Advantech Automation1 iXC4 Hardware Manual
  1. Manuals
  2. Brands
  3. Advantech Manuals
  4. DC Drives
  5. Automation1 iXC4
  6. Hardware manual

Advantech Automation1 iXC4 Hardware Manual

Pwm digital drives
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Automation1 iXC4 and XC4
PWM Digital Drives
HARDWARE MANUAL
Revision 2.06

Advertisement

Table of Contents
loading

Related Manuals for Advantech Automation1 iXC4

Summary of Contents for Advantech Automation1 iXC4

  • Page 1: Automation1 Ixc4 And Xc4 Pwm Digital Drives

    Automation1 iXC4 and XC4 PWM Digital Drives HARDWARE MANUAL Revision 2.06...
  • Page 2 GLOBAL TECHNICAL SUPPORT Go to the 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.

  • Page 3: Table Of Contents

    Hardware Manual iXC4/XC4 Table of Contents Automation1 iXC4 and XC4 PWM Digital Drives Table of Contents List of Figures List of Tables EU Declaration of Conformity Agency Approvals Safety Procedures and Warnings Handling and Storage Installation Overview Chapter 1: iXC4/XC4 Overview 1.1.
  • Page 4 iXC4/XC4 Hardware Manual 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. External Shunt Option [-SX1] 2.9. Sync Port 2.10. Industrial Ethernet (iXC4 Only) 2.11. System Interconnection 2.12. PC Configuration and Operation Information Chapter 3: -EB1 Option Expansion Board 3.1.

  • Page 5: List Of Figures

    Hardware Manual iXC4/XC4 List of Figures Figure 1-1: iXC4 Digital Drive-Based Controller Labeled Figure 1-2: XC4 Digital Drive Labeled Figure 1-3: Functional Diagram Figure 1-4: Dimensions Figure 1-5: Dimensions [-EB1] Figure 2-1: Control Supply Connections Figure 2-2: Motor Supply Connections Figure 2-3: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (40 VDC Bus) Figure 2-4:...
  • Page 6 iXC4/XC4 Hardware Manual Figure 2-44: High-Speed Inputs Figure 2-45: Analog Output 0 Schematic Figure 2-46: Analog Input 0 Schematic Figure 2-47: Drive-Based System Wiring Drawing (Best Practice) Figure 2-48: PC-Based System Wiring Drawing (Best Practice) Figure 2-49: Drive-Based Controller System Interconnection (Best Practice) Figure 2-50: PC-Based Controller System Interconnection (Best Practice) Figure 3-1:...

  • Page 7: List Of Tables

    Hardware Manual iXC4/XC4 List of Tables Table 1-1: Features and Options Table 1-2: Electrical Specifications (Common) Table 1-3: Electrical Specifications (by Ordering Option) Table 1-4: Mounting Specifications Table 1-5: Environmental Specifications Table 1-6: Drive and Software Compatibility Table 2-1: Control Supply Connector Pinout Table 2-2: Control Supply Mating Connector Ratings Table 2-3:...
  • Page 8 iXC4/XC4 Hardware Manual Table 2-43: High-Speed Input Specifications Table 2-44: High-Speed Input Pins on the Auxiliary I/O Connector Table 2-45: Analog Output Specifications Table 2-46: Analog Output Pins on the Auxiliary I/O Connector Table 2-47: Analog Input Specifications Table 2-48: Analog Input Pins on the Auxiliary I/O Connector Table 2-49: Brake Power Supply Connector Pinout...

  • Page 9: Eu Declaration Of Conformity

    Hardware Manual iXC4/XC4 EU Declaration of Conformity Manufacturer Aerotech, Inc. Address 101 Zeta Drive Pittsburgh, PA 15238-2811 Product iXC4/XC4 Model/Types This is to certify that the aforementioned product is in accordance with the applicable requirements of the following directive(s): 2014/30/EU Electromagnetic Compatibility (EMC) 2014/35/EU Low Voltage Directive...

  • Page 10: Agency Approvals

    iXC4/XC4 Hardware Manual Agency Approvals Aerotech tested its XC4 drives and found that they obey the standards that follow: CUS NRTL Approval: TUV SUD America Inc. Approving Agency: Certificate #: U10 068995 0033 Rev. 00 Standards: CSA C22.2 No. 61010-1:2012/A1:2018-11, UL 61010-1:2012/R2019-07 N8AUS 068995 0032 Rev.

  • Page 11: Safety Procedures And Warnings

    Hardware Manual iXC4/XC4 Safety Procedures and Warnings IMPORTANT: This manual tells you how to carefully and correctly use and operate the drive. Read all parts of this manual before you install or operate the drive or before you do maintenance to your system. To prevent injury to you and damage to the equipment, obey the precautions in this manual.
  • Page 12 iXC4/XC4 Hardware Manual DANGER: To decrease the risk of electrical shock, injury, death, and damage to the equipment, obey the precautions that follow. 1. Before you do maintenance to the equipment, disconnect the electrical power. 2. Restrict access to the drive when it is connected to a power source. 3.

  • Page 13: Handling And Storage

    Hardware Manual iXC4/XC4 Handling and Storage Unpacking the drive IMPORTANT: All electronic equipment and instrumentation is wrapped in antistatic material and packaged with desiccant. Ensure that the antistatic material is not damaged during unpacking. Inspect the shipping container for any evidence of shipping damage. If any damage exists, notify the shipping carrier immediately.

