HEX RC Hardware Manual

Transcription

1 HEX RC Hardware Manual Revision: AEROTECH.COM ON OFF HEX RC Powered by A USB USB2 USB3 ETHERNET FIREWIRE DVI DIGITAL / ANALOG IO 1 2 MPGA ESTOP 1 2 MOTOR / FEEDBACK

2 Global Technical Support Go to for information and support about your Aerotech products. The website provides downloadable resources (such as up-to-date software, product manuals, and Help files), training schedules, and PCto-PC remote technical support. You can also complete Product Return (RMA) forms and get information about repairs and spare or replacement parts. For immediate help, contact a service office or your sales representative. Have your customer order number available before you call or include it in your . Phone: Fax: service@aerotech.com United Kingdom Phone: +44 (0) Fax: +44 (0) service@aerotech.co.uk Germany Phone: +49 (0) Fax: +49 (0) service@aerotechgmbh.de France Phone: sales@aerotech.co.uk United States (World Headquarters) 101 Zeta Drive Pittsburgh, PA Japan Phone: +81 (0) Fax: +81 (0) service@aerotechkk.com.jp China Phone: +86 (21) saleschina@aerotech.com Taiwan Phone: +886 (0) service@aerotech.tw This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies. Copyright 2016, Aerotech, Inc. All rights reserved.

3 Table of Contents HEX RC Hardware Manual Table of Contents Table of Contents List of Figures List of Tables EC Declaration of Conformity Safety Procedures and Warnings Quick Installation Guide Chapter 1: Introduction Electrical Specifications Mechanical Specifications Environmental Specifications Drive and Software Compatibility 10 Chapter 2: Installation and Configuration Unpacking the Chassis Electrical Installation AC Power Connections Minimizing Conducted, Radiated, and System Noise I/O and Signal Wiring Requirements Motor Feedback Connections Encoder Inputs Square Wave (RS-422) Encoder Analog Encoder Interface Encoder Phasing Hall-Effect Inputs Thermistor Input End Of Travel Limit Inputs End Of Travel Limit Phasing Motor Output Interface Brushless Motor Connections DC Brush Motor Connections Stepper Motor Connections Digital and Analog I/O Connections Differential Analog Input Analog Output Opto-Isolated Outputs Opto-Isolated Inputs DVI Connector USB Connectors Ethernet Connector FireWire Connector 41 Chapter 3: Options Emergency Stop (-EST3) MPGA32 Connector 47 Chapter 4: Maintenance Power Board Assembly Preventative Maintenance 51 iii v vi vii ix xi iii

4 HEX RC Hardware Manual Table of Contents Appendix A: Warranty and Field Service 53 Appendix B: Revision History 55 Index 57 iv

5 Table of Contents HEX RC Hardware Manual List of Figures Figure 1-1: Chassis Layout 1 Figure 1-2: Functional Diagram 4 Figure 1-3: Dimensions 8 Figure 2-1: Power and Control Connections 12 Figure 2-2: Power Switch 12 Figure 2-3: Line Driver Encoder Interface 17 Figure 2-4: Analog Encoder Phasing Reference Diagram 18 Figure 2-5: Analog Encoder Signals 19 Figure 2-6: Encoder Phasing Reference Diagram (Standard) 20 Figure 2-7: Position Feedback in the Diagnostic Display 20 Figure 2-8: Hall-Effect Inputs 21 Figure 2-9: Thermistor Input 22 Figure 2-10: End of Travel Limit Input Connections 23 Figure 2-11: End of Travel Limit Inputs 23 Figure 2-12: Limit Input Status Utility 24 Figure 2-13: Brushless Motor Configuration 26 Figure 2-14: Encoder and Hall Signal Diagnostics 27 Figure 2-15: Motor Phasing Oscilloscope Example 28 Figure 2-16: Brushless Motor Phasing Goal 28 Figure 2-17: DC Brush Motor Configuration 29 Figure 2-18: Clockwise Motor Rotation 29 Figure 2-19: Stepper Motor Configuration 30 Figure 2-20: Clockwise Motor Rotation 30 Figure 2-21: Analog Input 1 32 Figure 2-22: Analog Output 1 33 Figure 2-23: Outputs Connected in Current Sourcing Mode 35 Figure 2-24: Outputs Connected in Current Sinking Mode 35 Figure 2-25: Inputs Connected to a Current Sourcing Device 37 Figure 2-26: Inputs Connected to a Current Sinking Device 37 Figure 2-27: DVI Connector Location 38 Figure 2-28: USB 2.0 Location 39 Figure 2-29: USB 3.0 Location 39 Figure 2-30: Ethernet Connection 40 Figure 2-31: FireWire Location 41 Figure 3-1: ESTOP Option Interface 44 Figure 3-2: ESTOP (-EST3) Option 45 Figure 3-3: ESTOP (-EST3) with MPGA32 Option 46 Figure 3-4: MPGA32 Connector Location 47 Figure 4-1: Power Board 50 v

6 HEX RC Hardware Manual Table of Contents List of Tables Table 1-1: Feature Summary 2 Table 1-2: Ordering Options 3 Table 1-3: Chassis Electrical Specifications 5 Table 1-4: Servo Amplifier Electrical Specifications (MP) 6 Table 1-5: Unit Weight 8 Table 1-6: A3200 Drive and Software Compatibility 10 Table 2-1: Main AC Power Input Voltages and Current Requirements 13 Table 2-2: AC Power Cord Wiring Specifications 13 Table 2-3: I/O and Signal Wiring Specifications 14 Table 2-4: Recommended Wire Sizes 14 Table 2-5: Motor Feedback Connector Pin Assignment 15 Table 2-6: Encoder Pin Assignment 16 Table 2-7: Encoder Specifications 17 Table 2-8: Analog Encoder Specifications 18 Table 2-9: Hall-Effect Feedback Pin Assignment 21 Table 2-10: Thermistor Interface Pin Assignment 22 Table 2-11: End of Travel Limit Inputs Pin Assignment 23 Table 2-12: Motor Output Connections 25 Table 2-13: Digital / Analog IO Connector Pin Assignment 31 Table 2-14: Differential Analog Input 1 Specifications 32 Table 2-15: Differential Analog Inputs Connector Pin Assignment 32 Table 2-16: Analog Output 1 Specifications 33 Table 2-17: Analog Output Connector Pin Assignment 33 Table 2-18: Opto-Isolated Output Specifications 34 Table 2-19: Opto-Isolated Output Connector Pin Assignment 34 Table 2-20: Digital Input Specifications 36 Table 2-21: Opto-Isolated Input Connector Pin Assignment 36 Table 2-22: Ethernet Cable Listing 40 Table 2-23: FireWire Repeaters (for cables exceeding 4.5 m (15 ft) specification) 41 Table 2-24: FireWire Cables (copper and glass fiber) 41 Table 3-1: Options and Capabilities 43 Table 3-2: ESTOP Option Mating Connector 44 Table 3-3: ESTOP Safety Ratings 45 Table 3-4: Relay Specifications 45 Table 3-5: MPGA Connector Pin Assignments 48 Table 4-1: Component Select 50 Table 4-2: Preventative Maintenance 51 vi

