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Aerotech Automation1 XA4 manuals available for free PDF download: Hardware Manual
Aerotech Automation1 XA4 Hardware Manual (120 pages)
PWM Digital Drives
Brand:
Aerotech
| Category:
DC Drives
| Size: 18 MB
Table of Contents
Automation1 Ixa4 and XA4 PWM Digital Drives
1
Table of Contents
3
List of Figures
5
List of Tables
7
EU Declaration of Conformity
9
UKCA Declaration of Conformity
10
Safety Procedures and Warnings
11
Handling and Storage
13
Installation Overview
14
Chapter 1: Ixa4/Xa4 Overview
17
Figure 1-1: Ixa4 Digital Drive-Based Controller Labeled
17
Figure 1-2: XA4 Digital Drive Labeled
18
Feature Summary
19
Ordering Options
20
Table 1-1: Example Order and Ordering Options
20
Figure 1-3: Functional Diagram
21
Functional Block Diagram
21
Electrical Specifications
22
Table 1-2: Electrical Specifications (Common)
22
Table 1-3: Electrical Specifications (-AC Option)
22
Table 1-4: Electrical Specifications (-DC Option)
23
Real-Time Clock Requirements (Ixa4 Only)
24
System Power Requirements
24
Mechanical Specifications
25
Mounting and Cooling
25
Table 1-5: Mounting Specifications
25
Dimensions
26
Figure 1-4: Dimensions (Two Axis Ixa4)
26
Figure 1-5: Dimensions (Two Axis Ixa4 with Expansion I/O Board)
27
Figure 1-6: Dimensions (Four Axis Ixa4)
28
Figure 1-7: Dimensions (Four Axis Ixa4 with I/O Expansion Board)
29
Drive and Software Compatibility
30
Environmental Specifications
30
Table 1-6: Environmental Specifications
30
Table 1-7: Drive and Software Compatibility
30
Chapter 2: Installation and Configuration
31
Input Power Connections
31
Control Supply Connector
31
Figure 2-1: Control Supply Connections
31
Table 2-1: Control Supply Connector Pinout
31
Table 2-2: Control Supply Mating Connector Ratings
31
Motor Supply Connector
32
Motor Supply Connector (-AC Option)
33
Figure 2-2: Motor Supply Connections
33
Table 2-3: Motor Supply Connector Pinout
33
Table 2-4: Motor Supply Mating Connector Ratings
33
Motor Supply Connector (-DC Option)
34
Figure 2-3: Motor Supply Connections
34
Table 2-5: -DC Option Motor Supply Connector Pinout
34
Table 2-6: Motor Supply Mating Connector Ratings
34
Motor Supply Keying
35
Figure 2-4: Key Star Tool
35
Table 2-7: Key Part Numbers
35
Figure 2-5: Recommended Keying for -AC Options
36
Table 2-8: Recommended Keying for -AC Options (Drive Connector)
36
Table 2-9: Recommended Keying for -AC Options (AC Supply Cables)
36
Figure 2-6: Recommended Keying for -DC Options
37
Table 2-10: Recommended Keying for -DC Options (Drive Connector)
37
Table 2-11: Recommended Keying for -DC Options (DC Supply Cables)
37
Transformer Options (-AC Option)
38
Table 2-12: Nominal Motor Operating Voltages / Required AC Voltages
38
Table 2-13: Transformer Options
38
Figure 2-7: TV0.3-28-56-ST Transformer Motor Power Wiring (40 VDC Bus) [-AC Option]
39
Figure 2-8: TV0.3-28-56-ST Transformer Motor Power Wiring (80 VDC Bus) [-AC Option]
40
Figure 2-9: TV0.3-28-56-ST Transformer Motor Power Wiring (160 VDC Bus) [-AC Option]
41
Figure 2-10: TV0.3-28 Transformer Motor Power Wiring (40 VDC Bus) [-AC Option]
42
Figure 2-11: TV0.3-56 Transformer Motor Power Wiring (80 VDC Bus) [-AC Option]
43
Figure 2-12: TM3/TM5 Transformer Motor Power Wiring [-AC Option]
44
Minimizing Noise for EMC/CE Compliance
45
Motor Power Output Connectors
46
Table 2-14: Motor Power Output Connector Pinout
46
Table 2-15: Motor Power Output Mating Connector Ratings
46
Brushless Motor Connections
47
Figure 2-13: Brushless Motor Configuration
47
Table 2-16: Wire Colors for Aerotech-Supplied Brushless Motor Cables
47
Brushless Motor Powered Motor and Feedback Phasing
