Aerotech XC4 Manuale utente

Revision: 1.00.00

XC4 Hardware Manual

Global Technical Support

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

website supplies software, product manuals, Help files, training schedules, and PC-to-PC remote technical support. If

necessary, you can complete Product Return (RMA) forms and get information about repairs and spare or replacement parts.

To get help immediately, contact a service office or your sales representative. Include your customer order number in your

email or have it available before you call.

United States (World Headquarters)

Email: Support@aerotech.com

Phone: +1-412-967-6440

Fax: +1-412-967-6870

101 Zeta Drive

Pittsburgh, PA 15238-2811

www.aerotech.com

United Kingdom Japan

Email: Support@aerotech.com

Phone: +44 (0)1256 855055

Fax: +44 (0)1256 855649

Email: Support@aerotech.com

Phone: +81 (0)50 5830 6814

Fax: +81 (0)43 306 3773

Germany China

Email: Support@aerotech.com

Phone: +49 (0)911 967 9370

Fax: +49 (0)911 967 93720

Email: Support@aerotech.com

Phone: +86 (21) 5508 6731

France Taiwan

Email: Support@aerotech.com

Phone: +33 2 37 21 87 65

Email: Support@aerotech.com

Phone: +886 (0)2 8751 6690

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.

XC4 Hardware Manual Table of Contents

Table of Contents

XC4 Hardware Manual 1

Table of Contents 3

List of Figures 5

List of Tables 7

EU Declaration of Conformity 9

Safety Procedures and Warnings 11

Quick Installation Guide 13

Chapter 1: Introduction 15

1.1. Electrical Specifications 18

1.1.1. System Power Requirements 19

1.2. Mechanical Specifications 20

1.3. Environmental Specifications 22

1.4. Drive and Software Compatibility 23

Chapter 2: Installation and Configuration 25

2.1. Input Power Connections 25

2.1.1. Control Supply Connector 25

2.1.2. Motor Supply Connector 26

2.1.3. Transformer Options 27

2.1.4. Minimizing Conducted,Radiated, and System Noise for EMC/CECompliance 34

2.2. Motor Power Output Connector 35

2.2.1. Brushless Motor Connections 36

2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 37

2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 38

2.2.2. DCBrush Motor Connections 39

2.2.2.1. DC Brush Motor Phasing 40

2.2.3. Stepper Motor Connections 41

2.2.3.1. Stepper Motor Phasing 42

2.3. Feedback Connector 43

2.3.1. Encoder Interface 44

2.3.1.1. RS-422 Line Driver Encoder 45

2.3.1.2. Absolute Encoder 46

2.3.1.3. Analog Encoder [-MX1 Option] 47

2.3.1.4. Encoder Phasing 49

2.3.2. Hall-Effect Interface 51

2.3.3. Thermistor Input Interface 52

2.3.4. Encoder Fault Input Interface 53

2.3.5. End of Travel Limit Input Interface 54

2.3.5.1. End of Travel Limit Phasing 56

2.3.6. Brake Output Interface 57

2.4. Safe Torque Off Input (STO) 58

2.4.1. STOStandards 60

2.4.2. STO Functional Description 60

2.4.3. STO Startup Validation Testing 61

2.4.4. STO Diagnostics 62

2.5. Auxiliary I/O Connector 63

2.5.1. Auxiliary Encoder Channel 64

2.5.2. Position Synchronized Output (PSO) 66

2.5.3. Digital Outputs 68

2.5.4. Digital Inputs 71

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Table of Contents XC4 Hardware Manual

