Aerotech Automation1 XC6e Series Hardware Manual
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Aerotech Automation1 XC6e Series Hardware Manual

High-powered pwm digital drive
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Automation1 XC6e High-Powered
PWM Digital Drive
HARDWARE MANUAL
Revision 1.00

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Summary of Contents for Aerotech Automation1 XC6e Series

  • Page 1: Automation1 Xc6E High-Powered Pwm Digital Drive

    Automation1 XC6e High-Powered PWM Digital Drive HARDWARE MANUAL Revision 1.00...
  • 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

    2.5.2. Position Synchronized Output (PSO) 2.5.3. Digital Outputs 2.5.4. Digital Inputs 2.5.5. High-Speed Inputs 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. Shunt Options 2.9. Sync Port 2.10. System Interconnection www.aerotech.com...
  • Page 4 3.4. Analog Inputs [-EB1] 3.5. Position Synchronized Output Interface [-EB1] Chapter 4: Cables and Accessories 4.1. Joystick Interface 4.2. Handwheel Interface Chapter 5: Maintenance 5.1. Preventative Maintenance 5.2. Fuse Specifications Appendix A: Warranty and Field Service Appendix B: Revision History Index www.aerotech.com...

  • Page 5: List Of Figures

    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] Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] Figure 3-8: Analog Output Typical Connection [-EB1] www.aerotech.com...
  • Page 6 Two Axis Joystick Interface (to the Aux I/O of two drives) Figure 4-2: Two Axis Joystick Interface (to the I/O board) Figure 4-3: Handwheel Interconnection to Aux I/O Connector Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module www.aerotech.com...

  • Page 7: List Of Tables

    Table 2-6: Motor Power Output Connector Pinout Table 2-7: Mating Connector Part Numbers for the Motor Power Output Connector Table 2-8: Wire Colors for Aerotech-Supplied Brushless Motor Cables  Table 2-9: Hall Signal Diagnostics Table 2-10: Feedback Connector Pinout Table 2-11:...
  • Page 8 Table 3-18: PSO Interface Connector Pinout [-EB1] Table 3-19: Mating Connector Part Numbers for the PSO Interface Connector [-EB1] Table 4-1: Standard Interconnection Cables Table 5-1: LED Description Table 5-2: Troubleshooting Table 5-3: Preventative Maintenance Table 5-4: Control Board Fuse Specifications www.aerotech.com...

  • Page 9: Eu Declaration Of Conformity

    XC6e Hardware Manual EU Declaration of Conformity EU Declaration of Conformity Manufacturer Aerotech, Inc. Address 101 Zeta Drive Pittsburgh, PA 15238-2811 Product XC6e Model/Types This is to certify that the aforementioned product is in accordance with the applicable requirements of...
  • Page 10 EU Declaration of Conformity XC6e Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 11: Safety Procedures And Warnings

    To find the newest information about this product, refer to www.aerotech.com. If you do not understand the information in this manual, contact Aerotech Global Technical Support. IMPORTANT: This product has been designed for light industrial manufacturing or laboratory environments.
  • Page 12 2. Do not use the cables or the connectors to lift or move this product. 3. Use this product only in environments and operating conditions that are approved in this manual. 4. Only trained operators should operate this equipment. www.aerotech.com...

  • Page 13: Installation Overview

    (if you purchased the I/O option). Chapter 3 Connect the Safe Torque Off (STO). Section 2.4. Connect the power supply to the Control Supply connector. Section 2.1.1. Connect the motor power to the Motor Supply connector. Section 2.1.2. Figure 1: Installation Connection Overview  www.aerotech.com...
  • Page 14 Installation Overview XC6e Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 15: Chapter 1: Introduction

    The XC6e is offered with optional encoder interpolation features (-MX2/-MX3), an auxiliary encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -EB1 option), and separate power connections for motor and control supply voltages. Figure 1-1: XC6e High Power Networked Digital Drive www.aerotech.com...

