Aerotech Automation1 XR3 Series, Hardware Manual

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List of Figures
Figure 1-1: Functional Diagram 20
Figure 1-2: Dimensions with Chassis Slides 25
Figure 1-3: Dimensions without Chassis Slides 26
Figure 2-1: Power and Control Connections 30
Figure 2-2: Brushless Motor Configuration 35
Figure 2-3: Positive Motor Direction 36
Figure 2-4: Encoder and Hall Signal Diagnostics 36
Figure 2-5: Brushless Motor Phasing Oscilloscope Example 37
Figure 2-6: Brushless Motor Phasing Goal 37
Figure 2-7: DC Brush Motor Configuration 38
Figure 2-8: Positive Motor Direction 38
Figure 2-9: Stepper Motor Configuration 39
Figure 2-10: Positive Motor Direction 39
Figure 2-11: Square Wave Encoder Schematic (Feedback Connector) 42
Figure 2-12: Absolute Encoder Schematic (Feedback Connector) 43
Figure 2-13: Sine Wave Encoder Phasing Reference Diagram 44
Figure 2-14: Sine Wave Encoder Schematic (Feedback Connector) 45
Figure 2-15: Encoder Phasing Reference Diagram (Standard) 46
Figure 2-16: Position Feedback in the Diagnostic Display 46
Figure 2-17: Hall-Effect Inputs Schematic (Feedback Connector) 47
Figure 2-18: Thermistor Input Schematic (Feedback Connector) 48
Figure 2-19: Encoder Fault Input Schematic (Feedback Connector) 49
Figure 2-20: End of Travel and Home Limit Input Connections 51
Figure 2-21: End of Travel and Home Limit Input Schematic (Feedback Connector) 51
Figure 2-22: End of Travel and Home Limit Input Diagnostic Display 52
Figure 2-23: Brake Output Connections (Feedback Connector) 53
Figure 2-24: PSO Output Sources Current 55
Figure 2-25: PSO Output Sinks Current 55
Figure 2-26: PSO TTL Outputs Schematic 56
Figure 2-27: PSO Clock Inputs Schematic 57
Figure 2-28: Data Acquisition Input Schematic 58
Figure 2-29: Diagram Showing Axis 1 and Axis 2 High-Speed Outputs 60
Figure 2-30: Digital Output Schematic 63
Figure 2-31: Digital Outputs Connected in Current Sourcing Mode 64
Figure 2-32: Outputs Connected in Current Sinking Mode 64
Figure 2-33: Digital Input Schematic 66
Figure 2-34: Digital Inputs Connected to Current Sinking (NPN) Devices 67
Figure 2-35: Digital Inputs Connected to Current Sourcing (PNP) Devices 67
Figure 2-36: Square Wave Encoder Interface (Aux Encoder Connector) 69
Figure 2-37: Absolute Encoder Schematic (Aux Encoder Connector) 70
Figure 2-38: Sine Wave Encoder Phasing Reference Diagram 71
Figure 2-39: Sine Wave Encoder Schematic (Aux Encoder Connector) 72
Figure 2-40: Analog Outputs Schematic 74
Figure 2-41: Analog Inputs Schematic 75
Figure 2-42: Joystick Interface Inputs Schematic 76
Figure 2-43: Joystick Cable Wiring Schematic 77
Figure 2-44: Typical Configuration 79
Figure 2-45: STO Timing 83
XR3 Hardware Manual List of Figures
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