Advantech Automation1 iXC4e Manual de usuario

Revision 2.02

Automation1 iXC4e and XC4e

PWMHigh-Performance Digital Drives

HARDWAREMANUAL

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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

Automation1 iXC4e and XC4e PWMHigh-Performance Digital Drives 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 21

1.1.1. System Power Requirements 22

1.2. Mechanical Specifications 23

1.2.1. Mounting and Cooling 23

1.2.2. Dimensions 24

1.3. Environmental Specifications 26

1.4. Drive and Software Compatibility 27

Chapter 2: Installation and Configuration 29

2.1. Input Power Connections 30

2.1.1. Control Supply Connector 30

2.1.2. Motor Supply Connector 31

2.1.3. Transformer Options 32

2.1.4. Minimizing Noise for EMC/CECompliance 39

2.2. Motor Power Output Connector 40

2.2.1. Brushless Motor Connections 41

2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 42

2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 43

2.2.2. DCBrush Motor Connections 44

2.2.2.1. DC Brush Motor Phasing 45

2.2.3. Stepper Motor Connections 46

2.2.3.1. Stepper Motor Phasing 47

2.3. Feedback Connector 48

2.3.1. Primary Encoder Inputs 49

2.3.1.1. Square WaveEncoder 50

2.3.1.2. Absolute Encoder 51

2.3.1.3. Sine Wave Encoder [-MX2/-MX3 Option] 52

2.3.1.4. Encoder Phasing 54

2.3.2. Hall-Effect Inputs 55

2.3.3. Thermistor Input 56

2.3.4. Encoder Fault Input 57

2.3.5. End of Travel and Home Limit Inputs 58

2.3.5.1. End of Travel and Home Limit Phasing 60

2.3.6. Brake Outputs 61

2.4. Safe Torque Off Input (STO) 62

2.4.1. STOStandards 64

2.4.2. STO Functional Description 65

2.4.3. STO Startup Validation Testing 66

2.4.4. STO Diagnostics 67

2.5. Auxiliary I/O Connector 68

2.5.1. Auxiliary Encoder Inputs 69

2.5.1.1. Square WaveEncoder 70

2.5.1.2. Absolute Encoder 71

2.5.1.3. Sine Wave Encoder [-MX3 Option] 72

2.5.2. Position Synchronized Output (PSO) 74

2.5.3. Digital Outputs 76

2.5.4. Digital Inputs 79

2.5.5. High-Speed Inputs 81

2.5.6. Analog Output 0 82

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2.5.7. Analog Input 0 (Differential) 83

