerotech recommends that you use twisted pair wiring for all differential signals. Table 2-15: RS-422 Line Driver Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum (25 ns minimum edge separation)

  • Page 46: Absolute Encoder

    XC4 Hardware Manual 2.3.1.2. Absolute Encoder NOTE: Aerotech recommends that you use twisted pair wiring for all differential signals. The XC4 retrieves absolute position data along with encoder fault information via a serial data stream from the absolute encoder. See Figure 2-20 for the serial data stream interface.

  • Page 47: Analog Encoder [-Mx1 Option]

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.3.1.3. Analog Encoder [-MX1 Option] NOTE: Aerotech recommends that you use twisted pair wiring for all differential signals. The interpolation factor is determined by the EncoderMultiplicationFactor parameter and is software selectable. Use the Feedback Tuning tab of Digital Scope to automatically adjust the value of the gain, offset, and phase balance controller parameters to get the best performance.

  • Page 48: Figure 2-22: Analog Encoder Schematic (Feedback Connector)

    Chapter 2: Installation and Configuration XC4 Hardware Manual Figure 2-22: Analog Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 49: Encoder Phasing

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.3.1.4. Encoder Phasing Incorrect encoder polarity will cause the system to fault when enabled or when a move command is issued. Figure 2-23 illustrates the proper encoder phasing for clockwise motor rotation (or positive forcer movement for linear motors).

  • Page 50: Figure 2-24: Position Feedback In The Diagnostic Display

    Chapter 2: Installation and Configuration XC4 Hardware Manual Figure 2-24: Position Feedback in the Diagnostic Display www.aerotech.com...

  • Page 51: Hall-Effect Interface

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.3.2. Hall-Effect Interface The Hall-effect switch inputs are recommended for AC brushless motor commutation but not absolutely required. The Hall-effect inputs accept 5 VDC level signals. Hall states (0,0,0) or (1,1,1) are invalid and will generate a "Hall Fault"...

  • Page 52: Thermistor Input Interface

    Chapter 2: Installation and Configuration XC4 Hardware Manual 2.3.3. Thermistor Input Interface The thermistor input is used to detect a motor over temperature condition by using a positive temperature coefficient sensor. As the temperature of the sensor increases, so does the resistance. Under normal operating conditions, the resistance of the thermistor is low which will result in a low input signal.

  • Page 53: Encoder Fault Input Interface

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.3.4. Encoder Fault Input Interface The encoder fault input is for use with encoders that have a fault output. This is provided by some manufactures and indicates a loss of encoder function. The active state of this input is parameter configurable and the controller should be configured to disable the axis when the fault level is active.

  • Page 54: End Of Travel Limit Input Interface

    Counterclockwise End of Travel Limit Input Aerotech recommends that you use NPN-type normally-closed limit switches and select Active High for this option. This configuration provides fail-safe limit behavior in the even of an open circuit. PNP type limit switches can also be used and will require an external pull-down resistor as shown in Figure 2-28.

  • Page 55: Figure 2-28: End Of Travel Limit Input Connections

    XC4 Hardware Manual Chapter 2: Installation and Configuration Figure 2-28: End of Travel Limit Input Connections Figure 2-29: End of Travel Limit Input Interface Schematic (Feedback Connector) www.aerotech.com...

  • Page 56: End Of Travel Limit Phasing

    Chapter 2: Installation and Configuration XC4 Hardware Manual 2.3.5.1. End of Travel Limit Phasing If the EOT limits are reversed, you will be able to move further into a limit but be unable to move out. To correct this, swap the connections to the CW and CCW inputs at the Feedback connector or swap the CW and CCW limit functionality in the software using the EndOfTravelLimitSetup parameter.

  • Page 57: Brake Output Interface

    Chapter 2: Installation and Configuration 2.3.6. Brake Output Interface The XC4 has a dedicated brake control circuit. The brake is typically configured for automatic control using the EnableBrakeControl parameter. The brake output can also be manually controlled if you use the BRAKE command.

  • Page 58: Safe Torque Off Input (Sto)

    24 V signals. NOTE: The XC4 might be equipped with an STO bypass plug. The bypass plug defeats the STO safety circuit and allows the system to run at all times. To use the STO safety functionality, remove the plug and make connections as outlined in this section.

