Aerotech Automation1 iXC4e Hardware Manual
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Aerotech Automation1 iXC4e Hardware Manual

Pwm high-performance digital drives
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Automation1 iXC4e and XC4e
PWM High-Performance Digital Drives
HARDWARE MANUAL
Revision 2.06

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Summary of Contents for Aerotech Automation1 iXC4e

  • Page 1: Automation1 Ixc4E And Xc4E Pwm High-Performance Digital Drives

    Automation1 iXC4e and XC4e PWM High-Performance Digital Drives HARDWARE MANUAL Revision 2.06...
  • 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.

  • Page 3: Table Of Contents

    Hardware Manual iXC4e/XC4e Table of Contents Automation1 iXC4e and XC4e PWM High-Performance 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: iXC4e/XC4e Overview 1.1.
  • Page 4 3.3. Analog Outputs [-EB1] 3.4. Analog Inputs [-EB1] 3.5. PSO Interface [-EB1] Chapter 4: Cables and Accessories 4.1. Joystick Interface 4.2. Handwheel Interface Chapter 5: Maintenance 5.1. Preventative Maintenance 5.2. Fuse Specifications Appendix A: Warranty and Field Service Appendix B: Revision History Index www.aerotech.com...

  • Page 5: List Of Figures

    Sine Wave Encoder Schematic (Auxiliary I/O Connector) Figure 2-39: PSO Interface Figure 2-40: Digital Output Schematic (Aux I/O Connector) Figure 2-41: Digital Outputs Connected in Current Sourcing Mode Figure 2-42: Digital Outputs Connected in Current Sinking Mode Figure 2-43: Digital Inputs Schematic (Aux I/O Connector) www.aerotech.com...
  • Page 6 Two Axis Joystick Interface (to the Aux I/O of two drives) Figure 4-2: Two Axis Joystick Interface (to the I/O board) Figure 4-3: Handwheel Interconnection to Aux I/O Connector Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module www.aerotech.com...

  • Page 7: List Of Tables

    Table 2-7: Motor Power Output Connector Pinout Table 2-8: Motor Power Output Mating Connector Ratings Table 2-9: Wire Colors for Aerotech-Supplied Brushless Motor Cables  Table 2-10: Hall Signal Diagnostics Table 2-11: Wire Colors for Aerotech-Supplied DC Brush Motor Cables Table 2-12:...
  • Page 8 PSO Specifications [-EB1] Table 3-16: PSO Interface Connector Pinout [-EB1] Table 3-17: PSO Interface Mating Connector Ratings [-EB1] Table 4-1: Standard Interconnection Cables Table 5-1: LED Description Table 5-2: Troubleshooting Table 5-3: Preventative Maintenance Table 5-4: Control Board Fuse Specifications www.aerotech.com...

  • Page 9: Eu Declaration Of Conformity

    Hardware Manual iXC4e/XC4e EU Declaration of Conformity Manufacturer Aerotech, Inc. Address 101 Zeta Drive Pittsburgh, PA 15238-2811 Product iXC4e/XC4e 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...

  • Page 10: Agency Approvals

    IEC 62061:2005 (up to SILCL3), IEC 62061:2005/AMD1:2012 (up to SILCL3), IEC 62061:2005/AMD2:2015 (up to SILCL3) 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 11: Safety Procedures And Warnings

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

  • Page 13: Handling And Storage

    Store the drive in the original shipping container. If the original packaging included ESD protective packaging, make sure to store the drive in it. The storage location must be dry, free of dust, free of vibrations, and flat. Section 1.3. Environmental Specifications Refer to www.aerotech.com...

  • Page 14: Installation Overview

    2.5./ (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. www.aerotech.com...
  • Page 15 2.5./ (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. www.aerotech.com...
  • Page 16 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 17: Chapter 1: Ixc4E/Xc4E Overview

    And both drives are offered with optional encoder interpolation features (-MX2/-MX3), an auxiliary encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -EB1 option), and separate power connections for motor and control supply voltages. Figure 1-1: iXC4e Digital Drive-Based Controller www.aerotech.com...

