Xen RoH S PLuS canopen XPL - Copley Controls Corp · 2020. 12. 17. · XPL Copley Controls, 20 Dan...
Transcript of Xen RoH S PLuS canopen XPL - Copley Controls Corp · 2020. 12. 17. · XPL Copley Controls, 20 Dan...
XPL
Model Vac Ic Ip
XPL-230-18 100 - 240 6 18
XPL-230-36 100 - 240 12 36
XPL-230-40 100 - 240 20 40
R
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 1 of 28
RoHSXenus Plus CANopen
Add -R for resolver feedback option
Control Modes• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing • Camming,Gearing • Indexer
CommandInterface• CANopen • ASCIIanddiscreteI/O • Steppercommands • ±10Vposition/velocity/torque(2inputs) • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)
Communications• CANopenDS-402 • RS-232
FeedbackIncremental
Incremental Encoders • DigitalquadA/B Analog Sin/Cos PanasonicIncrementalAFormat • Aux.quadA/Bencoder/encoderout Absolute Encoders • SSI,EnDat,AbsoluteA, Tamagawa&PanasonicAbsoluteA SanyoDenkiAbsoluteA,BiSS(B&C) Resolver (-R option) • BrushlessResolver Other • DigitalHalls
Accessories• Externalregenresistors • Externaledgefilter
SafeTorqueOff(STO)• Twoactiveinputsenablepowerstage • Oneoutputconfirmspowerstagestatus
I/ODigital• 15inputs,6outputs
I/OAnalog• 2,16-bitinputs • 1,12-bitinput • 1,12-bitoutput
Dimensions:in[mm]• 7.92x5.51x2.31in(201.2x139.9x58.7mm)
DIGITALSERVODRIVE FORBRuSH/BRuSHLESSMOTORS
DESCRIPTIONXenus Plussetnewlevelsofperformance,connectivity,andflexibility.CANopencommunicationprovidesawidelyusedcost-effectiveindustrialbus.Awiderangeofabsoluteinterfacesarebuilt-inincludingEnDat,Hiperface,andBiSS.
HighresolutionA/Dconvertersensureoptimalcurrentloopperformance.Bothisolatedandhigh-speednon-isolatedI/Oareprovided.Forsafetycriticalapplications,redundantpowerstageenableinputscanbeemployed.
XPL
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 2 of 28
RoHSXenus Plus CANopen
GENERALSPECIFICATIONS Testconditions:Wyeconnectedload:2mHline-line.Ambienttemperature=25°C.Powerinput=230Vac,60Hz,1Ø
MODEL XPL-230-18 XPL-230-36 XPL-230-40OuTPuTCuRRENT
PeakCurrent 18(12.7) 36(25.5) 40(28.3) Adc(Arms,sinusoidal) Peaktime 1 1 1 s Continuouscurrent(Note1) 6(4.24) 12(8.5) 20(14.1) Adc(Arms,sinusoidal)INPuTPOWER Mainsvoltage,phase,frequency 100~240 Vac,±10%,1Øor3Ø,47~63Hz MaximumMainsCurrent,1Ø(Note 3) 10.1 20.0 20.0 Arms MaximumMainscurrent,3Ø(Note 3) 6.4 10.4 15.4 Arms +24VdcControlpower +20to+32Vdc,500mAmax RequiredforoperationDIGITALCONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 200µHline-lineCOMMANDINPuTS(NOTE:DIGITALINPuTFuNCTIONSAREPROGRAMMABLE) Distributed Control Modes CANopen Position,Velocity,Torque,Homing,Profile,andInterpolatedprofilemodes Stand-alone mode Analogtorque,velocity,positionreference ±10Vdc,14bitresolution Dedicateddifferentialanaloginput Inputimpedance 74.8kΩ BetweenRef(+),Ref(-) Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) QuadA/BEncoder 2Mline/sec,8Mcount/sec(afterquadrature) Digitaltorque&velocityreference PWM,Polarity PWM=0%-100%,Polarity=1/0 PWM50% PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming upto10CAMtablescanbestoredinflashmemory ASCII RS-232,9600~115,200Baud,3-wire,RJ-11connectorDIGITALINPuTS Number 15 [IN1,2,15] Non-isolatedSchmitttrigger,1µsRCfilter,24Vdcmax,VT+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH+=0.7~1.5Vdc 10 kΩprogrammableperinputtopull-upto+5Vdcorpull-downtoground [IN3~6] Non-isolatedlinereceiver,100nsRCfilter,+12Vdcmax,programmableas4single-ended,or2differential Single-ended:[IN3,4]or[IN5,6]:Vin-LO<=2.3Vdc,Vin-HI>=2.7Vdc,Vhysteresis=400mVdc Differential:[IN3/4]or[IN5/6]:Vin-LO<=-200mVdc,Vin-HI>=200mVdc,Vhysteresis=±200mVdc [IN7~14] Opto-isolated,±15~30Vdccompatible,bi-polar,2groupsof4withcommonforeachgroup Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typicalANALOGINPuTS Number 3 [AIN1~2] Differential,±10Vdc,5kΩinputimpedance,16-bitresolution [AIN3] Single-ended,motortemperaturesensor,4.99kΩpulled-upto+5Vdc,12-bitresolutionDIGITALOuTPuTS Number 6 [OuT1~2] Current-sinkingMOSFETwith1kΩpullupto+5Vdcthroughdiode 1Adcmax,+40Vdcmax;externalflybackdioderequiredifdrivinginductiveloads [OuT3] High-speedCMOSbuffer,±32mA [OuT4~5] Opto-isolatedDarlingtonswith36VZenerflybackdiodes,20mAmax [OuT6] Motorbrakecontrol:opto-isolated,current-sinkingwithflybackdiodeto+24Vdc,1AdcmaxANALOGOuTPuT Number,Type 1,±5Vdcsingle-ended,12-bitresolutionMuLTI-MODEENCODERPORT AsInput Secondarydigitalquadratureencoder(A,/A,B,/B,X,/X),121Ωterminatingresistors 18M-counts/sec,post-quadrature(4.5M-lines/sec) AsOutput Quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromanalogsin/cosencodersorresolvers.BufferedsignalsfromdigitalquadA/B/Xprimaryencoder A,/A,B,/B,X,/X,fromMAX3032differentiallinedriverRS-232PORT Signals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200baud Protocol BinaryandASCIIformatsCANPORT Signals CANH,CANL,CAN_GNDin8-positiondualRJ-45stylemodularconnector,wiredasperCANCiaDR-303-1,V1.1 Format CANV2.0bphysicallayerforhigh-speedconnectionscompliant Data CANopenDeviceProfileDSP-402 Node-IDselection 16positionrotaryswitchonfrontpanelwith3additionalNode-IDbitsavailableas digitalinputsorprogrammabletoflashmemory(7-bitaddressing,127nodesperCANnetworkSTATuSINDICATORLEDS DriveStatus BicolorLED,drivestatusindicatedbycolor,andblinkingornon-blinkingcondition CANStatus BicolorLED,statusofCANbusindicatedbycolorandblinkcodestoCANIndicatorSpecification303-3NOTES:
1.Heatsinkingand/orforced-aircoolingisrequiredforthecontinuousoutputpowerrating2.Brake[OuT6]isprogrammableasmotorbrake,orasgeneralpurposedigitaloutput3.Theactualmainscurrentisdependentonthemainsvoltage,numberofphases,andmotorloadandoperatingconditions.TheMaximumMainsCurrentsshownaboveoccurwhenthedriveisoperatingfromthemaximuminputvoltageandisproducingtheratedcontinuousoutputcurrentatthemaximumoutputvoltage.
