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Aerotech Automation1 iXR3 Manuals
Manuals and User Guides for Aerotech Automation1 iXR3. We have
1
Aerotech Automation1 iXR3 manual available for free PDF download: Hardware Manual
Aerotech Automation1 iXR3 Hardware Manual (112 pages)
Drive Racks
Brand:
Aerotech
| Category:
DC Drives
| Size: 14 MB
Table of Contents
Automation1 Ixr3 and XR3 Drive Racks
1
Table of Contents
3
List of Figures
5
List of Tables
7
EU Declaration of Conformity
9
Agency Approvals
10
Safety Procedures and Warnings
11
Handling and Storage
13
Installation Overview
14
Chapter 1: Ixr3/Xr3 Overview
15
Figure 1-1: Ixr3 Connection Overview
15
Figure 1-2: XR3 Connection Overview
16
Table 1-1: Feature Summary
17
Table 1-2: Configurations and Options
18
Figure 1-3: Functional Diagram
20
Electrical Specifications
21
Figure 1-4: Ixr3/Xr3 AC Power Label Location
21
Table 1-3: Electrical Specifications
22
Table 1-4: PWM Amplifier Electrical Specifications
23
Table 1-5: Linear Amplifier Electrical Specifications
23
System Power Requirements
24
Mechanical Specifications
25
Mounting and Cooling
25
Table 1-6: Mounting Specifications
25
Dimensions
26
Figure 1-5: Dimensions with Chassis Slides
26
Figure 1-6: Dimensions Without Chassis Slides
27
Environmental Specifications
28
Table 1-7: Environmental Specifications
28
Drive and Software Compatibility
29
Table 1-8: Drive and Software Compatibility
29
Chapter 2: Installation and Configuration
31
Electrical Installation
31
Figure 2-1: Ixr3 Connection Overview
31
Figure 2-2: XR3 Connection Overview
32
AC Power Connections
33
Table 2-1: Main AC Power Input Voltages and Current Requirements
33
Minimizing Noise for EMC/CE Compliance
34
I/O and Signal Requirements
34
Table 2-2: I/O and Signal Specifications
34
Internal Shunt Option [-SI#]
35
Table 2-3: Maximum Energy that the Ixr3/Xr3 Can Safely Absorb During Regeneration
35
Motor Power Output Connector
36
Table 2-4: Motor Power Output Connector Pinout
36
Table 2-5: Mating Connector Part Numbers for the Motor Power Output Connector
36
Brushless Motor Connections
37
Figure 2-3: Brushless Motor Configuration
37
Brushless Motor Powered Motor and Feedback Phasing
38
Figure 2-4: Positive Motor Direction
38
Figure 2-5: Encoder and Hall Signal Diagnostics
38
Table 2-6: Hall Signal Diagnostics
38
Brushless Motor Unpowered Motor and Feedback Phasing
39
Figure 2-6: Brushless Motor Phasing Oscilloscope Example
39
Figure 2-7: Brushless Motor Phasing Goal
39
DC Brush Motor Connections
40
DC Brush Motor Phasing
40
Figure 2-8: DC Brush Motor Configuration
40
Figure 2-9: Positive Motor Direction
40
Stepper Motor Connections
41
Stepper Motor Phasing
41
Figure 2-10: Stepper Motor Configuration
41
Figure 2-11: Positive Motor Direction
41
Three Phase Stepper Motor Connections
42
Stepper Motor Phasing
42
Figure 2-12: Three Phase Stepper Motor Configuration
42
Figure 2-13: Positive Motor Direction
42
Feedback Connector
43
Table 2-7: Feedback Connector Pinout
43
Table 2-8: Mating Connector Part Numbers for the Feedback Connector
43
Primary Encoder Inputs
44
Table 2-9: Multiplier Options
44
Table 2-10: Primary Encoder Input Pins on the Feedback Connector
44
Square Wave Encoder (Primary)
