Aerotech XC2e User manual

Revision 1.00
XC2e
HARDWAREMANUAL

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Product names mentioned herein are used for identification purposes only and may be
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Copyright © 2019-2020, Aerotech, Inc., All rights reserved.

Table of Contents
XC2e 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
Quick Installation Guide 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 27
2.1.1. Control Supply Connector 27
2.1.2. Motor Supply Connector 28
2.1.3. Minimizing Noise for EMC/CECompliance 29
2.2. Motor Power Output Connector 30
2.2.1. Brushless Motor Connections 31
2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 32
2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 33
2.2.2. DCBrush Motor Connections 34
2.2.2.1. DC Brush Motor Phasing 35
2.2.3. Stepper Motor Connections 36
2.2.3.1. Stepper Motor Phasing 37
2.3. Feedback Connector 38
2.3.1. Primary Encoder Inputs 39
2.3.1.1. Square WaveEncoder 40
2.3.1.2. Absolute Encoder 41
2.3.1.3. Sine Wave Encoder [-MX2/-MX3 Option] 42
2.3.1.4. Encoder Phasing 44
2.3.2. Hall-Effect Inputs 45
2.3.3. Thermistor Input 46
2.3.4. Encoder Fault Input 47
2.3.5. End of Travel and Home Limit Inputs 48
2.3.5.1. End of Travel and Home Limit Phasing 50
2.3.6. Brake Outputs 51
2.4. Safe Torque Off Input (STO) 52
2.4.1. STOStandards 54
2.4.2. STO Functional Description 55
2.4.3. STO Startup Validation Testing 56
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2.4.4. STO Diagnostics 57
2.5. HyperWire Interface 58
2.6. System Interconnection 59
2.7. PC Configuration and Operation Information 60
Chapter 3: -EB1 I/O Option Board 61
3.1. Position Synchronized Output (PSO) Interface [-EB1] 62
3.2. Auxiliary Encoder Input [-EB1] 64
3.3. Analog I/O [-EB1] 66
3.3.1. Analog Input (Differential) [-EB1] 67
3.3.2. Analog Output 0 [-EB1] 68
3.4. Digital Inputs [-EB1] 69
3.5. Digital Outputs [-EB1] 71
Chapter 4: Cables and Accessories 75
4.1. DIN Rail Mounting 76
4.2. Joystick Interface 77
4.3. Handwheel Interface 78
Chapter 5: Maintenance 79
5.1. Preventative Maintenance 79
5.2. Fuse Specifications 80
Appendix A: Warranty and Field Service 81
Appendix B: Revision History 83
Index 85
Table of Contents XC2e Hardware Manual
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List of Figures
Figure 1-1: XC2e 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 27
Figure 2-2: Motor Supply Connections 28
Figure 2-3: Brushless Motor Configuration 31
Figure 2-4: Positive Motor Direction 32
Figure 2-5: Encoder and Hall Signal Diagnostics 32
Figure 2-6: Brushless Motor Phasing Oscilloscope Example 33
Figure 2-7: Brushless Motor Phasing Goal 33
Figure 2-8: DC Brush Motor Configuration 34
Figure 2-9: Positive Motor Direction 35
Figure 2-10: Stepper Motor Configuration 36
Figure 2-11: Positive Motor Direction 37
Figure 2-12: Square Wave Encoder Schematic (Feedback Connector) 40
Figure 2-13: Absolute Encoder Schematic (Feedback Connector) 41
Figure 2-14: Analog Encoder Phasing Reference Diagram 42
Figure 2-15: Analog Encoder Schematic (Feedback Connector) 43
Figure 2-16: Encoder Phasing Reference Diagram (Standard) 44
Figure 2-17: Position Feedback in the DiagnosticDisplay 44
Figure 2-18: Hall-Effect Inputs Schematic (Feedback Connector) 45
Figure 2-19: Thermistor Input Schematic (Feedback Connector) 46
Figure 2-20: Encoder Fault Input Schematic (Feedback Connector) 47
Figure 2-21: End of Travel and Home Limit Input Connections 49
Figure 2-22: End of Travel and Home Limit Input Schematic (Feedback Connector) 49
Figure 2-23: End of Travel and Home Limit Input Diagnostic Display 50
Figure 2-24: Brake Connected to the 25-Pin Feedback Connector (Typical) 51
Figure 2-25: Typical Configuration 53
Figure 2-26: STO Timing 57
Figure 2-27: System Interconnection Drawing (Best Practice) 59
Figure 3-1: XC2e with -EB1 I/O Option Board Connectors 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: Auxiliary Encoder Interface 65
Figure 3-6: Analog Input Schematic [-EB1] 67
