Aerotech Epaq MR User manual

AEROTECH.COM
ON
OFF
Epaq MR
TM
FEEDBACK COMMUNICATIONS
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
EXT DRIVE RS232
AUX ENCODER JOYSTICK
ESTOPMOTOR
DIGITAL / ANALOG IO
P/N:EDU209
Revision: 1.07.00a
Epaq MR Hardware Manual

Global Technical Support
Go to www.aerotech.com/global-technical-support for information and support about your Aerotech products. The website
provides downloadable resources (such as up-to-date software, product manuals, and Help files), training schedules, and
PC-to-PC remote technical support. You can also complete Product Return (RMA) forms and get information about repairs
and spare or replacement parts. For immediate help, contact a service office or your sales representative. Have your
customer order number available before you call or include it in your email.
United States (World Headquarters)
Phone: [phone]
Fax: [phone]
Email: [e-mail]
101 Zeta Drive
Pittsburgh, PA 15238-2811
www.aerotech.com
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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.
Copyright © 2009-2023, Aerotech, Inc., All rights reserved.

Table of Contents Epaq MR Hardware Manual
Table of Contents
Epaq MR Hardware Manual 1
Table of Contents 3
List of Figures 5
List of Tables 6
EU Declaration of Conformity 7
Agency Approvals 8
Safety Procedures and Warnings 9
Quick Installation Guide 11
Chapter 1: Introduction 13
1.1. Electrical Specifications 16
1.1.1. System Power Requirements 19
1.2. Mechanical Specifications 20
1.3. Environmental Specifications 22
1.4. Drive and Software Compatibility 23
Chapter 2: Installation and Configuration 25
2.1. Unpacking the Chassis 25
2.2. Electrical Installation 26
2.2.1. ACPower Connections 27
2.2.2. Minimizing Conducted, Radiated, and System Noise 28
2.2.3. I/O and Signal Wiring Requirements 29
2.2.4. Voltage Selection 30
2.3. Motor Output Connections 31
2.3.1. Brushless Motor Connections 32
2.3.1.1. Powered Motor Phasing 33
2.3.1.2. Unpowered Motor and Feedback Phasing 34
2.3.2. DC Brush Motor Connections 35
2.3.2.1. DC Brush Motor Phasing 35
2.3.3. Stepper Motor Connections 36
2.3.3.1. Stepper Motor Phasing 36
2.4. Motor Feedback Connections 37
2.4.1. Encoder Inputs 38
2.4.1.1. RS-422 Line Driver Encoder (Standard) 39
2.4.1.2. Analog Encoder Interface 40
2.4.1.3. Encoder Phasing 42
2.4.2. Hall-Effect Inputs 44
2.4.3. Thermistor Input 45
2.4.4. Encoder Fault Input 46
2.4.5. End Of Travel Limit Inputs 47
2.4.5.1. End Of Travel Limit Phasing 48
2.4.6. Brake Output 49
2.4.7. Differential Analog Input 0 50
2.5. Digital / Analog IO Connections 51
2.5.1. Analog Input 1 52
2.5.2. Analog Output 1 53
2.5.3. Opto-Isolated Outputs 54
2.5.4. Opto-Isolated Inputs 56
2.6. Aux Encoder 58
2.6.1. Position Synchronized Output (PSO)/Laser Firing 60
2.7. Communications Connector 62
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Epaq MR Hardware Manual Table of Contents
2.8. Ext Drive Connector 63
2.9. RS-232 Interface 64
2.10. PC Configuration and Operation Information 65
Chapter 3: Options 67
3.1. Emergency Stop (ESTOP1,2,3) 68
3.2. Joystick Interface 72
Chapter 4: Maintenance 75
4.1. Power Board Assembly 76
4.2. Preventative Maintenance 77
Appendix A: Warranty and Field Service 79
Appendix B: Revision History 81
Index 83
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Table of Contents Epaq MR Hardware Manual
List of Figures
Figure 1-1: Chassis Layout 13
Figure 1-2: Functional Diagram 15
Figure 1-3: Dimensions (4 Axis Version) 20
Figure 1-4: Dimensions (8 Axis Version) 21
Figure 2-1: Power and Control Connections 26
Figure 2-2: Power Switch 26
Figure 2-3: ACLine Filter (UFM-ST) 28
Figure 2-4: Voltage Selection Switch Access 30
Figure 2-5: Motor Output Connections 31
Figure 2-6: Brushless Motor Configuration 32
Figure 2-7: Encoder and Hall Signal Diagnostics 33
