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Aerotech Automation1 XC2 Hardware Manual

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Automation1 XC2 PWM Digital Drive
HARDWARE MANUAL
Revision 2.01

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Summary of Contents for Aerotech Automation1 XC2

  • Page 1: Automation1 Xc2 Pwm Digital Drive

    Automation1 XC2 PWM Digital Drive HARDWARE MANUAL Revision 2.01...
  • 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

    XC2 Hardware Manual Table of Contents Table of Contents Automation1 XC2 PWM Digital Drive Table of Contents List of Figures List of Tables EU Declaration of Conformity Agency Approvals Safety Procedures and Warnings Installation Overview Chapter 1: Introduction 1.1. Electrical Specifications 1.1.1.
  • Page 4 Chapter 4: Cables and Accessories 4.1. DIN Rail Mounting 4.2. Joystick Interface 4.3. Handwheel Interface 4.4. Dual-PSO Adapter Cable 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

    Figure 3-12: Digital Outputs Connected in Current Sourcing Mode [-EB1] Figure 3-13: Digital Outputs Connected in Current Sinking Mode [-EB1] Figure 4-1: Din Rail Clip Dimensions Figure 4-2: Two Axis Joystick Interface Figure 4-3: Handwheel Interconnection to the Aux Connector www.aerotech.com...
  • Page 6 List of Figures XC2 Hardware Manual Figure 4-4: Dual-Axis PSO Cable Connection www.aerotech.com...

  • Page 7: List Of Tables

    Motor Power Output Connector Pinout Table 2-6: Mating Connector Part Numbers for the Motor Power Output Connector Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables  Table 2-8: Hall Signal Diagnostics Table 2-9: Wire Colors for Aerotech-Supplied DC Brush Motor Cables...
  • Page 8 Digital Output Connector Pinout [-EB1] Table 3-18: Mating Connector Part Numbers for the Digital Output Connector [-EB1] Table 4-1: Standard Interconnection Cables Table 4-2: Mounting Parts 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

    XC2 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 following Directive(s):...
  • Page 10 EU Declaration of Conformity XC2 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 11: Agency Approvals

    Certificate #: Z10 068995 0030 Rev. 00 Standards: IEC 61508-1:2010 (up to SIL 3) Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates. Type the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech certificates. www.aerotech.com...
  • Page 12 Agency Approvals XC2 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 13: 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 14 Safety Procedures and Warnings XC2 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 15: 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 16 Installation Overview XC2 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 17: Chapter 1: Introduction

    The XC2 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 XC2. Figure 1-1: XC2 High Performance PWM Amplifier www.aerotech.com...

  • Page 18: Table 1-1: Feature Summary

    One-axis PSO firing (includes One-axis Part-Speed PSO) Multiplier Section 2.3.1.3. -MX0 No encoder multiplier Interpolation circuit allowing for analog sine wave input on the primary encoder -MX1 channel with an interpolation factor of 16,384. Version -DEFAULT Firmware Matches Software Line -LEGACY Legacy Firmware Version X.XX.XXX www.aerotech.com...

  • Page 19: Figure 1-2: Functional Diagram

    XC2 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 20: Electrical Specifications

    Output short circuit; Peak over current; RMS over current; Over Protective Features temperature; Control power supply under voltage; Power stage bias supply under voltage (1) DC input voltage and load dependent.  (2) Dependent on total output power: efficiency increases with increasing output power. www.aerotech.com...

  • Page 21: 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 22: Mechanical Specifications

    Section 4.1. DIN Rail Mounting Weight ~0.54 kg Mounting Hardware M3.5 [#6] 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 Section 1.3. Environmental Specifications Refer to www.aerotech.com...

  • Page 23: Dimensions

    XC2 Hardware Manual 1.2.2. Dimensions 1.2.2. Dimensions Figure 1-3: Dimensions www.aerotech.com...

  • Page 24: Figure 1-4: Dimensions [-Eb1]

    1.2.2. Dimensions XC2 Hardware Manual Figure 1-4: Dimensions [-EB1] www.aerotech.com...

  • Page 25: 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 26: Drive And Software Compatibility

    Last Software Version column, drives that show a specific version number are not supported after that version. Table 1-5: Drive and Software Compatibility Drive Type Software First Software Version Last Software Version Automation1 Current Automation1 XC2 A3200 6.04 Current 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 XC2 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

    (2 A max, 0.4 A typical without brake) Control Power Common Input 0.34 mm (#22 AWG) Protective Ground 0.34 mm (#22 AWG) 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 ECK02456 Phoenix 1839610 0.22 - 0.25...

