Related Manuals for Aerotech Automation1 iXI4
Summary of Contents for Aerotech Automation1 iXI4
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Page 1: Automation1 Ixi4 And Xi4 Transconductance Amplifier Controllers
Automation1 iXI4 and XI4 Transconductance Amplifier Controllers HARDWARE MANUAL Revision 1.02... - Page 2 Global Technical Support Portal for information and support about your Aerotech, Inc. products. The website supplies software, product manuals, Help files, training schedules, and PC-to-PC remote technical support. If necessary, you can complete Product Return (RMA) forms and get information about repairs and spare or replacement parts.
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Page 3: Table Of Contents
Hardware Manual Table of Contents Table of Contents Automation1 iXI4 and XI4 Transconductance Amplifier Controllers Table of Contents List of Figures List of Tables EU Declaration of Conformity Safety Procedures and Warnings Handling and Storage Installation Overview Chapter 1: iXI4/XI4 Overview 1.1. - Page 4 Table of Contents iXI4/XI4 Hardware Manual Appendix A: Warranty and Field Service Appendix B: Revision History Index www.aerotech.com...
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Page 5: List Of Figures
Figure 2-30: Analog Outputs Schematic Figure 2-31: Analog Inputs Schematic Figure 2-32: Drive-Based Controller System Interconnection (Best Practice) Figure 2-33: PC-Based Controller System Interconnection (Best Practice) Figure 3-1: Two Axis Joystick Interface Figure 3-2: Handwheel Interconnection to Axis Connector www.aerotech.com... -
Page 6: List Of Tables
Analog Output Pins on the Analog I/O and Laser Interface Connector Table 2-37: Analog Input Specifications Table 2-38: Analog Input Pins on the Analog I/O and Laser Interface Connector Table 2-39: Sync-Related Functions Table 2-40: Sync Port Cables Table 2-41: HyperWire Card Part Number www.aerotech.com... - Page 7 Hardware Manual List of Tables Table 2-42: HyperWire Cable Part Numbers Table 3-1: Standard Interconnection Cables Table 4-1: LED Description Table 4-2: Troubleshooting Table 4-3: Preventative Maintenance www.aerotech.com...
- Page 8 List of Tables iXI4/XI4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 9: Eu Declaration Of Conformity
Hardware Manual EU Declaration of Conformity EU Declaration of Conformity Manufacturer Aerotech, Inc. Address 101 Zeta Drive Pittsburgh, PA 15238-2811 Product iXI4/XI4 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 iXI4/XI4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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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: Handling And Storage
Store the controller in the original shipping container. If the original packaging included ESD protective packaging, make sure to store the controller in it. The storage location must be: free of dust free of vibrations flat Section 1.3. Environmental Specifications Refer to www.aerotech.com... -
Page 13: Installation Overview
Connect the PC to the USB or Ethernet port. Connect the next drive in the system to the HyperWire Out port. Section 2.5. Section 2.3. Connect additional I/O as required by your application. Section 2.4. Connect the power supply to the Control Supply. Section 2.1.1. www.aerotech.com... - Page 14 Connect the motor feedback and amplifier to the Axis Connectors. Section 2.2. Connect the PC HyperWire to the HyperWire In port. Section 2.5. Section 2.3. Connect additional I/O as required by your application. Section 2.4. Connect the power supply to the Control Supply. Section 2.1.1. www.aerotech.com...