Figure 2-8: Motor Phasing Oscilloscope Example 34
Figure 2-9: Brushless Motor Phasing Goal 34
Figure 2-10: DC Brush Motor Configuration 35
Figure 2-11: Clockwise Motor Rotation 35
Figure 2-12: Stepper Motor Configuration 36
Figure 2-13: Clockwise Motor Rotation 36
Figure 2-14: Line Driver Encoder Interface 39
Figure 2-15: Analog Encoder Phasing Reference Diagram 40
Figure 2-16: Analog Encoder Signals 41
Figure 2-17: Encoder Phasing Reference Diagram (Standard) 42
Figure 2-18: Position Feedback in the DiagnosticDisplay 43
Figure 2-19: Hall-Effect Inputs 44
Figure 2-20: Thermistor Input 45
Figure 2-21: Encoder Fault Interface Input 46
Figure 2-22: End of Travel Limit Inputs 47
Figure 2-23: Limit Input Diagnostic Display 48
Figure 2-24: Analog Input 0 50
Figure 2-25: Analog Input 1 52
Figure 2-26: Analog Output 1 53
Figure 2-27: Outputs Connected in Current Sourcing Mode 55
Figure 2-28: Outputs Connected in Current Sinking Mode 55
Figure 2-29: Inputs Connected to a CurrentSourcing Device 57
Figure 2-30: Inputs Connected to a Current Sinking Device 57
Figure 2-31: Auxiliary Encoder Channel 59
Figure 2-32: PSO Interface 61
Figure 2-33: Ethernet Interface 62
Figure 2-34: Ethernet Connection 62
Figure 2-35: Aeronet Interface 63
Figure 2-36: RS-232 Interface 64
Figure 3-1: ESTOP Option Interface 68
Figure 3-2: ESTOP1 69
Figure 3-3: ESTOP2 70
Figure 3-4: ESTOP3 71
Figure 3-5: Joystick Interface 72
Figure 3-6: Joystick Interface 73
Figure 4-1: Power Board 76
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Epaq MR Hardware Manual Table of Contents
List of Tables
Table 1-1: FeatureSummary 14
Table 1-2: Chassis Electrical Specifications 16
Table 1-3: Servo Amplifier Electrical Specifications (MP) 17
Table 1-4: Linear Amplifier Electrical Specifications (ML) 18
Table 1-5: Unit Weight 21
Table 1-6: Drive and Software Compatibility 23
Table 2-1: Main ACPower Input Voltages and Current Requirements 27
Table 2-2: ACPower Wiring Specifications 27
Table 2-3: UFM-STElectrical Specifications 28
Table 2-4: I/Oand Signal Power Wiring Specifications 29
Table 2-5: AC Voltage Selector Switch Settings for 115 VAC or 230 VACOption 30
Table 2-6: AC Voltage Selector Switch Settings for 100 VAC or 200 VACOption 30
Table 2-7: Motor Power Output Connector Pin Assignment 31
Table 2-8: Motor Power Output Mating Connector 31
Table 2-9: Motor Feedback Connector Pin Assignment 37
Table 2-10: Encoder Pin Assignment 38
Table 2-11: Encoder Specifications 39
Table 2-12: Analog Encoder Specifications 40
Table 2-13: Hall-Effect Feedback Pin Assignment 44
Table 2-14: Thermistor Interface Pin Assignment 45
Table 2-15: Encoder Fault Pin Assignment 46
Table 2-16: End of Travel Limit Inputs Pin Assignment 47
Table 2-17: Brake Output Pin Assignment 49
Table 2-18: Relay Specifications 49
Table 2-19: Differential Analog Input 0 Specifications 50
Table 2-20: Differential Analog Input 0 Pin Assignment 50
Table 2-21: Digital / Analog IOConnector Pin Assignment 51
Table 2-22: Analog Input 1 Specifications 52
Table 2-23: Analog Inputs Connector Pin Assignment 52
Table 2-24: Analog Output Specifications (TB102B) 53
Table 2-25: Analog Output Connector Pin Assignment 53
Table 2-26: Opto-Isolated Output Connector Pin Assignment 54
Table 2-27: Output Specifications 54
Table 2-28: Digital Input Specifications 56
Table 2-29: Opto-Isolated Input Connector Pin Assignment 56
Table 2-30: Aux Encoder Specifications 58
Table 2-31: Auxiliary Encoder Channel Pin Assignment 58
Table 2-32: PSO Specifications 60
Table 2-33: Ethernet Cable Listing 62
Table 2-34: Aeronet Cable 63
Table 2-35: RS-232 Connector Pin Assignment 64
Table 3-1: Options and Capabilities 67
Table 3-2: ESTOPOption Mating Connector 68
Table 3-3: ESTOPSafety Ratings 68
Table 3-4: Relay Specifications 69
Table 3-5: Joystick Interface Connector Pin Assignment 72
