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Aerotech Automation1 XC6e Series Manuals
Manuals and User Guides for Aerotech Automation1 XC6e Series. We have
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Aerotech Automation1 XC6e Series manuals available for free PDF download: Hardware Manual
Aerotech Automation1 XC6e Series Hardware Manual (112 pages)
High-Powered PWM Digital Drives
Brand:
Aerotech
| Category:
DC Drives
| Size: 14.9 MB
Table of Contents
Automation1 Ixc6E and Xc6E High-Powered PWM Digital Drives
1
Table of Contents
3
List of Figures
5
List of Tables
7
EU Declaration of Conformity
9
Safety Procedures and Warnings
10
Handling and Storage
12
Installation Overview
13
Chapter 1: Ixc6E/Xc6E Overview
15
Figure 1-1: Ixc6E High Power Networked Digital Drive
15
Figure 1-2: Xc6E High Power Networked Digital Drive
16
Table 1-1: Feature Summary
17
Figure 1-3: Functional Diagram
18
Electrical Specifications
19
Table 1-2: Electrical Specifications (Common)
19
System Power Requirements
20
Table 1-3: Electrical Specifications (by Ordering Option)
20
Mechanical Specifications
21
Mounting and Cooling
21
Table 1-4: Mounting Specifications
21
Dimensions
22
Figure 1-4: Dimensions
22
Figure 1-5: Dimensions [-EB1]
23
Environmental Specifications
24
Drive and Software Compatibility
24
Table 1-5: Environmental Specifications
24
Table 1-6: Drive and Software Compatibility
24
Chapter 2: Installation and Configuration
25
Input Power Connections
25
Control Supply Connector
25
Figure 2-1: Control Supply Connections
25
Table 2-1: Control Supply Wiring Pinout
25
Table 2-2: Control Supply Wiring Specifications
25
Motor Supply Connector
26
Figure 2-2: Motor Supply Connections
26
Table 2-3: Motor Supply Connector Pinout
26
Table 2-4: Motor Supply Mating Connector Ratings
27
Table 2-5: Motor Supply Connector Fuse Specifications
27
Minimizing Noise for EMC/CE Compliance
28
Inrush Current Limiting
29
Figure 2-3: Inrush Limiting Circuit External to Drive
29
Motor Power Output Connector
32
Table 2-6: Motor Power Output Connector Pinout
32
Table 2-7: Motor Output Mating Connector Ratings
32
Brushless Motor Connections
33
Figure 2-4: Brushless Motor Configuration
33
Table 2-8: Wire Colors for Aerotech-Supplied Brushless Motor Cables
33
Brushless Motor Powered Motor and Feedback Phasing
34
Figure 2-5: Positive Motor Direction
34
Figure 2-6: Encoder and Hall Signal Diagnostics
34
Table 2-9: Hall Signal Diagnostics
34
Brushless Motor Unpowered Motor and Feedback Phasing
35
Figure 2-7: Brushless Motor Phasing Oscilloscope Example
35
Figure 2-8: Brushless Motor Phasing Goal
35
Feedback Connector
36
Table 2-10: Feedback Connector Pinout
36
Table 2-11: Feedback Connector Mating Connector Ratings
36
Primary Encoder Inputs
37
Table 2-12: Multiplier Options
37
Table 2-13: Primary Encoder Input Pins on the Feedback Connector
37
Square Wave Encoder (Primary)
38
Figure 2-9: Square Wave Encoder Schematic (Feedback Connector)
38
Table 2-14: Square Wave Encoder Specifications
38
Absolute Encoder (Primary)
39
Figure 2-10: Absolute Encoder Schematic (Feedback Connector)
39
Sine Wave Encoder (Primary) [-MX2/-MX3 Option]
40
Figure 2-11: Sine Wave Encoder Phasing Reference Diagram
40
Table 2-15: Sine Wave Encoder Specifications
40
