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2.3.1.2. Absolute Encoder (Primary)

The drive retrieves absolute position data along with encoder fault information through a serial data
stream from the absolute encoder. Use twisted-pair wiring for the highest performance and noise
immunity. You cannot echo an absolute encoder signal.

Refer to

Figure 2-10

for the serial data stream interface.

Refer to the

Help file

for information on how to set up your EnDat or BiSS absolute encoder

parameters.

Figure 2-10:

Absolute Encoder Schematic (Feedback Connector)

www.aerotech.com

39

iXC6e/XC6e Hardware Manual

2.3.1. Primary Encoder Inputs

Содержание Automation1 iXC6e

Страница 1: ...Revision 1 04 Automation1 iXC6e and XC6e High Powered PWM Digital Drives HARDWARE MANUAL...

Страница 2: ...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 man...

Страница 3: ...Feedback Phasing 35 2 3 Feedback Connector 36 2 3 1 Primary Encoder Inputs 37 2 3 1 1 Square Wave Encoder Primary 38 2 3 1 2 Absolute Encoder Primary 39 2 3 1 3 Sine Wave Encoder Primary MX2 MX3 Optio...

Страница 4: ...l Inputs EB1 88 3 3 Analog Outputs EB1 91 3 4 Analog Inputs EB1 92 3 5 PSO Interface EB1 93 Chapter 4 Cables and Accessories 95 4 1 Joystick Interface 96 4 2 Handwheel Interface 98 Chapter 5 Maintenan...

Страница 5: ...tic Feedback Connector 47 Figure 2 20 End of Travel and Home Limit Input Diagnostic Display 48 Figure 2 21 Brake Connected to the 25 Pin Feedback Connector Typical 49 Figure 2 22 Typical STO Configura...

Страница 6: ...alog Output Typical Connection EB1 91 Figure 3 9 Analog Input Typical Connection EB1 92 Figure 3 10 PSO Output Sources Current 94 Figure 3 11 PSO Output Sinks Current 94 Figure 3 12 PSO TTL Outputs Sc...

Страница 7: ...t Pin on the Feedback Connector 44 Table 2 18 Encoder Fault Input Pin on the Feedback Connector 45 Table 2 19 End of Travel and Home Limit Pins on the Feedback Connector 46 Table 2 20 Brake Output Pin...

Страница 8: ...Table 3 4 Digital Output 2 Connector Pinout EB1 85 Table 3 5 Digital Output 2 Mating Connector Ratings EB1 85 Table 3 6 Digital Input Specifications EB1 88 Table 3 7 Digital Input 1 Connector Pinout E...

Страница 9: ...following standard s when installed and used in accordance with the manufacturer s supplied installation instructions EN 61010 1 2010 AMD1 2016 Safety Requirements for Electrical Equipment EN 61800 3...

Страница 10: ...he equipment could be impaired l The life expectancy of the product could be decreased Safety notes and symbols are placed throughout this manual to warn you of the potential risks at the moment of th...

Страница 11: ...erature could exceed 70 C 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...

Страница 12: ...information such as the l Customer order number please provide this number when requesting product support l Drawing number l System part number Handling IMPORTANT It is the responsibility of the cust...

Страница 13: ...ier Motor Output connector Section 2 2 Connect the motor to the amplifier Feedback connector Section 2 3 2 Connect the PC to the USB or Ethernet port N A 3 Connect the next drive in the system to the...

Страница 14: ...roller HyperWire port to the HyperWire In port Section 2 7 3 Connect additional I O as required by your application if you purchased the I O option Section 2 5 Chapter 3 4 Connect the Safe Torque Off...

Страница 15: ...fication and are fully software configurable A double precision floating point DSP controls the digital PID and current loops Both drives offer standard Safe Torque Off STO inputs and optional Positio...

Страница 16: ...Figure 1 2 XC6e High Power Networked Digital Drive Chapter 1 iXC6e XC6e Overview iXC6e XC6e Hardware Manual 16 www aerotech com...

