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Aerotech Automation1 XC6e Series, Hardware Manual

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Aerotech Automation1 XC6e Series Hardware Manual Download Page 12

DANGER

: The shunt resistor dissipates a high quantity of power. To prevent the danger of

electric shock or fire, you must obey the precautions that follow:

l

Correctly size, mount, and protect the external shunt resistor.

l

Protect the wiring to the internal shunt resistor terminals.

l

Do not touch the shunt resistor terminals. There are lethal voltages on the ter-
minals.

l

Do not touch the surface of the drive or the external shunt resistor. The tem-
perature can exceed 70°C.

l

Restrict access to the shunt resistor while it is connected to a power source.

WARNING

: To prevent damage to the equipment and decrease the risk of electrical shock

and injury, obey the precautions that follow.

1. Make sure that all system cables are correctly attached and positioned.
2. Do not use the cables or the connectors to lift or move this product.
3. Use this product only in environments and operating conditions that are approved

in this manual.

4. Only trained operators should operate this equipment.

Safety Procedures and Warnings

XC6e Hardware Manual

12

www.aerotech.com

Summary of Contents for Automation1 XC6e Series

Page 1: ...Revision 1 00 Automation1 XC6e High Powered PWM Digital Drive HARDWARE MANUAL...

Page 2: ...and spare or replacement parts To get help immediately contact a service office or your sales representative Include your customer order number in your email or have it available before you call This...

Page 3: ...Connector 35 2 3 1 Primary Encoder Inputs 36 2 3 1 1 Square Wave Encoder 37 2 3 1 2 Absolute Encoder 38 2 3 1 3 Sine Wave Encoder MX2 MX3 Option 39 2 3 1 4 Encoder Phasing 41 2 3 2 Hall Effect Inputs...

Page 4: ...nputs EB1 88 3 5 Position Synchronized Output Interface EB1 89 Chapter 4 Cables and Accessories 91 4 1 Joystick Interface 92 4 2 Handwheel Interface 94 Chapter 5 Maintenance 95 5 1 Preventative Mainte...

Page 5: ...2 20 Brake Connected to the 25 Pin Feedback Connector Typical 48 Figure 2 21 Typical Configuration 50 Figure 2 22 STO Timing 54 Figure 2 23 Square Wave Encoder Interface Aux I O Connector 57 Figure 2...

Page 6: ...TL Outputs Schematic 90 Figure 4 1 Two Axis Joystick Interface to the Aux I O of two drives 92 Figure 4 2 Two Axis Joystick Interface to the I O board 93 Figure 4 3 Handwheel Interconnection to Aux I...

Page 7: ...42 Table 2 17 Thermistor Input Pin on the Feedback Connector 43 Table 2 18 Encoder Fault Input Pin on the Feedback Connector 44 Table 2 19 End of Travel and Home Limit Pins on the Feedback Connector 4...

Page 8: ...tor Pinout EB1 81 Table 3 5 Mating Connector Part Numbers for the Digital Output 2 Connector EB1 81 Table 3 6 Digital Input Specifications EB1 84 Table 3 7 Digital Input 1 Connector Pinout EB1 84 Tabl...

Page 9: ...rmity 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...

Page 10: ...This page intentionally left blank EU Declaration of Conformity XC6e Hardware Manual 10 www aerotech com P E N D I N G...

Page 11: ...risk of electrical shock injury death and damage to the equipment obey the precautions that follow 1 Before you do maintenance to the equipment disconnect the electrical power 2 Restrict access to th...

Page 12: ...unt resistor The tem perature can exceed 70 C l Restrict access to the shunt resistor while it is connected to a power source WARNING To prevent damage to the equipment and decrease the risk of electr...

Page 13: ...r Section 2 2 Connect the motor to the amplifier Feedback connector Section 2 3 2 Connect a PC HyperWire port to the HyperWire In port Section 2 7 3 Connect additional I O as required by your applicat...

Page 14: ...This page intentionally left blank Installation Overview XC6e Hardware Manual 14 www aerotech com...