  • Page 14: Installation Overview

    iXC4/XC4 Hardware Manual Installation Overview The images that follow show the order in which to make connections and settings that are typical to the iXC4/XC4. If a custom interconnect drawing was supplied with your system, that drawing is on your Storage Device and shows as a line item on your Sales Order in the Integration section. Figure 1: Installation Connection Overview for the iXC4 Connect the motor to the amplifier Motor Output connector.
  • Page 15 Hardware Manual iXC4/XC4 Figure 2: Installation Connection Overview for the XC4 Connect the motor to the amplifier Motor Output connector. Section 2.2. Connect the motor to the amplifier Feedback connector. Section 2.3. Connect a PC or drive-based controller HyperWire port to the HyperWire In Section 2.7.
  • Page 16 iXC4/XC4 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 17: Chapter 1: Ixc4/Xc4 Overview

    Hardware Manual iXC4/XC4 Chapter 1: iXC4/XC4 Overview The iXC4 is a high-performance digital drive-based controller. It runs the Automation1-iSMC controller to generate commands for itself as well as for additional drives on the chain. The XC4 is a high performance digital drive. The XC4 is based on the HyperWire communication protocol and receives commands from a PC or drive-based controller.

  • Page 18: Figure 1-2: Xc4 Digital Drive Labeled

    iXC4/XC4 Hardware Manual Figure 1-2: XC4 Digital Drive Labeled www.aerotech.com...

  • Page 19: Table 1-1: Features And Options

    Hardware Manual iXC4/XC4 Table 1-1: Features and Options Standard Features 100-240 VAC control supply inputs (Section 2.1.1.) 0-240 VAC motor supply inputs (producing 340 VDC) (Section 2.1.2.) Line driver square wave quadrature encoder input for position and velocity feedback (Section 2.3.1.) Absolute Encoder support on the Feedback connector (Section...

  • Page 20: Figure 1-3: Functional Diagram

    iXC4/XC4 Hardware Manual The block diagram that follows shows a summary of the connector signals. Figure 1-3: Functional Diagram www.aerotech.com...

  • Page 21: Electrical Specifications

    Hardware Manual iXC4/XC4 1.1. Electrical Specifications Table 1-2: Electrical Specifications (Common) Description Specification Input Voltage 100-240 VAC (±10%) Input Frequency 50-60 Hz 68 A @ 240 V Inrush Current Control Supply Input Power 10 W Internal Fuse 2 A/250 V, 35 A interrupt rating, L terminal only External Breaker 20 A maximum (Type-C) Motor Supply SCCR...

  • Page 22: System Power Requirements

    iXC4/XC4 Hardware Manual 1.1.1. System Power Requirements The following equations can be used to determine total system power requirements. The actual power required from the mains supply will be the combination of actual motor power (work), motor resistance losses, and efficiency losses in the power electronics or power transformer. Use an EfficiencyFactor of approximately 90% in the following equations.

  • Page 23: Mechanical Specifications

    Hardware Manual iXC4/XC4 1.2. Mechanical Specifications 1.2.1. Mounting and Cooling The drive must be installed in an enclosed control cabinet suitable for installation of power equipment. A minimum enclosure rating of IP54 is required to comply with safety standards. Make sure that there is sufficient clearance surrounding the drive for free airflow and for the routing of cables and connections.

  • Page 24: Dimensions

    iXC4/XC4 Hardware Manual 1.2.2. Dimensions IMPORTANT: iXC4 and XC4 dimensions are the same. iXC4 is shown. Figure 1-4: Dimensions www.aerotech.com...

  • Page 25: Figure 1-5: Dimensions [-Eb1]

    Hardware Manual iXC4/XC4 IMPORTANT: iXC4-EB1 and XC4-EB1 dimensions are the same. iXC4-EB1 is shown. Figure 1-5: Dimensions [-EB1] www.aerotech.com...

  • Page 26: Environmental Specifications

    iXC4/XC4 Hardware Manual 1.3. Environmental Specifications The environmental specifications are listed below. Table 1-5: Environmental Specifications Operating: 0° to 40°C (32° to 104° F) Ambient Temperature Storage: -30° to 85°C (-22° to 185° F) The maximum relative humidity is 80% for temperatures that are Humidity less than 31°C and decreases linearly to 50% relative humidity at Non-condensing...

  • Page 27: Chapter 2: Installation And Configuration

    Hardware Manual iXC4/XC4 Chapter 2: Installation and Configuration The sections in this chapter include details on how to set up the electrical and safety components of your system. Obey all safety warnings, including those in Safety Procedures and Warnings. 2.1. Input Power Connections The drive has two AC input power connectors.

  • Page 28: Motor Supply Connector

    iXC4/XC4 Hardware Manual 2.1.2. Motor Supply Connector DANGER: Shock and Fire Hazard Electrical wiring must be designed and installed in accordance with local electrical safety regulations to prevent the risk of fire and electrical shock. Motor power is applied to the AC1 and AC2 terminals of the Motor Supply connector. Peak Current Option -10: The AC1 input is internally connected to a 5 A fuse.

