Copley Controls Xenus Plus CANopen XPL Series User manual
XPL
DESCRIPTION
Xenus Plus
RoHS
Xenus
PLUS CANopen
Model Vac Ic Ip
20
Control Modes
Command Interface
Stepper commands
Panasonic encoders
XPL
m
RoHS
Xenus
PLUS CANopen
MODEL
Distributed Control Modes
Stand-alone mode
Ω
TT
Ω
Ω
Ω
Ω
Ω
XPL
m
RoHS
Xenus
PLUS CANopen
PROTECTIONS
I
2
g
g
In accordance with EC Directive 2004/108/EC (EMC Directive)
In accordance with EC Directive 2006/95/EC (Low Voltage Directive)
Underwriters Laboratory Standards
UL File Number E249894
139.885.51
2.3158.67
5.72145.35
1.0025.40
4.83.19
7.92201.17
191.527.54
19.18.76
.317.92
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
.1904.83
CAN
DIMENSIONS
Chassis
grounding
tab
XPL
m
RoHS
Xenus
PLUS CANopen
Ω
Ω
Note!
XPL
m
RoHS
Xenus
PLUS CANopen
CAN Status LED
J7
f
6
9
1
5
D-Sub 9F
33
22
1
8
CAN_L
CAN_GND
CAN_H
CAN_L
RJ-45
CAN_GND
CAN_H
71
J7
Pin 8Pin 1
PIN
2
1
6
NET
XPL
RoHS
Xenus
PLUS CANopen
m
CANopen
RS-232
CANopen
CAN Addr 0
CAN Master CAN Node CAN Node
CAN Addr 1 CAN Addr n
1
6
32
TxD RxD
RJ-11
53
Gnd Gnd
RxD TxD
25
6
9
1
5
D-Sub 9F
f
PIN
2
XPL
XPLXPL
For Serial-multi-drop you’ll need an Serial Cable Kit SER-CK plus CANopen network cables to connect the drives as shown.
The XPL-NC-01 and XPL-NC-10 are 1 ft (0.3m) and 10 ft (3m) cables that will do the job.
XPL
m
RoHS
Xenus
PLUS CANopen
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
STO (Safe Torque Off)
Override
Connections
ENH(-)
ENL(+)
LED(-)
2
3
1
4
5
6
7
9
8
DESCRIPTION
STO CONNECTOR
PIN PIN
2
J5
1695
SAFETY
XPL
m
RoHS
Xenus
PLUS CANopen
Ω
Pulse
Direction
[IN5]
[IN6]
CU
CD
[IN5]
[IN6]
CU (Count-Up)
CD (Count-Down)
Enc. A
Enc. B
[IN5]
[IN6]
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 or
Velocity
Polarity or
Direction
[IN5]
[IN6]
Current or
Velocity
No function
[IN5]
[IN6]
Duty = 50% ±50%
<no connection>
Duty = 0 - 100% PWM
Direction
[IN3+]
[IN4-]
[IN5+]
[IN6-]
Current or
Velocity
[IN3+]
[IN4-]
Duty = 50% ±50%
No
Function
<no connection>
[IN5+]
[IN6-]
XPL
m
RoHS
Xenus
PLUS CANopen
Secondary
Encoder Input
Input/Output
Select
Quad A/B/X primary
encoder
MAX3032
MAX3097
Buffered A/B/X signals
from primary encoder
Secondary
Encoder Input
Input/Output
Select
MAX3032
MAX3097
Emulated Quad A/B
signals from
analog Sin/Cos encoder
or resolver
Emulated A/B/X signals
Input/Output
Select
MAX3097
MAX3032
A/B/X signals from
digital encoder
Input/Output
Select
MAX3097
MAX3032
Pulse/Dir or CU/CD
differential commands
Secondary or CAM
Master encoder
XPL
m
RoHS
Xenus
PLUS CANopen
+
24V
+
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]
