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XC2 Hardware Manual

Chapter 2: Installation and Configuration

2.2.3.1. Stepper Motor Phasing

A stepper motor can be run with or without an encoder. If an encoder is not being used, phasing is not
necessary. With an encoder, test for proper motor phasing by running a positive motion command.

If there is a positive scaling factor (determined by the CountsPerUnit parameters) and the motor moves in a
clockwise direction, as viewed looking at the motor from the front mounting flange, the motor is phased
correctly. If the motor moves in a counterclockwise direction, swap the motor leads and re-run the
command.

Proper motor phasing is important because the end of travel (EOT) limit inputs are relative to motor rotation.

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.

NOTE:

After the motor has been phased, use the ReverseMotionDirection parameter to change the

direction of “positive” motion.

www.aerotech.com

35

Содержание XC2

Страница 1: ...Revision 1 00 00 XC2 Hardware Manual...

Страница 2: ...2 967 6870 101 Zeta Drive Pittsburgh PA 15238 2811 www aerotech com United Kingdom Japan Email Support aerotech com Phone 44 0 1256 855055 Fax 44 0 1256 855649 Email Support aerotech com Phone 81 0 50...

Страница 3: ...hless Motor Unpowered Motor and Feedback Phasing 31 2 2 2 DC Brush Motor Connections 32 2 2 2 1 DC Brush Motor Phasing 33 2 2 3 Stepper Motor Connections 34 2 2 3 1 Stepper Motor Phasing 35 2 3 Feedba...

Страница 4: ...67 3 5 Digital Outputs EB1 69 Chapter 4 Cables and Accessories 73 4 1 DIN Rail Mounting 74 4 2 Joystick Interface 75 4 3 Handwheel Interface 76 Chapter 5 Maintenance 77 5 1 Preventative Maintenance 77...

Страница 5: ...ic Feedback Connector 44 Figure 2 19 Thermistor Input Schematic Feedback Connector 45 Figure 2 20 Encoder Fault Input Schematic Feedback Connector 46 Figure 2 21 End of Travel Limit Input Connections...

Страница 6: ...List of Figures XC2 Hardware Manual 6 www aerotech com This page intentionally left blank...

Страница 7: ...6 Table 2 18 End of Travel Limit Input Pins on the Feedback Connector 47 Table 2 19 Brake Output Pins on the Feedback Connector 50 Table 2 20 Brake Control Specifications 50 Table 2 21 STO Connector P...

Страница 8: ...Pinout EB1 69 Table 3 18 Mating Connector Part Numbers for the Digital Output Connector EB1 69 Table 4 1 Standard Interconnection Cables 73 Table 4 2 Mounting Parts 74 Table 5 1 Preventative Maintenan...

Страница 9: ...een 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 EN 61326...

Страница 10: ...EU Declaration of Conformity XC2 Hardware Manual 10 www aerotech com This page intentionally left blank P E N D I N G...

Страница 11: ...fore you do maintenance to the equipment disconnect the electrical power 3 Wait at least one 1 minute after removing the power supply before doing maintenance or an inspection Otherwise there is the d...

Страница 12: ...Safety Procedures and Warnings XC2 Hardware Manual 12 www aerotech com This page intentionally left blank...

Страница 13: ...ine item on your Sales Order in the Integration section Motor and Feedback Connections Section 2 2 Motor Power Output Connector and Section 2 3 Feedback Connector HyperWire Section 2 5 HyperWire Inter...

Страница 14: ...Quick Installation Guide XC2 Hardware Manual 14 www aerotech com This page intentionally left blank...

Страница 15: ...drive based on the HyperWire communication protocol The drive provides deterministic behavior auto identification is fully software configurable A double precision floating point DSP controls the dig...

Страница 16: ...3 EB0 No expansion board EB1 I O expansion board l 16 bit analog output 10 V l 16 bit differential analog input 10 V l 8 digital logic inputs 5 24 VDC can be connected to current sourcing or sinking...

Страница 17: ...XC2 Hardware Manual Chapter 1 Introduction The block diagram that follows shows a summary of the connector signals Figure 1 2 Functional Diagram www aerotech com 17...

Страница 18: ...utput Current 5 A Power Amplifier Bandwidth 2500 Hz maximum software selectable Power Amplifier Efficiency 85 95 2 PWM Switching Frequency 20 kHz Minimum Load Inductance 0 1 mH 100 VDC User Power Supp...

Страница 19: ...ower transformer Use an EfficiencyFactor of approximately 90 in the following equations Brushless Motor Output Power Rotary Motors Power Output W Torque N m Angular velocity rad sec Linear Motors Powe...

