Copley Controls Xenus Plus XEL Series User manual
Model Ic Ip Vac
XEL-230-18 6 18 100-240
XEL-230-36 12 36 100-240
XEL-230-40 20 40 100-240
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Xenus
PLUS EtherCAT
RoHS
XEL
DESCRIPTION
operates in CAN application layer over EtherCAT (CoE) mode. A wide range of absolute interfaces
are built-in including EnDat, and BiSS.
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 can be employed.
Add -R for resolver feedback option.
Control Modes
Command Interface
application layer over EtherCAT (CoE)
Stepper commands
Communications
Accessories
Feedback
Analog sin/cos incremental
Panasonic Incremental A Format
Tamagawa & Panasonic Absolute A
Sanyo Denki Absolute A,
BiSS,BiSS
I/O Digital
I/O Analog
Dimensions: in [mm]
7.92 x 5.51 x 2.31 in (201.2 x 139.9 x 58.7 mm)
FOR BRUSH/BRUSHLESS MOTORS
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XEL
MODEL XEL-230-18 XEL-230-36 XEL-230-40
OUTPUT CURRENT
Peak Current 18 (12.7) 36 (25.5) 40 (28.3) Adc (Arms, sinusoidal)
Peak time 1 1 1 s
Continuous current (Note 1) 6 (4.24) 12 (8.5) 20 (14.1) Adc (Arms, sinusoidal)
INPUT POWER
Note 3) 10.1 20.0 20.0 Arms
Note 3) 6.4 10.4 15.4 Arms
Sampling r
Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth
Minimum load inductance
COMMAND INPUTS
Distributed Control Mode
CAN application layer
Interpolated Position, Homing
Stand-alone mode
PWM minimum pulse width 220 ns
Indexing Up to 32 programs can be launched from inputs or ASCII commands.
Number 14
10 kΩ
Number 3
Ωinput impedance, 16-bit resolution
[AIN3] Single-ended, motor temperature sensor, 4.99 kΩ
Number 6
Ω
MULTI-MODE ENCODER PORT
RS-422/RS-485 line receiver with fault detection for open/shorted inputs, or low signal amplitude
As Output Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
A, /A, B, /B, X, /X, from MAX3032 differential line driver
RS-232 PORT
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 Baud
Protocol Binary and ASCII formats
ETHERCAT PORTS
Protocol EtherCAT, CAN application layer over EtherCAT (CoE)
STATUS INDICATORS
Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
NOTES:
2. Brake[OUT6] is programmable as motor brake, or as general purpose digital output
3. The actual mains current is dependent on the mains voltage, number of phases, and motor load and operating conditions. The Maximum Mains Currents shown above
occur when the drive is operating from the maximum input voltage and is producing the rated continuous output current at the maximum output voltage.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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XEL
PROTECTIONS
AC Mains Loss Loss of mains power between L1 & L2 is detected
I2T Current limiting Programmable: continuous current, peak current, peak time
Weight 3.0 lb (1.36 kg) for drive without heatsink
3.1 lb (1.40 kg) for XEL-HS heatsink, 1.86 lb (0.84 kg) for XEL-HL heatsink
Ambient temperature 0 to +45 °C operating, -40 to +85 °C storage
Contaminants Pollution degree 2
g
Shock 10 g, 10 ms, half-sine pulse, IEC60068-2-27
Environment IEC68-2: 1990
In accordance with EC Directive 2004/108/EC (EMC Directive)
EN 55011: 2007 CISPR 11:2003/A2:2006
Immunity for residential, Commercial and Light-industrial Environments
In accordance with EC Directive 2006/95/EC (Low Voltage Directive)
Underwriters Laboratory Standards
UL File Number E249894
FEEDBACK SPECIFICATIONS
Type Quadrature, differential line driver outputs
Signals A, /A, B, /B, (X, /X, index signals optional)
RS-422/RS-485 line receivers with fault detection for open/shorted inputs, or low signal amplitude
Signals Sin(+), sin(-), cos(+), cos(-), index(+), index(-)
Interpolation 10 bits/cycle (1024 counts/cycle)
Type Digital, single-ended, 120° electrical phase difference
Inputs 10 kΩ
MULTI-MODE ENCODER PORT
stors
RS-422/RS-485 line receiver with fault detection for open/shorted inputs, or low signal amplitude
As Emulated Output Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders or resolvers.
A, /A, B, /B, X, /X, from MAX3032 differential line driver
As Buffered Output Digital encoder feedback signals from primary digital encoder are buffered by MAX3032 line driver
Type Brushless, single-speed, 1:1 to 2:1 programmable transformation ratio
Reference maximum current 100 mA
Maximum RPM 10,000+
ENCODER POWER SUPPLIES
Number 2
Protection Thermal and short-circuits to ground
139.885.51
2.31 58.67
5.72 145.35
1.00 25.40
4.83.19
7.92 201.17
191.527.54
19.18.76
.31 7.92
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
.190 4.83
LINKLINK ACT
IN
OUT
STAT
AMP
J7
ACT
Dev ID
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For CE compliance and machine safety
an electrically conductive grounding
tab is provided. This connects to the
heatplate and to frame ground.
