Aerotech Automation1 XI4-4P1, Hardware Manual

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List of Figures
Figure 1-1: iXI4 Transconductance Amplifier Controller 15
Figure 1-2: XI4 Transconductance Amplifier Controller 16
Figure 1-3: iXI4-OEM Transconductance Amplifier Controller 17
Figure 1-4: XI4-OEM Transconductance Amplifier Controller 18
Figure 1-5: Functional Diagram 20
Figure 1-6: Dimensions [-2P1 (Standard 2-Axis)] 23
Figure 1-7: Dimensions [-4P1 (Standard 4-Axis)] 24
Figure 1-8: Dimensions [-2P2 (OEM 2-Axis)] 25
Figure 1-9: Dimensions [-4P2 (OEM 4-Axis)] 26
Figure 1-10: Din Rail Clip Dimensions 27
Figure 2-1: Control Supply Connections 31
Figure 2-2: Current Command Output Schematic 33
Figure 2-3: Stepper Clock and Stepper Direction Timing 34
Figure 2-4: Stepper Clock and Stepper Direction Output Schematic 35
Figure 2-5: Hall-Effect Inputs Schematic 36
Figure 2-6: Positive Motor Direction 37
Figure 2-7: Encoder and Hall Signal Diagnostics 37
Figure 2-8: End of Travel Limit Input Connections 38
Figure 2-9: End of Travel Limit Input Schematic 38
Figure 2-10: End of Travel Limit Input Diagnostic Display 39
Figure 2-11: Fault Input Schematic 40
Figure 2-12: Amplifier Enable Output Schematic 41
Figure 2-13: Square Wave Encoder Schematic (Axis Connector) 43
Figure 2-14: Absolute Encoder Schematic (Axis Connector) 44
Figure 2-15: Sine Wave Encoder Phasing Reference Diagram 45
Figure 2-16: Sine Wave Encoder Schematic (Axis Connector) 46
Figure 2-17: Encoder Phasing Reference Diagram (Standard) 47
Figure 2-18: Position Feedback in the Diagnostic Display 47
Figure 2-19: Positive Motor Direction 48
Figure 2-20: Square Wave Encoder Interface (Auxiliary) 49
Figure 2-21: Digital Outputs Schematic 52
Figure 2-22: Digital Outputs Connected in Current Sourcing Mode 53
Figure 2-23: Digital Outputs Connected in Current Sinking Mode 53
Figure 2-24: Digital Inputs Schematic 54
Figure 2-25: Digital Inputs Connected to Current Sourcing (PNP) Devices 55
Figure 2-26: Digital Inputs Connected to Current Sinking (NPN) Devices 55
Figure 2-27: High-Speed Input 56
Figure 2-28: PSO TTL Outputs Schematic 58
Figure 2-29: PSO External Sync Input Schematic 59
Figure 2-30: Analog Outputs Schematic 60
Figure 2-31: Analog Inputs Schematic 61
Figure 2-32: Drive-Based Controller System Interconnection (Best Practice) 64
Figure 2-33: PC-Based Controller System Interconnection (Best Practice) 65
Figure 3-1: Two Axis Joystick Interface 67
Figure 3-2: Handwheel Interconnection to Axis Connector 68
iXI4/XI4 Hardware Manual List of Figures
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