Table 4-1: Component Select 76
Table 4-2: Preventative Maintenance 77
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Declaration of Conformity Epaq MR Hardware Manual
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product Epaq MR
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
2014/35/EU Low Voltage Directive LVD
2006/42/EC Safety of Machinery
2011/65/EU RoHS2 Directive
and has been designed to be in conformity with the applicable requirements of the following documents when
installed and used in accordance with the manufacturer’s supplied installation instructions.
EN 61010-1:2010 Safety requirements for electrical equipment
ISO 13849-1 &-2 Safety of Machinery - General Principals of Design
Name
/ Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
www.aerotech.com 7

Epaq MR Hardware Manual Declaration of Conformity
Agency Approvals
Aerotech, Inc. Model Epaq MR Drive Racks have been tested and found to be in accordance to the following
listed Agency Approvals:
Approval / Certification: CUS NRTL
Approving Agency: TUV SUD America Inc.
Certificate #: U8 13 10 68995 012
Standards: UL 61010-1:2004; CAN/CSA-C22.2 No. 61010-1:2004; EN 61010-
1:2010
8 www.aerotech.com

Electrical Safety Epaq MR Hardware Manual
Safety Procedures and Warnings
The following statements apply wherever the Warning or Danger symbol appears within this manual. Failure
to observe these precautions could result in serious injury to those individuals performing the procedures
and/or damage to the equipment.
D A N G E R : This product contains potentially lethal voltages. To reduce the possibility of
electrical shock, bodily injury, or death the following precautions must be followed.
1. Ensure that all electrical power switches are in the off position when servicing the
equipment.
2. Disconnect electrical power before servicing equipment.
3. Disconnect electrical power before performing any wiring.
4. Access to the Epaq MR and component parts must be restricted while connected to a
power source.
5. Residual voltages greater than 60V may be present inside Epaq MR chassis for longer than
10 seconds after power has been disconnected.
6. To minimize the possibility of electrical shock and bodily injury, extreme care must be
exercised when any electrical circuits are in use. Suitable precautions and protection must
be provided to warn and prevent persons from making contact with live circuits.
7. Install the Epaq MR inside a rack or enclosure.
8. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
9. All components must be properly grounded in accordance with local electrical safety
requirements.
10. Operator safeguarding requirements must be addressed during final integration of the
product.
W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the
following precautions must be followed.
1. Use of this equipment in ways other than described by this manual can cause personal
injury or equipment damage.
2. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts
must be restricted while connected to a power source.
3. Cables can pose a tripping hazard. Securely mount and position all system cables to
avoid potential hazards.
4. Do not expose this product to environments or conditions outside of the listed
specifications. Exceeding environmental or operating specifications can cause damage to
the equipment.
5. If the product is used in a manner not specified by the manufacturer, the protection
provided by the product can be impaired and result in damage, shock, injury, or death.
6. Operators must be trained before operating this equipment.
7. All service and maintenance must be performed by qualified personnel.
8. This product is intended for light industrial manufacturing or laboratory use. Use of this
product for unintended applications can result in injury and damage to the equipment.
