Copley Controls XenusPlus EtherCAT User manual

PRELIMINARY
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 1 of 26
RoHS
DESCRIPTION
Xenus Plus set new levels of performance, connectivity, and exibility. Ethernet based EtherCAT
operates in CANopen over EtherCAT mode (CoE). A wide range of absolute interfaces are built-in
including EnDat, Hiperface, and BiSS.
High resolution A/D converters ensure optimal current loop performance. Both isolated and high-
speed non-isolated I/O are provided. For safety critical applications, redundant power stage enable
inputs can be employed.
Control Modes
• Indexer, Point-to-Point, PVT
• Camming, Gearing
• Position, Velocity, Torque
Command Interface
• CANopen over EtherCAT (CoE)
• ASCII and discrete I/O
• Stepper commands
• ±10V position/velocity/torque (2 inputs)
• PWM velocity/torque command
• Master encoder (Gearing/Camming)
Communications
• EtherCAT
• RS-232
• RS-485 (Optional)
Accessories
• External regen resistors
• External edge lter
Feedback
• Digital quad A/B encoder
• EnDat, Hiperface, BiSS, SSI, Yaskawa &
Panasonic encoders
• Aux. encoder / encoder out
• Analog sin/cos encoder
• Resolver option
• Digital Halls
Safety Disable
• Two active inputs enable power stage
• One output conrms power stage status
I/O Digital
• 15 inputs, 6 outputs
I/O Analog
• 2, 16 bit inputs
• 1, 12 bit output
Dimensions: mm [in]
• 202 x 139 x 52 [7.9 x 5.5 x 2.3]
Model Vac Ic Ip
XEL-230-18 100 - 240 6 18
XEL-230-36 100 - 240 12 36
XEL-230-40 100 - 240 20 40
Add -R for resolver feedback option.

PRELIMINARY
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 2 of 26
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GENERAL SPECIFICATIONS
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1 Ø
MODEL XEL-230-18 XEL-230-36 XEL-230-40 Same specs for XEL and XML models
OUTPUT CURRENT
Peak Current 18 (12.7) 36 (25.5) 40 (28.3) Adc (Arms, sinusoidal)
Peak time 1 1 1 s
Continuous current (Note 1) 6 (4.24) 12 (8.5) 20 (14.1) Adc (Arms, sinusoidal)
INPUT POWER
Mains voltage, phase, frequency 100~240 Vac, ±10%, 1 Ø or 3 Ø, 47~63 Hz
Mains current 20 Arms
+24 Vdc Control power +20 to +32 Vdc, 500 mA max Required for operation
DIGITAL CONTROL
Digital Control Loops Current, velocity, position. 100% digital loop control
Sampling rate (time) Current loop: 15 kHz (67 µs), Velocity & position loops: 3 kHz (333 µs)
Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth
Minimum load inductance 200 µH line-line
COMMAND INPUTS
Distributed Control Mode
CANopen over EtherCAT (CoE) Position, Velocity, Torque, Homing, Prole, Interpolated Prole, and Cyclic Synchronous modes
Stand-alone mode
Analog torque, velocity, position reference ±10 Vdc, 16 bit resolution Dedicated differential analog input
Digital position reference Pulse/Direction, CW/CCW Stepper commands (2 MHz maximum rate)
Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature)
Digital torque & velocity reference PWM , Polarity PWM = 0% - 100%, Polarity = 1/0
PWM 50% PWM = 50% ±50%, no polarity signal required
PWM frequency range 1 kHz minimum, 100 kHz maximum
PWM minimum pulse width 220 ns
Indexing Up to 32 programs can be launched from inputs or ASCII commands. Each program can
consist of moves, I/O commands, time delays, and other programmable operations.
Camming Master quadrature encoder provides position as index to cam table.
Digital inputs initiate cam functions.