Страница 17: ...phase 480 480 VAC Maximum phase to phase Expansion Board Chapter 3 EB0 No expansion board EB1 I O expansion board l Three 16 bit analog outputs 10 V l Three 16 bit differential analog inputs 10 V l 16...

Страница 18: ...The block diagram that follows shows a summary of the connector signals Figure 1 3 Functional Diagram Chapter 1 iXC6e XC6e Overview iXC6e XC6e Hardware Manual 18 www aerotech com...

Страница 19: ...mum Load Inductance 0 5 mH User Power Supply Output 5 VDC 500 mA Motor Output Current Frequency 0 599 Hz Motor Type Brushless Protective Features l Output short circuit l Peak over current l DC bus ov...

Страница 20: ...ify 50 VDC at DC bus terminals 1 A lower motor supply voltage can be used This will result in a reduction of output power 2 Specification for 20kHz PWM switching frequency 3 Specification for 10kHz PW...

Страница 21: ...items such as line reactors line filters and motor chokes or inductance should be made during the initial cabinet design phase Table 1 4 Mounting Specifications iXC6e XC6e Customer Supplied Enclosure...

Страница 22: ...1 2 2 Dimensions IMPORTANT iXC6e and XC6e dimensions are the same iXC6e is shown Figure 1 4 Dimensions 1 2 2 Dimensions iXC6e XC6e Hardware Manual 22 www aerotech com...

Страница 23: ...IMPORTANT iXC6e EB1 and XC6e EB1 dimensions are the same iXC6e EB1 is shown Figure 1 5 Dimensions EB1 iXC6e XC6e Hardware Manual 1 2 2 Dimensions www aerotech com 23...

Страница 24: ...rate this product above 2 000 m or below sea level contact Aerotech Inc Pollution Pollution Degree 2 Typically only nonconductive pollution occurs Operation Use only indoors 1 4 Drive and Software Com...

Страница 25: ...an internal fuse An external fuse will be required if N is not connected to Neutral The Control Supply contains an internal filter but you could be required to add an external filter for CE compliance...

Страница 26: ...rical safety requirements A line reactor can be used to reduce inrush currents reduce conducted harmonics improve power factor and protect the drive against voltage surges Refer to Section 2 1 4 for m...

Страница 27: ...G 2 5 10 mm2 Two conductors with the same cross section stranded twin ferrule with plastic sleeve 10 14 AWG 2 5 6 mm2 1 Refer to the manufacturer website for additional information Table 2 5 Motor Sup...

Страница 28: ...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...

Страница 29: ...vents and also provides maximum stiffness of the motor supply voltage Alternately high surge power resistors can be used to further reduce the inrush current levels The figure that follows shows a typ...

Страница 30: ...r K M A bypass contactor is required when using resistors and it is recommended when using NTC limiters The required time delay can be calculated using the formula that follows with a Tc time constant...

Страница 31: ...oil CA7 72D 00 24DD 3 Pole 60A 24VDC coil CA7 85D 00 24DD 3 Pole 60A 24VDC coil CA7 97D 00 24DD 3 Pole 60A 24VDC coil The list that follows includes time delay accessories for the CA7 series contactor...

Страница 32: ...ble 2 6 Table 2 6 Motor Power Output Connector Pinout Pin Function A Motor Phase A Output B Motor Phase B Output C Motor Phase C Output Motor Ground Table 2 7 Motor Output Mating Connector Ratings Typ...

Страница 33: ...ack Blue Yellow Black 1 Black Brown B Red Red Orange Black 2 Red Orange C White White Brown Black 3 Violet Blue 1 Wire Color Set 1 is the wire set typically used by Aerotech 2 indicates two wires Red...

Страница 34: ...als 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 5 Positive Motor Direction Figure 2...

Страница 35: ...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 con...

Страница 36: ...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 Cosine Input 16 5V Power 1 Output 17 Encoder Sine I...

Страница 37: ...ve 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 IMPORTANT Physi...

Страница 38: ...ignal 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...

Страница 39: ...ing for the highest performance and noise immunity You cannot echo an absolute encoder signal Refer to Figure 2 10 for the serial data stream interface Refer to the Help file for information on how to...