  • Page 29: Transformer Options

    Hardware Manual iXC4/XC4 2.1.3. Transformer Options You can connect an external isolation transformer to the Motor Supply AC Input to reduce the operating voltage of the motor. Using a transformer can also reduce electrical noise. Table 2-5: Nominal Motor Operating Voltages / Required AC Voltages  AC Voltage DC Voltage Table 2-6:...

  • Page 30: Figure 2-3: Tv0.3-28-56-St Transformer Control And Motor Power Wiring (40 Vdc Bus)

    iXC4/XC4 Hardware Manual Figure 2-3: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (40 VDC Bus) www.aerotech.com...

  • Page 31: Figure 2-4: Tv0.3-28-56-St Transformer Control And Motor Power Wiring (80 Vdc Bus)

    Hardware Manual iXC4/XC4 Figure 2-4: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (80 VDC Bus) www.aerotech.com...

  • Page 32: Figure 2-5: Tv0.3-28-56-St Transformer Control And Motor Power Wiring (160 Vdc Bus)

    iXC4/XC4 Hardware Manual Figure 2-5: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (160 VDC Bus) www.aerotech.com...

  • Page 33: Figure 2-6: Tv0.3-28 Transformer Control And Motor Power Wiring (40 Vdc Bus)

    Hardware Manual iXC4/XC4 Figure 2-6: TV0.3-28 Transformer Control and Motor Power Wiring (40 VDC Bus) www.aerotech.com...

  • Page 34: Figure 2-7: Tv0.3-56 Transformer Control And Motor Power Wiring (80 Vdc Bus)

    iXC4/XC4 Hardware Manual Figure 2-7: TV0.3-56 Transformer Control and Motor Power Wiring (80 VDC Bus) www.aerotech.com...

  • Page 35: Figure 2-8: Tm3/Tm5 Transformer Control And Motor Power Wiring

    Hardware Manual iXC4/XC4 Figure 2-8: TM3/TM5 Transformer Control and Motor Power Wiring www.aerotech.com...

  • Page 36: Minimizing Noise For Emc/Ce Compliance

    iXC4/XC4 Hardware Manual 2.1.4. Minimizing Noise for EMC/CE Compliance IMPORTANT: The iXC4/XC4 is a component designed to be integrated with other electronics. EMC testing must be conducted on the final product configuration. To reduce electrical noise, observe the following motor feedback and input power wiring techniques. 1.

  • Page 37: Motor Power Output Connector

    Hardware Manual iXC4/XC4 2.2. Motor Power Output Connector DANGER: Before you do maintenance to the equipment, disconnect the electrical power. Wait at least ten (10) minutes after removing the power supply before doing maintenance or an inspection. Otherwise, there is the danger of electric shock. The drive can be used to drive the following motor types: Brushless (refer to Section...

  • Page 38: Brushless Motor Connections

    iXC4/XC4 Hardware Manual 2.2.1. Brushless Motor Connections The configuration in Figure 2-9 shows a typical brushless motor connection. Figure 2-9: Brushless Motor Configuration Table 2-9: Wire Colors for Aerotech-Supplied Brushless Motor Cables  Wire Color Set 1 Wire Color Set 2 Wire Color Set 3 Wire Color Set 4 Green/Yellow &...

  • Page 39: Brushless Motor Powered Motor And Feedback Phasing

    iXC4/XC4 Hardware Manual 2.2.1. Brushless Motor Connections 2.2.1.1. 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 2-10: Hall Signal Diagnostics Hall-Signal Status Definition 0 V or logic low 5 V or logic high...

  • Page 40: Brushless Motor Unpowered Motor And Feedback Phasing

    2.2.1. Brushless Motor Connections iXC4/XC4 Hardware Manual 2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing Disconnect the motor from the controller and connect the motor in the test configuration shown in Figure 2-12. This method will require a two-channel oscilloscope, a 5V power supply, and six resistors (10,000 ohm, 1/4 watt).

  • Page 41: Dc Brush Motor Connections

    Hardware Manual iXC4/XC4 2.2.2. DC Brush Motor Connections The configuration shown in Figure 2-14 is an example of a typical DC brush motor connection. Refer Section 2.2.2.1. for information on motor phasing. Figure 2-14: DC Brush Motor Configuration Table 2-11: Wire Colors for Aerotech-Supplied DC Brush Motor Cables Wire Color Set 1 Wire Color Set 2 Wire Color Set 3...

  • Page 42: Stepper Motor Connections

    iXC4/XC4 Hardware Manual 2.2.3. Stepper Motor Connections The configuration shown in Figure 2-16 is an example of a typical stepper motor connection. Refer to Section 2.2.3.1. for information on motor phasing. In this case, the effective motor voltage is half of the applied bus voltage. For example, an 80 V motor bus supply is needed to get 40 V across the motor.

  • Page 43: Three Phase Stepper Motor Connections

    Hardware Manual iXC4/XC4 2.2.4. Three Phase Stepper Motor Connections IMPORTANT: This feature is only supported in Automation1 software version 2.2.0. or later. The configuration shown in Figure 2-18 is an example of a typical three phase stepper motor connection. Refer to Section 2.2.4.1.

