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Aerotech Automation1 XL5e Manuals
Manuals and User Guides for Aerotech Automation1 XL5e. We have
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Aerotech Automation1 XL5e manuals available for free PDF download: Hardware Manual
Aerotech Automation1 XL5e Hardware Manual (112 pages)
High-Performance Linear Digital Drives
Brand:
Aerotech
| Category:
DC Drives
| Size: 14.24 MB
Table of Contents
Automation1 Ixl5E and Xl5E High-Performance Linear 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: Ixl5E/Xl5E Overview
17
Figure 1-1: Ixl5E High Performance Linear Amplifier
17
Figure 1-2: Xl5E High Performance Linear Amplifier
18
Table 1-1: Feature Summary
19
Figure 1-3: Functional Diagram
21
Electrical Specifications
22
Table 1-2: Linear Amplifier Specifications
22
Mechanical Specifications
23
Mounting and Cooling
23
Table 1-3: Mounting Specifications
23
Dimensions
24
Figure 1-4: Dimensions
24
Figure 1-5: Dimensions [-EB1]
25
Environmental Specifications
26
Drive and Software Compatibility
26
Table 1-4: Environmental Specifications
26
Table 1-5: Drive and Software Compatibility
26
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
Motor Power Output Connector
29
Table 2-5: Motor Power Output Connector Pinout
29
Table 2-6: Motor Power Output Mating Connector Ratings
29
Brushless Motor Connections
30
Figure 2-3: Brushless Motor Configuration
30
Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables
30
Brushless Motor Powered Motor and Feedback Phasing
31
Figure 2-4: Positive Motor Direction
31
Figure 2-5: Encoder and Hall Signal Diagnostics
31
Table 2-8: Hall Signal Diagnostics
31
Brushless Motor Unpowered Motor and Feedback Phasing
32
Figure 2-6: Brushless Motor Phasing Oscilloscope Example
32
Figure 2-7: Brushless Motor Phasing Goal
32
DC Brush Motor Connections
33
Figure 2-8: DC Brush Motor Configuration
33
Figure 2-9: DC Brush Motor Configuration
33
Table 2-9: DC Brush Voltage Output Configuration
33
Table 2-10: Wire Colors for Aerotech-Supplied DC Brush Motor Cables
33
DC Brush Motor Phasing
34
Figure 2-10: Positive Motor Direction
34
Stepper Motor Connections
35
Stepper Motor Phasing
35
Figure 2-11: Stepper Motor Configuration
35
Figure 2-12: Positive Motor Direction
35
Table 2-11: Wire Colors for Aerotech-Supplied Stepper Motor Cables
35
Three Phase Stepper Motor Connections
36
Stepper Motor Phasing
36
Figure 2-13: Three Phase Stepper Motor Configuration
36
Figure 2-14: Positive Motor Direction
36
Feedback Connector
37
Table 2-12: Feedback Connector Pinout
37
Table 2-13: Feedback Mating Connector Ratings
37
Primary Encoder Inputs
38
Table 2-14: Multiplier Options
38
Table 2-15: Primary Encoder Pins on the Feedback Connector
38
Square Wave Encoder (Primary)
39
Figure 2-15: Square Wave Encoder Schematic (Feedback Connector)
39
Table 2-16: Square Wave Encoder Specifications
39
Absolute Encoder (Primary)
40
Figure 2-16: Absolute Encoder Schematic (Feedback Connector)
40
Sine Wave Encoder (Primary) [-MX2/-MX3 Option]
41
Figure 2-17: Sine Wave Encoder Phasing Reference Diagram
41
Table 2-17: Sine Wave Encoder Specifications
41
Figure 2-18: Sine Wave Encoder Schematic (Feedback Connector)
42
Encoder Phasing
43
Figure 2-19: Encoder Phasing Reference Diagram (Standard)
43
Figure 2-20: Position Feedback in the Diagnostic Display
43
Hall-Effect Inputs
44
Figure 2-21: Hall-Effect Inputs Schematic (Feedback Connector)
44
Table 2-18: Hall-Effect Feedback Pins on the Feedback Connector