Page 15: ...in the XC6e The XC6e offers standard Safe Torque Off STO inputs and optional Position Synchronized Output PSO outputs The XC6e is offered with optional encoder interpolation features MX2 MX3 an auxili...

Page 16: ...oard EB1 I O expansion board l Three 16 bit analog outputs 10 V l Three 16 bit differential analog inputs 10 V l 16 digital logic inputs 5 24 VDC can be connected to current sourcing or sinking device...

Page 17: ...The block diagram that follows shows a summary of the connector signals Figure 1 2 Functional Diagram XC6e Hardware Manual Chapter 1 Introduction www aerotech com 17...

Page 18: ...put Current 2 50 A 30 A 20 kHz 50 A 10 kHz 25 A 25 A Power Amplifier Bandwidth 2500 Hz maximum software selectable PWM Switching Frequency 20 kHz or 10 kHz software selectable Minimum Load Inductance...

Page 19: ...ifier Bandwidth 2500 Hz maximum software selectable PWM Switching Frequency 20 kHz or 10 kHz software selectable Minimum Load Inductance 0 5 mH User Power Supply Output 5 VDC 500 mA Modes of Operation...

Page 20: ...oximately 90 in the following equations Brushless Motor Output Power Rotary Motors Power Output W Torque N m Angular velocity rad sec Linear Motors Power Output W Force N Linear velocity m sec Rotary...

Page 21: ...d connections Table 1 4 Mounting Specifications XC6e Customer Supplied Enclosure IP54 Compliant Weight 7 kg Mounting Hardware M4 8 screws four locations not included Mounting Orientation Vertical typi...

Page 22: ...1 2 2 Dimensions Figure 1 3 Dimensions 1 2 2 Dimensions XC6e Hardware Manual 22 www aerotech com...

Page 23: ...Figure 1 4 Dimensions EB1 XC6e Hardware Manual 1 2 2 Dimensions www aerotech com 23...

Page 24: ...emperatures that are less than 31 C and decreases linearly to 50 relative humidity at 40 C Operating Altitude 0 m to 2 000 m 0 ft to 6 562 ft above sea level If you must operate this product above 2 0...

Page 25: ...drive In the Last Software Version column drives that show a specific version number are not supported after that version Table 1 6 Drive and Software Compatibility Drive Type First Software Version...

Page 26: ...This page intentionally left blank 1 4 Drive and Software Compatibility XC6e Hardware Manual 26 www aerotech com...

Page 27: ...on the packing list are contained within the package The documentation for the XC6e is on the included installation device The documents include manuals interconnection drawings and other documentatio...

Page 28: ...add an external filter for CE compliance Install the external filter module as close as possible to the XC6e Use a Schaffner FN2010 6 06 Corcom 10VW1 or similar filter IMPORTANT Refer to local electr...

Page 29: ...operate the XC6e install a ground connection for your safety and to prevent damage to the equipment Figure 2 2 Motor Supply Connections Table 2 3 Motor Supply Connector Wiring Specifications Pin XC6e...

Page 30: ...ire length between the drive and filter to a minimum Use an AC line filter on the Control Supply such as Schaffner FN2010 6 06 or Corcom 10VW1 or similar Use an AC line filter on the Motor Supply such...

Page 31: ...ector is shown in Table 2 6 Table 2 6 Motor Power Output Connector Pinout Pin Description Recommended Wire Size Connector A Brushless Phase A Motor Lead 8 36 mm2 8 AWG B Brushless Phase B Motor Lead 8...

Page 32: ...effect devices for commutation is recommended The controller requires that the Back EMF of each motor phase be aligned with the corresponding Hall effect signal To ensure proper alignment motor Hall...

Page 33: ...ignals in the Diagnostics section of the Status Utility Table 2 9 Hall Signal Diagnostics Hall Signal Status Definition 0 V or logic low ON 5 V or logic high Figure 2 4 Positive Motor Direction Figure...

Page 34: ...tor Phasing Oscilloscope Example With the designations of the motor and Hall leads of a third party motor determined the motor can now be connected to an Aerotech system Connect motor lead A to motor...