  • Page 16: Table 1-1: Feature Summary

    2 axes (includes One-Axis PSO). Three-axis Part-Speed PSO firing, which uses the PSO firing circuit based off of the commanded -PSO6 vector velocity of 3 or more axes (includes One-Axis PSO). Version -DEFAULT Firmware Matches Software Line -LEGACY Legacy Firmware Version X.XX.XXX www.aerotech.com...

  • Page 17: Figure 1-2: Functional Diagram

    XC6e 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

    RMS over current; Over temperature; Control power supply under voltage; Power stage bias supply under voltage Optical and transformer isolation between control and power Isolation stages. (1) AC input voltage and load dependent.  (2) Current is measured as the peak amplitude in any motor phase. www.aerotech.com...

  • Page 19: Table 1-3: Electrical Specifications (Continued)

    RMS over current; Over temperature; Control power supply under voltage; Power stage bias supply under voltage Optical and transformer isolation between control and power Isolation stages. (1) AC input voltage and load dependent.  (2) Current is measured as the peak amplitude in any motor phase. www.aerotech.com...

  • Page 20: System Power Requirements

    Power Loss = 3 * I(rms)^2 * R(line-line)/2 Power Input = (Power Output + Power Loss) / EfficiencyFactor DC Brush Motor Power Output [W] = Torque [N·m] * Angular velocity[rad/sec] Power Loss = I(rms)^2 * R Power Input = (Pout + Ploss) / EfficiencyFactor www.aerotech.com...

  • Page 21: Mechanical Specifications

    IP54 Compliant Weight 7 kg Mounting Hardware M4 [#8] screws (four locations, not included) Mounting Orientation Vertical (typical) Section 1.2.2. Dimensions Dimensions Refer to Airflow ~25 mm Minimum Clearance Connectors ~100 mm Operating Temperature Refer to Section 1.3. Environmental Specifications www.aerotech.com...

  • Page 22: Dimensions

    1.2.2. Dimensions XC6e Hardware Manual 1.2.2. Dimensions Figure 1-3: Dimensions www.aerotech.com...

  • Page 23: Figure 1-4: Dimensions [-Eb1]

    XC6e Hardware Manual 1.2.2. Dimensions Figure 1-4: Dimensions [-EB1] www.aerotech.com...

  • Page 24: Environmental Specifications

    0 m to 2,000 m (0 ft to 6,562 ft) above sea level. Operating Altitude If you must operate this product above 2,000 m or below sea level, contact Aerotech, Inc. Pollution Degree 2 Pollution Typically only nonconductive pollution occurs.

  • Page 25: 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. Table 1-6: Drive and Software Compatibility Drive Type First Software Version Last Software Version Automation1 XC6e Current www.aerotech.com...
  • Page 26 1.4. Drive and Software Compatibility XC6e Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 27: Chapter 2: Installation And Configuration

    Additional information about the system is provided on the Serial and Power labels that are placed on the XC6e chassis. The system serial number label contains important information such as the: Customer order number (please provide this number when requesting product support) Drawing number System part number www.aerotech.com...

  • Page 28: Input Power Connections

    Neutral (N) or 100-240 VAC Control Power Input with external 0.8 mm (#18 AWG) fuse 0.8 mm (#18 AWG) Protective Ground Table 2-2: Mating Connector Part Numbers for the Control Supply Connector Aerotech Third Party Screw Wire Size: Type Torque: N·m [AWG] 3-Pin Terminal Block ECK00213 Phoenix 1754465 0.5 - 0.6...

  • Page 29: Motor Supply Connector

    TT/TN configuration. For CE compliance, Aerotech recommends that you use an AC line filter. Connect the filter as close as possible to the drive. For more information about the AC line filter, refer to Section 2.1.3.

  • Page 30: Minimizing Noise For Emc/Ce Compliance

    EMC system evaluation. 1. Add a clamp-on ferrite to the feedback cable close to the drive. [Aerotech PN ECZ02348, Fair-rite PN 0446167281] 2. Add a clamp-on ferrite to the Control Supply wires, including the ground wire, close to the drive.