  • Page 18: Figure 1-2: Xc4E Digital Drive

    Hardware Manual Figure 1-2: XC4e Digital Drive www.aerotech.com...

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

    3 or more axes (includes One-Axis PSO). External Shunt (Section 2.8.) -SX0 No connector for the External Shunt -SX1 Connection provided for an external shunt resistor network Version -DEFAULT Firmware Matches Software Line -LEGACY Legacy Firmware Version X.XX.XXX www.aerotech.com...

  • Page 20: Figure 1-3: Functional Diagram

    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

    1. Motor output current is specified as a peak value (not RMS) and corresponds to the maximum phase current during a locked rotor condition. 2. A Lower motor supply voltage may be used. This will result in a reduction of output power. www.aerotech.com...

  • Page 22: System Power Requirements

    Power Loss = 3 · I · R(line-line)/2 Power Input = (Power Output + Power Loss) / EfficiencyFactor DC Brush Motor Power Output = Torque · Angular Velocity Power Loss = I · R Power Input = (Power Output + Power Loss) / EfficiencyFactor www.aerotech.com...

  • Page 23: Mechanical Specifications

    Mounting Hardware M4 [#8] screws (four locations, not included) Mounting Orientation Vertical (typical) Dimensions Section 1.2.2. Dimensions Refer to Airflow ~25 mm Minimum Clearance Connectors ~100 mm Operating Temperature Refer to Section 1.3. Environmental Specifications Drive IP Rating IP20 www.aerotech.com...

  • Page 24: Dimensions

    Hardware Manual 1.2.2. Dimensions IMPORTANT: iXC4e and XC4e dimensions are the same. iXC4e is shown. Figure 1-4: Dimensions www.aerotech.com...

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

    Hardware Manual iXC4e/XC4e IMPORTANT: iXC4e-EB1 and XC4e-EB1 dimensions are the same. iXC4e-EB1 is shown. Figure 1-5: Dimensions [-EB1] www.aerotech.com...

  • Page 26: 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 27: Chapter 2: Installation And Configuration

    The Control Supply contains an internal filter but you could be required to add an external filter for CE compliance. Install the external filter as close as possible to the drive. Use a Schaffner FN2080 filter, an Aerotech UFM-ST noise filter module, or equivalent device. Figure 2-1:...

  • Page 28: Motor Supply Connector

    Protective Earthing Conductor - 2.5 mm / 14 AWG min conductor size Table 2-4: Motor Supply Mating Connector Ratings Specification Description Type 7-Pin Terminal Block Aerotech: ECK02387 Part Numbers Phoenix: 1756353 One conductor, stranded with ferrule 14...22 AWG (0.25...2.5 mm and plastic sleeve Conductor Cross Section Two conductors (same cross-section), 16...20 AWG (0.5...1.5 mm...

  • Page 29: Transformer Options

    Generate 56 VAC from 115 VAC or 230 VAC input source voltage. When TV0.3-56 rectified by the drive, it produces an 80 VDC power bus. 1.5 kVA, 2.5 kVA, or 5 kVA isolation transformer; 115/230 VAC input; 28, 43, TV1.5, TV2.5, or TV5 56, 70, 115 VAC output www.aerotech.com...

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

    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 iXC4e/XC4e 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)

    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 iXC4e/XC4e 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)

    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 iXC4e/XC4e Figure 2-8: TM3/TM5 Transformer Control and Motor Power Wiring www.aerotech.com...

  • Page 36: Minimizing Noise For Emc/Ce Compliance

    Use a line filter, such as Aerotech’s UFM-ST, on the Motor Supply and Control Supply AC inputs. 4. Use the lowest motor voltage required by the application to reduce radiated emission.

  • Page 37: Motor Power Output Connector

    Motor Phase C Output Motor Ground Table 2-8: Motor Power Output Mating Connector Ratings Specification Description Type 7-Pin Terminal Block Aerotech: ECK02387 Part Numbers Phoenix: 1756353 One conductor, stranded with ferrule 14...22 AWG (0.25...2.5 mm and plastic sleeve Conductor Cross Section Two conductors (same cross-section), 16...20 AWG (0.5...1.5 mm...