  • Page 44: Feedback Connector

    iXC4/XC4 Hardware Manual 2.3. Feedback Connector The connector pin assignment is shown in Table 2-13 with detailed connection information in the following sections. Table 2-13: Feedback Connector Pinout Pin # Description In/Out/Bi Connector Reserved Motor Over Temperature Thermistor Input +5V Power Output Plug and Play Serial Data (for Aerotech stages only) Bidirectional...

  • Page 45: Primary Encoder Inputs

    Hardware Manual iXC4/XC4 2.3.1. Primary Encoder Inputs The primary encoder inputs are accessible through the Feedback connector. Use the PrimaryFeedbackType [A3200: PositionFeedbackType or VelocityFeedbackType] parameter to configure the drive to accept an encoder signal type. Square Wave encoder signals: Section 2.3.1.1. Absolute encoder signals: Section 2.3.1.2.

  • Page 46: Square Wave Encoder (Primary)

    iXC4/XC4 Hardware Manual 2.3.1.1. Square Wave Encoder (Primary) The drive accepts RS-422 square wave encoder signals. The drive will generate a feedback fault if it detects an invalid signal state caused by an open or shorted signal connection. Use twisted-pair wiring for the highest performance and noise immunity. Table 2-17: Square Wave Encoder Specifications Specification...

  • Page 47: Absolute Encoder (Primary)

    Hardware Manual iXC4/XC4 2.3.1.2. Absolute Encoder (Primary) The drive retrieves absolute position data along with encoder fault information through a serial data stream from the absolute encoder. Use twisted-pair wiring for the highest performance and noise immunity. You cannot echo an absolute encoder signal. Refer to Figure 2-21 for the serial data stream interface.

  • Page 48: Sine Wave Encoder (Primary) [-Mx1 Option]

    iXC4/XC4 Hardware Manual 2.3.1.3. Sine Wave Encoder (Primary) [-MX1 Option] The Sine Wave Encoder option provides higher positioning resolution by subdividing the fundamental output period of the encoder into smaller increments. The amount of subdivision is specified by the PrimaryEncoderMultiplicationFactor [A3200: EncoderMultiplicationFactor] parameter.

  • Page 49: Figure 2-23: Sine Wave Encoder Schematic (Feedback Connector)

    Hardware Manual iXC4/XC4 Figure 2-23: Sine Wave Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 50: Encoder Phasing

    iXC4/XC4 Hardware Manual 2.3.1.4. Encoder Phasing Incorrect encoder polarity will cause the system to fault when enabled or when a move command is issued. Figure 2-24 illustrates the proper encoder phasing for clockwise motor rotation (or positive forcer movement for linear motors). To verify, move the motor by hand in the CW (positive) direction while observing the position of the encoder in the diagnostics display (see Figure 2-25).

  • Page 51: Hall-Effect Inputs

    Hardware Manual iXC4/XC4 2.3.2. Hall-Effect Inputs The Hall-effect switch inputs are recommended for AC brushless motor commutation but not absolutely required. The Hall-effect inputs accept 5 VDC level signals. Hall states (0,0,0) or (1,1,1) are invalid and will generate a "Hall Fault" axis fault. Refer to Section 2.2.1.1.

  • Page 52: Thermistor Input

    iXC4/XC4 Hardware Manual 2.3.3. Thermistor Input The thermistor input is used to detect a motor over temperature condition by using a positive temperature coefficient sensor. As the temperature of the sensor increases, so does the resistance. Under normal operating conditions, the resistance of the thermistor is low which will result in a low input signal.

  • Page 53: Encoder Fault Input

    Hardware Manual iXC4/XC4 2.3.4. Encoder Fault Input The encoder fault input is for use with encoders that have a fault output. This is provided by some manufacturers and indicates a loss of encoder function. The active state of this input is parameter configurable and the controller should be configured to disable the axis when the fault level is active.

  • Page 54: End Of Travel And Home Limit Inputs

    iXC4/XC4 Hardware Manual 2.3.5. End of Travel and Home Limit Inputs End of Travel (EOT) limits are required to define the end of the physical travel on linear axes. Positive or clockwise motion is stopped by the clockwise (CW) end of travel limit input. Negative or counterclockwise motion is stopped by the counterclockwise (CCW) end of travel limit input.

  • Page 55: Figure 2-29: End Of Travel And Home Limit Input Connections

    Hardware Manual iXC4/XC4 Figure 2-29: End of Travel and Home Limit Input Connections Figure 2-30: End of Travel and Home Limit Input Schematic (Feedback Connector) www.aerotech.com...

  • Page 56: End Of Travel And Home Limit Phasing

    iXC4/XC4 Hardware Manual 2.3.5.1. End of Travel and Home Limit Phasing If the EOT limits are reversed, you will be able to move further into a limit but be unable to move out. To correct this, swap the connections to the CW and CCW inputs at the Feedback connector or swap the CW and CCW limit functionality in the software using the EndOfTravelLimitSetup parameter.

  • Page 57: Brake Outputs

    Hardware Manual iXC4/XC4 2.3.6. Brake Outputs The drive has a dedicated brake control circuit. Configure the brake with the BrakeSetup [A3200: EnableBrakeControl] parameter for automatic control (typical). You can also use software commands to directly control the brake output. Refer to Section 2.6.