  • Page 29: Motor Supply Connector

    Motor Power Input (15-100 VDC) Motor Power Input Common 0.5 mm (#20 AWG) Protective Ground 0.5 mm (#20 AWG) Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector Aerotech Third Party Screw Wire Size: Type Torque: Nm [AWG] 7-Pin Terminal Block ECK02457 Phoenix 1839678 0.22 - 0.25...

  • Page 30: Minimizing Noise For Emc/Ce Compliance

    For the AC power lines feeding the VDC Motor supply and VDC Control sup- ply, place a line filter, such as Schaffner FN2070-10-06 (Aerotech# ECZ00284) between the VDC power supply’s AC inputs and the AC power source.

  • Page 31: Motor Power Output Connector

    Stepper Brushless Phase C Motor Lead DC Brush - 0.5 mm (#20 AWG) Stepper Return Table 2-6: Mating Connector Part Numbers for the Motor Power Output Connector Aerotech Third Party Screw Wire Size: Type Torque: Nm [AWG] 7-Pin Terminal Block ECK02457 Phoenix 1839678 0.22 - 0.25...

  • 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 2-8: 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: Dc Brush Motor Connections

    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 36: Dc Brush Motor Phasing

    5. Connect the motor lead from the positive lead of the voltmeter to the ØA motor terminal on the XC2. Connect the motor lead from the negative lead of the voltmeter to the ØC motor terminal on the XC2. For Aerotech-supplied systems, the motor, encoder and Hall sensors are correctly configured and connection adjustments are not necessary. www.aerotech.com...

  • Page 37: 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 38: Stepper Motor Phasing

    After the motor has been phased, if you want to change the direction of positive motion, use the ReverseMotionDirection parameter. Figure 2-11: Positive Motor Direction For Aerotech-supplied systems, the motor, encoder and Hall sensors are correctly configured and connection adjustments are not necessary. www.aerotech.com...

  • Page 39: 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 40: 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 41: Square Wave Encoder

    Use twisted-pair wiring for the highest performance and noise immunity. Table 2-15: Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum (25 ns minimum edge separation) x4 Quadrature Decoding 40 million counts/sec Figure 2-12: Square Wave Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 42: Absolute Encoder

    You cannot echo an absolute encoder signal. Refer to Figure 2-13 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 2-13: Absolute Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 43: Sine Wave Encoder [-Mx1 Option]

    Input Frequency (max) 200 kHz Input Amplitude 0.6 to 1.75 Vpk-pk Interpolation Factor (max) 16,384 Input Common Mode 1.5 to 3.5 VDC (1) Measured as SIN(+) - SIN(-) or COS(+) - COS(-) Figure 2-14: Sine Wave Encoder Phasing Reference Diagram www.aerotech.com...

  • Page 44: Figure 2-15: Sine Wave Encoder Schematic (Feedback Connector)

    2.3.1. Primary Encoder Inputs XC2 Hardware Manual Figure 2-15: Sine Wave Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 45: Encoder Phasing

    Figure 2-16: 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 2-16. Figure 2-17: Position Feedback in the Diagnostic Display www.aerotech.com...

  • Page 46: 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 2-18: Hall-Effect Inputs Schematic (Feedback Connector) www.aerotech.com...

  • Page 47: 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 2-18: Thermistor Input Pin on the Feedback Connector Pin # Description In/Out/Bi Motor Over Temperature Thermistor Input Figure 2-19: Thermistor Input Schematic (Feedback Connector) www.aerotech.com...

  • Page 48: Encoder Fault Input

    The nominal trip voltage of the encoder fault input is +2.5 V. Table 2-19: Encoder Fault Input Pin on the Feedback Connector Pin # Description In/Out/Bi Encoder Fault Input Input Figure 2-20: Encoder Fault Input Schematic (Feedback Connector) www.aerotech.com...

  • Page 49: 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 50: Figure 2-21: End Of Travel And Home Limit Input Connections

    2.3.5. End of Travel and Home Limit Inputs XC2 Hardware Manual Figure 2-21: End of Travel and Home Limit Input Connections Figure 2-22: End of Travel and Home Limit Input Schematic (Feedback Connector) www.aerotech.com...

  • Page 51: 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 2-23). Figure 2-23: End of Travel and Home Limit Input Diagnostic Display www.aerotech.com...

  • Page 52: Brake Outputs

    Brake Output +  Output Table 2-22: Brake Control Specifications Specification Value Maximum Voltage 24 VDC Maximum Current A varistor must be connected across the brake to minimize voltage transients. Figure 2-24: Brake Connected to the 25-Pin Feedback Connector (Typical) www.aerotech.com...

  • Page 53: 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 2-24: Mating Connector Part Numbers for the STO Connector Tightening Aerotech Phoenix Torque Wire Size: Description (Nm) AWG [mm 5-Pin Terminal Block...