Figure 3-7: Analog Output Schematic [-EB1] 68
Figure 3-8: Digital Inputs Schematic [-EB1] 69
Figure 3-9: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 70
Figure 3-10: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 70
Figure 3-11: Digital Outputs Schematic [-EB1] 72
Figure 3-12: Digital Outputs Connected in Current Sourcing Mode [-EB1] 73
Figure 3-13: Digital Outputs Connected in Current Sinking Mode [-EB1] 73
Figure 4-1: Din Rail Clip Dimensions 76
Figure 4-2: Two Axis Joystick Interface 77
Figure 4-3: Handwheel Interconnection to the Aux Connector 78
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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 2-1: Control Supply Connector Wiring Specifications 27
Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 27
Table 2-3: Motor Supply Connector Wiring Specifications 28
Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector 28
Table 2-5: Motor Power Output Connector Pinout 30
Table 2-6: Mating Connector Part Numbers for the Motor Power Output Connector 30
Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables 31
Table 2-8: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 34
Table 2-9: Wire Colors for Aerotech-Supplied Stepper Motor Cables 36
Table 2-10: Feedback Connector Pinout 38
Table 2-11: Mating Connector Part Numbers for the Feedback Connector 38
Table 2-12: Multiplier Options 39
Table 2-13: Primary Encoder Input Pins on the Feedback Connector 39
Table 2-14: Square Wave Encoder Specifications 40
Table 2-15: Analog Encoder Specifications 42
Table 2-16: Hall-Effect Feedback Pins on the Feedback Connector 45
Table 2-17: Thermistor Input Pin on the Feedback Connector 46
Table 2-18: Encoder Fault Input Pin on the Feedback Connector 47
Table 2-19: End of Travel and Home Limit Pins on the Feedback Connector 48
Table 2-20: Brake Output Pins on the Feedback Connector 51
Table 2-21: Brake Control Specifications 51
Table 2-22: STO Connector Pinout 52
Table 2-23: Mating Connector Part Numbers for the STOConnector 52
Table 2-24: STOElectrical Specifications 53
Table 2-25: STOStandards 54
Table 2-26: STOStandards Data 54
Table 2-27: STOSignal Delay 56
Table 2-28: Motor Function Relative to STOInput State 56
Table 2-29: STOTiming 57
Table 2-30: HyperWire Card Part Number 58
Table 2-31: HyperWire Cable Part Numbers 58
Table 3-1: PSO Specifications [-EB1] 62
Table 3-2: PSO Interface Connector Pinout [-EB1] 62
Table 3-3: Mating Connector Part Numbers for the PSO Interface Connector [-EB1] 62
Table 3-4: Auxiliary Encoder RS-422 Specifications 64
Table 3-5: Auxiliary Encoder Connector Pinout 64
Table 3-6: Mating Connector Part Numbers for the AUX Connector 64
Table 3-7: Analog I/O Connector Pinout [-EB1] 66
Table 3-8: Mating Connector Part Numbers for the Analog I/O Connector [-EB1] 66
Table 3-9: Differential Analog Input Specifications [-EB1] 67
Table 3-10: Analog Input Pins on the Analog I/OConnector [-EB1] 67
Table 3-11: Analog Output Specifications [-EB1] 68
Table 3-12: Analog Output Pins on the Analog I/OConnector [-EB1] 68
Table 3-13: Digital Input Specifications [-EB1] 69
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XC2e Hardware Manual List of Tables

Table 3-14: Digital Input Connector Pinout [-EB1] 69
Table 3-15: Mating Connector Part Numbers for the Digital Input Connector [-EB1] 69
Table 3-16: Digital Output Specifications [-EB1] 71
Table 3-17: Digital Output Connector Pinout [-EB1] 71
Table 3-18: Mating Connector Part Numbers for the Digital Output Connector [-EB1] 71
Table 4-1: Standard Interconnection Cables 75
Table 4-2: Mounting Parts 76
Table 5-1: Preventative Maintenance 79
Table 5-2: Control Board Fuse Specifications 80
List of Tables XC2e Hardware Manual
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EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product XC2e
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 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 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 5/21/2020
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