  • Page 31: Motor Power Output Connector

    Brushless Phase C Motor Lead 8.36 mm (#8 AWG) Earth Ground to Motor 8.36 mm (#8 AWG) Table 2-7: Mating Connector Part Numbers for the Motor Power Output Connector Aerotech Third Party Screw Wire Size: Type Torque: N·m [AWG] 4-Pin Terminal Block...

  • Page 32: 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 33: Brushless Motor Powered Motor And Feedback Phasing

    Observe the state of the encoder and Hall-effect device signals in the Diagnostics section of the Status Utility. Table 2-9: Hall Signal Diagnostics Hall-Signal Status Definition 0 V or logic low 5 V or logic high Figure 2-4: Positive Motor Direction Figure 2-5: Encoder and Hall Signal Diagnostics www.aerotech.com...

  • Page 34: 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 35: Feedback Connector

    Pin # Description In/Out/Bi Connector Reserved Motor Over Temperature Thermistor Input +5V Power Plug and Play Serial Data (for Aerotech stages only) Bidirectional Hall-Effect Sensor B (brushless motors only) Input Encoder Marker Reference Pulse - Input Absolute Encoder Clock -...

  • Page 36: Primary Encoder Inputs

    Absolute Encoder Data - Bidirectional Encoder Cosine + Input Encoder Cosine - Input +5V Power Encoder Sine + Input Encoder Sine - Input Absolute Encoder Data+ Bidirectional Signal Common Signal Common (1) The maximum combined current output is 500 mA. www.aerotech.com...

  • Page 37: Square Wave Encoder

    Table 2-14: Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum (25 ns minimum edge separation) x4 Quadrature Decoding 40 million counts/sec Figure 2-8: Square Wave Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 38: Absolute Encoder

    You cannot echo an absolute encoder signal. Refer to Figure 2-9 for the serial data stream interface. Refer to the Help file for information on how to set up your EnDat or BiSS absolute encoder parameters. Figure 2-9: Absolute Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 39: Sine Wave Encoder [-Mx2/-Mx3 Option]

    16,384 -MX2/-MX3 Primary Encoder Channel 800 nsec (analog input to quadrature output) Interpolation Latency Input Common Mode 1.5 to 3.5 VDC (1) Measured as SIN(+) - SIN(-) or COS(+) - COS(-) Figure 2-10: Sine Wave Encoder Phasing Reference Diagram www.aerotech.com...

  • Page 40: Figure 2-11: Sine Wave Encoder Schematic (Feedback Connector)

    2.3.1. Primary Encoder Inputs XC6e Hardware Manual Figure 2-11: Sine Wave Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 41: Encoder Phasing

    Figure 2-12: Encoder Phasing Reference Diagram (Standard) IMPORTANT: Encoder manufacturers may refer to the encoder signals as A, B, and Z. The proper phase relationship between signals is shown in Figure 2-12. Figure 2-13: Position Feedback in the Diagnostic Display www.aerotech.com...

  • Page 42: Hall-Effect Inputs

    Hall-Effect Sensor B (brushless motors only) Input Hall-Effect Sensor A (brushless motors only) Input Hall-Effect Sensor C (brushless motors only) Input +5V Power Signal Common Signal Common (1) The maximum combined current output is 500 mA. Figure 2-14: Hall-Effect Inputs Schematic (Feedback Connector) www.aerotech.com...

  • Page 43: Thermistor Input

    1.385 kΩ. The circuit includes a 12 kΩ internal pull-up resistor which corresponds to a trip voltage of +0.52 V. Table 2-17: Thermistor Input Pin on the Feedback Connector Pin # Description In/Out/Bi Motor Over Temperature Thermistor Input Figure 2-15: Thermistor Input Schematic (Feedback Connector) www.aerotech.com...