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Epaq MR Hardware Manual Electrical Safety
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Quick Installation Guide Epaq MR Hardware Manual
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the Epaq
MR. If a custom interconnection drawing was created for your system (look for a line item on your Sales
Order under the heading “Integration”), that drawing can be found on your installation device.
There are four standard connections that must be made to the Epaq MR.
FEEDBACK COMMUNICATIONS
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
EXT DRIVE RS232
AUX ENCODER JOYSTICK
ESTOPMOTOR DIGITAL / ANALOG IO
FEEDBACK
1
2 3 4
1 2 3 4
1 2 3 4
1 2 3 4
EXT DRIVE RS232
AUX ENCODER JOYSTICK
ESTOPMOTOR
DIGITAL / ANALOG IO
COMMUNICATIONS
PC Connection
Motor Feedback
4
2
Motor Power
3
PC Connection
Motor Feedback
4
2
Motor Power
3
Connect the power source to the AC Power input
8 Axis Model
4 Axis Model
1
Connect the Motors to the Motor Power inputs
4Connect the Motors to the Motor Feedback inputs
2Connect the PC
3
AC Power
1
AC Power
1
Figure 1: Quick Start Connections
Quick Start Summary
Topic Section
ACPower Section 2.2.1. ACPower Connections
PCCommunication Section 2.7. Communications Connector
Motor Power Section 2.3. Motor Output Connections
Motor Feedback Section 2.4. Motor Feedback Connections
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Epaq MR Hardware Manual Quick Installation Guide
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Introduction Epaq MR Hardware Manual
Chapter 1: Introduction
Aerotech’s Epaq MR is a 3U height, 19” wide, rack-mountable, intelligent drive chassis, that consists of up
to eight ultra-compact PWM and Linear network digital drives providing up to eight axes of motion. Each
drive provides deterministic behavior, auto-identification, and easy software setup. High performance double
precision floating point DSP controls the digital PID and current loops. All system configuration is done using
software-settable parameters, including control loop gains and system safety functions.
Communicate with the PCwith a standard commercial Ethernet network connection. I/O options are
configurable per axis and include a 16 channel digital I/O interface (8 inputs and 8 outputs), one analog input,
one analog output, and a single axis Position Synchronized Output (PSO) signal. Other features and options
available with the MR drive chassis include: an external joystick connection port, integral encoder resolution
multiplication, and integral emergency stop components.
N O T E : The Epaq MR can contain a mix of multiple discrete ML and MP drives. When using the
Ensemble software, the drives inside the Epaq MR will appear as if they were individual drives on the net-
work. Motion and I/O commands on axes within the Epaq MR are programmed in the same manner as
would be done for discrete units.
AEROTECH.COM
ON
OFF
Epaq MR
TM
FEEDBACK COMMUNICATIONS
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
EXT DRIVE RS232
AUX ENCODER JOYSTICK
ESTOPMOTOR
DIGITAL / ANALOG IO
Power Switch / Circuit Breaker
Motor OutputAC Power Input Digital / Analog IO
Motor Feedback Auxiliary Encoder
ESTOP
JoystickEthernet
Aeronet RS232
Figure 1-1: Chassis Layout
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Epaq MR Hardware Manual Introduction
Table 1-1: FeatureSummary
Standard Features
lLine driver square wave quadrature encoder input for standard position and velocity feedback
lOne 16-bit differential analog input (±10 V)
lDedicated 5-24 V Emergency Stop sense input
lDedicated Hall inputs (3 per axis)
lDedicated over travel and home input limits
lCalibration (refer to the EnsembleHelp file for more information)
lCamming (refer to the EnsembleHelp file for more information)
l10/100 BASE-T Ethernet port for use with Ethernet I/O modules
Options
-IO lOne 16-bit analog output (±10 V)
lOne 12- or 16-bit differential analog input (±10 V)
lOne fail-safe brake or user relay output
l8 optically isolated logic inputs (5 - 24 VDC), may be connected in
current sourcing or sinking mode
l8 optically isolated logic outputs (5 - 24 VDC), user defined as current
sourcing or sinking
lAuxiliary encoder input channel
lRS-422 differential PSOsignal
-MXU (option on the MP) x4,096 encoder interpolation for sine/cosine encoders
-MXU (option on the ML) x4,096 encoder interpolation for sine/cosine encoders
-MXH (option on the ML) x65,536 encoder interpolation for sine/cosine encoders
14 Chapter 1 www.aerotech.com

Introduction Epaq MR Hardware Manual
The following block diagram illustrates the features and options of the Epaq MR.
