Aerotech XL2e Bedienungsanleitung

Revision 1.01

Automation1 XL2e High-Performance

Linear Digital Drive

HARDWAREMANUAL

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Table of Contents

Automation1 XL2e High-Performance Linear 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: XL2e Overview 17

1.1. Electrical Specifications 20

1.2. Mechanical Specifications 21

1.2.1. Mounting and Cooling 21

1.2.2. Dimensions 22

1.3. Environmental Specifications 24

1.4. Drive and Software Compatibility 25

Chapter 2: Installation and Configuration 27

2.1. Input Power Connections 27

2.1.1. Control Supply Connector 27

2.1.2. Motor Supply Connector 28

2.2. Motor Power Output Connector 29

2.2.1. Brushless Motor Connections 30

2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 31

2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 32

2.2.2. DCBrush Motor Connections 33

2.2.2.1. DC Brush Motor Phasing 33

2.2.3. Stepper Motor Connections 34

2.2.3.1. Stepper Motor Phasing 34

2.3. Feedback Connector 35

2.3.1. Primary Encoder Inputs 36

2.3.1.1. Square WaveEncoder (Primary) 37

2.3.1.2. Absolute Encoder (Primary) 38

2.3.1.3. Sine Wave Encoder (Primary) [-MX2/-MX3 Option] 39

2.3.1.4. Encoder Phasing 40

2.3.2. Hall-Effect Inputs 41

2.3.3. Thermistor Input 42

2.3.4. Encoder Fault Input 43

2.3.5. End of Travel and Home Limit Inputs 44

2.3.5.1. End of Travel and Home Limit Phasing 46

2.3.6. Brake Outputs 47

2.4. Safe Torque Off Input (STO) 48

2.4.1. STOStandards 50

2.4.2. STO Functional Description 51

2.4.3. STO Startup Validation Testing 52

2.4.4. STO Diagnostics 53

2.5. HyperWire Interface 54

2.6. Sync Port 55

2.7. System Interconnection 56

2.8. PC Configuration and Operation Information 58

Chapter 3: -EB1 I/O Option Board 59

3.1. Position Synchronized Output Interface [-EB1] 60

3.2. Auxiliary Encoder Input [-EB1] 62

3.2.1. Square WaveEncoder (Auxiliary) 63

3.2.2. Absolute Encoder (Auxiliary) 64

3.2.3. Sine Wave Encoder (Auxiliary) [-MX3 Option] 65

3.3. Analog I/O [-EB1] 67

3.3.1. Analog Output 0 [-EB1] 68

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

3.4. Digital Outputs [-EB1] 70

3.5. Digital Inputs [-EB1] 73

Chapter 4: Cables and Accessories 75

4.1. DIN Rail Mounting 76

4.2. Joystick Interface 77

4.3. Handwheel Interface 78

Chapter 5: Maintenance 79

5.1. Preventative Maintenance 80

5.2. Fuse Specifications 81

Appendix A: Warranty and Field Service 83

Appendix B: Revision History 85

Index 87

Table of Contents XL2e Hardware Manual

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List of Figures

Figure 1-1: XL2e High-Performance Linear Digital Drive 17

Figure 1-2: Functional Diagram 19

Figure 1-3: Dimensions 22

Figure 1-4: Dimensions [-EB1] 23

Figure 2-1: Control Supply Connections 27

Figure 2-2: Motor Supply Connections 28

Figure 2-3: Brushless Motor Configuration 30

Figure 2-4: Positive Motor Direction 31

Figure 2-5: Encoder and Hall Signal Diagnostics 31

Figure 2-6: Brushless Motor Phasing Oscilloscope Example 32

Figure 2-7: Brushless Motor Phasing Goal 32

Figure 2-8: DC Brush Motor Configuration 33

Figure 2-9: Positive Motor Direction 33

Figure 2-10: Stepper Motor Configuration 34

Figure 2-11: Positive Motor Direction 34

Figure 2-12: Square Wave Encoder Schematic (Feedback Connector) 37

Figure 2-13: Absolute Encoder Schematic (Feedback Connector) 38

Figure 2-14: Sine Wave Encoder Phasing Reference Diagram 39

Figure 2-15: Encoder Phasing Reference Diagram (Standard) 40

Figure 2-16: Position Feedback in the DiagnosticDisplay 40

Figure 2-17: Hall-Effect Inputs Schematic (Feedback Connector) 41

Figure 2-18: Thermistor Input Schematic (Feedback Connector) 42

Figure 2-19: Encoder Fault Input Schematic (Feedback Connector) 43

Figure 2-20: End of Travel and Home Limit Input Connections 45

Figure 2-21: End of Travel and Home Limit Input Schematic (Feedback Connector) 45

Figure 2-22: End of Travel and Home Limit Input Diagnostic Display 46

Figure 2-23: Brake Connected to the 25-Pin Feedback Connector (Typical) 47

Figure 2-24: Typical STO Configuration 49

Figure 2-25: STO Timing 53

Figure 2-26: System Wiring Drawing (Best Practice) 56

Figure 2-27: System Interconnection Drawing (Best Practice) 57

Figure 3-1: XL2e with -EB1 I/O Option Board Connectors 59

Figure 3-2: PSO Output Sources Current 61

Figure 3-3: PSOOutput Sinks Current 61

Figure 3-4: PSO TTLOutputs Schematic 61

Figure 3-5: Square Wave Encoder Interface (Aux Connector) 63

Figure 3-6: Absolute Encoder Schematic (Auxiliary Encoder Connector) 64

Figure 3-7: Sine Wave Encoder Phasing Reference Diagram 65

Figure 3-8: Sine Wave Encoder Schematic (Aux Connector) 66

Figure 3-9: Analog Output Schematic [-EB1] 68

Figure 3-10: Analog Input Schematic [-EB1] 69

Figure 3-11: Digital Outputs Schematic [-EB1] 71

Figure 3-12: Digital Outputs Connected in Current Sourcing Mode [-EB1] 72

Figure 3-13: Digital Outputs Connected in Current Sinking Mode [-EB1] 72

Figure 3-14: Digital Inputs Schematic [-EB1] 73

Figure 3-15: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 74

Figure 3-16: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 74

Figure 4-1: Din Rail Clip Dimensions 76

XL2e Hardware Manual List of Figures

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Figure 4-2: Two Axis Joystick Interface 77