DIGITAL INPUTS
Number 15
[IN1,2,15] Non-isolated Schmitt trigger, 1 µs RC lter, 24 Vdc max, Vin-LO <= 1.25 Vdc, Vin-HI >= 3.5 Vdc,
Hysteresis = 0.66 Vdc minimum, 10 kΩ programmable per input to pull-up to +5 Vdc or pull-down to ground
[IN3~6] Non-isolated line receiver, 100 ns RC lter, +12 Vdc max, programmable as 4 single-ended, or 2 differential
Single-ended: [IN3,4] or [IN5,6]: Vin-LO <= 2.3 Vdc, Vin-HI >= 2.7 Vdc, Vhysteresis = 400 mVdc
Differential: [IN3/4] or [IN5/6]: Vin-LO <= -200 mVdc, Vin-HI >= 200 mVdc, Vhysteresis = ±200 mVdc
[IN7~14] Isolated: Opto-isolated, ±5 to ±30 Vdc compatible, bi-polar, 2 groups of 4 with common for each group
ANALOG INPUTS
Number 3
[AIN1~2] Differential, ±10 Vdc, 5 kΩ input impedance, 16-bit resolution
[AIN3] Single-ended, motor temperature sensor, 4.99 kΩ pulled-up to +5 Vdc
DIGITAL OUTPUTS
Number 6
[OUT1~2] Current-sinking MOSFET with 1 kΩ pullup to +5 Vdc through diode
1 Adc max, +40 Vdc max; external yback diode required if driving inductive loads
[OUT3] High-speed CMOS buffer, ±20 mA
[OUT4~5] Opto-isolated Darlingtons with 36V Zener yback diodes, 50 mA max
[OUT6] Motor brake control: opto-isolated, current-sinking with yback diode to +24 Vdc, 1 Adc max
ANALOG OUTPUT
Number 1
Range ±5 Vdc single-ended
Resolution 12-bit
MULTI-MODE ENCODER PORT
As Input Secondary digital quadrature encoder (A, /A, B, /B, X, /X), 121 Ωterminating resistors
18 M-counts/sec, post-quadrature (4.5 M-lines/sec)
As Output Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders or resolvers. Buffered signals from digital quad A/B/X primary encoder
A, /A, B, /B, X, /X, from 26LS31 differential line driver
RS-232 PORT
Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 Baud
Protocol Binary and ASCII formats
ETHERCAT PORTS
Format Dual RJ-45 receptacles, 100BASE-TX
Protocol EtherCAT
Data CANopen over EtherCAT (CoE)
STATUS INDICATORS
Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
CAN Status Bicolor LED, status of CAN bus indicated by color and blink codes to CAN Indicator Specication 303-3

PRELIMINARY
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 3 of 26
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REGENERATION
Operation Internal solid-state switch drives external regen resistor (see Ordering Guide for types)
Cut-In Voltage +HV > 390 Vdc Regen output is on, (optional external) regen resistor is dissipating energy
Drop-Out Voltage +HV < 380 Vdc Regen output is off, (optional external) regen resistor not dissipating energy
Tolerance ±2 Vdc For either Cut-In or Drop-Out voltage
NOTES:
1. Heatsinking and/or forced-air cooling is required for continuous output power rating
2. Brake[OUT4] is programmable as motor brake, or as general purpose digital output
PROTECTIONS
Mains power loss Interruption or loss of AC power is detected
HV Overvoltage +HV > 400 Vdc Drive PWM outputs turn off until +HV is less than overvoltage
HV Undervoltage +HV < 60 Vdc Drive PWM outputs turn off until +HV is greater than undervoltage
Drive over temperature IGBT > 80 °C ±3 °C Drive PWM outputs turn off until IGBT temperature is below threshold
Short circuits Output to output, output to ground, internal PWM bridge faults, regen resistor fail-shorts
I
2T Current limiting Programmable: continuous current, peak current, peak time
Motor over temperature Drive shuts down when motor over-temperature switch changes to high-resistance state, or opens
Feedback power loss Fault occurs if feedback is removed or +5 V is <85% of normal
MECHANICAL & ENVIRONMENTAL
Size 7.55 in (191,8 mm) X 5.57 in (141,5 mm) X 2.57 in (65,3 mm)
Weight 3.0 lb (1.36 kg) for drive without heatsink