44
Thermistor Input
45
Figure 2-22: Thermistor Input Schematic (Feedback Connector)
45
Table 2-19: Thermistor Input Pin on the Feedback Connector
45
Encoder Fault Input
46
Figure 2-23: Encoder Fault Input Schematic (Feedback Connector)
46
Table 2-20: Encoder Fault Input Pin on the Feedback Connector
46
End of Travel and Home Limit Inputs
47
Table 2-21: End of Travel and Home Limit Pins on the Feedback Connector
47
Figure 2-24: End of Travel and Home Limit Input Connections
48
Figure 2-25: End of Travel and Home Limit Input Schematic (Feedback Connector)
48
End of Travel and Home Limit Phasing
49
Figure 2-26: End of Travel and Home Limit Input Diagnostic Display
49
Brake Outputs
50
Figure 2-27: Brake Connected to the 25-Pin Feedback Connector (Typical)
50
Table 2-22: Brake Output Pins on the Feedback Connector
50
Table 2-23: Brake Control Specifications
50
Safe Torque off Input (STO)
51
Table 2-24: STO Connector Pinout
51
Table 2-25: STO Mating Connector Ratings
51
Figure 2-28: Typical STO Configuration
52
Table 2-26: STO Electrical Specifications
52
STO Standards
53
Table 2-27: STO Standards
53
Table 2-28: STO Standards Data
53
STO Functional Description
54
STO Startup Validation Testing
55
Table 2-29: STO Signal Delay
55
Table 2-30: Motor Function Relative to STO Input State
55
STO Diagnostics
56
Figure 2-29: STO Timing
56
Table 2-31: STO Timing
56
Auxiliary I/O Connector
57
Table 2-32: Auxiliary I/O Connector Pinout
57
Table 2-33: Auxiliary I/O Mating Connector Ratings
57
Auxiliary Encoder Interface
58
Table 2-34: Auxiliary Encoder Pins on the Auxiliary I/O Connector
58
Square Wave Encoder (Auxiliary)
59
Figure 2-30: Square Wave Encoder Interface (aux I/O Connector)
59
Absolute Encoder (Auxiliary)
60
Figure 2-31: Absolute Encoder Schematic (Auxiliary I/O Connector)
60
Sine Wave Encoder (Auxiliary) [-MX3 Option]
61
Figure 2-32: Sine Wave Encoder Phasing Reference Diagram
61
Table 2-36: Sine Wave Encoder Specifications
61
Figure 2-33: Sine Wave Encoder Schematic (Auxiliary I/O Connector)
62
Position Synchronized Output (PSO)
63
Table 2-37: PSO Specifications
63
Table 2-38: PSO Pins on the Auxiliary I/O Connector
63
Figure 2-34: PSO Interface
64
Digital Outputs
65
Table 2-39: Digital Output Specifications
65
Table 2-40: Digital Output Pins on the Auxiliary I/O Connector
65
Figure 2-35: Digital Output Schematic (aux I/O Connector)
66
Figure 2-36: Digital Outputs Connected in Current Sourcing Mode
67
Figure 2-37: Digital Outputs Connected in Current Sinking Mode
67
Digital Inputs
68
Figure 2-38: Digital Inputs Schematic (aux I/O Connector)
68
Table 2-41: Digital Input Specifications
68
Table 2-42: Digital Input Pins on the Auxiliary I/O Connector
68
Figure 2-39: Digital Inputs Connected to Current Sourcing Devices
69
Figure 2-40: Digital Inputs Connected to Current Sinking Devices
69
High-Speed Inputs
70
Figure 2-41: High-Speed Inputs
70
Table 2-43: High-Speed Input Specifications
70
Table 2-44: High-Speed Input Pins on the Auxiliary I/O Connector
70
Analog Output
71
Figure 2-42: Analog Output 0 Schematic
71
Table 2-45: Analog Output Specifications
71
Table 2-46: Analog Output Pins on the Auxiliary I/O Connector
71
Figure 2-43: Analog Input 0 Schematic
72
Table 2-47: Analog Input Specifications
72
Table 2-48: Analog Input Pins on the Auxiliary I/O Connector
72
Table 2-49: Brake Power Supply Connector Pinout
73
Table 2-50: Brake Power Supply Mating Connector Ratings
73