48
Figure 2-14: Positive Motor Direction
48
Figure 2-15: Encoder and Hall Signal Diagnostics
48
Table 2-17: Hall Signal Diagnostics
48
Brushless Motor Unpowered Motor and Feedback Phasing
49
Figure 2-16: Brushless Motor Phasing Oscilloscope Example
49
Figure 2-17: Brushless Motor Phasing Goal
49
DC Brush Motor Connections
50
DC Brush Motor Phasing
50
Figure 2-18: DC Brush Motor Configuration
50
Figure 2-19: Positive Motor Direction
50
Table 2-18: Wire Colors for Aerotech-Supplied DC Brush Motor Cables
50
Stepper Motor Connections
51
Stepper Motor Phasing
51
Figure 2-20: Stepper Motor Configuration
51
Figure 2-21: Positive Motor Direction
51
Table 2-19: Wire Colors for Aerotech-Supplied Stepper Motor Cables
51
Three Phase Stepper Motor Connections
52
Stepper Motor Phasing
52
Figure 2-22: Three Phase Stepper Motor Configuration
52
Figure 2-23: Positive Motor Direction
52
Feedback Connectors
53
Table 2-20: Feedback Connector Pinout
53
Table 2-21: Feedback Mating Connector Ratings
53
Primary Encoder Inputs
54
Table 2-22: Multiplier Options
54
Table 2-23: Primary Encoder Pins on the Feedback Connector
54
Figure 2-24: Square Wave Encoder Schematic (Feedback Connector)
55
Square Wave Encoder (Primary)
55
Table 2-24: Square Wave Encoder Specifications
55
Absolute Encoder (Primary)
56
Figure 2-25: Absolute Encoder Schematic (Feedback Connector)
56
Table 2-25: Absolute Encoder Specifications
56
Figure 2-26: Sine Wave Encoder Phasing Reference Diagram
57
Sine Wave Encoder (Primary) [-MX1 Option]
57
Table 2-26: Sine Wave Encoder Specifications
57
Figure 2-27: Sine Wave Encoder Schematic (Feedback Connector)
58
Encoder Phasing
59
Figure 2-28: Encoder Phasing Reference Diagram (Standard)
59
Figure 2-29: Position Feedback in the Diagnostic Display
59
Figure 2-30: Hall-Effect Inputs Schematic (Feedback Connector)
60
Hall-Effect Inputs
60
Table 2-27: Hall-Effect Feedback Pins on the Feedback Connector
60
Analog Inputs (Differential)
61
Figure 2-31: Analog Inputs Schematic
61
Table 2-28: Analog Input Specifications
61
Table 2-29: Analog Input Pins on the Feedback Connector
61
Figure 2-32: Thermistor Input Schematic (Feedback Connector)
62
Table 2-30: Thermistor Input Pin on the Feedback Connector
62
Thermistor Input
62
Encoder Fault Input
63
Figure 2-33: Encoder Fault Input Schematic (Feedback Connector)
63
Table 2-31: Encoder Fault Input Pin on the Feedback Connector
63
End of Travel and Home Limit Inputs
64
Table 2-32: End of Travel and Home Limit Pins on the Feedback Connector
64
Figure 2-34: End of Travel and Home Limit Input Connections
65
Figure 2-35: End of Travel and Home Limit Input Schematic (Feedback Connector)
65
End of Travel and Home Limit Phasing
66
Figure 2-36: End of Travel and Home Limit Input Diagnostic Display
66
Brake Outputs
67
Figure 2-37: Brake Connected to the 25-Pin Feedback Connector (Typical)
67
Table 2-33: Brake Output Pins on the Feedback Connector
67
Table 2-34: Brake Control Specifications
67
Safe Torque off Input (STO)
68
Table 2-35: STO Connector Pinout
68
Table 2-36: STO Mating Connector Ratings
68
Figure 2-38: Typical STO Configuration
69
Table 2-37: STO Electrical Specifications
69
STO Standards
70
Table 2-38: STO Standards
70
Table 2-39: STO Standards Data
70
STO Functional Description
71
STO Startup Validation Testing
72
Table 2-40: STO Signal Delay
72
Table 2-41: Motor Function Relative to STO Input State
72
Figure 2-39: STO Timing
73
STO Diagnostics
73
Table 2-42: STO Timing
73
Position Synchronized Output (PSO)
74
Figure 2-40: PSO Interface
74
Table 2-43: PSO Specifications
74
Table 2-44: Pso/High-Speed Input Connector
74