Page 35: ...all Effect Sensor A brushless motors only Input 11 Hall Effect Sensor C brushless motors only Input 12 Clockwise End of Travel Limit Input 13 Brake Output Output 14 Encoder Cosine Input 15 Encoder Cos...

Page 36: ...Square Wave or Absolute encoders Square Wave or Absolute encoders MX3 Sine Wave high performance Square Wave or Absolute encoders Sine Wave standard performance Square Wave or Absolute encoders IMPORT...

Page 37: ...nal connection Use twisted pair wiring for the highest performance and noise immunity Table 2 14 Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 ns minimum e...

Page 38: ...ng for the highest performance and noise immunity You cannot echo an absolute encoder signal Refer to Figure 2 9 for the serial data stream interface Refer to the Help file for information on how to s...

Page 39: ...e signals can be output on the Auxiliary Encoder AUX connector SYNC port connector or used internally by the PSO Refer to the EncoderDivider and PrimaryEmulatedQuadratureDivider parameters and the enc...

Page 40: ...Figure 2 11 Sine Wave Encoder Schematic Feedback Connector 2 3 1 Primary Encoder Inputs XC6e Hardware Manual 40 www aerotech com...

Page 41: ...hile observing the position of the encoder in the diagnostics display see Figure 2 13 For dual loop systems the velocity feedback encoder is displayed in the diagnostic display Figure 2 13 Figure 2 12...

Page 42: ...vice phasing Table 2 16 Hall Effect Feedback Pins on the Feedback Connector Pin Description In Out Bi 3 5V Power 1 N A 5 Hall Effect Sensor B brushless motors only Input 10 Hall Effect Sensor A brushl...

Page 43: ...re causes the thermistor s resistance to increase the sensor will trigger an over temperature fault The thermistor is connected between Pin 2 and Signal Common The nominal trip value of the sensor is...

Page 44: ...ameter configurable and the controller should be configured to disable the axis when the fault level is active The nominal trip voltage of the encoder fault input is 2 5 V Table 2 18 Encoder Fault Inp...

Page 45: ...e diagnostics display refer to Figure 2 19 Table 2 19 End of Travel and Home Limit Pins on the Feedback Connector Pin Description In Out Bi 12 Clockwise End of Travel Limit Input 16 5V Power N A 20 Si...

Page 46: ...17 End of Travel and Home Limit Input Connections Figure 2 18 End of Travel and Home Limit Input Schematic Feedback Connector 2 3 5 End of Travel and Home Limit Inputs XC6e Hardware Manual 46 www aero...

Page 47: ...he CW and CCW inputs at the Feedback connector or swap the CW and CCW limit functionality in the software using the EndOfTravelLimitSetup parameter View the logic level of the EOT limit inputs in the...

Page 48: ...powering the brake circuit Table 2 20 Brake Output Pins on the Feedback Connector Pin Description In Out Bi 13 Brake Output Output 25 Brake Output Output Table 2 21 Brake Control Specifications Specif...

Page 49: ...the sole responsibility of the user of the XC6e WARNING STO wires must be insulated to prevent short circuits between connector pins The primary concern is a short circuit between STO 1 IN and STO 2 I...

Page 50: ...shows one safety device connected to multiple XC6es in parallel WARNING The XC6e does not check for short circuits on the external STO wiring If this is not done by the external safety device short ci...

Page 51: ...1508 2 2010 SIL 3 EN ISO 13849 1 2015 Category 4 PL e EN IEC 62061 2005 with Amendments SIL 3 Table 2 26 STO Standards Data Standard Value EN ISO 13849 1 2015 MTTFD 1000 years DCAVG 99 Maximum PL e Ca...

Page 52: ...le the axis as soon as the deceleration ramp is complete This is typically configured to occur before the STO channel turns off the power amplifier transistors The software controlled stop functionali...

Page 53: ...fer to Section 2 4 4 2 4 3 STO Startup Validation Testing Verify the state of the STO 1 and STO 2 channels by manually activating the external STO hardware Each STO channel must be tested separately i...

