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Summary of Contents for Aerotech Automation1 SI4 Series
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Page 1: Automation1 Si4 Stepper Controller
Automation1 SI4 Stepper Controller HARDWARE MANUAL Revision 1.01... - 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.
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Page 3: Table Of Contents
2.3.3. High-Speed User Input 2.3.4. Position Synchronized Output (PSO) Interface 2.4. HyperWire Interface 2.5. System Interconnection 2.6. PC Configuration and Operation Information Chapter 3: Maintenance 3.1. Preventative Maintenance Appendix A: Warranty and Field Service Appendix B: Revision History Index www.aerotech.com... -
Page 4: List Of Figures
Figure 2-17: Digital Outputs Schematic Figure 2-18: Digital Outputs Connected in Current Sourcing Mode Figure 2-19: Digital Outputs Connected in Current Sinking Mode Figure 2-20: High-Speed Input Figure 2-21: PSO TTL Outputs Schematic Figure 2-22: System Interconnection Drawing (Best Practice) www.aerotech.com... -
Page 5: List Of Tables
High-Speed Input Pins on the Digital I/O Connector Table 2-22: PSO Specifications Table 2-23: PSO Output Pins on the Digital I/O Connector Table 2-24: HyperWire Card Part Number Table 2-25: HyperWire Cable Part Numbers Table 2-26: LED Description Table 2-27: Troubleshooting Table 2-28: Preventative Maintenance www.aerotech.com... - Page 6 List of Tables SI4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 7: Eu Declaration Of Conformity
SI4 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 8 EU Declaration of Conformity SI4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 9: 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 10 Safety Procedures and Warnings SI4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 11: Installation Overview
Connect the motor feedback and amplifier to the Axis Connectors. Section 2.2. Connect the PC HyperWire to the HyperWire In port. Section 2.4. Connect additional I/O as required by your application. Section 2.3. Connect the power supply to the Control Supply. Section 2.1.1. Figure 1: Installation Connection Overview (4 Axis Shown) www.aerotech.com... - Page 12 Connect the motor feedback and amplifier to the Axis Connectors. Section 2.2. Connect the PC HyperWire to the HyperWire In port. Section 2.4. Connect additional I/O as required by your application. Section 2.3. Connect the power supply to the Control Supply. Section 2.1.1. Figure 2: Installation Connection Overview (4 Axis OEM Shown) www.aerotech.com...
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Page 13: Chapter 1: Introduction
Chapter 1: Introduction The SI4 is a multi-axis digital drive based on the HyperWire communication protocol. The drive provides deterministic behavior, auto-identification, and is fully software configurable. The drive controls amplifiers which accept clock-and-direction commands. Figure 1-1: SI4 Stepper Controller www.aerotech.com... -
Page 14: Figure 1-2: Si4-Oem Stepper Controller
Chapter 1: Introduction SI4 Hardware Manual Figure 1-2: SI4-OEM Stepper Controller www.aerotech.com... -
Page 15: Table 1-1: Feature Summary
Three-axis PSO firing (includes Three-axis Part-Speed PSO) Three-axis Part-Speed PSO firing, which uses the PSO firing circuit based off of the -PSO6 commanded 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 16: Figure 1-3: Functional Diagram
Chapter 1: Introduction SI4 Hardware Manual The block diagram that follows shows a summary of the connector signals. Figure 1-3: Functional Diagram www.aerotech.com... -
Page 17: Electrical Specifications
24 VDC 2-Axis: 2 A max, 0.45 A typical Control Supply Input Current 4-Axis: 2 A max, 0.6 A typical User Power Supply Output 5 VDC (@ 500 mA) Modes of Operation Stepper Output short circuit; Protective Features Control power supply under voltage www.aerotech.com... -
Page 18: Mechanical Specifications
Mounting Orientation Vertical (typical) Dimensions Section 1.2.2. Dimensions Refer to Airflow ~25 mm Minimum Clearance Connectors ~100 mm Standard Provided by internal fan Minimum Airflow (over the drive) 4.2 CMF (NOTE: Customer Supplied) Section 1.3. Environmental Specifications Operating Temperature Refer to www.aerotech.com... -
Page 19: Dimensions
SI4 Hardware Manual 1.2.2. Dimensions 1.2.2. Dimensions Figure 1-4: Dimensions [-2P1 (Standard 2-Axis)] www.aerotech.com... -
Page 20: Figure 1-5: Dimensions [-4P1 (Standard 4-Axis)]
1.2.2. Dimensions SI4 Hardware Manual Figure 1-5: Dimensions [-4P1 (Standard 4-Axis)] www.aerotech.com... -
Page 21: Figure 1-6: Dimensions [-2P2 (Oem 2-Axis)]
SI4 Hardware Manual 1.2.2. Dimensions Figure 1-6: Dimensions [-2P2 (OEM 2-Axis)] www.aerotech.com... -
Page 22: Figure 1-7: Dimensions [-4P2 (Oem 4-Axis)]
1.2.2. Dimensions SI4 Hardware Manual Figure 1-7: Dimensions [-4P2 (OEM 4-Axis)] www.aerotech.com... -