  • Page 54: Figure 2-25: Typical Configuration

    WARNING: The XC2 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 2-25: Typical Configuration www.aerotech.com...

  • Page 55: 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 56: Sto Functional Description

    Connect the ESTOP signal directly to a digital input, in addition to the external timer, to allow the XC2 to begin a software-controlled stop as soon as the ESTOP signal becomes active. Use the EmergencyStopFaultInput [A3200: ESTOPFaultInput] parameter to configure a digital input as an ESTOP input. www.aerotech.com...

  • Page 57: 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 58: 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 59: 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 60: System Interconnection

    2.6. System Interconnection XC2 Hardware Manual 2.6. System Interconnection Click on the image below to open a separate pdf window with a larger view of the drawing. Figure 2-27: System Wiring Drawing (Best Practice) www.aerotech.com...

  • Page 61: Figure 2-28: System Interconnection Drawing (Best Practice)

    XC2 Hardware Manual 2.6. System Interconnection Figure 2-28: System Interconnection Drawing (Best Practice) www.aerotech.com...

  • Page 62: Pc Configuration And Operation Information

    2.7. PC Configuration and Operation Information XC2 Hardware Manual 2.7. 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 63: 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 8 digital inputs, 8 digital outputs, 1 analog input, 1 analog output, and PSO outputs. Figure 3-1: XC2 with -EB1 I/O Option Board Connectors www.aerotech.com...

  • Page 64: Position Synchronized Output Interface [-Eb1]

    Output PSO Output- Output PSO Output (TTL) Output Ground Table 3-3: 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 65: Figure 3-2: Pso Output Sources Current

    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 3-4: PSO TTL Outputs Schematic www.aerotech.com...

  • Page 66: Auxiliary Encoder Input [-Eb1]

    Input +5 Volt (500 mA max) Signal Common Auxiliary Sine- Bidirectional Table 3-5: Mating Connector Part Numbers for the AUX Connector Adapter Cable Aerotech P/N Third Party P/N 9-Pin Standard D-style C20931 25-Pin Standard D-style C20932 Flying Leads ECZ01343 Molex 83421-9042...

  • Page 67: Square Wave Encoder

    Use twisted-pair wiring for the highest performance and noise immunity. Table 3-6: Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum (25 ns minimum edge separation) x4 Quadrature Decoding 40 million counts/sec Figure 3-5: Square Wave Encoder Interface (Aux Connector) www.aerotech.com...

  • Page 68: Analog I/O [-Eb1]

    Input Ground Ground Analog Output 0 Output Table 3-8: Mating Connector Part Numbers for the Analog I/O Connector [-EB1] Wire Size: mm [AWG] Type Aerotech P/N Third Party P/N 6-Pin Terminal Block ECK02405 Phoenix 1704755 0.5 - 0.14 [20-26] www.aerotech.com...

  • Page 69: Analog Input (Differential) [-Eb1]

    1. Signals outside of this range may damage the input Table 3-10: Analog Input Pins on the Analog I/O Connector [-EB1] Pin# Description In/Out/Bi +5 V (250 mA max) Analog Input 0+ Input Analog Input 0- Input Ground Figure 3-6: Analog Input Schematic [-EB1] www.aerotech.com...

  • Page 70: Analog Output 0 [-Eb1]

    Value Output Voltage -10 V to +10 V Output Current 5 mA Resolution (bits) 16 bits Table 3-12: Analog Output Pins on the Analog I/O Connector [-EB1] Pin# Description In/Out/Bi Ground Analog Output 0 Output Figure 3-7: Analog Output Schematic [-EB1] www.aerotech.com...

  • Page 71: Digital Inputs [-Eb1]

    Input 7 (Optically-Isolated) Input Table 3-15: Mating Connector Part Numbers for the Digital Input 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 3-8: Digital Inputs Schematic [-EB1]...

  • Page 72: Figure 3-9: Digital Inputs Connected To Current Sourcing (Pnp) Devices [-Eb1]

    XC2 Hardware Manual Each bank of four inputs must be connected in an all sourcing or all sinking configuration. Figure 3-9: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] Figure 3-10: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] www.aerotech.com...

  • Page 73: Digital Outputs [-Eb1]

    Output 6 (Optically-Isolated) Output Output 7 (Optically-Isolated) Output Table 3-18: Mating Connector Part Numbers for the Digital Output 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 74: Figure 3-11: Digital Outputs Schematic [-Eb1]

    3.5. Digital Outputs [-EB1] XC2 Hardware Manual Figure 3-11: Digital Outputs Schematic [-EB1] www.aerotech.com...

  • Page 75: Figure 3-12: Digital Outputs Connected In Current Sourcing Mode [-Eb1]

    XC2 Hardware Manual 3.5. Digital Outputs [-EB1] Figure 3-12: Digital Outputs Connected in Current Sourcing Mode [-EB1] Figure 3-13: Digital Outputs Connected in Current Sinking Mode [-EB1] www.aerotech.com...
  • Page 76 3.5. Digital Outputs [-EB1] XC2 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 77: Chapter 4: Cables And Accessories

    XC2 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 4.2. Joystick Interface Refer to Handwheel Section 4.3.

