Aerotech Automation1 XC2 User manual

Revision 2.01
Automation1 XC2 PWMDigital Drive
HARDWAREMANUAL

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Copyright © 2019-2021, Aerotech, Inc., All rights reserved.

Table of Contents
Automation1 XC2 PWMDigital Drive 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 20
1.1.1. System Power Requirements 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 28
2.1.1. Control Supply Connector 28
2.1.2. Motor Supply Connector 29
2.1.3. Minimizing Noise for EMC/CECompliance 30
2.2. Motor Power Output Connector 31
2.2.1. Brushless Motor Connections 32
2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 33
2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 34
2.2.2. DCBrush Motor Connections 35
2.2.2.1. DC Brush Motor Phasing 36
2.2.3. Stepper Motor Connections 37
2.2.3.1. Stepper Motor Phasing 38
2.3. Feedback Connector 39
2.3.1. Primary Encoder Inputs 40
2.3.1.1. Square WaveEncoder 41
2.3.1.2. Absolute Encoder 42
2.3.1.3. Sine Wave Encoder [-MX1 Option] 43
2.3.1.4. Encoder Phasing 45
2.3.2. Hall-Effect Inputs 46
2.3.3. Thermistor Input 47
2.3.4. Encoder Fault Input 48
2.3.5. End of Travel and Home Limit Inputs 49
2.3.5.1. End of Travel and Home Limit Phasing 51
2.3.6. Brake Outputs 52
2.4. Safe Torque Off Input (STO) 53
2.4.1. STOStandards 55
2.4.2. STO Functional Description 56
2.4.3. STO Startup Validation Testing 57
2.4.4. STO Diagnostics 58
2.5. HyperWire Interface 59
2.6. System Interconnection 60
2.7. PC Configuration and Operation Information 62
Chapter 3: -EB1 I/O Option Board 63
3.1. Position Synchronized Output Interface [-EB1] 64
3.2. Auxiliary Encoder Input [-EB1] 66
3.2.1. Square WaveEncoder 67
3.3. Analog I/O [-EB1] 68
3.3.1. Analog Input (Differential) [-EB1] 69
3.3.2. Analog Output 0 [-EB1] 70
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3.4. Digital Inputs [-EB1] 71
3.5. Digital Outputs [-EB1] 73
Chapter 4: Cables and Accessories 77
4.1. DIN Rail Mounting 78
4.2. Joystick Interface 79
4.3. Handwheel Interface 80
4.4. Dual-PSO Adapter Cable 81
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: XC2 High Performance PWMAmplifier 17
Figure 1-2: Functional Diagram 19
Figure 1-3: Dimensions 23
Figure 1-4: Dimensions [-EB1] 24
Figure 2-1: Control Supply Connections 28
Figure 2-2: Motor Supply Connections 29
Figure 2-3: Brushless Motor Configuration 32
Figure 2-4: Positive Motor Direction 33
Figure 2-5: Encoder and Hall Signal Diagnostics 33
Figure 2-6: Brushless Motor Phasing Oscilloscope Example 34
Figure 2-7: Brushless Motor Phasing Goal 34
Figure 2-8: DC Brush Motor Configuration 35
Figure 2-9: Positive Motor Direction 36
Figure 2-10: Stepper Motor Configuration 37
Figure 2-11: Positive Motor Direction 38
Figure 2-12: Square Wave Encoder Schematic (Feedback Connector) 41
Figure 2-13: Absolute Encoder Schematic (Feedback Connector) 42
Figure 2-14: Sine Wave Encoder Phasing Reference Diagram 43
Figure 2-15: Sine Wave Encoder Schematic (Feedback Connector) 44
Figure 2-16: Encoder Phasing Reference Diagram (Standard) 45
Figure 2-17: Position Feedback in the DiagnosticDisplay 45
Figure 2-18: Hall-Effect Inputs Schematic (Feedback Connector) 46
Figure 2-19: Thermistor Input Schematic (Feedback Connector) 47
Figure 2-20: Encoder Fault Input Schematic (Feedback Connector) 48
Figure 2-21: End of Travel and Home Limit Input Connections 50
Figure 2-22: End of Travel and Home Limit Input Schematic (Feedback Connector) 50
Figure 2-23: End of Travel and Home Limit Input Diagnostic Display 51
Figure 2-24: Brake Connected to the 25-Pin Feedback Connector (Typical) 52
Figure 2-25: Typical Configuration 54
Figure 2-26: STO Timing 58
Figure 2-27: System Wiring Drawing (Best Practice) 60
Figure 2-28: System Interconnection Drawing (Best Practice) 61
Figure 3-1: XC2 with -EB1 I/O Option Board Connectors 63
Figure 3-2: PSO Output Sources Current 65
Figure 3-3: PSOOutput Sinks Current 65
Figure 3-4: PSO TTLOutputs Schematic 65
Figure 3-5: Square Wave Encoder Interface (Aux Connector) 67
Figure 3-6: Analog Input Schematic [-EB1] 69
Figure 3-7: Analog Output Schematic [-EB1] 70
Figure 3-8: Digital Inputs Schematic [-EB1] 71