Page 23: Din Rail Mounting
3. Secure the DIN Rail to the mounting surface with #10-32 screws spaced every six inches. 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. Table 1-4: Mounting Parts Aerotech P/N DIN Rail EAM00914 DIN Rail Clip Kit SI4-DIN... -
Page 24: Oem Mounting
NOTE: Do not install the standoffs to the mounting surface with the drive already attached. 2. Attach the drive to the standoffs with the M3 screws. These screws are included with the drive. Table 1-5: OEM Mounting Parts Aerotech P/N M3 Threaded Hex Standoff, 10mm length EIH01181 M3 Philips Pan Head Screw, 8mm length HCY0003008 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
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 1-7: Drive and Software Compatibility Drive Type First Software Version Last Software Version Automation1 SI4 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 SI4 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
4-Axis: 2 A max, 0.6 A typical) 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: Minimizing Noise For Emc/Ce Compliance
2. Mount drives and power supplies on a conductive panel.Keep wire-run lengths to a minimum. 3. Use a separate wire for each ground connection to the drive.Use the shortest possible wire length. For additional SI4 system interconnection information, refer to Section 2.5. System Interconnection www.aerotech.com... -
Page 30: Axis Connector
Input Primary Marker - Input Absolute Data - Bidirectional Absolute Clock - Output Table 2-4: Mating Connector Part Numbers for the Axis Connector Mating Connector Aerotech P/N Third Party P/N 25-Pin D-Connector ECK00101 FCI DB25P064TXLF Backshell ECK00656 Amphenol 17E-1726-2 www.aerotech.com... -
Page 31: Stepper Clock And Stepper Direction Signals
A and A-N or B and B-N wires at the stepper motor driver. Table 2-7: Stepper Direction Signal Output Polarity Specification Value Negative / CCW Direction Logic Low (0 V) Positive / CW Direction Logic High (+5 V) Figure 2-2: Stepper Clock and Stepper Direction Timing www.aerotech.com... -
Page 32: Figure 2-3: Stepper Clock And Stepper Direction Output Schematic
2.2.1. Stepper Clock and Stepper Direction Signals SI4 Hardware Manual Figure 2-3: Stepper Clock and Stepper Direction Output Schematic www.aerotech.com... -
Page 33: End Of Travel Limits
Use NPN-type normally-closed limit switches (Active High) to provide fail-safe behavior in the event of an open circuit. Figure 2-4: End of Travel Limit Input Connections Figure 2-5: End of Travel Limit Input Schematic www.aerotech.com... -
Page 34: End Of Travel 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 2-6). Figure 2-6: End of Travel Limit Input Diagnostic Display www.aerotech.com... -
Page 35: Amplifier Fault Inputs
Use the amplifier fault input to monitor the stepper driver status. Use the FaultSetup parameter to configure the active polarity. The use of this input is optional. Table 2-9: Amplifier Fault Input Specifications Specification Value Maximum Input Voltage Figure 2-7: Fault Input Schematic www.aerotech.com... -
Page 36: Amplifier Enable Output
Amplifier Enable Connector Pin on the Axis Connector Pin # Description In/Out/Bi Amplifier Enable Output Table 2-11: Amplifier Enable Output Specifications Specification Value High-Level Output Voltage 4.4 V Output Current Source / Sink 10 mA Figure 2-8: Amplifier Enable Output Schematic www.aerotech.com... -
Page 37: Primary Encoder Inputs
Input Primary Cosine + Input Primary Marker + Input Absolute Data + Bidirectional Absolute Clock + Output Encoder Common Primary Sine - Input Primary Cosine - Input Primary Marker - Input Absolute Data - Bidirectional Absolute Clock - Output www.aerotech.com... -
Page 38: Square Wave Encoder
Use twisted-pair wiring for the highest performance and noise immunity. Table 2-13: Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum (25 ns minimum edge separation) x4 Quadrature Decoding 40 million counts/sec Figure 2-9: Square Wave Encoder Schematic (Axis Connector) www.aerotech.com... -
Page 39: Absolute Encoder
Use twisted-pair wiring for the highest performance and noise immunity. Refer to Figure 2-10 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 2-10: Absolute Encoder Schematic (Axis Connector) www.aerotech.com... -
Page 40: Encoder Phasing
Figure 2-11: 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 2-11. Figure 2-12: Position Feedback in the Diagnostic Display www.aerotech.com... -
Page 41: Stepper Motor Phasing
After the motor has been phased, if you want to change the direction of positive motion, use the ReverseMotionDirection parameter. Figure 2-13: Positive Motor Direction For Aerotech-supplied systems, the motor and encoder are correctly configured and connection adjustments are not necessary. www.aerotech.com... -
Page 42: Digital I/O Connector
