Aerotech Automation1 XI4-4P1, Hardware Manual

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Table of Contents
Automation1 iXI4 and XI4 Transconductance Amplifier Controllers 1
Table of Contents 3
List of Figures 5
List of Tables 6
EU Declaration of Conformity 9
Safety Procedures and Warnings 11
Handling and Storage 12
Installation Overview 13
Chapter 1: iXI4/XI4 Overview 15
1.1. Electrical Specifications 21
1.2. Mechanical Specifications 22
1.2.1. Mounting and Cooling 22
1.2.2. Dimensions 23
1.2.3. DIN Rail Mounting 27
1.2.4. OEM Mounting 28
1.3. Environmental Specifications 29
1.4. Drive and Software Compatibility 29
Chapter 2: Installation and Configuration 31
2.1. Input Power Connections 31
2.1.1. Control Supply Connector 31
2.1.2. Minimizing Noise for EMC/CE Compliance 31
2.2. Axis Connector 32
2.2.1. Current Command Output Signals 33
2.2.2. Stepper Clock and Stepper Direction Signals 34
2.2.3. Hall-Effect Inputs 36
2.2.3.1. Brushless Motor Powered Motor and Feedback Phasing 37
2.2.4. End of Travel Limits 38
2.2.4.1. End of Travel Limit Phasing 39
2.2.5. Amplifier Fault Inputs 40
2.2.6. Amplifier Enable Output 41
2.2.7. Primary Encoder Inputs 42
2.2.7.1. Square Wave Encoder (Primary) 43
2.2.7.2. Absolute Encoder (Primary) 44
2.2.7.3. Sine Wave Encoder (Primary) 45
2.2.7.4. Encoder Phasing 47
2.2.7.5. Stepper Motor Phasing 48
2.2.8. Auxiliary Encoder Input 49
2.2.8.1. Square Wave Encoder (Auxiliary) 49
2.3. Digital I/O Connector 50
2.3.1. Digital Outputs 51
2.3.2. Digital Inputs 54
2.3.3. High-Speed User Input 56
2.4. Analog I/O and Laser Interface Connector 57
2.4.1. Position Synchronized Output (PSO) Interface 58
2.4.2. Analog Outputs 60
2.4.3. Analog Inputs (Differential) 61
2.4.4. Sync Port 62
2.5. HyperWire Interface 63
2.6. System Interconnection 64
2.7. PC Configuration and Operation Information 66
Chapter 3: Cables and Accessories 67
3.1. Joystick Interface 67
3.2. Handwheel Interface 68
Chapter 4: Maintenance 69
4.1. Preventative Maintenance 70
iXI4/XI4 Hardware Manual Table of Contents
www.aerotech.com 3