Page 54: ...d SIL level the STO circuit must be activated power removed from both inputs according to the interval specified in Table 2 26 Table 2 29 STO Timing Time Description Value T1 STO Delay Time STO input...

Page 55: ...directional Absolute Encoder Clock Output 12 5 Volt 500 mA max N A 13 Analog Input 0 Differential Input 14 Analog Input 0 Differential Input 15 Digital Output Common N A 16 Digital Output 3 Output 17...

Page 56: ...outputs You can only echo incremental square wave primary encoder inputs or with the MX2 or MX3 option incremental sine wave primary encoder inputs You cannot use the absolute encoder interface when y...

Page 57: ...gnal connection Use twisted pair wiring for the highest performance and noise immunity Table 2 33 Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 ns minimum...

Page 58: ...nce and noise immunity You cannot use an absolute encoder with incremental signals on the Auxiliary I O Connector Refer to Figure 2 24 for the serial data stream interface Refer to the Help file for i...

Page 59: ...ot generate emulated quadrature signals from the auxiliary connector For the highest performance use twisted pair double shielded cable with the inner shield connected to signal common and the outer s...

Page 60: ...Figure 2 26 Sine Wave Encoder Schematic Auxiliary I O Connector 2 5 Auxiliary I O Connector XC6e Hardware Manual 60 www aerotech com...

Page 61: ...sed to drive an opto coupler or general purpose TTL input This signal is active high and is driven to 5 V when a PSO fire event occurs When the drive is reset or after initial power up the PSO pins re...

Page 62: ...Figure 2 27 PSO Interface 2 5 Auxiliary I O Connector XC6e Hardware Manual 62 www aerotech com...

Page 63: ...voltage isolation applications and they should only be used with ground referenced circuits The digital outputs have overload protection They will resume normal operation when the overload is removed...

Page 64: ...Figure 2 28 Digital Output Schematic Aux I O Connector 2 5 Auxiliary I O Connector XC6e Hardware Manual 64 www aerotech com...

Page 65: ...Figure 2 29 Digital Outputs Connected in Current Sourcing Mode Figure 2 30 Digital Outputs Connected in Current Sinking Mode XC6e Hardware Manual 2 5 Auxiliary I O Connector www aerotech com 65...

Page 66: ...put Voltage Approximate Input Current Turn On Time Turn Off Time 5 V to 24 V 6 mA 10 s 43 s Table 2 40 Digital Input Pins on the Auxiliary I O Connector Pin Description In Out Bi 17 Digital Input 0 CC...

Page 67: ...will not generate the configured waveform when an output event is received until the rising edge of the synchronization signal occurs Table 2 41 High Speed Input Specifications Specification Value In...

Page 68: ...ystem or reset the drive Table 2 43 Analog Output Specifications Specification Value Output Voltage 10 V to 10 V Output Current 5 mA Resolution bits 16 bits Table 2 44 Analog Output Pins on the Auxili...

Page 69: ...efer to Figure 2 35 Table 2 45 Analog Input Specifications Specification Value AI AI 10 V to 10 V 1 Resolution bits 16 bits Input Impedance 1 M 1 Signals outside of this range may damage the input Tab...

Page 70: ...wer Supply Connector Pinout Pin Description In Out Bi Connector 1 Brake Power Supply Input 2 Brake Power Supply Input Table 2 48 Mating Connector Part Numbers for the Brake Power Supply Connector Desc...

Page 71: ...to re establish communication WARNING Do not connect or disconnect HyperWire cables while you are loading firmware or damage to the drives may occur Table 2 49 HyperWire Card Part Number Part Number...

Page 72: ...ve will turn this resistor ON when the internal bus voltage reaches a specific range based off of the voltage option that was ordered refer to the Turn On Range in Table 2 53 Internal Shunt Connection...

Page 73: ...e Maximum Additional Storage Energy that the internal bus capacitor can store Table 2 55 C bus capacitor F 4 000 F or 1500 F VM turn on voltage for shunt circuit V 380 V or 865 V VNOM nominal bus volt...