Figure 2-12: Sine Wave Encoder Schematic (Feedback Connector)
41
Encoder Phasing
42
Figure 2-13: Encoder Phasing Reference Diagram (Standard)
42
Figure 2-14: Position Feedback in the Diagnostic Display
42
Hall-Effect Inputs
43
Figure 2-15: Hall-Effect Inputs Schematic (Feedback Connector)
43
Table 2-16: Hall-Effect Feedback Pins on the Feedback Connector
43
Thermistor Input
44
Figure 2-16: Thermistor Input Schematic (Feedback Connector)
44
Table 2-17: Thermistor Input Pin on the Feedback Connector
44
Encoder Fault Input
45
Figure 2-17: Encoder Fault Input Schematic (Feedback Connector)
45
Table 2-18: Encoder Fault Input Pin on the Feedback Connector
45
End of Travel and Home Limit Inputs
46
Table 2-19: End of Travel and Home Limit Pins on the Feedback Connector
46
Figure 2-18: End of Travel and Home Limit Input Connections
47
Figure 2-19: End of Travel and Home Limit Input Schematic (Feedback Connector)
47
End of Travel and Home Limit Phasing
48
Figure 2-20: End of Travel and Home Limit Input Diagnostic Display
48
Brake Outputs
49
Figure 2-21: Brake Connected to the 25-Pin Feedback Connector (Typical)
49
Table 2-20: Brake Output Pins on the Feedback Connector
49
Table 2-21: Brake Control Specifications
49
Safe Torque off Input (STO)
50
Table 2-22: STO Connector Pinout
50
Table 2-23: STO Mating Connector Ratings
50
Figure 2-22: Typical STO Configuration
51
Table 2-24: STO Electrical Specifications
51
STO Standards
52
Table 2-25: STO Standards
52
Table 2-26: STO Standards Data
52
STO Functional Description
53
STO Startup Validation Testing
54
Table 2-27: STO Signal Delay
54
Table 2-28: Motor Function Relative to STO Input State
54
STO Diagnostics
55
Figure 2-23: STO Timing
55
Table 2-29: STO Timing
55
Auxiliary I/O Connector
56
Table 2-30: Auxiliary I/O Connector Pinout
56
Table 2-31: Auxiliary I/O Mating Connector Ratings
56
Auxiliary Encoder Inputs
57
Table 2-32: Auxiliary Encoder Pins on the Auxiliary I/O Connector
57
Square Wave Encoder (Auxiliary)
58
Figure 2-24: Square Wave Encoder Interface (aux I/O Connector)
58
Absolute Encoder (Auxiliary)
59
Figure 2-25: Absolute Encoder Schematic (Auxiliary I/O Connector)
59
Sine Wave Encoder (Auxiliary) [-MX3 Option]
60
Figure 2-26: Sine Wave Encoder Phasing Reference Diagram
60
Table 2-34: Sine Wave Encoder Specifications
60
Figure 2-27: Sine Wave Encoder Schematic (Auxiliary I/O Connector)
61
Position Synchronized Output (PSO)
62
Table 2-35: PSO Specifications
62
Table 2-36: PSO Pins on the Auxiliary I/O Connector
62
Figure 2-28: PSO Interface
63
Digital Outputs
64
Table 2-37: Digital Output Specifications
64
Table 2-38: Digital Output Pins on the Auxiliary I/O Connector
64
Figure 2-29: Digital Output Schematic (aux I/O Connector)
65
Figure 2-30: Digital Outputs Connected in Current Sourcing Mode
66
Figure 2-31: Digital Outputs Connected in Current Sinking Mode
66
Digital Inputs
67
Figure 2-32: Digital Inputs Schematic (aux I/O Connector)
67
Table 2-39: Digital Input Specifications
67
Table 2-40: Digital Input Pins on the Auxiliary I/O Connector
67
Figure 2-33: Digital Inputs Connected to Current Sourcing Devices
68
Figure 2-34: Digital Inputs Connected to Current Sinking Devices
68
High-Speed Inputs
69
Figure 2-35: High-Speed Inputs
69
Table 2-41: High-Speed Input Specifications
69