XPL
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 3 of 28
RoHSXenus Plus CANopen
5VOuTPuT Twoindependent5Vdc@400mAoutputs,thermalandshort-circuitprotectedREGENERATION
Operation Internalsolid-stateswitchdrivesexternalregenresistor(seeOrderingGuidefortypes) Cut-InVoltage +HV>390Vdc Regenoutputison,(optionalexternal)regenresistorisdissipatingenergy Drop-OutVoltage +HV<380Vdc Regenoutputisoff,(optionalexternal)regenresistornotdissipatingenergy Tolerance ±2Vdc ForeitherCut-InorDrop-OutvoltagePROTECTIONS HVOvervoltage +HV>400Vdc DrivePWMoutputsturnoffuntil+HVislessthanovervoltage HVundervoltage +HV<60Vdc DrivePWMoutputsturnoffuntil+HVisgreaterthanundervoltage Driveovertemperature IGBT>80°C±3°C DrivePWMoutputsturnoffuntilIGBTtemperatureisbelowthreshold Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Programmableinputtodisabledrivewhenvoltageisaboveorbelowasetpoint0~5Vdc Feedbackpowerloss Faultoccursiffeedbackisremovedor+5Vis<85%ofnormalMECHANICAL&ENVIRONMENTAL Size 7.92x5.51x2.31in(201.2x139.9x58.7mm) Weight 3.0lb(1.36kg)fordrivewithoutheatsink 3.1lb(1.40kg)forXPL-HSheatsink,1.86lb(0.84kg)forXPL-HLheatsink Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage Humidity 0%to95%,non-condensing Contaminants Pollutiondegree2 Vibration 2gpeak,10~500Hz(sine),IEC60068-2-6 Shock 10g,10ms,half-sinepulse,IEC60068-2-27 Environment IEC68-2:1990 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput
AGENCySTANDARDSCONFORMANCEIn accordance with EC Directive 2004/108/EC (EMC Directive) EN55011:2007 CISPR11:2003/A2:2006
Industrial,Scientific,andMedical(ISM)RadioFrequencyEquipment– ElectromagneticDisturbanceCharacteristics–LimitsandMethodsofMeasurement Group1,ClassA
EN61000-6-1:2007 ElectromagneticCompatibility(EMC)–Part6-1:GenericStandards– Immunityforresidential,CommercialandLight-industrialEnvironments
In accordance with EC Directive 2006/95/EC (Low Voltage Directive) IEC61010-1:2001 SafetyRequirementsforElectricalEquipmentforMeasurement,ControlandLaboratoryuseUnderwriters Laboratory Standards uL61010-1,2ndEd.:2004 SafetyRequirementsforElectricalEquipmentforMeasurement,ControlandLaboratoryuse UL File Number E249894
DIGITALQuADA/BENCODER Type Quadrature,differentiallinedriveroutputs Signals A,/A,B,/B,(X,/X,indexsignalsoptional) RS-422/RS-485linereceiverswithfaultdetectionforopen/shortedinputs,orlowsignalamplitude Frequency 5MHzlinefrequency,20MHzquadraturecountfrequencyANALOGENCODER Type Sin/cos/index,differentiallinedriveroutputs,0.5Vpeak-peak(1.0Vpeak-peakdifferential) centeredabout2.5Vdctypical.Common-modevoltage0.25to3.75Vdc Signals Sin(+),sin(-),cos(+),cos(-),index(+),index(-) Frequency 230kHzmaximumline(cycle)frequency Interpolation 10bits/cycle(1024counts/cycle)DIGITALHALLS Type Digital,single-ended,120°electricalphasedifference Signals u,V,W Inputs 10kΩpullupsto+5Vdc,1µsRCfiltertoSchmitttriggerinvertersMuLTI-MODEENCODERPORT AsInput Secondarydigitalquadratureencoder(A,/A,B,/B,X,/X),121Ωterminatingresistors 18M-counts/sec,post-quadrature(4.5M-lines/sec) AsEmulatedOutput Quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromanalogsin/cosencodersorresolvers. A,/A,B,/B,X,/X,fromMAX3032differentiallinedriver AsBufferedOutput DigitalencoderfeedbacksignalsfromprimarydigitalencoderarebufferedbyMAX3032linedriverRESOLVER(-ROPTION) Type Brushless,single-speed,1:1to2:1programmabletransformationratio Resolution 14bits(equivalenttoa4096linequadratureencoder) Referencefrequency 8.0kHz Referencevoltage 2.8Vrms,auto-adjustablebythedrivetomaximizefeedback Referencemaximumcurrent 100mA MaximumRPM 10,000+ENCODERPOWERSuPPLIES Number 2 Ratings +5Vdc@400mAfrom+5VOut1onJ8-20and+5VOut2onJ10-6,J10-17 Protection Thermalandshort-circuitstoground Encoderpowerdevelopedfrom+24VdcsopositioninformationisnotlostwhenACmainspowerisremoved
FEEDBACkSPECIFICATIONS
XPL
16-01437DocumentRevisionHistory
Revision Date Remarks
00 March16,2017 Initialreleasedversion
139.885.51
2.31 58.67
5.72 145.35
1.00 25.40
4.83.19
7.92 201.17
191.527.54
19.18.76.31 7.92
32.691.29
5.12
6.12
130.07
191.527.54
201.177.92
4.83.19
TYP.094 2.37
76.203.00
R
.24.190 4.83
CAN
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 4 of 28
RoHSXenus Plus CANopen
SAFETORQuEOFF(STO) Inputs 2two-terminal:[STO-1+],[STO-1-],[STO-2+],[STO-2-] Type Opto-isolators,24Vcompatible Output 1two-terminal:[LED+],[LED-] 24Vcompatible
Note!Whenyouseethismarker,it’sforhottipsorbestpracticesthatwillhelpyougetthebestresultswhenusingCopleyControlsproducts.
DIMENSIONS Inches(mm)
ChassisGrounding: ForCEcomplianceandmachinesafetyanelectricallyconductivegroundingtabisprovided.Thisconnectstotheheatplateandtoframeground.
Chassis grounding
tab
SPECIFICATIONS(CONT’D)
XPL
S1 S2
HEX DEC
0 0 0
1 16 1
2 32 2
3 48 3
4 64 4
5 80 5
6 96 6
7 112 7
8
Not Used for
CAN Addr
8
9 9
A 10
B 11
C 12
D 13
E 14
F 15
6
9
1
5
D-Sub 9F
3 3
2 2
18
CAN_L
CAN_GND
CAN_H
CAN_L
RJ-45
CAN_GND
CAN_H7 1
J7
Pin 8Pin 1
S2
S1
X1X10DEVICE ID
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 5 of 28
RoHSXenus Plus CANopen
CANOPENCOMMuNICATIONXenususestheCANphysicallayersignalsCAN_H,CAN_L,andCAN_GNDforconnection,andCANopenprotocolforcommunication.BeforeinstallingthedriveinaCANsystem,itmustbeassignedaCANaddress.Amaximumof127CANnodesareallowedonasingleCANbus.Therotaryswitchonthefrontpanelcontrolsthefourlowerbitsoftheseven-bitCANaddress.Whenthenumberofnodesonabusislessthansixteen,theCANaddresscanbesetusingonlytheswitch.For installationswith sixteen ormoreCANnodes on a networkCME2 can be used to configureXenus to use the rotary switch,orcombinationsofdigital inputsandprogrammedoffset inflashmemorytoconfigurethedrivewithahigherCANnodeaddress. For more information on CANopen communications, download the CANopen Manual from the Copley web-site: http://www.copleycontrols.com/motion/downloads/pdf/CANopenProgrammersManual.pdf
CANOPENBasedontheCANV2.0bphysicallayer,arobust,two-wirecommunicationbusoriginallydesignedforautomotiveusewherelow-costandnoise-immunityareessential,CANopenaddssupportformotion-controldevicesandcommandsynchronization.Theresultisahighlyeffectivecombinationofdata-rateandlowcostformulti-axismotioncontrolsystems.Devicesynchronizationenablesmultipleaxestocoordinatemovesasiftheyweredrivenfromasinglecontrolcard.
Note: Red & green led on-times do not overlap. LED color may be red, green, off, or flashing of either color.
NET(CANSTATuS)LEDAbi-colorLEDgivesthestateoftheCANconnectioninaccordancewiththeCAN-CiAspecification303,part3.Thegreen(RuN)LEDshowsthestateoftheCANopenstatemachine.Thered(ERR)LEDshowstheoccurrenceoferrors(sync,guard,orheartbeat)andoftheCANbusphysicallayer.Duringaresetcondition,thegreenLEDwillbeoff. Inoperation,thered&greencolorswillalternatewiththenumberofblinksoron/offconditionshowninthetabletotheright.
CANOPENCONNECTORSDualRJ-45connectorsthatacceptstandardEthernetcablesareprovidedforCANbusconnectivity.Pinsarewired-throughsothatdrivescanbedaisy-chainedandcontrolledwithasingleconnectiontotheuser’sCANinterface.ACANterminatorshouldbeplacedinthelastdriveinthechain. TheXPL-NkconnectorkitprovidesaD-SubadapterthatplugsintoaCANcontrollerandhasanRJ-45socketthatacceptstheEthernetcable.
XPL-NkCANCONNECTORkITThekitcontainstheXPL-CVadapterthatconvertstheCANinterfaceD-Sub9Mconnector toanRJ-45Ethernetcablesocket,plusa10ft(3m)cableandterminator.Bothconnectorpin-outsconformtotheCiADR-303-1specification.
J7CANCONNECTIONS
CANNETWORkNODE-ID(ADDRESS)InanCANopennetwork,nodesareassignedaddresses1~127.Address0isreservedfortheCANbusmaster.IntheXPL,thenodeaddressisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.Thesecansettheaddressofthedrivefrom0x01~0x7F(1~127decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.
Node-ID(Address)Switches
CME2->Amplifier->NetworkConfiguration
TofindtheNode-IDgiventheswitchsettings: Node-ID=(S1*16)+S2 Example:S1=5,S2=B S1value=(5*16)=80,S2value=Hex(B)=11, Node-ID=80+11=91
Tofindtheswitchsettingsforagivenaddress:S1=Theintegerpartof(Node-ID/16) S2=Hex(Node-ID-(S1*16)) Example:Node-ID=91 S1=91/16=5.69,integerpart=5,(5*16)=80 S2=Hex(91-80)=11=0xB
XPL
PIN SIGNAL
2 RxD
3,4 Gnd
5 Txd
6
9
1
5
3 2TxD RxD
RJ-11on
ServoDrive
RJ-11 cable6P6CStraight-wired
5 3Gnd Gnd
RxD TxD2 5
D-Sub 9F
Dsub-9Fto RJ11Adapter
16
CANopenRS-232
CANopen
CAN Addr 0CAN Master CAN Node CAN Node
CAN Addr 1 CAN Addr n
16
RoHSXenus Plus CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 TechSupport:E-mail:[email protected],Web:http://www.copleycontrols.com Page 6 of 28
COMMuNICATIONS
RS-232MuLTI-DROPTheRS-232specificationmakesnoallowanceformorethantwodevicesonaserial link.But,multipleXenusdrivescancommunicateoverasingleRS-232portbydaisy-chainingamasterdrive tootherdrivesusingCANcables. In theCANprotocol, address 0 is reserved for the CANmaster andthereafterallothernodesonaCANnetworkmusthaveunique,non-zeroaddresses.WhentheXenusCANaddressissetto0,itactsasaCANmaster,convertingtheRS-232dataintoCANmessagesandpassingitalongtotheotherdriveswhichactasCANnodes.
J6:RS-232PORTRJ-11receptacle, 6 position, 4 contact
RS-232COMMuNICATIONSXPLisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheXPLRS-232portarethroughJ7,anRJ-11connector.TheXPL SerialCablekit(SER-Ck)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector(COM1,COM2,etc.)onPC’sandcompatibles.
SER-CkSERIALCABLEkITTheSER-CkprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorontheXPL.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheXPL.Theconnectionsareshowninthediagrambelow.
Don’tforgettoorderaSerialCablekitSER-CkwhenplacingyourorderforanXPL!
ForSerial-multi-dropyou’llneedanSerialCablekitSER-CkplusCANopennetworkcablestoconnectthedrivesasshown. TheXPL-NC-01andXPL-NC-10are1ft(0.3m)and10ft(3m)cablesthatwilldothejob.