7 Declaration of Conformity HEX RC Hardware Manual EC Declaration of Conformity Manufacturer Address Product Model/Types Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA USA HEX RC All This is to certify that the aforementioned product is in accordance with the applicable requirements of the following Directive(s): 2014/35/EU 2006/42/EC 2011/65/EU Low Voltage Directive LVD Machinery Directive RoHS 2 Directive and has been designed to be in conformity with the applicable requirements of the following documents when installed and used in accordance with the manufacturer s supplied installation instructions. EN ISO & -2 Safety requirements for electrical equipment Safety related parts of control systems Name Position Location / Alex Weibel Engineer Verifying Compliance Pittsburgh, PA vii

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9 Electrical Safety HEX RC Hardware Manual Safety Procedures and Warnings The following statements apply wherever the Warning or Danger symbol appears within this manual. Failure to observe these precautions could result in serious injury to those individuals performing the procedures and/or damage to the equipment. D A N G E R : This product contains potentially lethal voltages. To reduce the possibility of electrical shock, bodily injury, or death the following precautions must be followed. 1. Disconnect electrical power before servicing equipment. 2. Disconnect electrical power before performing any wiring. 3. To minimize the possibility of electrical shock and bodily injury, extreme care must be exercised when any electrical circuits are in use. Suitable precautions and protection must be provided to warn and prevent persons from making contact with live circuits. 4. Do not connect or disconnect any electrical components or connecting cables while connected to a power source. 5. All components must be properly grounded in accordance with local electrical safety requirements. 6. Operator safeguarding requirements must be addressed during final integration of the product. W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the following precautions must be followed. 1. Use of this equipment in ways other than described by this manual can cause personal injury or equipment damage. 2. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts must be restricted while connected to a power source. 3. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid potential hazards. 4. Do not expose this product to environments or conditions outside of the listed specifications. Exceeding environmental or operating specifications can cause damage to the equipment. 5. If the product is used in a manner not specified by the manufacturer, the protection provided by the product can be impaired and result in damage, shock, injury, or death. 6. Operators must be trained before operating this equipment. 7. All service and maintenance must be performed by qualified personnel. 8. This product is intended for light industrial manufacturing or laboratory use. Use of this product for unintended applications can result in injury and damage to the equipment. ix

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11 Quick Installation Guide HEX RC Hardware Manual Quick Installation Guide This chapter describes the order in which connections and settings should typically be made to the HEX RC. If a custom interconnection drawing was created for your system (look for a line item on your Sales Order under the heading Integration ), that drawing can be found on your installation device. The HEX RC is provided to the user fully configured for operation of a Hexapod, including servo tuning for the user's load requirements (if provided to Aerotech). For additional information about HEX RC, programming, utilities, and system operation see the A3200 Help file in the Aerotech folder of the Windows Start menu on the HEX RC. 1 Connect the power source to the AC Power input 2 Connect a monitor, keyboard, and mouse (optional) 3 4 Connect each Hexapod stage cable to a Motor/Feedback connector. NOTE: Each axis of the HEXAPOD will be numbered and must be connected to the corresponding Motor/Feedback controller. Connect the external Emergency Stop (ESTOP) to the HEX RC Controller (if the -EST3 option is present). 2 DVI DIGITAL / ANALOG IO 1 2 USB2 USB3 ETHERNET FIREWIRE MPGA PC Connection 4 ESTOP ESTOP MOTOR / FEEDBACK AC Power Motor Power and Feedback Figure 1: Quick Start Connections xi

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13 Introduction HEX RC Hardware Manual Chapter 1: Introduction Aerotech s HEX RC is a high-performance, 6-axis motion controller ideal for controlling robotic systems like hexapods. The HEX RC is 4U high, rack-mountable, and compatible with the Automation 3200 motion platform. The HEX RC features 6-axes of drives capable of controlling any combination of brush, brushless, or stepper motors. The HEX RC performs both current loop and servo loop closures digitally to ensure the highest level of positioning accuracy and performance. With the A3200 distributed control architecture, the HEX RC can connect and control up to 26 additional axes of servo, stepper, or piezo-driven stages. In environments such as beamlines, the HEX RC can interface with a host control platform and receive control commands via an ASCII command interface over TCP/IP. Alternatively, the HEX RC can act as a master controller and control other A3200 external drives via the FireWire interface. The HEX RC can accept amplified-sine or digital encoders. With on-board encoder multiplication up to 4096 high-resolution positioning is realized in a cost-effective, high-performance package. An optional 6-axis jog pendant can be added for manual control of the positioning system. In safety critical applications, an emergency stop option with redundant safety relays is available. AEROTECH.COM Power Switch / Circuit Breaker ON OFF HEX RC Powered by A USB USB DVI DVI USB Ethernet USB2 USB3 ETHERNET FIREWIRE Firewire DIGITAL / ANALOG IO 1 2 MPGA ESTOP MPGA Digital / Analog I/O ESTOP AC Power Input 1 2 MOTOR / FEEDBACK Motor / Feedback Figure 1-1: Chassis Layout Chapter 1 1