A
+5.0 V
24V
+
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
XPL
m
RoHS
Xenus
PLUS CANopen
2
3
15
1
+
1.5V
5.36k
Frame Ground
AIN1+
AIN2+
AIN1-
AIN2-
Vref
J8
D/A
F. G .
±10V
Sgnd
-
11
12
19
+
1.5V
5.36k Vref
Sgnd
-
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
XPL
J9
[OUT4+]
[OUT4-]
+20mA
30V max R-L
+20mA
30V max R-L
14
15
[OUT5+]
12
13[OUT5-]
m
RoHS
Xenus
PLUS CANopen
100mA
100mA
+30V max
+
R-L
R-L
16
17
15
+5V
+5V
[OUT1]
Sgnd
[OUT2]
J8
Ω
Ω
100 9
15
J8
J8
NC7SZ125
+5V
18
15
[OUT3]
Sgnd ±32mA
R
CME 2
+
J4
3+24V
Brk
0V
2
1
24V
BRK
XPL
m
RoHS
Xenus
PLUS CANopen
Short-circuits line-line:
Open-circuit condition: Ω
Low differential voltage detection:
±15kV ESD protection:
Extended common-mode range:
+5V output @ 400 mA
Signal Ground
21
20
17
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
Encoder
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
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
MOTOR CONNECTIONS
XPL
m
RoHS
Xenus
PLUS CANopen
-
+
-
+
A
B
A
B
Encoder Xenus Plus
121
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Dat
/Dat
Clk
/Clk 121
FG Frame Ground
J10
Clk
Data
MAX3362B
MAX3362B
Data
Clk 9
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
Encoder
121
121
Clk
/Clk
Dat
/Dat
FG Frame Ground
J10
Clk
Data
MAX3362B
MAX3362B
Data
Clk
+5V
0V
+5V output @ 400 mA
A
A
B
B
Signal Ground
9
8
1
15
14
6
5
i
BiSS
Encoder Xenus
121
121
MA+
MA-
SL+
SL-
FG Frame Ground
J3
Clk
Data
MAX3362B
MAX3362B
Master
Slave
V+
V-
+5V output @ 400 mA
Signal Ground
9
8
1
15
14
6
5
Nikon-A
Encoder 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
XPL
m
RoHS
Xenus
PLUS CANopen
Halls
+5V output @ 400 mA
* Signal Ground
+5V
0V
6
5
10K
100p
10K
Hall U +5V
J10
2
100p
10K
10K
Hall V +5V
3
100p
10K
10K
Hall W
+5V
4
Hall A
Hall B
Hall C
* Alternate Sgnd connections on J10 are pins 16, 25, 26
J2
1
F. G .
PWM
+HV
0V
+
W
V
U
2
3
4
Motor
3 ph.
7
5
+5V
Motemp
[AIN3]
Thermistor,
Posistor,
or switch * Sgnd
* Alternate Sgnd connections on J10 are pins 16, 25, 26
4.99k
100k
150k
100n
J10
100p
10k
10k 74HC14
+5.0 V
[IN15]
ENCFLT
ENCODER
FAULT
OUTPUT
7
25 * Sgnd
J10
XPL
m
RoHS
Xenus
PLUS CANopen
Secondary
Encoder Input
Input/Output
Select
Quad A/B/X primary
encoder
MAX3032
MAX3097
Buffered A/B/X signals
from primary encoder
Secondary
Encoder Input
Input/Output
Select
MAX3032
MAX3097
Emulated Quad A/B
signals from
analog Sin/Cos encoder
or resolver
Emulated A/B/X signals
Input/Output
Select
MAX3097
MAX3032
A/B/X signals from
digital encoder
Input/Output
Select
MAX3097
MAX3032
Pulse/Dir or CU/CD
differential commands
Secondary or CAM
Master encoder
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-Mode
Encoder
Port
Frame Ground
A
/A
B
/B
X
/X
Frame
Gnd
Outputs Buffered
Quad A/B from
Encoder
Sgnd 5
7
+5 Vdc 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
7
Motemp
[AIN3]
Signal Ground 16
+5 Vdc 17
DIGITAL
ENCODER
DIGITAL
HALLS
/A
A
/B
B
/X
Vcc
0V
FLT
X
+5 Vdc @ 400 mA
Signal Ground
Ain1(-)
Ain1(+)
±10 Vdc
Analog
Reference
TEMP
SENSOR
AC MAINS:
100 to 240 Vac
1Ø or 3Ø
