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Aerotech Automation1 XC2 Manuals
Manuals and User Guides for Aerotech Automation1 XC2. We have
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Aerotech Automation1 XC2 manuals available for free PDF download: Hardware Manual
Aerotech Automation1 XC2 Hardware Manual (96 pages)
PWM Digital Drives
Brand:
Aerotech
| Category:
DC Drives
| Size: 7.74 MB
Table of Contents
Automation1 Ixc2 and XC2 PWM Digital Drives
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: Ixc2/Xc2 Overview
17
Figure 1-1: Ixc2 High Performance PWM Amplifier
17
Figure 1-2: XC2 High Performance PWM Amplifier
18
Table 1-1: Feature Summary
19
Figure 1-3: Functional Diagram
20
Electrical Specifications
21
System Power Requirements
21
Table 1-2: Electrical Specifications
21
Mechanical Specifications
22
Mounting and Cooling
22
Table 1-3: Mounting Specifications
22
Dimensions
23
Figure 1-4: Dimensions [-EB0]
23
Figure 1-5: Dimensions [-EB1/-EB2]
24
Environmental Specifications
25
Drive and Software Compatibility
25
Table 1-4: Environmental Specifications
25
Table 1-5: 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
Minimizing Noise for EMC/CE Compliance
29
Motor Power Output Connector
30
Table 2-5: Motor Power Output Connector Pinout
30
Table 2-6: Motor Power Output Mating Connector Ratings
30
Brushless Motor Connections
31
Figure 2-3: Brushless Motor Configuration
31
Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables
31
Brushless Motor Powered Motor and Feedback Phasing
32
Figure 2-4: Positive Motor Direction
32
Figure 2-5: Encoder and Hall Signal Diagnostics
32
Table 2-8: Hall Signal Diagnostics
32
Brushless Motor Unpowered Motor and Feedback Phasing
33
Figure 2-6: Brushless Motor Phasing Oscilloscope Example
33
Figure 2-7: Brushless Motor Phasing Goal
33
DC Brush Motor Connections
34
DC Brush Motor Phasing
34
Figure 2-8: DC Brush Motor Configuration
34
Figure 2-9: Positive Motor Direction
34
Table 2-9: Wire Colors for Aerotech-Supplied DC Brush Motor Cables
34
Stepper Motor Connections
35
Stepper Motor Phasing
35
Figure 2-10: Stepper Motor Configuration
35
Figure 2-11: Positive Motor Direction
35
Table 2-10: Wire Colors for Aerotech-Supplied Stepper Motor Cables
35
Three Phase Stepper Motor Connections
36
Stepper Motor Phasing
36
Figure 2-12: Stepper Motor Configuration
36
Figure 2-13: Positive Motor Direction
36
Feedback Connector
37
Table 2-11: Feedback Connector Pinout
37
Table 2-12: Feedback Mating Connector Ratings
37
Primary Encoder Inputs
38
Table 2-13: Multiplier Options
38
Table 2-14: Primary Encoder Pins on the Feedback Connector
38
Square Wave Encoder (Primary)
39
Figure 2-14: Square Wave Encoder Schematic (Feedback Connector)
39
Table 2-15: Square Wave Encoder Specifications
39
Absolute Encoder (Primary)
40
Figure 2-15: Absolute Encoder Schematic (Feedback Connector)
40
Sine Wave Encoder (Primary) [-MX1 Option]
41
Figure 2-16: Sine Wave Encoder Phasing Reference Diagram
41
Table 2-16: Sine Wave Encoder Specifications
41
Figure 2-17: Sine Wave Encoder Schematic (Feedback Connector)
42
Encoder Phasing
43
Figure 2-18: Encoder Phasing Reference Diagram (Standard)
43
Figure 2-19: Position Feedback in the Diagnostic Display
43
Hall-Effect Inputs
44
Figure 2-20: Hall-Effect Inputs Schematic (Feedback Connector)
44
Table 2-17: Hall-Effect Feedback Pins on the Feedback Connector
44
Thermistor Input
45
Figure 2-21: Thermistor Input Schematic (Feedback Connector)
45
Table 2-18: Thermistor Input Pin on the Feedback Connector
45
Encoder Fault Input
46
Figure 2-22: Encoder Fault Input Schematic (Feedback Connector)
46
Table 2-19: Encoder Fault Input Pin on the Feedback Connector
46
End of Travel and Home Limit Inputs
47
Table 2-20: End of Travel and Home Limit Pins on the Feedback Connector
47