2.6. Brake Power Supply Connector 84

2.7. HyperWire Interface 85

2.8. External Shunt Option [-SX1] 86

2.9. Sync Port 88

2.10. System Interconnection 89

2.11. PC Configuration and Operation Information 92

Chapter 3: -EB1 I/O Option Board 93

3.1. Digital Outputs [-EB1] 94

3.2. Digital Inputs [-EB1] 98

3.3. Analog Outputs [-EB1] 101

3.4. Analog Inputs [-EB1] 102

3.5. Position Synchronized Output Interface [-EB1] 103

Chapter 4: Cables and Accessories 105

4.1. Joystick Interface 106

4.2. Handwheel Interface 108

Chapter 5: Maintenance 109

5.1. Preventative Maintenance 110

5.2. Fuse Specifications 111

Appendix A: Warranty and Field Service 113

Appendix B: Revision History 115

Index 117

Table of Contents iXC4e/XC4e Hardware Manual

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List of Figures

Figure 1-1: iXC4e Digital Drive-Based Controller 17

Figure 1-2: XC4e Digital Drive 18

Figure 1-3: Functional Diagram 20

Figure 1-4: Dimensions 24

Figure 1-5: Dimensions [-EB1] 25

Figure 2-1: Control Supply Connections 30

Figure 2-2: Motor Supply Connections 31

Figure 2-3: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (40 VDC Bus) 33

Figure 2-4: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (80 VDC Bus) 34

Figure 2-5: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (160 VDC Bus) 35

Figure 2-6: TV0.3-28 Transformer Control and Motor Power Wiring (40 VDC Bus) 36

Figure 2-7: TV0.3-56 Transformer Control and Motor Power Wiring (80 VDC Bus) 37

Figure 2-8: TM3/TM5 Transformer Control and Motor Power Wiring 38

Figure 2-9: Brushless Motor Configuration 41

Figure 2-10: Positive Motor Direction 42

Figure 2-11: Encoder and Hall Signal Diagnostics 42

Figure 2-12: Brushless Motor Phasing Oscilloscope Example 43

Figure 2-13: Brushless Motor Phasing Goal 43

Figure 2-14: DC Brush Motor Configuration 44

Figure 2-15: Positive Motor Direction 45

Figure 2-16: Stepper Motor Configuration 46

Figure 2-17: Positive Motor Direction 47

Figure 2-18: Square Wave Encoder Schematic (Feedback Connector) 50

Figure 2-19: Absolute Encoder Schematic (Feedback Connector) 51

Figure 2-20: Sine Wave Encoder Phasing Reference Diagram 52

Figure 2-21: Sine Wave Encoder Schematic (Feedback Connector) 53

Figure 2-22: Encoder Phasing Reference Diagram (Standard) 54

Figure 2-23: Position Feedback in the DiagnosticDisplay 54

Figure 2-24: Hall-Effect Inputs Schematic (Feedback Connector) 55

Figure 2-25: Thermistor Input Schematic (Feedback Connector) 56

Figure 2-26: Encoder Fault Input Schematic (Feedback Connector) 57

Figure 2-27: End of Travel and Home Limit Input Connections 59

Figure 2-28: End of Travel and Home Limit Input Schematic (Feedback Connector) 59

Figure 2-29: End of Travel and Home Limit Input Diagnostic Display 60

Figure 2-30: Brake Connected to the 25-Pin Feedback Connector (Typical) 61

Figure 2-31: Typical Configuration 63

Figure 2-32: STO Timing 67

Figure 2-33: Square Wave Encoder Interface (Aux I/OConnector) 70

Figure 2-34: Absolute Encoder Schematic (Auxiliary I/O Connector) 71

Figure 2-35: Sine Wave Encoder Phasing Reference Diagram 72

Figure 2-36: Sine Wave Encoder Schematic (Auxiliary I/OConnector) 73

Figure 2-37: PSOInterface 75

Figure 2-38: Digital Output Schematic (Aux I/OConnector) 77

Figure 2-39: Digital Outputs Connected in Current Sourcing Mode 78

Figure 2-40: Digital Outputs Connected in Current Sinking Mode 78

Figure 2-41: Digital Inputs Schematic (Aux I/OConnector) 79

Figure 2-42: Digital Inputs Connected to Current Sourcing Devices 80

Figure 2-43: Digital Inputs Connected to Current Sinking Devices 80

iXC4e/XC4e Hardware Manual List of Figures

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Figure 2-44: High-Speed Inputs 81