  • Page 59: Figure 2-32: Typical Configuration

    Chapter 2: Installation and Configuration WARNING: The XC4 does not check for short circuits on the external STO wiring. If this is not done by the external safety device, short circuits on the wiring must be excluded. Refer to EN ISO 13849-2.

  • Page 60: Sto Standards

    The XC4 software monitors each STO channel and will generate an Emergency Stop software fault when either channel signals the stop state. Each STO channel contains a fixed delay which allows the XC4 to perform a controlled stop before the power amplifier transistors are turned off.

  • Page 61: Sto Startup Validation Testing

    321 Safety Relay Unit. Place this device between the system ESTOP wiring and the XC4's STO inputs. Connect the ESTOP signal directly to a digital input, in addition to the external timer, to allow the XC4 to begin a software-controlled stop as soon as the ESTOP signal becomes active. Use the ESTOPFaultInput parameter to configure a digital input as an ESTOP input.

  • Page 62: Sto Diagnostics

    Diagnostic Test Delay Time has elapsed. The diagnostic check verifies that each channel has entered the safe state. The XC4 is held in the safe state if it determines that one of the channels has not properly entered the safe state. An open circuit or short to 24 V in either STO channel will result in this condition (refer to Section 2.4.3.).

  • Page 63: Auxiliary I/O Connector

    (2) For PSO, see Section 2.5.2. Table 2-32: Mating Connector Part Numbers for the Auxiliary I/O Connector Mating Connector Aerotech P/N Third Party P/N Connector ECK01259 Kycon K86-AA-26P Backshell ECK01022 Amphenol 17-1725-2 NOTE: These items are provided as a set under the Aerotech P/N: MCK-26HDD. www.aerotech.com...

  • Page 64: Auxiliary Encoder Channel

    Chapter 2: Installation and Configuration XC4 Hardware Manual 2.5.1. Auxiliary Encoder Channel You would typically use this interface to read the second encoder in a dual feedback system. The auxiliary encoder interface accepts RS-422 line driver signals. It can also be configured as an output to echo internal encoder signals for use by third party hardware. The EncoderDivider parameter configures the sine and cosine signals as RS-422 outputs.

  • Page 65: Figure 2-34: Auxiliary Encoder Channel Schematic (Aux I/O Connector)

    XC4 Hardware Manual Chapter 2: Installation and Configuration Figure 2-34: Auxiliary Encoder Channel Schematic (Aux I/O Connector) www.aerotech.com...

  • Page 66: Position Synchronized Output (Pso)

    Chapter 2: Installation and Configuration XC4 Hardware Manual 2.5.2. Position Synchronized Output (PSO) The PSO signal is available on the dual-function AUX Marker/PSO signal lines. The auxiliary marker must be configured as an output using the PSOOUTPUT CONTROL command. Refer to the Help file for more information.

  • Page 67: Figure 2-35: Pso Interface

    XC4 Hardware Manual Chapter 2: Installation and Configuration Figure 2-35: PSO Interface www.aerotech.com...

  • Page 68: Digital Outputs

    Chapter 2: Installation and Configuration XC4 Hardware Manual 2.5.3. Digital Outputs Optically-isolated solid-state relays drive the digital outputs. You can connect the digital outputs in current sourcing or current sinking mode but you must connect all four outputs in the same configuration. Refer to...

  • Page 69: Figure 2-36: Digital Output Schematic (Aux I/O Connector)

    XC4 Hardware Manual Chapter 2: Installation and Configuration Figure 2-36: Digital Output Schematic (Aux I/O Connector) www.aerotech.com...

  • Page 70: Figure 2-37: Digital Outputs Connected In Current Sourcing Mode

    Chapter 2: Installation and Configuration XC4 Hardware Manual Figure 2-37: Digital Outputs Connected in Current Sourcing Mode Figure 2-38: Digital Outputs Connected in Current Sinking Mode www.aerotech.com...

  • Page 71: Digital Inputs

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.5.4. Digital Inputs You can connect the digital inputs to current sourcing or current sinking devices but you must connect all four inputs in the same configuration. Refer to Figure 2-41 Figure 2-40.

  • Page 72: Figure 2-40: Digital Inputs Connected To Current Sinking Devices

    Chapter 2: Installation and Configuration XC4 Hardware Manual Figure 2-40: Digital Inputs Connected to Current Sinking Devices Figure 2-41: Digital Inputs Connected to Current Sourcing Devices www.aerotech.com...