Страница 40: ...ese 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 e...

Страница 41: ...Figure 2 12 Sine Wave Encoder Schematic Feedback Connector www aerotech com 41 iXC6e XC6e Hardware Manual 2 3 1 Primary Encoder Inputs...

Страница 42: ...e observing the position of the encoder in the diagnostics display see Figure 2 14 For dual loop systems the velocity feedback encoder is displayed in the diagnostic display Figure 2 14 Figure 2 13 En...

Страница 43: ...ing Table 2 16 Hall Effect Feedback Pins on the Feedback Connector Pin Description In Out Bi 3 5V Power 1 Output 5 Hall Effect Sensor B brushless motors only Input 10 Hall Effect Sensor A brushless mo...

Страница 44: ...ses the resistance of the thermistor 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 1...

Страница 45: ...eter 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 Input...

Страница 46: ...ostics display refer to Figure 2 20 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 Output 20 Signal...

Страница 47: ...End of Travel and Home Limit Input Connections Figure 2 19 End of Travel and Home Limit Input Schematic Feedback Connector iXC6e XC6e Hardware Manual 2 3 5 End of Travel and Home Limit Inputs www aero...

Страница 48: ...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 Diagn...

Страница 49: ...wering 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 Specific...

Страница 50: ...concern is a short circuit between STO 1 IN and STO 2 IN wire strands Table 2 22 STO Connector Pinout Pin Signal Description In Out Bi Connector 1 Power Supply Use only to defeat STO by connecting to...

Страница 51: ...shows one safety device connected to multiple drives in parallel WARNING The drive does not check for short circuits on the external STO wiring If this is not done by the external safety device short...

Страница 52: ...EN IEC 61508 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 Maximu...

Страница 53: ...able 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 functiona...

Страница 54: ...efer 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...

Страница 55: ...the listed 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 S...

Страница 56: ...utput 12 5 Volt 500 mA max Output 13 Analog Input 0 Differential Input 14 Analog Input 0 Differential Input 15 Digital Output Common Output 16 Digital Output 3 Output 17 Digital Input 0 CCW EOT Input...

Страница 57: ...y 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 you echo incremental...

Страница 58: ...ignal 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...

Страница 59: ...ance and noise immunity You cannot use an absolute encoder with incremental signals on the Auxiliary I O Connector Refer to Figure 2 25 for the serial data stream interface Refer to the Help file for...

Страница 60: ...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...

Страница 61: ...Figure 2 27 Sine Wave Encoder Schematic Auxiliary I O Connector www aerotech com 61 iXC6e XC6e Hardware Manual 2 5 1 Auxiliary Encoder Inputs...

Страница 62: ...lengths in noisy environments or when high frequency pulse transmission is required It is best to locate the line receiver close to the receiving electronics A 5 V TTL signal is used to drive an opto...

Страница 63: ...Figure 2 28 PSO Interface iXC6e XC6e Hardware Manual 2 5 2 Position Synchronized Output PSO www aerotech com 63...

Страница 64: ...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...

Страница 65: ...Figure 2 29 Digital Output Schematic Aux I O Connector iXC6e XC6e Hardware Manual 2 5 3 Digital Outputs www aerotech com 65...

Страница 66: ...Figure 2 30 Digital Outputs Connected in Current Sourcing Mode Figure 2 31 Digital Outputs Connected in Current Sinking Mode 2 5 3 Digital Outputs iXC6e XC6e Hardware Manual 66 www aerotech com...

Страница 67: ...2 39 Digital Input Specifications Input 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 Descrip...

Страница 68: ...Figure 2 33 Digital Inputs Connected to Current Sourcing Devices Figure 2 34 Digital Inputs Connected to Current Sinking Devices 2 5 4 Digital Inputs iXC6e XC6e Hardware Manual 68 www aerotech com...

Страница 69: ...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 Inp...

Страница 70: ...stem 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 Auxilia...

Страница 71: ...Figure 2 37 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 Table 2 46...