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Page 15: Chapter 1: Ixi4/Xi4 Overview
PC or a drive-based controller. Both drives provide deterministic behavior, auto-identification, and are fully software configurable. They can control industry-standard analog transconductance amplifiers that accept analog current commands and clock-and-direction commands. Figure 1-1: iXI4 Transconductance Amplifier Controller www.aerotech.com... -
Page 16: Figure 1-2: Xi4 Transconductance Amplifier Controller
Chapter 1: iXI4/XI4 Overview iXI4/XI4 Hardware Manual Figure 1-2: XI4 Transconductance Amplifier Controller www.aerotech.com... -
Page 17: Figure 1-3: Ixi4-Oem Transconductance Amplifier Controller
Hardware Manual Chapter 1: iXI4/XI4 Overview Figure 1-3: iXI4-OEM Transconductance Amplifier Controller www.aerotech.com... -
Page 18: Figure 1-4: Xi4-Oem Transconductance Amplifier Controller
Chapter 1: iXI4/XI4 Overview iXI4/XI4 Hardware Manual Figure 1-4: XI4-OEM Transconductance Amplifier Controller www.aerotech.com... -
Page 19: 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 -PSO6 the 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 20: Figure 1-5: Functional Diagram
Chapter 1: iXI4/XI4 Overview iXI4/XI4 Hardware Manual The block diagram that follows shows a summary of the connector signals. Figure 1-5: Functional Diagram www.aerotech.com... -
Page 21: Electrical Specifications
Input Voltage 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 Brushless, Brush, Stepper Protective Features Control power supply under voltage www.aerotech.com... -
Page 22: Mechanical Specifications
Mounting Orientation Vertical (typical) Section 1.2.2. Dimensions 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) Operating Temperature Refer to Section 1.3. Environmental Specifications www.aerotech.com... -
Page 23: Dimensions
Hardware Manual 1.2.2. Dimensions 1.2.2. Dimensions IMPORTANT: iXI4 and XI4 dimensions are the same. iXI4 is shown. Figure 1-6: Dimensions [-2P1 (Standard 2-Axis)] www.aerotech.com... -
Page 24: Figure 1-7: Dimensions [-4P1 (Standard 4-Axis)]
1.2.2. Dimensions iXI4/XI4 Hardware Manual IMPORTANT: iXI4 and XI4 dimensions are the same. iXI4 is shown. Figure 1-7: Dimensions [-4P1 (Standard 4-Axis)] www.aerotech.com... -
Page 25: Figure 1-8: Dimensions [-2P2 (Oem 2-Axis)]
Hardware Manual 1.2.2. Dimensions IMPORTANT: iXI4-OEM and XI4-OEM dimensions are the same. iXI4-OEM is shown. Figure 1-8: Dimensions [-2P2 (OEM 2-Axis)] www.aerotech.com... -
Page 26: Figure 1-9: Dimensions [-4P2 (Oem 4-Axis)]
1.2.2. Dimensions iXI4/XI4 Hardware Manual IMPORTANT: iXI4-OEM and XI4-OEM dimensions are the same. iXI4-OEM is shown. Figure 1-9: Dimensions [-4P2 (OEM 4-Axis)] www.aerotech.com... -
Page 27: 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 HyperWire-DIN... -
Page 28: Oem Mounting
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, 10 mm length EIH01181 M3 Philips Pan Head Screw, 8 mm length HCY0003008 www.aerotech.com... -
Page 29: 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 30 1.4. Drive and Software Compatibility iXI4/XI4 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 31: Chapter 2: Installation And Configuration
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 32: 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 33: Current Command Output Signals
Current Command A Output Signal Common Output Current Command B Output Table 2-6: Current Command Signal Output Specifications Specification Value Rated Output Current 10 mA Output Voltage Range ±10 V Reset State 0 V Figure 2-2: Current Command Output Schematic www.aerotech.com... -
Page 34: Stepper Clock And Stepper Direction Signals
Reverse the A and A-N or B and B-N wires at the stepper motor driver. Table 2-9: Stepper Direction Signal Output Polarity Specification Value Negative / CCW Direction Logic Low (0 V) Positive / CW Direction Logic High (+5 V) Figure 2-3: Stepper Clock and Stepper Direction Timing www.aerotech.com... -
Page 35: Figure 2-4: Stepper Clock And Stepper Direction Output Schematic
Hardware Manual 2.2.2. Stepper Clock and Stepper Direction Signals Figure 2-4: Stepper Clock and Stepper Direction Output Schematic www.aerotech.com... -
Page 36: Hall-Effect Inputs
Pin # Description In/Out/Bi Signal Common Output Hall Effect Sensor A Input +5 V Supply (500 mA) Output Hall Effect Sensor B Input Stepper Clock Output Hall Effect Sensor C Input Stepper Direction Output Signal Common Output Figure 2-5: Hall-Effect Inputs Schematic www.aerotech.com... -
Page 37: 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 2-11: Hall Signal Diagnostics Hall-Signal Status Definition 0 V or logic low 5 V or logic high Figure 2-6: Positive Motor Direction Figure 2-7: Encoder and Hall Signal Diagnostics www.aerotech.com... -
