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User Manuals: Aerotech XR3 Multi-Axis Servo Drive
Manuals and User Guides for Aerotech XR3 Multi-Axis Servo Drive. We have
1
Aerotech XR3 Multi-Axis Servo Drive manual available for free PDF download: Hardware Manual
Aerotech XR3 Hardware Manual (100 pages)
Brand:
Aerotech
| Category:
Controller
| Size: 2 MB
Table of Contents
Xr3 Hardware Manual
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
Quick Installation Guide
15
Chapter 1: Introduction
17
Table 1-1: Feature Summary
17
Table 1-2: Configurations and Options
18
Figure 1-1: Functional Diagram
20
Electrical Specifications
21
Table 1-3: Chassis Electrical Specifications
21
Table 1-4: PWM Amplifier Electrical Specifications
22
Table 1-5: Linear Amplifier Electrical Specifications
22
System Power Requirements
23
Mechanical Specifications
24
Mounting and Cooling
24
Table 1-6: Mounting Specifications
24
Dimensions
25
Figure 1-2: Dimensions with Chassis Slides
25
Figure 1-3: Dimensions Without Chassis Slides
26
Environmental Specifications
27
Table 1-7: Environmental Specifications
27
Drive and Software Compatibility
28
Table 1-8: Drive and Software Compatibility
28
Chapter 2: Installation and Configuration
29
Unpacking the Chassis
29
Electrical Installation
30
Figure 2-1: Power and Control Connections
30
Figure 2-2: Power Switch
30
AC Power Connections
31
Table 2-1: Main AC Power Input Voltages and Current Requirements
31
I/O and Signal Requirements
32
Minimizing Conducted, Radiated, and System Noise for EMC/CE Compliance
32
Table 2-2: I/O and Signal Specifications
32
Internal Shunt Option [-SI#]
33
Table 2-3: Maximum Energy that the XR3 Can Safely Absorb During Regeneration
33
Motor Power Output Connector
34
Table 2-4: Motor Power Output Connector Pinout
34
Table 2-5: Mating Connector Part Numbers for the Motor Power Output Connector
34
Brushless Motor Connections
35
Figure 2-3: Brushless Motor Configuration
35
Brushless Motor Powered Motor and Feedback Phasing
36
Figure 2-4: Positive Motor Direction
36
Figure 2-5: Encoder and Hall Signal Diagnostics
36
Brushless Motor Unpowered Motor and Feedback Phasing
37
Figure 2-6: Brushless Motor Phasing Oscilloscope Example
37
Figure 2-7: Brushless Motor Phasing Goal
37
DC Brush Motor Connections
38
DC Brush Motor Phasing
38
Figure 2-8: DC Brush Motor Configuration
38
Figure 2-9: Positive Motor Direction
38
Stepper Motor Connections
39
Stepper Motor Phasing
39
Figure 2-10: Stepper Motor Configuration
39
Figure 2-11: Positive Motor Direction
39
Feedback Connector
40
Table 2-6: Feedback Connector Pinout
40
Table 2-7: Mating Connector Part Numbers for the Feedback Connector
40
Primary Encoder Inputs
41
Table 2-8: Multiplier Options
41
Table 2-9: Primary Encoder Input Pins on the Feedback Connector
41
Figure 2-12: Square Wave Encoder Schematic (Feedback Connector)
42
Square Wave Encoder
42
Table 2-10: Square Wave Encoder Specifications
42
Absolute Encoder
43
Figure 2-13: Absolute Encoder Schematic (Feedback Connector)
43
Figure 2-14: Analog Encoder Phasing Reference Diagram
44
Sine Wave Encoder [-CT1/-CT2/-CT4 Option]
44
Table 2-11: Analog Encoder Specifications
44
Figure 2-15: Analog Encoder Schematic (Feedback Connector)
45
Encoder Phasing
46
Figure 2-16: Encoder Phasing Reference Diagram (Standard)
46
Figure 2-17: Position Feedback in the Diagnostic Display
47
Figure 2-18: Hall-Effect Inputs Schematic (Feedback Connector)
48
Hall-Effect Inputs
48
Table 2-12: Hall-Effect Feedback Pins on the Feedback Connector
48
Figure 2-19: Thermistor Input Schematic (Feedback Connector)
49
Table 2-13: Thermistor Input Pin on the Feedback Connector
49
Thermistor Input
49
Encoder Fault Input
50
Figure 2-20: Encoder Fault Input Schematic (Feedback Connector)
50
Table 2-14: Encoder Fault Input Pin on the Feedback Connector
50
End of Travel and Home Limit Inputs
51
Table 2-15: End of Travel and Home Limit Pins on the Feedback Connector
