Copley Controls XM2-230-20 User manual

Model Vac Ic Ip
XM2-230-20 100~240 10 20
T h e L I g h t L I n k I n M o t I o n . . .
Motion And Control Ring O ptical
MACRO
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 1 of 34
DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS
DESCRIPTION
The XM2 Xenus Plus 2-Axis MACRO is a high-performance, AC powered drive for torque and velocity control
of brushless and brush motors via MACRO (Motion And Control Ring Optical). MACRO is a high bandwidth,


addresses.
The XM2 Xenus Plus 2-Axis MACRO
interface. A wide range of absolute interfaces are built-in including EnDat, SSI, BiSS, and Absolute A.
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 (STO) can be employed.
In addition to the MACRO interface, torque and velocity control is also supported via an analog input with a
±10 Vdc range.
CONTROL MODES
 
 
 
COMMAND INTERFACE
 
 
 
 
 
 
COMMUNICATIONS
 
 
FEEDBACK
Incremental
 
 
 
 
Absolute
 
 
 
 
 
 
Other
 

 
 
 
 
 

 
SAFE TORQUE OFF (STO)
 
DIMENSIONS: IN [MM]
 

RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 2 of 34
GENERAL SPECIFICATIONS
 
MODEL XM2-230-20
OUTPUT CURRENT () 0~40 C Ambient
   
   
   

    
    
    
   
Control power +24 Vdc, ±10% Required for operation
  

Digital Control Loops Current, velocity, position. 100% digital loop control
Sampling r 
Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth
Minimum load inductance 

Distributed Control Modes
MACRO Velocity, Torque
Stand-alone mode
Analog torque, velocity, position reference ±10 Vdc, 14 bit resolution Dedicated differential analog input
   
   
   
   
   
   
  
  
  

Number 22
  Ω
  
  Ω
  
  Ω
  
  
  
  
  

Number 2
  Ωinput impedance, 14-bit resolution
SAFE TORQUE OFF (STO)
 
 
Safety Integrity Level SIL 3, Category 3, Performance level d
Inputs 2 two-terminal: STO-IN1+,STO-IN1-, STO-IN2+, STO-IN2-
 
 
 
 
RS-232 PORT
  
  
Protocol Binary and ASCII formats

  
  
  
ETHERCAT PORTS
  
Protocol EtherCAT, CAN application layer over EtherCAT (CoE)
STATUS INDICATOR LEDS
  
  

 
  

RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 3 of 34
SAFE TORQUE OFF (STO)
Inputs 2 two-terminal: [ENH+], [ENH-], [ENL+], [ENL-]
Type Opto-isolators, 24V compatible
Output 1 two-terminal: [LED+], [LED-]
24V compatible
GENERAL SPECIFICATIONS
RoHS

  
   
   
Tolerance ±2 Vdc For either Cut-In or Drop-Out voltage
PROTECTIONS
   
   
   
  
I2 
  
  

  
  
  
  
Contaminants Pollution degree 2
Vibration 2 g
  g
  

Approvals


Functional Safety


Electrical Safety


EMC


16-01419 Document Revision History
Revision Date 
A Initial released version

RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 4 of 34
Note!

help you get the best results when using Copley Controls products.
GENERAL SPECIFICATIONS
FEEDBACK
Incremental:
   
   
   
   
   
   
Absolute:
   
   
Absolute A, Tamagawa Absolute A, Panasonic Absolute A Format
    
    
status data for encoder operating conditions and errors
   

  
  
  
  Ω
MULTI-MODE ENCODER PORT
As Input Digital quadrature encoder (A, /A, B, /B, X, /X), 121 Ω
  
  Ωterminating resistors
  
from analog sin/cos encoders
A, /A, B, /B, outputs from MAX3032 differential line driver, X, /X, S, /S outputs from MAC3362 drivers
  

  
for the A and B multi-mode ports
  
OPTIONS
  
  
  
carrying low-amplitude sensor or video signals.
Further details on the XTL-RA-04 can be found in the Xenus Regeneration Guide on the Copley Controls web-site
http://www.copleycontrols.com/Motion/pdf/Xenus_regen_guide-03-04.pdf
XTL-RA-04 Regen Resistor Used when the regenerative energy from a moving load is greater than the absorption
  Ω
  
Further details on the XTL-FA-01 can be found in the XTL-FA-01 Edge Filter for Xenus User Guide on the
Copley Controls web-site: http://www.copleycontrols.com/Motion/pdf/Xenus-Filter.pdf

Switch S1
Master
HEX DEC
0 0
1 1
22
3 3
Switch S2
Slave
HEX DEC
0 0
1 1
2
3
4 4
 
6

 
9 9
A
B
C 12
D 13
E
F
S2
S1
X1X10
DEVICE ID
AMP
NET
INOUT
Axis A J7
Axis B
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
  
MACRO COMMUNICATIONS
INDICATORS: DRIVE STATE


supported.