  • Page 58: Safe Torque Off Input (Sto)

    2.4. Safe Torque Off Input (STO) iXC4/XC4 Hardware Manual 2.4. Safe Torque Off Input (STO) IMPORTANT: The safety components (STO) certification is pending for the iXC4. The STO circuit is comprised of two identical channels, each of which must be energized in order for the drive to produce motion.

  • Page 59: Figure 2-33: Typical Sto Configuration

    iXC4/XC4 Hardware Manual 2.4. Safe Torque Off Input (STO) Table 2-27: STO Electrical Specifications Status Value STO off (motion allowed) 18-24 V, 7 ma STO on (safe state entered, no motion) 0-6 V 22-26 AWG (0.5 - 0.14 mm Recommended Wire Gauge STO System Power Supply PELV STO Wire Length (maximum)

  • Page 60: Sto Standards

    2.4. Safe Torque Off Input (STO) iXC4/XC4 Hardware Manual 2.4.1. STO Standards Table 2-28 describes and specifies the safety requirements at the system level for the Safe Torque Off (STO) feature of the drive. This assumes that diagnostic testing is performed according to Section 2.4.4.

  • Page 61: Sto Functional Description

    iXC4/XC4 Hardware Manual 2.4. Safe Torque Off Input (STO) 2.4.2. STO Functional Description The motor can only be activated when voltage is applied to both STO 1 and STO 2 inputs. The STO state will be entered if power is removed from either the STO 1 or the STO 2 inputs. When the STO state is entered, the motor cannot generate torque or force and is therefore considered safe.

  • Page 62: Sto Startup Validation Testing

    2.4. Safe Torque Off Input (STO) iXC4/XC4 Hardware Manual Non-standard STO delay times are provided by special factory order. In this case, the non-standard STO delay time is indicated by a label placed on the slice amplifier’s main connector (STO DELAY = xx sec).

  • Page 63: Sto Diagnostics

    iXC4/XC4 Hardware Manual 2.4. Safe Torque Off Input (STO) 2.4.4. STO Diagnostics Activation of STO means removing power from the drive’s STO inputs. This is typically done by pressing the emergency stop switch. The drive initiates a diagnostic check every time the STO is activated after the Diagnostic Test Delay Time has elapsed.

  • Page 64: Auxiliary I/O Connector

    iXC4/XC4 Hardware Manual 2.5. Auxiliary I/O Connector The Auxiliary I/O connector has 1 analog input, 6 digital inputs, 1 analog output, 4 digital outputs, a secondary line driver encoder input, and a secondary absolute encoder interface. Table 2-33: Auxiliary I/O Connector Pinout Pin# Description In/Out/Bi...

  • Page 65: Auxiliary Encoder Interface

    Hardware Manual iXC4/XC4 2.5.1. Auxiliary Encoder Interface The Auxiliary Encoder connector gives you a second encoder channel. This channel is typically used for dual loop applications. Use the AuxiliaryFeedbackType [A3200: PositionFeedbackType or VelocityFeedbackType] parameter to configure the drive to accept an encoder signal type. Square Wave encoder signals: Section 2.5.1.1.

  • Page 66: Square Wave Encoder (Auxiliary)

    iXC4/XC4 Hardware Manual 2.5.1.1. Square Wave Encoder (Auxiliary) The drive accepts RS-422 square wave encoder signals. The drive will generate a feedback fault if it detects an invalid signal state caused by an open or shorted signal connection. Use twisted-pair wiring for the highest performance and noise immunity. Table 2-36: Square Wave Encoder Specifications Specification...

  • Page 67: Absolute Encoder (Auxiliary)

    Hardware Manual iXC4/XC4 2.5.1.2. Absolute Encoder (Auxiliary) The drive retrieves absolute position data along with encoder fault information through a serial data stream from the absolute encoder. Use twisted-pair wiring for the highest performance and noise immunity. You cannot use an absolute encoder with incremental signals on the Auxiliary I/O Connector.

  • Page 68: Position Synchronized Output (Pso)

    iXC4/XC4 Hardware Manual 2.5.2. Position Synchronized Output (PSO) The PSO signal is available on the dual-function AUX Marker/PSO signal lines. Use the PSO pulse external sync functions [A3200: PSOOUTPUT PULSE EXTSYNC command] to configure the auxiliary marker as an output. Refer to the Help file for more information.

  • Page 69: Figure 2-37: Pso Interface

    Hardware Manual iXC4/XC4 Figure 2-37: PSO Interface www.aerotech.com...

  • Page 70: Digital Outputs

    iXC4/XC4 Hardware Manual 2.5.3. Digital Outputs Optically-isolated solid-state relays drive the digital outputs. You can connect the digital outputs in current sourcing or current sinking mode but you must connect all four outputs in the same configuration. Refer to Figure 2-39 Figure 2-40.

  • Page 71: Figure 2-38: Digital Output Schematic (Aux I/O Connector)

    Hardware Manual iXC4/XC4 Figure 2-38: Digital Output Schematic (Aux I/O Connector) www.aerotech.com...

  • Page 72: Figure 2-39: Digital Outputs Connected In Current Sourcing Mode

    iXC4/XC4 Hardware Manual Figure 2-39: Digital Outputs Connected in Current Sourcing Mode Figure 2-40: Digital Outputs Connected in Current Sinking Mode www.aerotech.com...