3.1 lb (1.40 kg) for XEL-HS heatsink, 1.86 lb (0.84 kg) for XEL-HL heatsink
Ambient temperature 0 to +45 °C operating, -40 to +85 °C storage
Humidity 0% to 95%, non-condensing
Contaminants Pollution degree 2
Vibration 2 g peak, 10~500 Hz (sine), IEC60068-2-6
Shock 10 g, 10 ms, half-sine pulse, IEC60068-2-27
Environment IEC68-2: 1990
Cooling Heat sink and/or forced air cooling required for continuous power output
AGENCY STANDARDS CONFORMANCE
EN 55011 : 1998 CISPR 11 (1997) Edition 2/Amendment 2:
Limits and Methods of Measurement of Radio Disturbance Characteristics of Industrial, Scientic, and
Medical (ISM) Radio Frequency Equipment
EN 61000-6-1 : 2001 Electromagnetic Compatibility Generic Immunity Requirements
Following the provisions of EC Directive 89/336/EEC:
EN 61010-1 2nd Ed.: 2004 Safety Requirements for Electrical Equipment for Measurement, Control, and Laboratory use
Following the provisions of EC Directive 2006/95/EC:
UL 508C 3rd Ed.: 2002 UL Standard for Safety for Power Conversion Equipment
Chassis Grounding:
For CE compliance and machine
safety use external tooth lockwashers
between mounting screw head and
drive heatplate. Recommended screws
are #6-32 (M3.5) torqued to 8~10
lb·in (0.79~1.02 N·m).
DIMENSIONS
Inches (mm)
1
43
SCALE
SIZE DWG NO.
C
4321
SHEET 2 OF 2
REV
Copley Controls Corporation.
##-#####-### 1
1:1
A
B
C
D
A
B
C
D
These drawings and specifications are the property of
Copley Controls Corporation and shall not be reproduced,
copied or used as the basis for manufacture or sale of any
apparatus without the express written authorization of
2
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

PRELIMINARY
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 4 of 26
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RESOLVER
RESOLVER
Type Brushless, single-speed, 1:1 to 2:1 programmable transformation ratio
Resolution 14 bits (equivalent to a 4096 line quadrature encoder)
Reference frequency 7.5 kHz
Reference voltage 2.8 Vrms, auto-adjustable by the drive to maximize feedback
Reference maximum current 100 mA
Maximum RPM 10,000+
ENCODER EMULATION
Resolution Programmable to 16,384 counts/rev (4096 line encoder equivalent)
Buffered encoder outputs 26C31 differential line driver
MOTOR CONNECTIONS
Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors, or DC brush motors (U-V)
Resolver R1, R2, S1, S2, S3, S4
Motemp [IN6] Motor overtemperature sensor input. Active level programmable 0~5 Vdc, 4.99 kΩ pullup to +5 Vdc
Disables drive when motor over-temperature condition occurs
Signal ground Return for temperature sensor
Brake [OUT4] Current-sinking motor brake driver
+24 Vdc From drive +24 Vdc power supply to power motor brake
Frame ground For motor cable shield
FEEDBACK SPECIFICATIONS
INCREMENTAL ENCODERS & HALLS
DIGITAL QUAD A/B ENCODER
Type Quadrature, differential line driver outputs
Signals A, /A, B, /B, (X, /X, index signals optional)
Frequency 5 MHz line frequency, 20 MHz quadrature count frequency
ANALOG ENCODER
Type Sin/cos/index, differential line driver outputs, 0.5 Vpeak-peak (1.0 Vpeak-peak differential)
centered about 2.5 Vdc typical. Common-mode voltage 0.25 to 3.75 Vdc
Signals Sin(+), sin(-), cos(+), cos(-), index(+), index(-)
Frequency 230kHz maximum line (cycle) frequency
Interpolation 10 bits/cycle (1024 counts/cycle)
DIGITAL HALLS
Type Digital, single-ended, 120° electrical phase difference
Signals U, V, W
Inputs 10 kΩ pullups to +5 Vdc, 1 µs RC lter to Schmitt trigger inverters
Frequency Consult factory for speeds >10,000 RPM
ENCODER POWER SUPPLY
Power Supply +5 Vdc @ 400 mA to power encoders & Halls