MACRO CONNECTIONS


the OUT port. ACRO PORT


MACRO ADDRESS

ring. Each master IC can address 16 stations (nodes, slaves) enabling the addressing of up to
64 devices on a ring. Of these, 32 can be motion devices such as XM2.

addressing the slave. Switch S1 is set to select the master IC to which the Xenus will be

As a MACRO station or node the XM2 has eight available addresses as a motion con-


greyed-out are invalid selections and have no function.

slave address shown in decimal.

The XM2 will be node 4 controlled by master IC 2 on the PMAC


The S1 settings are in multiples of 16 (24
The S2 settings are read directly equal 4.

MACRO Node
Address Switches
AXIS LEDS: DRIVE STATUS



  
  
the condition causing the fault is removed.
  
  
  
Drive will only move in direction not inhibited by limit switch.
  
MACRO commands or analog input.
Latching Faults
Default Optional (programmable)
   
   
   
   
 

ASCII COMMUNICATION PROTOCOL
6
9
1
5
32
TxD RxD
RJ-11
on
Servo
Drive
RJ-11 cable
6P6C
Straight-wired
53
Gnd Gnd
RxD TxD
25
D-Sub 9F
Dsub-9F
to RJ11
Adapter
1
6
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 6 of 34
  
http://www.copleycontrols.com Page 6 of 34
COMMUNICATIONS: RS-232 SERIAL
RS-232 COMMUNICATIONS
XM2
XM2XM2 Serial Cable Kit

SER-CK SERIAL CABLE KIT
The SER-CK provides connectivity between a D-Sub 9 male connector and the

other) port of a PC and uses common modular cable to connect to the XM2. The
connections are shown in the diagram below.
ASCII COMMUNICATIONS
The Copley ASCII Interface is a set of ASCII format commands that can be used to operate these drives over an RS-232 serial connection.

Interface to:







s r0x90 115200 <enter>
Then, change the Baud rate in the computer/controller to the new number and communicate at that rate.



placing your order for an XM2!

PIN  PIN 
1 6 STO-1(+)
2 STO-1(+) STO-1(-)
3 STO-1(-) STO-24V
4 STO-2(+) 9 
STO-2(-)
1695
SAFETY
1695
Frame Ground
STO-24V
*XM2 and XEL-XPL STO bypass connections are different.
The diode shown should be used if XM2 and XEL-XPL drives are used on the same
equipment. Otherwise, the diode may be replaced by a jumper.
XM2 STO bypass connectors are not compatible with XEL-XPL drives.
STO-GND
J6
Xenus Plus Dual-Axis
Bypass Plug Connections
Jumper pins:
2-4, 3-5, 6-8, 7-9 *
STO-1(+)
STO-2(+)
STO-2(-)
STO-1(-)
STO-1(+)
STO-1(-)
2
3
1
4
5
6
7
8
9
Upper IGBT Gate Drive
PWM Signals
Buffer
Voltage
Regulator
EN
+HV
PWM
Outputs
+VI
+VI
V_in
+VI Lower IGBT Gate Drive
*
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
  
SAFE TORQUE OFF (STO)
DESCRIPTION






INSTALLATION






control core.





* STO bypass connections on the XM2 and Xenus
XEL/XPL/XML models are different. If both drives
are installed in the same cabinet, the diode
should be wired as shown to prevent damage
that could occur if the STO bypass connectors
are installed on the wrong drive. The diode is not
required for STO bypass on the XM2 and can be









Signal  
Pls, Enc A  
Dir, Enc B  
Sgnd 
Shld 
Signal  
Pls, Enc A  
/Pls, Enc /A  
Dir, Enc B  
/Dir, Enc /B  
Sgnd 
Shld 
Signal  
  
Dir  
Sgnd 
Shld 
Signal  
  
  
Dir  
/Dir  
Sgnd 
Shld 
Duty = 0 - 100%
PWM+
PWM-
Direction+
Direction-
IN2(12)
IN3(13)
IN4(14)
IN5(15)
Curr/Vel+
Curr/Vel-
Duty = 50% ±50%
No
Function
<no connection>
IN2(12)
IN3(13)
IN4(14)
IN5(15)
Pulse
Direction
IN4(14)
IN5(15)
PULSE+
PULSE-
DIRECTION-
DIRECTION+
IN2(12)
IN3(13)
IN4(14)
IN5(15)
PULSE+
PULSE-
DIRECTION+
DIRECTION-
CD (Count-Down)
CU (Count-Up) IN2(12)
IN3(13)
IN4(14)
IN5(15)
CU
CD
IN4(14)
IN5(15)
CU (Count-Up)
CD (Count-Down)
Enc. A
Enc. B
IN4(14)
IN5(15)
Encoder ph. B
Encoder ph. A Enc. A
Enc. /A
Enc B
Enc /B
Encoder ph. B
Encoder ph. A IN2(12)
IN3(13)
IN4(14)
IN5(15)
Duty = 0~100% Current or
Velocity
Polarity or
Direction
IN4(14)
IN5(15)
Current or
Velocity
No function
IN4(14)
IN5(15)
Duty = 50% ±50%
<no connection>
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
  