Analog Input 1 +/-
Analog Output 1
8 Opto Outputs
(Sinking or Sourcing)
8 Opto Inputs
(Sinking or Sourcing)
DIGITAL /
ANALOG IO
(up to x8,
optional)
Encoder +5V / Common
Analog Input 0 +/-
Brake +/-
SIN, COS, MRK
-MXU or -MXH
Option(1)
MOTOR
FEEDBACK
(up to x8)
CW, CCW, Home Limits;
Encoder Fault; Hall A, B, C;
Motor Over Temperature
MOTOR
OUTPUT
(up to x8)
Amplifier
Control
Power
Motor
Power
ESTOP
AC Power
Input
Amplifier
Heatsink Over
Temperature A
B
C
Switch
ESTOP
(optional)
SIN, COS, MRK
Encoder +5V / Common
PSO Output, Encoder Echo
AUX
ENCODER
(up to x8,
optional)
Control
Power
Supply
Analog Input +/- (x2)
Digital Input (x3)
JOYSTICK
(optional)
(1) -MXH or -MXU on ML drives; -MXU on MP drives
Aeronet Output
EXT DRIVE
Ethernet Port
COMMUNICATIONS
RS232
+5V / Common
RS232
Figure 1-2: Functional Diagram
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Epaq MR Hardware Manual Introduction
1.1. Electrical Specifications
The electrical specifications for the Epaq MR drive chassis are listed in Table 1-2 and the electrical
specifications for the servo amplifiers in Table 1-3 and Table 1-4.
N O T E : Specifications represent the maximum capability of a feature. Other system constraints may res-
ult in significantly less performance. This is particularly applicable to the motor output specifications. The
motor output specifications are affected by the Bus supply, the number of axes that are operating at the
same time, the type of motion, the AC Line voltage, and motor requirements.
Table 1-2: Chassis Electrical Specifications
Description Specifications
Bus Voltage Options
4-Axis 8-Axis
Unipolar Bipolar Unipolar Bipolar
40 LP@ 300W 10B @ 400W 40LP @ 500W 10B @ 400W
80 LP @ 300W 20B @ 500W 40LP @ 500W 20B @ 500W
40 @ 600W 30B @ 500W 40LP @1000W 30B @ 500W
80 @ 600W 40B @ 600W 40LP @1000W 40B @ 1000W
Input
Current
100 VAC 10 A Maximum
115 VAC 10 A Maximum
200 VAC 6 A Maximum
230VAC 5 A Maximum
Inrush Current 100 A @ 254 VAC
Leakage Current <1/5 mA @ 60 Hz / 254 VAC
AC Power Input
AC input (factory configured): AC Hi, AC Lo, Earth Ground ( ),
l100 VAC (90-112 VAC, 49-63 Hz)
l115 VAC (103-127 VAC, 49-63 Hz)
l200 VAC (180-224 VAC, 49-63 Hz)
l230 VAC (207-254 VAC, 49-63 Hz)
Auxiliary Power Outputs +5 V is provided on all axis feedback connectors for encoder, Hall, and limit
power.
Protection
lPower switch breaker (10 Amps, Supplemental Protection only).
lFuses on motor bus supply transformer.
lBus supply inrush current limit during power-on.
Indicator (Power) Power switch contains a power-on indicator.
16 Chapter 1 www.aerotech.com

Introduction Epaq MR Hardware Manual
Aerotech doesn't specify the input current or power to the drives because it is dependent on the amount of
real power being delivered to the drive(refer to Section 1.1.1.).