47 to 63 Hz
L3
L2
L1
Fuse
1
H
N
LINE
FILTER
BRUSHLESS
MOTOR
DANGER: HIGH VOLTAGE
CIRCUITS ON J1, J2, & J3
ARE CONNECTED TO
MAINS POWER
* Fuse
* Fuse
Earth
* Fuse
* Fuse
* Optional
J3
REGEN+
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 for
Drive Operation
Control Power Supply
+24 Vdc
0.5 Adc
7
12
11
2
3
1
15
10
8
9
17
16
18
Drive mounting screw
[IN1] Enable
[IN4] HS
[IN2] GP
[IN3] HS
Ain2(-)
Ain2(+)
[IN6] HS
[IN5] HS
6
5
4
J10
20
19
2
3
4
3
2
1
+
-
ENCFLT [IN15]
m
RoHS
Xenus
PLUS CANopen
Quad A/B Encoder
for CE compliance
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-Mode
Encoder
Port
Frame Ground
A
/A
B
/B
X
/X
Frame
Gnd
Outputs Buffered
Quad A/B from
Encoder
Sgnd 5
7
+5 Vdc 6
Asin(+)
Acos(+)
Acos(-)
Ainx(+)
Ainx(-)
Asin(-)
21
22
23
26
24
25
1
22
23
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
7
Motemp
[AIN3]
Signal Ground 16
+5 Vdc 17
Sin / Cos
ENCODER
DIGITAL
HALLS
Sin(-)
Sin(+)
Cos(-)
Cos(+)
Index(-)
Vcc
0V
FLT
Index(+)
+5 Vdc @ 400 mA
Signal Ground
Ain1(-)
Ain1(+)
±10 Vdc
Analog
Reference
TEMP
SENSOR
AC MAINS:
100 to 240 Vac
1Ø or 3Ø
47 to 63 Hz
L3
L2
L1
Fuse
1
H
N
LINE
FILTER
BRUSHLESS
MOTOR
DANGER: HIGH VOLTAGE
CIRCUITS ON J1, J2, & J3
ARE CONNECTED TO
MAINS POWER
* Fuse
* Fuse
Earth
* Fuse
* Fuse
* Optional
J3 REGEN+
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 for
Drive Operation
Control Power Supply
+24 Vdc
0.5 Adc
7
12
11
2
3
1
15
10
8
9
17
16
18
Drive mounting screw
[IN1] Enable
[IN4] HS
[IN2] GP
[IN3] HS
Ain2(-)
Ain2(+)
[IN6] HS
[IN5] HS
6
5
4
J10
20
19
2
3
4
3
2
1
+
-
ENCFLT [IN15]
m
RoHS
Xenus
PLUS CANopen
Sin/Cos Encoder
for CE compliance
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-Mode
Encoder
Port
Frame Ground
A
/A
B
/B
X
/X
Frame
Gnd
Outputs Buffered
Quad A/B from
Encoder
Sgnd 5
7
+5 Vdc 6
Asin(+)
Acos(+)
Acos(-)
Ainx(+)
Ainx(-)
Asin(-)
21
22
23
26
24
25
1
22
23
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
7
Motemp
[AIN3]
Signal Ground 16
+5 Vdc 17
Resolver
S1 Sin(-)
S3 Sin(+)
S4 Cos(-)
S2 Cos(+)
R2 Ref(-)
R1 Ref(+)
+5 Vdc @ 400 mA
Signal Ground
Ain1(-)
Ain1(+)
±10 Vdc
Analog
Reference
TEMP
SENSOR
AC MAINS:
100 to 240 Vac
1Ø or 3Ø
47 to 63 Hz
L3
L2
L1
Fuse
1
H
N
LINE
FILTER
BRUSHLESS
MOTOR
DANGER: HIGH VOLTAGE
CIRCUITS ON J1, J2, & J3
ARE CONNECTED TO
MAINS POWER
* Fuse
* Fuse
Earth
* Fuse
* Fuse
* Optional
J3 REGEN+
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 for
Drive Operation
Control Power Supply
+24 Vdc
0.5 Adc
7
12
11
2
3
1
15
10
8
9
17
16
18
Drive mounting screw
[IN1] Enable
[IN4] HS
[IN2] GP
[IN3] HS
Ain2(-)
Ain2(+)
[IN6] HS
[IN5] HS
6
5
4
J10
20
19
2
3
4
3
2
1
+
-
ENCFLT [IN15]
m
RoHS
Xenus
PLUS CANopen
Resolver
for CE compliance
XPL
Signal Pin
2
m
RoHS
Xenus
PLUS CANopen
Quad A/B & Sin/Cos Encoder
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
WARNING: Hazardous voltages exist on connections
to J1, J2, & J3 when power is applied, and for up to 30
seconds after power is removed.
J2
J3
J4
J5
J1
This manual suits for next models
3
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