Figure 2-23: End of Travel and Home Limit Input Connections
48
Figure 2-24: End of Travel and Home Limit Input Schematic (Feedback Connector)
48
End of Travel and Home Limit Phasing
49
Figure 2-25: End of Travel and Home Limit Input Diagnostic Display
49
Brake Outputs
50
Figure 2-26: Brake Connected to the 25-Pin Feedback Connector (Typical)
50
Table 2-21: Brake Output Pins on the Feedback Connector
50
Table 2-22: Brake Control Specifications
50
Safe Torque off Input (STO)
51
Table 2-23: STO Connector Pinout
51
Table 2-24: STO Mating Connector Ratings
51
Figure 2-27: Typical STO Configuration
52
Table 2-25: STO Electrical Specifications
52
STO Standards
53
Table 2-26: STO Standards
53
Table 2-27: STO Standards Data
53
STO Functional Description
54
STO Startup Validation Testing
55
Table 2-28: STO Signal Delay
55
Table 2-29: Motor Function Relative to STO Input State
55
STO Diagnostics
56
Figure 2-28: STO Timing
56
Table 2-30: STO Timing
56
Hyperwire Interface
57
Table 2-31: Hyperwire Card Part Number
57
Table 2-32: Hyperwire Cable Part Numbers
57
System Interconnection
58
Figure 2-29: Drive-Based System Wiring Drawing (Best Practice)
58
Figure 2-30: PC-Based System Wiring Drawing (Best Practice)
58
Figure 2-31: Drive-Based Controller System Interconnection (Best Practice)
59
Figure 2-32: PC-Based Controller System Interconnection (Best Practice)
60
PC Configuration and Operation Information
61
Chapter 3: -EB1/-EB2 Option Expansion Board
63
Figure 3-1: Expansion Option Board Connectors (Ixc2 Shown)
63
PSO Interface [-EB1/-EB2]
64
Table 3-1: PSO Specifications [-EB1/-EB2]
64
Table 3-2: PSO Interface Connector Pinout [-EB1/-EB2]
64
Table 3-3: PSO Interface Mating Connector Ratings [-EB1/-EB2]
64
Figure 3-2: PSO Output Sources Current
65
Figure 3-3: PSO Output Sinks Current
65
Figure 3-4: PSO TTL Outputs Schematic
65
Auxiliary Encoder Interface [-EB1/-EB2]
66
Table 3-4: Auxiliary Encoder Connector Pinout
66
Table 3-5: aux Mating Connector Ratings
66
Square Wave Encoder (Auxiliary)
67
Figure 3-5: Square Wave Encoder Interface (aux Connector)
67
Table 3-6: Square Wave Encoder Specifications
67
Analog I/O [-EB1]
68
Table 3-7: Analog I/O Connector Pinout [-EB1]
68
Table 3-8: Analog I/O Mating Connector Ratings [-EB1]
68
Analog Output 0 [-EB1]
69
Figure 3-6: Analog Output Schematic [-EB1]
69
Table 3-9: Analog Output Specifications [-EB1]
69
Table 3-10: Analog Output Pins on the Analog I/O Connector [-EB1]
69
Analog Input (Differential) [-EB1]
70
Figure 3-7: Analog Input Schematic [-EB1]
70
Table 3-11: Differential Analog Input Specifications [-EB1]
70
Table 3-12: Analog Input Pins on the Analog I/O Connector [-EB1]
70
Digital Outputs [-EB1]
71
Table 3-13: Digital Output Specifications [-EB1]
71
Table 3-14: Digital Output Connector Pinout [-EB1]
71
Table 3-15: Digital Output Mating Connector Ratings [-EB1]
71
Figure 3-8: Digital Outputs Schematic [-EB1]
72
Figure 3-9: Digital Outputs Connected in Current Sourcing Mode [-EB1]
73
Figure 3-10: Digital Outputs Connected in Current Sinking Mode [-EB1]
73
Digital Inputs [-EB1]
74
Table 3-16: Digital Input Specifications [-EB1]
74
Table 3-17: Digital Input Connector Pinout [-EB1]
74
Table 3-18: Digital Input Mating Connector Ratings [-EB1]
74
Figure 3-11: Digital Inputs Schematic [-EB1]
75
Figure 3-12: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1]
76
Figure 3-13: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1]
76
Industrial Ethernet (Ixc2 -EB2 Option Only)
77
Chapter 4: Cables and Accessories
79
Table 4-1: Standard Interconnection Cables
79
DIN Rail Mounting
80
Figure 4-1: Din Rail Clip Dimensions
80
Table 4-2: Mounting Parts
80
Joystick Interface
81
Figure 4-2: Two Axis Joystick Interface
81
Handwheel Interface
82
Figure 4-3: Handwheel Interconnection to the aux Connector
82
Dual-PSO Adapter Cable
83