Page 74: ...CLE time between deceleration events s Equation 5 VHYS hysteresis voltage of regeneration circuit V 20 V or 40 V Typical refer to Table 2 53 Additional useful equations 1 lb ft 1 356 N m 1 rad s 9 55...

Page 75: ...ion Description DriveEncoderOutputConfigureDivider DriveEncoderOutputConfigureInput DriveEncoderOutputOn DriveEncoderOutputOff Configure each Sync port as an input or an output PsoDistanceConfigureInp...

Page 76: ...connection Click on the image below to open a separate pdf window with a larger view of the drawing Figure 2 36 System Wiring Drawing Best Practice 2 10 System Interconnection XC6e Hardware Manual 76...

Page 77: ...n Information For more information about hardware requirements PC configuration programming system operation and utilities refer to the Help file XC6e Hardware Manual 2 11 PC Configuration and Operati...

Page 78: ...This page intentionally left blank 2 11 PC Configuration and Operation Information XC6e Hardware Manual 78 www aerotech com...

Page 79: ...EB1 I O option board has 16 digital inputs 16 digital outputs 3 analog inputs 3 analog outputs and PSO outputs Figure 3 1 XC6e with EB1 I O Option Board Connectors XC6e Hardware Manual Chapter 3 EB1 I...

Page 80: ...her inductive devices To see an example of a current sourcing output that has diode suppression refer to Figure 3 3 To see an example of a current sinking output that has diode suppression refer to Fi...

Page 81: ...10 Pin Terminal Block ECK02395 Phoenix 1700841 0 5 0 14 20 26 Table 3 4 Digital Output 2 Connector Pinout EB1 Pin Description In Out Bi Connector 1 Output Common for Outputs 12 15 N A 2 Output 12 Opt...

Page 82: ...Figure 3 2 Digital Outputs Schematic EB1 3 1 Digital Outputs EB1 XC6e Hardware Manual 82 www aerotech com...

Page 83: ...Figure 3 3 Digital Outputs Connected in Current Sourcing Mode EB1 Figure 3 4 Digital Outputs Connected in Current Sinking Mode EB1 XC6e Hardware Manual 3 1 Digital Outputs EB1 www aerotech com 83...

Page 84: ...d circuits Table 3 6 Digital Input Specifications EB1 Input Voltage Approximate Input Current Turn On Time Turn Off Time 5 V to 24 V 6 mA 10 s 43 s Table 3 7 Digital Input 1 Connector Pinout EB1 Pin D...

Page 85: ...n for Inputs 16 19 N A 7 Input 16 Optically Isolated Input 8 Input 17 Optically Isolated Input 9 Input 18 Optically Isolated Input 10 Input 19 Optically Isolated Input Table 3 10 Mating Connector Part...

Page 86: ...n an all sourcing or all sinking configuration Figure 3 6 Digital Inputs Connected to Current Sourcing PNP Devices EB1 Figure 3 7 Digital Inputs Connected to Current Sinking NPN Devices EB1 3 2 Digita...

Page 87: ...Output Current 5 mA Resolution bits 16 bits Table 3 12 Analog Output Connector Pinout EB1 Pin Description In Out Bi Connector 1 Analog Output 1 Output 2 Analog Output 2 Output 3 Analog Output 3 Output...

Page 88: ...nce 1 M 1 Signals outside of this range may damage the input Table 3 15 Analog Input Connector Pinout EB1 Pin Description In Out Bi Connector 1 5V 250 mA max N A 2 Analog Input 1 Input 3 Analog Input...

Page 89: ...z Output Latency Fire event to output change TTL 5 ns Isolated 150 ns Table 3 18 PSO Interface Connector Pinout EB1 Pin Description In Out Bi Connector 1 PSO Output Output 2 PSO Output Output 3 PSO Ou...

Page 90: ...d will turn off if the maximum output current is exceeded Figure 3 10 PSO Output Sources Current Figure 3 11 PSO Output Sinks Current TTL Signals This output signal is a 5V TTL signal which is used to...