Page 38: 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 2-8: End of Travel Limit Input Connections Figure 2-9: End of Travel Limit Input Schematic www.aerotech.com... -
Page 39: End Of Travel Limit Phasing
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. View the logic level of the EOT limit inputs in the Diagnostics display (shown in Figure 2-10). Figure 2-10: End of Travel Limit Input Diagnostic Display www.aerotech.com... -
Page 40: 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 2-13: Amplifier Fault Input Specifications Specification Value Maximum Input Voltage Figure 2-11: Fault Input Schematic www.aerotech.com... -
Page 41: Amplifier Enable Output
Amplifier Enable Connector Pin on the Axis Connector Pin # Description In/Out/Bi Amplifier Enable Output Table 2-15: Amplifier Enable Output Specifications Specification Value High-Level Output Voltage 4.4 V Output Current Source / Sink 10 mA Figure 2-12: Amplifier Enable Output Schematic www.aerotech.com... -
Page 42: Primary Encoder Inputs
Primary Cosine + Input Primary Marker + Input Absolute Data + Bidirectional Absolute Clock + Output Signal Common Output Primary Sine - Input Primary Cosine - Input Primary Marker - Input Absolute Data - Bidirectional Absolute Clock - Output www.aerotech.com... -
Page 43: Square Wave Encoder (Primary)
Table 2-18: Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum (25 ns minimum edge separation) x4 Quadrature Decoding 40 million counts/sec Figure 2-13: Square Wave Encoder Schematic (Axis Connector) www.aerotech.com... -
Page 44: Absolute Encoder (Primary)
You cannot echo an absolute encoder signal. Refer to Figure 2-14 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 2-14: Absolute Encoder Schematic (Axis Connector) www.aerotech.com... -
Page 45: Sine Wave Encoder (Primary)
450 kHz, 2 MHz 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 2-15: Sine Wave Encoder Phasing Reference Diagram www.aerotech.com... -
Page 46: Figure 2-16: Sine Wave Encoder Schematic (Axis Connector)
2.2.7. Primary Encoder Inputs iXI4/XI4 Hardware Manual Figure 2-16: Sine Wave Encoder Schematic (Axis Connector) www.aerotech.com... -
Page 47: Encoder Phasing
Figure 2-17: 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 2-17. Figure 2-18: Position Feedback in the Diagnostic Display www.aerotech.com... -
Page 48: Stepper Motor Phasing
After the motor has been phased, if you want to change the direction of positive motion, use the ReverseMotionDirection parameter. Figure 2-19: Positive Motor Direction For Aerotech-supplied systems, the motor and encoder are correctly configured and connection adjustments are not necessary. www.aerotech.com... -
Page 49: Auxiliary Encoder Input
Table 2-21: Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum (25 ns minimum edge separation) x4 Quadrature Decoding 40 million counts/sec Figure 2-20: Square Wave Encoder Interface (Auxiliary) www.aerotech.com... -
Page 50: Digital I/O Connector
High-Speed Differential Input 8- Input High-Speed Differential Input 8+ Input Reserved Common Output Common Output +5 V Output Table 2-23: 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 51: 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 Output 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 52: Figure 2-21: Digital Outputs Schematic
2.3.1. Digital Outputs iXI4/XI4 Hardware Manual Figure 2-21: Digital Outputs Schematic www.aerotech.com... -
Page 53: Figure 2-22: Digital Outputs Connected In Current Sourcing Mode
Hardware Manual 2.3.1. Digital Outputs Figure 2-22: Digital Outputs Connected in Current Sourcing Mode Figure 2-23: Digital Outputs Connected in Current Sinking Mode www.aerotech.com... -
Page 54: Digital Inputs
Opto-Isolated Digital Input 2 Input Opto-Isolated Digital Input 3 Input Input Common for Digital Inputs 4-7 Output 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 2-24: Digital Inputs Schematic www.aerotech.com... -
Page 55: Figure 2-25: Digital Inputs Connected To Current Sourcing (Pnp) Devices
2.3.2. Digital Inputs Each group of four inputs must be connected in an all sourcing or all sinking configuration. Figure 2-25: Digital Inputs Connected to Current Sourcing (PNP) Devices Figure 2-26: Digital Inputs Connected to Current Sinking (NPN) Devices www.aerotech.com... -
Page 56: High-Speed User Input
5V - 24 V input voltages Input Current 10 mA Input Device HCPL-0630 Delay 50 nsec Table 2-29: High-Speed Input Pins on the Digital I/O Connector Pin # Description In/Out/Bi High-Speed Differential Input 8- Input High-Speed Differential Input 8+ Input Figure 2-27: High-Speed Input www.aerotech.com... -
Page 57: Analog I/O And Laser Interface Connector