Table 2-42: High-Speed Input Pins on the Auxiliary I/O Connector
69
Analog Output
70
Figure 2-36: Analog Output 0 Schematic
70
Table 2-43: Analog Output Specifications
70
Table 2-44: Analog Output Pins on the Auxiliary I/O Connector
70
Analog Input 0 (Differential)
71
Figure 2-37: Analog Input 0 Schematic
71
Table 2-45: Analog Input Specifications
71
Table 2-46: Analog Input Pins on the Auxiliary I/O Connector
71
Brake Power Supply Connector
72
Table 2-47: Brake Power Supply Connector Pinout
72
Table 2-48: Brake Power Supply Mating Connector Ratings
72
Hyperwire Interface
73
Table 2-49: Hyperwire Card Part Number
73
Table 2-50: Hyperwire Cable Part Numbers
73
Shunt Options
74
Table 2-51: Bus Link Connector Pinout
74
Table 2-52: Bus Link Mating Connector Ratings
75
Table 2-53: Internal Shunt Specifications
75
Table 2-54: Maximum Recommended Shunt Current
75
Table 2-55: Maximum Additional Storage Energy for a Standard Ixc6E/Xc6E
76
Sync Port
78
Industrial Ethernet (Ixc6E Only)
78
Table 2-56: Sync-Related Functions
78
Table 2-57: Sync Port Cables
78
System Interconnection
79
Figure 2-38: Drive-Based System Wiring Drawing (Best Practice)
79
Figure 2-39: PC-Based System Wiring Drawing (Best Practice)
79
Figure 2-40: Drive-Based Controller System Interconnection (Best Practice)
80
Figure 2-41: PC-Based Controller System Interconnection (Best Practice)
81
PC Configuration and Operation Information
82
Chapter 3: -EB1 Option Expansion Board
83
Figure 3-1: -EB1 I/O Option Board Connectors (Ixc6E Shown)
83
Digital Outputs [-EB1]
84
Table 3-1: Digital Output Specifications [-EB1]
84
Table 3-2: Digital Output 1 Connector Pinout [-EB1]
85
Table 3-3: Digital Output 1 Mating Connector Ratings [-EB1]
85
Table 3-4: Digital Output 2 Connector Pinout [-EB1]
85
Table 3-5: Digital Output 2 Mating Connector Ratings [-EB1]
85
Figure 3-2: Digital Outputs Schematic [-EB1]
86
Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1]
87
Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1]
87
Digital Inputs [-EB1]
88
Table 3-6: Digital Input Specifications [-EB1]
88
Table 3-7: Digital Input 1 Connector Pinout [-EB1]
88
Table 3-8: Digital Input 1 Mating Connector Ratings [-EB1]
88
Figure 3-5: Digital Inputs Schematic [-EB1]
89
Table 3-9: Digital Input 2 Connector Pinout [-EB1]
89
Table 3-10: Digital Input 2 Mating Connector Ratings [-EB1]
89
Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1]
90
Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1]
90
Analog Outputs [-EB1]
91
Figure 3-8: Analog Output Typical Connection [-EB1]
91
Table 3-11: Analog Output Specifications [-EB1]
91
Table 3-12: Analog Output Connector Pinout [-EB1]
91
Table 3-13: Analog Output Mating Connector Ratings [-EB1]
91
Analog Inputs [-EB1]
92
Figure 3-9: Analog Input Typical Connection [-EB1]
92
Table 3-14: Differential Analog Input Specifications [-EB1]
92
Table 3-15: Analog Input Connector Pinout [-EB1]
92
Table 3-16: Analog Input Mating Connector Ratings [-EB1]
92
PSO Interface [-EB1]
93
Table 3-18: PSO Interface Connector Pinout [-EB1]
93
Table 3-19: PSO Interface Mating Connector Ratings [-EB1]
93
Figure 3-10: PSO Output Sources Current
94
Figure 3-11: PSO Output Sinks Current
94
Figure 3-12: PSO TTL Outputs Schematic
94
Chapter 4: Cables and Accessories
95