  • Page 38: 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 39: 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 Figure 2-10: Positive Motor Direction Figure 2-11: Encoder and Hall Signal Diagnostics www.aerotech.com...

  • Page 40: 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 41: Dc Brush Motor Connections

    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. 2.2.2.1. DC Brush Motor Phasing A properly phased motor means that the positive motor lead should be connected to the ØA motor...

  • Page 42: Stepper Motor Connections

    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. 2.2.3.1. Stepper Motor Phasing A stepper motor can be run with or without an encoder.

  • Page 43: Three Phase Stepper Motor Connections

    2-19). If the motor moves in a counterclockwise direction, reverse the motor leads and re-run the command. 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 www.aerotech.com...

  • Page 44: Feedback Connector

    Description In/Out/Bi Connector Reserved Motor Over Temperature Thermistor Input +5V Power Output 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 - Output...

  • Page 45: Primary Encoder Inputs

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

  • Page 46: Square Wave Encoder (Primary)

    Table 2-17: 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 Schematic (Feedback Connector) www.aerotech.com...

  • Page 47: Absolute Encoder (Primary)

    You cannot echo an absolute encoder signal. Refer to Figure 2-21 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 2-21: Absolute Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 48: Sine Wave Encoder (Primary) [-Mx2/-Mx3 Option]

    16,384 -MX2/-MX3 Primary Encoder Channel 800 nsec (analog input to quadrature output) Interpolation Latency Input Common Mode 1.5 to 3.5 VDC (1) Measured as SIN(+) - SIN(-) or COS(+) - COS(-) Figure 2-22: Sine Wave Encoder Phasing Reference Diagram www.aerotech.com...

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

    Hardware Manual 2.3.1. Primary Encoder Inputs Figure 2-23: Sine Wave Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 50: Encoder Phasing

    Figure 2-24: 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 2-24. Figure 2-25: Position Feedback in the Diagnostic Display www.aerotech.com...

  • Page 51: Hall-Effect Inputs

    Hall-Effect Sensor A (brushless motors only) Input Hall-Effect Sensor C (brushless motors only) Input +5V Power Output Signal Common Output Signal Common Output (1) The maximum combined current output is 500 mA. Figure 2-26: Hall-Effect Inputs Schematic (Feedback Connector) www.aerotech.com...

  • Page 52: 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 2-20: Thermistor Input Pin on the Feedback Connector Pin # Description In/Out/Bi Motor Over Temperature Thermistor Input Figure 2-27: Thermistor Input Schematic (Feedback Connector) www.aerotech.com...

  • Page 53: Encoder Fault Input

    The nominal trip voltage of the encoder fault input is +2.5 V. Table 2-21: Encoder Fault Input Pin on the Feedback Connector Pin # Description In/Out/Bi Encoder Fault Input Input Figure 2-28: Encoder Fault Input Schematic (Feedback Connector) www.aerotech.com...

  • Page 54: 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 55: Figure 2-29: End Of Travel And Home Limit Input Connections

    Hardware Manual iXC4e/XC4e 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

    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 2-31). Figure 2-31: End of Travel and Home Limit Input Diagnostic Display www.aerotech.com...

  • Page 57: Brake Outputs

    Brake Output +  Output Table 2-24: Brake Control Specifications Specification Value Maximum Voltage 24 VDC Maximum Current A varistor must be connected across the brake to minimize voltage transients. Figure 2-32: Brake Connected to the 25-Pin Feedback Connector (Typical) www.aerotech.com...

  • Page 58: Safe Torque Off Input (Sto)

    Output RETURN. Not for customer use. Table 2-26: STO Mating Connector Ratings Specification Description Type 5-Pin Terminal Block Aerotech: ECK02393 Part Numbers Phoenix: 1827622 One conductor, stranded with ferrule 18...22 AWG (0.25...0.75 mm and plastic sleeve Conductor Cross Two conductors (same cross- Section section), stranded , twin ferrule with 20 AWG (0.5 mm...