  • Page 73: Digital Inputs

    Hardware Manual iXC4/XC4 2.5.4. Digital Inputs You can connect the digital inputs to current sourcing or current sinking devices but you must connect all four inputs in the same configuration. Refer to Figure 2-42 Figure 2-43. The digital inputs are not designed for high-voltage isolation applications. They should only be used with ground-referenced circuits.

  • Page 74: Figure 2-42: Digital Inputs Connected To Current Sourcing Devices

    iXC4/XC4 Hardware Manual Figure 2-42: Digital Inputs Connected to Current Sourcing Devices Figure 2-43: Digital Inputs Connected to Current Sinking Devices www.aerotech.com...

  • Page 75: Figure 2-44: High-Speed Inputs

    Hardware Manual iXC4/XC4 2.5.5. High-Speed Inputs High-speed inputs 20 and 21 can be used as general purpose inputs or as the trigger signal for high speed data collection. Refer to the DriveDataCaptureConfigureTrigger() function [A3200: DATAACQ TRIGGER command] topic in the Help file for more information. You can use the external PSO synchronization functions [A3200: PSOOUTPUT PULSE EXTSYNC...

  • Page 76: Figure 2-45: Analog Output 0 Schematic

    iXC4/XC4 Hardware Manual 2.5.6. Analog Output 0 The analog output can be set from within a program or it can be configured to echo the state of select servo loop nodes. The analog output is set to zero when you power on the system or reset the drive. Table 2-45: Analog Output Specifications Specification...

  • Page 77: Figure 2-46: Analog Input 0 Schematic

    Hardware Manual iXC4/XC4 2.5.7. Analog Input 0 (Differential) To interface to a single-ended, non-differential voltage source, connect the signal common of the source to the negative input and connect the analog source signal to the positive input. A floating signal source must be referenced to the analog common. Refer to Figure 2-46.

  • Page 78: Table 2-49: Brake Power Supply Connector Pinout

    iXC4/XC4 Hardware Manual 2.6. Brake Power Supply Connector This port is the power supply connection to the on-board brake control circuit. Refer to Section 2.3.6. for more information about the brake output interface. Table 2-49: Brake Power Supply Connector Pinout Connector Pin# Description In/Out/Bi...

  • Page 79: Table 2-51: Hyperwire Card Part Number

    Hardware Manual iXC4/XC4 2.7. HyperWire Interface The HyperWire bus is the high-speed communications connection from the controller. It operates at 2 gigabits per second. The controller sends all command and configuration information through the HyperWire bus. HyperWire cables can be safely connected to or disconnected from a HyperWire port while the PC and/or drive is powered on.

  • Page 80: Table 2-53: -Sx1 Component Information

    iXC4/XC4 Hardware Manual 2.8. External Shunt Option [-SX1] The -SX1 option provides a connection for a user-provided shunt resistor to dissipate excess energy and keep the internal drive voltage within safe levels. The drive switches this resistor "ON" when the internal bus voltage reaches approximately 380 VDC. This option is generally required for systems that have a large amount of stored mechanical energy that must be dissipated during deceleration.

  • Page 81: Table 2-54: Maximum Additional Storage Energy For A Standard Ixc4/Xc4

    Hardware Manual iXC4/XC4 Equation 2:   You will need a shunt resistor if the regenerated energy is greater than the Maximum Additional Storage Energy that the internal bus capacitor can store (Table 2-54). = (1/2)· C · (V Where: = bus capacitor (F) [1,200 µF] = turn on voltage for shunt circuit (V) [380 V] = nominal bus voltage (V) [160 V or 320 V, Typical] Table 2-54:...

  • Page 82: Table 2-55: Sync-Related Functions

    iXC4/XC4 Hardware Manual 2.9. Sync Port The Sync port is a bi-directional high speed proprietary interface that lets you transmit encoder signals between drives. This is typically used for multi-axis PSO applications where one or two drives send their encoder signals to a main drive that has the PSO logic and PSO output signal. The drive contains two Sync ports, labeled A and B.

  • Page 83: Figure 2-47: Drive-Based System Wiring Drawing (Best Practice)

    Hardware Manual iXC4/XC4 2.11. System Interconnection Figure 2-47: Drive-Based System Wiring Drawing (Best Practice) Figure 2-48: PC-Based System Wiring Drawing (Best Practice) www.aerotech.com...

  • Page 84: Figure 2-49: Drive-Based Controller System Interconnection (Best Practice)

    iXC4/XC4 Hardware Manual Figure 2-49: Drive-Based Controller System Interconnection (Best Practice) www.aerotech.com...

  • Page 85: Figure 2-50: Pc-Based Controller System Interconnection (Best Practice)

    Hardware Manual iXC4/XC4 Figure 2-50: PC-Based Controller System Interconnection (Best Practice) www.aerotech.com...
  • Page 86 iXC4/XC4 Hardware Manual 2.12. 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 87: Figure 3-1: -Eb1 I/O Option Board Connectors (Ixc4 Shown)

    Hardware Manual iXC4/XC4 Chapter 3: -EB1 Option Expansion 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: -EB1 I/O Option Board Connectors (iXC4 shown) www.aerotech.com...

