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2.2.3. Stepper Motor Connections
The configuration shown in Figure 2-10 is an example of a typical stepper motor connection. Refer to
Section 2.2.3.1. for information on motor phasing.
In this case, the effective motor voltage is half of the applied bus voltage. For example, an 80 V motor
bus supply is needed to get 40 V across the motor.
Figure 2-10: Stepper Motor Configuration
Table 2-10: Wire Colors for Aerotech-Supplied Stepper Motor Cables
Pin
Wire Color Set 1 (1)
Wire Color Set 2
Green/Yellow & Shield
(2)
Green/Yellow & Shield
A Black Brown
B Red Yellow
C White White & Red
(1) Wire Color Set #1 is the typical wire set used by Aerotech.
(2) “&” (Red & Orange) indicates two wires; “ / ” (Green/White) indicates a single wire.
2.2.3.1. Stepper Motor Phasing
A stepper motor can be run with or without an encoder.
Without an Encoder: You do not need to phase the motor.
With an Encoder: Because the end of travel (EOT) limit inputs are relative to motor rotation, it is
important to phase the motor.
Run a positive motion command. The motor is phased correctly if there is a positive scaling factor
(determined by the ServoLoopSetup parameter) and the motor moves in a clockwise direction when
you view the motor from the front mounting flange ( Figure 2-11 ). If the motor moves in a
counterclockwise direction, reverse the motor leads and re-run the command. After the motor has
been phased, if you want to change the direction of positive motion, use the ReverseMotionDirection
parameter.
Figure 2-11: Positive Motor Direction
For Aerotech-supplied systems, the motor, encoder and Hall sensors are correctly configured and
connection adjustments are not necessary.
iXL2e/XL2e Hardware Manual
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