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

    WARNING: The drive 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 2-33: Typical STO Configuration www.aerotech.com...

  • Page 60: 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 61: Sto Functional Description

    Connect the ESTOP signal directly to a digital input, in addition to the external timer, to allow the drive 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 62: 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 63: Sto Diagnostics

    If power is reapplied to the 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 64: Auxiliary I/O Connector

    (1) Software configured option (2) For PSO, refer to Section 2.5.2. Table 2-34: Auxiliary I/O Mating Connector Ratings Specification 26-Pin Solder Cup Backshell Aerotech Part Number ECK01259 ECK01022 Manufacturer Part Number Kycon K86-AA-26P Amphenol 17E-1725-2 Maximum Wire Size 22 AWG (0.25 mm (1) Refer to the manufacturer website for additional information.

  • Page 65: Auxiliary Encoder Interface

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

  • Page 66: Square Wave Encoder (Auxiliary)

    Table 2-36: Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum (25 ns minimum edge separation) x4 Quadrature Decoding 40 million counts/sec Figure 2-35: Square Wave Encoder Interface (Aux I/O Connector) www.aerotech.com...

  • Page 67: Absolute Encoder (Auxiliary)

    You cannot use an absolute encoder with incremental signals on the Auxiliary I/O Connector. Refer to Figure 2-36 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 2-36: Absolute Encoder Schematic (Auxiliary I/O Connector) www.aerotech.com...

  • Page 68: Sine Wave Encoder (Auxiliary) [-Mx3 Option]

    16,384 -MX2/-MX3 Primary Encoder Channel 800 nsec (analog input to quadrature output) Interpolation Latency Input Common Mode 1.5 to 3.5 VDC (1) Measured as SIN(+) - SIN(-) or COS(+) - COS(-) Figure 2-37: Sine Wave Encoder Phasing Reference Diagram www.aerotech.com...

  • Page 69: Figure 2-38: Sine Wave Encoder Schematic (Auxiliary I/O Connector)

    Hardware Manual 2.5.1. Auxiliary Encoder Interface Figure 2-38: Sine Wave Encoder Schematic (Auxiliary I/O Connector) www.aerotech.com...

  • Page 70: Position Synchronized Output (Pso)

    [Fire event to output change] RS-422 15 ns Table 2-39: PSO Pins on the Auxiliary I/O Connector Pin# Description In/Out/Bi Auxiliary Marker - / PSO Differential Output - / PSO TTL Output Bidirectional Auxiliary Marker + / PSO Differential Output + Bidirectional Common Output www.aerotech.com...

  • Page 71: Figure 2-39: Pso Interface

    Hardware Manual iXC4e/XC4e Figure 2-39: PSO Interface www.aerotech.com...

  • Page 72: Digital Outputs

    Reset State Output Off (High Impedance State) Table 2-41: Digital Output Pins on the Auxiliary I/O Connector Pin# Description In/Out/Bi Digital Output 0 Output Digital Output 1 Output Digital Output 2 Output Digital Output Common Output Digital Output 3 Output www.aerotech.com...

  • Page 73: Figure 2-40: Digital Output Schematic (Aux I/O Connector)

    Hardware Manual iXC4e/XC4e Figure 2-40: Digital Output Schematic (Aux I/O Connector) www.aerotech.com...

  • Page 74: Figure 2-41: Digital Outputs Connected In Current Sourcing Mode

    Hardware Manual Figure 2-41: Digital Outputs Connected in Current Sourcing Mode Figure 2-42: Digital Outputs Connected in Current Sinking Mode www.aerotech.com...

  • Page 75: Figure 2-43: Digital Inputs Schematic (Aux I/O Connector)

    Digital Input 0 / CCW EOT Input Input Digital Input 1 / CW EOT Input Input Digital Input Common Output Digital Input 2 / Home Input Input Digital Input 3 Input (1) Software configured option Figure 2-43: Digital Inputs Schematic (Aux I/O Connector) www.aerotech.com...