STAT
NET
STATLED(ONJ6)Abi-colorLEDgivesthestateoftheXenusPlusdrive. Colorsdonotalternate,andcanbesolidONorblinking:Green/Solid = DriveOkandenabled.Willruninresponsetoreferenceinputs orEtherCATcommands. Green/Slow-Blinking = DriveOkbutNOT-enabled.Willrunwhenenabled. Green/Fast-Blinking = PositiveorNegativelimitswitchactive. Drivewillonlymoveindirectionnotinhibitedbylimitswitch. Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhen faultisremoved. Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset.DriveFaultconditions: • Overorunder-voltage • Motorover-temperature • Encoder+5Vdcfault • Driveover-temperature • Short-circuitsfromoutputtooutput • Short-circuitsfromoutputtoground • Internalshortcircuits Faultsareprogrammabletobeeithertransientorlatching
ASCIICOMMuNICATIONSTheCopleyASCIIInterfaceisasetofASCIIformatcommandsthatcanbeusedtooperateandmonitorCopleyControlsAccelnet,Stepnet,andXenusseriesamplifiersoveranRS-232serialconnection.Forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammedusingCME2,acontrolprogramcanusetheASCIIInterfaceto:•EnabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.TheBaudratedefaultsto9,600afterpower-onorresetandisprogrammableupto115,200thereafter.SendingabreakcharacterwillresettheBaudrateto9,600.
AdditionalinformationcanbefoundintheASCIIProgrammersGuideontheCopleywebsite:http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf
XPL
PIN SIGNAL PIN SIGNAL
1 FrameGnd 6 STO-LED(+)
2 STO-1(+) 7 STO-LED(-)
3 STO-1(-) 8 24VdcCommon
4 STO-2(+) 9 +24VdcOutput
5 STO-2(-)
TheseconnectionsMuSTbemadetoenabletheXenus.
Frame Ground
J5
4.99k
5.1V
+HV
High Side PWM
Low Side PWM MotorOuputs
4.99k
4.99k
5.1V
STO-1
ENH
STO-2
ENL
DIAG-ON
36V
10+V
4.99k
STO-LED(+)
STO-2(-)
STO-1(+)
Channel 1
Channel 2
Xenus PlusSTOMuting
Connections
STO-1(-)
STO-2(+)
STO-LED(-)
2
3
1
4
5
6
7
+24V OutputFrom 24V input on J4-39
Signal ground8
16
95
2-93-45-8
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 7 of 28
RoHSXenus Plus CANopen
DESCRIPTIONTheXPLhasasafetyfeaturethatisdesignedtoprovidetheSafeTorqueOff(STO)functionasdefinedinIEC61800-5-2.Twoopto-couplersareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperatedbythedigitalcontrolcore.ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareactivated(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.
SAFETORQuEOFF(STO)
FuNCTIONALDIAGRAMInorderforthePWMoutputsoftheXenusPlustobeactivated,currentmustbeflowingthroughbothopto-couplersthatareconnectedtotheSTO-1andSTO-2terminalsofJ5,andthedrivemustbeinanENABLEDstate.TheLEDoutputsonJ5connectanopto-couplertoanexternalLEDandwillconductcurrentthroughtheLEDtolightitwheneverthePWMoutputscanbeactivated,orthedriveisinadiagnosticstate.WhentheLEDopto-couplerisOFF,thedriveisinaSafestateandthePWMoutputscannotbeactivatedtodriveamotor.
STOMuTINGThediagrambelowshowsconnectionsthatwillenergizebothSTO-1andSTO-2opto-couplers. WhenthisisdonetheSTOfeatureis“muted”andcontroloftheoutputPWMstageisundercontrolofthedigitalcontrolcore. IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderfortheXenustobeenabled.
STOCONNECTORMuTINGCONNECTIONS
FuNCTIONALDIAGRAM
J5SIGNALS
XPL
Pulse
Direction
[IN5]
[IN6]
CU
CD
[IN5]
[IN6]
CU (Count-Up)
CD (Count-Down)
Enc. A
Enc. B
IN4(14)
IN5(15)
Encoder ph. B
Encoder ph. A
PULSE
DIRECTION
[IN3+]
[IN4-]
[IN5+]
[IN6-]
CD (Count-Down)
CU (Count-Up)
PULSE
DIRECTION
[IN3+]
[IN4-]
[IN5+]
[IN6-]
Enc. B
Enc A
[IN5+]
[IN6-]
Encoder ph. A
[IN3+]
[IN4-]
Encoder ph. B
Duty = 0~100% Current orVelocity
Polarity orDirection
[IN5]
[IN6]
Current orVelocity
No function
[IN5]
[IN6]
Duty = 50% ±50%
<no connection>
Duty = 0 - 100%PWM
Direction
[IN3+]
[IN4-]
[IN5+]
[IN6-]
Current orVelocity
[IN3+]
[IN4-]
Duty = 50% ±50%
NoFunction<no connection>
[IN5+]
[IN6-]
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 8 of 28
RoHSXenus Plus CANopen
COMMANDINPuTSDIGITALPOSITIONDigitalpositioncommandscanbeineithersingle-endedordifferentialformat.Single-endedsignalsshouldbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.Differentialinputshave121Ωline-terminators.
DIGITALTORQuE,VELOCITyDigitaltorqueorvelocitycommandscanbeineithersingle-endedordifferentialformat.Single-endedsignalsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.
SINGLE-ENDEDPWM&DIRECTION
SINGLE-ENDED50%PWM DIFFERENTIAL50%PWM
DIFFERENTIALPWM&DIRECTION
SINGLE-ENDEDPuLSE&DIRECTION
SINGLE-ENDEDCu/CD
QuADA/BENCODERSINGLE-ENDED
DIFFERENTIALCu/CD
DIFFERENTIALPuLSE&DIRECTION
QuADA/BENCODERDIFFERENTIAL
XPL
SecondaryEncoder Input
Input/OutputSelect
Quad A/B/X primaryencoder
MAX3032
MAX3097
Buffered A/B/X signalsfrom primary encoder
SecondaryEncoder Input
Input/OutputSelect
MAX3362
MAX3097
Emulated Quad A/Bsignals from analog Sin/Cos encoder
Emulated A/B signals
Input/OutputSelect
MAX3097
MAX3032
A/B/X signals fromdigital encoder
Input/OutputSelect
MAX3097
MAX3032
Pulse/Dir or CU/CD differential commands
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 9 of 28
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Thisportconsistsofthreedifferentialinput/outputchannelsthattaketheirfunctionsfromtheBasicSetupofthedrive.WithquadA/Bencoderfeedback,theportworksasanoutput,bufferingthesignalsfromtheencoder.Withresolverorsin/cosencoderversions,thefeedbackisconvertedto“emulated”quadA/B/Xsignalswithprogrammableresolution.Thesesignalscanthenbefedbacktoanexternalmotioncontrollerthatclosesthepositionorvelocityloops.Asaninput,theportcantakequadA/Bsignalstoproduceadual-looppositioncontrolsystemorusethesignalsasmaster-encodercommandsincammingmode.Inaddition,theportcantakesteppercommandsignals(Cu/CDorPulse/Direction)indifferentialformat.
ASBuFFEREDOuTPuTSFROMADIGITALQuADRATuRE PRIMARyENCODERWhenusingadigitalquadrature feedbackencoder, theA/B/Xsignalsdrivethemulti-modeportoutputbuffersdirectly.ThisisusefulinsystemsthatuseexternalcontrollersthatalsoneedthemotorfeedbackencodersignalsbecausethesenowcomefromJ8,theControlconnector.Inadditiontoeliminating“y”cablingwherethemotorfeedbackcablehastosplittoconnecttobothcontrollerandmotor,thebufferedoutputsreduceloadingonthefeedbackcablethatcouldoccurifthemotorencoderhadtodrivetwodifferentialinputsinparallel,eachwithit’sown121ohmterminatingresistor.
ASEMuLATEDQuADA/B/XENCODEROuTPuTSFROMAN ANALOGSIN/COSFEEDBACkENCODERAnalog sin/cos signals are interpolated in the drive with programmableresolution.Theincrementalpositiondataisthenconvertedbackintodigitalquadrature formatwhichdrives themulti-modeportoutputbuffers.Someanalogencodersalsoproduceadigitalindexpulsewhichisconnecteddirectlytotheport’soutputbuffer.TheresultisdigitalquadratureA/B/Xsignalsthatcanbeusedasfeedbacktoanexternalcontrolsystem.
ASAMASTERORCAMMINGENCODERINPuTFROMA DIGITALQuADRATuREENCODERWhen operating in positionmode themulti-mode port can accept digitalcommandsignalsfromexternalencoders.Thesecanbeusedtodrivecamtables, or asmaster-encoder signals when operating in amaster/slaveconfiguration.
ASDIGITALCOMMANDINPuTSINPuLSE/DIRECTION,PuLSE-uP/PuLSE-DOWN,OR DIGITALQuADRATuREENCODERFORMATThemulti-modeportcanalsobeusedwhendigitalcommandsignalsareinadifferentialformat.Thesearethesignalsthattypicallygotosingle-endedinputs.But,athigherfrequenciesthesearelikelytobedifferentialsignalsinwhichcasethemulti-modeportcanbeused.
MuLTI-MODEENCODERPORT
ASCOMMANDINPuTS
ASANOuTPuTFORFEEDBACkSIGNALSTOANEXTERNALCONTROLLER
XPL
12V+
100 pF
MAX3096
MAX3096
10k
[IN3]
100 pF
1k
[IN4]
+5V
100 pF
10k
[IN5]
100 pF[IN6]
+5V
10k
61k
+5V
1k
1k
+5V
10k
7
8
10
J8 Control
+
12V+
100 pF
2.5V
MAX3096
MAX3096
MAX3096
MAX3096
[IN3]
J8 Control
100 pF
1k
[IN4]
10k
100 pF
10k
[IN5]
100 pF[IN6]
+5V
10k
+5V
1k
+
10k
+5V
1k
2.5V
1k
+5V
6
7
8
10
100p
10k
10k 74HC14[IN1]
[IN2][IN15]
A
+5.0 V
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 10 of 28
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INPuTS
DIGITALINPuTS[IN3~6]TheseinputshavealltheprogrammablefunctionsoftheGPinputsplustheseadditionalfunctionson[IN8]&[IN9]whichcanbeconfiguredassingle-ended or differential:
• PWM50%,PWM&DirectionforVelocityorCurrentmodes• Pulse/Direction,Cu/CD,orA/BQuadencoderinputsforPositionorCammingmodes
DIFFERENTIALSINGLE-ENDED12Vdcmax 12Vdcmax
NON-ISOLATEDDIGITALINPuTSInputs[IN1,2,15]are24Vtolerant Thesearehigh-speedtypeswithpull-upresistorsto+5Vdcand1µsRCfilterswhendrivenbyactivesources.Theactivelevelisprogrammableoneachinput.Input[IN1]isdedicatedtothedriveenablefunction.Theremaininginputs[IN2~IN15]haveprogrammablefunctions.