  • Page 78: Din Rail Mounting

    NOTE: Do not install the DIN rail to the mounting surface with the components already attached. 4. Install all components on to the DIN rail. IMPORTANT: Refer to the Automation1 PS2 DIN Rail Power Supply hardware manual for more information. Table 4-2: Mounting Parts Aerotech P/N DIN Rail EAM00914 DIN Rail Clip Kit XC2-DIN Figure 4-1: Din Rail Clip Dimensions www.aerotech.com...

  • Page 79: Joystick Interface

    4.2. Joystick Interface 4.2. 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 80: Handwheel Interface

    XC2. IMPORTANT: You can find instructions on how to enable the handwheel in the Help file. Connect a handwheel to the Aux connector as shown in Figure 4-3. Figure 4-3: Handwheel Interconnection to the Aux Connector www.aerotech.com...

  • Page 81: Dual-Pso Adapter Cable

    XC2 Hardware Manual 4.4. Dual-PSO Adapter Cable 4.4. Dual-PSO Adapter Cable The dual-PSO adapter cable is available in two lengths:  3 dm (9.84 in) 9 dm (29.52 in) Figure 4-4: Dual-Axis PSO Cable Connection www.aerotech.com...
  • Page 82 4.4. Dual-PSO Adapter Cable XC2 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 83: 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 84: Preventative Maintenance

    Do not use fluids and sprays to clean the XC2 because they can easily go into the chassis or onto the outer connectors and components. If a cleaning solution goes into the XC2, 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 85: Fuse Specifications

    XC2 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 Control Power at +24V Input 2 A S.B. EIF01066 Littelfuse 0473002.MRT1L...
  • Page 86 5.2. Fuse Specifications XC2 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 87: 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 88 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 89: Appendix B: Revision History

    Section 3.2. Auxiliary Encoder Input [-EB1] 2.00 General Update The following sections have been updated: Agency Approvals 1.02 Section 1.1. Electrical Specifications Section 2.3.1. Primary Encoder Inputs Added System Interconnection drawing: Section 2.6. 1.01 Updated Joystick Interface drawing: Figure 4-2 1.00 New Manual www.aerotech.com...
  • Page 90 Appendix B: Revision History XC2 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 91: Index

    Analog Output Typical Connection [-EB1] cooling vents, inspecting Analog Outputs [-EB1] Customer order number AUX Connector Mating Connector Part Numbers AUX Connector Pinout Auxiliary Encoder Connector Pinout DC Brush Motor Configuration (Motor Power Output Auxiliary Encoder Input [-EB1] Connector) www.aerotech.com...
  • Page 92 Analog Input Typical Connection [-EB1] Encoder Fault Input (Feedback Connector) Analog Output Typical Connection [-EB1] Encoder Fault Input Pin on the Feedback Connector Brake Connected to the Feedback Connector Encoder Input (Feedback Connector) Encoder Input Pins on the Feedback Connector www.aerotech.com...
  • Page 93 Mating Connector P/N fluids, dangerous Analog I/O (AI/O) Connector [-EB1] Functional Diagram AUX Connector Fuse Specifications Control Supply Connector Control Supply at L Digital Input Connector [-EB1] External Shunt (-SX1) Digital Output Connector [-EB1] Motor Supply at AC1 Feedback Connector www.aerotech.com...
  • Page 94 DC Brush Motor RS-422 Encoder Specifications (Feedback Connector) 41,67 End of Travel Limits RS-422 Line Driver Encoder 41,67 Powered Brushless Motor Stepper Motor Unpowered Brushless Motor/Feedback Pinout Safe Torque Off Input (STO) Analog I/O (AI/O) Connector [-EB1] Safety Procedures and Warnings www.aerotech.com...
  • Page 95 Square Wave Encoder Schematic [-EB1] Wire Colors for Aerotech-Supplied DC Brush Motor Square Wave Encoder Specifications (Feedback Cables Connector) 41,67 Wire Colors for Aerotech-Supplied Stepper Motor Cables 37 Standard Features Stepper Motor Configuration Stepper Motor Connections (Motor Power Output Connector) XC2-DIN...
  • Page 96 Index XC2 Hardware Manual This page intentionally left blank. www.aerotech.com...

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