High-Speed Inputs
75
Figure 2-41: High-Speed Inputs
75
Table 2-45: High-Speed Input Specifications
75
Table 2-46: Pso/High-Speed Input Connector
75
Hyperwire Interface
76
Table 2-47: Hyperwire Card Part Number
76
Table 2-48: Hyperwire Cable Part Numbers
76
Sync Port (-AX4, -EB1, or -EB2 Options Only)
77
Industrial Ethernet (Ixa4 -IE1 Option Only)
77
Table 2-49: Sync-Related Functions
77
Table 2-50: Sync Port Cables
77
System Interconnection
78
Figure 2-42: Ixa4-AC Drive-Based System Wiring Drawing (Best Practice)
78
Figure 2-43: XA4-AC PC-Based System Wiring Drawing (Best Practice)
78
Figure 2-44: Ixa4-DC Drive-Based System Wiring Drawing (Best Practice)
79
Figure 2-45: XA4-DC PC-Based System Wiring Drawing (Best Practice)
79
Figure 2-46: Ixa4-AC Recommended System Connections for a Drive-Based Controller
80
Figure 2-47: XA4-AC Recommended System Connections for a PC-Based Controller
81
Figure 2-48: Ixa4-DC Recommended System Connections for a Drive-Based Controller
82
Figure 2-49: XA4-DC Recommended System Connections for a PC-Based Controller
83
PC Configuration and Operation Information
84
Chapter 3: -EB1/-EB2 Option Expansion Board
85
Figure 3-1: -EB1 and -EB2 I/O Option Board Connectors
85
Digital Outputs [-EB1/-EB2]
86
Table 3-1: Digital Output Specifications [-EB1/-EB2]
86
Table 3-2: Digital Output Connectors Pinout [-EB1]
87
Table 3-3: Digital Output Mating Connector Ratings [-EB1]
87
Table 3-4: Digital Output Connectors Pinout [-EB2]
88
Table 3-5: Digital Output Mating Connector Ratings [-EB2]
88
Figure 3-2: Digital Outputs Schematic [-EB1/-EB2]
89
Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1/-EB2]
90
Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1/-EB2]
90
Digital Inputs [-EB1/-EB2]
91
Table 3-6: Digital Input Specifications [-EB1/-EB2]
91
Table 3-7: Digital Input Connector Pinouts [-EB1]
91
Table 3-8: Digital Inputs Mating Connector Ratings [-EB1]
91
Table 3-9: Digital Input Connectors Pinout [-EB2]
92
Table 3-10: Digital Input Mating Connector Ratings [-EB2]
92
Figure 3-5: Digital Inputs Schematic [-EB1/-EB2]
93
Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1/-EB2]
94
Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1/-EB2]
94
Analog Outputs [-EB1/-EB2]
95
Table 3-11: Analog Output Specifications [-EB1/-EB2]
95
Table 3-12: Analog Output Connector Pinout [-EB1]
95
Table 3-13: Analog Outputs Mating Connector Ratings [-EB1]
95
Figure 3-8: Analog Output Typical Connection
96
Table 3-14: Analog Output Connector Pinout [-EB2]
96
Table 3-15: Analog Outputs Mating Connector Ratings [-EB2]
96
Analog Inputs [-EB1/-EB2]
97
Table 3-16: Differential Analog Input Specifications [-EB1/-EB2]
97
Table 3-17: Analog Input Connector Pinout [-EB1]
97
Table 3-18: Analog Inputs Mating Connector Ratings [-EB1]
97
Figure 3-9: Analog Input Typical Connection
98
Table 3-19: Analog Inputs Connector Pinout [-EB2]
98
Table 3-20: Analog Inputs Mating Connector Ratings [-EB2]
98
Auxiliary Encoder Interface [-EB1/-EB2]
99
Table 3-21: Auxiliary Encoder Connector Pinout [-EB1]
99
Table 3-22: Analog Inputs Mating Connector Ratings [-EB1]
99
Table 3-23: Auxiliary Encoder Connector Pinout [-EB2]
100
Table 3-24: Analog Inputs Mating Connector Ratings [-EB2]
100
Figure 3-10: Square Wave Encoder Interface (Auxiliary)
101
Square Wave Encoder (Auxiliary)[-EB1/-EB2]
101
Chapter 4: Cables and Accessories
103
Table 3-1: Standard Interconnection Cables
103
Joystick Interface
104
Figure 3-1: Two Axis Joystick Interface (to the -EB2 I/O Board)
104
Handwheel Interface
105
Figure 3-2: Handwheel Interconnection to the -EB2 I/O Board
105
Chapter 5: Maintenance
107
Table 4-1: LED Description
