Aerotech Automation1 XC2 Bedienungsanleitung

Revision 2.01

Automation1 XC2 PWMDigital Drive

HARDWAREMANUAL

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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

1.1. Electrical Specifications 20

1.1.1. System Power Requirements 21

1.2. Mechanical Specifications 22

1.2.1. Mounting and Cooling 22

1.2.2. Dimensions 23

1.3. Environmental Specifications 25

1.4. Drive and Software Compatibility 26

Chapter 2: Installation and Configuration 27

2.1. Input Power Connections 28

2.1.1. Control Supply Connector 28

2.1.2. Motor Supply Connector 29

2.1.3. Minimizing Noise for EMC/CECompliance 30

2.2. Motor Power Output Connector 31

2.2.1. Brushless Motor Connections 32

2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 33

2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 34

2.2.2. DCBrush Motor Connections 35

2.2.2.1. DC Brush Motor Phasing 36

2.2.3. Stepper Motor Connections 37

2.2.3.1. Stepper Motor Phasing 38

2.3. Feedback Connector 39

2.3.1. Primary Encoder Inputs 40

2.3.1.1. Square WaveEncoder 41

2.3.1.2. Absolute Encoder 42

2.3.1.3. Sine Wave Encoder [-MX1 Option] 43

2.3.1.4. Encoder Phasing 45

2.3.2. Hall-Effect Inputs 46

2.3.3. Thermistor Input 47

2.3.4. Encoder Fault Input 48

2.3.5. End of Travel and Home Limit Inputs 49

2.3.5.1. End of Travel and Home Limit Phasing 51

2.3.6. Brake Outputs 52

2.4. Safe Torque Off Input (STO) 53

2.4.1. STOStandards 55

2.4.2. STO Functional Description 56

2.4.3. STO Startup Validation Testing 57

2.4.4. STO Diagnostics 58

2.5. HyperWire Interface 59

2.6. System Interconnection 60

2.7. PC Configuration and Operation Information 62

Chapter 3: -EB1 I/O Option Board 63

3.1. Position Synchronized Output Interface [-EB1] 64

3.2. Auxiliary Encoder Input [-EB1] 66

3.2.1. Square WaveEncoder 67

3.3. Analog I/O [-EB1] 68

3.3.1. Analog Input (Differential) [-EB1] 69

3.3.2. Analog Output 0 [-EB1] 70

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3.4. Digital Inputs [-EB1] 71

3.5. Digital Outputs [-EB1] 73

Chapter 4: Cables and Accessories 77

4.1. DIN Rail Mounting 78

4.2. Joystick Interface 79

4.3. Handwheel Interface 80

4.4. Dual-PSO Adapter Cable 81

Chapter 5: Maintenance 83

5.1. Preventative Maintenance 84

5.2. Fuse Specifications 85

Appendix A: Warranty and Field Service 87

Appendix B: Revision History 89

Index 91

Table of Contents XC2 Hardware Manual

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List of Figures

Figure 1-1: XC2 High Performance PWMAmplifier 17

Figure 1-2: Functional Diagram 19

Figure 1-3: Dimensions 23

Figure 1-4: Dimensions [-EB1] 24

Figure 2-1: Control Supply Connections 28

Figure 2-2: Motor Supply Connections 29

Figure 2-3: Brushless Motor Configuration 32

Figure 2-4: Positive Motor Direction 33

Figure 2-5: Encoder and Hall Signal Diagnostics 33

Figure 2-6: Brushless Motor Phasing Oscilloscope Example 34

Figure 2-7: Brushless Motor Phasing Goal 34

Figure 2-8: DC Brush Motor Configuration 35

Figure 2-9: Positive Motor Direction 36

Figure 2-10: Stepper Motor Configuration 37

Figure 2-11: Positive Motor Direction 38

Figure 2-12: Square Wave Encoder Schematic (Feedback Connector) 41

Figure 2-13: Absolute Encoder Schematic (Feedback Connector) 42

Figure 2-14: Sine Wave Encoder Phasing Reference Diagram 43

Figure 2-15: Sine Wave Encoder Schematic (Feedback Connector) 44

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

Figure 2-19: Thermistor Input Schematic (Feedback Connector) 47

Figure 2-20: Encoder Fault Input Schematic (Feedback Connector) 48

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

Figure 2-23: End of Travel and Home Limit Input Diagnostic Display 51

Figure 2-24: Brake Connected to the 25-Pin Feedback Connector (Typical) 52

Figure 2-25: Typical Configuration 54

Figure 2-26: STO Timing 58

Figure 2-27: System Wiring Drawing (Best Practice) 60

Figure 2-28: System Interconnection Drawing (Best Practice) 61

Figure 3-1: XC2 with -EB1 I/O Option Board Connectors 63

Figure 3-2: PSO Output Sources Current 65

Figure 3-3: PSOOutput Sinks Current 65

Figure 3-4: PSO TTLOutputs Schematic 65

Figure 3-5: Square Wave Encoder Interface (Aux Connector) 67

Figure 3-6: Analog Input Schematic [-EB1] 69

Figure 3-7: Analog Output Schematic [-EB1] 70

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

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

Figure 4-1: Din Rail Clip Dimensions 78

Figure 4-2: Two Axis Joystick Interface 79

Figure 4-3: Handwheel Interconnection to the Aux Connector 80

XC2 Hardware Manual List of Figures

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Figure 4-4: Dual-Axis PSOCable Connection 81

