Aerotech Automation1 iXC6e User manual

Revision 1.04
Automation1 iXC6e and XC6e High-Powered
PWMDigital Drives
HARDWAREMANUAL

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Copyright © 2020-2022, Aerotech, Inc., All rights reserved.

Table of Contents
Automation1 iXC6e and XC6e High-Powered PWMDigital Drives 1
Table of Contents 3
List of Figures 5
List of Tables 7
EU Declaration of Conformity 9
Safety Procedures and Warnings 10
Handling and Storage 12
Installation Overview 13
Chapter 1: iXC6e/XC6e Overview 15
1.1. Electrical Specifications 19
1.1.1. System Power Requirements 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 24
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. Minimizing Noise for EMC/CECompliance 28
2.1.4. Inrush Current Limiting 29
2.2. Motor Power Output Connector 32
2.2.1. Brushless Motor Connections 33
2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 34
2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 35
2.3. Feedback Connector 36
2.3.1. Primary Encoder Inputs 37
2.3.1.1. Square WaveEncoder (Primary) 38
2.3.1.2. Absolute Encoder (Primary) 39
2.3.1.3. Sine Wave Encoder (Primary) [-MX2/-MX3 Option] 40
2.3.1.4. Encoder Phasing 42
2.3.2. Hall-Effect Inputs 43
2.3.3. Thermistor Input 44
2.3.4. Encoder Fault Input 45
2.3.5. End of Travel and Home Limit Inputs 46
2.3.5.1. End of Travel and Home Limit Phasing 48
2.3.6. Brake Outputs 49
2.4. Safe Torque Off Input (STO) 50
2.4.1. STOStandards 52
2.4.2. STO Functional Description 53
2.4.3. STO Startup Validation Testing 54
2.4.4. STO Diagnostics 55
2.5. Auxiliary I/O Connector 56
2.5.1. Auxiliary Encoder Inputs 57
2.5.1.1. Square WaveEncoder (Auxiliary) 58
2.5.1.2. Absolute Encoder (Auxiliary) 59
2.5.1.3. Sine Wave Encoder (Auxiliary) [-MX3 Option] 60
2.5.2. Position Synchronized Output (PSO) 62
2.5.3. Digital Outputs 64
2.5.4. Digital Inputs 67
2.5.5. High-Speed Inputs 69
2.5.6. Analog Output 0 70
2.5.7. Analog Input 0 (Differential) 71
2.6. Brake Power Supply Connector 72
2.7. HyperWire Interface 73
2.8. Shunt Options 74
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2.9. Sync Port 78
2.10. Industrial Ethernet (iXC6e Only) 78
2.11. System Interconnection 79
2.12. PC Configuration and Operation Information 82
Chapter 3: -EB1 Option Expansion 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. 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 100
5.2. Fuse Specifications 100
Appendix A: Warranty and Field Service 101
Appendix B: Revision History 103
Index 105
Table of Contents iXC6e/XC6e Hardware Manual
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List of Figures
Figure 1-1: iXC6e High Power Networked Digital Drive 15
Figure 1-2: XC6e High Power Networked Digital Drive 16
Figure 1-3: Functional Diagram 18
Figure 1-4: Dimensions 22
Figure 1-5: Dimensions [-EB1] 23
Figure 2-1: Control Supply Connections 25
Figure 2-2: Motor Supply Connections 26
Figure 2-3: Inrush Limiting Circuit External to Drive 29
Figure 2-4: Brushless Motor Configuration 33
Figure 2-5: Positive Motor Direction 34
Figure 2-6: Encoder and Hall Signal Diagnostics 34
Figure 2-7: Brushless Motor Phasing Oscilloscope Example 35
Figure 2-8: Brushless Motor Phasing Goal 35
Figure 2-9: Square Wave Encoder Schematic (Feedback Connector) 38
Figure 2-10: Absolute Encoder Schematic (Feedback Connector) 39
Figure 2-11: Sine Wave Encoder Phasing Reference Diagram 40
Figure 2-12: Sine Wave Encoder Schematic (Feedback Connector) 41
Figure 2-13: Encoder Phasing Reference Diagram (Standard) 42
Figure 2-14: Position Feedback in the DiagnosticDisplay 42
Figure 2-15: Hall-Effect Inputs Schematic (Feedback Connector) 43
Figure 2-16: Thermistor Input Schematic (Feedback Connector) 44
Figure 2-17: Encoder Fault Input Schematic (Feedback Connector) 45
Figure 2-18: End of Travel and Home Limit Input Connections 47
Figure 2-19: End of Travel and Home Limit Input Schematic (Feedback Connector) 47
Figure 2-20: End of Travel and Home Limit Input Diagnostic Display 48
Figure 2-21: Brake Connected to the 25-Pin Feedback Connector (Typical) 49
Figure 2-22: Typical STO Configuration 51
Figure 2-23: STO Timing 55
