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Resolute absolute encoder

Revision History

RS-422 Encoder Specifications (Feedback Connector)

43,49

RS-422 Line Driver Encoder

Safety Procedures and Warnings

serial data stream

serial number

Sine Wave Encoder Schematic (Axis Connector)

Sine Wave Encoder Specifications (Feedback Connector) 45

Specifications

Amplifier Enable Output

Amplifier Fault Input

Analog Encoder (Feedback Connector)

Analog Input (Digital / Analog I/O B Connector)

Analog Output (Digital and Analog I/O Connector)

Control Supply Connector Wiring

Current Command Signal Output

Digital Inputs

Digital Outputs

High-Speed Input

PSO

RS-422 Encoder (Feedback Connector)

43,49

Sine Wave Encoder (Feedback Connector)

Square Wave Encoder (Feedback Connector)

43,49

Stepper Clock Signal Output

Stepper Direction Signal Output

Unit Weight

Square Wave Encoder

Square Wave Encoder Inputs Schematic (Axis Connector) 49

Square Wave Encoder Schematic (Axis Connector)

Square Wave Encoder Specifications (Feedback

Connector)

43,49

Stepper Clock and Stepper Direction Output Schematic

Stepper Clock and Stepper Direction Timing

Stepper Clock Output Signals

Stepper Clock Pin on the Axis Connector

Stepper Clock Signal Output Specifications

Stepper Direction Output Signals

Stepper Direction Pin on the Axis Connector

Stepper Direction Signal Output Specifications

Stepper Motor Phasing

Storage

Sync-Related Commands

Sync Port Cables

Sync Ports

System part number

Table of Contents

Travel Limit Input (Axis Connector)

TTL Outputs Schematic (PSO)

Two Axis Joystick Interface

Unit Weight

Use

User Power Supply specifications

Warranty and Field Service

Index

iXI4/XI4 Hardware Manual

www.aerotech.com

Содержание Automation1 XI4-4P1

Страница 1: ...Revision 1 02 Automation1 iXI4 and XI4 Transconductance Amplifier Controllers 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: ...wered 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 4...

Страница 4: ...Appendix A Warranty and Field Service 71 Appendix B Revision History 73 Index 75 Table of Contents iXI4 XI4 Hardware Manual 4 www aerotech com...

Страница 5: ...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 Schema...

Страница 6: ...Encoder Input Pins on the Axis Connector 42 Table 2 18 Square Wave Encoder Specifications 43 Table 2 19 Sine Wave Encoder Specifications 45 Table 2 20 Auxiliary Encoder Pins on the Axis Connector 49 T...

Страница 7: ...Cable Part Numbers 63 Table 3 1 Standard Interconnection Cables 67 Table 4 1 LED Description 69 Table 4 2 Troubleshooting 69 Table 4 3 Preventative Maintenance 70 iXI4 XI4 Hardware Manual List of Tabl...

Страница 8: ...This page intentionally left blank List of Tables iXI4 XI4 Hardware Manual 8 www aerotech com...

Страница 9: ...d has been designed to be in conformity with the applicable requirements of the following standard s when installed and used in accordance with the manufacturer s supplied installation instructions IE...

Страница 10: ...This page intentionally left blank EU Declaration of Conformity iXI4 XI4 Hardware Manual 10 www aerotech com...

Страница 11: ...ovided by the 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 m...

Страница 12: ...n 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 customer to sa...

Страница 13: ...and OEM connections are the same Standard view shown Figure 1 Installation Connection Overview iXI4 4 Axis Shown 1 Connect the motor feedback and amplifier to the Axis Connectors Section 2 2 2 Connect...

Страница 14: ...he motor feedback and amplifier to the Axis Connectors Section 2 2 2 Connect the PC HyperWire to the HyperWire In port Section 2 5 3 Connect additional I O as required by your application Section 2 3...

Страница 15: ...perWire communication protocol It receives commands from a PC or a drive based controller Both drives provide deterministic behavior auto identification and are fully software configurable They can co...

Страница 16: ...Figure 1 2 XI4 Transconductance Amplifier Controller Chapter 1 iXI4 XI4 Overview iXI4 XI4 Hardware Manual 16 www aerotech com...

Страница 17: ...Figure 1 3 iXI4 OEM Transconductance Amplifier Controller iXI4 XI4 Hardware Manual Chapter 1 iXI4 XI4 Overview www aerotech com 17...