  • Page 88: Table 3-1: Digital Output Specifications [-Eb1]

    iXC4/XC4 Hardware Manual 3.1. Digital Outputs [-EB1] Optically-isolated solid-state relays drive the digital outputs. You can connect the digital outputs in current sourcing or current sinking mode but you must connect all four outputs in a port in the same configuration.

  • Page 89: Table 3-2: Digital Output 1 Connector Pinout [-Eb1]

    Hardware Manual iXC4/XC4 Table 3-2: Digital Output 1 Connector Pinout [-EB1] Pin# Description In/Out/Bi Connector Output Common for Outputs 4-7 Output Output 4 (Optically-Isolated) Output Output 5 (Optically-Isolated) Output Output 6 (Optically-Isolated) Output Output 7 (Optically-Isolated) Output Output Common for Outputs 8-11 Output Output 8 (Optically-Isolated) Output...

  • Page 90: Figure 3-2: Digital Outputs Schematic [-Eb1]

    iXC4/XC4 Hardware Manual Figure 3-2: Digital Outputs Schematic [-EB1] www.aerotech.com...

  • Page 91: Figure 3-3: Digital Outputs Connected In Current Sourcing Mode [-Eb1]

    Hardware Manual iXC4/XC4 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 92: Table 3-5: Digital Input Specifications [-Eb1]

    iXC4/XC4 Hardware Manual 3.2. Digital Inputs [-EB1] Input bits are arranged in groups of 4 and each group shares a common pin. This lets a group be connected to current sourcing or current sinking devices, based on the connection of the common pin in that group.

  • Page 93: Figure 3-5: Digital Inputs Schematic [-Eb1]

    Hardware Manual iXC4/XC4 Table 3-7: Digital Input 2 Connector Pinout [-EB1] Pin# Description In/Out/Bi Connector Input Common for Inputs 12-15 Output Input 12 (Optically-Isolated) Input Input 13 (Optically-Isolated) Input Input 14 (Optically-Isolated) Input Input 15 (Optically-Isolated) Input Input Common for Inputs 16-19 Output Input 16 (Optically-Isolated) Input...

  • Page 94: Figure 3-6: Digital Inputs Connected To Current Sourcing (Pnp) Devices [-Eb1]

    iXC4/XC4 Hardware Manual 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 95: Figure 3-8: Analog Output Typical Connection [-Eb1]

    Hardware Manual iXC4/XC4 3.3. Analog Outputs [-EB1] The analog outputs can be set from within a program or they can be configured to echo the state of select servo loop nodes. The analog outputs are set to zero when you power on the system or reset the drive. Table 3-9: Analog Output Specifications [-EB1] Specification...

  • Page 96: Figure 3-9: Analog Input Typical Connection [-Eb1]

    iXC4/XC4 Hardware Manual 3.4. Analog Inputs [-EB1] To interface to a single-ended, non-differential voltage source, connect the signal common of the source to the negative input and connect the analog source signal to the positive input. A floating signal source must be referenced to the analog common. Refer to Figure 3-9.

  • Page 97: Table 3-15: Pso Specifications [-Eb1]

    Hardware Manual iXC4/XC4 3.5. PSO Interface [-EB1] The Position Synchronized Output (PSO) signal is available on the -EB1 option board in two signal formats: TTL and Isolated. The PSO signal is also available on the AUX I/O connector. Refer to Section 2.5.2. You cannot use a sine wave encoder with the -MX1 multiplier option as an input to the PSO.

  • Page 98: Figure 3-10: Pso Output Sources Current

    iXC4/XC4 Hardware Manual Isolated Signals This output signal is a fully-isolated 5-24V compatible output capable of sourcing or sinking current. This output is normally open and only conducts current when a PSO fire event occurs. The PSO Isolated Outputs are overload protected and will turn off if the maximum output current is exceeded.

  • Page 99: Table 4-1: Standard Interconnection Cables

    Hardware Manual iXC4/XC4 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 Refer to Section 4.1. ECZ01231 BBA32 Interconnect Cable (1, 2) ENET-CAT5e-xx Ethernet CAT5e Cable (1, 2) USB-AMCM-xx USB Cable A-Male to C-Male...

  • Page 100: Figure 4-1: Two Axis Joystick Interface (To The Aux I/O Of Two Drives)

    iXC4/XC4 Hardware Manual 4.1. Joystick Interface Aerotech Multi-Axis Joystick (NEMA12 (IP54) rated) is powered from 5 V and has a nominal 2.5 V output in the center detent position. Three buttons are used to select axis pairs and speed ranges. An optional interlock signal is used to indicate to the controller that the joystick is present.

  • Page 101: Figure 4-2: Two Axis Joystick Interface (To The I/O Board)

    Hardware Manual iXC4/XC4 Figure 4-2: Two Axis Joystick Interface (to the I/O board) www.aerotech.com...
  • Page 102 iXC4/XC4 Hardware Manual 4.2. Handwheel Interface A handwheel can be used to manually control axis position. The handwheel must provide 5V differential quadrature signals to the drive. IMPORTANT: You can find instructions on how to enable the handwheel in the online Help file.

  • Page 103: Table 5-1: Led Description

    Hardware Manual iXC4/XC4 Chapter 5: Maintenance IMPORTANT: For your own safety and for the safety of the equipment: Do not remove the cover of the iXC4/XC4. Do not attempt to access the internal components. A fuse that needs to be replaced indicates that there is a more serious problem with the system or setup.