  • Page 44: Encoder Fault Input

    The nominal trip voltage of the encoder fault input is +2.5 V. Table 2-18: Encoder Fault Input Pin on the Feedback Connector Pin # Description In/Out/Bi Encoder Fault Input Input Figure 2-16: Encoder Fault Input Schematic (Feedback Connector) www.aerotech.com...

  • Page 45: End Of Travel And Home Limit Inputs

    IMPORTANT: Use NPN-type normally-closed limit switches (Active High) to provide fail- safe behavior in the event of an open circuit. www.aerotech.com...

  • Page 46: Figure 2-17: End Of Travel And Home Limit Input Connections

    2.3.5. End of Travel and Home Limit Inputs XC6e Hardware Manual Figure 2-17: End of Travel and Home Limit Input Connections Figure 2-18: End of Travel and Home Limit Input Schematic (Feedback Connector) www.aerotech.com...

  • Page 47: End Of Travel And Home Limit Phasing

    CW and CCW inputs at the Feedback connector or swap the CW and CCW limit functionality in the software using the EndOfTravelLimitSetup parameter. View the logic level of the EOT limit inputs in the Diagnostics display (shown in Figure 2-19). Figure 2-19: End of Travel and Home Limit Input Diagnostic Display www.aerotech.com...

  • Page 48: Brake Outputs

    Brake Output +  Output Table 2-21: Brake Control Specifications Specification Value Maximum Voltage 24 VDC Maximum Current A varistor must be connected across the brake to minimize voltage transients. Figure 2-20: Brake Connected to the 25-Pin Feedback Connector (Typical) www.aerotech.com...

  • Page 49: Safe Torque Off Input (Sto)

    STO 2 IN STO Channel 2 Positive Input Input Power Supply - Used to defeat STO by connecting to RETURN Table 2-23: Mating Connector Part Numbers for the STO Connector Tightening Aerotech Phoenix Torque Wire Size: Description (Nm) AWG [mm 5-Pin Terminal Block...

  • Page 50: Figure 2-21: Typical Configuration

    WARNING: The XC6e 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. For Category 4 systems, the exclusion of short circuits is mandatory. Figure 2-21: Typical Configuration www.aerotech.com...

  • Page 51: Sto Standards

    Interval for manual STO test: EN/IEC 61508 Once per year for SIL2/PL d/category 3 Once per three months for SIL3/PL e/category 3 Once per day for SIL3/PL e/category 4 SIL3 EN/IEC 61508 PFH < 3 FIT SFF > 99% www.aerotech.com...

  • Page 52: Sto Functional Description

    Connect the ESTOP signal directly to a digital input, in addition to the external timer, to allow the XC6e to begin a software-controlled stop as soon as the ESTOP signal becomes active. Use the EmergencyStopFaultInput parameter to configure a digital input as an ESTOP input. www.aerotech.com...

  • Page 53: Sto Startup Validation Testing

    (open circuit or 0 V), and that the STO channel is in the safe state. DANGER: The STO circuit does not remove lethal voltage from the motor terminals. AC mains power must be removed before servicing. www.aerotech.com...

  • Page 54: Sto Diagnostics

    STO inputs before the STO Delay Time, an STO hardware shutdown will not occur but a software stop may, depending on the width of the STO pulse. The controller will ignore STO active pulses shorter in length than the STOPulseFilter parameter setting. www.aerotech.com...

  • Page 55: Auxiliary I/O Connector

    (2) For PSO, refer to Section 2.5.2. Table 2-31: 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 56: Auxiliary Encoder Inputs

    Absolute Encoder Clock + Output Auxiliary Cosine- Bidirectional Absolute Encoder Clock - Output +5 Volt (500 mA max) Auxiliary Marker- / PSO output / TTL Output Bidirectional Auxiliary Marker+ / PSO output Bidirectional Common (2) For PSO, refer to Section 2.5.2. www.aerotech.com...

  • Page 57: Square Wave Encoder

    Table 2-33: Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum (25 ns minimum edge separation) x4 Quadrature Decoding 40 million counts/sec Figure 2-23: Square Wave Encoder Interface (Aux I/O Connector) www.aerotech.com...