14 HEX RC Hardware Manual Introduction Table 1-1: Feature Summary Feature Processor Number of Axes Encoder Inputs Motor Style Power Supply Power Output Bus Voltage Peak Output Current (1 sec) (1) Continuous Output Current (1) Digital Inputs Digital Outputs Analog Inputs Analog Outputs High-Speed Data Capture Emergency Stop (ESTOP) Position Synchronized Output (PSO) Primary Encoder Input Frequency (1 Vpp) Primary Encoder Input Frequency (RS-422) Interfaces Fieldbus USB Ports Video Port Jog Pendant Encoder Multiplication Current Loop Update Rate Servo Loop Update Rate Power Amplifier Bandwidth Minimum Load Inducatance Description Intel i5, 4 Core, 3.1 GHz, 6 MB Cache, 8 GB memory Six Six (1 Vpp or RS-422) Brush, Brushless, Stepper Single-Phase VAC; 50/60 Hz (factory configured) 600 w continuous 80 VDC 10 Apk 5 Apk 16, opto-isolated 16, opto-isolated Eight total, ±10 V 12-bit differential One on each I/O connector, One on each axis connector Two, ±5 V 16-bit Yes (50 ns latency) Optional Single Axis Standard 200 khz sine wave 10 MHz square wave / 40 MHz count rate ASCII command interface via TCP/IP; FireWire (IEEE-1394) Modbus TCP on PC Three (USB 3.0 x 2; USB 2.0 x 1), Used for Peripheral Device Connection DVI-I Optional, Six Axis (MPGA) Programmable up to x khz 8 khz Selectable through software 0.1 mh Operating Temperature 0 to 50 C Storage Temperature -30 to 85 C Weight 25 kg 1. Peak value of the sine wave; rms current for AC motors is 0.707* Apk 2 Chapter 1

15 Introduction HEX RC Hardware Manual Table 1-2: Ordering Options HEX RC Multi-Axis Robotic Controller HEX RC Rack-mount, six-axis, robotic controller with FireWire with TCP/IP ASCII interfaces; VAC singlephase power supply. Line Voltage (Required) -A 115 VAC line -B 230 VAC line -C 100 VAC line -D 200 VAC line Line Cord (Optional) -LC1 US 115 VAC line cord -LC2 US 230 VAC line cord -LC3 UK compatible line cord -LC4 German compatible line cord -LC5 Israel compatible line cord -LC6 India compatible line cord -LC7 Australian compatible line cord Jog Pendant Connection (Required) -JP0 Standard No jog pendant connector interface -JP1 Connector interface for six-axis jog pendant (MPGA32); jog-pendant must be ordered as separate line item Options -EST3 -SL1 ESTOP3 controller stops motion, then disables servo control; internal positive guided relays with monitor contact disconnect AC power source from motor (uses two relays for redundancy); contains one-second bus discharge resistors; operator risk assessment is the responsibility of the end user or integrator Rack-mount slides Accessories (Ordered as a separate line item) MPGA32 Six-axis jog pendant Chapter 1 3

16 HEX RC Hardware Manual Introduction The following block diagram illustrates the features and options of the HEX RC. 24V, COM DVI Video Port ESTOP SIN, COS MPGA (Option) 5V, COM Communications USB (x3) Analog Output 1 Communications Ethernet Port Analog Input 1 ± 8 Opto Inputs (Sinking or Sourcing) DIGITAL / ANALOG IO (up to x2) Communications FireWire Port 8 Opto Outputs (Sinking or Sourcing) -MXU SIN, COS, MRK ESTOP (optional) Switch CW, CCW, Home Limits; Encoder Fault; Hall A, B, C; Motor Over Temperature Analog Input 0 ± Encoder +5V / Common Motor (+, -, ) MOTOR OUTPUT/ FEEDBACK (up to x6) ESTOP Motor Power Heatsink Over Temperature AC Power Input Control Power Supply Amplifier Control Power Amplifier Figure 1-2: Functional Diagram 4 Chapter 1

17 Introduction HEX RC Hardware Manual 1.1. Electrical Specifications The electrical specifications for the HEX RC drive chassis are listed in Table 1-3 and the electrical specifications for the servo amplifiers in Table 1-4 and 1.1. Table 1-3: Chassis Electrical Specifications Description Total Motor Power Supply Input Current Inrush Current Leakage Current AC Power Input Auxiliary Power Outputs Protection Indicator (Power) Specifications W 100 VAC 10 A Maximum 115 VAC 10 A Maximum 200 VAC 6 A Maximum 230 VAC 5 A Maximum VAC <1/5 60 Hz / 254 VAC AC input (factory configured): AC Hi, AC Lo, Earth Ground ( ), 100 VAC ( VAC, Hz) 115 VAC ( VAC, Hz) 200 VAC ( VAC, Hz) 230 VAC ( VAC, Hz) +5 V is provided on all axis feedback connectors for encoder, Hall, and limit power. Power switch / breaker (10 A, Supplemental Protection only). Fuses on motor bus supply transformer. Bus supply inrush current limit during power-on. Power switch contains a power-on indicator. Chapter 1 5

18 HEX RC Hardware Manual Introduction The HEX RC uses an Ndrive MP10 with encoder multiplier (MXU) for each axis. The first two axes contain the I/O option, which is available to the user through the two Digital/Analog I/O connectors on the rear panel of the HEX RC. Table 1-4: Servo Amplifier Electrical Specifications (MP) MP 10 Output Voltage 80 VDC (referenced to earth ground) Peak Output Current (1 second) 10 A Continuous Output Current 5 A Power Amplifier Bandwidth 2500 Hz maximum (software selectable) Power Amplifier Efficiency 85% - 95% PWM Switching Frequency 20 khz Minimum Load Inductance VDC User Power Supply Output 5 VDC (@ 500 milliamps) Modes of Operation Brushless; Brush; Stepper Output short circuit; Peak over current; RMS over current; Protective Features Over temperature; Control power supply under voltage; Power stage bias supply under voltage Isolation Optical and transformer isolation between control and power stages. 6 Chapter 1

19 Introduction HEX RC Hardware Manual 1.2. Mechanical Specifications The HEX RC must be installed in a rack mount console to comply with safety standards. Mount the HEX RC so free airflow is available at the rear of the chassis. Allowance must also be made for the rear panel connections and cables. D A N G E R / H E A V Y : Refer to Table 1-5 for chassis mass specifications. The HEX RC exceeds 25 kg (55 lbs). Use both handles to carefully lift and carry the HEX RC. Chapter 1 7

20 HEX RC Hardware Manual Introduction [16.87] USB2 USB3 ETHERNET FIREWIRE DVI DIGITAL / ANALOG IO 1 2 MPGA ESTOP 1 2 MOTOR / FEEDBACK [17.62] 8.3 [0.33] (TYP.) [17.50] 37.7 [1.48] 41.7 [1.64] [21.10] [22.47] [19.00] [18.75] [18.35] [18.25] [6.97] 7.1 [0.28] (4 PLS.) AEROTECH.COM ON OFF 66.2 [2.60] 82.0 [3.23] 94.7 [3.73] [4.35] [5.48] HEX RC Powered by A320 0 USB Drawing Number: 620E1422- Figure 1-3: Dimensions Table 1-5: Unit Weight Description Chassis Weight (typical) Weight 25 kg 8 Chapter 1

