Aerotech A3200 Series Manuale utente

Revision: 1.00.00

HEXRCHardware Manual

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     

AEROTECH.

COM

HEX RC

USB

MOTOR / FEEDBACK

DIGITAL / ANALOG IO MPGA

DVI

USB2 USB3 ETHERNET FIREWIRE

ESTOP

1 2

3 4 5 6

Global Technical Support

Go to www.aerotech.com/global-technical-support for information and support about your Aerotech products. The website

provides downloadable resources (such as up-to-date software, product manuals, and Help files), training schedules, and PC-

to-PC remote technical support. You can also complete Product Return (RMA) forms and get information about repairs and

spare or replacement parts. For immediate help, contact a service office or your sales representative. Have your customer

order number available before you call or include it in your email.

United States (World Headquarters)

Phone: +1-412-967-6440

Fax: +1-412-967-6870

Email: service@aerotech.com

101 Zeta Drive

Pittsburgh, PA 15238-2897

www.aerotech.com

United Kingdom Japan

Phone: +44 (0)1256 855055

Fax: +44 (0)1256 855649

Email: service@aerotech.co.uk

Phone: +81 (0)50 5830 6814

Fax: +81 (0)43 306 3773

Email: service@aerotechkk.com.jp

Germany China

Phone: +49 (0)911 967 9370

Fax: +49 (0)911 967 93720

Email: service@aerotechgmbh.de

Phone: +86 (21) 3319 7715

Email: saleschina@aerotech.com

France Taiwan

Phone: +33 1 64 93 58 67

Email: sales@aerotech.co.uk

Phone: +886 (0)2 8751 6690

Email: service@aerotech.tw

This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the

express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and

may be trademarks of their respective companies.