  • Page 58: Absolute Encoder

    You cannot use an absolute encoder with incremental signals on the Auxiliary I/O Connector. Refer to Figure 2-24 for the serial data stream interface. Refer to the Help file for information on how to set up your EnDat or BiSS absolute encoder parameters. Figure 2-24: Absolute Encoder Schematic (Auxiliary I/O Connector) www.aerotech.com...

  • Page 59: Sine Wave Encoder [-Mx3 Option]

    16,384 -MX2/-MX3 Primary Encoder Channel 800 nsec (analog input to quadrature output) Interpolation Latency Input Common Mode 1.5 to 3.5 VDC (1) Measured as SIN(+) - SIN(-) or COS(+) - COS(-) Figure 2-25: Sine Wave Encoder Phasing Reference Diagram www.aerotech.com...

  • Page 60: Figure 2-26: Sine Wave Encoder Schematic (Auxiliary I/O Connector)

    2.5. Auxiliary I/O Connector XC6e Hardware Manual Figure 2-26: Sine Wave Encoder Schematic (Auxiliary I/O Connector) www.aerotech.com...

  • Page 61: Position Synchronized Output (Pso)

    12.5 MHz Output Latency 15 ns [Fire event to output change] RS-422 15 ns Table 2-36: PSO Pins on the Auxiliary I/O Connector Pin# Description In/Out/Bi Auxiliary Marker- / PSO output / TTL Output Bidirectional Auxiliary Marker+ / PSO output Bidirectional Common www.aerotech.com...

  • Page 62: Figure 2-27: Pso Interface

    2.5. Auxiliary I/O Connector XC6e Hardware Manual Figure 2-27: PSO Interface www.aerotech.com...

  • Page 63: Digital Outputs

    Reset State Output Off (High Impedance State) Table 2-38: Digital Output Pins on the Auxiliary I/O Connector Pin# Description In/Out/Bi Digital Output 0 Output Digital Output 1 Output Digital Output 2 Output Digital Output Common Digital Output 3 Output www.aerotech.com...

  • Page 64: Figure 2-28: Digital Output Schematic (Aux I/O Connector)

    2.5. Auxiliary I/O Connector XC6e Hardware Manual Figure 2-28: Digital Output Schematic (Aux I/O Connector) www.aerotech.com...

  • Page 65: Figure 2-29: Digital Outputs Connected In Current Sourcing Mode

    XC6e Hardware Manual 2.5. Auxiliary I/O Connector Figure 2-29: Digital Outputs Connected in Current Sourcing Mode Figure 2-30: Digital Outputs Connected in Current Sinking Mode www.aerotech.com...

  • Page 66: Digital Inputs

    Digital Input 1 / CW EOT Input Input Digital Input Common Digital Input 2 / Home Input Input Digital Input 3 Input (1) Software configured option Figure 2-31: Digital Inputs Connected to Current Sinking Devices Figure 2-32: Digital Inputs Connected to Current Sourcing Devices www.aerotech.com...

  • Page 67: High-Speed Inputs

    High-Speed Input Pins on the Auxiliary I/O Connector Pin# Description In/Out/Bi High-Speed Input 20 + / PSO External Sync. + Input High-Speed Input 20 - / PSO External Sync. - Input High-Speed Input 21 + Input High-Speed Input 21 - Input Figure 2-33: High-Speed Inputs www.aerotech.com...

  • Page 68: Analog Output

    Output Voltage -10 V to +10 V Output Current 5 mA Resolution (bits) 16 bits Table 2-44: Analog Output Pins on the Auxiliary I/O Connector Pin# Description In/Out/Bi Analog Output 0 Output Analog Common Figure 2-34: Analog Output 0 Schematic www.aerotech.com...