Chapter 5: Maintenance
85
Table 5-1: LED Description
85
Table 5-2: Troubleshooting
85
Preventative Maintenance
86
Fuse Specifications
86
Table 5-3: Preventative Maintenance
86
Table 5-4: Control Board Fuse Specifications
86
Appendix A: Warranty and Field Service
87
Appendix B: Revision History
89
Index
91
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Aerotech Automation1 XC2 Hardware Manual (96 pages)
PWM Digital Drive
Brand:
Aerotech
| Category:
DC Drives
| Size: 5.84 MB
Table of Contents
Automation1 XC2 PWM Digital Drive
1
Table of Contents
3
List of Figures
5
List of Tables
7
EU Declaration of Conformity
9
Agency Approvals
11
Safety Procedures and Warnings
13
Installation Overview
15
Chapter 1: Introduction
17
Figure 1-1: XC2 High Performance PWM Amplifier
17
Table 1-1: Feature Summary
18
Figure 1-2: Functional Diagram
19
Electrical Specifications
20
Table 1-2: Electrical Specifications
20
System Power Requirements
21
Mechanical Specifications
22
Mounting and Cooling
22
Table 1-3: Mounting Specifications
22
Dimensions
23
Figure 1-3: Dimensions
23
Figure 1-4: Dimensions [-EB1]
24
Environmental Specifications
25
Table 1-4: Environmental Specifications
25
Drive and Software Compatibility
26
Table 1-5: Drive and Software Compatibility
26
Chapter 2: Installation and Configuration
27
Input Power Connections
28
Control Supply Connector
28
Figure 2-1: Control Supply Connections
28
Table 2-1: Control Supply Connector Wiring Specifications
28
Table 2-2: Mating Connector Part Numbers for the Control Supply Connector
28
Motor Supply Connector
29
Figure 2-2: Motor Supply Connections
29
Table 2-3: Motor Supply Connector Wiring Specifications
29
Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector
29
Minimizing Noise for EMC/CE Compliance
30
Motor Power Output Connector
31
Table 2-5: Motor Power Output Connector Pinout
31
Table 2-6: Mating Connector Part Numbers for the Motor Power Output Connector
31
Brushless Motor Connections
32
Figure 2-3: Brushless Motor Configuration
32
Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables
32
Brushless Motor Powered Motor and Feedback Phasing
33
Figure 2-4: Positive Motor Direction
33
Figure 2-5: Encoder and Hall Signal Diagnostics
33
Table 2-8: Hall Signal Diagnostics
33
Brushless Motor Unpowered Motor and Feedback Phasing
34
Figure 2-6: Brushless Motor Phasing Oscilloscope Example
34
Figure 2-7: Brushless Motor Phasing Goal
34
DC Brush Motor Connections
35
Figure 2-8: DC Brush Motor Configuration
35
Table 2-9: Wire Colors for Aerotech-Supplied DC Brush Motor Cables
35
DC Brush Motor Phasing
36
Figure 2-9: Positive Motor Direction
36
Figure 2-10: Stepper Motor Configuration
37
Table 2-10: Wire Colors for Aerotech-Supplied Stepper Motor Cables
37
Figure 2-11: Positive Motor Direction
38
Stepper Motor Phasing
38
Stepper Motor Connections
37
Feedback Connector
39
Table 2-11: Feedback Connector Pinout
39
Table 2-12: Mating Connector Part Numbers for the Feedback Connector
39
Primary Encoder Inputs
40
Table 2-13: Multiplier Options
40
Table 2-14: Primary Encoder Input Pins on the Feedback Connector
40
Figure 2-12: Square Wave Encoder Schematic (Feedback Connector)
41
Square Wave Encoder
41
Table 2-15: Square Wave Encoder Specifications
41
Absolute Encoder
42
Figure 2-13: Absolute Encoder Schematic (Feedback Connector)
42
Figure 2-14: Sine Wave Encoder Phasing Reference Diagram
43
Sine Wave Encoder [-MX1 Option]
43
Table 2-16: Sine Wave Encoder Specifications
43
Figure 2-15: Sine Wave Encoder Schematic (Feedback Connector)
44
Encoder Phasing
45
Figure 2-16: Encoder Phasing Reference Diagram (Standard)
45
Figure 2-17: Position Feedback in the Diagnostic Display
45
Figure 2-18: Hall-Effect Inputs Schematic (Feedback Connector)
46
Hall-Effect Inputs
46
Table 2-17: Hall-Effect Feedback Pins on the Feedback Connector
46