2.5.5. High-Speed Inputs 4-5 73

2.5.6. Analog Output 0 74

2.5.7. Analog Input 0 (Differential) 75

2.6. Brake Power Supply Connector 76

2.7. HyperWire Interface 77

2.8. External Shunt Option [-SX1] 78

2.9. Sync Port 80

2.10. System Interconnection 81

2.11. PC Configuration and Operation Information 82

Chapter 3: -EB1 I/O Option Board 83

3.1. Digital Outputs [-EB1] 84

3.2. Digital Inputs [-EB1] 88

3.3. Analog Outputs [-EB1] 91

3.4. Analog Inputs [-EB1] 92

3.5. Position Synchronized Output (PSO) Interface [-EB1] 93

Chapter 4: Cables and Accessories 95

4.1. Joystick Interface 96

4.2. Handwheel Interface 98

Chapter 5: Maintenance 99

5.1. Preventative Maintenance 99

5.2. Fuse Specifications 100

Appendix A: Warranty and Field Service 101

Appendix B: Revision History 103

Index 105

4 www.aerotech.com

XC4 Hardware Manual List of Figures

List of Figures

Figure 1-1: XC4 Networked Digital Drive 15

Figure 1-2: Functional Diagram 17

Figure 1-3: Dimensions 20

Figure 1-4: Dimensions [-EB1] 21

Figure 2-1: Control Supply Connections 25

Figure 2-2: Motor Supply Connections 26

Figure 2-3: Transformer Examples 27

Figure 2-4: 40 VDC Motor Power with a TV0.3-28-56-ST Transformer 28

Figure 2-5: 80 VDC Motor Power with a TV0.3-28-56-ST Transformer 29

Figure 2-6: 40 Volt DC Bus from 115 and 230 VAC Source 30

Figure 2-7: 80 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) 31

Figure 2-8: 160 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) 32

Figure 2-9: Control and Motor Power Wiring using a TM3 or TM5 Transformer 33

Figure 2-10: Brushless Motor Configuration 36

Figure 2-11: Positive Motor Direction 37

Figure 2-12: Encoder and Hall Signal Diagnostics 37

Figure 2-13: Brushless Motor Phasing Oscilloscope Example 38

Figure 2-14: Brushless Motor Phasing Goal 38

Figure 2-15: DC Brush Motor Configuration 39

Figure 2-16: Positive Motor Direction 40

Figure 2-17: Stepper Motor Configuration 41

Figure 2-18: Positive Motor Direction 42

Figure 2-19: Line Driver Encoder Schematic (Feedback Connector) 45

Figure 2-20: Absolute Encoder Schematic (Feedback Connector) 46

Figure 2-21: Analog Encoder Phasing Reference Diagram 47

Figure 2-22: Analog Encoder Schematic (Feedback Connector) 48

Figure 2-23: Encoder Phasing Reference Diagram (Standard) 49

Figure 2-24: Position Feedback in the DiagnosticDisplay 50

Figure 2-25: Hall-Effect Inputs Schematic (Feedback Connector) 51

Figure 2-26: Thermistor Input Schematic (Feedback Connector) 52

Figure 2-27: Encoder Fault Input Schematic (Feedback Connector) 53

Figure 2-28: End of Travel Limit Input Connections 55

Figure 2-29: End of Travel Limit Input Interface Schematic (Feedback Connector) 55

Figure 2-30: Limit Input Diagnostic Display 56

Figure 2-31: Brake Connected to the 25-Pin Feedback Connector (Typical) 57

Figure 2-32: Typical Configuration 59

Figure 2-33: STO Timing 62

Figure 2-34: Auxiliary Encoder ChannelSchematic (Aux I/OConnector) 65

Figure 2-35: PSOInterface 67

Figure 2-36: Digital Output Schematic (Aux I/OConnector) 69

Figure 2-37: Digital Outputs Connected in Current Sourcing Mode 70

Figure 2-38: Digital Outputs Connected in Current Sinking Mode 70

Figure 2-39: Digital Inputs Schematic (Aux I/OConnector) 71

Figure 2-40: Digital Inputs Connected to Current Sinking Devices 72

Figure 2-41: Digital Inputs Connected to Current Sourcing Devices 72

Figure 2-42: High-Speed Inputs 73

Figure 2-43: Analog Output 0 Schematic 74

Figure 2-44: Analog Input 0 Schematic 75

Figure 2-45: System Interconnection Drawing (Best Practice) 81

Figure 3-1: XC4 with -EB1 I/O Option Board Connectors 83

Figure 3-2: Digital Outputs Schematic [-EB1] 86

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List of Figures XC4 Hardware Manual

Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1] 87

Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1] 87

Figure 3-5: Digital Inputs Schematic [-EB1] 89

Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 90

Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 90

Figure 3-8: Analog Output Typical Connection [-EB1] 91

Figure 3-9: Analog Input Typical Connection [-EB1] 92

Figure 3-10: PSO Output Sources Current 94

Figure 3-11: PSOOutput Sinks Current 94

Figure 3-12: PSO TTLOutputs Schematic 94

Figure 4-1: Two Axis Joystick Interface (to the Aux I/O of two drives) 96

Figure 4-2: Two Axis Joystick Interface (to the I/Oboard) 97

Figure 4-3: Handwheel Interconnection to Aux I/O Connector 98

Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module 98

6 www.aerotech.com

XC4 Hardware Manual List of Tables

List of Tables

Table 1-1: Features and Options 16

Table 1-2: Electrical Specifications 18

Table 1-3: Unit Weight 20

Table 1-4: Environmental Specifications 22

Table 1-5: Drive and Software Compatibility 23

Table 2-1: Control Supply Wiring Specifications 25

Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 25

Table 2-3: Motor Supply Connector Wiring Specifications 26

Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector 26

Table 2-5: Nominal Motor Operating Voltages / Required ACVoltages 27

Table 2-6: TransformerOptions 27

Table 2-7: Motor Power Output Connector Pinout 35

Table 2-8: Mating Connector Part Numbers for the Motor Power Output Connector 35

Table 2-9: Wire Colors for Aerotech-Supplied Brushless Motor Cables 36

Table 2-10: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 39

Table 2-11: Wire Colors for Aerotech-Supplied Stepper Motor Cables 41

Table 2-12: Feedback Connector Pinout 43

Table 2-13: Mating Connector Part Numbers for the Feedback Connector 43

Table 2-14: Encoder Interface Pins on the Feedback Connector 44

Table 2-15: RS-422 Line Driver Encoder Specifications 45

Table 2-16: Analog Encoder Specifications 47

Table 2-17: Hall-Effect Feedback Pins on the Feedback Connector 51

Table 2-18: Thermistor Input Pin on the Feedback Connector 52

Table 2-19: Encoder Fault Input Pin on the Feedback Connector 53

Table 2-20: End of Travel Limit Input Pins on the Feedback Connector 54

Table 2-21: Brake Output Pins on the Feedback Connector 57

Table 2-22: Brake Control Specifications 57

Table 2-23: STO Connector Pinout 58

Table 2-24: Mating Connector Part Numbers for the STOConnector 58

Table 2-25: STOElectrical Specifications 58

Table 2-26: STOStandards 60

Table 2-27: STOStandards Data 60

Table 2-28: STOSignal Delay 61

Table 2-29: Motor Function Relative to STOInput State 61

Table 2-30: STOTiming 62

Table 2-31: Auxiliary I/O Connector Pinout 63

Table 2-32: Mating Connector Part Numbers for the Auxiliary I/OConnector 63

Table 2-33: Auxiliary Encoder RS-422 Specifications 64

Table 2-34: Auxiliary I/O Pins on the Auxiliary I/OConnector 64

Table 2-35: PSO Specifications 66

Table 2-36: PSOPins on the Auxiliary I/OConnector 66

Table 2-37: Digital Output Specifications 68

Table 2-38: Digital Output Pins on the Auxiliary I/O Connector 68

Table 2-39: Digital Input Specifications 71

Table 2-40: Digital Input Pins on the Auxiliary I/O Connector 71

Table 2-41: High-Speed Input Specifications 73

Table 2-42: High-Speed Input Pins on the Auxiliary I/O Connector 73

Table 2-43: Analog Output Specifications 74

Table 2-44: Analog Output Pins on the Auxiliary I/O Connector 74

Table 2-45: Analog Input Specifications 75

Table 2-46: Analog Input Pins on the Auxiliary I/O Connector 75

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List of Tables XC4 Hardware Manual

Table 2-47: Brake Power Supply Connector Pinout 76

Table 2-48: Mating Connector Part Numbers for the Brake Power Supply Connector 76

Table 2-49: HyperWire Card Part Number 77

Table 2-50: HyperWire Cable Part Numbers 77

Table 2-51: -SX1Component Information 78

Table 2-52: Maximum Additional Storage Energy 79

Table 2-53: Sync-Related Commands 80

Table 2-54: SyncPort Cables 80

Table 3-1: Digital Output Specifications [-EB1] 84

Table 3-2: Digital Output 1 Connector Pinout [-EB1] 85

Table 3-3: Mating Connector Part Numbers for the Digital Output 1 Connector [-EB1] 85

Table 3-4: Digital Output 2 Connector Pinout [-EB1] 85

Table 3-5: Mating Connector Part Numbers for the Digital Output 2 Connector [-EB1] 85

Table 3-6: Digital Input Specifications [-EB1] 88

Table 3-7: Digital Input 1 Connector Pinout [-EB1] 88

Table 3-8: Mating Connector Part Numbers for the Digital Input 1 Connector [-EB1] 88

Table 3-9: Digital Input 2 Connector Pinout [-EB1] 89

Table 3-10: Mating Connector Part Numbers for the Digital Input 2 Connector [-EB1] 89

Table 3-11: Analog Output Specifications [-EB1] 91

Table 3-12: Analog Output Connector Pinout [-EB1] 91

Table 3-13: Mating Connector Part Numbers for the Analog Output Connector [-EB1] 91

Table 3-14: Differential Analog Input Specifications [-EB1] 92

Table 3-15: Analog Input Connector Pinout [-EB1] 92

Table 3-16: Mating Connector Part Numbers for the Analog Input Connector [-EB1] 92

Table 3-17: PSO Specifications [-EB1] 93

Table 3-18: PSO Interface Connector Pinout [-EB1] 93

Table 3-19: Mating Connector Part Numbers for the PSO Interface Connector [-EB1] 93

Table 4-1: Standard Interconnection Cables 95

Table 5-1: Preventative Maintenance 99

Table 5-2: Control Board Fuse Specifications 100

8 www.aerotech.com

XC4 Hardware Manual EU Declaration of Conformity

EU Declaration of Conformity

Manufacturer Aerotech, Inc.

Address 101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product XC4

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

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 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

3/27/2019

www.aerotech.com 9

EU Declaration of Conformity XC4 Hardware Manual

10 www.aerotech.com

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