51
Figure 2-21: End of Travel and Home Limit Input Connections
52
Figure 2-22: End of Travel and Home Limit Input Schematic (Feedback Connector)
52
End of Travel and Home Limit Phasing
53
Figure 2-23: End of Travel and Home Limit Input Diagnostic Display
53
Brake Output
54
Figure 2-24: Brake Output Connections (Feedback Connector)
54
Table 2-16: Brake Output Pins on the Feedback Connector
54
Table 2-17: Brake Output Specifications
54
Position Synchronized Output Connector (PSO)
55
Table 2-18: PSO Connector Pinout
55
Table 2-19: PSO Specifications
55
Figure 2-25: PSO Output Sources Current
56
Figure 2-26: PSO Output Sinks Current
56
PSO Isolated Outputs
56
Table 2-20: PSO Isolated Output Specification
56
Table 2-21: Isolated Output Pins on the PSO Connector
56
Figure 2-27: PSO TTL Outputs Schematic
57
PSO TTL Outputs
57
Table 2-22: PSO TTL Outputs Specification
57
Table 2-23: TTL Output Pins on the PSO Connector
57
Figure 2-28: PSO Clock Inputs Schematic
58
PSO Clock Inputs
58
Table 2-24: Clock Input Pins on the PSO Connector
58
Data Acquisition Inputs
59
Figure 2-29: Data Acquisition Input Schematic
59
Table 2-25: Data Acquisition Input Pins on the PSO Connector
59
Table 2-26: Data Acquisition Opto-Isolator Input Specifications
59
HSOUT Connector (High-Speed Outputs)
60
Table 2-27: High-Speed Output Specifications
60
Table 2-28: HSOUT Connector Pinout
60
Table 2-29: Mating Connector Part Numbers for the HSOUT Connector
60
Figure 2-30: Diagram Showing Axis 1 and Axis 2 High-Speed Outputs
61
DOUT Connector (Digital Outputs)
62
Table 2-30: Digital Output Specifications
62
Table 2-31: DOUT Connector Digital Outputs Pinout
63
Table 2-32: Mating Connector Part Numbers for the DOUT Connector
63
Figure 2-31: Digital Output Schematic
64
Figure 2-32: Digital Outputs Connected in Current Sourcing Mode
65
Figure 2-33: Outputs Connected in Current Sinking Mode
65
DIN Connector (Digital Inputs)
66
Table 2-33: DIN Connector Digital Inputs Pinout
66
Table 2-34: Mating Connector Part Numbers for the DIN Connector
66
Figure 2-34: Digital Input Schematic
67
Table 2-35: Digital Input Specifications
67
Figure 2-35: Digital Inputs Connected to Current Sinking (NPN) Devices
68
Figure 2-36: Digital Inputs Connected to Current Sourcing (PNP) Devices
68
Aux Encoder Connectors
69
Figure 2-37: Aux Encoder Inputs Schematic
69
Table 2-36: Aux Encoder Connector Pinout
69
Table 2-37: Mating Connector Part Numbers for the Aux Encoder Connectors
69
Analog I/O Connectors
70
Table 2-38: Analog I/O Connector Pinout
70
Table 2-39: Mating Connector Part Numbers for the Analog I/O Connectors
70
Analog Outputs
71
Figure 2-38: Analog Outputs Schematic
71
Table 2-40: Analog Output Specifications
71
Table 2-41: Analog Output Pins on the Analog I/O Connector
71
Analog Inputs (Differential)
72
Figure 2-39: Analog Inputs Schematic
72
Table 2-42: Analog Input Specifications
72
Table 2-43: Analog Input Pins on the Analog I/O Connector
72
Figure 2-40: Joystick Interface Inputs Schematic
73
Joystick Interface
73
Figure 2-41: Joystick Cable Wiring Schematic
74
Safe Torque off Input (STO)
75
Figure 2-42: Typical Configuration
76
STO Functional Description
77
STO Standards
77
STO Startup Validation Testing
78
Figure 2-43: STO Timing
79
STO Diagnostics
79
Hyperwire Interface
80
External and Fan Tray Cooling Options [-C0/-C1/-C2 Option]
81
Figure 2-44: Location of the Rear Fan and Air Flow
81
Figure 2-45: -C0 Fan Location and Direction of Air Flow
81
Figure 2-46: -C1 Model Showing Perforated Covers for External Fans
82
Figure 2-47: -C2 1U Fan Location and Air Flow
83
PC Configuration and Operation Information
84
Chapter 3: Maintenance
85
Preventative Maintenance
85
Fuse Specifications
86
Figure 3-1: Drive Interface Board
86
Appendix A: Warranty and Field Service
87
Appendix B: Voltage Selection Operation
89
Appendix C: Revision History
91
Index
93
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