HSInputs[IN1,2,15]24Vdcmax
PLCoutputsarefrequentlycurrent-sourcingfrom24Vfordrivinggroundedloads.PCbaseddigitalcontrollerscommonlyuseNPNorcurrent-sinkingoutputs.SettheXenusinputstopull-downtogroundforcurrent-sourcingconnections,andtopull-upto5Vforcurrent-sinkingconnections.
XPL
J9
+24V
24V GND
4.99k 5.1V
[IN7] 4.7k
4.7k
4.7k
4.7k
[COMM_A]2
3
4.99k 5.1V
[IN8]
4
4.99k 5.1V
[IN9]
5
4.99k 5.1V
[IN10]
6+
24V
J9
+24V
24V GND
4.99k 5.1V
[IN11] 4.7k
4.7k
4.7k
4.7k
[COMM_B]7
8
4.99k 5.1V
[IN12]
9
4.99k 5.1V
[IN13]
10
4.99k 5.1V
[IN14]
11+
24V
2
3
15
1
+
1.5V
5.36k
Frame Ground
AIN1+
AIN2+
AIN1-
AIN2-
Vref
J8D/A
F.G.
±10V
Sgnd
-
11
12
19
+
1.5V
5.36k Vref
Sgnd
-
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 11 of 28
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ANALOGINPuTSTwo differential analog inputs with ±10 Vdc range haveprogrammable functions.Asa reference input [AIN1]cantakeposition/velocity/torquecommands fromacontroller.Asecondinput[AIN2]isprogrammableforotherfunctions.Theratioofdriveoutputcurrentorvelocityvs. referenceinputvoltageisprogrammable.
OPTO-ISOLATEDDIGITALINPuTSTheseinputshavealltheprogrammablefunctionsoftheGPinputsplusopto-isolation.Therearetwogroupsoffourinputs,eachwithits’owncommonterminal.Groundingthecommonterminalconfigurestheinputstoworkwithcurrent-sourcingoutputsfromcontrollerslikePLC’s.Whenthecommonterminalisconnectedto+24V,thentheinputswillbeactivatedbycurrent-sinkingdevicessuchasNPNtransistorsorN-channelMOSFETs.TheminimumONthresholdoftheinputsis±15Vdc.
[IN11~14][IN7~10]±30Vdcmax ±30Vdcmax
Inputs[7~14]workwithcurrent-sourcingORcurrent-sinkingconnections.ConnecttheCOMMtocontrollerground/commonforcurrent-sourcingconnectionsandto15~24Vfromthecontrollerforcurrent-sinkingconnections.
XPL
100mA
100mA
+30V max
+
R-L
R-L
16
17
15
+5V
+5V
[OUT1]
Sgnd
[OUT2]
J8
J9
[OUT4+]
[OUT4-]
+20mA
30V maxR-L
+20mA
30V maxR-L
14
15
[OUT5+]12
13[OUT5-]
J8
NC7SZ125
+5V
18
15
[OUT3]
Sgnd±32mA
R
1009
15
J8
+
J4
3+24V
Brk
0V
2
1
24V
BRK
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 12 of 28
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DIGITALOuTPuTS[OuT1],[OuT2]Theseareopen-drainMOSFETswith1kΩpull-upresistorsinserieswithadiodeto+5Vdc.Theycansinkupto1Adcfromexternalloadsoperatingfrompowersuppliesto+30Vdc.Theoutputfunctionsareprogrammable.Theactivestateoftheoutputsisprogrammabletobeonoroff.Whendrivinginductiveloadssuchasarelay,anexternalfly-backdiodeisrequired.TheinternaldiodeintheoutputisfordrivingPLCinputsthatareopto-isolatedand connected to+24 Vdc. The diode prevents conduction from+24 Vdcthroughthe1kΩresistorto+5Vdcinthedrive.ThiscouldturnthePLCinputon,givingafalseindicationofthedriveoutputstate.
OuTPuTS
ANALOGOuTPuTTheanalogoutputisprogrammableandhasanoutputvoltagerangeof±5Vdc. Anop-ampbufferstheoutputofa12-bitD/Aconverter.
HIGHSPEEDOuTPuT[OuT3]5VCMOS
OPTO-ISOLATEDOuTPuTS[OuT4,5]30Vdcmax Zenerclampingdiodesacrossoutputsallowdrivingofresistive-inductive(R-L)loadswithoutexternalflybackdiodes.
BRAkEOuTPuT[OuT6]Thisoutputisanopen-drainMOSFETwithaninternalflyback diode connected to the+24 Vdc input. Itcansinkupto1Afromamotorbrakeconnectedtothe+24Vdc supply. The operation of the brake isprogrammablewithCME 2.Itcanalsobeprogrammedasageneral-purposedigitaloutput.
XPL
+5V output @ 400 mA
Signal Ground
21
20
17
5
19Sin(+)
Sin(-)
Cos(+)
Cos(-)
Inx(+)
Inx(-)
18
1
-
+
-
+
10k
121
J10
10k
121
Encoder
FG
sin
cos
+5V
0V
23
22
-
+10k
121indx
Frame Ground
10k
Sin
Cos
Indx
10k
10k
Encoder
FG Frame Ground
J10
MAX3097
Enc. A121A13
12
1
MAX3097
Enc. B121B11
10
MAX3097
Enc. Index121Z9
8/X
X
/B
B
/A
A
+5V
0V
+5V output @ 400 mA
Signal Ground
6
5
Resolver
FG Frame Ground
J10
Sin(+)
Sin(-)
Cos(-)
Cos(+)
Ref(+)
Ref(-)
21
20
19
18
1
23
22
R/DConversionSinS3 S1
S2
S4
R1R2
Cos
Ref
MAX3097
MAX3097
MAX3097
Enc. A
Enc. B
Enc. Index
A
/A
B
/B
X
/X
EncoderXenus Plus
121
121
121
FG Frame Ground
J10
A
B
+5V
0V
+5V Out2 @ 400 mA
Signal Ground
13
12
1
11
10
9
8
16
17 6
5 25 26
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QuADA/BENCODERWITHFAuLTPROTECTIONEncoderswithdifferentialline-driveroutputsprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweenA&/Awhichisbelowthedifferentialfaultthreshold.Open-circuit condition: The121Ωterminatorresistorwillpulltheinputstogetherifeitherside(orboth)isopen.
Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.Low differential voltage detection: Thisispossiblewithverylongcablerunsandafaultwilloccurifthedifferentialinputvoltageis<200mV.±15kV ESD protection: The3097Ehasprotectionagainsthigh-voltagedischargesusingtheHumanBodyModel.Extended common-mode range: Afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V
ANALOGSIN/COSINCREMENTALENCODERThe sin/cos/index inputs are differential with 121 Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTubemotors.
RESOLVER(-RMODELS)Connections to the resolver should bemadewithshielded cable that uses three twisted-pairs.Onceconnected,resolversetup,motorphasing,andothercommissioning adjustments aremadewith CME2software.Therearenohardwareadjustments.
CONNECTIONSWITHA/B/XENCODER CONNECTIONSWITHNOINDEXSIGNAL
MOTORCONNECTIONSMotorconnectionsareofthreetypes:phase,feedback,andthermalsensor.Thephaseconnectionscarrythedriveoutputcurrentsthatdrivethemotortoproducemotion.Athermalsensorthatindicatesmotorovertemperatureisusedtoshutdownthedrivetoprotectthemotor.FeedbackcanbedigitalquadA/Bencoder,analogsin/cosencoder,resolverordigitalHalls,dependingontheversionofthedrive.
XPL
Encoder
121
121
Clk
/Clk
Dat
/Dat
FG Frame Ground
J10
Clk
DataMAX3362B
MAX3362B
Data
Clk
+5V
0V
+5V output @ 400 mA
A
A
B
B
Signal Ground
9
8
1
15
14
6
5
BiSSEncoder
Xenus
121
121
MA+
MA-
SL+
SL-
FG Frame Ground
J10
Clk
DataMAX3362B
MAX3362B
Master
Slave
V+
V-
+5V output @ 400 mA
Signal Ground
9
8
1
15
14
6
5
-
+
-
+
A
B
A
B
EncoderXenus Plus
121
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Dat
/Dat
Clk
/Clk121
FG Frame Ground
J10
Clk
DataMAX3362B
MAX3362B
Data
Clk9
8
1
15
14
+5V
0V
+5V output @ 400 mA
Signal Ground
6
21
20
10k
10k
121 Sin
Cos
10k
10k
121
sin
cos
19
18
5
Nikon-AEncoder
Xenus
121
1.2k
1.2k
220
5V
SD+
SD-
0V
+5V
J10
1
15
14
V+
V-
5V output
Signal Ground
6
5
Cmd
D-R
SD
MAX3362B
Cmd
D-R
SD
MAX3362B
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 14 of 28
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SSIABSOLuTEENCODERTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheXPLdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequentclockpulses.Thepollingoftheencoderdataoccursatthecurrentloopfrequency(16kHz).Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLkandSDATA.Dataissentin8bitbytes,LSBfirst.TheSCLksignal isonlyactiveduringtransfers.DataisclockedoutonthefallingedgeandclockinontherisingedgeoftheMaster.
ENDATABSOLuTEENCODERTheEnDatinterfaceisaHeidSTO-1aininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogsin/coschannelsfromthesameencoder.Thenumberofpositiondatabitsisprogrammableasistheuseofsin/coschannels.useofsin/cosincrementalsignalsisoptionalintheEnDatspecification.