21 Introduction HEX RC Hardware Manual 1.3. Environmental Specifications The environmental specifications for the HEX RC are listed below. Ambient Temperature Operating: 5 to 50 C (41 to 122 F) Storage: -30 to 85 C (-22 to 185 F) Humidity Maximum relative humidity is 80% for temperatures up to 31 C. Decreasing linearly to 50% relative humidity at 40 C. Non condensing. Altitude Up to 2000 meters. Pollution Pollution degree 2 (normally only non-conductive pollution). Use Indoor use only. Audible Noise 71 db at 1 meter (rear fan and side fan) 77 db at 1 meter (rear fan and side fan) Chapter 1 9

22 HEX RC Hardware Manual Introduction 1.4. Drive and Software Compatibility The following table lists the available A3200 drives and which version of the A3200 software first supported the drive. Drives that list a specific version number in the Last Software Version column will not be supported after the listed version. Table 1-6: A3200 Drive and Software Compatibility Drive Type Firmware Revision First Software Version Last Software Version HEX RC Current Ndrive CL A Ndrive CP A 2.10 Current B 2.19 Current Ndrive FLS Current Ndrive FLS A Current Ndrive HL Ndrive HLe Current Ndrive HP A Ndrive HPe Current Ndrive ML Current Ndrive MP Current Ndrive QL and QLe Current Nmark CLS Current A Current Nmark GCL Current Nmark SSaM Current A Current Npaq A 2.09 Current Npaq MR with ML drives Current Npaq MR with MP drives Current Nservo Current Nstep Current 10 Chapter 1

23 Installation and Configuration HEX RC Hardware Manual Chapter 2: Installation and Configuration 2.1. Unpacking the Chassis Visually inspect the container of the HEX RC for any evidence of shipping damage. If any such damage exists, notify the shipping carrier immediately. Remove the packing list from the HEX RC container. Make sure that all the items specified on the packing list are contained within the package. D A N G E R / H E A V Y : Refer to Table 1-5 for chassis mass specifications. The HEX RC exceeds 25 kg (55 lbs). Use both handles to carefully lift and carry the HEX RC. All of the documentation provided with the HEX RC should be saved for future reference. Additional information about the HEX RC system is provided on the Serial and Power labels that are placed on the HEX RC chassis. The system serial number label contains important information such as the: Customer order number (please provide this number when requesting product support) Drawing number System part number The AC power input label is located beside the AC power inlet and contains the factory configured AC power requirements. Chapter 2 11

24 HEX RC Hardware Manual Installation and Configuration 2.2. Electrical Installation N O T E : The machine integrator, OEM, or end user is responsible for meeting the final protective grounding requirements of the system. Motor, power, control and position feedback cable connections are made to the rear of the HEX RC. DVI DVI USB Ethernet USB2 USB3 ETHERNET FIREWIRE Firewire DIGITAL / ANALOG IO 1 2 MPGA ESTOP MPGA Digital / Analog I/O ESTOP AC Power Input 1 2 MOTOR / FEEDBACK Motor / Feedback Figure 2-1: Power and Control Connections AEROTECH.COM Power Switch / Circuit Breaker ON OFF HEX RC Powered by A USB Figure 2-2: Power Switch All low voltage connections must be made using cables and wires sized for the maximum currents that will be carried. Low voltage wiring should not be bundled with AC and motor wiring to minimize signal disturbances due to EMI interference and coupling. 12 Chapter 2

25 Installation and Configuration HEX RC Hardware Manual AC Power Connections AC input power to the HEX RC is applied to the AC power receptacle that is located on the rear panel. The power cord connected to this receptacle also provides the protective earth ground connection and may serve as a Mains disconnect. The main power switch is located on the front panel of the HEX RC. The main power switch also functions as a 10 A breaker (supplementary protection only) for the incoming AC power. Refer to Section 1.1. for the electrical specifications. The HEX RC drive chassis is factory-configured for one of four specified input voltages. The factory configured AC input voltages, along with the current requirements for the HEX RC drive chassis, are listed in Table 2-1. Table 2-1: Main AC Power Input Voltages and Current Requirements AC Input Voltage Input Amps (maximum continuous) Wire Size 100 VAC 50/60 Hz 10 A 16 AWG (1.5 mm 2 ) 115 VAC 50/60 Hz 10 A 16 AWG (1.5 mm 2 ) 200 VAC 50/60 Hz 6 A 18 AWG (1 mm 2 ) 230 VAC 50/60 Hz 5 A 18 AWG (1 mm 2 ) Environmental conditions may necessitate the need to meet additional AC wiring requirements or specifications. AC wiring should not be bundled with signal wiring to minimize EMI coupling and interference. Table 2-2: AC Power Cord Wiring Specifications Specification Value Cord/Wire Rating 300 V Minimum Current Capacity 10 A Temperature Rating (Insulation) (1) 80 C 1. The insulation rating for the AC power wiring must be appropriately rated for the operating environment. Chapter 2 13

26 HEX RC Hardware Manual Installation and Configuration Minimizing Conducted, Radiated, and System Noise To reduce electrical noise, observe the following wiring techniques. 1. Use shielded cable to carry the motor current and tie the shield to the connector backshell. 2. Use a cable with sufficient insulation. This will reduce the capacitive coupling between the leads that, in turn, reduces the current generated in the shield wire. 3. User connections to the product must be made using shielded cables with metal D-style connectors and back shells. The shield of the cables must be connected to the metal back shell in order for the product to conform to radiated emission standards. 4. The HEX RC is a component designed to be integrated with other electronics. EMC testing must be conducted on the final product configuration I/O and Signal Wiring Requirements The I/O, communication, and encoder feedback connections are typically very low power connections. In some applications, especially when there are significant wire distances, a larger wire size may be required to reduce the voltage drop that occurs along the wire. This increase may be necessary in order to keep the voltage within a specified range at a remote point. Low voltage and high voltage wires should be kept physically separated so that they cannot contact one another. This reduces the risk of electric shock and improves system performance. Table 2-3: I/O and Signal Wiring Specifications Connection Specification Value Cable/Wire Rating (1) 300 V Signal Wiring Minimum Current Capacity.25 A Temperature Rating (Insulation) (2) 80 C Cable/Wire Rating (1) 300 V Low Voltage Power Minimum Current Capacity (3) 1 A Temperature Rating (Insulation) (2) 80 C V if the wiring is not in close proximity to wiring operating at voltages above 60 V. 2. Insulation rating will need to be rated for the higher voltage if the wiring is in proximity to wiring operating at voltages above 60 V. 3. Larger gauge wire may be required to minimize voltage drop due to voltage (IR) loss in the cable. Table 2-4: Recommended Wire Sizes AWG mm Chapter 2

