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XCR Cable kit (XCR-CAB) - Product Manual

Introduction

This document explains the content and wiring details of the XCR Cable Kit (XCR-CAB). The kit is provided as a tool to speed up the connection between Everest / Capitan XCR and the user's application.

It is composed of the following components:

  • 1 x Power Supply cable - 60 mm (C-PC-PSU)
  • 1 x Power Supply connector
  • 1 x Motor Supply cable - 60 mm  (C-PC-CO)
  • 1 x Motor Supply connector 
  • 1 x EtherCAT Communication cable - 1 m (C-PC-ECAT)
  • 1 x Feedback cable - 250 mm (C-PC-FEED)
  • 1 x Input / Output cable - 250 mm (C-PC-IO)
  • 10 x Extra Wires for Feedback & Input / Outputs - 250 mm (C-PC-EXTRA)



Power Supply Cable (C-PC-PSU)

The Power Supply cable is provided with a length of 60 mm. It consists of two AWG16 - 1.5 mmcables with an XT30U-M male connector from AMASS on one side and flying leads on the other side. 

Flying leads should be soldered properly into the XCR P1 connector. Please, follow indications provided in the 'Soldering Power Pins' section in the product manual for your specific drive type for a proper assembly.

The pinout of the Power Supply Cable is as follows:

Side 1 - pinSide 2 - pinWire colorSignalFunction
1 (+ Mark)Flying leadRedPOW_SUPPower supply positive
2Flying leadBlackGND_PPower supply return

Diagram

Power Supply Connector

The Power Supply matching connector for C-PC-PSU is also provided. It consists of an XT30U-F female connector from AMASS.

Recommended section wire is 2.5 mm2 ~ 5.3 mm2, AWG 10 ~ AWG 13 for applications working at maximum current. Adapt the cable diameter to your current needs.

It is recommended to use flexible silicone cables to ensure low mechanical stress to the board as well as high-temperature ratings (≥ 110 ºC).

Please, follow indications provided in the 'Cable Selection' and 'Power Supply EMI Filter' sections in the product manual for your specific drive type for a proper cable selection.

Motor Power Cable (C-PC-MO)

The Motor Power cable is provided with a length of 60 mm. It consists of three AWG16 - 1.5 mmcables with an MR30 female connector from AMASS on one side and flying leads on the other. A common mode choke model Laird 28B0773-050 is provided to simplify the installation where electromagnetic compatibility is needed. Flying leads should be soldered properly into the XCR P2 connector. Please, follow indications provided in the 'Soldering Power Pins' section in the product manual for your specific drive type for a proper assembly.

The pinout of the Power Supply Cable is as follows:

Side 1 - pinSide 2 - pinWire colorSignalFunction
1Flying leadBlackPH_AMotor phase A
2Flying leadBlackPH_BMotor phase B
3Flying leadBlackPH_CMotor phase C

Diagram

Motor Power Connector

The Motor Power matching connector for C-PC-MO is also provided. It consists of an MR30 male connector from AMASS.

Recommended section wire is 2.5 mm2 ~ 5.3 mm2, AWG 10 ~ AWG 13 for applications working at maximum current. Adapt the cable diameter to your current needs.

It is recommended to use flexible silicone cables to ensure low mechanical stress to the board as well as high-temperature ratings (≥ 110 ºC).

Please, follow indications provided in the 'Cable Selection' and 'Power Supply EMI Filter' sections in the product manual for your specific drive type for a proper cable selection

EtherCAT Communication Cable (C-PC-ECAT)

The EtherCAT Communication Cable is provided with a length of 1 m. It consists of a CAT6 (28 AWG - twisted pair & shielded) cable with a shielded RJ45 connector on one side and a 5-pin Molex Pico-clasp on the other. Molex Pico-clasp connector should be plugged directly into the XCR J4 connector. 

The pinout of the EtherCAT Communication cable is as follows:

Side 1 - pinSide 2 - pinWire colorTwistedSignalFunction
11White - Orange

TX_D

TX_D+Transmit Data+ line
22OrangeTX_D-Transmit Data- line
33White - GreenRX_DRX_D+Receive Data+ line
46GreenRX_D-Receive Data- line
5Connector shellDrain wire-GND_ETH

Connection for the EtherCAT cable shield.

This pin is directly connected to the chassis of the drive - PE.

Diagram

Feedback Cable (C-PC-FEED)

The Feedback cable is provided with a length of 250 m. It consists of a set of 15 x 28 AWG cables with a 20-pin Molex Pico-clasp connector on one side and flying leads on the other. Molex Pico-clasp connector should be plugged directly into the XCR J4 connector. 