Protection Current-limited to 750 mA @ 1 Vdc if overloaded
Encoder power developed from +24 Vdc so position information is not lost when AC mains power is removed
MOTOR CONNECTIONS
Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors
Hall U, V, W Hall signals
Digital Encoder A, /A, B, /B, X, /X, on standard models
Analog Encoder Sin(+), sin(-), cos(+), cos(-), index(+), index(-)
Hall & encoder power +5 Vdc @ 400 mA maximum
Motemp [IN5] Motor overtemperature sensor input, 4.99 kΩ to +5 Vdc or ground
Signal ground Return for encoder, Halls, and temperature sensor
Brake [OUT4] Current-sinking motor brake driver
+24 Vdc From drive +24 Vdc power supply to power motor brake
Frame ground For motor cable shield
FEEDBACK SPECIFICATIONS

PRELIMINARY
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 5 of 26
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PIN SIGNAL
1 TX+
2TX-
3RX+
6RX-
J7: EtherCAT PORTS
RJ-45 receptacles,
8 position, 4 contact
ETHERCAT COMMUNICATIONS
EtherCAT is the open, real-time Ethernet network developed by Beckhoff based on the widely used 100BASE-TX cabling system. EtherCAT enables high-
speed control of multiple axes while maintaining tight synchronization of clocks in the nodes. Data protocol is CANopen over EtherCAT (CoE) based on
DSP-402 for motion control devices.
ETHERCAT CONNECTIONS
Dual RJ-45 sockets accept standard Ethernet cables. The IN port connects to a master, or to the OUT port of a device that is ‘upstream’, between the
Xenus and the master. The OUT port connects to ‘downstream’ nodes. If Xenus is the last node on a network, only the IN port is used. No terminator is
required on the OUT port.
NET STATUS LED (ON J6)
A bi-color LED indicates the state of the EtherCAT bus.
Green and red colors alternate, and each color has a separate meaning:
Green is the “RUN” or EtherCAT State Machine: Red is the “ERR” indicator:
Off = INIT state Blinking = Invalid conguration
Blinking = PRE-OPERATIONAL Single Flash = Unsolicited state change
Single Flash = SAFE-OPERATIONAL Double Flash = Application watchdog timeout
On = OPERATIONAL
ETHERCAT LEDS (ON J7)
Green and yellow LEDs indicate the state of the EtherCAT interface:
Green is the “Link” indicator: Yellow is the “Activity” indicator:
On = Good Link On = Activity
Off = No Link Blinking Off = No Activity
1 8 1 8
IN (A)
OUT (B)
LINK
(green)
ACTIVITY
(yellow)
AMP STATUS LED
A bi-color LED gives the state of the Accelnet drive.
Colors do not alternate, and can be solid ON or blinking:
Green/Solid = Drive OK and enabled. Will run in response to reference inputs
or EtherCAT commands.
Green/Slow-Blinking = Drive OK but NOT-enabled. Will run when enabled.
Green/Fast-Blinking = Positive or Negative limit switch active.
Drive will only move in direction not inhibited by limit switch.
Red/Solid = Transient fault condition. Drive will resume operation when fault is removed.
Red/Blinking = Latching fault. Operation will not resume until drive is Reset.
EtherCAT
Address Switch
Decimal values
S1 S2
HEX DEC
000
116 1
232 2
348 3
4 64 4
5 80 5
6 96 6
7 112 7
8 128 8
9 144 9
A 160 10
B 176 11
C 192 12
D 208 13
E 224 14
F 240 15
S1 S2
EtherCAT ADDRESS (STATION ALIAS)
In an EtherCAT network, slaves are automatically assigned addresses based on their
position in the bus. But when the device must have a positive identication that is
independent of cabling, a Station Alias is needed. In the XEL, this is provided by two
16-position rotary switches with hexadecimal encoding. These can set the address of the
drive from 0x01~0xFF (1~255 decimal). The chart shows the decimal values of the hex
settings of each switch.