Figure 3-9: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 72
Figure 3-10: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 72
Figure 3-11: Digital Outputs Schematic [-EB1] 74
Figure 3-12: Digital Outputs Connected in Current Sourcing Mode [-EB1] 75
Figure 3-13: Digital Outputs Connected in Current Sinking Mode [-EB1] 75
Figure 4-1: Din Rail Clip Dimensions 78
Figure 4-2: Two Axis Joystick Interface 79
Figure 4-3: Handwheel Interconnection to the Aux Connector 80
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Figure 4-4: Dual-Axis PSOCable Connection 81
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List of Tables
Table 1-1: FeatureSummary 18
Table 1-2: Electrical Specifications 20
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 Wiring Specifications 28
Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 28
Table 2-3: Motor Supply Connector Wiring Specifications 29
Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector 29
Table 2-5: Motor Power Output Connector Pinout 31
Table 2-6: Mating Connector Part Numbers for the Motor Power Output Connector 31
Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables 32
Table 2-8: Hall Signal Diagnostics 33
Table 2-9: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 35
Table 2-10: Wire Colors for Aerotech-Supplied Stepper Motor Cables 37
Table 2-11: Feedback Connector Pinout 39
Table 2-12: Mating Connector Part Numbers for the Feedback Connector 39
Table 2-13: Multiplier Options 40
Table 2-14: Primary Encoder Input Pins on the Feedback Connector 40
Table 2-15: Square Wave Encoder Specifications 41
Table 2-16: Sine Wave Encoder Specifications 43
Table 2-17: Hall-Effect Feedback Pins on the Feedback Connector 46
Table 2-18: Thermistor Input Pin on the Feedback Connector 47
Table 2-19: Encoder Fault Input Pin on the Feedback Connector 48
Table 2-20: End of Travel and Home Limit Pins on the Feedback Connector 49
Table 2-21: Brake Output Pins on the Feedback Connector 52
Table 2-22: Brake Control Specifications 52
Table 2-23: STO Connector Pinout 53
Table 2-24: Mating Connector Part Numbers for the STOConnector 53
Table 2-25: STOElectrical Specifications 54
Table 2-26: STOStandards 55
Table 2-27: STOStandards Data 55
Table 2-28: STOSignal Delay 57
Table 2-29: Motor Function Relative to STOInput State 57
Table 2-30: STOTiming 58
Table 2-31: HyperWire Card Part Number 59
Table 2-32: HyperWire Cable Part Numbers 59
Table 3-1: PSO Specifications [-EB1] 64
Table 3-2: PSO Interface Connector Pinout [-EB1] 64
Table 3-3: Mating Connector Part Numbers for the PSO Interface Connector [-EB1] 64
Table 3-4: Auxiliary Encoder Connector Pinout 66
Table 3-5: Mating Connector Part Numbers for the AUX Connector 66
Table 3-6: Square Wave Encoder Specifications 67
Table 3-7: Analog I/O Connector Pinout [-EB1] 68
Table 3-8: Mating Connector Part Numbers for the Analog I/O Connector [-EB1] 68
Table 3-9: Differential Analog Input Specifications [-EB1] 69
Table 3-10: Analog Input Pins on the Analog I/OConnector [-EB1] 69
Table 3-11: Analog Output Specifications [-EB1] 70
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Table 3-12: Analog Output Pins on the Analog I/OConnector [-EB1] 70
Table 3-13: Digital Input Specifications [-EB1] 71
Table 3-14: Digital Input Connector Pinout [-EB1] 71
Table 3-15: Mating Connector Part Numbers for the Digital Input Connector [-EB1] 71
Table 3-16: Digital Output Specifications [-EB1] 73
Table 3-17: Digital Output Connector Pinout [-EB1] 73
Table 3-18: Mating Connector Part Numbers for the Digital Output Connector [-EB1] 73
Table 4-1: Standard Interconnection Cables 77
Table 4-2: Mounting Parts 78
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
List of Tables XC2 Hardware Manual
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EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product XC2
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
EU 2015/863 Directive, Restricted Substances (RoHS 3)
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/A1:2019 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
UK
Name / Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date 3/25/2021
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