  • Page 104: Table 5-3: Preventative Maintenance

    iXC4/XC4 Hardware Manual 5.1. Preventative Maintenance Do an inspection of the iXC4/XC4 and the external wiring one time each month. It might be necessary to do more frequent inspections based on:  The operating conditions of the system. How you use the system. Table 5-3: Preventative Maintenance Check...

  • Page 105: Table 5-4: Control Board Fuse Specifications

    Hardware Manual iXC4/XC4 5.2. Fuse Specifications WARNING: Replace fuses only with the same type and value. Table 5-4: Control Board Fuse Specifications Aerotech Third Party SCCR Fuse Description Size Littelfuse F100 Control Power at Line Input (L) 2 A S.B. 35 A EIF01044 0877002.MXEP...
  • Page 106 iXC4/XC4 Hardware Manual This page intentionally left blank. www.aerotech.com...
  • Page 107 Hardware Manual iXC4/XC4 Appendix A: Warranty and Field Service Aerotech, Inc. warrants its products to be free from harmful defects caused by faulty materials or poor workmanship for a minimum period of one year from date of shipment from Aerotech. Aerotech’s liability is limited to replacing, repairing or issuing credit, at its option, for any products that are returned by the original purchaser during the warranty period.
  • Page 108 iXC4/XC4 Hardware Manual Rush Service At times, the buyer may desire to expedite a repair. Regardless of warranty or out-of-warranty status, the buyer must issue a valid purchase order to cover the added rush service cost. Rush service is subject to 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 109 Hardware Manual iXC4/XC4 Appendix B: Revision History Revision Description Updated Agency Approvals 2.06 Added PSO Differential Ouptut information in Auxiliary I/O Connector Updated input current and fuse specifications. 2.05 Added support for Industrial Ethernet 2.04 Added support for Three Phase Stepper Motors: Section 2.2.4.
  • Page 110 iXC4/XC4 Hardware Manual This page intentionally left blank. www.aerotech.com...
  • Page 111 iXC4/XC4 Hardware Manual Index Index Analog Output Connector [-EB1] Mating Connector Part Numbers Analog Output Connector Pinout [-EB1] Analog Output Pins (Aux I/O Connector) Analog Output Specifications [-EB1] -EB1 Analog Output Typical Connection [-EB1] Analog Inputs Analog Outputs [-EB1] Analog Outputs Aux I/O Connector Digital Inputs Analog Input 0...
  • Page 112 Index iXC4/XC4 Hardware Manual Brushless Motor Unpowered Motor and Feedback Digital Inputs (Aux I/O Connector) Phasing Digital Inputs [-EB1] Digital Inputs Connected to a Current Sinking Device [- EB1] Digital Inputs Connected to a Current Sourcing Device [- Cable Wires EB1] Brushless Motors Digital Inputs Connected to Current Sinking Devices (Aux...
  • Page 113 iXC4/XC4 Hardware Manual Index Power Amplifier Bandwidth Square Wave Encoder Protective Features Thermistor Input PWM Switching Frequency Travel Limit Input User Power Supply Output Feedback Monitoring Electromagnetic Compatibility (EMC) Figure EMC/CE Compliance -EB1 I/O Option Board Connectors Enclosure Absolute Encoder Schematic (Auxiliary I/O Connector) 67 IP54 Compliant Absolute Encoder Schematic (Feedback Connector) encoder...
  • Page 114 Index iXC4/XC4 Hardware Manual PSO TTL Outputs Schematic Inspection Square Wave Encoder Inputs Schematic (Aux I/O Installation and Configuration Connector) Installation Overview Square Wave Encoder Schematic (Feedback Insulation specifications Connector) Introduction Stepper Motor Configuration IP20 Drive IP Rating STO Timing IP54 Compliant Enclosure Thermistor Input Schematic Isolated Output Current Sinks Schematic (PSO)
  • Page 115 iXC4/XC4 Hardware Manual Index Mating Connector Part Numbers Digital Output Pins (Aux I/O Connector) Pinout Encoder (Feedback Connector) Stepper Motor Connections Encoder Fault Input Pin (Feedback Connector) Three Phase Stepper Motor Connections End of Travel Limit Input Pins (Feedback Connector) Motor Supply Connections Feedback Connector Motor Supply Connector...
  • Page 116 Index iXC4/XC4 Hardware Manual Electrical Specifications External Delay Timer Safe Torque Off Input (STO) Functional Description Safety Procedures and Warnings Mating Connector Part Numbers SCCR Motor Function Relative to the STO Input State serial data stream 47,67 Signal Delay serial number Standards Sine Wave Encoder (Auxiliary I/O Connector) Standards Data...
  • Page 117 iXC4/XC4 Hardware Manual Index Unit Weight User Power Supply Output specification Warranty and Field Service Wire Colors for Aerotech-Supplied Brushless Motor Cables Wire Colors for Aerotech-Supplied DC Brush Motor Cables Wire Colors for Aerotech-Supplied Stepper Motor Cables 42 www.aerotech.com...
  • Page 118 Index iXC4/XC4 Hardware Manual This page intentionally left blank. www.aerotech.com...

This manual is also suitable for:

Automation1 xc4

Table of Contents