Copley Controls Xenus PLUS Compact CANopen Series User manual
Model Ic Ip Vac
XPC-230-09 3 9 100~240
XPC-230-12 6 12 100~240
XPC-230-15 7.5 15 100~240
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 1 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS
CONTROL MODES
Other
XPC
CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 2 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
MODEL XPC-230-09 XPC-230-12 XPC-230-15
OUTPUT CURRENT
Note 2
Stand-alone mode
Ω
Ω
Ω
Reference Xenus Plus Compact STO Manual
RS-232 PORT
CAN PORTS
GENERAL SPECIFICATIONS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 3 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
Ω
2
g
g
Standards and Directives
Functional Safety
Reference: Xenus Plus Compact STO Manual
Product Safety
EMC
Restriction of the Use of Certain Hazardous Substances (RoHS)
Approvals
UL and cUL recognized component to:
UL 61800-5-1, 1st Ed.
UL Functional Safety Certication to:
GENERAL SPECIFICATIONS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 4 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
GENERAL SPECIFICATIONS
Incremental:
Absolute:
Digital:
Analog:
S1 S2
DEC
000
116 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
11
C 12
D 13
E 14
15
S2
S1
X1X10
DEVICE ID
CAN Status LED
J7
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
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 5 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
CAN NETWORK NODE-ID (ADDRESS)
CANOPEN COMMUNICATIONS
CAN STATUS LED
CANOPEN CONNECTORS
Note: Red & green led on-times do not
overlap. LED color may be red, green, off,
or ashing of either color.
part 3.
5
91
2
3,4
5
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
RxD TxD
123456
RJ-11
(DTE)
CANopen
RS-232
CANopen
CAN Addr 0
CAN Master CAN Node CAN Node
CAN Addr 1 CAN Addr n
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 6 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
XPC
XPC
The XPC
COMMUNICATIONS: RS-232 SERIAL
ASCII COMMUNICATION PROTOCOL
as CAN nodes.
1 6
2 7
3 8
4 9
5
DANGER
Refer to the Xenus Plus Compact STO Manual
Failure to heed this warning can cause equipment damage, injury, or death.
+HV
PWM
Outputs
*
Channel 1
Frame Ground
STO-Bypass (6.5 mA)
STO-Gnd (Sgnd)
J4
STO-IN1+
STO-IN2+ Channel 2
FPGA
UVW PWM
Channel 3
STO-IN2-
STO-IN1-
STO-IN1+
STO-IN1-
2
3
1
4
5
6
7
8
9
EN
Gate
Drivers
FPGA
PWM
Enable
1695
Bypass Plug Connections
Jumper pins:
2-4, 3-5, 6-8, 7-9 *
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 7 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
169
5
SAFETY
STO CONNECTOR
SAFE TORQUE OFF (STO)
Current must ow
through all of the
opto-couplers before
the drive can be
enabled
If not using the STO feature, these connections must be made in order for the drive to be enabled.
the XPC and
9
10
11
12
6,16,22,31,
37,44
1
11
12
6,16,22,31,
37,44
1
9
10
11
12
6,16,22,31,
37,44
1
11
12
Sgnd 6,16,22,31,
37,44
1
PULSE
/PULSE
DIRECTION
/DIRECTION
[IN3]
[IN4]
[IN5]
[IN6]
CD (Count-Down)
CU (Count-Up) [IN3]
[IN4]
[IN5]
[IN6]
CU (CW)
/CU (CW)
CD (CCW)
/CD (CCW)
Enc. A
Enc B
/Enc. A
/Enc B
Encoder ph. B
Encoder ph. A [IN3]
[IN4]
[IN5]
[IN6]
CU (CW)
CD (CCW)
[IN5]
[IN6]
Enc. A
Enc. B
Enc. Ph. A
Enc. Ph. B
[IN5]
[IN6]
Pulse
Direction
[IN5]
[IN6]
Curr-Vel
Pol-Dir
[IN5]
[IN6]
Duty = 50% ±50%
<no connection>
Curr-Vel±
<not used>
[IN5]
[IN6]
Duty = 0 - 100% Curr-Vel
Pol-Dir
/Curr-Vel
/Pol-Dir
[IN5]
[IN6]
[IN3]
[IN4]
[IN5]
[IN6]
[IN3]
[IN4] /Curr-Vel
Curr-Vel
No
Function
Duty = 50% ±50%
<no connection>
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 8 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
DIGITAL COMMAND INPUTS: POSITION
DIGITAL COMMAND INPUTS: VELOCITY, TORQUE
36
21
35
20
34
19
33
18
6, 16,
22, 31,
37, 44
1
+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
J6 Control
Frame Ground
A
S
/B
/A
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
Input
Select
Output
Select
MAX3362
MAX3362
X
S
4-Wire digital absolute
encoder signals
Input/Output
Select
MAX3362
S
S
2-Wire digital absolute
encoder signals
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 9 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
MULTI-MODE ENCODER PORT AS AN INPUT
CURRENT or
INPUT TYPES
36
21
35
20
34
19
33
18
6, 16, 22, 31,
37, 44
1
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
MAX3362
MAX3097
Emulated Quad A/B
signals from
analog Sin/Cos encoder
Emulated A/B signals
Enc. B
Enc. X
B
/B
X
/X
Enc. A
Incremental
Encoder
J6 Control
Frame Ground
A
/A
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 10 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
MULTI-MODE PORT AS AN OUTPUT
OUTPUT TYPES
Notes
Notes
Method
Notes
OUT1
OUT2
OUT3
OUT4
OUT5
Notes
PU/PD
Opto
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 11 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
CME2 DEFAULTS
Data Notes
LO
1
R1 Ω
R2 Ω
C1
RC2
Sgnd
Data Notes
LO
1
3
LO
R1 Ω
R2 Ω
C1
RC2100 ns
S.E.