Table 2-51: Hyperwire Card Part Number
74
Table 2-52: Hyperwire Cable Part Numbers
74
Table 2-53: Sync-Related Functions
75
Table 2-54: Sync Port Cables
75
Figure 2-44: Drive-Based System Wiring Drawing (Best Practice)
76
Figure 2-45: PC-Based System Wiring Drawing (Best Practice)
76
Figure 2-46: Drive-Based Controller System Interconnection (Best Practice)
77
Figure 2-47: PC-Based Controller System Interconnection (Best Practice)
78
Figure 3-1: -EB1 I/O Option Board Connectors (Ixl5E Shown)
81
Table 3-1: Digital Output Specifications [-EB1]
82
Table 3-2: Digital Output 1 Connector Pinout [-EB1]
83
Table 3-3: Digital Output 2 Connector Pinout [-EB1]
83
Table 3-4: Digital Output 1 and 2 Mating Connector Ratings [-EB1]
83
Figure 3-2: Digital Outputs Schematic [-EB1]
84
Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1]
85
Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1]
85
Table 3-5: Digital Input Specifications [-EB1]
86
Table 3-6: Digital Input 1 Connector Pinout [-EB1]
86
Figure 3-5: Digital Inputs Schematic [-EB1]
87
Table 3-7: Digital Input 2 Connector Pinout [-EB1]
87
Table 3-8: Digital Input 1 and 2 Mating Connector Ratings [-EB1]
87
Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1]
88
Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1]
88
Figure 3-8: Analog Output Typical Connection [-EB1]
89
Table 3-9: Analog Output Specifications [-EB1]
89
Table 3-10: Analog Output Connector Pinout [-EB1]
89
Table 3-11: Analog Output Mating Connector Ratings [-EB1]
89
Figure 3-9: Analog Input Typical Connection [-EB1]
90
Table 3-12: Differential Analog Input Specifications [-EB1]
90
Table 3-13: Analog Input Connector Pinout [-EB1]
90
Table 3-14: Analog Input Mating Connector Ratings [-EB1]
90
Table 3-15: PSO Specifications [-EB1]
91
Table 3-16: PSO Interface Connector Pinout [-EB1]
91
Table 3-17: PSO Interface Mating Connector Ratings [-EB1]
91
Figure 3-10: PSO Output Sources Current
92
Figure 3-11: PSO Output Sinks Current
92
Figure 3-12: PSO TTL Outputs Schematic
92
Table 4-1: Standard Interconnection Cables
93
Figure 4-1: Two Axis Joystick Interface (to the aux I/O of Two Drives)
94
Figure 4-2: Two Axis Joystick Interface (to the I/O Board)
95
Figure 4-3: Handwheel Interconnection to aux I/O Connector
96
Figure 4-4: Handwheel Interconnection to the aux I/O through a BBA32 Module
96
Table 5-1: LED Description
97
Table 5-2: Troubleshooting
97
Table 5-3: Preventative Maintenance
98
Table 5-4: Fuse Specifications
99
Figure B-1: Voltage Selection Switch Access
104
Table 2-35: Square Wave Encoder Specifications
112
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Aerotech Automation1 XL5e Hardware Manual (110 pages)
High-Performance Linear Digital Drive
Brand:
Aerotech
| Category:
DC Drives
| Size: 7.52 MB
Table of Contents
Automation1 Xl5E High-Performance Linear 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: Xl5E High Performance Linear Amplifier
15
Table 1-1: Feature Summary
16
Figure 1-2: Functional Diagram
18
Electrical Specifications
19
Table 1-2: Linear Amplifier Specifications
19
Mechanical Specifications
20
Mounting and Cooling
20
Table 1-3: Mounting Specifications
20
Dimensions
21
Figure 1-3: Dimensions
21
Figure 1-4: Dimensions [-EB1]
22
Environmental Specifications
23
Table 1-4: Environmental Specifications
23
Drive and Software Compatibility
24
Table 1-5: Drive and Software Compatibility
24
Chapter 2: Installation and Configuration
25
Input Power Connections
26
Control Supply Connector
26
