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
XM2XM2 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
Signal Pins Signal Pins
IN6 IN16
IN9 IN19
COMM1 COMM2
J9
4.99k 5.1V
[IN16] 4.7k
4.7k
4.7k
4.7k
[COMM2]
17
7
4.99k 5.1V
[IN17]
8
4.99k 5.1V
[IN18]
9
4.99k 5.1V
[IN19]
18
+
24V
24V GND
+
24V
J9
+
24V
24V GND
4.99k 5.1V
[IN6] 4.7k
4.7k
4.7k
4.7k
[COMM1]
6
2
4.99k 5.1V
[IN7]
3
4.99k 5.1V
[IN8]
4
4.99k 5.1V
[IN9]
5
+
24V
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 11 of 34
[IN16~19][IN6~9]
OPTO-ISOLATED INPUTS: IN6, IN7, IN8, IN9, IN16, IN17, IN18, IN19
+24V
connections. Connect the COMM to controller ground/common
for current-sourcing connections and to +24V for current-
The 24V power shown in these connection diagrams does not
have to be connected to the logic power supply for the drive,
and is commonly provided in the control system to power
relays and other devices.
Signal
AIN(+)
AIN(-)
Sgnd
Shield
Signal Pins Signal Pins
[OUT1+] [OUT1-]
[OUT2+] [OUT2-]
[OUT3+] [OUT3-]
[OUT4+] [OUT4-]
Input State Condition
HI
LO
[AIN A,B]
+24V
3
2
1
+
1.5V
Frame Ground
AIN1+
AIN2+
AIN1-
AIN2-
Vref
J12
D/A
F.G.
±10V
±10V
-
5
4
6
+
1.5V
Vref
Sgnd
-
[OUTn-]
300mA
max
* at 24 Vdc
Vdc
J9
[OUTn+]
1
80Ω
min*
36V
SSR
+
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 12 of 34
ANALOG INPUTS
ISOLATED GENERAL PURPOSE OUTPUTS OUT1~5
±24V typical
The analog inputs have a ±10 Vdc range at 14-bit resolution
from a controller. If not used as command inputs, they can be used as
general-purpose analog inputs.
Digital, opto-isolated
SSR, 2-terminal
24V Compatible
Programmable functions
HI/LO DEFINITIONS: OUTPUTS
Input State Condition
BRK-A,B
HI
Output transistor is OFF
Motor cannot move
LO
Output transistor is ON
Motor is free to move
SPECIFICATIONS
Output Data Notes
Voltage Range +30 Vdc
Output Current Ids 1.0 Adc
CONNECTIONS
Pin Signal
+24V
4 +24V
3
2
1 24V Return
J5
B Brk
A Brk
Axis A
Brake
Axis B
Brake
5
4
24V
+24
+24 *
24V RTN
2
3
1
i
+
0
Earthing connections for power supplies should be as close as possible to elimimate
potential differences between power supply 0V terminals.
J5
Brake
J5
Brake
B Brk
A Brk
Axis A
Brake
Axis B
Brake
5
4
24V
+24
+24
24V RTN
2
3
1
i
+
0
J12
Control
37
44
31
16
6
22
Signal
Ground
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 13 of 34
ISOLATED BRAKE OUTPUTS
24V Compatible
Programmable functions
Brake is Active)
Motor cannot move
BRK Output voltage is HI (24V), MOSFET is OFF
Brake is Inactive)
Motor can move
BRK output voltage is LO (~0V), MOSFET is ON
all drive circuits and frame ground.
*
There should be only one
conductor in each position of the
J5 connector. If brakes are to be
wired directly to J5 for their 24V
power, use a double wire ferrule
for J5-4. Information for ferrules
can be found on page 27.