Sgnd
C1
R2
R1 74HC2G14
PullUp = +5V
PullDown = 0V
[IN1,2]
+5V
FEEDBACK CONNECTOR
12V max
+
C1
C1
2.5V
MAX3096
MAX3096
[IN3,5]
J6 Control
[IN4,6]
R1
R1
+5V
R2
R2
+
+5V
[IN3,5]
J6 Control
[IN4,6]
+5V
+5V
C1
R1
R2
C1
R1
R2
MAX3096
12V max
+
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 12 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
SINGLE-ENDED/DIFFERENTIAL INPUTS: IN3, IN4, IN5, IN6
HIGH SPEED INPUTS: IN1, IN2
Data Notes
LO
R1 Ω
R2 Ω
C1
Te
Property
60~750
Sgnd
13
14
15
30
28
Data Notes
LO
+5V
[IN11]
Thermistor,
Posistor,
or switch Signal Gnd
R1
R2
C1
J5
J6
4.99k 4.7V
[IN7] 4.7k
4.7k
4.7k
4.7k
[INCOM]
4.99k 4.7V
[IN8]
4.99k 4.7V
[IN9]
4.99k 4.7V
[IN10]
+
24V
24V GND
+
24V
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 13 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
MOTOR OVERTEMP INPUT: IN11
OPTO-ISOLATED INPUTS: IN7, IN8, IN9, IN10
Data Notes
Ω
State
OUT1~3
LO
OUT1
OUT2
OUT3
Data Notes
Sgnd
+
1.5V
Shield (Frame Gnd)
AIN(+)
AIN(-) Vref
J6
D/A
F.G.
±10V
Sgnd
-
[OUTn-]
300mA
max
* at 24 Vdc
Vdc
J6
[OUTn+]
1
80Ω
min*
36V
SSR
+
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 14 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
ANALOG INPUT: AIN1
OPTO-ISOLATED OUTPUTS: OUT1, OUT2, OUT3
State
LO
Data Notes
Data Notes
4
3
2
1
J3
Brake [OUT5]
4
3
24V
Brk 24V Input
Brk 24V Output
24V Return
2
1
i
+
0
J6
+5 Vdc
[OUT4] ±8 mA
R
Sgnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 15 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
Brake is Active
Brake is Inactive
OPTO-ISOLATED MOTOR BRAKE OUTPUT: OUT5
HIGH-SPEED OUTPUT: OUT4
13
12
11
10
9
8
6, 17
Sgnd 5, 16, 25, 26
1
19
18
21
20
X 9
/X 8
6, 17
Sgnd 5, 16, 25, 26
1
1k
+5V
1k
Encoder J5
FG Frame Ground
Enc. A
121
A
Enc. B
121
B
Enc. Index
130
X/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
1k
+5V
1k
+5V Out @ 500 mA
Signal Ground
Sin(+)
Sin(-)
Cos(+)
Cos(-)
X
/X
-
+
-
+
10k
121
J5
10k
121
Encoder
FG
sin
cos
+5V
0V
indx
Frame Ground
10k
Sin
Cos
10k
Enc. Index130
Enc. A
Enc. B
Enc. Index
A
/A
B
/B
X
/X
Encoder
121
121
121
FG Frame Ground
A
B
+5V
0V
+5V Out @ 500 mA
Signal Ground
J5
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 16 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
FEEDBACK CONNECTIONS
QUAD A/B ENCODER WITH FAULT PROTECTION
Short-circuits line-line:
Open-circuit condition: The 121Ω
Low differential voltage detection:
±15kV ESD protection:
Extended common-mode range:
ANALOG SIN/COS INCREMENTAL ENCODER
ServoTube
QUAD ENCODER WITH INDEX QUAD ENCODER WITH NO INDEX
SIN/COS SIGNALS
A/B/X SIGNALS
9
8
Data 15
/Data 14
19
18
21
20
6, 17
Sgnd 5, 16, 25, 26
1
Data 15
/Data 14
6, 17
Sgnd 5, 16, 25, 26
1
MA+ 9
MA- 8
Data SL+ 15
/Data SL- 14
6, 17
5, 16, 25, 26