Figure 2-45: Analog Output 0 Schematic 82

Figure 2-46: Analog Input 0 Schematic 83

Figure 2-47: Drive-Based System Wiring Drawing (Best Practice) 89

Figure 2-48: PC-Based System Wiring Drawing (Best Practice) 89

Figure 2-49: Drive-Based Controller System Interconnection (Best Practice) 90

Figure 2-50: PC-Based Controller System Interconnection (Best Practice) 91

Figure 3-1: -EB1 I/O Option Board Connectors (iXC4e shown) 93

Figure 3-2: Digital Outputs Schematic [-EB1] 96

Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1] 97

Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1] 97

Figure 3-5: Digital Inputs Schematic [-EB1] 99

Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 100

Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 100

Figure 3-8: Analog Output Typical Connection [-EB1] 101

Figure 3-9: Analog Input Typical Connection [-EB1] 102

Figure 3-10: PSO Output Sources Current 104

Figure 3-11: PSOOutput Sinks Current 104

Figure 3-12: PSO TTLOutputs Schematic 104

Figure 4-1: Two Axis Joystick Interface (to the Aux I/O of two drives) 106

Figure 4-2: Two Axis Joystick Interface (to the I/Oboard) 107

Figure 4-3: Handwheel Interconnection to Aux I/O Connector 108

Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module 108

List of Figures iXC4e/XC4e Hardware Manual

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List of Tables

Table 1-1: Featuresand Options 19

Table 1-2: Electrical Specifications 21

Table 1-3: Mounting Specifications 23

Table 1-4: Environmental Specifications 26

Table 1-5: Drive and Software Compatibility 27

Table 2-1: Control Supply Wiring Specifications 30

Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 30

Table 2-3: Motor Supply Connector Wiring Specifications 31

Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector 31

Table 2-5: Nominal Motor Operating Voltages / Required ACVoltages 32

Table 2-6: TransformerOptions 32

Table 2-7: Motor Power Output Connector Pinout 40

Table 2-8: Mating Connector Part Numbers for the Motor Power Output Connector 40

Table 2-9: Wire Colors for Aerotech-Supplied Brushless Motor Cables 41

Table 2-10: Hall Signal Diagnostics 42

Table 2-11: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 44

Table 2-12: Wire Colors for Aerotech-Supplied Stepper Motor Cables 46

Table 2-13: Feedback Connector Pinout 48

Table 2-14: Mating Connector Part Numbers for the Feedback Connector 48

Table 2-15: Multiplier Options 49

Table 2-16: Primary Encoder Input Pins on the Feedback Connector 49

Table 2-17: Square Wave Encoder Specifications 50

Table 2-18: Sine Wave Encoder Specifications 52

Table 2-19: Hall-Effect Feedback Pins on the Feedback Connector 55

Table 2-20: Thermistor Input Pin on the Feedback Connector 56

Table 2-21: Encoder Fault Input Pin on the Feedback Connector 57

Table 2-22: End of Travel and Home Limit Pins on the Feedback Connector 58

Table 2-23: Brake Output Pins on the Feedback Connector 61

Table 2-24: Brake Control Specifications 61

Table 2-25: STO Connector Pinout 62

Table 2-26: Mating Connector Part Numbers for the STOConnector 62

Table 2-27: STOElectrical Specifications 63

Table 2-28: STOStandards 64

Table 2-29: STOStandards Data 64

Table 2-30: STOSignal Delay 66

Table 2-31: Motor Function Relative to STOInput State 66

Table 2-32: STOTiming 67

Table 2-33: Auxiliary I/O Connector Pinout 68

Table 2-34: Mating Connector Part Numbers for the Auxiliary I/OConnector 68

Table 2-35: Auxiliary Encoder Pins on the Auxiliary I/OConnector 69

Table 2-36: Square Wave Encoder Specifications 70

Table 2-37: Sine Wave Encoder Specifications 72

Table 2-38: PSO Specifications 74

Table 2-39: PSOPins on the Auxiliary I/OConnector 74

Table 2-40: Digital Output Specifications 76

Table 2-41: Digital Output Pins on the Auxiliary I/O Connector 76

Table 2-42: Digital Input Specifications 79

Table 2-43: Digital Input Pins on the Auxiliary I/O Connector 79

iXC4e/XC4e Hardware Manual List of Tables

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Table 2-44: High-Speed Input Specifications 81

Table 2-45: High-Speed Input Pins on the Auxiliary I/O Connector 81

Table 2-46: Analog Output Specifications 82

Table 2-47: Analog Output Pins on the Auxiliary I/O Connector 82

Table 2-48: Analog Input Specifications 83

Table 2-49: Analog Input Pins on the Auxiliary I/O Connector 83

Table 2-50: Brake Power Supply Connector Pinout 84

Table 2-51: Mating Connector Part Numbers for the Brake Power Supply Connector 84

Table 2-52: HyperWire Card Part Number 85

Table 2-53: HyperWire Cable Part Numbers 85

Table 2-54: -SX1Component Information 86

Table 2-55: Maximum Additional Storage Energy for a Standard iXC4e/XC4e 87

Table 2-56: Sync-Related Functions 88

Table 2-57: SyncPort Cables 88

Table 3-1: Digital Output Specifications [-EB1] 94

Table 3-2: Digital Output 1 Connector Pinout [-EB1] 95

Table 3-3: Mating Connector Part Numbers for the Digital Output 1 Connector [-EB1] 95

Table 3-4: Digital Output 2 Connector Pinout [-EB1] 95

Table 3-5: Mating Connector Part Numbers for the Digital Output 2 Connector [-EB1] 95

Table 3-6: Digital Input Specifications [-EB1] 98

Table 3-7: Digital Input 1 Connector Pinout [-EB1] 98

Table 3-8: Mating Connector Part Numbers for the Digital Input 1 Connector [-EB1] 98

Table 3-9: Digital Input 2 Connector Pinout [-EB1] 99

Table 3-10: Mating Connector Part Numbers for the Digital Input 2 Connector [-EB1] 99

Table 3-11: Analog Output Specifications [-EB1] 101

Table 3-12: Analog Output Connector Pinout [-EB1] 101

Table 3-13: Mating Connector Part Numbers for the Analog Output Connector [-EB1] 101

Table 3-14: Differential Analog Input Specifications [-EB1] 102

Table 3-15: Analog Input Connector Pinout [-EB1] 102

Table 3-16: Mating Connector Part Numbers for the Analog Input Connector [-EB1] 102

Table 3-17: PSO Specifications [-EB1] 103

Table 3-18: PSO Interface Connector Pinout [-EB1] 103

Table 3-19: Mating Connector Part Numbers for the PSO Interface Connector [-EB1] 103

Table 4-1: Standard Interconnection Cables 105

Table 5-1: LEDDescription 109

Table 5-2: Troubleshooting 109

Table 5-3: Preventative Maintenance 110

Table 5-4: Control Board Fuse Specifications 111

List of Tables iXC4e/XC4e Hardware Manual

8 www.aerotech.com

EU Declaration of Conformity

Manufacturer Aerotech, Inc.

Address 101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product iXC4e/XC4e

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 61800-3:2004/A1:2011 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 55011:2000/A2:2003 Conducted and Radiated Emissions

EN 55022:1998 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 7/2/2021

iXC4e/XC4e Hardware Manual EU Declaration of Conformity

www.aerotech.com 9

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EU Declaration of Conformity iXC4e/XC4e Hardware Manual

10 www.aerotech.com

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