107
Table 4-2: Troubleshooting
107
Preventative Maintenance
108
Table 4-3: Preventative Maintenance
108
Figure 4-1: Fuse Locations on the Ixa4 Control Board
109
Fuse Specifications
109
Table 4-4: Control Board Fuse Specifications
109
Appendix A: Warranty and Field Service
111
Appendix B: Revision History
113
Index
115
Table 3-25: Square Wave Encoder Specifications
119
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Aerotech Automation1 XA4 Hardware Manual (88 pages)
PWM Digital Drives
Brand:
Aerotech
| Category:
DC Drives
| Size: 10 MB
Table of Contents
Automation1 Ixa4 and XA4 PWM Digital Drives
1
Table of Contents
3
List of Figures
5
List of Tables
6
EU Declaration of Conformity
8
UKCA Declaration of Conformity
9
Safety Procedures and Warnings
10
Handling and Storage
12
Installation Overview
13
Chapter 1: Ixa4/Xa4 Overview
15
Figure 1-1: Ixa4 Digital Drive-Based Controller Labeled
15
Figure 1-2: XA4 Digital Drive Labeled
16
Feature Summary
17
Ordering Options
18
Table 1-1: Example Order and Ordering Options
18
Functional Block Diagram
19
Figure 1-3: Functional Diagram
19
Electrical Specifications
20
Table 1-2: Electrical Specifications (Common)
20
Table 1-3: Electrical Specifications (by Ordering Option)
20
System Power Requirements
22
Real-Time Clock Requirements (Ixa4 Only)
22
Mechanical Specifications
23
Mounting and Cooling
23
Table 1-4: Mounting Specifications
23
Dimensions
24
Figure 1-4: Dimensions
24
Environmental Specifications
25
Drive and Software Compatibility
25
Table 1-5: Environmental Specifications
25
Table 1-6: Drive and Software Compatibility
25
Chapter 2: Installation and Configuration
27
Input Power Connections
27
Control Supply Connector
27
Figure 2-1: Control Supply Connections
27
Table 2-1: Control Supply Connector Pinout
27
Table 2-2: Control Supply Mating Connector Ratings
27
Motor Supply Connector
28
Figure 2-2: Motor Supply Connections
28
Table 2-3: Motor Supply Connector Pinout
28
Table 2-4: Motor Supply Mating Connector Ratings
28
Transformer Options
29
Table 2-5: Nominal Motor Operating Voltages / Required AC Voltages
29
Table 2-6: Transformer Options
29
Figure 2-3: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (40 VDC Bus)
30
Figure 2-4: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (80 VDC Bus)
31
Figure 2-5: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (160 VDC Bus)
32
Figure 2-6: TV0.3-28 Transformer Control and Motor Power Wiring (40 VDC Bus)
33
Figure 2-7: TV0.3-56 Transformer Control and Motor Power Wiring (80 VDC Bus)
34
Figure 2-8: TM3/TM5 Transformer Control and Motor Power Wiring
35
Minimizing Noise for EMC/CE Compliance
36
Motor Power Output Connectors
37
Table 2-7: Motor Power Output Connector Pinout
37
Table 2-8: Motor Power Output Mating Connector Ratings
37
Brushless Motor Connections
38
Figure 2-9: Brushless Motor Configuration
38
Table 2-9: Wire Colors for Aerotech-Supplied Brushless Motor Cables
38
Brushless Motor Powered Motor and Feedback Phasing
39
Figure 2-10: Positive Motor Direction
39
Figure 2-11: Encoder and Hall Signal Diagnostics
39
Table 2-10: Hall Signal Diagnostics
39
Brushless Motor Unpowered Motor and Feedback Phasing
40
Figure 2-12: Brushless Motor Phasing Oscilloscope Example
40
Figure 2-13: Brushless Motor Phasing Goal
40
DC Brush Motor Connections
41
Figure 2-14: DC Brush Motor Configuration
41
Figure 2-15: Positive Motor Direction
41
Table 2-11: Wire Colors for Aerotech-Supplied DC Brush Motor Cables
41
Stepper Motor Connections
42
Stepper Motor Phasing
42
Figure 2-16: Stepper Motor Configuration
42
Figure 2-17: Positive Motor Direction
42