  • Page 73: High-Speed Inputs

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.5.5. High-Speed Inputs 4-5 High speed inputs 4-5 can be used as general purpose inputs or as the trigger signal for high speed data collection. Refer to the DATAACQ TRIGGER command topic in the Help file for more information.

  • Page 74: Analog Output

    Chapter 2: Installation and Configuration XC4 Hardware Manual 2.5.6. Analog Output 0 The analog output can be set from within a program or it can be configured to echo the state of select servo loop nodes. The analog output is set to zero when you power on the system or reset the drive.

  • Page 75: Analog Input 0 (Differential)

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.5.7. Analog Input 0 (Differential) To interface to a single-ended, non-differential voltage source, connect the signal common of the source to the negative input and connect the analog source signal to the positive input. A floating signal source must be referenced to the analog common.

  • Page 76: Brake Power Supply Connector

    Chapter 2: Installation and Configuration XC4 Hardware Manual 2.6. Brake Power Supply Connector This port is the power supply connection to the on-board brake control circuit. Refer to Section 2.3.6. more information about the brake output interface. Table 2-47: Brake Power Supply Connector Pinout...

  • Page 77: Hyperwire Interface

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.7. HyperWire Interface The HyperWire bus is the high-speed communications connection to the XC4 operating at 2 gigabits per second. The PC sends all command and configuration information through the HyperWire bus. Table 2-49:...

  • Page 78: External Shunt Option [-Sx1]

    Chapter 2: Installation and Configuration XC4 Hardware Manual 2.8. External Shunt Option [-SX1] The -SX1 option provides a connection for a user-provided shunt resistor to dissipate excess energy and keep the internal drive voltage within safe levels. The drive switches this resistor "ON" when the internal bus voltage reaches approximately 380 VDC.

  • Page 79: Table 2-52: Maximum Additional Storage Energy

    (V) [380 V] nominal bus voltage (V) [160 V or 320 V, Typical] For a standard XC4, the maximum additional energy the internal bus capacitor can store without requiring a shunt resistor is indicated in Table 2-52.

  • Page 80: Sync Port

    This is typically used for multi-axis PSO applications where one or two drives send their encoder signals to a main drive that has the PSO logic and PSO output signal. The XC4 contains two Sync ports, labeled A and B.

  • Page 81: System Interconnection

    XC4 Hardware Manual Chapter 2: Installation and Configuration 2.10. System Interconnection Click on the image below to open a separate pdf window with a larger view of the drawing. Figure 2-45: System Interconnection Drawing (Best Practice) www.aerotech.com...

  • Page 82: Pc Configuration And Operation Information

    Chapter 2: Installation and Configuration XC4 Hardware Manual 2.11. PC Configuration and Operation Information For more information about hardware requirements, PC configuration, programming, system operation, and utilities, refer to the Help file. www.aerotech.com...

  • Page 83: Chapter 3: -Eb1 I/O Option Board

    Chapter 3: -EB1 I/O Option Board Chapter 3: -EB1 I/O Option Board The -EB1 I/O option board has 16 digital inputs, 16 digital outputs, 3 analog inputs, 3 analog outputs, and PSO outputs. Figure 3-1: XC4 with -EB1 I/O Option Board Connectors www.aerotech.com...

  • Page 84: Digital Outputs [-Eb1]

    Chapter 3: -EB1 I/O Option Board XC4 Hardware Manual 3.1. Digital Outputs [-EB1] Optically-isolated solid-state relays drive the digital outputs. You can connect the digital outputs in current sourcing or current sinking mode but you must connect all four outputs in a port in the same configuration.

  • Page 85: Table 3-2: Digital Output 1 Connector Pinout [-Eb1]

    XC4 Hardware Manual Chapter 3: -EB1 I/O Option Board Table 3-2: Digital Output 1 Connector Pinout [-EB1] Pin# Description In/Out/Bi Connector Output Common for Outputs 4-7 Output 4 (Optically-Isolated) Output Output 5 (Optically-Isolated) Output Output 6 (Optically-Isolated) Output Output 7 (Optically-Isolated)

  • Page 86: Figure 3-2: Digital Outputs Schematic [-Eb1]

    Chapter 3: -EB1 I/O Option Board XC4 Hardware Manual Figure 3-2: Digital Outputs Schematic [-EB1] www.aerotech.com...