Example 1: Find the switch settings for decimal address 107:
1) Find the highest number under S1 that is less than 107 and set S1 to the hex value in
the same row:
96 < 107 and 112 > 107, so S1 = 96 = Hex 6
2) Subtract 96 from the desired address to get the decimal value of switch S2 and set S2
to the Hex value in the same row:
S2 = (107 - 96) = 11 = Hex B
PIN SIGNAL
2 RxD
3,4 Gnd
5Txd
J5: RS-232 PORT
RJ-11 receptacle,
6 position, 4 contact
RS-232 COMMUNICATIONS
Accelnet EtherCAT is congured via a three-wire, full-duplex DTE RS-232 port that
operates from 9600 to 115,200 Baud. CME 2™ provides a graphic user interface (GUI)
to set up all of Accelnet EtherCAT features via a computer serial port. Connections to the
Accelnet EtherCAT RS-232 port are through J6, an RJ-11 style connector. Signal format
is full-duplex, 3-wire, DTE using RxD, TxD, and Gnd. The Accelnet EtherCAT Serial Cable
Kit (SER-CK) contains a modular cable, and an adapter that connects to a 9-pin, Sub-D
serial port connector (COM1, COM2, etc.) on PC’s and compatibles.

PRELIMINARY
Frame Ground
Signal ground
+24V Output
From 24V input on J4-3
J5
4.99k
5.1V
+HV
High Side PWM
Low Side PWM Motor
Ouputs
4.99k
4.99k
5.1V
ENH
ENH
ENL
ENL
DIAG-ON
36V
10 +V
4.99k
LED(+)
ENL(-)
ENH(+)
Xenus Plus
Safety Override
Connections
ENH(-)
ENL(+)
LED(-)
2
3
1
4
5
6
7
9
8
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 6 of 26
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DESCRIPTION
The XEL has a safety feature that is designed to function under the protocol of EN 954-1. Two opto-couplers are provided which, when de-energized,
prevent the upper and lower devices in the PWM outputs from being operated by the DSP. This provides a positive OFF capability that cannot be
overridden by the DSP, its’ rmware, or associated hardware components. When the opto-couplers are activated (current is owing in the input diodes),
the DSP can control the operation and on/off state of the PWM outputs.
SAFE-OFF
FUNCTIONAL DIAGRAM
In order for the PWM outputs of the Xenus Plus to be activated, current must be owing through both opto-couplers that are connected to the ENH and
ENL terminals of J5, and the drive must be in an ENABLED state. The LED outputs on J5 connect an opto-coupler to an external LED and will conduct
current through the LED to light it whenever the PWM outputs can be activated, or the drive is in a diagnostic state. When the LED opto-coupler is OFF,
the drive is in a Safe state and the PWM outputs cannot be activated to drive a motor.
SAFE-OFF OVERRIDE
The diagram below shows connections that will energize both ENH and ENL opto-couplers. When this is done the SAFE-OFF feature is defeated and
control of the output PWM stage is under control of the DSP. This is the operating mode of CC drives that don’t have the SAFE-OFF feature.
SAFETY CONNECTOR
FUNCTIONAL DIAGRAM
PIN SIGNAL PIN SIGNAL
1Frame Gnd 6Enable LED(+)
2Safe Enable HI(+) 7Enable LED(-)
3 Safe Enable HI(-) 824 Vdc Common
4Safe Enable LO(+) 9+24 Vdc Input
5Safe Enable LO(-)
J5 SIGNALS
J5
1695
SAFETY

PRELIMINARY
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 7 of 26
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PULSE
[IN3+]
[IN4-]
DIRECTION
[IN5+]
[IN6-]
PULSE
[IN3+]
[IN4-]
DIRECTION
[IN5+]
[IN6-]
CD (Count-Down)
CU (Count-Up)
Pulse
Direction
[IN3]
[IN5]
CU
CD
[IN3]
[IN5]
CU (Count-Up)
CD (Count-Down)
Enc. B
Enc. A
[IN3]
[IN5]
Encoder ph. A
Encoder ph. B
Enc A
[IN5+]
[IN6-]
Encoder ph. A
Enc. B
[IN3+]
[IN4-]
Encoder ph. B
DIGITAL POSITION
Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up
and pull-down to take advantage of the high-speed inputs. Differential inputs have 121 Ωline-terminators.