Figure 4-3: Handwheel Interconnection to the Aux Connector 78

List of Figures XL2e Hardware Manual

6 www.aerotech.com

List of Tables

Table 1-1: FeatureSummary 18

Table 1-2: Linear Amplifier Specifications 20

Table 1-3: Mounting Specifications 21

Table 1-4: Environmental Specifications 24

Table 1-5: Drive and Software Compatibility 25

Table 2-1: Control Supply Connector Wiring Specifications 27

Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 27

Table 2-3: Motor Supply Connector Wiring Specifications 28

Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector 28

Table 2-5: Motor Power Output Connector Pinout 29

Table 2-6: Mating Connector Part Numbers for the Motor Power Output Connector 29

Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables 30

Table 2-8: Hall Signal Diagnostics 31

Table 2-9: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 33

Table 2-10: Wire Colors for Aerotech-Supplied Stepper Motor Cables 34

Table 2-11: Feedback Connector Pinout 35

Table 2-12: Mating Connector Part Numbers for the Feedback Connector 35

Table 2-13: Multiplier Options 36

Table 2-14: Primary Encoder Input Pins on the Feedback Connector 36

Table 2-15: Square Wave Encoder Specifications 37

Table 2-16: Sine Wave Encoder Specifications 39

Table 2-17: Hall-Effect Feedback Pins on the Feedback Connector 41

Table 2-18: Thermistor Input Pin on the Feedback Connector 42

Table 2-19: Encoder Fault Input Pin on the Feedback Connector 43

Table 2-20: End of Travel and Home Limit Pins on the Feedback Connector 44

Table 2-21: Brake Output Pins on the Feedback Connector 47

Table 2-22: Brake Control Specifications 47

Table 2-23: STO Connector Pinout 48

Table 2-24: Mating Connector Part Numbers for the STOConnector 48

Table 2-25: STOElectrical Specifications 49

Table 2-26: STOStandards 50

Table 2-27: STOStandards Data 50

Table 2-28: STOSignal Delay 52

Table 2-29: Motor Function Relative to STOInput State 52

Table 2-30: STOTiming 53

Table 2-31: HyperWire Card Part Number 54

Table 2-32: HyperWire Cable Part Numbers 54

Table 2-33: Sync-Related Functions 55

Table 2-34: SyncPort Cables 55

Table 3-1: PSO Specifications [-EB1] 60

Table 3-2: PSO Interface Connector Pinout [-EB1] 60

Table 3-3: Mating Connector Part Numbers for the PSO Interface Connector [-EB1] 60

Table 3-4: Auxiliary Encoder Connector Pinout 62

Table 3-5: Mating Connector Part Numbers for the AUX Connector 62

Table 3-6: Square Wave Encoder Specifications 63

Table 3-7: Sine Wave Encoder Specifications 65

Table 3-8: Analog I/O Connector Pinout [-EB1] 67

Table 3-9: Mating Connector Part Numbers for the Analog I/O Connector [-EB1] 67

XL2e Hardware Manual List of Tables

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Table 3-10: Analog Output Specifications [-EB1] 68

Table 3-11: Analog Output Pins on the Analog I/OConnector [-EB1] 68

Table 3-12: Differential Analog Input Specifications [-EB1] 69

Table 3-13: Analog Input Pins on the Analog I/OConnector [-EB1] 69

Table 3-14: Digital Output Specifications [-EB1] 70

Table 3-15: Digital Output Connector Pinout [-EB1] 70

Table 3-16: Mating Connector Part Numbers for the Digital Output Connector [-EB1] 70

Table 3-17: Digital Input Specifications [-EB1] 73

Table 3-18: Digital Input Connector Pinout [-EB1] 73

Table 3-19: Mating Connector Part Numbers for the Digital Input Connector [-EB1] 73

Table 4-1: Standard Interconnection Cables 75

Table 4-2: Mounting Parts 76

Table 5-1: LEDDescription 79

Table 5-2: Troubleshooting 79

Table 5-3: Preventative Maintenance 80

Table 5-4: Control Board Fuse Specifications 81

List of Tables XL2e Hardware Manual

8 www.aerotech.com

EU Declaration of Conformity

Manufacturer Aerotech, Inc.

Address 101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product XL2e

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

2006/42/EC Machinery Directive

2011/65/EU RoHS 2 Directive

EU 2015/863 Amendment RoHS 3 Directive

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 61010-1:2010/A1:2016 Safety Requirements for Electrical Equipment

EN 61800-3:2017 EMCRequirements for Power Drives

IEC 61800-5-1:2016 Electrical Safety for Power Drive Systems

IEC 61800-5-2:2016 Functional Safety for Power Drive Systems

EN 55011/55032:2015 Conducted and Radiated Emissions

Authorized

Representative / Simon Smith, European Director

Aerotech Ltd

The Old Brick Kiln, Ramsdell, Tadley

Hampshire RG26 5PR

Engineer Verifying

Compliance / Alex Weibel

Aerotech, Inc.

101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Date 1/6/2022

XL2e Hardware Manual EU Declaration of Conformity

www.aerotech.com 9

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EU Declaration of Conformity XL2e Hardware Manual

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