27 Installation and Configuration HEX RC Hardware Manual 2.3. Motor Feedback Connections The motor feedback connector (a 25-pin, D-style connector) has connections for an encoder, limit switches, Hall-effect devices, motor over-temperature device, 5 V encoder and limit power, and motor connections. Table 2-5: Motor Feedback Connector Pin Assignment Pin# Description In/Out/Bi Connector 1 Key (Ensures that correct cable is plugged into the correct jack) Input 2 Cosine-N Input 3 Sine-N Input 4 Marker-N Input 5 Common -- 6 Common -- 7 Negative (CCW) hardware limit Input 8 Hall Effect sensor, phase A Input Hall Effect sensor, phase C Input 10 Frame ground Motor ØA Output 12 Motor ØB Output 13 Motor ØC Output 14 Cosine Input 15 Sine Input 16 Marker Input V power supply Output 18 Reserved Input Positive (CW) hardware limit Input 20 Motor Thermistor Input 21 Hall Effect sensor, phase B Input 22 Frame ground Motor ØA Output 24 Motor ØB Output 25 Motor ØC Output Mating Connector Aerotech P/N Third Party P/N 25-Pin D-Connector ECK00101 FCI DB25P064TXLF Backshell ECK00656 Amphenol 17E Chapter 2 15

28 HEX RC Hardware Manual Installation and Configuration Encoder Inputs The HEX RC contains Ndrive MP10 drives with the MXU option. The drive is parameter-configured for analog or square wave (RS-422) encoder signals. Refer to Section for encoder feedback phasing. N O T E : Encoder wiring should be physically isolated from AC power and other high-voltage wiring. Table 2-6: Encoder Pin Assignment Pin# Description In/Out/Bi 2 Cosine-N Input 3 Sine-N Input 4 Marker-N Input 5 Common Cosine Input 15 Sine Input 16 Marker Input V power supply Output 16 Chapter 2

29 Installation and Configuration HEX RC Hardware Manual Square Wave (RS-422) Encoder The standard encoder interface accepts an RS-422 differential quadrature line driver signal. Invalid or missing signals will cause a feedback fault when the axis is enabled. An analog encoder is used with the -MXU option (refer to Section for more information). Table 2-7: Encoder Specifications Specification Voltage Encoder Frequency x4 Quadrature Decoding Value 5 VDC 10 MHz maximum (25 nsec minimum edge separation) 40 million counts/sec +5V 10K 10K 10K 10K +3.3V PIN-14 PIN-2 PIN-15 PIN ENCODER FAULT DETECTION DS26LV V PIN-16 PIN-4 MRK+ COS+ COS- SIN+ SIN- MRK- 180 DS26LV32 Figure 2-3: Line Driver Encoder Interface Chapter 2 17

30 HEX RC Hardware Manual Installation and Configuration Analog Encoder Interface The HEX RC controller contains Ndrive MP10 drives with the MXU option. The drive is software-configured to accept analog encoder signals (refer to the A3200 Help file for information on the PositionFeedbackType and EncoderMultiplicationFactor parameters). The encoder interpolation factor is software-selectable (refer to the A3200 Help file). Table 2-8: Analog Encoder Specifications Specification Input Frequency (max) Input Amplitude Interpolation Factor (software selectable) Value 200 khz 0.6 to 2.25 Vpk-Vpk 4,096 Refer to Figure 2-4 for the MXU typical input circuitry. The encoder interface pin assignment is indicated in Section The gain, offset, and phase balance of the analog Sine and Cosine encoder input signals can all be adjusted via controller parameters. Encoder signals should be adjusted using the Feedback Tuning tab of the Digital Scope, which will automatically adjust the encoder parameters for optimum performance. See the A3200 Help file for more information. SIN LINEAR MOTOR Forcer Wires Positive MOVE (Clockwise) SIN-N Magnet Track Forcer COS 1Vpk-pk COS-N ROTARY MOTOR MRK Motor Shaft MRK-N Positive MOVE (Clockwise) CW Rotation (Positive Direction) Motor Mounting Flange (Front View) Figure 2-4: Analog Encoder Phasing Reference Diagram 18 Chapter 2

31 Installation and Configuration HEX RC Hardware Manual PIN-16 MRK+ 1K 82PF 82PF PIN-4 MRK- 1K 1K 82PF 82PF A 82PF 82PF 1K 1K - + AD822 1K UF 6.3V A PIN-15 SIN+ 1K 82PF 82PF PIN-3 SIN- 1K 1K 82PF 82PF A 82PF 82PF 1K 1K - + AD822 2K UF 6.3V A PIN-14 COS+ 1K 82PF 82PF 1K 82PF 1K PIN-2 COS- 1K 82PF A 82PF 82PF 1K - + AD822 2K UF 6.3V A Figure 2-5: Analog Encoder Signals Chapter 2 19

32 HEX RC Hardware Manual Installation and Configuration Encoder Phasing Incorrect encoder polarity will cause the system to fault when enabled or when a move command is issued. Figure 2-6 illustrates the proper encoder phasing for clockwise motor rotation (or positive forcer movement for linear motors). To verify, move the motor by hand in the CW (positive) direction while observing the position of the encoder in the diagnostics display (see Figure 2-7). The Motor Phasing Calculator in the Configuration Manager can be used to determine proper encoder polarity COS LINEAR MOTOR Forcer Wires Positive MOVE (Clockwise) COS-N Magnet Track Forcer SIN SIN-N ROTARY MOTOR MRK MRK-N Motor Shaft CW Rotation (Positive Direction) Motor Mounting Flange (Front View) Positive MOVE (Clockwise) Figure 2-6: Encoder Phasing Reference Diagram (Standard) N O T E : Encoder manufacturers may refer to the encoder signals as A, B, and Z. The proper phase relationship between signals is shown in Figure 2-6. Figure 2-7: Position Feedback in the Diagnostic Display 20 Chapter 2