High-Speed Differential Input 8+ / PSO External Sync. + Input PSO Output (TTL) Output Ground Ground +5 V Table 2-15: Mating Connector Part Numbers for the Digital I/O Connector Mating Connector Aerotech P/N Third Party P/N 26-Pin Connector ECK02514 10126-3000PE Backshell ECK02517 10326-52F0-008 www.aerotech.com... -
Page 43: Digital Inputs
Opto-Isolated Digital Input 2 Input Opto-Isolated Digital Input 3 Input Input Common for Digital Inputs 4-7 Opto-Isolated Digital Input 4 Input Opto-Isolated Digital Input 5 Input Opto-Isolated Digital Input 6 Input Opto-Isolated Digital Input 7 Input Figure 2-14: Digital Inputs Schematic www.aerotech.com... -
Page 44: Figure 2-15: Digital Inputs Connected To Current Sourcing (Pnp) Devices
SI4 Hardware Manual Each group of four inputs must be connected in an all sourcing or all sinking configuration. Figure 2-15: Digital Inputs Connected to Current Sourcing (PNP) Devices Figure 2-16: Digital Inputs Connected to Current Sinking (NPN) Devices www.aerotech.com... -
Page 45: Digital Outputs
Opto-Isolated Digital Output 1 Output Opto-Isolated Digital Output 2 Output Opto-Isolated Digital Output 3 Output Output Common for Digital Outputs 4-7 Opto-Isolated Digital Output 4 Output Opto-Isolated Digital Output 5 Output Opto-Isolated Digital Output 6 Output Opto-Isolated Digital Output 7 Output www.aerotech.com... -
Page 46: Figure 2-17: Digital Outputs Schematic
2.3.2. Digital Outputs SI4 Hardware Manual Figure 2-17: Digital Outputs Schematic www.aerotech.com... -
Page 47: Figure 2-18: Digital Outputs Connected In Current Sourcing Mode
SI4 Hardware Manual 2.3.2. Digital Outputs Figure 2-18: Digital Outputs Connected in Current Sourcing Mode Figure 2-19: Digital Outputs Connected in Current Sinking Mode www.aerotech.com... -
Page 48: High-Speed User Input
Delay 50 nsec Table 2-21: High-Speed Input Pins on the Digital I/O Connector Pin # Description In/Out/Bi High-Speed Differential Input 8- / PSO External Sync. - Input High-Speed Differential Input 8+ / PSO External Sync. + Input Figure 2-20: High-Speed Input www.aerotech.com... -
Page 49: Position Synchronized Output (Pso) Interface
5 V, 50 mA (max) Maximum PSO Output (Fire) Frequency 12.5 MHz Output Latency 5 ns [Fire event to output change] Table 2-23: PSO Output Pins on the Digital I/O Connector Pin # Description In/Out/Bi PSO Output (TTL) Output Ground Figure 2-21: PSO TTL Outputs Schematic www.aerotech.com... -
Page 50: 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 51: System Interconnection
SI4 Hardware Manual 2.5. System Interconnection 2.5. System Interconnection Click on the image below to open a separate pdf window with a larger view of the drawing. Figure 2-22: System Interconnection Drawing (Best Practice) www.aerotech.com... -
Page 52: Pc Configuration And Operation Information
2.6. PC Configuration and Operation Information SI4 Hardware Manual 2.6. 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 53: Chapter 3: Maintenance
The light is configured to blink for setup. Table 2-27: 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 54: Preventative Maintenance
Do not use fluids and sprays to clean the SI4 because they can easily go into the chassis or onto the outer connectors and components. If a cleaning solution goes into the SI4, 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 55: 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 56 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:...
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Page 57: Appendix B: Revision History
SI4 Hardware Manual Appendix B: Revision History Appendix B: Revision History Revision Description 1.01 Added OEM configuration 1.00 New Manual www.aerotech.com... - Page 58 Appendix B: Revision History SI4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 59: Index
Enclosure Cleaning encoder Clock and Direction Output Schematic absolute Clock and Direction Timing Encoder Input (Axis Connector) Clock Output Signals Encoder Input Pins on the Axis Connector connections, examining Encoder Phasing Control Supply Connections Encoder Phasing Reference Diagram www.aerotech.com... - Page 60 Square Wave Encoder Schematic (Axis Connector) TTL Outputs Schematic (PSO) fluids, dangerous packing list Functional Diagram PC Configuration and Operation Information Phasing Stepper Motor High-Speed Input Pinout High-Speed Input Pins on the Digital I/O Connector Amplifier Enable Connector (Axis Connector) High-Speed Input Specifications www.aerotech.com...
- Page 61 RS-422 Encoder Specifications (Axis Connector) RS-422 Line Driver Encoder Warranty and Field Service Safety Procedures and Warnings serial data stream serial number Specifications Amplifier Enable Output Amplifier Fault Input Control Supply Connector Wiring Digital Inputs Digital Outputs High-Speed Input www.aerotech.com...
- Page 62 Index SI4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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