Страница 20: ...unt the XC2 so free airflow is available at the front top and along the sides of the chassis for cooling You must also allow space for connections and cables along the front top and bottom The figure...

Страница 21: ...XC2 Hardware Manual Chapter 1 Introduction Figure 1 4 Dimensions EB1 www aerotech com 21...

Страница 22: ...ensing The maximum relative humidity is 80 for temperatures that are less than 31 C and decreases linearly to 50 relative humidity at 40 C Operating Altitude 0 m to 2 000 m 0 ft to 6 562 ft above sea...

Страница 23: ...h version of the software first supported each drive In the Last Software Version column drives that show a specific version number are not supported after that version Table 1 5 Drive and Software Co...

Страница 24: ...Chapter 1 Introduction XC2 Hardware Manual 24 www aerotech com This page intentionally left blank...

Страница 25: ...Refer to Table 5 2 for the internal fuse value and part number For CE compliance Aerotech recommends that you add a ferrite filter as close as possible to the XC2 Figure 2 1 Control Supply Connection...

Страница 26: ...possible to the XC2 Figure 2 2 Motor Supply Connections Table 2 3 Motor Supply Connector Wiring Specifications Pin Description Recommended Wire Size 2 DC 15 100 VDC Motor Power Input 0 5 mm2 20 AWG 0...

Страница 27: ...currents 6 Use a separate wire for each ground connection to the drive Aerotech recommends that you use the shortest possible wire length to connect to a central bus located close to the drive The fo...

Страница 28: ...otor connections are made to the 7 pin terminal block style connector that is located on the front panel The pinout for this connector is shown in Table 2 5 Table 2 5 Motor Power Output Connector Pino...

Страница 29: ...ommutated electronically by the controller The use of Hall effect devices for commutation is recommended The controller requires that the Back EMF of each motor phase be aligned with the corresponding...

Страница 30: ...uration Manager for motor Hall and encoder phasing Figure 2 4 Positive Motor Direction Feedback Monitoring The state of the encoder and Hall effect device signals can be observed in the Status Utility...

Страница 31: ...he motor in the positive direction Figure 2 6 Brushless Motor Phasing Oscilloscope Example With the designations of the motor and Hall leads of a third party motor determined the motor can now be conn...

Страница 32: ...asing Figure 2 8 DC Brush Motor Configuration Table 2 8 Wire Colors for Aerotech Supplied DC Brush Motor Cables Pin Wire Color Set 1 1 Wire Color Set 2 Wire Color Set 3 Green White Shield 2 Green Yell...

Страница 33: ...the other motor terminal 3 Move or rotate the motor in the positive or clockwise CW direction by hand Figure 2 9 Positive Motor Direction 4 If the voltmeter indicates a negative value swap the motor...

Страница 34: ...half of the applied bus voltage For example an 80V motor bus supply is needed to get 40V across the motor Figure 2 10 Stepper Motor Configuration Table 2 9 Wire Colors for Aerotech Supplied Stepper Mo...

Страница 35: ...n as viewed looking at the motor from the front mounting flange the motor is phased correctly If the motor moves in a counterclockwise direction swap the motor leads and re run the command Proper moto...

Страница 36: ...ock Output 7 Encoder Marker Reference Pulse Input Absolute Encoder Clock Output 8 Absolute Encoder Data Bidirectional 9 Reserved Input 10 Hall Effect Sensor A brushless motors only Input 11 Hall Effec...

Страница 37: ...XC2 to accept analog signals in addition to RS 422 and absolute encoder signals Refer to Section 2 3 1 4 for encoder feedback phasing Refer to Section 3 2 for the auxiliary encoder channel on the AUX...

Страница 38: ...differential signals Table 2 13 RS 422 Line Driver Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 ns minimum edge separation x4 Quadrature Decoding 40 million counts se...

Страница 39: ...ls The XC2 retrieves absolute position data along with encoder fault information via a serial data stream from the absolute encoder See Figure 2 13 for the serial data stream interface Refer to the He...

Страница 40: ...Use the Feedback Tuning tab of Digital Scope to automatically adjust the value of the gain offset and phase balance controller parameters to get the best performance For more information refer to the...

Страница 41: ...XC2 Hardware Manual Chapter 2 Installation and Configuration Figure 2 15 Analog Encoder Schematic Feedback Connector www aerotech com 41...

Страница 42: ...d in the CW positive direction while observing the position of the encoder in the diagnostics display see Figure 2 17 The Motor Phasing Calculator in the Configuration Manager can be used to determine...

Страница 43: ...XC2 Hardware Manual Chapter 2 Installation and Configuration Figure 2 17 Position Feedback in the Diagnostic Display www aerotech com 43...