  • Page 87: Figure 3-3: Digital Outputs Connected In Current Sourcing Mode [-Eb1]

    XC4 Hardware Manual Chapter 3: -EB1 I/O Option Board Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1] Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1] www.aerotech.com...

  • Page 88: Digital Inputs [-Eb1]

    Chapter 3: -EB1 I/O Option Board XC4 Hardware Manual 3.2. Digital Inputs [-EB1] Input bits are arranged in groups of 4 and each group shares a common pin. This lets a group be connected to current sourcing or current sinking devices, based on the connection of the common pin in that group.

  • Page 89: Table 3-9: Digital Input 2 Connector Pinout [-Eb1]

    XC4 Hardware Manual Chapter 3: -EB1 I/O Option Board Table 3-9: Digital Input 2 Connector Pinout [-EB1] Pin# Description In/Out/Bi Connector Input Common for Inputs 12-15 Input 12 (Optically-Isolated) Input Input 13 (Optically-Isolated) Input Input 14 (Optically-Isolated) Input Input 15 (Optically-Isolated)

  • Page 90: Figure 3-6: Digital Inputs Connected To Current Sourcing (Pnp) Devices [-Eb1]

    Chapter 3: -EB1 I/O Option Board XC4 Hardware Manual NOTE: Each bank of four inputs must be connected in an all sourcing or all sinking configuration. Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1]...

  • Page 91: Analog Outputs [-Eb1]

    XC4 Hardware Manual Chapter 3: -EB1 I/O Option Board 3.3. Analog Outputs [-EB1] The analog output can be set from within a program or it can be configured to echo the state of select servo loop nodes. The analog output is set to zero when you power on the system or reset the drive.

  • Page 92: Analog Inputs [-Eb1]

    Chapter 3: -EB1 I/O Option Board XC4 Hardware Manual 3.4. Analog Inputs [-EB1] To interface to a single-ended, non-differential voltage source, connect the signal common of the source to the negative input and connect the analog source signal to the positive input. A floating signal source must be referenced to the analog common.

  • Page 93: Position Synchronized Output (Pso) Interface [-Eb1]

    XC4 Hardware Manual Chapter 3: -EB1 I/O Option Board 3.5. Position Synchronized Output (PSO) Interface [-EB1] The PSO output signal is available on the -EB1 option board in two signal formats: TTL and Isolated. The PSO signal is also available on the AUX I/O connector. Refer to Section 2.5.2..

  • Page 94: Figure 3-10: Pso Output Sources Current

    Chapter 3: -EB1 I/O Option Board XC4 Hardware Manual Isolated Signals This output signal is a fully-isolated 5-24V compatible output capable of sourcing or sinking current. This output is normally open and only conducts current when a PSO fire event occurs.

  • Page 95: Chapter 4: Cables And Accessories

    XC4 Hardware Manual Chapter 4: Cables and Accessories Chapter 4: Cables and Accessories NOTE: Find Aerotech cable drawings on the website at http://www.aerotechmotioncontrol.com/manuals/index.aspx. Table 4-1: Standard Interconnection Cables Cable Part # Description Joystick Section 4.1. ECZ01231 BBA32 Interconnect Cable (1) The “-xx” indicates length in decimeters. “-yy” would indicate length in feet.

  • Page 96: Joystick Interface

    XC4 Hardware Manual 4.1. Joystick Interface Aerotech Multi-Axis Joystick (NEMA12 (IP54) rated) is powered from 5 V and has a nominal 2.5 V output in the center detent position. Three buttons are used to select axis pairs and speed ranges. An optional interlock signal is used to indicate to the controller that the joystick is present.

  • Page 97: Figure 4-2: Two Axis Joystick Interface (To The I/O Board)

    XC4 Hardware Manual Chapter 4: Cables and Accessories Figure 4-2: Two Axis Joystick Interface (to the I/O board) www.aerotech.com...

  • Page 98: Handwheel Interface

    4.2. Handwheel Interface A handwheel can be used to manually control axis position. The handwheel must provide 5V differential quadrature signals to the XC4 NOTE: You can find instructions on how to enable the handwheel in the Help file. Connect a handwheel to the Aux I/O as shown in...