Страница 18: ...Figure 1 4 XI4 OEM Transconductance Amplifier Controller Chapter 1 iXI4 XI4 Overview iXI4 XI4 Hardware Manual 18 www aerotech com...

Страница 19: ...Axes of Control Standard Packaging 2P2 Two Axes of Control OEM Packaging 4P1 Four Axes of Control Standard Packaging 4P2 Four Axes of Control OEM Packaging Encoder Section 2 2 7 2 A0 No Absolute Enco...

Страница 20: ...The block diagram that follows shows a summary of the connector signals Figure 1 5 Functional Diagram Chapter 1 iXI4 XI4 Overview iXI4 XI4 Hardware Manual 20 www aerotech com...

Страница 21: ...nput Voltage 24 VDC Input Current 2 Axis 2 A max 0 45 A typical 4 Axis 2 A max 0 6 A typical User Power Supply Output 5 VDC 500 mA Modes of Operation Brushless Brush Stepper Protective Features Contro...

Страница 22: ...refer to Section 1 2 3 DIN Rail Mounting Weight Standard 0 59 kg OEM 0 23 kg Mounting Hardware Standard M4 8 screws four locations not included OEM M3 screws and M3 standoffs seven locations Mounting...

Страница 23: ...1 2 2 Dimensions IMPORTANT iXI4 and XI4 dimensions are the same iXI4 is shown Figure 1 6 Dimensions 2P1 Standard 2 Axis iXI4 XI4 Hardware Manual 1 2 2 Dimensions www aerotech com 23...

Страница 24: ...IMPORTANT iXI4 and XI4 dimensions are the same iXI4 is shown Figure 1 7 Dimensions 4P1 Standard 4 Axis 1 2 2 Dimensions iXI4 XI4 Hardware Manual 24 www aerotech com...

Страница 25: ...IMPORTANT iXI4 OEM and XI4 OEM dimensions are the same iXI4 OEM is shown Figure 1 8 Dimensions 2P2 OEM 2 Axis iXI4 XI4 Hardware Manual 1 2 2 Dimensions www aerotech com 25...

Страница 26: ...IMPORTANT iXI4 OEM and XI4 OEM dimensions are the same iXI4 OEM is shown Figure 1 9 Dimensions 4P2 OEM 4 Axis 1 2 2 Dimensions iXI4 XI4 Hardware Manual 26 www aerotech com...

Страница 27: ...hole extends beyond the last component at each end 3 Secure the DIN Rail to the mounting surface with 10 32 screws spaced every six inches NOTE Do not install the DIN rail to the mounting surface wit...

Страница 28: ...nstall the standoffs to the mounting surface with the drive already attached 2 Attach the drive to the standoffs with the M3 screws These screws are included with the drive Table 1 5 OEM Mounting Part...

Страница 29: ...perate 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 C...

Страница 30: ...This page intentionally left blank 1 4 Drive and Software Compatibility iXI4 XI4 Hardware Manual 30 www aerotech com...

Страница 31: ...Pin Description Recommended Wire Size 24 V 24 VDC 10 Control Power Input 2 Axis 2 A max 0 45 A typical 4 Axis 2 A max 0 6 A typical 0 34 mm2 22 AWG 0 V Control Power Common Input 0 34 mm2 22 AWG Prot...

Страница 32: ...ctional 12 Absolute Clock Output 13 Reserved N A 14 Current Command B Output 15 Amplifier Fault Input 16 Hall Effect Sensor B Input Stepper Clock Output 17 Hall Effect Sensor C Input Stepper Direction...

Страница 33: ...ure this output type Table 2 5 Current Command Pins on the Axis Connector Pin Description In Out Bi 1 Current Command A Output 3 Signal Common Output 14 Current Command B Output Table 2 6 Current Comm...

Страница 34: ...ut Specifications Specification Value Output Voltage 5V TTL Maximum Output Frequency 25 MHz Maximum Source Sink Current 20 mA Clock Default State Logic Low 0 V Direction Default State Logic Low 0 V Ma...

Страница 35: ...Figure 2 4 Stepper Clock and Stepper Direction Output Schematic iXI4 XI4 Hardware Manual 2 2 2 Stepper Clock and Stepper Direction Signals www aerotech com 35...