MOTOR CONNECTIONS: ENCODERS
Signal
Pin
Enc A 13
Enc /A 12
Enc B 11
Enc /B 10
Enc X 9
Enc /X
6
Sgnd
Shld 1
Signal
Pin
Sin(+) 19
Sin(-)
Cos(+) 21
Cos(-) 20
23
22
Sgnd 16
Shld 1
+5V Out @ 500 mA
Signal Ground
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Idx(+)
Idx(-)
-
+
-
+
10k
121
J10, J11
10k
121
Encoder
FG
sin
cos
+5V
0V
121
indx
Frame Ground
10k
Sin
Cos
Indx
10k
1k
1k
+5V
1k
Encoder J10, J11
FG Frame Ground
Enc. A
121
A
Enc. B
121
B
Enc. Index
130
Z/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
1k +5V
Z
Enc. A
Enc. B
Enc. Index
A
/A
B
/B
X
/X
1k
1k
+5V
Encoder
121
121
130
FG Frame Ground
A
B
+5V
0V
+5V Out @ 500 mA
Signal Ground
J10, J11
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 14 of 34
protections for the following conditions:
Short-circuits line-line:
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:
Extended common-mode range: A fault occurs if the input common-mode voltage is outside of the range of -10V to +13.2V
drive the motor to produce motion. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect
resistors and accept 1 Vp-p signals in the format used by
incremental encoders with analog outputs, or with ServoTube
motors.
SHIELDED CABLE CONNECTIONS
Double-shielded cable is recommended for analog sin/cos encoders. The outer shield connects to the motor and drive frames. The
The inner shield should have no connection at the motor, or the the outer shield. Double-shielding is used less frequently for digital
encoders, but the connections are shown here and on following pages for completeness.
Signal
Pin
9
Data
/Data 14
Sgnd
Shld 1
Signal
Pin
9
Data
/Data 14
Sin(+) 19
Sin(-)
Cos(+) 21
Cos(-) 20
Sgnd
Shld 1
Signal
Pin
Data
/Data 14
Sgnd
Shld 1
Encoder
221
130
Clk
/Clk
Dat
/Dat
FG Frame Ground
J10, J11
Clk
Data
Data
Clk
+5V
0V
+5V Out @ 500 mA
A
A
B
B
Signal Ground
BiSS
Encoder
221
130
MA+
MA-
SL+
SL-
FG Frame Ground
J10, J11
Clk
Data
Master
Slave
V+
V-
+5V Out @ 500 mA
Signal Ground
-
+
-
+
A
B
A
B
Encoder
221
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Dat
/Dat
Clk
/Clk 130
FG Frame Ground
J10, J11
Clk
Data
Data
Clk
+5V
0V
+5V Out @ 500 mA
Signal Ground
10k
10k
121 Sin
Cos
10k
10k
121
sin
cos
Absolute-A
Encoder
SD+
SD-
0V
+5V
J10, J11
V+
V-
+5V Out
@ 500 mA
Signal Ground
Cmd
D-R
SD
Frame
Ground
Cmd
D-R
SD
MAX3362B
1.2k
1.2k
220
5V
Dat
/Dat
SSI,Bi
MOTOR CONNECTIONS: ABSOLUTE ENCODERS
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
ABSOLUTE ENCODERS
Absolute-A
Tamagawa Absolute-A
Panasonic Absolute A Format
INCREMENTAL ENCODERS
Panasonic Incremental A
SSI ABSOLUTE ENCODER
The SSI (Synchronous Serial Interface) is an interface used to
connect an absolute position encoder to a motion controller or control
format to the encoder which initiates the transmission of the position
encoder data bits and counts per motor revolution are programmable.
The hardware bus consists of two signals: SCLK and SDATA. Data is sent in
ENDAT ABSOLUTE ENCODER
The EnDat interface is a Heidenhain interface that is similar to SSI in the use
from the same encoder. The number of position data bits is programmable as
is the use of sin/cos channels. Use of sin/cos incremental signals is optional
BiSS ABSOLUTE ENCODER
BiSS is an - Open Source - digital interface for sensors and actuators.
additional options.