Страница 72: ...8 Brake Power Supply Mating Connector Ratings Type 2 Pin Terminal Block Aerotech Part Number ECK02391 Manufacturer Part Number 1 Phoenix 1827635 Insulation Strip Length 7 mm 0 25 in Tightening Torque...

Страница 73: ...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 Des...

Страница 74: ...when using this connection and additional fusing may be required The number of drives which can be bridged may also be limited due to these factors DANGER Shock and Fire Hazard Electrical wiring must...

Страница 75: ...AWG 2 5 mm2 1 Refer to the manufacturer website for additional information Table 2 53 Internal Shunt Specifications Option Description Part Numbers Vishay Dale Aerotech Turn On Range VDC Turn Off Ran...

Страница 76: ...pacitor can store Table 2 55 ECa 1 2 C V2 M V2 NOM Where C bus capacitor F 4 800 F or 1500 F VM turn on voltage for shunt circuit V 380 V or 865 V VNOM nominal bus voltage V 320 V or 680 V Typical Tab...

Страница 77: ...time between deceleration events s Equation 5 R 2VM VHYS 2 4PPEAK Where 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...

Страница 78: ...input or an output PsoDistanceConfigureInputs Let the PSO to track the SYNC A or SYNC B port PsoWindowConfigureInput The Sync port uses low voltage differential signaling LVDS and standard USB 3 0 ty...

Страница 79: ...m Interconnection Figure 2 38 Drive Based System Wiring Drawing Best Practice Figure 2 39 PC Based System Wiring Drawing Best Practice iXC6e XC6e Hardware Manual 2 11 System Interconnection www aerote...

Страница 80: ...Figure 2 40 Drive Based Controller System Interconnection Best Practice 2 11 System Interconnection iXC6e XC6e Hardware Manual 80 www aerotech com...

Страница 81: ...Figure 2 41 PC Based Controller System Interconnection Best Practice iXC6e XC6e Hardware Manual 2 11 System Interconnection www aerotech com 81...

Страница 82: ...nformation For more information about hardware requirements PC configuration programming system operation and utilities refer to the Help file 2 12 PC Configuration and Operation Information iXC6e XC6...

Страница 83: ...I O option board has 16 digital inputs 16 digital outputs 3 analog inputs 3 analog outputs and PSO outputs Figure 3 1 EB1 I O Option Board Connectors iXC6e shown iXC6e XC6e Hardware Manual Chapter 3 E...

Страница 84: ...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 Figur...

Страница 85: ...efer to the manufacturer website for additional information Table 3 4 Digital Output 2 Connector Pinout EB1 Pin Description In Out Bi Connector 1 Output Common for Outputs 12 15 Output 2 Output 12 Opt...

Страница 86: ...Figure 3 2 Digital Outputs Schematic EB1 3 1 Digital Outputs EB1 iXC6e XC6e Hardware Manual 86 www aerotech com...

Страница 87: ...igure 3 3 Digital Outputs Connected in Current Sourcing Mode EB1 Figure 3 4 Digital Outputs Connected in Current Sinking Mode EB1 iXC6e XC6e Hardware Manual 3 1 Digital Outputs EB1 www aerotech com 87...

Страница 88: ...Time 5 V to 24 V 6 mA 10 s 43 s Table 3 7 Digital Input 1 Connector Pinout EB1 Pin Description In Out Bi Connector 1 Input Common for Inputs 4 7 Output 2 Input 4 Optically Isolated Input 3 Input 5 Op...

Страница 89: ...ically Isolated Input 10 Input 19 Optically Isolated Input Table 3 10 Digital Input 2 Mating Connector Ratings EB1 Type 10 Pin Terminal Block Aerotech Part Number ECK02395 Manufacturer Part Number 1 P...

Страница 90: ...n 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 Digital I...

Страница 91: ...Connector 1 Analog Output 1 Output 2 Analog Output 2 Output 3 Analog Output 3 Output 4 Ground N A Table 3 13 Analog Output Mating Connector Ratings EB1 Type 4 Pin Terminal Block Aerotech Part Number...

