Aerotech Automation1 iXC2 User manual

Revision 2.05

Automation1 iXC2 and XC2 PWM Digital Drives

HARDWAREMANUAL

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Table of Contents

Automation1 iXC2 and XC2 PWM Digital Drives 1

Table of Contents 3

List of Figures 5

List of Tables 7

EU Declaration of Conformity 9

Agency Approvals 10

Safety Procedures and Warnings 11

Handling and Storage 13

Installation Overview 14

Chapter 1: iXC2/XC2 Overview 17

1.1. Electrical Specifications 21

1.1.1. System Power Requirements 21

1.2. Mechanical Specifications 22

1.2.1. Mounting and Cooling 22

1.2.2. Dimensions 23

1.3. Environmental Specifications 25

1.4. Drive and Software Compatibility 25

Chapter 2: Installation and Configuration 27

2.1. Input Power Connections 27

2.1.1. Control Supply Connector 27

2.1.2. Motor Supply Connector 28

2.1.3. Minimizing Noise for EMC/CECompliance 29

2.2. Motor Power Output Connector 30

2.2.1. Brushless Motor Connections 31

2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 32

2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 33

2.2.2. DCBrush Motor Connections 34

2.2.2.1. DC Brush Motor Phasing 34

2.2.3. Stepper Motor Connections 35

2.2.3.1. Stepper Motor Phasing 35

2.2.4. Three Phase Stepper Motor Connections 36

2.2.4.1. Stepper Motor Phasing 36

2.3. Feedback Connector 37

2.3.1. Primary Encoder Inputs 38

2.3.1.1. Square WaveEncoder (Primary) 39

2.3.1.2. Absolute Encoder (Primary) 40

2.3.1.3. Sine Wave Encoder (Primary) [-MX1 Option] 41

2.3.1.4. Encoder Phasing 43

2.3.2. Hall-Effect Inputs 44

2.3.3. Thermistor Input 45

2.3.4. Encoder Fault Input 46

2.3.5. End of Travel and Home Limit Inputs 47

2.3.5.1. End of Travel and Home Limit Phasing 49

2.3.6. Brake Outputs 50

2.4. Safe Torque Off Input (STO) 51

2.4.1. STOStandards 53

2.4.2. STO Functional Description 54

2.4.3. STO Startup Validation Testing 55

2.4.4. STO Diagnostics 56

2.5. HyperWire Interface 57

2.6. System Interconnection 58

2.7. PC Configuration and Operation Information 61

Chapter 3: -EB1/-EB2 Option Expansion Board 63

3.1. PSOInterface [-EB1/-EB2] 64

3.2. Auxiliary Encoder Interface [-EB1/-EB2] 66

3.2.1. Square WaveEncoder (Auxiliary) 67

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3.3. Analog I/O [-EB1] 68

3.3.1. Analog Output 0 [-EB1] 69

3.3.2. Analog Input (Differential) [-EB1] 70

3.4. Digital Outputs [-EB1] 71

3.5. Digital Inputs [-EB1] 74

3.6. Industrial Ethernet (iXC2 -EB2 Option Only) 77

Chapter 4: Cables and Accessories 79

4.1. DIN Rail Mounting 80

4.2. Joystick Interface 81

4.3. Handwheel Interface 82

4.4. Dual-PSO Adapter Cable 83

Chapter 5: Maintenance 85

5.1. Preventative Maintenance 86

5.2. Fuse Specifications 86

Appendix A: Warranty and Field Service 87

Appendix B: Revision History 89

Index 91