Страница 44: ...is fault Refer to Section 2 2 1 1 for Hall effect device phasing Table 2 15 Hall Effect Feedback Pins on the Feedback Connector Pin Description In Out Bi 3 5V Power 1 Output 5 Hall Effect Sensor B bru...

Страница 45: ...result in a low input signal As the increasing temperature causes the thermistor s resistance to increase the sensor will trigger an over temperature fault The thermistor is connected between Pin 2 a...

Страница 46: ...s of encoder function The active state of this input is parameter configurable and the controller should be configured to disable the axis when the fault level is active The nominal trip voltage of th...

Страница 47: ...nput Pins on the Feedback Connector Pin Description In Out Bi 12 Clockwise End of Travel Limit Input 16 5V Power 1 Output 20 Signal Common N A 21 Signal Common N A 22 Home Switch Input Input 24 Counte...

Страница 48: ...ter 2 Installation and Configuration XC2 Hardware Manual Figure 2 21 End of Travel Limit Input Connections Figure 2 22 End of Travel Limit Input Interface Schematic Feedback Connector 48 www aerotech...

Страница 49: ...t be unable to move out To correct this swap the connections to the CW and CCW inputs at the Feedback connector or swap the CW and CCW limit functionality in the software using the EndOfTravelLimitSet...

Страница 50: ...also be manually controlled if you use the BRAKE command Table 2 19 Brake Output Pins on the Feedback Connector Pin Description In Out Bi 13 Brake Output Output 25 Brake Output Output Table 2 20 Brake...

Страница 51: ...d safety level is the sole responsibility of the user of XC2 Table 2 21 STO Connector Pinout Pin Signal Description In Out Bi Connector 1 Power Supply Used to defeat STO by connecting to STO 1 IN and...

Страница 52: ...hort circuits on the external STO wiring If this is not done by the external safety device short circuits on the wiring must be excluded Refer to EN ISO 13849 2 For Category 4 systems the exclusion of...

Страница 53: ...sconnects the high side power amplifier transistors and STO 2 disconnects the low side power amplifier transistors Disconnecting either set of transistors effectively prevents the XC2 from being able...

Страница 54: ...ed on the slice amplifier s main connector STO DELAY xx sec Table 2 26 STO Signal Delay Value STO Time Delay 450 550 msec Table 2 27 Motor Function Relative to STO Input State STO 1 STO 2 Motor Functi...

Страница 55: ...nals while trouble shooting In order to meet the listed SIL level the STO circuit must be activated power removed from both inputs according to the interval specified in Table 2 25 Table 2 28 STO Timi...

Страница 56: ...Table 2 29 HyperWire Card Part Number Part Number Description HYPERWIRE PCIE HyperWire adapter PCIe x4 interface Table 2 30 HyperWire Cable Part Numbers Part Number Description HYPERWIRE AO10 5 Hyper...

Страница 57: ...Installation and Configuration 2 6 PC Configuration and Operation Information For more information about hardware requirements PC configuration programming system operation and utilities refer to the...

Страница 58: ...Chapter 2 Installation and Configuration XC2 Hardware Manual 58 www aerotech com This page intentionally left blank...

Страница 59: ...1 I O Option Board Chapter 3 EB1 I O Option Board The EB1 I O option board has 8 digital inputs 8 digital outputs 1 analog input 1 analog output and PSO outputs Figure 3 1 XC2 with EB1 I O Option Boar...

Страница 60: ...A Maximum PSO Output Fire Frequency TTL 12 5 MHz Isolated 5 MHz Output Latency Fire event to output change TTL 5 ns Isolated 150 ns Table 3 2 PSO Interface Connector Pinout EB1 Pin Description In Out...

Страница 61: ...ent occurs The PSO Isolated Outputs are overload protected and will turn off if the maximum output current is exceeded Figure 3 2 PSO Output Sources Current Figure 3 3 PSO Output Sinks Current TTL Sig...

Страница 62: ...s that you use twisted pair wiring for all differential signals Table 3 4 Auxiliary Encoder RS 422 Specifications Specification Value Encoder Frequency 10 MHz maximum 25 ns minimum edge separation x4...

Страница 63: ...XC2 Hardware Manual Chapter 3 EB1 I O Option Board Figure 3 5 Auxiliary Encoder Interface www aerotech com 63...

Страница 64: ...nector Pinout EB1 Pin Description In Out Bi Connector 1 5 V Output 2 Analog Input 0 Input 3 Analog Input 0 Input 4 Ground N A 5 Ground N A 6 Analog Output 0 Output Table 3 8 Mating Connector Part Numb...

Страница 65: ...ignal source must be referenced to the analog common Refer to Figure 3 6 Table 3 9 Differential Analog Input Specifications EB1 Specification Value AI AI 10 V to 10 V 1 Resolution bits 16 bits Input I...