List of Figures XC2 Hardware Manual

6 www.aerotech.com

List of Tables

Table 1-1: FeatureSummary 18

Table 1-2: Electrical Specifications 20

Table 1-3: Mounting Specifications 22

Table 1-4: Environmental Specifications 25

Table 1-5: Drive and Software Compatibility 26

Table 2-1: Control Supply Connector Wiring Specifications 28

Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 28

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 Power Output Connector Pinout 31

Table 2-6: Mating Connector Part Numbers for the Motor Power Output Connector 31

Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables 32

Table 2-8: Hall Signal Diagnostics 33

Table 2-9: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 35

Table 2-10: Wire Colors for Aerotech-Supplied Stepper Motor Cables 37

Table 2-11: Feedback Connector Pinout 39

Table 2-12: Mating Connector Part Numbers for the Feedback Connector 39

Table 2-13: Multiplier Options 40

Table 2-14: Primary Encoder Input Pins on the Feedback Connector 40

Table 2-15: Square Wave Encoder Specifications 41

Table 2-16: Sine Wave Encoder Specifications 43

Table 2-17: Hall-Effect Feedback Pins on the Feedback Connector 46

Table 2-18: Thermistor Input Pin on the Feedback Connector 47

Table 2-19: Encoder Fault Input Pin on the Feedback Connector 48

Table 2-20: End of Travel and Home Limit Pins on the Feedback Connector 49

Table 2-21: Brake Output Pins on the Feedback Connector 52

Table 2-22: Brake Control Specifications 52

Table 2-23: STO Connector Pinout 53

Table 2-24: Mating Connector Part Numbers for the STOConnector 53

Table 2-25: STOElectrical Specifications 54

Table 2-26: STOStandards 55

Table 2-27: STOStandards Data 55

Table 2-28: STOSignal Delay 57

Table 2-29: Motor Function Relative to STOInput State 57

Table 2-30: STOTiming 58

Table 2-31: HyperWire Card Part Number 59

Table 2-32: HyperWire Cable Part Numbers 59

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

Table 3-4: Auxiliary Encoder Connector Pinout 66

Table 3-5: Mating Connector Part Numbers for the AUX Connector 66

Table 3-6: Square Wave Encoder Specifications 67

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

Table 3-9: Differential Analog Input Specifications [-EB1] 69

Table 3-10: Analog Input Pins on the Analog I/OConnector [-EB1] 69

Table 3-11: Analog Output Specifications [-EB1] 70

XC2 Hardware Manual List of Tables

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Table 3-12: Analog Output Pins on the Analog I/OConnector [-EB1] 70

Table 3-13: Digital Input Specifications [-EB1] 71

Table 3-14: Digital Input Connector Pinout [-EB1] 71

Table 3-15: Mating Connector Part Numbers for the Digital Input Connector [-EB1] 71

Table 3-16: Digital Output Specifications [-EB1] 73

Table 3-17: Digital Output Connector Pinout [-EB1] 73

Table 3-18: Mating Connector Part Numbers for the Digital Output Connector [-EB1] 73

Table 4-1: Standard Interconnection Cables 77

Table 4-2: Mounting Parts 78

Table 5-1: LEDDescription 83

Table 5-2: Troubleshooting 83

Table 5-3: Preventative Maintenance 84

Table 5-4: Control Board Fuse Specifications 85

List of Tables XC2 Hardware Manual

8 www.aerotech.com

EU Declaration of Conformity

Manufacturer Aerotech, Inc.

Address 101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product XC2

Model/Types All

This is to certify that the aforementioned product is in accordance with the applicable requirements of

the following Directive(s):

2014/30/EU Electromagnetic Compatibility (EMC)

2014/35/EU Low Voltage Directive

EU 2015/863 Directive, Restricted Substances (RoHS 3)

and has been designed to be in conformity with the applicable requirements of the following Standard(s)

when installed and used in accordance with the manufacturer’s supplied installation instructions.

EN 61326-1:2013 EMCRequirements for Electrical Equipment

EN 61010-1:2010/A1:2019 Safety Requirements for Electrical Equipment

EN ISO 13849-1:2015 SafetyRelated Parts of Control Systems

Authorized Representative: Simon Smith, European Director

Address: Aerotech Ltd

The Old Brick Kiln, Ramsdell, Tadley

Hampshire RG26 5PR

Name / Alex Weibel

Position Engineer Verifying Compliance

Location Pittsburgh, PA

Date 3/25/2021

XC2 Hardware Manual EU Declaration of Conformity

www.aerotech.com 9

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EU Declaration of Conformity XC2 Hardware Manual

10 www.aerotech.com

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