Страница 92: ...cription In Out Bi Connector 1 5V 250 mA max Output 2 Analog Input 1 Input 3 Analog Input 1 Input 4 Analog Input 2 Input 5 Analog Input 2 Input 6 Analog Input 3 Input 7 Analog Input 3 Input 8 Ground N...

Страница 93: ...nout EB1 Pin Description In Out Bi Connector 1 PSO Output Output 2 PSO Output Output 3 PSO Output TTL Output 4 Ground N A Table 3 19 PSO Interface Mating Connector Ratings EB1 Type 4 Pin Terminal Bloc...

Страница 94: ...tected and 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 i...

Страница 95: ...Table 4 1 Standard Interconnection Cables Cable Part Description Joystick Refer to Section 4 1 ECZ01231 BBA32 Interconnect Cable ENET CAT5e xx 1 2 Ethernet CAT5e Cable USB AMCM xx 1 2 USB Cable A Male...

Страница 96: ...in the center location Third party devices 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...

Страница 97: ...Figure 4 2 Two Axis Joystick Interface to the I O board iXC6e XC6e Hardware Manual 4 1 Joystick Interface www aerotech com 97...

Страница 98: ...TANT You can find instructions on how to enable the handwheel in the online 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 Au...

Страница 99: ...is the danger of electric shock 3 All tests must be done by an approved service technician Voltages inside the controller and at the input and output power connections can kill you Table 5 1 LED Descr...

Страница 100: ...ns are correctly attached and not loose Replace cables that are worn Replace all broken connectors Cleaning DANGER Before you clean the iXC6e XC6e disconnect the electrical power from the drive Use a...

Страница 101: ...ion 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 aerotech...

Страница 102: ...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 No...

Страница 103: ...Added Section 2 1 4 l Updated input current and fuse specifications 1 03 Added support for Industrial Ethernet internal release 1 02 Added support for iXC6e internal release 1 01 The following sectio...

Страница 104: ...This page intentionally left blank Appendix B Revision History iXC6e XC6e Hardware Manual 104 www aerotech com...

Страница 105: ...alog Output 0 Schematic Aux I O Connector 70 Analog Output 0 Specifications Aux I O Connector 70 Analog Output Connector EB1 Mating Connector Part Numbers 91 Analog Output Connector Pinout EB1 91 Anal...

Страница 106: ...nput Specifications EB1 88 Digital Inputs Aux I O Connector 67 Digital Inputs EB1 88 Digital Inputs Connected to a Current Sinking Device EB1 90 Digital Inputs Connected to a Current Sourcing Device E...

Страница 107: ...422 Line Driver Encoder 38 Square Wave Encoder 38 Thermistor Input 44 Travel Limit Input 46 Feedback Monitoring 34 Figure EB1 I O Option Board Connectors 83 Absolute Encoder Schematic Auxiliary I O C...

Страница 108: ...ons 69 High Speed Inputs 69 High Speed User Inputs Aux I O Connector 69 Home Limit Input Feedback Connector 46 Home Limit Input Connections 47 Home Limit Input Diagnostic Display 48 Home Limit Input P...

Страница 109: ...nput Pins Aux I O Connector 67 Digital Output 1 Connector EB1 85 Digital Output Pins Aux I O Connector 64 Encoder Fault Input Pin Feedback Connector 45 Encoder Input Feedback Connector 37 End of Trave...

Страница 110: ...Digital Outputs Aux I O Connector 64 Digital Outputs EB1 84 High Speed Inputs 69 Internal Shunt 75 Motor Supply Connector Fuse 27 Motor Supply Connector Wiring 27 32 PSO Aux I O Connector 62 PSO EB1 9...

Страница 111: ...rface to the I O board of two drives 97 Typical STO Configuration 51 U Unit Weight 21 Use 24 User Power Supply Output specification 19 W Warranty and Field Service 101 Wire Colors for Aerotech Supplie...

Страница 112: ...Index iXC6e XC6e Hardware Manual This page intentionally left blank 112 www aerotech com...

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