Figure 2-1: Control Supply Connections
26
Table 2-1: Control Supply Wiring Specifications
26
Table 2-2: Mating Connector Part Numbers for the Control Supply Connector
26
Motor Supply Connector
27
Figure 2-2: Motor Supply Connections
27
Table 2-3: Motor Supply Connector Wiring Specifications
27
Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector
27
Motor Power Output Connector
28
Table 2-5: Motor Power Output Connector Pinout
28
Table 2-6: Mating Connector Part Numbers for the Motor Power Output Connector
28
Brushless Motor Connections
29
Figure 2-3: Brushless Motor Configuration
29
Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables
29
Brushless Motor Powered Motor and Feedback Phasing
30
Figure 2-4: Positive Motor Direction
30
Figure 2-5: Encoder and Hall Signal Diagnostics
30
Table 2-8: Hall Signal Diagnostics
30
Brushless Motor Unpowered Motor and Feedback Phasing
31
Figure 2-6: Brushless Motor Phasing Oscilloscope Example
31
Figure 2-7: Brushless Motor Phasing Goal
31
DC Brush Motor Connections
32
Figure 2-8: DC Brush Motor Configuration
32
Figure 2-9: DC Brush Motor Configuration
32
Table 2-10: Wire Colors for Aerotech-Supplied DC Brush Motor Cables
32
Table 2-9: DC Brush Voltage Output Configuration
32
DC Brush Motor Phasing
33
Figure 2-10: Positive Motor Direction
33
Figure 2-11: Stepper Motor Configuration
34
Table 2-11: Wire Colors for Aerotech-Supplied Stepper Motor Cables
34
Figure 2-12: Positive Motor Direction
35
Stepper Motor Phasing
35
Stepper Motor Connections
34
Feedback Connector
36
Table 2-12: Feedback Connector Pinout
36
Table 2-13: Mating Connector Part Numbers for the Feedback Connector
36
Primary Encoder Inputs
37
Table 2-14: Multiplier Options
37
Table 2-15: Primary Encoder Input Pins on the Feedback Connector
37
Figure 2-13: Square Wave Encoder Schematic (Feedback Connector)
38
Square Wave Encoder
38
Table 2-16: Square Wave Encoder Specifications
38
Absolute Encoder
39
Figure 2-14: Absolute Encoder Schematic (Feedback Connector)
39
Figure 2-15: Sine Wave Encoder Phasing Reference Diagram
40
Sine Wave Encoder [-MX2/-MX3 Option]
40
Table 2-17: Sine Wave Encoder Specifications
40
Figure 2-16: Sine Wave Encoder Schematic (Feedback Connector)
41
Encoder Phasing
42
Figure 2-17: Encoder Phasing Reference Diagram (Standard)
42
Figure 2-18: Position Feedback in the Diagnostic Display
42
Figure 2-19: Hall-Effect Inputs Schematic (Feedback Connector)
43
Hall-Effect Inputs
43
Table 2-18: Hall-Effect Feedback Pins on the Feedback Connector
43
Figure 2-20: Thermistor Input Schematic (Feedback Connector)
44
Table 2-19: Thermistor Input Pin on the Feedback Connector
44
Thermistor Input
44
Encoder Fault Input
45
Figure 2-21: Encoder Fault Input Schematic (Feedback Connector)
45
Table 2-20: Encoder Fault Input Pin on the Feedback Connector
45
End of Travel and Home Limit Inputs
46
Table 2-21: End of Travel and Home Limit Pins on the Feedback Connector
46
Figure 2-22: End of Travel and Home Limit Input Connections
47
Figure 2-23: End of Travel and Home Limit Input Schematic (Feedback Connector)
47
End of Travel and Home Limit Phasing
48
Figure 2-24: End of Travel and Home Limit Input Diagnostic Display
48
Brake Outputs
49
Figure 2-25: Brake Connected to the 25-Pin Feedback Connector (Typical)
49
Table 2-22: Brake Output Pins on the Feedback Connector
49
Table 2-23: Brake Control Specifications
49
Safe Torque off Input (STO)
50
Table 2-24: STO Connector Pinout
50
Table 2-25: Mating Connector Part Numbers for the STO Connector