SINGLE-ENDED PULSE & DIRECTION
DIFFERENTIAL CU/CD
DIFFERENTIAL PULSE & DIRECTION
SINGLE-ENDED CU/CD
QUAD A/B ENCODER SINGLE-ENDED QUAD A/B ENCODER DIFFERENTIAL
DIGITAL TORQUE, VELOCITY
Digital torque or velocity commands can be in either single-ended or differential format. Single-ended signals must be sourced from devices with active
pull-up and pull-down to take advantage of the high-speed inputs.
Current or
Velocity
Polarity or
Direction
[IN3]
[IN5]
Duty = 0~100%
SINGLE-ENDED PWM & DIRECTION
Current or
Velocity
No function
[IN3]
[IN5]
Duty = 50% ±50%
<no connection>
SINGLE-ENDED 50% PWM
Current or
Velocity
[IN3+]
[IN4-]
Duty = 50% ±50%
No
Function
<no connection>
[IN5+]
[IN6-]
DIFFERENTIAL 50% PWM
PWM
[IN3+]
[IN4-]
Duty = 0 - 100%
Direction
[IN5+]
[IN6-]
DIFFERENTIAL PWM & DIRECTION
ANALOG REFERENCE INPUT
A single ±10 Vdc differential input takes inputs from controllers that use PID or similar
compensators, and outputs a current command to the drive. Drive output current or
velocity vs. reference input voltage is programmable.
COMMAND INPUTS

PRELIMINARY
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 8 of 26
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COMMAND INPUTS (CONTINUED)
100pF
10k
10k 74HC2G14
[IN1]
[IN2]
[IN15]
A
+5.0 V
DIGITAL INPUTS
Xenus Plus has twelve digital inputs, eleven of which have programmable functions. Input [IN1] is dedicated to the drive Enable function.
This is done to prevent accidental programming of the input in such a way that the controller could not shut it down.
Two types of RC lters are used: GP (general purpose) and HS (high speed). Input functions such as Pulse/Dir, CW/CCW, Quad A/B are
wired to inputs having the HS lters, and inputs with the GP lters are used for general purpose logic functions, limit switches, and the
motor temperature sensor. Programmable functions of the digital inputs include:
• Positive Limit switch • Step & Direction, or CU/CD
• Negative Limit switch step motor position commands
• Home switch • Quad A/B master encoder
• Drive Reset position commands
• PWM current or velocity commands • Motor over-temperature
• CAN address bits • Motion Prole Abort
DIGITAL INPUT CIRCUITS
24VDC MAX
HS (HIGH SPEED) DIGITAL INPUTS
These inputs have all the programmable functions of the GP inputs plus these additional functions on [IN8] & [IN9]
which can be congured as single-ended or differential:
• PWM 50%, PWM & Direction for Velocity or Current modes
• Pulse/Direction, CU/CD, or A/B Quad encoder inputs for Position or Camming modes
DIFFERENTIALSINGLE-ENDED
12 Vdc max 12 Vdc max
100 pF
1k
+5V
MAX3096
MAX3096
10k
[IN3]
100 pF
1k
[IN4]
+5V
10k
100 pF
1k
+5V
10k
[IN5]
100 pF
1k
[IN6]
+5V
10k
100 pF
1k
2.5V
+5V
MAX3096
MAX3096
MAX3096
MAX3096
10k
+
[IN3]
100 pF
1k
[IN4]
+5V
10k
100 pF
1k
2.5V
+5V
10k
+
[IN5]
100 pF
1k
[IN6]
+5V
10k

PRELIMINARY
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 9 of 26
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OUTPUTS
+
J4
Xenus
3+24V
Brk
0V
2
1
24V
BRK
BRAKE OUTPUT [OUT4]
This output is an open-drain MOSFET with an internal yback diode connected to the +24
Vdc input. It can sink up to 1A from a motor brake connected to the +24 Vdc supply.