Analog Input 2- (Differential) Input Analog Input 3+ (Differential) Input Analog Input 3- (Differential) Input Table 2-31: Mating Connector Part Numbers for the Laser Interface Connector Mating Connector Aerotech P/N Third Party P/N 20-Pin Connector ECK02515 10120-3000PE Backshell ECK02518 10320-52F0-008 www.aerotech.com... -
Page 58: Position Synchronized Output (Pso) Interface
25 MHz Maximum On Time 20 ns Minimum Table 2-34: PSO Output Pins on the Analog I/O and Laser Interface Connector Pin # Description In/Out/Bi PSO Output (TTL) Output Common Output PSO External Sync Input Figure 2-28: PSO TTL Outputs Schematic www.aerotech.com... -
Page 59: Figure 2-29: Pso External Sync Input Schematic
Hardware Manual 2.4.1. Position Synchronized Output (PSO) Interface Figure 2-29: PSO External Sync Input Schematic www.aerotech.com... -
Page 60: Analog Outputs
Resolution (bits) 16 bits Table 2-36: Analog Output Pins on the Analog I/O and Laser Interface Connector Pin # Description In/Out/Bi Analog Output 0 Output Analog Common Output Analog Output 1 Output Analog Common Output Figure 2-30: Analog Outputs Schematic www.aerotech.com... -
Page 61: Analog Inputs (Differential)
Analog Input 0- (Differential) Input Analog Input 1+ (Differential) Input Analog Input 1- (Differential) Input Analog Input 2+ (Differential) Input Analog Input 2- (Differential) Input Analog Input 3+ (Differential) Input Analog Input 3- (Differential) Input Figure 2-31: Analog Inputs Schematic www.aerotech.com... -
Page 62: 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 63: 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 64: System Interconnection
2.6. System Interconnection iXI4/XI4 Hardware Manual 2.6. System Interconnection Figure 2-32: Drive-Based Controller System Interconnection (Best Practice) www.aerotech.com... -
Page 65: Figure 2-33: Pc-Based Controller System Interconnection (Best Practice)
Hardware Manual 2.6. System Interconnection Figure 2-33: PC-Based Controller System Interconnection (Best Practice) www.aerotech.com... -
Page 66: Pc Configuration And Operation Information
2.7. PC Configuration and Operation Information iXI4/XI4 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 67: Chapter 3: Cables And Accessories
(2) iXI4 Only. 3.1. 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. -
Page 68: Handwheel Interface
IMPORTANT: You can find instructions on how to enable the handwheel in the online Help file. Connect a handwheel to the Axis Connector as shown in Figure 3-2. Figure 3-2: Handwheel Interconnection to Axis Connector www.aerotech.com... -
Page 69: Chapter 4: Maintenance
The light is configured to blink for setup. Table 4-2: 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 70: Preventative Maintenance
Also make sure that it does not go onto the outer connectors and components. Internal contamination from the cleaning solution 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 71 All Other Repairs - After Aerotech's evaluation, the buyer shall be notified of the repair cost. At such time the buyer must issue a valid purchase order to cover the cost of the repair and freight, or authorize the product(s) to be shipped back as is, at the buyer's expense.
- Page 72 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...
- Page 73 Hardware Manual Appendix B: Revision History Appendix B: Revision History Revision Description 1.02 Added support for iXI4 1.01 Added Chapter 3: Cables and Accessories 1.00 New manual www.aerotech.com...
- Page 74 Appendix B: Revision History iXI4/XI4 Hardware Manual This page intentionally left blank. www.aerotech.com...
- Page 75 Travel Limit Input Digital Inputs Axis Enable Output Digital Inputs Connected to a Current Sinking Device Digital Inputs Connected to a Current Sourcing Device Digital Inputs Schematic Digital Output Connector Pinout BiSS absolute encoder Brushless Motor Powered Motor Phasing www.aerotech.com...
- Page 76 End of Travel Limit Input Schematic TTL Outputs Schematic (PSO) End of Travel Limit Phasing fluids, dangerous EnDat absolute encoder Functional Diagram Environmental Specifications EU 2015/863 examining parts cables Hall-Effect Feedback Pins on the Axis Connector connections Hall-Effect Inputs (Feedback Connector) www.aerotech.com...
- Page 77 Primary Encoder Input Pins on the Axis Connector Mounting and Cooling Protective Features Mounting Hardware Mounting Orientation TTL Outputs Schematic PSO External Sync Input Schematic PSO External Sync Specifications PSO Output Pins on the Digital I/O Connector OEM Mounting Procedure PSO Specifications www.aerotech.com...
- Page 78 Stepper Clock and Stepper Direction Output Schematic Stepper Clock and Stepper Direction Timing Stepper Clock Output Signals Stepper Clock Pin on the Axis Connector Stepper Clock Signal Output Specifications Stepper Direction Output Signals Stepper Direction Pin on the Axis Connector Stepper Direction Signal Output Specifications www.aerotech.com...