  • Page 99: Chapter 5: Maintenance

    DANGER: Before you clean the XC4, disconnect the electrical power from the drive. Use a clean, dry, soft cloth to clean the chassis of the XC4. If necessary, you can use a cloth that is moist with water or isopropyl alcohol. If you use a moist cloth, make sure that moisture does not go into the XC4.

  • Page 100: Fuse Specifications

    2 A S.B. EIF01044 Littelfuse 0877002.MXEP F101 -SX1 (External Shunt) Option 8 A S.B. EIF01022 Littelfuse 0215008.HXP Motor Bus Supply at AC1 XC4-10) 5 A S.B. EIF01023 Littelfuse 215005.HXP F102 Motor Bus Supply at AC1 XC4-20/-30) 10 A S.B. EIF01020 Littelfuse 0215010.HXP...

  • Page 101: Appendix A: Warranty And Field Service

    Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer, whether or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided, or whether or not Aerotech’s...
  • Page 102 Aerotech's approval. On-site Warranty Repair If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts, and cannot be returned to the Aerotech service center for repair, and if Aerotech determines the problem could be warranty-related, then the following policy applies:...

  • Page 103: Appendix B: Revision History

    XC4 Hardware Manual Appendix B: Revision History Appendix B: Revision History Revision Description 1.00.00 New Manual www.aerotech.com...
  • Page 104 Appendix B: Revision History XC4 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 105: Index

    XC4 Hardware Manual Index Index Analog Encoder Phasing Reference Diagram Analog Encoder Schematic (Feedback Connector) -EB1 Analog Encoder Specifications (Feedback Connector) Analog Inputs Analog Input 0 on the Aux I/O Connector Analog Outputs Analog Input 0 Schematic (Aux I/O Connector)
  • Page 106 Index XC4 Hardware Manual Aux I/O Connector Mating Connector Part Sync Port Numbers Cables and Accessories Auxiliary Encoder Channel (Aux I/O Connector) 64 cables, examining Auxiliary Encoder Channel Schematic (Aux I/O Check for fluids or electrically conductive Connector) material exposure...
  • Page 107 XC4 Hardware Manual Index Digital Input Specifications [-EB1] Drive and Software Compatibility Digital Inputs (Aux I/O Connector) Digital Inputs [-EB1] Efficiency of Power Amplifier specifications Digital Inputs Connected to a Current Sinking Electrical Specifications Device [-EB1] EMC/CE Compliance Digital Inputs Connected to a Current Sourcing...
  • Page 108 Index XC4 Hardware Manual Analog Encoder Digital Inputs Connected to Current Sourcing Devices (Aux I/O Connector) Brake Output Digital Inputs Schematic (Aux I/O Connector) 71 Encoder Fault Input Digital Inputs Schematic [-EB1] Encoder Interface Digital Output Schematic (Aux I/O Connector) 69...
  • Page 109 XC4 Hardware Manual Index TTL Outputs Schematic (PSO) Introduction Typical STO Configuration IP54 Enclosure (STO) fluids, dangerous Isolated Output Current Sinks Schematic (PSO) 94 Functional Diagram Isolated Output Current Sources Schematic (PSO) Fuse Specifications Isolation Control Supply at L External Shunt (-SX1)
  • Page 110 Index XC4 Hardware Manual Minimizing Conducted, Radiated, and System Unpowered Brushless Motor/Feedback Noise for EMC/CE Compliance Pinout Minimum Load Inductance specifications Analog Input Connector [-EB1] Modes of Operation Analog Input Pins (Aux I/O Connector) Motor Connector Analog Output Connector [-EB1]...
  • Page 111 XC4 Hardware Manual Index Power Amplifier Bandwidth specifications Analog Input 0 (Aux I/O Connector) Power Requirements Analog Output 0 (Aux I/O Connector) Preventative Maintenance Analog Outputs [-EB1] Protective Features Auxiliary Encoder RS-422 Signals (Aux I/O Connector) Brake Control Relay Isolated Output Sinks Current Schematic...
  • Page 112 Standards Warranty and Field Service Standards Data Wire Colors for Aerotech-Supplied Brushless Startup Validation Testing Motor Cables Timing Wire Colors for Aerotech-Supplied DC Brush Motor Cables Typical Configuration Wire Colors for Aerotech-Supplied Stepper Motor Support Cables Sync-Related Commands Sync Port Cables...

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