Table 1-3: Servo Amplifier Electrical Specifications (MP)
MP 10
Motor Supply
Input Voltage 10-80 VDC
Input Current
(Continuous) 5 Arms
Control Supply Input Voltage 24-80 VDC (±10%)
Input Current 1 Amax
Output Voltage (1) 10-80 VDC
Peak Output Current (1 second) 10 A
Continuous Output Current 5 A
Power Amplifier Bandwidth 2500 Hz maximum (software selectable)
Power Amplifier Efficiency 85% - 95%(2)
PWM Switching Frequency 20 kHz
Minimum Load Inductance 0.1 mH @ 80 VDC
User Power Supply Output 5 VDC (@ 500 milliamps)
Modes of Operation Brushless; Brush; Stepper
Protective Features
Output short circuit; Peak over current, DCbus over
voltages; RMSover current; Over temperature; Control
power supply under voltage; Power stage bias supply under
voltage
Isolation Optical and transformer isolation between control and power
stages.
1. AC input voltage and load dependent.
2. Dependent on total output power: efficiency increases with increasing output power.
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Epaq MR Hardware Manual Introduction
Table 1-4: Linear Amplifier Electrical Specifications (ML)
Description ML 10
Motor Supply
Input Voltage ±40 VDC (max)
Input Current
(continuous) 5 A
Input Current (peak) 10 A
Control Supply Input Voltage 24 VDC typical(18-36 VDC)
Input Current 700 mA (max)
Output Voltage (1) ±38V @ 10 A
Peak Output Current (2) 10
Continuous Output Current (2) 5
Power Amplifier Bandwidth 2500 Hz maximum (software selectable)
Minimum Load Resistance 0.5 Ω
Output Impedance 0.2 Ω (each phase)
User Power Supply Output 5 VDC (@ 500 mA)
Modes of Operation Brushless; Brush; Stepper
Protective Features Peak current limit; Over temperature; RMScurrent limit;
Dynamic power dissipation limit
Isolation Isolation between control and power stages.
1. Load Dependent
2. Peak and continuous output current is load dependent (the amplifier will limit its output current based on motor speed and motor
resistance).
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Introduction Epaq MR Hardware Manual
1.1.1. System Power Requirements
The following equations can be used to determine total system power requirements. The actual power
required from the mains supply will be the combination of actual motor power (work), motor resistance
losses, and efficiency losses in the power electronics or power transformer.
For switching amplifier types:
An EfficiencyFactor of approximately 90% should be used in the following equations.
Brushless Motor
Output Power
Rotary Motors Pout [W] = Torque [N·m] * Angular velocity[rad/sec]
Linear Motors Pout [W] = Force [N] * Linear velocity[m/sec]
Rotary or Linear Motors Pout [W] = Bemf [V] * I(rms) * 3
Ploss = 3 * I(rms)^2 * R(line-line)/2
Pin = SUM (Pout + Ploss ) / EfficiencyFactor
DC Brush Motor
Pout [W] = Torque [N·m] * Angular velocity[rad/sec]
Ploss = I(rms)^2 * R
Pin = SUM (Pout + Ploss ) / EfficiencyFactor
For linear amplifier types:
An EfficiencyFactor of approximately 50% should be used in the following equations.
Linear Motor
Pdiss[W] = MotorCurrentPeak[A] * TotalBusVoltage[V] * 3 / 2
Pin = SUM (Pdiss ) / EfficiencyFactor
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Epaq MR Hardware Manual Introduction
1.2. Mechanical Specifications
The Epaq MR must be installed in a rack mount console to comply with safety standards. Mount the Epaq
MR so free airflow is available at the rear of the chassis. Allowance must also be made for the rear panel
connections and cables.
W A R N I N G : Use both handles to lift and carry the Epaq MR.
AEROTECH.COM
ON
OFF
Epaq MR
TM
FEEDBACK
1
2 3 4
1 2 3 4
1 2 3 4
1 2 3 4
EXT DRIVE RS232
AUX ENCODER JOYSTICK
ESTOPMOTOR DIGITAL / ANALOG IO
COMMUNICATIONS
424.9 [16.93]
333.7 [13.14]41.7 [1.64]
566.1 [22.29]
132.5 [5.22]
57.2 [2.25] 37.7 [1.48]
7.1 [0.28]
(4 pls)
482.6 [19.00]
8.3 [0.33] (TYP.) 465.9 [18.34]
444.5 [17.50]
Drawing Number: 620E1408-
Dimensions: MM [IN]
Figure 1-3: Dimensions (4 Axis Version)
20 Chapter 1 www.aerotech.com