Serial Synchronous Data Communication
Cyclic at high speed
Line delay compensation for high speed data transfer
Request for data generation at slaves
Bus capability incl. actuators
Bidirectional
BiSS B-protocol: Mode choice at each cycle start
BiSS C-protocol: Continuous mode
MOTOR CONNECTIONS: MOTOR, HALLS, OVERTEMP
Signal Pin
Motemp A
Motemp B
Sgnd
Property Ohms
Resistance in the temperature range
Signal
Pin
Mot U 4
Mot V 3
2
Shield 1
Signal
Pin
Hall U 2
Hall V 3
4
Sgnd
+5V
Motemp
Thermistor,
Posistor,
or switch Signal Gnd
4.99k
10k
33n
J10,J11
Grounding
tab
J3,J4
F.G.
PWM
+HV
0V
+
W
V
U
Motor
3 ph.
Halls
+5V Out @ 500 mA
Signal Ground
+5V
0V
10K
100p
10K
Hall U +5V
J10,J11
100p
10K
10K
Hall V +5V
100p
10K
10K
Hall W
+5V
Hall A
Hall B
Hall C
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 16 of 34
+24V
MOTOR PHASE CONNECTIONS
that converts the DC buss voltage (+HV) into
three sinusoidal voltage waveforms that drive
the continuous current rating of the motor. Motor
cabling should use twisted, shielded conductors for
into other circuits. The motor cable shield should
connect to motor frame and the drive frame ground
Hall signals are single-ended signals that provide
may be sourced by magnetic sensors in the motor,
encoder disc. They typically operate at much lower
frequencies than the motor encoder signals, and are
has switched to sinusoidal commutation.
+24V typical
MOTOR OVER TEMP INPUT
below), or switches that open/close indicating a motor over-temperature
condition. The active level is programmable.
Signal
Pin
Pin
Enc A
Enc /A
Enc B
Enc /B
Enc X
Enc /X
Sgnd
Shld
Signal
Pin
Pin
Dat, SL+
/Dat, SL-
Sgnd
Shld
Signal
Pin
Pin
Dat
/Dat
Sgnd
Shld
Input/Output
Select
MAX3097
MAX3032
A/B/X signals from
digital encoder
221
MA+
MA-
SL+
SL-
FG Frame Ground
J12
Full-duplex
Absolute encoder
Clk
Data
Master
Slave
V+
V-
+5V Out @ 500 mA
Signal Ground
130
1k +5V
1k
Half-duplex
Absolute encoder
1.2k
1.2k
220
5V
SD+
SD-
0V
+5V
J12
V+
V-
+5V Out
@ 500 mA
Dat
/Dat
Signal Ground
Cmd
D-R
SD
Cmd
D-R
SD
MAX3362B
Frame
Ground
-
Input/Output
Select
MAX3097
MAX3032
Data & Clk signals from
absolute encoder
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
FEEDBACK FROM ABSOLUTE ENCODERS
encoder can come from absolute encoders, too.
by the multi-port. The graphic to the right shows
operation are supported by the multi-port (see
below)
FULL-DUPLEX ENCODERS
SSI
BiSS
EnDat
HALF-DUPLEX ENCODERS
Absolute-A
Tamagawa Absolute-A
EMULATED QUAD A/B/X
MULTI-PORT
FULL-DUPLEX
HALF-DUPLEX
ABSOLUTE ENCODER, FULL-DUPLEX MODE
ABSOLUTE ENCODER, HALF-DUPLEX MODE
encoders. These can be used to drive cam tables, or
as master-encoder signals when operating in a master/
MULTI-MODE ENCODER PORT
Signal
Pin
Pin
Enc A
Enc /A
Enc B
Enc /B
Enc X
Enc /X
Sgnd
Signal
Pin
Pin
Enc A Pulse
Enc /A /Pulse
Enc B Dir
Enc /B /Dir
Enc X
Enc /X
Sgnd
COMMAND INPUTS MULTI-PORT
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 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
RoHS
Xenus
PLUS 2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
the A/B/X signals drive the multi-mode port output
buffers directly. This is useful in systems that use
to connect to both controller and motor, the buffered
could occur if the motor encoder had to drive two
121 ohm terminating resistor.