Table of Contents HEXRCHardware Manual

Table of Contents

Table of Contents iii

List of Figures v

List of Tables vi

EC Declaration of Conformity vii

Safety Procedures and Warnings ix

Quick Installation Guide xi

Chapter 1: Introduction 1

1.1. Electrical Specifications 5

1.2. Mechanical Specifications 7

1.3. Environmental Specifications 9

1.4. Drive and Software Compatibility 10

Chapter 2: Installation and Configuration 11

2.1. Unpacking the Chassis 11

2.2. Electrical Installation 12

2.2.1. ACPower Connections 13

2.2.2. Minimizing Conducted, Radiated, and System Noise 14

2.2.3. I/O and Signal Wiring Requirements 14

2.3. Motor Feedback Connections 15

2.3.1. Encoder Inputs 16

2.3.1.1. Square Wave (RS-422) Encoder 17

2.3.1.2. Analog Encoder Interface 18

2.3.1.3. Encoder Phasing 20

2.3.2. Hall-Effect Inputs 21

2.3.3. Thermistor Input 22

2.3.4. End Of Travel Limit Inputs 23

2.3.4.1. End Of Travel Limit Phasing 24

2.3.5. Motor Output Interface 25

2.3.5.1. Brushless Motor Connections 26

2.3.5.2. DC Brush Motor Connections 29

2.3.5.3. Stepper Motor Connections 30

2.4. Digital and Analog I/O Connections 31

2.4.1. Differential Analog Input 1 32

2.4.2. Analog Output 1 33

2.4.3. Opto-Isolated Outputs 34

2.4.4. Opto-Isolated Inputs 36

2.5. DVI Connector 38

2.6. USB Connectors 39

2.7. Ethernet Connector 40

2.8. FireWire® Connector 41

Chapter 3: Options 43

3.1. Emergency Stop (-EST3) 44

3.2. MPGA32 Connector 47

Chapter 4: Maintenance 49

4.1. Power Board Assembly 50

4.2. Preventative Maintenance 51

www.aerotech.com iii

HEXRCHardware Manual Table of Contents

Appendix A: Warranty and Field Service 53

Appendix B: Revision History 55

Index 57

iv www.aerotech.com

Table of Contents HEXRCHardware Manual

List of Figures

Figure 1-1: Chassis Layout 1

Figure 1-2: Functional Diagram 4

Figure 1-3: Dimensions 8

Figure 2-1: Power and Control Connections 12

Figure 2-2: Power Switch 12

Figure 2-3: Line Driver Encoder Interface 17

Figure 2-4: Analog Encoder Phasing Reference Diagram 18

Figure 2-5: Analog Encoder Signals 19

Figure 2-6: Encoder Phasing Reference Diagram (Standard) 20

Figure 2-7: Position Feedback in the DiagnosticDisplay 20

Figure 2-8: Hall-Effect Inputs 21

Figure 2-9: Thermistor Input 22

Figure 2-10: End of Travel Limit Input Connections 23

Figure 2-11: End of Travel Limit Inputs 23

Figure 2-12: Limit Input Status Utility 24

Figure 2-13: Brushless Motor Configuration 26

Figure 2-14: Encoder and Hall Signal Diagnostics 27

Figure 2-15: Motor Phasing Oscilloscope Example 28

Figure 2-16: Brushless Motor Phasing Goal 28

Figure 2-17: DC Brush Motor Configuration 29

Figure 2-18: Clockwise Motor Rotation 29

Figure 2-19: Stepper Motor Configuration 30

Figure 2-20: Clockwise Motor Rotation 30

Figure 2-21: Analog Input 1 32

Figure 2-22: Analog Output 1 33

Figure 2-23: Outputs Connected in Current Sourcing Mode 35

Figure 2-24: Outputs Connected in Current Sinking Mode 35

Figure 2-25: Inputs Connected to a CurrentSourcing Device 37

Figure 2-26: Inputs Connected to a Current Sinking Device 37

Figure 2-27: DVIConnector Location 38

Figure 2-28: USB 2.0 Location 39

Figure 2-29: USB 3.0 Location 39

Figure 2-30: Ethernet Connection 40

Figure 2-31: FireWire Location 41

Figure 3-1: ESTOP Option Interface 44

Figure 3-2: ESTOP(-EST3) Option 45

Figure 3-3: ESTOP(-EST3) with MPGA32 Option 46

Figure 3-4: MPGA32 Connector Location 47

Figure 4-1: Power Board 50

www.aerotech.com v

HEXRCHardware Manual Table of Contents

List of Tables

Table 1-1: Feature Summary 2

Table 1-2: Ordering Options 3

Table 1-3: Chassis Electrical Specifications 5

Table 1-4: Servo Amplifier Electrical Specifications (MP) 6

Table 1-5: Unit Weight 8

Table 1-6: A3200 Drive and Software Compatibility 10

Table 2-1: Main ACPower Input Voltages and Current Requirements 13

Table 2-2: ACPower Cord Wiring Specifications 13

Table 2-3: I/Oand Signal Wiring Specifications 14

Table 2-4: Recommended Wire Sizes 14

Table 2-5: Motor Feedback Connector Pin Assignment 15

Table 2-6: Encoder Pin Assignment 16

Table 2-7: Encoder Specifications 17

Table 2-8: Analog Encoder Specifications 18

Table 2-9: Hall-Effect Feedback Pin Assignment 21

Table 2-10: Thermistor Interface Pin Assignment 22

Table 2-11: End of Travel Limit Inputs Pin Assignment 23

Table 2-12: Motor Output Connections 25

Table 2-13: Digital / Analog IOConnector Pin Assignment 31

Table 2-14: Differential Analog Input 1 Specifications 32

Table 2-15: Differential Analog Inputs Connector Pin Assignment 32

Table 2-16: Analog Output 1 Specifications 33

Table 2-17: Analog Output Connector Pin Assignment 33

Table 2-18: Opto-Isolated Output Specifications 34

Table 2-19: Opto-Isolated Output Connector Pin Assignment 34

Table 2-20: Digital Input Specifications 36

Table 2-21: Opto-Isolated Input Connector Pin Assignment 36

Table 2-22: Ethernet Cable Listing 40

Table 2-23: FireWire Repeaters (for cables exceeding 4.5 m (15 ft) specification) 41

Table 2-24: FireWire Cables (copper and glass fiber) 41

Table 3-1: Options and Capabilities 43

Table 3-2: ESTOPOption Mating Connector 44

Table 3-3: ESTOPSafety Ratings 45

Table 3-4: Relay Specifications 45

Table 3-5: MPGA Connector Pin Assignments 48

Table 4-1: Component Select 50

Table 4-2: Preventative Maintenance 51

vi www.aerotech.com

Declaration of Conformity HEXRCHardware Manual

EC Declaration of Conformity

Manufacturer

Aerotech, Inc.

Address

101 Zeta Drive

Pittsburgh, PA 15238-2897

USA

Product

HEXRC

Model/Types

All

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

following Directive(s):

2014/35/EU Low Voltage Directive LVD

2006/42/EC Machinery Directive

2011/65/EU RoHS2 Directive

and has been designed to be in conformity with the applicable requirements of the following documents when

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

EN 61010-1 Safety requirements for electrical equipment

ISO 13849-1 & -2 Safety related parts of control systems

Name

/ Alex Weibel

Position

Engineer Verifying Compliance

Location

Pittsburgh, PA

www.aerotech.com vii

HEXRCHardware Manual Declaration of Conformity

viii www.aerotech.com

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Electrical Safety HEXRCHardware Manual

Safety Procedures and Warnings

The following statements apply wherever the Warning or Danger symbol appears within this manual. Failure

to observe these precautions could result in serious injury to those individuals performing the procedures

and/or damage to the equipment.

D A N G E R : This product contains potentially lethal voltages. To reduce the possibility of

electrical shock, bodily injury, or death the following precautions must be followed.

1. Disconnect electrical power before servicing equipment.

2. Disconnect electrical power before performing any wiring.

3. To minimize the possibility of electrical shock and bodily injury, extreme care must be

exercised when any electrical circuits are in use. Suitable precautions and protection must

be provided to warn and prevent persons from making contact with live circuits.

4. Do not connect or disconnect any electrical components or connecting cables while

connected to a power source.

5. All components must be properly grounded in accordance with local electrical safety

requirements.

6. Operator safeguarding requirements must be addressed during final integration of the

product.

W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the

following precautions must be followed.

1. Use of this equipment in ways other than described by this manual can cause personal

injury or equipment damage.

2. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts

must be restricted while connected to a power source.

3. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid

potential hazards.

4. Do not expose this product to environments or conditions outside of the listed

specifications. Exceeding environmental or operating specifications can cause damage to

the equipment.

5. If the product is used in a manner not specified by the manufacturer, the protection

provided by the product can be impaired and result in damage, shock, injury, or death.

6. Operators must be trained before operating this equipment.

7. All service and maintenance must be performed by qualified personnel.

8. This product is intended for light industrial manufacturing or laboratory use. Use of this

product for unintended applications can result in injury and damage to the equipment.

www.aerotech.com ix

HEXRCHardware Manual Electrical Safety

x www.aerotech.com

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