The cables are tie by means of spiral wraps in 3 different groups to simplify its identification:

  • Digital Incremental Encoder 
  • Digital Halls
  • Absolute Encoder

The pinout of the Feedback cable is as follows:

Side 1 - pin

Side 2 - pinWire colorPart NumberSignal / LabelFunction
1Flying leadRed6820 RD005+5V_OUT_E5 V 200 mA total max. Differential digital incremental encoder group.
2Flying leadBlack6820 BK005GND_D_EDigital signal ground. Differential digital incremental encoder group.
3Flying leadWhite6820 WH005ENC_A+Differential digital incremental encoder: A+ input
4Flying leadBlue6820 BL005ENC_B+Differential digital incremental encoder: B+ input
5Flying leadYellow
6820 YL005ENC_A-Differential digital incremental encoder: A- input
6Flying leadBrown6820 BR005ENC_B-Differential digital incremental encoder: B- input
7Flying leadGreen6820 GR005ENC_Z+Differential digital incremental encoder: Index+ input
8Flying leadOrange
6820 OR005ENC_Z-Differential digital incremental encoder: Index- input
9Flying leadRed6820 RD005+5V_OUT_H5 V 200 mA total max. Digital hall group.
10Flying leadBlack6820 BK005GND_D_HDigital signal ground. Digital hall group.
11Flying leadWhite
6820 WH005HALL_1Digital hall sensor input 1
12Flying leadBlue
6820 BL005HALL_2Digital hall sensor input 2
13Flying leadYellow6820 YL005HALL_3Digital hall sensor input 3
14Flying leadRed6820 RD005+5V_OUT_A5 V 200 mA total max. Absolute encoder group.
15Flying leadBlack
6820 BK005GND_D_ADigital signal ground. Absolute encoder group.
16Flying leadWhite
6820 WH005DATA+Absolute encoder DATA positive signal input
17Flying leadBlue
6820 BL005CLK+Absolute encoder CLK positive signal output
18Flying leadYellow6820 YL005DATA-Absolute encoder DATA negative signal input
19Flying leadBrown6820 BR005CLK-Absolute encoder CLK negative signal output
20Flying leadGreen, Yellow Stripe6820 GY005PEProtective earth connection, internally connected to standoffs and drive cold plate.


Diagram

Input / Output Cable (C-PC-IO)

The Input/output cable is provided with a length of 250 m. It consists of a set of 11 x 28 AWG cables with a 30-pin Molex Pico-clasp connector on one side and flying leads on the other. Molex Pico-clasp connector should be plugged directly into the XCR J2 connector. 

The cables are tie by means of spiral wraps in 4 different groups to simplify its identification:

  • Safe Torque Off
  • Brake
  • Logic supply
  • Motor temperature
Side 1 - pinSide 2 - pinWire colorPart NumberSignalFunction
1Flying leadWhite
6820 WH005STO_1Safe Torque Off input 1 (positive, active from 5 V to 32 V, ISOLATED)
2Flying leadGreen, Yellow Stripe
6820 GY005PEProtective earth connection, internally connected to standoffs and drive cold plate.
3Flying leadBrown6820 BR005STO_RETSafe Torque Off common (optocoupler LEDs cathode, ISOLATED).
4Flying leadRed6820 RD005+5V_OUT+5 V output, can be used for STO circuit.
5Flying leadGreen6820 GR005STO_2Safe Torque Off input 2 (positive, active from 5 V to 36 V, ISOLATED)
6Flying leadBlack
6820 BK005GND_DDigital signal ground, For STO group.
23Flying leadBrown
6820 BR005BRAKE_NBrake output (open drain with PWM capability)
25Flying leadRed6820 RD005BRAKE_DIODE_KCathode of the freewheeling diode for the brake, should be connected to the power supply of the brake.
26Flying leadBlack6820 BK005GND_DDigital signal ground
27Flying leadOrange6820 OR005+LOG_SUPLogic supply
28Flying leadBlue
6820 BL005MOTOR_TEMPMotor temperature sensor input
30Flying leadBlue
6820 BL005MOTOR_TEMP_RETMotor temperature sensor return (referred to GND_D)

Diagram

Extra wires for Feedbacks and Input / Outputs (C-PC-EXTRA)

Additionally, a set of 10 x 28 AWG cables with a pre-crimped Molex Pico-clasp socket on one side and flying leads in the other is provided. 

These cables could be used to populate any specific functionality not provided in the C-PC-FEED or C-PC-IO connectors.

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