Страница 36: ...ll effect sensors are not available when the ServoLoopSetup parameter is configured for stepper clock and direction outputs Table 2 10 Hall Effect Feedback Pins on the Axis Connector Pin Description I...

Страница 37: ...signals in the Diagnostics section of the Status Utility Table 2 11 Hall Signal Diagnostics Hall Signal Status Definition 0 V or logic low ON 5 V or logic high Figure 2 6 Positive Motor Direction Fig...

Страница 38: ...s Connector Pin Description In Out Bi 3 Signal Common Output 7 Clockwise End of Travel Limit Input 8 5 V Supply 500 mA Output 20 Counterclockwise End of Travel Limit Input The active state High Low of...

Страница 39: ...the CW 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...

Страница 40: ...Use the FaultSetup parameter to configure the active polarity The use of this input is optional Table 2 13 Amplifier Fault Input Specifications Specification Value Maximum Input Voltage 5V Figure 2 11...

Страница 41: ...a fail safe state you must install external pull resistors on the output to pull it to a safe state when the amplifier is disabled Table 2 14 Amplifier Enable Connector Pin on the Axis Connector Pin D...

Страница 42: ...ary encoder input on the Axis connector Table 2 16 Multiplier Options Option Primary Encoder Accepts Auxiliary Encoder Accepts MX0 Square Wave or Absolute encoders Square Wave encoders MX1 Sine Wave S...

Страница 43: ...d signal connection Use twisted pair wiring for the highest performance and noise immunity Table 2 18 Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 ns mini...

Страница 44: ...wiring for the highest performance and noise immunity You cannot echo an absolute encoder signal Refer to Figure 2 14 for the serial data stream interface Refer to the Help file for information on how...

Страница 45: ...gh bandwidth mode Because this mode increases sensitivity to system noise use it only if necessary You cannot use a sine wave encoder with the MX1 multiplier option as an input to the PSO The MX1 opti...

Страница 46: ...Figure 2 16 Sine Wave Encoder Schematic Axis Connector 2 2 7 Primary Encoder Inputs iXI4 XI4 Hardware Manual 46 www aerotech com...

Страница 47: ...the motor by hand in the CW positive direction while observing the position of the encoder in the diagnostics display see Figure 2 18 Figure 2 17 Encoder Phasing Reference Diagram Standard IMPORTANT...

Страница 48: ...erUnit parameters and the motor moves in a clockwise direction when you view the motor from the front mounting flange Figure 2 19 If the motor moves in a counterclockwise direction swap the motor lead...

Страница 49: ...20 Auxiliary Encoder Pins on the Axis Connector Pin Description In Out Bi 5 Auxiliary Sine Bidirectional 6 Auxiliary Cosine Bidirectional 18 Auxiliary Sine Bidirectional 19 Auxiliary Cosine Bidirectio...

Страница 50: ...t 5 Opto Isolated Digital Output 7 Output 19 Input Common for Digital Inputs 0 3 Output 6 Opto Isolated Digital Input 0 Input 20 Opto Isolated Digital Input 1 Input 7 Opto Isolated Digital Input 2 Inp...

Страница 51: ...tion They will resume normal operation when the overload is removed Table 2 24 Digital Output Specifications Digital Output Specifications Value Maximum Voltage 24 V 26 V Maximum Maximum Sink Source C...

Страница 52: ...Figure 2 21 Digital Outputs Schematic 2 3 1 Digital Outputs iXI4 XI4 Hardware Manual 52 www aerotech com...

Страница 53: ...Figure 2 22 Digital Outputs Connected in Current Sourcing Mode Figure 2 23 Digital Outputs Connected in Current Sinking Mode iXI4 XI4 Hardware Manual 2 3 1 Digital Outputs www aerotech com 53...

Страница 54: ...applications They should only be used with ground referenced circuits Table 2 26 Digital Input Specifications Input Voltage Approximate Input Current Turn On Time Turn Off Time 5 V to 24 V 6 mA 10 s 4...

Страница 55: ...an all sourcing or all sinking configuration Figure 2 25 Digital Inputs Connected to Current Sourcing PNP Devices Figure 2 26 Digital Inputs Connected to Current Sinking NPN Devices iXI4 XI4 Hardware...

Страница 56: ...ation Table 2 28 High Speed Input Specifications Specification Value Input Voltage 5V 24 V input voltages Input Current 10 mA Input Device HCPL 0630 Delay 50 nsec Table 2 29 High Speed Input Pins on t...