50
Figure 2-26: Typical Configuration
51
Table 2-26: STO Electrical Specifications
51
STO Standards
52
Table 2-27: STO Standards
52
Table 2-28: STO Standards Data
52
STO Functional Description
53
STO Startup Validation Testing
54
Table 2-29: STO Signal Delay
54
Table 2-30: Motor Function Relative to STO Input State
54
Figure 2-27: STO Timing
55
STO Diagnostics
55
Table 2-31: STO Timing
55
Auxiliary I/O Connector
56
Table 2-32: Auxiliary I/O Connector Pinout
56
Table 2-33: Mating Connector Part Numbers for the Auxiliary I/O Connector
56
Auxiliary Encoder Inputs
57
Table 2-34: Auxiliary Encoder Pins on the Auxiliary I/O Connector
57
Figure 2-28: Square Wave Encoder Interface (aux I/O Connector)
58
Square Wave Encoder
58
Table 2-35: Square Wave Encoder Specifications
58
Absolute Encoder
59
Figure 2-29: Absolute Encoder Schematic (Auxiliary I/O Connector)
59
Figure 2-30: Sine Wave Encoder Phasing Reference Diagram
60
Sine Wave Encoder [-MX3 Option]
60
Table 2-36: Sine Wave Encoder Specifications
60
Figure 2-31: Sine Wave Encoder Schematic (Auxiliary I/O Connector)
61
Position Synchronized Output (PSO)
62
Table 2-37: PSO Specifications
62
Table 2-38: PSO Pins on the Auxiliary I/O Connector
62
Figure 2-32: PSO Interface
63
Digital Outputs
64
Table 2-39: Digital Output Specifications
64
Table 2-40: Digital Output Pins on the Auxiliary I/O Connector
64
Figure 2-33: Digital Output Schematic (aux I/O Connector)
65
Figure 2-34: Digital Outputs Connected in Current Sourcing Mode
66
Figure 2-35: Digital Outputs Connected in Current Sinking Mode
66
Digital Inputs
67
Figure 2-36: Digital Inputs Schematic (aux I/O Connector)
67
Table 2-41: Digital Input Specifications
67
Table 2-42: Digital Input Pins on the Auxiliary I/O Connector
67
Figure 2-37: Digital Inputs Connected to Current Sinking Devices
68
Figure 2-38: Digital Inputs Connected to Current Sourcing Devices
68
Figure 2-39: High-Speed Inputs
69
High-Speed Inputs
69
Table 2-43: High-Speed Input Specifications
69
Table 2-44: High-Speed Input Pins on the Auxiliary I/O Connector
69
Analog Output
70
Figure 2-40: Analog Output 0 Schematic
70
Table 2-45: Analog Output Specifications
70
Table 2-46: Analog Output Pins on the Auxiliary I/O Connector
70
Analog Input 0 (Differential)
71
Figure 2-41: Analog Input 0 Schematic
71
Table 2-47: Analog Input Specifications
71
Table 2-48: Analog Input Pins on the Auxiliary I/O Connector
71
Brake Power Supply Connector
72
Table 2-49: Brake Power Supply Connector Pinout
72
Table 2-50: Mating Connector Part Numbers for the Brake Power Supply Connector
72
Hyperwire Interface
73
Table 2-51: Hyperwire Card Part Number
73
Table 2-52: Hyperwire Cable Part Numbers
73
Sync Port
74
Table 2-53: Sync-Related Functions
74
Table 2-54: Sync Port Cables
74
System Interconnection
75
Figure 2-42: System Wiring Drawing (Best Practice)
75
Figure 2-43: System Interconnection Drawing (Best Practice)
76
PC Configuration and Operation Information
77
Chapter 3: -EB1 I/O Option Board
79
Figure 3-1: Xl5E 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
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
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
Analog Outputs [-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: Fuse Specifications
97
Appendix A: Warranty and Field Service
99
Appendix B: Voltage Selection Operation
101
Appendix C: Revision History
103
Index
105
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