  • Page 69: Analog Input 0 (Differential)

    1. Signals outside of this range may damage the input Table 2-46: Analog Input Pins on the Auxiliary I/O Connector Pin# Description In/Out/Bi Analog Input 0+ (Differential) Input Analog Input 0- (Differential) Input Analog Common Figure 2-35: Analog Input 0 Schematic www.aerotech.com...

  • Page 70: Brake Power Supply Connector

    Pin# Description In/Out/Bi Brake Power Supply (+) Input Brake Power Supply (-) Input Table 2-48: Mating Connector Part Numbers for the Brake Power Supply Connector Aerotech Wire Size: Tightening Description Phoenix P/N AWG [mm Torque (Nm) 2-Pin Terminal Block ECK02390 1827616 0.22 - 0.25...

  • Page 71: Hyperwire Interface

    HyperWire Cable Part Numbers Part Number Description HYPERWIRE-AO10-5 HyperWire cable, active optical, 0.5 m HYPERWIRE-AO10-10 HyperWire cable, active optical, 1.0 m HYPERWIRE-AO10-30 HyperWire cable, active optical, 3.0 m HYPERWIRE-AO10-50 HyperWire cable, active optical, 5.0 m HYPERWIRE-AO10-200 HyperWire cable, active optical, 20.0 m www.aerotech.com...

  • Page 72: Shunt Options

    Table 2-53: Internal Shunt Specifications Part Numbers Turn-On Turn-Off Option Description Range (VDC) Range (VDC) Vishay/Dale [Aerotech] 50 Ω (min), 300 W; 4000 µF RBEF030050R00KFBVT -240 380 - 395 360 - 370 Effective Bus Capacitance [ECR01039] 125 Ω (min), 300 W; 1500 µF...

  • Page 73: Table 2-54: Maximum Recommended Shunt Current

    If a shunt resistor is required, calculate the value of resistance necessary to dissipate the energy.  Equations 3, 4, and 5: Calculate the parameters of the shunt resistor. Equation 3:    peak power that the regeneration circuit must accommodate (W) PEAK deceleration time (s) www.aerotech.com...
  • Page 74 (W) time between deceleration events (s) CYCLE Equation 5:    hysteresis voltage of regeneration circuit (V) [20 V or 40 V, Typical (refer to Table 2-53)] Additional useful equations: 1 lb·ft = 1.356 N·m 1 rad/s = 9.55 rpm www.aerotech.com...

  • Page 75: Sync Port

    Length 3 dm; Connectors: USB Type A to USB Type A CBL-SYNC-5 Length 5 dm; Connectors: USB Type A to USB Type A CBL-SYNC-7 Length 7 dm; Connectors: USB Type A to USB Type A CBL-SYNC-10 Length 10 dm; Connectors: USB Type A to USB Type A www.aerotech.com...

  • Page 76: System Interconnection

    2.10. System Interconnection XC6e Hardware Manual 2.10. System Interconnection Click on the image below to open a separate pdf window with a larger view of the drawing. Figure 2-36: System Wiring Drawing (Best Practice) www.aerotech.com...

  • Page 77: Pc Configuration And Operation Information

    XC6e Hardware Manual 2.11. PC Configuration and Operation Information 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 78 2.11. PC Configuration and Operation Information XC6e Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 79: 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: XC6e with -EB1 I/O Option Board Connectors www.aerotech.com...

  • Page 80: Digital Outputs [-Eb1]

    24 V (26 V Maximum) Maximum Sink/Source Current 250 mA/output Output Saturation Voltage 0.9 V at maximum current Output Resistance 3.7 Ω Rise / Fall Time 250 µs (2K pull up to 24V) Reset State Output Off (High Impedance State) www.aerotech.com...

  • Page 81: Table 3-2: Digital Output 1 Connector Pinout [-Eb1]

    Output 11 (Optically-Isolated) Output Table 3-3: Mating Connector Part Numbers for the Digital Output 1 Connector [-EB1] Wire Size: mm [AWG] Mating Connector Aerotech P/N Third Party P/N 10-Pin Terminal Block ECK02395 Phoenix 1700841 0.5 - 0.14 [20-26] Table 3-4:...