Страница 66: ...analog output is set to zero when you power on the system or reset the drive Table 3 11 Analog Output Specifications EB1 Specification Value Output Voltage 10 V to 10 V Output Current 5 mA Resolution...

Страница 67: ...ld only be used with ground referenced circuits Table 3 13 Digital Input Specifications EB1 Input Voltage Approximate Input Current Turn On Time Turn Off Time 5 V to 24 V 6 mA 10 s 43 s Table 3 14 Dig...

Страница 68: ...Each bank of four inputs must be connected in an all sourcing or all sinking configuration Figure 3 9 Digital Inputs Connected to Current Sourcing PNP Devices EB1 Figure 3 10 Digital Inputs Connected...

Страница 69: ...l operation when the overload is removed Table 3 16 Digital Output Specifications EB1 Digital Output Specifications Value Maximum Voltage 24 V 26 V Maximum Maximum Sink Source Current 250 mA output Ou...

Страница 70: ...Chapter 3 EB1 I O Option Board XC2 Hardware Manual Figure 3 11 Digital Outputs Schematic EB1 70 www aerotech com...

Страница 71: ...2 Hardware Manual Chapter 3 EB1 I O Option Board Figure 3 12 Digital Outputs Connected in Current Sourcing Mode EB1 Figure 3 13 Digital Outputs Connected in Current Sinking Mode EB1 www aerotech com 7...

Страница 72: ...Chapter 3 EB1 I O Option Board XC2 Hardware Manual 72 www aerotech com This page intentionally left blank...

Страница 73: ...cable drawings on the website at http www aerotechmotioncontrol com manuals index aspx Table 4 1 Standard Interconnection Cables Cable Part Description Joystick See Section 4 2 ECZ01231 BBA32 Interco...

Страница 74: ...the DIN rail so that one complete mounting 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 insta...

Страница 75: ...te unless the joystick is 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...

Страница 76: ...ontrol axis position The handwheel must provide 5V differential quadrature signals to the XC2 NOTE You can find instructions on how to enable the handwheel in the Help file Connect a handwheel to the...

Страница 77: ...area to make sure there are no fluids and no electrically conductive materials Do not let fluids and electrically conductive material go into the XC2 Examine all cables and connections to make sure t...

Страница 78: ...y with the factory specified value and type Table 5 2 Control Board Fuse Specifications Fuse Description Size Aerotech P N Third Party P N F1 Control Power at DC Input 2 A EIF00136 Littelfuse 0251002...

Страница 79: ...without such approval A Return Materials Authorization RMA number must accompany any returned product s The RMA number may be obtained by calling an Aerotech service center or by submitting the appro...

Страница 80: ...the terms and conditions stated in the following On Site Non Warranty Repair section apply On site Non Warranty Repair If any Aerotech product cannot be made functional by telephone assistance or pur...

Страница 81: ...XC2 Hardware Manual Appendix B Revision History Appendix B Revision History Revision Description 1 00 00 New Manual www aerotech com 81...

Страница 82: ...Appendix B Revision History XC2 Hardware Manual 82 www aerotech com This page intentionally left blank...

Страница 83: ...ons EB1 66 Analog Output Typical Connection EB1 66 Analog Outputs EB1 66 AUX Connector Mating Connector Part Numbers 62 AUX Connector Pinout 62 Auxiliary Encoder Channel EB1 62 Auxiliary Encoder Conne...

Страница 84: ...out EB1 69 Digital Output Specifications EB1 69 Digital Outputs EB1 64 69 Digital Outputs Connected in Current Sinking Mode EB1 71 Digital Outputs Connected in Current Sourcing Mode EB1 71 Digital Out...

Страница 85: ...nected to a Current Sinking Device EB1 68 Digital Inputs Connected to a Current Sourcing Device EB1 68 Digital Inputs Schematic EB1 67 Digital Outputs Schematic EB1 70 Dimensions without EB1 20 Dimens...

Страница 86: ...aintenance 77 material electrically conductive 77 Mating Connector P N Analog I O AI O Connector EB1 64 AUX Connector 62 Control Supply Connector 25 Digital Input Connector EB1 67 Digital Output Conne...

Страница 87: ...or 51 Thermistor Input Pin Feedback Connector 45 Pollution 22 Position Feedback in the Diagnostic Display 43 Position Synchronized Output PSO Interface EB1 60 Positive Motor Direction 30 Power Amplifi...

Страница 88: ...ting Connector Part Numbers 51 Motor Function Relative to the STO Input State 54 Signal Delay 54 Standards 53 Standards Data 53 Startup Validation Testing 54 Timing 55 Typical Configuration 52 Support...

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