45
Figure 2-14: Square Wave Encoder Schematic (Feedback Connector)
45
Table 2-11: Square Wave Encoder Specifications
45
Absolute Encoder (Primary)
46
Figure 2-15: Absolute Encoder Schematic (Feedback Connector)
46
Sine Wave Encoder (Primary) [-CT1/-CT2/-CT4 Option]
47
Figure 2-16: Sine Wave Encoder Phasing Reference Diagram
47
Table 2-12: Sine Wave Encoder Specifications
47
Figure 2-17: Sine Wave Encoder Schematic (Feedback Connector)
48
Encoder Phasing
49
Figure 2-18: Encoder Phasing Reference Diagram (Standard)
49
Figure 2-19: Position Feedback in the Diagnostic Display
49
Hall-Effect Inputs
50
Figure 2-20: Hall-Effect Inputs Schematic (Feedback Connector)
50
Table 2-13: Hall-Effect Feedback Pins on the Feedback Connector
50
Thermistor Input
51
Figure 2-21: Thermistor Input Schematic (Feedback Connector)
51
Table 2-14: Thermistor Input Pin on the Feedback Connector
51
Encoder Fault Input
52
Figure 2-22: Encoder Fault Input Schematic (Feedback Connector)
52
Table 2-15: Encoder Fault Input Pin on the Feedback Connector
52
End of Travel and Home Limit Inputs
53
Table 2-16: End of Travel and Home Limit Pins on the Feedback Connector
53
Figure 2-23: End of Travel and Home Limit Input Connections
54
Figure 2-24: End of Travel and Home Limit Input Schematic (Feedback Connector)
54
End of Travel and Home Limit Phasing
55
Figure 2-25: End of Travel and Home Limit Input Diagnostic Display
55
Brake Output
56
Figure 2-26: Brake Output Connections (Feedback Connector)
56
Table 2-17: Brake Output Pins on the Feedback Connector
56
Table 2-18: Brake Output Specifications
56
Position Synchronized Output Connector (PSO)
57
Table 2-19: PSO Connector Pinout
57
Table 2-20: PSO Specifications
57
PSO Isolated Outputs
58
Figure 2-27: PSO Output Sources Current
58
Figure 2-28: PSO Output Sinks Current
58
Table 2-21: PSO Isolated Output Specification
58
Table 2-22: Isolated Output Pins on the PSO Connector
58
PSO TTL Outputs
59
Figure 2-29: PSO TTL Outputs Schematic
59
Table 2-23: PSO TTL Outputs Specification
59
Table 2-24: TTL Output Pins on the PSO Connector
59
External PSO Synchronization
60
Figure 2-30: PSO Clock Inputs Schematic
60
Table 2-25: External PSO Sync Input Pins on the PSO Connector
60
Data Acquisition Inputs
61
Figure 2-31: Data Acquisition Input Schematic
61
Table 2-26: Data Acquisition Input Pins on the PSO Connector
61
Table 2-27: Data Acquisition Opto-Isolator Input Specifications
61
HSOUT Connector (High-Speed Outputs)
62
Table 2-28: High-Speed Output Specifications
62
Table 2-29: HSOUT Connector Pinout
62
Table 2-30: Mating Connector Part Numbers for the HSOUT Connector
62
Figure 2-32: Diagram Showing Axis 1 and Axis 2 High-Speed Outputs
63
DOUT Connector (Digital Outputs)
64
Table 2-31: Digital Output Specifications
64
Table 2-32: DOUT Connector Digital Outputs Pinout
65
Table 2-33: Mating Connector Part Numbers for the DOUT Connector
65
Figure 2-33: Digital Output Schematic
66
Figure 2-34: Digital Outputs Connected in Current Sourcing Mode
67
Figure 2-35: Outputs Connected in Current Sinking Mode
67
DIN Connector (Digital Inputs)
68
Table 2-34: DIN Connector Digital Inputs Pinout
68
Table 2-35: Mating Connector Part Numbers for the DIN Connector
68