Table 4-1: Standard Interconnection Cables
95
Joystick Interface
96
Figure 4-1: Two Axis Joystick Interface (to the aux I/O of Two Drives)
96
Figure 4-2: Two Axis Joystick Interface (to the I/O Board)
97
Handwheel Interface
98
Figure 4-3: Handwheel Interconnection to aux I/O Connector
98
Figure 4-4: Handwheel Interconnection to the aux I/O through a BBA32 Module
98
Chapter 5: Maintenance
99
Table 5-1: LED Description
99
Table 5-2: Troubleshooting
99
Preventative Maintenance
100
Fuse Specifications
100
Table 5-3: Preventative Maintenance
100
Table 5-4: Control Board Fuse Specifications
100
Appendix A: Warranty and Field Service
101
Appendix B: Revision History
103
Index
105
Table 2-33: Square Wave Encoder Specifications
110
Table 3-17: PSO Specifications [-EB1]
110
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Aerotech Automation1 XC6e Series Hardware Manual (110 pages)
High-Powered PWM Digital Drive
Brand:
Aerotech
| Category:
DC Drives
| Size: 5.93 MB
Table of Contents
Automation1 Xc6E High-Powered PWM Digital Drive
1
Table of Contents
3
List of Figures
5
List of Tables
7
EU Declaration of Conformity
9
Safety Procedures and Warnings
11
Installation Overview
13
Chapter 1: Introduction
15
Figure 1-1: Xc6E High Power Networked Digital Drive
15
Table 1-1: Feature Summary
16
Figure 1-2: Functional Diagram
17
Electrical Specifications
18
Table 1-2: Electrical Specifications
18
Table 1-3: Electrical Specifications (Continued)
19
System Power Requirements
20
Mechanical Specifications
21
Mounting and Cooling
21
Table 1-4: Mounting Specifications
21
Dimensions
22
Figure 1-3: Dimensions
22
Figure 1-4: Dimensions [-EB1]
23
Environmental Specifications
24
Table 1-5: Environmental Specifications
24
Drive and Software Compatibility
25
Table 1-6: Drive and Software Compatibility
25
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 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
Table 2-5: Motor Supply Connector Fuse Specifications
29
Minimizing Noise for EMC/CE Compliance
30
Motor Power Output Connector
31
Table 2-6: Motor Power Output Connector Pinout
31
Table 2-7: Mating Connector Part Numbers for the Motor Power Output Connector
31
Brushless Motor Connections
32
Figure 2-3: Brushless Motor Configuration
32
Table 2-8: 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 2-9: 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
Feedback Connector
35
Table 2-10: Feedback Connector Pinout
35
Table 2-11: Mating Connector Part Numbers for the Feedback Connector
35
Primary Encoder Inputs
36
Table 2-12: Multiplier Options
36
Table 2-13: Primary Encoder Input Pins on the Feedback Connector
36
Figure 2-8: Square Wave Encoder Schematic (Feedback Connector)
37
Square Wave Encoder
37
Table 2-14: Square Wave Encoder Specifications
37
Absolute Encoder
38
Figure 2-9: Absolute Encoder Schematic (Feedback Connector)
38
Figure 2-10: Sine Wave Encoder Phasing Reference Diagram
39
Sine Wave Encoder [-MX2/-MX3 Option]
39
Table 2-15: Sine Wave Encoder Specifications
39
Figure 2-11: Sine Wave Encoder Schematic (Feedback Connector)
40
Encoder Phasing
41
Figure 2-12: Encoder Phasing Reference Diagram (Standard)
41
Figure 2-13: Position Feedback in the Diagnostic Display
41
Figure 2-14: Hall-Effect Inputs Schematic (Feedback Connector)
42