Table 2-12: Wire Colors for Aerotech-Supplied Stepper Motor Cables
42
Three Phase Stepper Motor Connections
43
Stepper Motor Phasing
43
Figure 2-18: Three Phase Stepper Motor Configuration
43
Figure 2-19: Positive Motor Direction
43
Feedback Connectors
44
Table 2-13: Feedback Connector Pinout
44
Table 2-14: Feedback Mating Connector Ratings
44
Primary Encoder Inputs
45
Table 2-15: Multiplier Options
45
Table 2-16: Primary Encoder Pins on the Feedback Connector
45
Square Wave Encoder (Primary)
46
Figure 2-20: Square Wave Encoder Schematic (Feedback Connector)
46
Table 2-17: Square Wave Encoder Specifications
46
Absolute Encoder (Primary)
47
Figure 2-21: Absolute Encoder Schematic (Feedback Connector)
47
Table 2-18: Absolute Encoder Specifications
47
Sine Wave Encoder (Primary) [-MX1 Option]
48
Figure 2-22: Sine Wave Encoder Phasing Reference Diagram
48
Table 2-19: Sine Wave Encoder Specifications
48
Figure 2-23: Sine Wave Encoder Schematic (Feedback Connector)
49
Encoder Phasing
50
Figure 2-24: Encoder Phasing Reference Diagram (Standard)
50
Figure 2-25: Position Feedback in the Diagnostic Display
50
Hall-Effect Inputs
51
Figure 2-26: Hall-Effect Inputs Schematic (Feedback Connector)
51
Table 2-20: Hall-Effect Feedback Pins on the Feedback Connector
51
Analog Inputs (Differential)
52
Figure 2-27: Analog Inputs Schematic
52
Table 2-21: Analog Input Specifications
52
Table 2-22: Analog Input Pins on the Feedback Connector
52
Thermistor Input
53
Figure 2-28: Thermistor Input Schematic (Feedback Connector)
53
Table 2-23: Thermistor Input Pin on the Feedback Connector
53
Encoder Fault Input
54
Figure 2-29: Encoder Fault Input Schematic (Feedback Connector)
54
Table 2-24: Encoder Fault Input Pin on the Feedback Connector
54
End of Travel and Home Limit Inputs
55
Table 2-25: End of Travel and Home Limit Pins on the Feedback Connector
55
Figure 2-30: End of Travel and Home Limit Input Connections
56
Figure 2-31: End of Travel and Home Limit Input Schematic (Feedback Connector)
56
End of Travel and Home Limit Phasing
57
Figure 2-32: End of Travel and Home Limit Input Diagnostic Display
57
Brake Outputs
58
Figure 2-33: Brake Connected to the 25-Pin Feedback Connector (Typical)
58
Table 2-26: Brake Output Pins on the Feedback Connector
58
Table 2-27: Brake Control Specifications
58
Safe Torque off Input (STO)
59
Table 2-28: STO Connector Pinout
59
Table 2-29: STO Mating Connector Ratings
59
Figure 2-34: Typical STO Configuration
60
Table 2-30: STO Electrical Specifications
60
STO Standards
61
Table 2-31: STO Standards
61
Table 2-32: STO Standards Data
61
STO Functional Description
62
STO Startup Validation Testing
63
Table 2-33: STO Signal Delay
63
Table 2-34: Motor Function Relative to STO Input State
63
STO Diagnostics
64
Figure 2-35: STO Timing
64
Table 2-35: STO Timing
64
Position Synchronized Output (PSO)
65
Figure 2-36: PSO Interface
65
Table 2-36: PSO Specifications
65
Table 2-37: Pso/High-Speed Input Connector
65
High-Speed Inputs
66
Figure 2-37: High-Speed Inputs
66
Table 2-38: High-Speed Input Specifications
66
Table 2-39: Pso/High-Speed Input Connector
66
Hyperwire Interface
67
Table 2-40: Hyperwire Card Part Number
67
Table 2-41: Hyperwire Cable Part Numbers
67
Figure 2-38: Drive-Based System Wiring Drawing (Best Practice)
68
Figure 2-39: PC-Based System Wiring Drawing (Best Practice)
68
Figure 2-40: Recommended System Connections for a Drive-Based Controller
69
Figure 2-41: Recommended System Connections for a PC-Based Controller
70
Table 3-1: Standard Interconnection Cables
73
Figure 4-1: Fuse Locations on the Ixa4 Control Board
77
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