COMMAND DIFFERENTIAL

Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up
Ωline-terminators.



DIFFERENTIAL CU/CD

QUAD A/B ENCODER DIFFERENTIAL

COMMAND DIFFERENTIAL

Digital torque or velocity commands can be in either single-ended or differential format. Single-ended signals must be sourced from devices with active


 

DIGITAL COMMAND INPUTS: IN2, IN3, IN4, IN5, IN12, IN13, IN14, IN15

Signal  
Enc A  
Enc /A  
Enc B  
Enc /B  
Enc X  
Enc /X  
Sgnd 
Shld 
Signal  
Pls, Enc A  
/Pls, Enc /A  
Dir, Enc B  
/Dir, Enc /B  
Enc X  
Enc /X  
Sgnd 
Shld 
COMMAND INPUT
MULTI-PORT
EMULATED QUAD A/B/X
MULTI-PORT
MULTI-MODE ENCODER PORT AS AN INPUT
Input/Output
Select
MAX3032
S
S
2-Wire digital absolute
encoder signals
Input
Select
Output
Select
MAX3362
MAX3362
X
S
4-Wire digital absolute
encoder signals
Input/Output
Select
MAX3097
MAX3032
A/B/X signals from
digital encoder
Input/Output
Select
MAX3097
MAX3032
A/B/X signals from
digital encoder
Input/Output
Select
MAX3097
MAX3032
Pulse/Dir or CU/CD
differential commands
+5V output @ 500 mA
Signal Ground
Enc. B
Enc. X
Enc. X
Enc. X
Enc. S
Enc. S
B
X
/X
/S
Enc. A
Incremental
Encoder
Absolute
Encoder
J12 Multi-Port
Frame Ground
A
S
/B
/A
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 9 of 34
POSITION COMMAND INPUTS: DIFFERENTIAL




CURRENT or



Quad A/B/X incremental encoder
Quad A/B emulated encoder from sin/cos encoder

S channel: Absolute A encoders (2-wire)




which initiates data transmission from the encoder

INPUT TYPES

Input Pin R1 R2 C1 Vm
*IN1    100p +24
*IN2 
  100p +12
*IN3 
*IN4 
 
IN6 
Opto ±24
 
 
IN9 
ICOM1 
IN10    33n +24
IN21    100p
Input Pin R1 R2 C1 Vm
*IN11    100p +24
*IN12 
  100p +12
*IN13 
*IN14 
 
IN16 
Opto ±24
 
 
IN19 
ICOM2 
IN20    33n +24
IN22    100p
Input Pin PU/PD Input Pin PU/PD
IN1  1 IN11  
IN2  2 IN12  6
IN3  3 IN13  
IN4  4IN14  
   
S.E.
Input
Diff
Input Pin S.E. Input
Diff
Input Pin
IN2 IN2+  IN12 IN12+ 
IN3 IN2-  IN13 IN12- 
IN4 IN4+  IN14 IN14+ 
 IN4-   IN14- 
12V
+
100 pF
2.5V
MAX3096
MAX3096
[IN2,4,12,14]
J12 Control
100 pF
1k
[IN3,5,13,15]
10k
+5V
1k
+
10k
+5V
12V
+
100 pF
[IN2,4,12,14]
J12 Control
100 pF
1k
[IN3,5,13,15]
10k
+5V
1k
10k
+5V
MAX3096
100p
10k
10k 74HC14
[IN1]
[IN2]
[IN15]
A
+5.0 V
100p
10k
10k 74HC14
PullUp = 5V
PullDown = 0V
[INx]
+5V
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 10 of 34


±10
+12V
+24V
±24V
HS Inputs [IN1~2]

PLC outputs are frequently current-sourcing from 24V for driving grounded loads. PC based digital controllers



The input resistor of these inputs is programmable to pull-up to
           
       
       
       
The other four have PU/PD control for pairs of inputs.




or differential (DIFF):
 
 
or Camming modes
DIFFERENTIAL
 

GENERAL PURPOSE INPUTS