33 Installation and Configuration HEX RC Hardware Manual Hall-Effect Inputs The Hall-effect switch inputs are recommended for AC brushless motor commutation but not absolutely required. The Hall-effect inputs accept 5-24 VDC level signals. An invalid Hall state (0,0,0) or (1,1,1) will generate a "Hall Fault" axis fault. Refer to Section for Hall-effect device phasing. Table 2-9: Hall-Effect Feedback Pin Assignment Pin# Description In/Out/Bi 5 Common -- 8 Hall Effect sensor, phase A Input 9 Hall Effect sensor, phase C Input 10 Frame ground V power supply Output 21 Hall Effect sensor, phase B Input +5V 10K 10K 10K PIN-8 PIN-21 PIN-9 HALL A HALL B HALL C 10K 10K 10K UF.01UF.01UF Figure 2-8: Hall-Effect Inputs Chapter 2 21

34 HEX RC Hardware Manual Installation and Configuration Thermistor Input The thermistor input is used to detect a motor over temperature condition by using a positive temperature coefficient sensor. As the temperature of the sensor increases, so does the resistance. Under normal operating conditions, the resistance of the thermistor is low (i.e., 100 ohms) which will result in a low input signal. As the increasing temperature causes the thermistor s resistance to increase, the signal will be seen as a logic high triggering an over temperature fault. The nominal trip value of the sensor is 1k Ohm. Table 2-10: Thermistor Interface Pin Assignment Pin# Description In/Out/Bi 20 Motor Thermistor Input +5V 10K PIN-20 THERMISTOR 10K UF Figure 2-9: Thermistor Input 22 Chapter 2

35 Installation and Configuration HEX RC Hardware Manual End Of Travel Limit Inputs End of Travel (EOT) limits are used to define the end of physical travel. The EOT limit inputs accept 5-24 VDC level signals. The active state of the EOT limits is software selectable (refer to the A3200 Help file). Limit directions are relative to the encoder polarity in the diagnostics display (refer to Figure 2-12). Positive motion is stopped by the clockwise (CW) end of travel limit input. Negative motion is stopped by the counterclockwise (CCW) end of travel limit input. The Home Limit switch can be parameter configured for use during the home cycle, however, the CW or CCW EOT limit is typically used instead. N O T E : The Home Limit signal is not available on the HEX RC. The end of travel limits must be used during homing V Limit Com 17 6 Normally closed shown (typical). CW 19 CCW Figure 2-10: End of Travel Limit Input Connections Table 2-11: End of Travel Limit Inputs Pin Assignment Pin# Description In/Out/Bi 6 Common -- 7 Negative (CCW) hardware limit Input V power supply Output 19 Positive (CW) hardware limit Input +5V 10K 10K 10K PIN-19 PIN-7 POSITIVE/CW LMT NEGATIVE/CCW LMT 10K 10K 10K NOTE: An open collection NPN type limit switch is recommended uf.01uf.01uf Figure 2-11: End of Travel Limit Inputs Chapter 2 23

36 HEX RC Hardware Manual Installation and Configuration End Of Travel Limit Phasing If the EOT limits are reversed, you will be able to move further into a limit but be unable to move out. To correct this, swap the connections to the CW and CCW inputs at the motor feedback connector. The logic level of the EOT limit inputs may be viewed in the Status Utility (shown in Figure 2-12). Figure 2-12: Limit Input Status Utility 24 Chapter 2

37 Installation and Configuration HEX RC Hardware Manual Motor Output Interface The HEX RC is capable of driving three motor types: Brushless Motors (Hexapod): refer to Section DC Brush Motors: refer to Section Stepper Motors: refer to Section Table 2-12: Motor Output Connections Pin# Description In/Out/Bi 10 Frame ground Motor ØA Output 12 Motor ØB Output 13 Motor ØC Output 22 Frame ground Motor ØA Output 24 Motor ØB Output 25 Motor ØC Output Chapter 2 25

38 HEX RC Hardware Manual Installation and Configuration Brushless Motor Connections The configuration shown in Figure 2-13 is an example of a typical brushless motor connection. To Backshell Recommended Wire Size AWG mm 2 22 (1) Two wires in parralel required. Motor Frame AC Brushless Motor [Pins 10, 22] ØA [Pins 11, 23] ØB [Pins 12, 24] ØC [Pins 13, 25] Brushless Motor Phasing Figure 2-13: Brushless Motor Configuration Brushless motors are commutated electronically by the controller, typically using Hall-effect devices. If you are using standard Aerotech motors and cables, motor phasing adjustments are not required and this section may be skipped. The controller requires that the Back-EMF of each motor phase be aligned with the corresponding Hall-effect signal. To ensure proper alignment, motor, Hall, and encoder connections should be verified using one of the following methods: powered, through the use of a test program; or unpowered using an oscilloscope. Both methods will identify the A, B, and C Hall/motor lead sets and indicate the correct connections to the controller. 26 Chapter 2

39 Installation and Configuration HEX RC Hardware Manual Powered Motor Phasing Refer to the Motor Phasing Calculator in the Configuration Manager for motor, Hall, and encoder phasing. Feedback Monitoring The state of the encoder and Hall-effect device signals can be observed in the Status Utility. An L for the given Hall input indicates zero voltage or logic low, where a H indicates 5V or logic high. Figure 2-14: Encoder and Hall Signal Diagnostics Chapter 2 27

40 HEX RC Hardware Manual Installation and Configuration Unpowered Motor and Feedback Phasing Disconnect the motor from the controller and connect the motor in the test configuration shown in Figure This method will require a two-channel oscilloscope, a 5V power supply, and six resistors (10,000 ohm, 1/4 watt). All measurements should be made with the probe common of each channel of the oscilloscope connected to a neutral reference test point (TP4, shown in Figure 2-15). Wave forms are shown while moving the motor in the positive direction. CHANNEL 1 CHANNEL 2 TP1 TP2 TP3 TP4 Power Supply 10K OHM TYP "Wye" Configuration Motor Lead 1 = ØB Motor Lead 2 = ØC Motor Lead 3 = ØA COM +5V TP5 TP6 TP7 10K OHM TYP COM +5V Hall 1 Hall 2 Hall 3 Figure 2-15: Motor 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 connector A, motor lead B to motor connector B, and motor lead C to motor connector C. Hall leads should also be connected to their respective feedback connector pins (Hall A lead to the Hall A feedback pin, Hall B to Hall B, and Hall C to Hall C). The motor is correctly phased when the Hall states correspond to the states at each of the electrical angles (Figure 2-16). Use the CommutationOffset parameter to correct for Hall signal misalignment Hall A Hall B +5V 0V Hall C ØC ØB ØA ØC ØB +V Motor Back EMF 0V -V Figure 2-16: Brushless Motor Phasing Goal 28 Chapter 2