BiSSABSOLuTEENCODERBiSSisan-OpenSource-digitalinterfaceforsensorsandactuators.BiSSrefers toprinciplesofwellknown industrialstandards forSerialSynchronous Interfaces like SSI, AS-Interface® and Interbus®withadditionaloptions. SerialSynchronousDataCommunication Cyclicathighspeed 2unidirectionallinesClockandData Linedelaycompensationforhighspeeddatatransfer Requestfordatagenerationatslaves Safetycapable:CRC,Errors,Warnings Buscapabilityincl.actuators Bidirectional BiSSB-protocol:Modechoiceateachcyclestart BiSSC-protocol:Continuousmode
NIkON-AABSOLuTEENCODERTheNikonAinterfaceisaserial,half-duplextypethatiselectricallythesameasRS-485
MOTORCONNECTIONS(CONT’D)
XPL
Halls
+5V output @ 400 mA
* Signal Ground
+5V
0V
6
5
10K
100p
10KHall U+5V
J10
2
100p
10K
10KHall V
+5V
3
100p
10K
10KHall W
+5V
4
Hall A
Hall B
Hall C
* Alternate Sgnd connections on J10 are pins 16, 25, 26
J2
1F.G.PWM
+HV
0V
+
W
V
U
2
3
4
Motor3 ph.
7
5 16 25 26
+5V
Motemp[AIN3]
Thermistor,Posistor,
or switch
Signal Gnd
4.99k
100k
150k
100n
J10
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MOTORCONNECTIONS(CONT’D)
MOTORPHASECONNECTIONSThedriveoutputisathree-phasePWMinverterthatconvertstheDCbussvoltage(+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimizePWMnoisecouplingintoothercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J2-1)forbestresults.
DIGITALHALLSIGNALSHallsignalsaresingle-endedsignals thatprovideabsolute feedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(u,V,&W)andtheymaybesourcedbymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc.Theytypicallyoperateatmuchlowerfrequenciesthanthemotorencodersignals,andareusedforcommutation-initializationafterstartup,andforcheckingthemotorphasingaftertheamplifierhasswitchedtosinusoidalcommutation.
MOTORTEMPERATuRESENSORAnalog input [AIN3] Motemp, is for use with a motorovertemperature switch or sensor. The input voltage goesthroughalow-passfiltertoa12-bitA/Dconverter.Theactivelevelof the input,Vset, isprogrammablegenerateanover-temperaturefaultiftheinputvoltageis<Vset,or>Vset.
XPL
SecondaryEncoder Input
Input/OutputSelect
Quad A/B/X primaryencoder
MAX3032
MAX3097
Buffered A/B/X signalsfrom primary encoder
SecondaryEncoder Input
Input/OutputSelect
MAX3362
MAX3097
Emulated Quad A/Bsignals from analog Sin/Cos encoder
Emulated A/B signals
Input/OutputSelect
MAX3097
MAX3032
A/B/X signals fromdigital encoder
Input/OutputSelect
MAX3097
MAX3032
Pulse/Dir or CU/CD differential commands
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 16 of 28
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MOTORCONNECTIONS(CONT’D)
MuLTI-MODEENCODERPORTThisportconsistsofthreedifferentialinput/outputchannelsthattaketheirfunctionsfromtheBasicSetupofthedrive.WithquadA/Bencoderfeedback,theportworksasanoutput,bufferingthesignalsfromtheencoder.Withresolverorsin/cosencoderversions,thefeedbackisconvertedto“emulated”quadA/B/Xsignalswithprogrammableresolution.Thesesignalscanthenbefedbacktoanexternalmotioncontrollerthatclosesthepositionorvelocityloops.Asaninput,theportcantakequadA/Bsignalstoproduceadual-looppositioncontrolsystemorusethesignalsasmaster-encodercommandsincammingmode.Inaddition,theportcantakesteppercommandsignals(Cu/CDorPulse/Direction)indifferentialformat.
ASBuFFEREDOuTPuTSFROMADIGITALQuADRATuRE PRIMARyENCODERWhenusingadigitalquadrature feedbackencoder, theA/B/Xsignalsdrivethemulti-modeportoutputbuffersdirectly.ThisisusefulinsystemsthatuseexternalcontrollersthatalsoneedthemotorfeedbackencodersignalsbecausethesenowcomefromJ8,theControlconnector.Inadditiontoeliminating“y”cablingwherethemotorfeedbackcablehastosplittoconnecttobothcontrollerandmotor,thebufferedoutputsreduceloadingonthefeedbackcablethatcouldoccurifthemotorencoderhadtodrivetwodifferentialinputsinparallel,eachwithit’sown121ohmterminatingresistor.
ASEMuLATEDQuADA/B/XENCODEROuTPuTSFROMAN ANALOGSIN/COSFEEDBACkENCODERAnalog sin/cos signals are interpolated in the drive with programmableresolution.Theincrementalpositiondataisthenconvertedbackintodigitalquadrature formatwhichdrives themulti-modeportoutputbuffers.Someanalogencodersalsoproduceadigitalindexpulsewhichisconnecteddirectlytotheport’soutputbuffer.TheresultisdigitalquadratureA/B/Xsignalsthatcanbeusedasfeedbacktoanexternalcontrolsystem.
ASAMASTERORCAMMINGENCODERINPuTFROMA DIGITALQuADRATuREENCODERWhen operating in positionmode themulti-mode port can accept digitalcommandsignalsfromexternalencoders.Thesecanbeusedtodrivecamtables, or asmaster-encoder signals when operating in amaster/slaveconfiguration.
ASDIGITALCOMMANDINPuTSINPuLSE/DIRECTION,PuLSE-uP/PuLSE-DOWN,OR DIGITALQuADRATuREENCODERFORMATThemulti-modeportcanalsobeusedwhendigitalcommandsignalsareinadifferentialformat.Thesearethesignalsthattypicallygotosingle-endedinputs.But,athigherfrequenciesthesearelikelytobedifferentialsignalsinwhichcasethemulti-modeportcanbeused.
XPL
S
/S 13
14
15 [OUT4-] GPI
J9
4
3
2
8
7
1
6
5
F.G.
[IN8] GPI
[COMM_A]
[IN7] GPI
[COMM_B]
[IN10] GPI
[IN9] GPI
12
11
10
9
14
13
[IN12] GPI
[OUT5+] GPI
[IN13] GPI
[IN14] GPI
[OUT4+] GPI
[OUT5-] GPI
[IN11] GPI
Multi-ModeEncoder
Port
Frame Ground
A
/A
B
/B
X
/X
FrameGnd
Outputs BufferedQuad A/B fromEncoder
Sgnd 25
24
+5V Out2
6
A
B
/B
X
/X
/A
21
22
23
26
24
25
1
8
9
10
11
12
1
13
Hall W 4
Hall V 3
Hall U 2
5
26
Signal Ground
Signal Ground
Signal Ground
16
+5V Out2 17
DIGITALENCODER
DIGITALHALLS
/A
A
/B
B
/X
Vcc
0V
FLT
X
+5V Out1
Signal Ground
Ain1(-)
Ain1(+)±10 VdcAnalog
Reference
AC MAINS:100 to 240 Vac1Ø or 3Ø47 to 63 Hz
L3
L2
L1
Fuse
1
H
NLIN
EFI
LTER
BRUSHLESSMOTOR
DANGER: HIGH VOLTAGECIRCUITS ON J1, J2, & J3ARE CONNECTED TOMAINS POWER
* Fuse
* Fuse
Earth
* Fuse
* Fuse
* Optional
J3REGEN+
REGEN-
Frame Ground
U
V
W
1
4
5
2
3
4
3
2
1
Mot U
Mot V
Mot W
Frame Ground
J4
J1
J2
J8
+24V
BRAKE
RTN
Signal Ground
Aout
[OUT2]
[OUT1]
[OUT3] HS
L3
L2
L1
BRAKE
Required forDrive Operation
Control Power Supply
+24 Vdc0.5 Adc
7
12
11
2
3
1
15
10
8
9
17
16
18
Frame Grounding Tab
[IN1] Enable
[IN4] HS
[IN2] GP
[IN3] HS
Ain2(-)
Ain2(+)
[IN6] HS
[IN5] HS
6
5
4
J1020
19
2
3
4
3
2
1
+
-
Motemp [AIN3]
TEMPSENSOR7
[IN15]
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Quad A/B EncoderMOTORCONNECTIONS(CONT’D)
(NOTE1)
(NOTE1)
NOTES:1) +5VOut1andOut2areindependentpowersuppliesandeachisratedfor400mA2) LinefilterisrequiredforCE3)ActivesignalsinMulti-Modeportdependondriveconfiguration.Allareshownforcompleteness.
=Shieldedcablesrequired forCEcompliance
XPL
S
/S 13
14
15 [OUT4-] GPI
J9
4
3
2
8
7
1
6
5
F.G.
[IN8] GPI
[COMM_A]
[IN7] GPI
[COMM_B]
[IN10] GPI
[IN9] GPI
12
11
10
9
14
13
[IN12] GPI
[OUT5+] GPI
[IN13] GPI
[IN14] GPI
[OUT4+] GPI
[OUT5-] GPI
[IN11] GPI
Multi-ModeEncoder
Port
Frame Ground
A
/A
B
/B
X
/X
FrameGnd
Outputs EmulatedQuad A/B fromAnalog Encoder
Sgnd 25
24
+5V Out2 6
Sin(+)
Cos(+)
Cos(-)
Inx(+)
Inx(-)
Sin(-)
21
22
23
26
24
25
1
22
23
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
Signal Ground 5
Signal Ground 16
Signal Ground 26
+5V Out2 17
Sin / CosENCODER
DIGITALHALLS
Sin(-)
Sin(+)
Cos(-)
Cos(+)
Index(-)
Vcc
0V
FLT
Index(+)
+5V Out1
Signal Ground
Ain1(-)
Ain1(+)±10 VdcAnalog
Reference
7Motemp
[AIN3]
TEMPSENSOR
AC MAINS:100 to 240 Vac1Ø or 3Ø47 to 63 Hz
L3
L2
L1
Fuse
1
H
NLIN
EFI
LTER
BRUSHLESSMOTOR
DANGER: HIGH VOLTAGECIRCUITS ON J1, J2, & J3ARE CONNECTED TOMAINS POWER
* Fuse
* Fuse
Earth
* Fuse
* Fuse
* Optional
J3REGEN+
REGEN-
Frame Ground
U
V
W
1
4
5
2
3
4
3
2
1
Mot U
Mot V
Mot W
Frame Ground
J4
J1
J2
J8
+24V
BRAKE
RTN
Signal Ground
Aout
[OUT2]
[OUT1]
[OUT3] HS
L3
L2
L1
BRAKE
Required forDrive Operation
Control Power Supply
+24 Vdc0.5 Adc
7
12
11
2
3
1
15
10
8
9
17
16
18
Frame Grounding Tab
[IN1] Enable
[IN4] HS
[IN2] GP
[IN3] HS
Ain2(-)
Ain2(+)
[IN6] HS
[IN5] HS
6
5
4
J1020
19
2
3
4
3
2
1
+
-
[IN15]
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 18 of 28
RoHSXenus Plus CANopen
Sin/Cos EncoderMOTORCONNECTIONS(CONT’D)
(NOTE1)
(NOTE1)
NOTES:1) +5VOut1andOut2areindependentpowersuppliesandeachisratedfor400mA2) LinefilterisrequiredforCE3)ActivesignalsinMulti-Modeportdependondriveconfiguration.Allareshownforcompleteness.