iXC2/XC2 Hardware Manual

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List of Figures

Figure 1-1: iXC2 High Performance PWMAmplifier 17

Figure 1-2: XC2 High Performance PWMAmplifier 18

Figure 1-3: Functional Diagram 20

Figure 1-4: Dimensions [-EB0] 23

Figure 1-5: Dimensions [-EB1/-EB2] 24

Figure 2-1: Control Supply Connections 27

Figure 2-2: Motor Supply Connections 28

Figure 2-3: Brushless Motor Configuration 31

Figure 2-4: Positive Motor Direction 32

Figure 2-5: Encoder and Hall Signal Diagnostics 32

Figure 2-6: Brushless Motor Phasing Oscilloscope Example 33

Figure 2-7: Brushless Motor Phasing Goal 33

Figure 2-8: DC Brush Motor Configuration 34

Figure 2-9: Positive Motor Direction 34

Figure 2-10: Stepper Motor Configuration 35

Figure 2-11: Positive Motor Direction 35

Figure 2-12: Stepper Motor Configuration 36

Figure 2-13: Positive Motor Direction 36

Figure 2-14: Square Wave Encoder Schematic (Feedback Connector) 39

Figure 2-15: Absolute Encoder Schematic (Feedback Connector) 40

Figure 2-16: Sine Wave Encoder Phasing Reference Diagram 41

Figure 2-17: Sine Wave Encoder Schematic (Feedback Connector) 42

Figure 2-18: Encoder Phasing Reference Diagram (Standard) 43

Figure 2-19: Position Feedback in the DiagnosticDisplay 43

Figure 2-20: Hall-Effect Inputs Schematic (Feedback Connector) 44

Figure 2-21: Thermistor Input Schematic (Feedback Connector) 45

Figure 2-22: Encoder Fault Input Schematic (Feedback Connector) 46

Figure 2-23: End of Travel and Home Limit Input Connections 48

Figure 2-24: End of Travel and Home Limit Input Schematic (Feedback Connector) 48

Figure 2-25: End of Travel and Home Limit Input Diagnostic Display 49

Figure 2-26: Brake Connected to the 25-Pin Feedback Connector (Typical) 50

Figure 2-27: Typical STO Configuration 52

Figure 2-28: STO Timing 56

Figure 2-29: Drive-Based System Wiring Drawing (Best Practice) 58

Figure 2-30: PC-Based System Wiring Drawing (Best Practice) 58

Figure 2-31: Drive-Based Controller System Interconnection (Best Practice) 59

Figure 2-32: PC-Based Controller System Interconnection (Best Practice) 60

Figure 3-1: Expansion Option Board Connectors (iXC2 shown) 63

Figure 3-2: PSO Output Sources Current 65

Figure 3-3: PSOOutput Sinks Current 65

Figure 3-4: PSO TTLOutputs Schematic 65

Figure 3-5: Square Wave Encoder Interface (Aux Connector) 67

Figure 3-6: Analog Output Schematic [-EB1] 69

Figure 3-7: Analog Input Schematic [-EB1] 70

Figure 3-8: Digital Outputs Schematic [-EB1] 72

Figure 3-9: Digital Outputs Connected in Current Sourcing Mode [-EB1] 73

Figure 3-10: Digital Outputs Connected in Current Sinking Mode [-EB1] 73

Figure 3-11: Digital Inputs Schematic [-EB1] 75

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Figure 3-12: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 76