Figure 2-24: Square Wave Encoder Interface (Aux I/OConnector) 58
Figure 2-25: Absolute Encoder Schematic (Auxiliary I/O Connector) 59
Figure 2-26: Sine Wave Encoder Phasing Reference Diagram 60
Figure 2-27: Sine Wave Encoder Schematic (Auxiliary I/OConnector) 61
Figure 2-28: PSO Interface 63
Figure 2-29: Digital Output Schematic (Aux I/OConnector) 65
Figure 2-30: Digital Outputs Connected in Current Sourcing Mode 66
Figure 2-31: Digital Outputs Connected in Current Sinking Mode 66
Figure 2-32: Digital Inputs Schematic (Aux I/OConnector) 67
Figure 2-33: Digital Inputs Connected to Current Sourcing Devices 68
Figure 2-34: Digital Inputs Connected to Current Sinking Devices 68
Figure 2-35: High-Speed Inputs 69
Figure 2-36: Analog Output 0 Schematic 70
Figure 2-37: Analog Input 0 Schematic 71
Figure 2-38: Drive-Based System Wiring Drawing (Best Practice) 79
Figure 2-39: PC-Based System Wiring Drawing (Best Practice) 79
Figure 2-40: Drive-Based Controller System Interconnection (Best Practice) 80
Figure 2-41: PC-Based Controller System Interconnection (Best Practice) 81
Figure 3-1: -EB1 I/O Option Board Connectors (iXC6e shown) 83
Figure 3-2: Digital Outputs Schematic [-EB1] 86
iXC6e/XC6e Hardware Manual List of Figures
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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
List of Figures iXC6e/XC6e Hardware Manual
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List of Tables
Table 1-1: FeatureSummary 17
Table 1-2: Electrical Specifications (Common) 19
Table 1-3: Electrical Specifications (by Ordering Option) 20
Table 1-4: Mounting Specifications 21
Table 1-5: Environmental Specifications 24
Table 1-6: Drive and Software Compatibility 24
Table 2-1: Control Supply Wiring Pinout 25
Table 2-2: Control Supply Wiring Specifications 25
Table 2-3: Motor Supply Connector Pinout 26
Table 2-4: Motor Supply Mating Connector Ratings 27
Table 2-5: Motor Supply Connector Fuse Specifications 27
Table 2-6: Motor Power Output Connector Pinout 32
Table 2-7: Motor Output Mating Connector Ratings 32
Table 2-8: Wire Colors for Aerotech-Supplied Brushless Motor Cables 33
Table 2-9: Hall Signal Diagnostics 34
Table 2-10: Feedback Connector Pinout 36
Table 2-11: Feedback Connector Mating Connector Ratings 36
Table 2-12: Multiplier Options 37
Table 2-13: Primary Encoder Input Pins on the Feedback Connector 37
Table 2-14: Square Wave Encoder Specifications 38
Table 2-15: Sine Wave Encoder Specifications 40
Table 2-16: Hall-Effect Feedback Pins on the Feedback Connector 43
Table 2-17: Thermistor Input Pin on the Feedback Connector 44
Table 2-18: Encoder Fault Input Pin on the Feedback Connector 45
Table 2-19: End of Travel and Home Limit Pins on the Feedback Connector 46
Table 2-20: Brake Output Pins on the Feedback Connector 49
Table 2-21: Brake Control Specifications 49
Table 2-22: STO Connector Pinout 50
Table 2-23: STOMating ConnectorRatings 50
Table 2-24: STOElectrical Specifications 51
Table 2-25: STOStandards 52
Table 2-26: STOStandards Data 52
Table 2-27: STOSignal Delay 54
Table 2-28: Motor Function Relative to STOInput State 54
Table 2-29: STOTiming 55
Table 2-30: Auxiliary I/O Connector Pinout 56
Table 2-31: Auxiliary I/OMating Connector Ratings 56
Table 2-32: Auxiliary Encoder Pins on the Auxiliary I/OConnector 57
Table 2-33: Square Wave Encoder Specifications 58
Table 2-34: Sine Wave Encoder Specifications 60
Table 2-35: PSO Specifications 62
Table 2-36: PSOPins on the Auxiliary I/OConnector 62
Table 2-37: Digital Output Specifications 64
Table 2-38: Digital Output Pins on the Auxiliary I/O Connector 64
Table 2-39: Digital Input Specifications 67
Table 2-40: Digital Input Pins on the Auxiliary I/O Connector 67
Table 2-41: High-Speed Input Specifications 69
Table 2-42: High-Speed Input Pins on the Auxiliary I/O Connector 69
iXC6e/XC6e Hardware Manual List of Tables
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Table 2-43: Analog Output Specifications 70
Table 2-44: Analog Output Pins on the Auxiliary I/O Connector 70
Table 2-45: Analog Input Specifications 71
Table 2-46: Analog Input Pins on the Auxiliary I/O Connector 71