Hall-Effect Inputs
42
Table 2-16: Hall-Effect Feedback Pins on the Feedback Connector
42
Figure 2-15: Thermistor Input Schematic (Feedback Connector)
43
Table 2-17: Thermistor Input Pin on the Feedback Connector
43
Thermistor Input
43
Encoder Fault Input
44
Figure 2-16: Encoder Fault Input Schematic (Feedback Connector)
44
Table 2-18: Encoder Fault Input Pin on the Feedback Connector
44
End of Travel and Home Limit Inputs
45
Table 2-19: End of Travel and Home Limit Pins on the Feedback Connector
45
Figure 2-17: End of Travel and Home Limit Input Connections
46
Figure 2-18: End of Travel and Home Limit Input Schematic (Feedback Connector)
46
End of Travel and Home Limit Phasing
47
Figure 2-19: End of Travel and Home Limit Input Diagnostic Display
47
Brake Outputs
48
Figure 2-20: Brake Connected to the 25-Pin Feedback Connector (Typical)
48
Table 2-20: Brake Output Pins on the Feedback Connector
48
Table 2-21: Brake Control Specifications
48
Safe Torque off Input (STO)
49
Table 2-22: STO Connector Pinout
49
Table 2-23: Mating Connector Part Numbers for the STO Connector
49
Figure 2-21: Typical Configuration
50
Table 2-24: STO Electrical Specifications
50
STO Standards
51
Table 2-25: STO Standards
51
Table 2-26: STO Standards Data
51
STO Functional Description
52
STO Startup Validation Testing
53
Table 2-27: STO Signal Delay
53
Table 2-28: Motor Function Relative to STO Input State
53
Figure 2-22: STO Timing
54
STO Diagnostics
54
Table 2-29: STO Timing
54
Auxiliary I/O Connector
55
Table 2-30: Auxiliary I/O Connector Pinout
55
Table 2-31: Mating Connector Part Numbers for the Auxiliary I/O Connector
55
Auxiliary Encoder Inputs
56
Table 2-32: Auxiliary Encoder Pins on the Auxiliary I/O Connector
56
Figure 2-23: Square Wave Encoder Interface (Aux I/O Connector)
57
Square Wave Encoder
57
Table 2-33: Square Wave Encoder Specifications
57
Absolute Encoder
58
Figure 2-24: Absolute Encoder Schematic (Auxiliary I/O Connector)
58
Figure 2-25: Sine Wave Encoder Phasing Reference Diagram
59
Sine Wave Encoder [-MX3 Option]
59
Table 2-34: Sine Wave Encoder Specifications
59
Figure 2-26: Sine Wave Encoder Schematic (Auxiliary I/O Connector)
60
Position Synchronized Output (PSO)
61
Table 2-35: PSO Specifications
61
Table 2-36: PSO Pins on the Auxiliary I/O Connector
61
Figure 2-27: PSO Interface
62
Digital Outputs
63
Table 2-37: Digital Output Specifications
63
Table 2-38: Digital Output Pins on the Auxiliary I/O Connector
63
Figure 2-28: Digital Output Schematic (Aux I/O Connector)
64
Figure 2-29: Digital Outputs Connected in Current Sourcing Mode
65
Figure 2-30: Digital Outputs Connected in Current Sinking Mode
65
Digital Inputs
66
Figure 2-31: Digital Inputs Connected to Current Sinking Devices
66
Figure 2-32: Digital Inputs Connected to Current Sourcing Devices
66
Table 2-39: Digital Input Specifications
66
Table 2-40: Digital Input Pins on the Auxiliary I/O Connector
66
Figure 2-33: High-Speed Inputs
67
High-Speed Inputs
67
Table 2-41: High-Speed Input Specifications
67
Table 2-42: High-Speed Input Pins on the Auxiliary I/O Connector
67
Analog Output
68
Figure 2-34: Analog Output 0 Schematic
68
Table 2-43: Analog Output Specifications
68
Table 2-44: Analog Output Pins on the Auxiliary I/O Connector
68
Analog Input 0 (Differential)