Figure 3-13: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 76

Figure 4-1: Din Rail Clip Dimensions 80

Figure 4-2: Two Axis Joystick Interface 81

Figure 4-3: Handwheel Interconnection to the Aux Connector 82

Figure 4-4: Dual-Axis PSOCable Connection 83

iXC2/XC2 Hardware Manual

6 www.aerotech.com

List of Tables

Table 1-1: FeatureSummary 19

Table 1-2: Electrical Specifications 21

Table 1-3: Mounting Specifications 22

Table 1-4: Environmental Specifications 25

Table 1-5: Drive and Software Compatibility 25

Table 2-1: Control Supply Connector Pinout 27

Table 2-2: Control Supply Mating Connector Ratings 27

Table 2-3: Motor Supply Connector Pinout 28

Table 2-4: Motor Supply Mating Connector Ratings 28

Table 2-5: Motor Power Output Connector Pinout 30

Table 2-6: Motor Power Output Mating Connector Ratings 30

Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables 31

Table 2-8: Hall Signal Diagnostics 32

Table 2-9: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 34

Table 2-10: Wire Colors for Aerotech-Supplied Stepper Motor Cables 35

Table 2-11: Feedback Connector Pinout 37

Table 2-12: Feedback Mating Connector Ratings 37

Table 2-13: Multiplier Options 38

Table 2-14: Primary Encoder Pins on the Feedback Connector 38

Table 2-15: Square Wave Encoder Specifications 39

Table 2-16: Sine Wave Encoder Specifications 41

Table 2-17: Hall-Effect Feedback Pins on the Feedback Connector 44

Table 2-18: Thermistor Input Pin on the Feedback Connector 45

Table 2-19: Encoder Fault Input Pin on the Feedback Connector 46

Table 2-20: End of Travel and Home Limit Pins on the Feedback Connector 47

Table 2-21: Brake Output Pins on the Feedback Connector 50

Table 2-22: Brake Control Specifications 50

Table 2-23: STO Connector Pinout 51

Table 2-24: STOMating ConnectorRatings 51

Table 2-25: STOElectrical Specifications 52

Table 2-26: STOStandards 53

Table 2-27: STOStandards Data 53

Table 2-28: STOSignal Delay 55

Table 2-29: Motor Function Relative to STOInput State 55

Table 2-30: STOTiming 56

Table 2-31: HyperWire Card Part Number 57

Table 2-32: HyperWire Cable Part Numbers 57

Table 3-1: PSO Specifications [-EB1/-EB2] 64

Table 3-2: PSO Interface Connector Pinout [-EB1/-EB2] 64

Table 3-3: PSO Interface Mating Connector Ratings [-EB1/-EB2] 64

Table 3-4: Auxiliary Encoder Connector Pinout 66

Table 3-5: AUX Mating Connector Ratings 66

Table 3-6: Square Wave Encoder Specifications 67

Table 3-7: Analog I/O Connector Pinout [-EB1] 68

Table 3-8: Analog I/O Mating Connector Ratings [-EB1] 68

Table 3-9: Analog Output Specifications [-EB1] 69

Table 3-10: Analog Output Pins on the Analog I/OConnector [-EB1] 69

Table 3-11: Differential Analog Input Specifications [-EB1] 70

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Table 3-12: Analog Input Pins on the Analog I/OConnector [-EB1] 70

Table 3-13: Digital Output Specifications [-EB1] 71

Table 3-14: Digital Output Connector Pinout [-EB1] 71

Table 3-15: Digital Output Mating Connector Ratings [-EB1] 71

Table 3-16: Digital Input Specifications [-EB1] 74

Table 3-17: Digital Input Connector Pinout [-EB1] 74

Table 3-18: Digital Input Mating Connector Ratings [-EB1] 74

Table 4-1: Standard Interconnection Cables 79

Table 4-2: Mounting Parts 80

Table 5-1: LEDDescription 85

Table 5-2: Troubleshooting 85

Table 5-3: Preventative Maintenance 86

Table 5-4: Control Board Fuse Specifications 86

iXC2/XC2 Hardware Manual

8 www.aerotech.com

EU Declaration of Conformity

Manufacturer Aerotech, Inc.

Address 101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product iXC2/XC2

Model/Types All

This is to certify that the aforementioned product is in accordance with the applicable requirements

of the following directive(s):

2014/30/EU Electromagnetic Compatibility (EMC)

2014/35/EU Low Voltage Directive

2006/42/EC Machinery Directive

2011/65/EU RoHS 2 Directive

EU 2015/863 Amendment RoHS 3 Directive

and 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.

EN 61010-1:2010/AMD1:2016 Safety Requirements for Electrical Equipment

EN 61800-3:2004/A1:2011 EMCRequirements for Power Drives

IEC 61800-5-1:2016 Electrical Safety for Power Drive Systems

IEC 61800-5-2:2016 Functional Safety for Power Drive Systems

EN 55011:2000/A2:2003 Conducted and Radiated Emissions

EN 55022:1998 Conducted and Radiated Emissions

Authorized

Representative / Simon Smith, European Director

Aerotech Ltd

The Old Brick Kiln, Ramsdell, Tadley

Hampshire RG26 5PR

Engineer Verifying

Compliance / Alex Weibel

Aerotech, Inc.

101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Date 7/19/2022

Hardware Manual iXC2/XC2

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Agency Approvals

Aerotech tested its XC2 drives and found that they obey the standards that follow:

Approval: CUS NRTL

Approving Agency: TUV SUD America Inc.

Certificate #: U10 068995 0033 Rev. 00

Standards: CSA C22.2 No. 61010-1:2012/A1:2018-11,

UL 61010-1:2012/R2019-07

Certificate #: N8AUS 068995 0032 Rev. 01

Standards: CE Attestation of Conformity,

Low Voltage Directive 2014/35/EU,

EN 61010-1:2010/AMD1:2019

IMPORTANT: The safety components (STO) certification is pending for the iXC2.

Approval: Safety Components (STO)

Approving Agency: TUVSUD

Certificate #: Z10 068995 0030 Rev. 00

Standards: EN ISO 13849-1:2015 (up to PL e),

IEC 61508-1:2010 (up to SIL3),

IEC 61508-2:2010 (up to SIL3),

IEC 61800-5-2:2016,

IEC 62061:2005 (up to SILCL3),

IEC 62061:2005/AMD1:2012 (up to SILCL3),

IEC 62061:2005/AMD2:2015 (up to SILCL3)

Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates.

Type the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech

certificates.

iXC2/XC2 Hardware Manual

10 www.aerotech.com

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