41 Installation and Configuration HEX RC Hardware Manual DC Brush Motor Connections The configuration shown in Figure 2-17 is an example of a typical DC brush motor connection. To Backshell Recommended Wire Size AWG mm 2 22 (1) Two wires in parralel required. Motor Frame [Pins 10, 22] ØA [Pins 11, 23] ØC [Pins 13, 25] + DC Brush - Motor Figure 2-17: DC Brush Motor Configuration DC Brush Motor Phasing A properly phased motor means that the positive motor lead should be connected to the ØA motor terminal and the negative motor lead should be connected to the ØC motor terminal. To determine if the motor is properly phased, connect a voltmeter to the motor leads of an un-powered motor: 1. Connect the positive lead of the voltmeter to the one of the motor terminals. 2. Connect the negative lead of the voltmeter to the other motor terminal. 3. Rotate the motor clockwise by hand. ROTARY MOTOR Motor Mounting Flange (Front View) Motor Shaft POSITIVE MOTION Figure 2-18: Clockwise Motor Rotation 4. If the voltmeter indicates a negative value, swap the motor leads and rotate the motor (CW, by hand) again. When the voltmeter indicates a positive value, the motor leads have been identified. 5. Connect the motor lead from the voltmeter to the ØA motor terminal on the HEX RC. Connect the motor lead from the negative lead of the voltmeter to the ØC motor terminal on the HEX RC. N O T E : If using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. Chapter 2 29

42 HEX RC Hardware Manual Installation and Configuration Stepper Motor Connections The configuration shown in Figure 2-19 is an example of a typical stepper motor connection. In this case, the effective motor voltage is half of the applied bus voltage. For example, an 80V motor bus supply is needed to get 40V across the motor. To Backshell Recommended Wire Size AWG mm 2 22 (1) Two wires in parralel required. Motor Frame A A [Pins 10, 22] ØA [Pins 11, 23] ØB [Pins 12, 24] ØC [Pins 13, 25] B B Stepper Motor Note the common connection of A and B phases. Figure 2-19: Stepper Motor Configuration Stepper Motor Phasing N O T E : If using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. 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. ROTARY MOTOR Motor Mounting Flange (Front View) Motor Shaft POSITIVE MOTION Figure 2-20: Clockwise Motor Rotation 30 Chapter 2

43 Installation and Configuration HEX RC Hardware Manual 2.4. Digital and Analog I/O Connections The HEX RC includes Ndrive MP10 I/O connectors for axes one and two. The I/O connections includes 8 digital opto-inputs, 8 digital opto-outputs, 1 analog input, 1 analog output, a second encoder channel, and a brake/relay output. Table 2-13: Digital / Analog IO Connector Pin Assignment Pin# Description In/Out/Bi Connector 1 Analog Input 1+ (Differential) Input 2 Analog Input 1- (Differential) Input 3 Internal +5 Volt Power Supply (500 ma max) Output 4 Input Common for Opto-Inputs 0-3 Input 5 Optically-Isolated Input 0 Input 6 Optically-Isolated Input 1 Input 7 Optically-Isolated Input 2 Input 8 Optically-Isolated Input 3 Input Output Common + Input 10 Optically-Isolated Output 0 Output 11 Optically-Isolated Output 1 Output 12 Optically-Isolated Output 2 Output 13 Optically-Isolated Output 3 Output 14 Analog Output 1 Output 15 Ground N/A 16 Input Common for Opto-Inputs 4-7 Input 17 Optically-Isolated Input 4 Input 18 Optically-Isolated Input 5 Input 19 Optically-Isolated Input 6 Input Optically-Isolated Input 7 Input 21 Output Common - Input 22 Optically-Isolated Output 4 Output 23 Optically-Isolated Output 5 Output 24 Optically-Isolated Output 6 Output 25 Optically-Isolated Output 7 Output Mating Connector Aerotech P/N Third Party P/N 25-Pin D-Connector ECK00101 FCI DB25P064TXLF Backshell ECK00656 Amphenol 17E Chapter 2 31

44 HEX RC Hardware Manual Installation and Configuration Differential Analog Input 1 Analog Input 1 is a differential input. To interface to a single-ended (non-differential) voltage source, connect the signal common of the source to the negative input and the analog source signal to the positive input. A floating signal source should be referenced to the ground as shown in Figure Table 2-14: Differential Analog Input 1 Specifications Specification Value (AI+) - (AI-) +10 V to -10 V (1) Resolution (bits) 12 bits Resolution (volts) 4.88 mv 1. Signals outside of this range may damage the input Table 2-15: Differential Analog Inputs Connector Pin Assignment Pin# Description In/Out/Bi 1 Analog Input 1+ (Differential) Input 2 Analog Input 1- (Differential) Input 15 Ground N/A Signal Source Shielded Cable ANALOG IN1+ PIN K K ANALOG IN1- PIN-2 GND PIN K 10 A Figure 2-21: Analog Input 1 32 Chapter 2

45 Installation and Configuration HEX RC Hardware Manual Analog Output 1 Analog outputs are referenced to the analog common. The ground pin is set to zero when the system is powered-up or during a system reset. Table 2-16: Analog Output 1 Specifications Specification Value Output Voltage -5 V to +5 V Output Current 5 ma Resolution (bits) 16 bits Resolution (volts) 153 µv Table 2-17: Analog Output Connector Pin Assignment Pin# Description In/Out/Bi 14 Analog Output 1 Output 15 Ground N/A 20K PIN-14 PIN-15 AOUT GND 10K Figure 2-22: Analog Output 1 Chapter 2 33