  • Page 76: Figure 2-44: Digital Inputs Connected To Current Sourcing Devices

    Hardware Manual Figure 2-44: Digital Inputs Connected to Current Sourcing Devices Figure 2-45: Digital Inputs Connected to Current Sinking Devices www.aerotech.com...

  • Page 77: Figure 2-46: High-Speed Inputs

    High-Speed Input Pins on the Auxiliary I/O Connector Pin# Description In/Out/Bi High-Speed Input 20 + / PSO External Sync. + Input High-Speed Input 20 - / PSO External Sync. - Input High-Speed Input 21 + Input High-Speed Input 21 - Input Figure 2-46: High-Speed Inputs www.aerotech.com...

  • Page 78: Figure 2-47: Analog Output 0 Schematic

    Output Voltage -10 V to +10 V Output Current 5 mA Resolution (bits) 16 bits Table 2-47: Analog Output Pins on the Auxiliary I/O Connector Pin# Description In/Out/Bi Analog Output 0 Output Analog Common Output Figure 2-47: Analog Output 0 Schematic www.aerotech.com...

  • Page 79: Figure 2-48: Analog Input 0 Schematic

    1. Signals outside of this range may damage the input Table 2-49: Analog Input Pins on the Auxiliary I/O Connector Pin# Description In/Out/Bi Analog Input 0+ (Differential) Input Analog Input 0- (Differential) Input Analog Common Output Figure 2-48: Analog Input 0 Schematic www.aerotech.com...

  • Page 80: Table 2-50: Brake Power Supply Connector Pinout

    Brake Power Supply (-) Input Table 2-51: Brake Power Supply Mating Connector Ratings Specification Description Type 2-Pin Terminal Block Aerotech: ECK02391 Part Numbers Phoenix: 1827635 One conductor, stranded with ferrule 18...22 AWG (0.25...0.75 mm and plastic sleeve Conductor Cross Two conductors (same cross-...

  • Page 81: Table 2-52: Hyperwire Card Part Number

    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 82: Table 2-54: -Sx1 Component Information

    Restrict access to the shunt resistor while it is connected to a power source. Table 2-54: -SX1 Component Information Component Description Aerotech P/N 50 Ω (min), 300 W Recommended Shunt Resistor ECR01039 Vishay/Dale: RBEF030050R00KFBVT Screw Torque Value: 0.6 - 0.8 N·m Wire Size: 0.2 - 6 mm...

  • Page 83: Table 2-55: Maximum Additional Storage Energy For A Standard Ixc4E/Xc4E

    = time between deceleration events (s) CYCLE Equation 5:    R = (2V / 4P PEAK Where: = hysteresis voltage of regeneration circuit (V) [10 V, Typical] Additional useful equations: 1 lb·ft = 1.356 N·m 1 rad/s = 9.55 rpm www.aerotech.com...

  • Page 84: Table 2-56: Sync-Related Functions

    The controller is equipped with 100BASE-TX Industrial Ethernet ports. IMPORTANT: Industrial Ethernet is only available on the iXC4e. For the location of the ports, refer to Figure 1-1. For cable part numbers, refer to Table 4-1. For more information, refer to the Help system. www.aerotech.com...

  • Page 85: Figure 2-49: Drive-Based System Wiring Drawing (Best Practice)

    Hardware Manual iXC4e/XC4e 2.11. System Interconnection Figure 2-49: Drive-Based System Wiring Drawing (Best Practice) Figure 2-50: PC-Based System Wiring Drawing (Best Practice) www.aerotech.com...

  • Page 86: Figure 2-51: Drive-Based Controller System Interconnection (Best Practice)

    Hardware Manual Figure 2-51: Drive-Based Controller System Interconnection (Best Practice) www.aerotech.com...

  • Page 87: Figure 2-52: Pc-Based Controller System Interconnection (Best Practice)

    Hardware Manual iXC4e/XC4e Figure 2-52: PC-Based Controller System Interconnection (Best Practice) www.aerotech.com...
  • Page 88 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 89: Figure 3-1: -Eb1 I/O Option Board Connectors (Ixc4E Shown)

    Hardware Manual iXC4e/XC4e 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 (iXC4e shown) www.aerotech.com...

