Aerotech Automation1 iXL2e User manual

Revision 1.04
Automation1 iXL2e and XL2e High-Performance
Linear Digital Drives
HARDWAREMANUAL

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Table of Contents
Automation1 iXL2e and XL2e High-Performance Linear Digital Drives 1
Table of Contents 3
List of Figures 5
List of Tables 7
EU Declaration of Conformity 9
Agency Approvals 10
Safety Procedures and Warnings 11
Handling and Storage 13
Installation Overview 14
Chapter 1: iXL2e/XL2e Overview 17
1.1. Electrical Specifications 21
1.2. Mechanical Specifications 22
1.2.1. Mounting and Cooling 22
1.2.2. Dimensions 23
1.3. Environmental Specifications 25
1.4. Drive and Software Compatibility 26
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
2.2.4. Three Phase Stepper Motor Connections 35
2.2.4.1. Stepper Motor 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 41
2.3.2. Hall-Effect Inputs 42
2.3.3. Thermistor Input 43
2.3.4. Encoder Fault Input 44
2.3.5. End of Travel and Home Limit Inputs 45
2.3.5.1. End of Travel and Home Limit Phasing 47
2.3.6. Brake Outputs 48
2.4. Safe Torque Off Input (STO) 49
2.4.1. STOStandards 51
2.4.2. STO Functional Description 52
2.4.3. STO Startup Validation Testing 53
2.4.4. STO Diagnostics 54
2.5. HyperWire Interface 55
2.6. Sync Port 56
2.7. System Interconnection 57
2.8. PC Configuration and Operation Information 60
Chapter 3: -EB1/-EB2 Option Expansion Board 61
3.1. PSOInterface [-EB1/-EB2] 62
3.2. Auxiliary Encoder Interface [-EB1/-EB2] 64
3.2.1. Square WaveEncoder (Auxiliary) 65
3.2.2. Absolute Encoder (Auxiliary) 66
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3.2.3. Sine Wave Encoder (Auxiliary) [-MX3 Option] 67
3.3. Analog I/O [-EB1] 69
3.3.1. Analog Output 0 [-EB1] 70
3.3.2. Analog Input (Differential) [-EB1] 71
3.4. Digital Outputs [-EB1] 72
3.5. Digital Inputs [-EB1] 75
3.6. Industrial Ethernet (iXL2e -EB2 Option Only) 78
Chapter 4: Cables and Accessories 79
4.1. DIN Rail Mounting 80
4.2. Joystick Interface 81
4.3. Handwheel Interface 82
Chapter 5: Maintenance 83
5.1. Preventative Maintenance 84
5.2. Fuse Specifications 85
Appendix A: Warranty and Field Service 87
Appendix B: Revision History 89
Index 91
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List of Figures
Figure 1-1: iXL2e High-Performance Linear Digital Drive 17
Figure 1-2: XL2e High-Performance Linear Digital Drive 18
Figure 1-3: Functional Diagram 20
Figure 1-4: Dimensions [-EB0] 23
Figure 1-5: Dimensions [-EB1/-EB2] 24
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: Three Phase Stepper Motor Configuration 35
Figure 2-13: Positive Motor Direction 35
Figure 2-14: Square Wave Encoder Schematic (Feedback Connector) 38
Figure 2-15: Absolute Encoder Schematic (Feedback Connector) 39
Figure 2-16: Sine Wave Encoder Phasing Reference Diagram 40
Figure 2-17: Encoder Phasing Reference Diagram (Standard) 41
Figure 2-18: Position Feedback in the DiagnosticDisplay 41
Figure 2-19: Hall-Effect Inputs Schematic (Feedback Connector) 42
Figure 2-20: Thermistor Input Schematic (Feedback Connector) 43
Figure 2-21: Encoder Fault Input Schematic (Feedback Connector) 44
Figure 2-22: End of Travel and Home Limit Input Connections 46
Figure 2-23: End of Travel and Home Limit Input Schematic (Feedback Connector) 46
Figure 2-24: End of Travel and Home Limit Input Diagnostic Display 47
Figure 2-25: Brake Connected to the 25-Pin Feedback Connector (Typical) 48
Figure 2-26: Typical STO Configuration 50
Figure 2-27: STO Timing 54
Figure 2-28: Drive-Based System Wiring Drawing (Best Practice) 57
Figure 2-29: PC-Based System Wiring Drawing (Best Practice) 57
Figure 2-30: Drive-Based System Interconnection Drawing (Best Practice) 58
Figure 2-31: PC-Based System Interconnection Drawing (Best Practice) 59
Figure 3-1: Expansion Option Board Connectors (iXL2e shown) 61
Figure 3-2: PSO Output Sources Current 63
Figure 3-3: PSOOutput Sinks Current 63
Figure 3-4: PSO TTLOutputs Schematic 63
Figure 3-5: Square Wave Encoder Interface (Aux Connector) 65
Figure 3-6: Absolute Encoder Schematic (Auxiliary Encoder Connector) 66
Figure 3-7: Sine Wave Encoder Phasing Reference Diagram 67
Figure 3-8: Sine Wave Encoder Schematic (Aux Connector) 68
Figure 3-9: Analog Output Schematic [-EB1] 70
Figure 3-10: Analog Input Schematic [-EB1] 71
Figure 3-11: Digital Outputs Schematic [-EB1] 73
Figure 3-12: Digital Outputs Connected in Current Sourcing Mode [-EB1] 74