69
Figure 2-35: Analog Input 0 Schematic
69
Table 2-45: Analog Input Specifications
69
Table 2-46: Analog Input Pins on the Auxiliary I/O Connector
69
Brake Power Supply Connector
70
Table 2-47: Brake Power Supply Connector Pinout
70
Table 2-48: Mating Connector Part Numbers for the Brake Power Supply Connector
70
Hyperwire Interface
71
Table 2-49: Hyperwire Card Part Number
71
Table 2-50: Hyperwire Cable Part Numbers
71
Shunt Options
72
Table 2-51: Bus Link Connector Pinout
72
Table 2-52: Mating Connector Part Numbers for the Bus Link Connector
72
Table 2-53: Internal Shunt Specifications
72
Table 2-54: Maximum Recommended Shunt Current
73
Table 2-55: Maximum Additional Storage Energy for a Standard Xc6E
73
Sync Port
75
Table 2-56: Sync-Related Functions
75
Table 2-57: Sync Port Cables
75
System Interconnection
76
Figure 2-36: System Wiring Drawing (Best Practice)
76
PC Configuration and Operation Information
77
Chapter 3: -EB1 I/O Option Board
79
Figure 3-1: Xc6E with -EB1 I/O Option Board Connectors
79
Digital Outputs [-EB1]
80
Table 3-1: Digital Output Specifications [-EB1]
80
Table 3-2: Digital Output 1 Connector Pinout [-EB1]
81
Table 3-3: Mating Connector Part Numbers for the Digital Output 1 Connector [-EB1]
81
Table 3-4: Digital Output 2 Connector Pinout [-EB1]
81
Table 3-5: Mating Connector Part Numbers for the Digital Output 2 Connector [-EB1]
81
Figure 3-2: Digital Outputs Schematic [-EB1]
82
Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1]
83
Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1]
83
Digital Inputs [-EB1]
84
Table 3-6: Digital Input Specifications [-EB1]
84
Table 3-7: Digital Input 1 Connector Pinout [-EB1]
84
Table 3-8: Mating Connector Part Numbers for the Digital Input 1 Connector [-EB1]
84
Figure 3-5: Digital Inputs Schematic [-EB1]
85
Table 3-9: Digital Input 2 Connector Pinout [-EB1]
85
Table 3-10: Mating Connector Part Numbers for the Digital Input 2 Connector [-EB1]
85
Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1]
86
Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1]
86
Analog Outputs [-EB1]
87
Figure 3-8: Analog Output Typical Connection [-EB1]
87
Table 3-11: Analog Output Specifications [-EB1]
87
Table 3-12: Analog Output Connector Pinout [-EB1]
87
Table 3-13: Mating Connector Part Numbers for the Analog Output Connector [-EB1]
87
Analog Inputs [-EB1]
88
Table 3-14: Differential Analog Input Specifications [-EB1]
88
Table 3-15: Analog Input Connector Pinout [-EB1]
88
Table 3-16: Mating Connector Part Numbers for the Analog Input Connector [-EB1]
88
Position Synchronized Output Interface [-EB1]
89
Table 3-17: PSO Specifications [-EB1]
89
Table 3-18: PSO Interface Connector Pinout [-EB1]
89
Table 3-19: Mating Connector Part Numbers for the PSO Interface Connector [-EB1]
89
Chapter 4: Cables and Accessories
91
Table 4-1: Standard Interconnection Cables
91
Joystick Interface
92
Handwheel Interface
94
Chapter 5: Maintenance
95
Table 5-1: LED Description
95
Table 5-2: Troubleshooting
95
Preventative Maintenance
96
Table 5-3: Preventative Maintenance
96
Fuse Specifications
97
Table 5-4: Control Board Fuse Specifications
97
Appendix A: Warranty and Field Service
99
Appendix B: Revision History
101
Index
103
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