Table 2-36: Digital Input Specifications
68
Figure 2-36: Digital Input Schematic
69
Figure 2-37: Digital Inputs Connected to Current Sourcing (PNP) Devices
70
Figure 2-38: Digital Inputs Connected to Current Sinking (NPN) Devices
70
Aux Encoder Connectors
71
Table 2-37: Aux Encoder Connector Pinout
71
Table 2-38: Mating Connector Part Numbers for the Aux Encoder Connectors
71
Square Wave Encoder (Auxiliary)
72
Figure 2-39: Square Wave Encoder Interface (Aux Encoder Connector)
72
Table 2-39: Square Wave Encoder Specifications
72
Absolute Encoder (Auxiliary)
73
Figure 2-40: Absolute Encoder Schematic (Aux Encoder Connector)
73
Sine Wave Encoder (Auxiliary) [-CT4 Option]
74
Figure 2-41: Sine Wave Encoder Phasing Reference Diagram
74
Table 2-40: Sine Wave Encoder Specifications
74
Figure 2-42: Sine Wave Encoder Schematic (Aux Encoder Connector)
75
Analog I/O Connectors
76
Table 2-41: Analog I/O Connector Pinout
76
Table 2-42: Mating Connector Part Numbers for the Analog I/O Connectors
76
Analog Outputs
77
Figure 2-43: Analog Outputs Schematic
77
Table 2-43: Analog Output Specifications
77
Table 2-44: Analog Output Pins on the Analog I/O Connector
77
Analog Inputs (Differential)
78
Figure 2-44: Analog Inputs Schematic
78
Table 2-45: Analog Input Specifications
78
Table 2-46: Analog Input Pins on the Analog I/O Connector
78
Joystick Interface
79
Figure 2-45: Joystick Interface Inputs Schematic
79
Table 2-47: Joystick Interface Pins on the Analog I/O Connectors
79
Figure 2-46: Joystick Cable Wiring Schematic
80
Safe Torque off Input (STO)
81
Table 2-48: STO Connector Pinout
81
Table 2-49: Mating Connector Part Numbers for the STO Connector
81
Figure 2-47: Typical STO Configuration
82
Table 2-50: STO Electrical Specifications
82
STO Standards
83
Table 2-51: STO Standards
83
Table 2-52: STO Standards Data
83
STO Functional Description
84
STO Startup Validation Testing
85
Table 2-53: STO Signal Delay
85
Table 2-54: Motor Function Relative to STO Input State
85
STO Diagnostics
86
Figure 2-48: STO Timing
86
Table 2-55: STO Timing
86
Hyperwire Interface
87
Table 2-56: Hyperwire Card Part Number
87
Table 2-57: Hyperwire Cable Part Numbers
87
Sync Port
88
Industrial Ethernet (Ixr3 Only)
88
Table 2-58: Sync-Related Functions
88
Table 2-59: Sync Port Cables
88
Cooling Options [-C0/-C1/-C2 Option]
89
Figure 2-49: Location of the Rear Fan and Air Flow
89
Figure 2-50: -C0 Fan Location and Direction of Air Flow
89
Figure 2-51: -C1 Model Showing Perforated Covers for External Fans
90
Table 2-60: -C1 Option Airflow Specifications
90
Figure 2-52: -C2 1U Fan Location and Air Flow
91
PC Configuration and Operation Information
92
Chapter 3: Maintenance
93
Table 3-1: LED Description
93
Table 3-2: Troubleshooting
93
Preventative Maintenance
94
Table 3-3: Preventative Maintenance
94
Fuse Specifications
95
Figure 3-1: Drive Interface Board
95
Table 3-4: Drive Interface Board Motor Power Fuse Replacement Part Numbers
95
Amplifier Replacement
96
Figure 3-2: Amplifier Removal
96
Appendix A: Warranty and Field Service
99
Appendix B: Voltage Selection Operation
101
Table B-1: AC Voltage Selector Switch Settings
102
Appendix C: Revision History
103
Index
105
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