46 HEX RC Hardware Manual Installation and Configuration Opto-Isolated Outputs The digital outputs are driven by optically-isolated solid state relays and may be connected in sourcing or sinking configurations. The digital outputs are designed to connect to other ground referenced circuits and are not intended to provide high-voltage isolation. The outputs are software-configurable and must be connected in either all sinking or all sourcing mode. Figure 2-23 and Figure 2-24 illustrate how to connect to an output in current sourcing and current sinking modes, respectively. The opto-isolator's common connections can be directly connected to the drive's power supply; however, doing so will effectively defeat the isolation and will reduce noise immunity. N O T E : Power supply connections must always be made to both the Output Common Plus (OP) and Output Common Minus (OM) pins as shown in Figure 2-23 and Figure Table 2-18: Opto-Isolated Output Specifications Opto Device Specifications Value Maximum Voltage 24 V maximum Maximum Sink/Source Current C; C Output Saturation Voltage 2.75 V at maximum current Output Resistance 33 Ω Rise / Fall Time 250 usec (typical) Maximum Output Frequency 1 khz Table 2-19: Opto-Isolated Output Connector Pin Assignment Pin# Description In/Out/Bi 9 Output Common + Input 10 Optically-Isolated Output 0 Output 11 Optically-Isolated Output 1 Output 12 Optically-Isolated Output 2 Output 13 Optically-Isolated Output 3 Output 21 Output Common - Input 22 Optically-Isolated Output 4 Output 23 Optically-Isolated Output 5 Output 24 Optically-Isolated Output 6 Output 25 Optically-Isolated Output 7 Output Suppression diodes must be installed on outputs driving relays or other inductive devices. This protects the outputs from damage caused by inductive spikes. Suppressor diodes, such as the 1N914, can be installed on all outputs to provide protection. It is important that the diode be installed correctly (normally reversed biased). Refer to Figure 2-24 for an example of a current sinking output with diode suppression and Figure 2-23 for an example of a current sourcing output with diode suppression. 34 Chapter 2

47 Installation and Configuration HEX RC Hardware Manual PIN-9 OP PIN-10 PIN-11 OPTOOUT0 OPTOOUT LOAD PIN-12 PIN-13 OPTOOUT2 OPTOOUT3 + LOAD + LOAD 5-24 VDC Electronic Switches CONTROLLER + LOAD PIN-21 OM 3 1 Opto-Outputs 4-7 not shown. 2 Diode required on each output that drives an inductive device (coil), such as a relay. 3 Connection required to minimize glitching. Figure 2-23: Outputs Connected in Current Sourcing Mode PIN-9 OP 3 CONTROLLER Electronic Switches + LOAD 5-24 VDC PIN-10 OPTOOUT0 + LOAD PIN-11 OPTOOUT1 + LOAD PIN-12 PIN-13 OPTOOUT2 OPTOOUT3 1 + LOAD 2 PIN-21 OM 1 Opto-Outputs 4-7 not shown. 2 Diode required on each output that drives an inductive device (coil), such as a relay. 3 Connection required to minimize glitching. Figure 2-24: Outputs Connected in Current Sinking Mode Chapter 2 35

48 HEX RC Hardware Manual Installation and Configuration Opto-Isolated Inputs The digital inputs are opto-isolated and may be connected to current sourcing or current sinking devices, as shown in Figure 2-25 and Figure These inputs are designed to connect to other ground-referenced circuits and are not intended for high-voltage isolation. The opto-isolator's common connections can be directly connected to the drive's power supply; however, doing so will effectively defeat the isolation and will reduce noise immunity. Table 2-20: Digital Input Specifications Input Voltage Approximate Input Current Turn On Time Turn Off Time +5 V 1 ma 200 usec 2000 usec +24 V 6 ma 4 usec 1500 usec Table 2-21: Opto-Isolated Input Connector Pin Assignment Pin# Description In/Out/Bi 4 Input Common for Opto-Inputs 0-3 Input 5 Optically-Isolated Input 0 Input 6 Optically-Isolated Input 1 Input 7 Optically-Isolated Input 2 Input 8 Optically-Isolated Input 3 Input 16 Input Common for Opto-Inputs 4-7 Input 17 Optically-Isolated Input 4 Input 18 Optically-Isolated Input 5 Input 19 Optically-Isolated Input 6 Input 20 Optically-Isolated Input 7 Input 36 Chapter 2

49 Installation and Configuration HEX RC Hardware Manual Input Switches OPTOIN0 PIN-5 OPTOIN1 PIN VDC OPTOIN2 PIN-7 CONTROLLER OPTOIN3 PIN-8 Opto-Inputs 4-7 not shown. OPTOIN COMMON 1 PIN-4 Figure 2-25: Inputs Connected to a Current Sourcing Device OPTOIN COMMON 1 PIN-4 Input Switches 5-24 VDC OPTOIN0 PIN-5 OPTOIN1 PIN-6 CONTROLLER OPTOIN2 PIN-7 OPTOIN3 PIN-8 Opto-Inputs 4-7 not shown. Figure 2-26: Inputs Connected to a Current Sinking Device Chapter 2 37

50 HEX RC Hardware Manual Installation and Configuration 2.5. DVI Connector The DVI connector is a video display interface. DVI USB2 USB3 ETHERNET FIREWIRE DVI DIGITAL / ANALOG IO 1 2 MPGA ESTOP 1 2 MOTOR / FEEDBACK Figure 2-27: DVI Connector Location 38 Chapter 2

51 Installation and Configuration HEX RC Hardware Manual 2.6. USB Connectors The HEX RC supplies three USB ports for peripheral device connection. AEROTECH.COM USB ON OFF HEX RC Powered by A USB Figure 2-28: USB 2.0 Location USB2 USB3 USB2 USB3 ETHERNET FIREWIRE DVI DIGITAL / ANALOG IO 1 2 MPGA ESTOP 1 2 MOTOR / FEEDBACK Figure 2-29: USB 3.0 Location Chapter 2 39

52 DVI DIGITAL / ANALOG IO DVI DIGITAL / ANALOG IO USB2 USB3 ETHERNET FIREWIRE MPGA MPGA ESTOP MOTOR / FEEDBACK USB2 USB3 ETHERNET FIREWIRE ESTOP MOTOR / FEEDBACK HEX RC Hardware Manual Installation and Configuration 2.7. Ethernet Connector The Ethernet connector provides a 10/100 Ethernet connection to the HEX RC controller. This may be connected directly to a hub or switch, or to a PC using a crossover cable. This port is viewed by the supplied software applications to communicate with the controller. It may also be configured for Modbus TCP/IP or simple ASCII communications. Table 2-22: Ethernet Cable Listing Cable Name ENET-XOVER-X Length x = 9, 15, 30, 45, 60, 75, 100 or 150 decimeters Ethernet I/O Module or PC Crossover CAT5 cable Ethernet HUB or Switch Ethernet I/O Module or PC standard CAT5 cable standard CAT5 cable Figure 2-30: Ethernet Connection 40 Chapter 2