The operation of the brake is programmable with CME 2. It can also be programmed as
a general-purpose digital output.
100mA
100mA
+30V max
+
R-L
R-L
16
17
15
+5V
+5V
Xenus
[OUT1]
Sgnd
[OUT2]
J8
DIGITAL OUTPUTS [OUT1], [OUT2]
These are open-drain MOSFETs with 1 kΩ pull-up resistors in series with a diode to +5 Vdc.
They can sink up to 1 Adc from external loads operating from power supplies to +30 Vdc.
The output functions are programmable. The active state of the outputs is programmable
to be on or off. When driving inductive loads such as a relay, an external y-back diode
is required.
The internal diode in the output is for driving PLC inputs that are opto-isolated and
connected to +24 Vdc. The diode prevents conduction from +24 Vdc through the 1 kΩ
resistor to +5 Vdc in the drive. This could turn the PLC input on, giving a false indication
of the drive output state.
OUTPUTS
HIGH SPEED OUTPUT [OUT3]
Output from a CMOS buffer.
Xenus
J8
NC7SZ125
+5 Vdc
18
15
[OUT3]
Sgnd
±20mA
R

PRELIMINARY
QUAD A/B ENCODER WITH FAULT PROTECTION
Encoders with differential line-driver outputs provide incremental
position feedback via the A/B signals and the optional index
signal (X) gives a once per revolution position mark. The
MAX3097 receiver has differential inputs with fault protections
for the following conditions:
Short-circuits line-line: This produces a near-zero voltage
between A & /A which is below the differential fault threshold.
Open-circuit condition: The 121Ωterminator resistor will pull
the inputs together if either side (or both) is open. This will
produce the same fault condition as a short-circuit across the
inputs.
Low differential voltage detection: This is possible with very long
cable runs and a fault will occur if the differential input voltage
is < 200mV.
±15kV ESD protection: The 3097E has protection against high-
voltage discharges using the Human Body Model.
Extended common-mode range: A fault occurs if the input
common-mode voltage is outside of the range of -10V to
+13.2V
Xenus Plus
+5V output @ 400 mA
Signal Ground
21
20
6
5
19 Sin(+)
Sin(-)
Cos(+)
Cos(-)
Inx(+)
Inx(-)
18
1
-
+
-
+
10k
121
J10
10k
121
Encoder
FG
sin
cos
+5V
0V
23
22
-
+
10k
121
indx
Frame Ground
10k
Sin
Cos
Indx
10k
10k
ANALOG SIN/COS INCREMENTAL ENCODER
The sin/cos/index inputs are differential with 121 Ω terminating resistors
and accept 1 Vp-p signals in the format used by incremental encoders
with analog outputs, or with ServoTube motors.
Encoder Xenus Plus
FG Frame Ground
J10
MAX3097
Enc. A
121
A13
12
1
MAX3097
Enc. B
121
B11
10
MAX3097
Enc. Index
121
Z9
8/X
X
/B
B
/A
A
+5V
0V
+5V output @ 400 mA
Signal Ground
6
5
RESOLVER (-R MODELS)
Connections to the resolver should be made with shielded cable
that uses three twisted-pairs. Once connected, resolver set up,
motor phasing, and other commissioning adjustments are made
with CME 2 software. There are no hardware adjustments.
Xenus PlusResolver
FG Frame Ground
J10
Sin(+)
Sin(-)
Cos(-)
Cos(+)
Ref(+)
Ref(-)
21
20
19
18
1
23
22
R/D
Conversion
Sin
S3 S1
S2
S4
R1R2
Cos
Ref
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 10 of 26
RoHS
MOTOR CONNECTIONS
Motor connections are of three types: phase, feedback, and thermal sensor. The phase connections carry the drive output currents that
drive the motor to produce motion. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect
the motor. Feedback can be digital quad A/B encoder, analog sin/cos encoder, resolver or digital Halls, depending on the version of the
drive.