  • Page 90: Table 3-1: Digital Output Specifications [-Eb1]

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

  • Page 91: Table 3-2: Digital Output 1 Connector Pinout [-Eb1]

    Output 19 (Optically-Isolated) Output Table 3-4: Digital Output 1 and 2 Mating Connector Ratings [-EB1] Specification Description Type 10-Pin Terminal Block Aerotech: ECK02395 Part Numbers Phoenix: 1700841 Solid or stranded 20...26 AWG (0.14...0.5 mm Conductor Stranded, with ferrule, without plastic Cross Section 20...24 AWG (0.25...0.5 mm...

  • Page 92: Figure 3-2: Digital Outputs Schematic [-Eb1]

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

  • Page 93: Figure 3-3: Digital Outputs Connected In Current Sourcing Mode [-Eb1]

    Hardware Manual iXC4e/XC4e 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 94: Table 3-5: Digital Input Specifications [-Eb1]

    Output Input 4 (Optically-Isolated) Input Input 5 (Optically-Isolated) Input Input 6 (Optically-Isolated) Input Input 7 (Optically-Isolated) Input Input Common for Inputs 8-11 Output Input 8 (Optically-Isolated) Input Input 9 (Optically-Isolated) Input Input 10 (Optically-Isolated) Input Input 11 (Optically-Isolated) Input www.aerotech.com...

  • Page 95: Figure 3-5: Digital Inputs Schematic [-Eb1]

    Input 19 (Optically-Isolated) Input Table 3-8: Digital Input 1 and 2 Mating Connector Ratings [-EB1] Specification Description Type 10-Pin Terminal Block Aerotech: ECK02395 Part Numbers Phoenix: 1700841 Solid or stranded 20...26 AWG (0.14...0.5 mm Conductor Stranded, with ferrule, without plastic Cross Section 20...24 AWG (0.25...0.5 mm...

  • Page 96: Figure 3-6: Digital Inputs Connected To Current Sourcing (Pnp) Devices [-Eb1]

    IMPORTANT: Each bank of four inputs must be connected in an all sourcing or all sinking configuration. Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] www.aerotech.com...

  • Page 97: Figure 3-8: Analog Output Typical Connection [-Eb1]

    Analog Output 3 Output Ground Table 3-11: Analog Output Mating Connector Ratings [-EB1] Specification Description Type 4-Pin Terminal Block Aerotech: ECK02399 Part Numbers Phoenix: 1768004 Solid or stranded 20...26 AWG (0.14...0.5 mm Conductor Cross Stranded, with ferrule, without Section 20...24 AWG (0.25...0.5 mm...

  • Page 98: Figure 3-9: Analog Input Typical Connection [-Eb1]

    Analog Input 3- Input Ground Table 3-14: Analog Input Mating Connector Ratings [-EB1] Specification Description Type 8-Pin Terminal Block Aerotech: ECK02397 Part Numbers Phoenix: 1908101 Solid or stranded 20...26 AWG (0.14...0.5 mm Conductor Cross Stranded, with ferrule, without Section 20...24 AWG (0.25...0.5 mm...

  • Page 99: Table 3-15: Pso Specifications [-Eb1]

    PSO Output (TTL) Output Ground Table 3-17: PSO Interface Mating Connector Ratings [-EB1] Specification Description Type 4-Pin Terminal Block Aerotech: ECK02399 Part Numbers Phoenix: 1768004 Solid or stranded 20...26 AWG (0.14...0.5 mm Conductor Cross Stranded, with ferrule, without Section 20...24 AWG (0.25...0.5 mm...

  • Page 100: Figure 3-10: 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 3-12: PSO TTL Outputs Schematic www.aerotech.com...

  • Page 101: Table 4-1: Standard Interconnection Cables

    Hardware Manual iXC4e/XC4e 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...