=Shieldedcablesrequired forCEcompliance
XPL
15 [OUT4-] GPI
J9
4
3
2
8
7
1
6
5
F.G.
[IN8] GPI
[COMM_A]
[IN7] GPI
[COMM_B]
[IN10] GPI
[IN9] GPI
12
11
10
9
14
13
[IN12] GPI
[OUT5+] GPI
[IN13] GPI
[IN14] GPI
[OUT4+] GPI
[OUT5-] GPI
[IN11] GPI
Multi-ModeEncoder
Port
Frame Ground
A
/A
B
/B
X
/X
S
/S
FrameGnd
Outputs EmulatedQuad A/B fromResolver
Sgnd 25
24
+5V Out2 6
Sin(+)
Cos(+)
Cos(-)
Ref(+)
Ref(-)
Sin(-)
21
22
23
26
24
25
1
22
23
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
Signal Ground 16
Signal Ground 26
Signal Ground 5
+5V Out2 17
Resolver
S1 Sin(-)
S3 Sin(+)
S4 Cos(-)
S2 Cos(+)
R2 Ref(-)
R1 Ref(+)
+5V Out1
Signal Ground
Ain1(-)
Ain1(+)±10 VdcAnalog
Reference
7Motemp
[AIN3]
TEMPSENSOR
AC MAINS:100 to 240 Vac1Ø or 3Ø47 to 63 Hz
L3
L2
L1
Fuse
1
H
NLIN
EFI
LTER
BRUSHLESSMOTOR
DANGER: HIGH VOLTAGECIRCUITS ON J1, J2, & J3ARE CONNECTED TOMAINS POWER
* Fuse
* Fuse
Earth
* Fuse
* Fuse
* Optional
J3REGEN+
REGEN-
Frame Ground
U
V
W
1
4
5
2
3
4
3
2
1
Mot U
Mot V
Mot W
Frame Ground
J4
J1
J2
J8
+24V
BRAKE
RTN
Signal Ground
Aout
[OUT2]
[OUT1]
[OUT3] HS
L3
L2
L1
BRAKE
Required forDrive Operation
Control Power Supply
+24 Vdc0.5 Adc
7
12
11
2
3
1
15
10
8
9
17
16
18
Frame Grounding Tab
[IN1] Enable
[IN4] HS
[IN2] GP
[IN3] HS
Ain2(-)
Ain2(+)
[IN6] HS
[IN5] HS
6
5
4
J1020
19
2
3
4
3
2
1
+
-
[IN15]
13
14
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 19 of 28
RoHSXenus Plus CANopen
ResolverMOTORCONNECTIONS(CONT’D)
(NOTE1)
(NOTE1)
NOTES:1) +5VOut1andOut2areindependentpowersuppliesandeachisratedfor400mA2) LinefilterisrequiredforCE3)ActivesignalsinMulti-Modeportdependondriveconfiguration.Allareshownforcompleteness.
=Shieldedcablesrequired forCEcompliance
XPL
Signal Pin
+24VdcControlPower 3
BrakeOutput[OuT6] 2
0V(+24VdcReturn) 1
Signal Pin
Motor Phase U 4
Motor Phase V 3
Motor Phase W 2
Cable Shield 1
Signal Pin
Mains Input L3 4
Protective Ground 3
Mains Input L2 2
Mains Input L1 1
Signal Pin
Regen Resistor 1
No Connection 2
Regen Resistor 3
No Connection 4
Cable Shield 5
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 20 of 28
RoHSXenus Plus CANopen
Quad A/B & Sin/Cos Encoder
J1MAINSCONNECTIONS
J2MOTOROuTPuTS
J3REGENRESISTOR
J4+24VDC&BRAkE
J1CABLECONNECTOR:Wago:51118287or721-204/026-045/RN01-0000 Euro-style7,5mmpluggablefemaleterminalblock withprecedinggroundreceptacle
Cable:AWG12,600Vrecommended forXPL-230-36-RandXPL-230-40-Rmodels, AWG14,600VforXPL-230-18-R ShieldedcablerequiredforCEcompliance
J2CABLECONNECTOR:Wago:51118008or721-104/026-047/RN01-0000 Euro-style5,0mmpluggablefemaleterminalblock
Cable:AWG12,600Vrecommended forXPL-230-36-RandXPL-230-40-Rmodels, AWG14,600VforXPL-230-18-R ShieldedcablerequiredforCEcompliance
J3CABLECONNECTOR:Wago:51111279or721-605/000-044/RN01-0000 Euro-style5,0mmpluggablemaleterminalblock
Cable:AWG12,600Vrecommended forXPL-230-36-RandXPL-230-40-Rmodels, AWG14,600VforXPL-230-18-R ShieldedcablerequiredforCEcompliance
WARNING: Hazardous voltages exist on connections to J1, J2, & J3 when power is applied, and for up to 30 seconds after power is removed.
WIREINSERTION/EXTRACTIONTOOL:usedonJ1,J2,J3,&J4 Wago231-131 ISOLATEDCIRCuIT
ISOLATEDCIRCuIT
J4CABLECONNECTOR:Wago:51117974or721-103/026-047/RN01-0000 Euro-style5,0mmpluggableterminalblock
NOTE:ANEXTERNAL +24VDCPOWERSuPPLy ISREQuIREDFOROPERATION
J2
J3
J4
J5
J1
XPL
PIN SIGNAL PIN SIGNAL PIN SIGNAL
1 FrameGnd 6 [IN10]GPI 11 [IN14]GPI
2 [COMM_A] 7 [COMM_B] 12 [OuT5+]GPI
3 [IN7]GPI 8 [IN11]GPI 13 [OuT5-]GPI
4 [IN8]GPI 9 [IN12]GPI 14 [OuT4+]GPI
5 [IN9]GPI 10 [IN13]GPI 15 [OuT4-]GPI
PIN SIGNAL PIN SIGNAL PIN SIGNAL
1 FrameGnd 10 Enc/B1 19 Sin1(+)
2 Hallu 11 EncB1 20 Cos1(-)
3 HallV 12 Enc/A1 21 Cos1(+)
4 HallW 13 EncA1 22 Index1(-)
5 SignalGnd 14 Enc/S1 23 Index1(+)
6 +5VdcOut 15 EncS1 24 [IN15]
7 [AIN3]Motemp 16 SignalGnd 25 SignalGnd
8 Enc/X1 17 +5VdcOut 26 SignalGnd
9 EncX1 18 Sin1(-)
PIN SIGNAL PIN SIGNAL
9 [AOuT] 18 [OuT3]HS PIN SIGNAL
8 [IN5]HS 17 [OuT2] 26 MultiEncA2
7 [IN4]HS 16 [OuT1] 25 MultiEnc/A2
6 [IN3]HS 15 SignalGnd 24 MultiEncB2
5 [IN2]GP 14 MultiEncS2 23 MultiEnc/B2
4 [IN1]GP 13 MultiEnc/S2 22 MultiEncX2
3 [AIN1-] 12 [AIN2-] 21 MultiEnc/X2
2 [AIN1+] 11 [AIN2+] 20 +5VdcOut
1 FrameGnd 10 [IN6]HS 19 SignalGnd
PIN SIGNAL PIN SIGNAL
1 FrameGnd 6 STO-LED(+)
2 STO-1(+) 7 STO-LED(-)
3 STO-1(-) 8 24VdcCommon
4 STO-2(+) 9 +24VdcOutput
5 STO-2(-)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 21 of 28
RoHSXenus Plus CANopen
Quad A/B & Sin/Cos Encoder
J9SECONDARyI/OCONNECTOR
J5SAFETyDISABLE
J10FEEDBACk
J10
J6
J7
J8
J9
J8CABLECONNECTOR:High-Density D-Subfemale, 26 Position
J9CABLECONNECTOR:High-Density D-Submale, 15 Position
J10CABLECONNECTOR:High-Density D-Submale, 26 Position
J5CABLECONNECTOR:D-Submale, 9 Position
J8CONTROLSIGNALS
XPL
Signal Pin
+24VdcControlPower 3
BrakeOutput[OuT6] 2
0V(+24VdcReturn) 1
Signal Pin
Motor Phase U 4
Motor Phase V 3
Motor Phase W 2
Cable Shield 1
Signal Pin
Mains Input L3 4
Protective Ground 3
Mains Input L2 2
Mains Input L1 1
Signal Pin
Regen Resistor 1
No Connection 2
Regen Resistor 3
No Connection 4
Cable Shield 5
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 22 of 28
RoHSXenus Plus CANopen
Resolver
J1MAINSCONNECTIONS
J2MOTOROuTPuTS
J3REGENRESISTOR
J4+24VDC&BRAkE
J1CABLECONNECTOR:Wago:51118287or721-204/026-045/RN01-0000 Euro-style7,5mmpluggablefemaleterminalblock withprecedinggroundreceptacle
Cable:AWG12,600Vrecommended forXPL-230-36-RandXPL-230-40-Rmodels, AWG14,600VforXPL-230-18-R ShieldedcablerequiredforCEcompliance
J2CABLECONNECTOR:Wago:51118008or721-104/026-047/RN01-0000 Euro-style5,0mmpluggablefemaleterminalblock
Cable:AWG12,600Vrecommended forXPL-230-36-RandXPL-230-40-Rmodels, AWG14,600VforXPL-230-18-R ShieldedcablerequiredforCEcompliance
J3CABLECONNECTOR:Wago:51111279or721-605/000-044/RN01-0000 Euro-style5,0mmpluggablemaleterminalblock
Cable:AWG12,600Vrecommended forXPL-230-36-RandXPL-230-40-Rmodels, AWG14,600VforXPL-230-18-R ShieldedcablerequiredforCEcompliance
WARNING: Hazardous voltages exist on connections to J1, J2, & J3 when power is applied, and for up to 30 seconds after power is removed.
