Stepper Motor Connections; Stepper Motor Phasing; Figure 2-16: Stepper Motor Configuration; Figure 2-17: Positive Motor Direction - Aerotech Automation1 iXC4e Hardware Manual

iXC4e/XC4e

2.2.3. Stepper Motor Connections

The configuration shown in
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.
Figure 2-16: Stepper Motor Configuration
Table 2-12: Wire Colors for Aerotech-Supplied Stepper Motor Cables
Pin
A
B
C
(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.
Without an Encoder: You do not need to phase the motor.
With an Encoder: Because the end of travel (EOT) limit inputs are relative to motor rotation, it is
important to phase the motor.
Run a positive motion command. The motor is phased correctly if there is a positive scaling factor
(determined by the ServoLoopSetup parameter) and the motor moves in a clockwise direction when
you view the motor from the front mounting flange
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 2-17: Positive Motor Direction
For Aerotech-supplied systems, the motor, encoder and Hall sensors are correctly configured and
connection adjustments are not necessary.
42
Figure 2-16 is an example of a typical stepper motor connection. Refer to
(1)
Wire Color Set 1
(2)
Green/Yellow & Shield
Black
Red
White
Wire Color Set 2
Green/Yellow & Shield
White & Red
(Figure 2-17). If the motor moves in a
Hardware Manual
Brown
Yellow
www.aerotech.com