Page 91: ...on the website at http www aerotechmotioncontrol com manuals index aspx Table 4 1 Standard Interconnection Cables Cable Part Description Joystick See Section 4 1 ECZ01231 BBA32 Interconnect Cable XC6...

Page 92: ...vices can be used provided they produce a symmetric output voltage within the range of 10 V to 10 V Connecting joystick with an Aerotech cable all Aerotech cables are labeled to identify the connector...

Page 93: ...Figure 4 2 Two Axis Joystick Interface to the I O board XC6e Hardware Manual 4 1 Joystick Interface www aerotech com 93...

Page 94: ...IMPORTANT You can find instructions on how to enable the handwheel in the Help file Connect a handwheel to the Aux I O as shown in Figure 4 3 or Figure 4 4 Figure 4 3 Handwheel Interconnection to Aux...

Page 95: ...is the danger of electric shock 3 All tests must be done by an approved service technician Voltages inside the con troller and at the input and output power connections can kill you Table 5 1 LED Desc...

Page 96: ...ctions to make sure they are correct Make sure that all connections are correctly attached and not loose Replace cables that are worn Replace all broken connectors Cleaning DANGER Before you clean the...

Page 97: ...e same type and value Table 5 4 Control Board Fuse Specifications Fuse Description Size Aerotech P N Third Party P N F100 Control Power at Line Input L 2 A S B EIF01044 Littelfuse 0877002 MXEP XC6e Ha...

Page 98: ...This page intentionally left blank 5 2 Fuse Specifications XC6e Hardware Manual 98 www aerotech com...

Page 99: ...ization RMA number must accompany any returned product s The RMA number may be obtained by calling an Aerotech service center or by submitting the appropriate request available on our website www aero...

Page 100: ...al rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated in the following On Site Non Warranty Repair section apply On site...

Page 101: ...Appendix B Revision History Revision Description 1 00 New Manual XC6e Hardware Manual Appendix B Revision History www aerotech com 101...

Page 102: ...This page intentionally left blank Appendix B Revision History XC6e Hardware Manual 102 www aerotech com...

Page 103: ...Connector 68 Analog Output 0 Specifications Aux I O Connector 68 Analog Output Connector EB1 Mating Connector Part Numbers 87 Analog Output Connector Pinout EB1 87 Analog Output Pins Aux I O Connecto...

Page 104: ...rent Sinking Devices Aux I O Connector 66 Digital Inputs Connected to Current Sourcing Devices Aux I O Connector 66 Digital Inputs Schematic EB1 85 Digital Output 1 Connector EB1 Mating Connector Part...

Page 105: ...B1 88 Analog Output 0 Schematic Aux I O Connector 68 Analog Output Typical Connection EB1 87 Brake Connected to the Feedback Connector 48 Brushless Motor Configuration Motor Power Output Connector 32...

Page 106: ...me Limit Input Schematic 46 Humidity 24 HyperWire 71 Cable Part Numbers 71 Card Part Number 71 I I O Option Board EB1 79 Input Power Connections 28 inspecting cooling vents 96 Inspection 96 Installati...

Page 107: ...put 1 Connector EB1 81 Digital Output Pins Aux I O Connector 63 Encoder Fault Input Pin Feedback Connector 44 Encoder Input Feedback Connector 36 End of Travel Limit Input Pins Feedback Connector 45 E...

Page 108: ...Supply Connector Fuse 29 Motor Supply Connector Wiring 29 PSO Aux I O Connector 61 PSO EB1 89 RS 422 Encoder Feedback Connector 37 57 Sine Wave Encoder Auxiliary I O Connector 59 Sine Wave Encoder Fe...

Page 109: ...U Unit Weight 21 Unpacking the Chassis 27 Use 24 W Warranty and Field Service 99 Wire Colors for Aerotech Supplied Brushless Motor Cables 32 XC6e Hardware Manual Index www aerotech com 109...

Page 110: ...Index XC6e Hardware Manual This page intentionally left blank 110 www aerotech com...

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