  • Page 82: Figure 3-2: Digital Outputs Schematic [-Eb1]

    3.1. Digital Outputs [-EB1] XC6e Hardware Manual Figure 3-2: Digital Outputs Schematic [-EB1] www.aerotech.com...

  • Page 83: Figure 3-3: Digital Outputs Connected In Current Sourcing Mode [-Eb1]

    XC6e Hardware Manual 3.1. Digital Outputs [-EB1] 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 84: Digital Inputs [-Eb1]

    Input Input 11 (Optically-Isolated) Input Table 3-8: Mating Connector Part Numbers for the Digital Input 1 Connector [-EB1] Wire Size: mm [AWG] Mating Connector Aerotech P/N Third Party P/N 10-Pin Terminal Block ECK02395 Phoenix 1700841 0.5 - 0.14 [20-26] www.aerotech.com...

  • Page 85: Figure 3-5: Digital Inputs Schematic [-Eb1]

    Input 19 (Optically-Isolated) Input Table 3-10: Mating Connector Part Numbers for the Digital Input 2 Connector [-EB1] Wire Size: mm [AWG] Mating Connector Aerotech P/N Third Party P/N 10-Pin Terminal Block ECK02395 Phoenix 1700841 0.5 - 0.14 [20-26] Figure 3-5: Digital Inputs Schematic [-EB1] www.aerotech.com...

  • Page 86: Figure 3-6: Digital Inputs Connected To Current Sourcing (Pnp) Devices [-Eb1]

    IMPORTANT: 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] www.aerotech.com...

  • Page 87: Analog Outputs [-Eb1]

    Output Ground Table 3-13: Mating Connector Part Numbers for the Analog Output Connector [-EB1] Wire Size: mm [AWG] Type Aerotech P/N Third Party P/N 4-Pin Terminal Block ECK02399 Phoenix 1768004 0.5- 0.14 [20-26] Figure 3-8: Analog Output Typical Connection [-EB1]...

  • Page 88: Analog Inputs [-Eb1]

    Input Ground Table 3-16: Mating Connector Part Numbers for the Analog Input Connector [-EB1] Wire Size: mm [AWG] Mating Connector Aerotech P/N Third Party P/N 8-Pin Terminal Block ECK02397 Phoenix 1908101 0.5 - 0.14 [20-26] Figure 3-9: Analog Input Typical Connection [-EB1]...

  • Page 89: Position Synchronized Output Interface [-Eb1]

    Output PSO Output- Output PSO Output (TTL) Output Ground Table 3-19: Mating Connector Part Numbers for the PSO Interface Connector [-EB1] Wire Size: mm [AWG] Type Aerotech P/N Third Party P/N 4-Pin Terminal Block ECK02399 Phoenix 1768004 0.5- 0.14 [20-26] www.aerotech.com...
  • Page 90 This output signal is a 5V TTL signal which is used to drive an opto coupler or general purpose TTL input. This signal is active high and is driven to 5V when a PSO fire event occurs. Figure 3-12: PSO TTL Outputs Schematic www.aerotech.com...

  • Page 91: Chapter 4: Cables And Accessories

    XC6e Hardware Manual Chapter 4: Cables and Accessories Chapter 4: Cables and Accessories IMPORTANT: 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 www.aerotech.com...

  • Page 92: Joystick Interface

    XC6e 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 93 XC6e Hardware Manual 4.1. Joystick Interface Figure 4-2: Two Axis Joystick Interface (to the I/O board) www.aerotech.com...

  • Page 94: Handwheel Interface

    IMPORTANT: 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 Figure 4-3 Figure 4-4. Figure 4-3: Handwheel Interconnection to Aux I/O Connector Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module www.aerotech.com...