WIREINSERTION/EXTRACTIONTOOL:usedonJ1,J2,J3,&J4 Wago231-131 ISOLATEDCIRCuIT
ISOLATEDCIRCuIT
J4CABLECONNECTOR:Wago:51117974or721-103/026-047/RN01-0000 Euro-style5,0mmpluggableterminalblock
NOTE:ANEXTERNAL +24VDCPOWERSuPPLy ISREQuIREDFOROPERATION
J1
J2
J3
J4
J5
XPL
PIN SIGNAL PIN SIGNAL
1 FrameGnd 6 STO-LED(+)
2 STO-1(+) 7 STO-LED(-)
3 STO-1(-) 8 24VdcCommon
4 STO-2(+) 9 +24VdcOutput
5 STO-2(-)
PIN SIGNAL PIN SIGNAL PIN SIGNAL
1 FrameGnd 6 [IN10]GPI 11 [IN14]GPI
2 [COMM_A] 7 [COMM_B] 12 [OuT5+]GPI
3 [IN7]GPI 8 [IN11]GPI 13 [OuT5-]GPI
4 [IN8]GPI 9 [IN12]GPI 14 [OuT4+]GPI
5 [IN9]GPI 10 [IN13]GPI 15 [OuT4-]GPI
PIN SIGNAL PIN SIGNAL PIN SIGNAL
1 FrameGnd 10 Enc/B1 19 Sin1(+)S3
2 Hallu 11 EncB1 20 Cos1(-)S4
3 HallV 12 Enc/A1 21 Cos1(+)S2
4 HallW 13 EncA1 22 Ref(-)R2
5 SignalGnd 14 Enc/S1 23 Ref(+)R1
6 +5VdcOut 15 EncS1 24 [IN15]
7 [AIN3]Motemp 16 SignalGnd 25 SignalGnd
8 Enc/X1 17 +5VdcOut 26 SignalGnd
9 EncX1 18 Sin1(-)S1
PIN SIGNAL PIN SIGNAL
9 [AOuT] 18 [OuT3]HS PIN SIGNAL
8 [IN5]HS 17 [OuT2] 26 MultiEncA2
7 [IN4]HS 16 [OuT1] 25 MultiEnc/A2
6 [IN3]HS 15 SignalGnd 24 MultiEncB2
5 [IN2]GP 14 MultiEncS2 23 MultiEnc/B2
4 [IN1]GP 13 MultiEnc/S2 22 MultiEncX2
3 [AIN1-] 12 [AIN2-] 21 MultiEnc/X2
2 [AIN1+] 11 [AIN2+] 20 +5VdcOut
1 FrameGnd 10 [IN6]HS 19 SignalGnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 23 of 28
RoHSXenus Plus CANopen
Resolver
J9SECONDARyI/OCONNECTOR
J5SAFETy
J10FEEDBACk
J8CABLECONNECTOR:High-Density D-Subfemale, 26 Position
J9CABLECONNECTOR:High-Density D-Submale, 15 Position
J10CABLECONNECTOR:High-Density D-Submale, 26 Position
J5CABLECONNECTOR:D-Submale, 9 Position
J10
J6
J7
J8
J9
J8CONTROLSIGNALS
XPL
~
~ -
+
~+
REGEN(-) REGEN(+)
SHIELD
U
V
W
J2
DC BUS(+)
DC BUS(-)
J3
2350 µFL1
MAINSL3
L2J1
PWMSTAGE
POWERCONTROL
ISOLATION BARRIER
SHIELD
FEEDBACKPOWER &DECODING
J10
CONTROLLOGIC
+5 Vdc
ENABLE [IN1]
SIGNAL GND
CONTROLSIGNALGROUND
CONTROLSYSTEM
J8
GROUND+24 Vdc
+24VDC BRAKE
+24 VdcJ4
RTNCntrl
BRAKE
DC/DCConverter
&
POWER
LOGIC
SIGNAL
DC/DC
(SAFETY GROUND)
PWMINVERTER
MOTOR
FEEDBACK
CASE
FRAME GROUND
FRAME GROUND
20
40
60
80
100
120
140
160
260240220200180160140120100
Energy Absorption vs.Mains Voltage
Mains Voltage (Vac)
Ener
gy
Abso
rption (
W·s
)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 24 of 28
RoHSXenus Plus CANopen
GROuNDINGA grounding system has three primaryfunctions: safety, voltage-reference, andshielding.Asasafetymeasure,theprimarygroundatJ1-3willcarryfault-currentsfromthemainsinthecaseofaninternalfailureor short-circuit of electronic components.Wiring to this is typically donewith thegreenconductorwithyellowstripeusingthesamegaugewireasthatusedforthemains.ThepinonthedriveatJ1-3islongerthantheotherpinsonJ1givingitafirst-make,last-breakactionsothatthedrivechassisisneverungroundedwhenthemainspowerisconnected.Thiswireisa‘bonding’conductorthatshouldconnecttoanearthedgroundpointandmustnotpassthroughanycircuitinterruptingdevices.
All of the circuits on J1, J2, and J3 are mains-connected and must never be grounded.ThegroundterminalsatJ1-3,J2-1,andJ3-5allconnecttothedrivechassisandareisolatedfromalldriveinternalcircuits.Signal grounding references the drivecontrol circuits to those of the controlsystem. These controls circuits typicallyhave theirownearthconnectionat somepoint. To eliminate ground-loops it isrecommendedthatthedrivesignalgroundbeconnectedtothecontrolsystemcircuitground.Whenthisisdonethedrivesignalvoltageswillbereferencedtothesame0Vlevelasthecircuitsinthecontrolsystem.Smallcurrentsflowbetweencontrolleranddrivewheninputsandoutputsinteract.Thesignalgroundisthepathforthesecurrentsto return to their power sources in bothcontrolleranddrive.ShieldsoncablesreduceemissionsfromthedriveforCEcomplianceandprotectinternalcircuits from interferencedue to externalsourcesofelectricalnoise.Becauseoftheirsmallerwire gauge, these should not beused as part of a safety-ground system.Motorcasescanbesafety-groundedeitheratthemotor,byearthingtheframe,orbyagroundingconductorinthemotorcablethat connects to J2-1. This cable shouldbeofthesamegaugeastheothermotorphasecables.For CE compliance and operator safety,the drive heatplate should be earthed tothe equipment frame. An unplated tab isprovidedontheheatplate(neartoJ1)forthisconnection.
DRIVEPOWERSOuRCESAn external +24 Vdc power supply isrequired, and powers an internal DC/DCconverterthatsuppliesall thecontrolvoltages for drive operation. use of anexternalsupplyenablesCANcommunicationwiththedrivewhenthemainspowerhasbeenremoved.Power distribution inXPL is divided into threesections:+24Vdc,signal,andhigh-voltage.Eachisisolatedfromtheotherandallareisolatedfromthechassis.
EXTERNAL+24VDCTheprimarysideof theDC/DCconverteroperates directly from the external +24Vdcsupplyandisisolatedfromotherdrivepowersections.TheBrakeoutput[OuT6]operatesinthissectionandisreferencedtothe+24Vdcreturn(0V).Itsinkscurrentfrom an external load connected to theexternal+24Vdcpowersource.
INTERNALSIGNALPOWERThesignalpowersectionsuppliespowerforthecontrolcircuitsaswellaslogicinputsandoutputs.MotorfeedbacksignalssuchasHalls,encoder,andtemperaturesensoroperatefromthispowersource.Allsignalcircuitsarereferencedtosignalground.Thisgroundshouldconnecttothecontrolsystemcircuitgroundorcommonsothatdriveandcontrollerinputsandoutputvoltagelevelsworkproperlywitheachother.
MAINSPOWERMains power drives the high-voltagesection.Itisrectifiedandcapacitor-filteredto produce +HV which the PWM stageconverts into voltages that drive eitherthreephasebrushlessorDCbrushmotors.An internal solid-state switch togetherwith an external power resistor providesdissipation during regenerationwhen themechanicalenergyofthemotorisconvertedback into electrical energy thatmust bedissipated before it charges the internalcapacitorstoanovervoltagecondition.Allthe circuits in this sectionare “hot”, thatis,theyconnectdirectlytothemainsandmust be considered high-voltages and ashock hazard requiring proper insulationtechniquesduringinstallation.
REGENERATIONThechartbelowshowstheenergyabsorptioninW·sforaXenus Plus drive operating at sometypicalmainsvoltages.Whentheloadmechanical energy is greater than thesevaluesanexternalregenresistorisavailableasanaccessory.