Table 2-47: Brake Power Supply Connector Pinout 72
Table 2-48: Brake Power Supply Mating Connector Ratings 72
Table 2-49: HyperWire Card Part Number 73
Table 2-50: HyperWire Cable Part Numbers 73
Table 2-51: Bus Link Connector Pinout 74
Table 2-52: Bus Link Mating ConnectorRatings 75
Table 2-53: Internal Shunt Specifications 75
Table 2-54: Maximum Recommended Shunt Current 75
Table 2-55: Maximum Additional Storage Energy for a Standard iXC6e/XC6e 76
Table 2-56: Sync-Related Functions 78
Table 2-57: SyncPort Cables 78
Table 3-1: Digital Output Specifications [-EB1] 84
Table 3-2: Digital Output 1 Connector Pinout [-EB1] 85
Table 3-3: Digital Output 1 Mating Connector Ratings [-EB1] 85
Table 3-4: Digital Output 2 Connector Pinout [-EB1] 85
Table 3-5: Digital Output 2 Mating Connector Ratings [-EB1] 85
Table 3-6: Digital Input Specifications [-EB1] 88
Table 3-7: Digital Input 1 Connector Pinout [-EB1] 88
Table 3-8: Digital Input 1 Mating ConnectorRatings [-EB1] 88
Table 3-9: Digital Input 2 Connector Pinout [-EB1] 89
Table 3-10: Digital Input 2 Mating Connector Ratings [-EB1] 89
Table 3-11: Analog Output Specifications [-EB1] 91
Table 3-12: Analog Output Connector Pinout [-EB1] 91
Table 3-13: Analog Output Mating Connector Ratings [-EB1] 91
Table 3-14: Differential Analog Input Specifications [-EB1] 92
Table 3-15: Analog Input Connector Pinout [-EB1] 92
Table 3-16: Analog Input Mating Connector Ratings [-EB1] 92
Table 3-17: PSO Specifications [-EB1] 93
Table 3-18: PSO Interface Connector Pinout [-EB1] 93
Table 3-19: PSO Interface Mating Connector Ratings [-EB1] 93
Table 4-1: Standard Interconnection Cables 95
Table 5-1: LEDDescription 99
Table 5-2: Troubleshooting 99
Table 5-3: Preventative Maintenance 100
Table 5-4: Control Board Fuse Specifications 100
List of Tables iXC6e/XC6e Hardware Manual
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EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product iXC6e/XC6e
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/AMD1:2016 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
UK
Engineer Verifying
Compliance / Alex Weibel
Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Date 5/20/2022
iXC6e/XC6e Hardware Manual EU Declaration of Conformity
www.aerotech.com 9

Safety Procedures and Warnings
IMPORTANT: This manual tells you how to carefully and correctly use and operate the
drive.
lRead all parts of this manual before you install or operate the drive or before you do
maintenance to your system.
lTo prevent injury to you and damage to the equipment, obey the precautions in this
manual.
lAll specifications and illustrations are for reference only and were complete and
accurate as of the release of this manual. To find the newest information about this
product, refer to www.aerotech.com.
If you do not understand the information in this manual, contact Aerotech Global
Technical Support.
IMPORTANT: This product has been designed for light industrial manufacturing
environments. If the product is used in a manner not specified by the manufacturer:
lThe protection provided by the equipment could be impaired.
lThe life expectancy of the product could be decreased.
Safety notes and symbols are placed throughout this manual to warn you of the potential risks at the
moment of the safety note or if you fail to obey the safety note.
The voltage can cause shock, burn, or death.
You are at risk of physical injury.
You could damage the drive.
A surface can be hot enough to burn you.
Your actions, the temperature of the system, or the condition of the atmosphere
that surround the system could start a fire.
Components are sensitive to electrostatic discharge.
Unsecured cables could cause you to:
ltrip and fall
ldrag the product off of its mounting location
ldamage the cable connections.
A blue circle symbol is an action or tip that you should obey. Some examples
include:
lGeneral tip
lRead the manual/section
lWear protective safety equipment (eye protection, ear protection, gloves)
lIf applicable, do not lift unassisted
Safety Procedures and Warnings iXC6e/XC6e Hardware Manual
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