Figure 2-19: Thermistor Input Schematic (Feedback Connector)
47
Table 2-18: Thermistor Input Pin on the Feedback Connector
47
Thermistor Input
47
Encoder Fault Input
48
Figure 2-20: Encoder Fault Input Schematic (Feedback Connector)
48
Table 2-19: Encoder Fault Input Pin on the Feedback Connector
48
End of Travel and Home Limit Inputs
49
Table 2-20: End of Travel and Home Limit Pins on the Feedback Connector
49
Figure 2-21: End of Travel and Home Limit Input Connections
50
Figure 2-22: End of Travel and Home Limit Input Schematic (Feedback Connector)
50
End of Travel and Home Limit Phasing
51
Figure 2-23: End of Travel and Home Limit Input Diagnostic Display
51
Brake Outputs
52
Figure 2-24: Brake Connected to the 25-Pin Feedback Connector (Typical)
52
Table 2-21: Brake Output Pins on the Feedback Connector
52
Table 2-22: Brake Control Specifications
52
Safe Torque off Input (STO)
53
Table 2-23: STO Connector Pinout
53
Table 2-24: Mating Connector Part Numbers for the STO Connector
53
Figure 2-25: Typical Configuration
54
Table 2-25: STO Electrical Specifications
54
STO Standards
55
Table 2-26: STO Standards
55
Table 2-27: STO Standards Data
55
STO Functional Description
56
STO Startup Validation Testing
57
Table 2-28: STO Signal Delay
57
Table 2-29: Motor Function Relative to STO Input State
57
Figure 2-26: STO Timing
58
STO Diagnostics
58
Table 2-30: STO Timing
58
Hyperwire Interface
59
Table 2-31: Hyperwire Card Part Number
59
Table 2-32: Hyperwire Cable Part Numbers
59
System Interconnection
60
Figure 2-27: System Wiring Drawing (Best Practice)
60
Figure 2-28: System Interconnection Drawing (Best Practice)
61
PC Configuration and Operation Information
62
Chapter 3: -EB1 I/O Option Board
63
Figure 3-1: XC2 with -EB1 I/O Option Board Connectors
63
Position Synchronized Output Interface [-EB1]
64
Table 3-1: PSO Specifications [-EB1]
64
Table 3-2: PSO Interface Connector Pinout [-EB1]
64
Table 3-3: Mating Connector Part Numbers for the PSO Interface Connector [-EB1]
64
Figure 3-2: PSO Output Sources Current
65
Figure 3-3: PSO Output Sinks Current
65
Figure 3-4: PSO TTL Outputs Schematic
65
Auxiliary Encoder Input [-EB1]
66
Table 3-4: Auxiliary Encoder Connector Pinout
66
Table 3-5: Mating Connector Part Numbers for the aux Connector
66
Figure 3-5: Square Wave Encoder Interface (aux Connector)
67
Square Wave Encoder
67
Table 3-6: Square Wave Encoder Specifications
67
Analog I/O [-EB1]
68
Table 3-7: Analog I/O Connector Pinout [-EB1]
68
Table 3-8: Mating Connector Part Numbers for the Analog I/O Connector [-EB1]
68
Analog Input (Differential) [-EB1]
69
Figure 3-6: Analog Input Schematic [-EB1]
69
Table 3-10: Analog Input Pins on the Analog I/O Connector [-EB1]
69
Table 3-9: Differential Analog Input Specifications [-EB1]
69
Analog Output 0 [-EB1]
70
Figure 3-7: Analog Output Schematic [-EB1]
70
Table 3-11: Analog Output Specifications [-EB1]
70
Digital Inputs [-EB1]
71
Figure 3-8: Digital Inputs Schematic [-EB1]
71
Figure 3-9: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1]
72
Figure 3-10: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1]
72
Digital Outputs [-EB1]
73
Figure 3-11: Digital Outputs Schematic [-EB1]
74
Figure 3-12: Digital Outputs Connected in Current Sourcing Mode [-EB1]
75
Figure 3-13: Digital Outputs Connected in Current Sinking Mode [-EB1]
75
Chapter 4: Cables and Accessories
77
DIN Rail Mounting
78
Figure 4-1: Din Rail Clip Dimensions
78
Joystick Interface
79
Figure 4-2: Two Axis Joystick Interface
79
Handwheel Interface
80
Figure 4-3: Handwheel Interconnection to the aux Connector
80
Dual-PSO Adapter Cable
81
Chapter 5: Maintenance
83
Preventative Maintenance
84
Fuse Specifications
85
Appendix A: Warranty and Field Service
87
Appendix B: Revision History
89
Index
91
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