AS EMULATED QUAD A/B/X ENCODER OUTPUTS
Analog sin/cos signals are interpolated in the drive with
programmable resolution. The incremental position
format which drives the multi-mode port output
buffers. Some analog encoders also produce a digital
output buffer. The result is digital quadrature A/B/X
control system.
MULTI-MODE ENCODER PORT: FEEDBACK OUTPUTS
BUFFERED OUTPUTS MULTI-PORT
MULTI-MODE ENCODER PORT: COMMAND INPUTS
mode port can accept digital command signals
drive cam tables, or as master-encoder signals
The multi-mode port can also be used when
digital command signals are in a differential
format. These are the signals that typically
go to single-ended inputs. But, at higher
signals in which case the multi-mode port
can be used.
Input Pin R1 R2 C1
IN1 100p
IN2
100p
IN3
IN4
IN6
Opto
IN9
ICOM1
IN10 33n
IN21 100p
Input State Condition
IN1,10,21 HI
LO
HI
LO
IN6~9 HI Input diode ON
LO Input diode OFF
Input Pin PU/PD
IN1 1
IN2 2
IN3 3
IN4 4
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
J9
+
24V
24V GND
4.99k 5.1V
[IN6] 4.7k
4.7k
4.7k
4.7k
[COMM1]
6
2
4.99k 5.1V
[IN7]
3
4.99k 5.1V
[IN8]
4
4.99k 5.1V
[IN9]
5
+
24V
100p
10k
10k 74HC14
PullUp = 5V
PullDown = 0V
[INx]
+5V
100p
10k
10k 74HC14
[INx]
+5V
33n
10k
4.99k 74HC2G14
[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 19 of 34
CME2 SCREEN FOR INPUTS [IN1~IN10]
INPUT DATA [IN1]
[IN21]
[IN10]
HI/LO DEFINITIONS: INPUTS
diode of the opto-coupler the diode condition is
+24V typical
+24V
[IN6~9]
CME2 & AXIS A I/O CONNECTIONS
Input Pin R1 R2 C1
IN11 100p
IN12
100p
IN13
IN14
IN16
Opto
IN19
ICOM2
IN20 33n
IN22 100p
Input State Condition
IN11,20,22 HI
LO
HI
LO
IN16~19 HI Input diode ON
LO Input diode OFF
Input Pin PU/PD
IN11
IN12 6
IN13
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
J9
4.99k 5.1V
[IN16] 4.7k
4.7k
4.7k
4.7k
[COMM2]
17
7
4.99k 5.1V
[IN17]
8
4.99k 5.1V
[IN18]
9
4.99k 5.1V
[IN19]
18
+
24V
24V GND
+
24V
100p
10k
10k 74HC14
PullUp = 5V
PullDown = 0V
[INx]
+5V
100p
10k
10k 74HC14
[INx]
+5V
33n
10k
4.99k 74HC2G14
[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 20 of 34
CME2 SCREEN FOR INPUTS [IN11~IN20]
INPUT DATA [IN11]
[IN22]
[IN20]
HI/LO DEFINITIONS: INPUTS
input diode of the opto-coupler the diode condition
+24V typical
+24V
[IN16~19]
CME2 & AXIS B I/O CONNECTIONS
Table of contents
Other Copley Controls DC Drive manuals
Popular DC Drive manuals by other brands
Danfoss
Danfoss VLT AutomationDrive FC 301 Programming guide
Unitek
Unitek Bamobil D3.2 manual
Rockwell Automation
Rockwell Automation Allen-Bradley PowerFlex 6000 Commissioning manual
Oerlikon Fairfield
Oerlikon Fairfield Torque-Hub C014C5 Series Service manual
ESBE
ESBE GDA311 Series manual
Enduro
Enduro Autosteady AS101FL instruction manual