  • Page 95: Chapter 5: Maintenance

    The light is configured to blink for setup. Table 5-2: Troubleshooting Symptom Possible Cause and Solution Make sure the power LED is illuminated (this indicates that power is present). No Communication Make sure that all communication cables (HyperWire, for example) are fully inserted in their ports. www.aerotech.com...

  • Page 96: Preventative Maintenance

    Do not use fluids and sprays to clean the XC6e because they can easily go into the chassis or onto the outer connectors and components. If a cleaning solution goes into the XC6e, internal contamination can cause corrosion and electrical short circuits. Do not clean the labels with a cleaning solution because it might remove the label information. www.aerotech.com...

  • Page 97: Fuse Specifications

    XC6e Hardware Manual 5.2. Fuse Specifications 5.2. Fuse Specifications WARNING: Replace fuses only with the same type and value. Table 5-4: Control Board Fuse Specifications Aerotech Third Party P/N Fuse Description Size F100 Control Power at Line Input (L) 2 A S.B.
  • Page 98 5.2. Fuse Specifications XC6e Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 99: Appendix A: Warranty And Field Service

    Aerotech’s products are specifically designed and/or manufactured for buyer’s use or purpose. Aerotech’s liability on any claim for loss or damage arising out of the sale, resale, or use of any of its products shall in no event exceed the selling price of the unit.
  • Page 100 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 101: Appendix B: Revision History

    XC6e Hardware Manual Appendix B: Revision History Appendix B: Revision History Revision Description 1.00 New Manual www.aerotech.com...
  • Page 102 Appendix B: Revision History XC6e Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 103: Index

    Brushless Motor Phasing Oscilloscope Example Analog Input Pins (Aux I/O Connector) Brushless Motor Powered Motor Phasing Analog Input Typical Connection [-EB1] Brushless Motor Unpowered Motor and Feedback Analog Inputs [-EB1] Phasing Analog Output 0 on the Aux I/O Connector www.aerotech.com...
  • Page 104 Digital Inputs (Aux I/O Connector) Encoder Fault Input Pin on the Feedback Connector Digital Inputs [-EB1] Encoder Input (Feedback Connector) Digital Inputs Connected to a Current Sinking Device [- Encoder Input Pins on the Feedback Connector EB1] Encoder Phasing www.aerotech.com...
  • Page 105 PSO Interface (Aux I/O Connector) Feedback Monitoring PSO Isolated Output Sinks Current Figure PSO Isolated Output Sources Current -EB1 I/O Option Board Connectors PSO TTL Outputs Schematic Absolute Encoder Schematic (Auxiliary I/O Connector) 58 Absolute Encoder Schematic (Feedback Connector) www.aerotech.com...
  • Page 106 External Shunt Connector Cable Part Numbers Feedback Connector Card Part Number Internal Shunt Connector Motor Power Output Connector Motor Supply Connector I/O Option Board [-EB1] PSO Connector [-EB1] Input Power Connections Shunt Connector inspecting cooling vents STO Connector Inspection www.aerotech.com...
  • Page 107 PSO Interface Connector Pinout [-EB1] Auxiliary I/O Connector PSO Output Sources Auxiliary I/O Pins (Aux I/O Connector) PSO Pins (Aux I/O Connector) Brake Output Connector PSO Specifications (Aux I/O Connector) Brake Output Pins (Feedback Connector) PSO Specifications [-EB1] Bus Link Connector www.aerotech.com...
  • Page 108 Internal Shunt TTL Outputs Schematic (PSO) Motor Supply Connector Fuse Two Axis Joystick Interface Motor Supply Connector Wiring Two Axis Joystick Interface (to the I/O board of two drives) 93 PSO (Aux I/O Connector) Typical STO Configuration PSO [-EB1] www.aerotech.com...
  • Page 109 XC6e Hardware Manual Index Unit Weight Unpacking the Chassis Warranty and Field Service Wire Colors for Aerotech-Supplied Brushless Motor Cables www.aerotech.com...
  • Page 110 Index XC6e Hardware Manual This page intentionally left blank. www.aerotech.com...

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