  • Page 102: Figure 4-1: Two Axis Joystick Interface (To The Aux I/O Of Two Drives)

    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. Joystick control will not activate unless the joystick is in the center location.

  • Page 103: Figure 4-2: Two Axis Joystick Interface (To The I/O Board)

    Hardware Manual iXC4e/XC4e Figure 4-2: Two Axis Joystick Interface (to the I/O board) www.aerotech.com...

  • Page 104: Figure 4-3: Handwheel Interconnection To Aux I/O Connector

    IMPORTANT: You can find instructions on how to enable the handwheel in the online Help file. Connect a handwheel to the Aux I/O as shown in Figure 4-3 Figure 4-4. Figure 4-3: Handwheel Interconnection to Aux I/O Connector Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module www.aerotech.com...

  • Page 105: Table 5-1: Led Description

    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 106: Table 5-3: 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 107: Table 5-4: Control Board Fuse Specifications

    Hardware Manual iXC4e/XC4e 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.
  • Page 108 Hardware Manual This page intentionally left blank. www.aerotech.com...
  • Page 109 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 110 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 111 System Wiring (best practices) drawing has been added 2.00 General Update The following sections have been updated: Agency Approvals 1.02 Section 2.3.1. Primary Encoder Inputs Section 2.5.1. Auxiliary Encoder Interface The following sections have been updated: 1.01 Section 2.1.2. Section 2.11. 1.00 New Manual www.aerotech.com...
  • Page 112 Hardware Manual This page intentionally left blank. www.aerotech.com...
  • Page 113 Brake Output Pins on the Feedback Connector Analog Input Connector [-EB1] Mating Connector Part Brake Outputs (Feedback Connector) Numbers Brake Power Supply Connector Analog Input Connector Pinout [-EB1] Brake Power Supply Connector Mating Connector Part Analog Input Pins (Aux I/O Connector) Numbers www.aerotech.com...
  • Page 114 DC Brush Motor Configuration (Motor Power Output Connector) Drive and Software Compatibility DC Brush Motor Connections (Motor Power Output Drive IP Rating Connector) IP20 DC Brush Motor Phasing Declaration of Conformity Differential Analog Input Specifications [-EB1] Electrical Safety for Power Drive Systems www.aerotech.com...
  • Page 115 (Aux I/O Connector) External Shunt Option [-SX1] Digital Outputs Schematic [-EB1] Dimensions (without -EB1) Dimensions with -EB1 End of Travel Limit Input Connections Feedback Connector End of Travel Limit Input Diagnostic Display Absolute Encoder Hall-Effect Inputs Schematic Brake Outputs www.aerotech.com...
  • Page 116 High-Speed Input Pins on the Aux I/O Connector Digital Input 2 Connector [-EB1] High-Speed Input Specifications Digital Output 1 Connector [-EB1] High-Speed Inputs Digital Output 2 Connector [-EB1] High-Speed User Inputs (Aux I/O Connector) Feedback Connector Home Limit Input (Feedback Connector) Motor Power Output Connector www.aerotech.com...
  • Page 117 Primary Encoder Pins on the Feedback Connector Phasing Protective Features specifications DC Brush Motor End of Travel Limits Isolated Output Sinks Current Schematic Powered Brushless Motor Isolated Output Sources Current Schematic Stepper Motor 42-43 TTL Outputs Schematic Unpowered Brushless Motor/Feedback PSO (Aux I/O Connector) www.aerotech.com...

  • Page 118: Table 2-36: Square Wave Encoder Specifications

    Digital Inputs (Aux I/O Connector) Digital Inputs [-EB1] Digital Outputs (Aux I/O Connector) Digital Outputs [-EB1] Table of Contents High-Speed Inputs Thermistor Input (Feedback Connector) Motor Supply Connector Wiring Thermistor Input Pin on the Feedback Connector PSO (Aux I/O Connector) Thermistor Input Schematic www.aerotech.com...
  • Page 119 Two Axis Joystick Interface (to the I/O board of two drives) Typical STO Configuration 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 120 Index iXC4e/XC4e Hardware Manual This page intentionally left blank. www.aerotech.com...

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