Страница 57: ...ommon Output 16 Analog Output 1 Output 6 Analog Common Output 7 Analog Input 0 Differential Input 17 Analog Input 0 Differential Input 8 Analog Input 1 Differential Input 18 Analog Input 1 Differentia...

Страница 58: ...ut event is received until the rising edge of the synchronization signal occurs Table 2 32 PSO Specifications Specification Value Output 5 V 50 mA max Maximum PSO Output Fire Frequency 12 5 MHz Output...

Страница 59: ...Figure 2 29 PSO External Sync Input Schematic iXI4 XI4 Hardware Manual 2 4 1 Position Synchronized Output PSO Interface www aerotech com 59...

Страница 60: ...2 35 Analog Output Specifications Specification Value Output Voltage 10 V to 10 V Output Current 5 mA Resolution bits 16 bits Table 2 36 Analog Output Pins on the Analog I O and Laser Interface Conne...

Страница 61: ...Input Impedance 1 M 1 Signals outside of this range may damage the input Table 2 38 Analog Input Pins on the Analog I O and Laser Interface Connector Pin Description In Out Bi 6 Analog Common Output...

Страница 62: ...tion Description DriveEncoderOutputConfigureDivider DriveEncoderOutputConfigureInput DriveEncoderOutputOn DriveEncoderOutputOff Configure each Sync port as an input or an output PsoDistanceConfigureIn...

Страница 63: ...o 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 41 HyperWire Card Part Number Part Number De...

Страница 64: ...2 6 System Interconnection Figure 2 32 Drive Based Controller System Interconnection Best Practice 2 6 System Interconnection iXI4 XI4 Hardware Manual 64 www aerotech com...

Страница 65: ...Figure 2 33 PC Based Controller System Interconnection Best Practice iXI4 XI4 Hardware Manual 2 6 System Interconnection www aerotech com 65...

Страница 66: ...Information For more information about hardware requirements PC configuration programming system operation and utilities refer to the Help file 2 7 PC Configuration and Operation Information iXI4 XI4...

Страница 67: ...detent position Three buttons are used to select axis pairs and speed ranges An optional interlock signal is used to indicate to the controller that the joystick is present Joystick control will not...

Страница 68: ...ential quadrature signals to the drive IMPORTANT You can find instructions on how to enable the handwheel in the online Help file Connect a handwheel to the Axis Connector as shown in Figure 3 2 Figur...

Страница 69: ...The light will illuminate and remain illuminated while power is applied ENB FLT GREEN Any of the axes are Enabled RED Any of the axes are in a Fault Condition GREEN RED alternates Any of the axes are...

Страница 70: ...electrically conductive material go into the chassis Examine all cables and connections to make sure they are correct Make sure that all connections are correctly attached and not loose Replace cables...

Страница 71: ...ation 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 aerote...

Страница 72: ...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 N...

Страница 73: ...dix B Revision History Revision Description 1 02 Added support for iXI4 1 01 Added Chapter 3 Cables and Accessories 1 00 New manual iXI4 XI4 Hardware Manual Appendix B Revision History www aerotech co...

Страница 74: ...This page intentionally left blank Appendix B Revision History iXI4 XI4 Hardware Manual 74 www aerotech com...

Страница 75: ...imit Input 38 Axis Enable Output 41 B BiSS absolute encoder 44 Brushless Motor Powered Motor Phasing 37 C Cables HyperWire 63 Sync Port 62 Cables and Accessories 67 cables examining 70 Check for fluid...

Страница 76: ...ous fluids 70 examining dangerous material 70 F Feature Summary 19 Feedback Connector Absolute Encoder 44 Hall Effect Inputs 36 RS 422 Line Driver Encoder 43 Square Wave Encoder 43 Feedback Monitoring...

Страница 77: ...out Amplifier Enable Connector Axis Connector 41 Analog I O and Laser Interface Connector 57 Analog Input Pins Analog I O and Laser Interface Connector 61 Analog Output Pins Analog I O and Laser Inter...

Страница 78: ...gnal Output 34 Stepper Direction Signal Output 34 Unit Weight 22 Square Wave Encoder 43 Square Wave Encoder Inputs Schematic Axis Connector 49 Square Wave Encoder Schematic Axis Connector 43 Square Wa...

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