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 Certication 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

Not

Used

for

CAN

Addr

9 9

A 10

11

C 12

D 13

E 14

15

X1X10

DEVICE ID

CAN Status LED

D-Sub 9F

CAN_L

CAN_GND

CAN_H

CAN_L

RJ-45

CAN_GND

CAN_H

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.

























































 

2

3,4 

5

TxD RxD

RJ-11

Servo

Drive

RJ-11 cable

6P6C

Straight-wired

Gnd Gnd

RxD TxD

D-Sub 9F

Dsub-9F

to RJ11

Adapter

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)

STO-IN1+

STO-IN2+ Channel 2

FPGA

UVW PWM

Channel 3

STO-IN2-

STO-IN1-

STO-IN1+

STO-IN1-

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

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%

Curr-Vel±

[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

Function

Duty = 50% ±50%

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. S

Enc. A

Incremental

Encoder

Absolute

Encoder

J6 Control

Frame Ground

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

4-Wire digital absolute

encoder signals

Input/Output

Select

MAX3362

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

Enc. A

Incremental

Encoder

J6 Control

Frame Ground

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



















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