XPL
3 TURNSAROUNDTOROID
INDUCTOR
MOTOR
MAINS
REGEN
CONTROLLER
XENUSPlus
FEEDBACK
LINEFILTER
J1
J2
J10J8
J3J424 VPOWERSUPPLY
Uplated tab for heatplate
ground
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 25 of 28
RoHSXenus Plus CANopen
GROuNDING&SHIELDINGFORCE
keepthechassisgroundingconnectionsshortforbestshieldingperformance
Groundingandshieldingarethemeansofcontrollingtheemissionofradiofrequencyenergyfromthedrivesothat itdoesnotinterferewithotherelectronicequipment.Theuseofshieldedcablestoconnectthedrivetomotorsandfeedbackdevicesisawayofextendingthechassisofthedriveouttothesedevicessothattheconductorscarrying noise generated by the driveare completely enclosed by a conductiveshield.Theprocessbeginsatthemainsconnectorofthedrive,J1.Thegroundterminalherehasacirclearounditindicatingthatthisisthesafetyor“bonding”groundconnection.Thisshouldbeconnectedwithwirethatisthesamegaugeasthatusedforthemains.In thecaseofashort-circuit in thedrivethefunctionofthisgroundconnectionistocarrythefaultcurrenttoearthgrounduntilthesafetydevice(fuseorcircuitbreakers)disconnectsthedrivefromthemains.Thisconnection ensures that the heatplate ofthe drive remains at earth potential andeliminatingashockhazardthatcouldoccurofthechassiswereallowedtofloattothepotentialofthemains.Whilethisconnectionkeepstheheatplateatearthpotentialthehighfrequencynoisegeneratedbyswitchingcircuitsinthedrivecanradiatefromthewireusedforthesafetyground connection. In order to keep thepathbetween theheatplateandearthasshortaspossibleit’salsorecommendedtomountthedrivetotheequipmentpanel.Anunplatedtabontheheatplateisprovidedforthisandwillgroundtheheatplatedirectlyto theequipment frame, further reducingemissions.The heatplate also connects directly totheframegroundterminalsonthemotor,feedback,andregenconnectors.Notethatthegroundsymbolsforthesedonothaveacirclearoundthemwhich indicatesthatthese are for shielding and not not forsafetygrounding.Motorsandtheirfeedbackdevices (which are typically in themotorcase)shouldbegroundedbymountingtoequipment that is grounded as a safetyground.Byconnectingtheshieldsforthesedevicesatthedriveandatthedevice,theconnection is continuous and provides areturnpathforradio-frequencyenergytothedrive.
Notes:1)ShieldedcablesrequiredforCEareshowninthediagramabove.2)LinefilterrequiredforCE3)Ferritecore(MagneticsInc,ZW43615-TC)requiredforshielded
cable to regen resistorwhichmustbeinshieldedenclosure.
XPL
Heatsink
#8-32MountingScrews
DryFilmInterfacePad
XenusPlusDrive
BlueProtectiveSheet (Discard)
ClearProtectiveSheet (Discard)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 26 of 28
RoHSXenus Plus CANopen
HEATSINk&FANCONFIGuRATIONS
HEATSINkMOuNTING
Adry-filminterfacepadisusedinplaceofthermalgrease.Thepadisdie-cuttoshapeandhasholesfor theheat sinkmountingscrews.Thereare twoprotectivesheets,blueononesideandclearontheother.Bothmustberemovedwhentheinterfacepadisinstalled.
STEPSTOINSTALL
1.Removetheblueprotectivesheetfromonesideofthepadandplacethepadonthedrive.Makesurethattheholesinthepadalignwiththeholesonthedrive.
2.Removetheclearprotectivesheetfromthepad.3.Mount the heatsink onto the drive taking careto see that the holes in the heatsink, pad, anddrivealllineup.
4.Torquethe#8-32mountingscrewsto16~20lb-in(1.8~2.3N·m).
NOHEATSINk NOFAN
NOHEATSINk WITHFAN
LOW-PROFILEHEATSINk NOFAN
LOWPROFILEHEATSINk WITHFAN
STANDARDHEATSINk NOFAN
STANDARDHEATSINk WITHFAN
NOTE:FANSARENOTINCLuDEDWITHHEATSINkSORHEATSINkkITS
XPL
20
30
40
50
60
2018161412108642
No Heatsink
StandardHeatsink
Low ProfileHeatsink w/fan
Low ProfileHeatsink orno Heatsink w/fan
StandardHeatsink w/fan
1
2
4
5
3
Mains: 120 Vac
Continuous Output Current (Adc)
Am
bie
nt
Tem
per
ature
(°C
)
3
1 2
4
5
20
30
40
50
60
20181614121086442
Mains: 240 Vac
StandardHeatsink w/fan
Low ProfileHeatsink w/fan
No Heatsink
StandardHeatsink
Low ProfileHeatsink orno Heatsink w/fan
4
5
1
2
3
Continuous Output Current (Adc)
Am
bie
nt
Tem
per
ature
(°C
)
1
2
3
4
5
20
30
40
50
60
654321
Mains: 120 Vac
No Heatsink
Low ProfileHeatsink *
* All other heatsink and fan combinations enable operation at 55 °C
Continuous Output Current (Adc)
Am
bie
nt
Tem
per
ature
(°C
)
1
2
1
2
20
30
40
50
60
654321
1
2
1
2
3 3
No Heatsink
Low ProfileHeatsink *
All other heatsink and fan combinations enable operation at 55 °C
Mains: 240 Vac
Continuous Output Current (Adc)
Am
bie
nt
Tem
per
ature
(°C
)
20
30
40
50
60
121110987654321
No Heatsink
StandardHeatsink
Low ProfileHeatsink w/fan
Low ProfileHeatsink orno Heatsink w/fan
StandardHeatsink w/fan
4
5
1
2
3
Am
bie
nt
Tem
per
ature
(°C
)
Mains: 120 Vac
1
3
4
5
2
Continuous Output Current (Adc)
20
30
40
50
60
121110987654321
StandardHeatsink
Low ProfileHeatsink w/fan
Low ProfileHeatsink orno Heatsink w/fan
StandardHeatsink w/fan
5
1
2
3
4
No Heatsink
Mains: 240 Vac
Continuous Output Current (Adc)
Am
bie
nt
Tem
per
ature
(°C
) 5
4
1
2
3
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 27 of 28
RoHSXenus Plus CANopen
XPL-230-18 XPL-230-18
XPL-230-36 XPL-230-36
XPL-230-40 XPL-230-40
Thechartsbelowshowthatmaximumambienttemperaturevs.continuousoutputcurrentfortheXenusPlusmodels.Thecoolingoptionsarenoheatsink,standardheatsink,andlow-profileheatsink.Foreachofthesethedrivecanbeoperatedwithconvectionorforced-aircooling.
MAXIMuMOPERATINGTEMPERATuREVSHEATSINkTyPE&AIRCIRCuLATION
XPL
Connectors&SoftwareforCANopenOperation
XPL-Nk
1
J7
D-Sub9FtoRJ-45Adapter
1 CANbusRJ-45terminator
1 CANbusnetworkcable,10ft(3m)
XPL-CV 1 D-Sub9FtoRJ-45Adapter
XPL-NC-10 1 CANbusNetworkCable,10ft(3m)
XPL-NC-01 1 CANbusNetworkCable,1ft(0.3m)
XPL-NT 1 CANbusNetworkTerminator
CMO CDwithCMOSoftware
CML CDwithCMLSoftware(Note:licensefeerequired)
ORDERINGGuIDEXPL-230-18 XenusPlusServo Drive 6/18 Adc
XPL-230-36 XenusPlusServo Drive 12/36 Adc
XPL-230-40 XenusPlusServo Drive 20/40 Adc
Add“-R”tomodelnumberforresolveroption
Qty Ref DeScRIPtIon ManufactuReRS PaRt nuMbeR
XPL-cK
ConnectorkitwithSolderCup ConnectorsforJ5,J8,J9&J10
1 J1 Plug,4position,7.5mm,female Wago:721-204/026-045(Note1)
1 J2 Plug,4position,5.0mm,female Wago:721-104/026-047(Note1)
1 J3 Plug,5position,5.0mm,male Wago:721-605/000-044(Note1)
1 J4 Plug,3position,5.0mm,female Wago:721-103/026-047(Note1)
4 J1~4 Tool,wireinsertion&extraction(forJ1~4) Wago:231-131
1J5
Connector,D-Sub,9-position,male,soldercup Norcomp:171-009-103L001
1 Backshell,D-Sub,RoHS,metallized,forabove Norcomp:979-009-020R121
1J8
Connector,high-densityD-Sub,26position,female,soldercup Norcomp:180-026-203L001
1 Backshell,D-Sub,RoHS,metallized,forabove Norcomp:979-015-020R121
1J9
Connector,high-densityD-Sub,15position,male,soldercup Norcomp:180-015-103L001
1 Backshell,D-Sub,RoHS,metallized,forabove Norcomp:979-009-020R121
1J10
Connector,high-densityD-Sub,26position,male,soldercup Norcomp:180-026-103L001
1 Backshell,D-Sub,RoHS,metallized,forabove Norcomp:979-015-020R121
SER-Ck J5 RS-232Cablekit
HeatsinkkitsforFieldInstallation(Optional)
XPL-HL Heatsinkkit Low-Profile
1 Heatsink,low-profile
1 Heatsinkthermalmaterial
4 Heatsinkhardware
XPL-HS Heatsinkkit Standard
1 Heatsink,standard
1 Heatsinkthermalmaterial
4 Heatsinkhardware
RegenerationResistors(Optional)
XTL-RA-03 Regenerationresistorassembly(forXPL-230-18),30Ω
XTL-RA-04 Regenerationresistorassembly(forXPL-230-36&XPL-230-40models),15Ω
EdgeFilter(Optional)
XTL-FA-01 Edgefilter
EdgeFilter Connectorkit XTL-Fk
1 Plug,4position,5.0mm,female Wago:721-104/026-047
1 Plug,5position,5.0mm,male Wago:721-605/000-044
2 Tool,wireinsertion&extraction Wago:231-131
Note1:ForRoHScompliance,append“/RN01-0000”totheWagopartnumberslistedabove
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 Page 28 of 28
RoHSXenus Plus CANopen
Note:Specificationsaresubjecttochangewithoutnotice
ACCESSORIES
Example:OrderoneXenus Plusdrive,resolverversion,6/18Awithsolder-cupconnectorkit,CME 2 CD, serial cablekitandsmallheatsinkfittedatthefactory:
Qty Item Remarks 1 XPL-230-18-R-HS Xenus Plus servo drive 1 XPL-Ck Connectorkit 1 CME2 CME2CD 1 SER-Ck SerialCablekit
Note:Theheatsinkcanbefittedatthefactorybyaddingan“-HS”or“-HL”tothedrivepartnumbertospecifythestandardorlow-profiletype.Forfittingaheatsinktoandriveinthefield,completekitsareavailable(XPL-HSandXPL-HL).Thesekitscontaintheheatsink,mountinghardware,anddry-filminterface.