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Figure 3-13: Digital Outputs Connected in Current Sinking Mode [-EB1] 74
Figure 3-14: Digital Inputs Schematic [-EB1] 76
Figure 3-15: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 77
Figure 3-16: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 77
Figure 4-1: Din Rail Clip Dimensions 80
Figure 4-2: Two Axis Joystick Interface 81
Figure 4-3: Handwheel Interconnection to the Aux Connector 82
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List of Tables
Table 1-1: FeatureSummary 19
Table 1-2: Linear Amplifier Specifications 21
Table 1-3: Mounting Specifications 22
Table 1-4: Environmental Specifications 25
Table 1-5: Drive and Software Compatibility 26
Table 2-1: Control Supply Connector Pinout 27
Table 2-2: Control Supply Mating Connector Ratings 27
Table 2-3: Motor Supply Connector Pinout 28
Table 2-4: Motor Supply Mating Connector Ratings 28
Table 2-5: Motor Power Output Connector Pinout 29
Table 2-6: Motor Power Output Mating Connector Ratings 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 36
Table 2-12: Feedback Mating Connector Ratings 36
Table 2-13: Multiplier Options 37
Table 2-14: Primary Encoder Pins on the Feedback Connector 37
Table 2-15: Square Wave Encoder Specifications 38
Table 2-16: Sine Wave Encoder Specifications 40
Table 2-17: Hall-Effect Feedback Pins on the Feedback Connector 42
Table 2-18: Thermistor Input Pin on the Feedback Connector 43
Table 2-19: Encoder Fault Input Pin on the Feedback Connector 44
Table 2-20: End of Travel and Home Limit Pins on the Feedback Connector 45
Table 2-21: Brake Output Pins on the Feedback Connector 48
Table 2-22: Brake Control Specifications 48
Table 2-23: STO Connector Pinout 49
Table 2-24: STOMating ConnectorRatings 49
Table 2-25: STOElectrical Specifications 50
Table 2-26: STOStandards 51
Table 2-27: STOStandards Data 51
Table 2-28: STOSignal Delay 53
Table 2-29: Motor Function Relative to STOInput State 53
Table 2-30: STOTiming 54
Table 2-31: HyperWire Card Part Number 55
Table 2-32: HyperWire Cable Part Numbers 55
Table 2-33: Sync-Related Functions 56
Table 2-34: SyncPort Cables 56
Table 3-1: PSO Specifications [-EB1/-EB2] 62
Table 3-2: PSO Interface Connector Pinout [-EB1/-EB2] 62
Table 3-3: PSO Interface Mating Connector Ratings [-EB1/-EB2] 62
Table 3-4: Auxiliary Encoder Connector Pinout 64
Table 3-5: AUX Mating Connector Ratings 64
Table 3-6: Square Wave Encoder Specifications 65
Table 3-7: Sine Wave Encoder Specifications 67
Table 3-8: Analog I/O Connector Pinout [-EB1] 69
Table 3-9: Analog I/O Mating Connector Ratings [-EB1] 69
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Table 3-10: Analog Output Specifications [-EB1] 70
Table 3-11: Analog Output Pins on the Analog I/OConnector [-EB1] 70
Table 3-12: Differential Analog Input Specifications [-EB1] 71
Table 3-13: Analog Input Pins on the Analog I/OConnector [-EB1] 71
Table 3-14: Digital Output Specifications [-EB1] 72
Table 3-15: Digital Output Connector Pinout [-EB1] 72
Table 3-16: Digital Output Mating Connector Ratings [-EB1] 72
Table 3-17: Digital Input Specifications [-EB1] 75
Table 3-18: Digital Input Connector Pinout [-EB1] 75
Table 3-19: Digital Input Mating Connector Ratings [-EB1] 75
Table 4-1: Standard Interconnection Cables 79
Table 4-2: Mounting Parts 80
Table 5-1: LEDDescription 83
Table 5-2: Troubleshooting 83
Table 5-3: Preventative Maintenance 84
Table 5-4: Control Board Fuse Specifications 85
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EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product iXL2e/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/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 7/19/2022
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Agency Approvals
Aerotech tested its iXL2e/XL2e drives and found that they obey the standards that follow:
Approval: CUS NRTL
Approving Agency: TUV SUD America Inc.
Certificate #: U10 068995 0033 Rev. 00
Standards: CSA C22.2 No. 61010-1:2012/A1:2018-11,
UL 61010-1:2012/R2019-07
Certificate #: N8AUS 068995 0032 Rev. 01
Standards: CE Attestation of Conformity,
Low Voltage Directive 2014/35/EU,
EN 61010-1:2010/AMD1:2019
Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates.
Type the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech
certificates.
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