1
1k
+5V
1k 1k
+5V
1k
BiSS
Encoder
221
130
MA+
MA-
SL+
SL-
FG
Frame
Ground
J5
Clk
Data
Master
Slave
V+
V-
+5V Out @ 500 mA
Signal Ground
1k
+5V
1k 1k
+5V
1k
Encoder
221
130
Clk
/Clk
Dat
/Dat
FG Frame
Ground
J5
Clk
Data
Data
Clk
+5V
0V
+5V Out @ 500 mA
A
A
B
B
Signal Ground
-
+
-
+
A
B
A
B
1k
+5V
1k 1k
+5V
1k
Encoder
221
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Dat
/Dat
Clk
/Clk
130
FG
Frame
Ground
J5
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
221
1.2k
1.2k
220
5V
SD+
SD-
J5
Battery
Dat
/Dat Cmd
D-R
SD
Cmd
D-R
SD
MAX3362B
0V
+5V
V+
V-
+5V Out
@ 500 mA
Signal Ground
Batt+
Batt-
+
-
1k
1k
5V
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 17 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
FEEDBACK CONNECTIONS
SSI ABSOLUTE ENCODER
the Master.
BiSS ABSOLUTE ENCODER
ENDAT ABSOLUTE ENCODER
ABSOLUTE-A ENCODER
ENDAT SIGNALS
ABSOLUTE-A SIGNALS
Note: Single (outer) shields should be
connected at both ends (motor and
drive frame grounds). Inner shields
should only be connected to Signal
Ground on the drive.
SSI,BiSS SIGNALS
Mot U 4
3
2
1
2
3
4
6, 17
Sgnd 5, 16,
25, 26
1
HALL SIGNALS
MOTOR SIGNALS
J2
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
J5
100p
10K
10K
Hall V
+5V
100p
10K
10K
Hall W
+5V
Hall A
Hall B
Hall C
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 18 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
MOTOR CONNECTIONS
MOTOR PHASE CONNECTIONS
DIGITAL HALL SIGNALS
16
3
2
1
Frame Gnd
525
26
17
8
9
10
11
12
1
13
Hall W 4
Hall V 3
Hall U 2
J5 6
+5V Out
7
Signal Gnd
Signal
Gnd
Motemp
BRUSHLESS
MOTOR
U
V
U(+)
V(-)
W
BRUSH
MOTOR
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J2
J3 Brake
24V Return
4
Brk 24V Output
Brk 24V Input +
0V
24 Vdc
Brk
Xenus Plus Compact
ENCODER
DIGITAL
HALLS
TEMP
SENSOR
DIGITAL
/A
A
/B
B
/X
Vcc
0V
X
/A
A
/B
B
/X
X
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 19 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
MOTOR CONNECTIONS: DIGITAL QUAD A/B ENCODERS
16
3
2
1
Frame Gnd
525
26
17
8
9
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
J5 6
+5V Out
7
Signal Gnd
Signal
Gnd
Motemp
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J2
J3 Brake
24V Return
4
Brk 24V Output
Brk 24V Input +
0V
24 Vdc
Brk
ENCODER
DIGITAL
HALLS
DIGITAL
INDEX
Vcc
0V
TEMP
SENSOR
ANALOG
SIN/COS
Sin-
Sin+
Cos-
Cos+
Ndx-
Ndx+
Enc Sin(-)
Enc Sin(+)
Enc Cos(-)
Enc Cos(+)
Enc Index(-)
Enc Index(+)
BRUSHLESS
U
V
W
MOTOR
U(+)
V(-)
BRUSH
MOTOR
Xenus Plus Compact
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 20 of 28
RoHS
Xenus
PLUS
Compact CANopen
XPC
MOTOR CONNECTIONS: ANALOG SIN/COS INCREMENTAL ENCODERS
This manual suits for next models
3
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