DIMENSIONS
Chassis
grounding
tab
Units: Inches (mm)
TORQUE OFF
Inputs 2 two-terminal: [ENH+], [ENH-], [ENL+], [ENL-]
Output 1 two-terminal: [LED+], [LED-]
SPECIFICATIONS (CONT’D)
Note!
When you see this marker, it’s for hot tips or best practices that will
help you get the best results when using Copley Controls products.
S1 S2
Hex Dec
000
1 16 1
2 32 2
3 48 3
4 64 4
5 80 5
6 96 6
7 112 7
8 128 8
9 144 9
A 160 10
B 176 11
C 192 12
D 208 13
E 224 14
F 240 15
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PIN
6RX-
3 RX+
2TX-
1 TX+
therCAT PORTS
8 position, 4 contact
ETHERCAT COMMUNICATIONS
EtherCAT is the open, real-time Ethernet network developed by Beckhoff based on the widely used 100BASE-TX cabling system. EtherCAT enables high-
application layer over EtherCAT (CoE)
based on DSP-402 for motion control devices. More information on EtherCAT can be found on this web-site: http://ethercat.org/default.htm
ETHERCAT CONNECTIONS
STAT LED
A bi-color LED (NET) indicates the status of the EtherCAT state machine and occurrence of errors.
RUN (green) ERROR (red)
Single Flash = SAFE-OPERATIONAL Single Flash = Local error (note 2)
On = OPERATIONAL Double Flash = Watchdog timeout (note 3)
Notes:
1) A change of state commanded by the master is not possible or is illegal
2) This indicates that the slave has initiated a change of state by itself in response to an error
3) The EtherCAT watchdog timer has timed-out
These LEDs show the state of the physical link and activity on the link
A green LED indicates the state of the EtherCAT network:
LED Link Activity Condition
Off No (N/A) Port Closed
6 position, 4 contact
1
6
AMP
STAT
1 8 1 8
IN (A)
OUT (B)
LINK
(green)
LINK
(green)
ACT
(yellow)
ACT
(yellow)
EtherCAT
Device ID Switch
Decimal values
EtherCAT D
is independent of cabling, a Device ID is needed. In the XEL, this is provided by two
16-position rotary switches with hexadecimal encoding. These can set the Device ID of
hex settings of each switch.
Example 1: Find the switch settings for decimal Device ID 107:
1) Find the highest number under S1 that is less than 107 and set S1 to the hex value in
the same row:
2) Subtract 96 from the desired Device ID to get the decimal value of switch S2 and set
S2 to the Hex value in the same row:
S2 = (107 - 96) = 11 = Hex B
S1 S2
AMP LED
A bi-color LED gives the state of the drive. Colors do not alternate, and can be solid ON or blinking. When mul-
tiple conditions occur, only the top-most condition will be displayed.
When that condition is cleared the next one below will shown.
1) Red/Blinking = Latching fault. Operation will not resume until drive is Reset.
2) Red/Solid = Transient fault condition. Drive will resume operation when
the condition causing the fault is removed.
Drive will only move in direction not inhibited by limit switch.
reference inputs or EtherCAT commands.
Latching Faults
Default Optional (programmable)
COMMUNICATIONS
PIN
2 RxD
3,4
5Txd
1
6
32
TxD RxD
RJ-11
53
Gnd Gnd
RxD TxD
25
6
9
1
5
D-Sub 9F
1
6
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ASCII COMMUNICATIONS
The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet,
been programmed using CME 2, a control program can use the ASCII Interface to:
The Baud rate defaults to 9,600 after power-on or reset and is programmable up to 115,200 thereafter.
Sending a break character will reset the Baud rate to 9,600.
6 position, 4 contact
STAT
AMP
Don’t forget to order a Serial Cable Kit SER-CK when
placing your order for an XEL!
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 XEL. The
connections are shown in the diagram below.
RS-232 COMMUNICATIONS
XELstop bit. Signal format
XELXEL Serial Cable Kit
(SER-CK) contains a modular cable, and an adapter that connects to a 9-pin, Sub-D serial port connector (COM1, COM2, etc.) on PC’s and compatibles.
Frame Ground
J5
4.99k
5.1V
+HV
High Side PWM
Low Side PWM Motor
Ouputs
4.99k
4.99k
5.1V
STO-1
ENH
STO-2
ENL
DIAG-ON
36V
10 +V
4.99k
STO-LED(+)
STO-2(-)
STO-1(+)
Channel 1
Channel 2
Xenus Plus
STO
Muting
Connections
STO-1(-)
STO-2(+)
STO-LED(-)
2
3
1
4
5
6
7
+24V Output From 24V input on J4-3
9
Signal ground
8
1695
2-9
3-4
5-8
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DESCRIPTION
current through the LED to light it whenever the PWM outputs can be activated, or the drive is in a diagnostic state. When the LED opto-coupler is OFF,
When this is done the STO feature is “muted” and control of the output PWM stage is under control of the digital control core.
If not using the STO feature, these connections must be made in order for the Xenus to be enabled.
PIN PIN
1 6 STO-LED(+)
2 STO-1(+) 7 STO-LED(-)
3 STO-1(-) 8
4 STO-2(+) 9
5 STO-2(-)
SAFE TORQUE OFF (STO)
These connections
MUST be made to
enable the Xenus.
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COMMAND INPUTS
Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up
and pull-down to take advantage of the high-speed inputs. Differential inputs have 121 Ωline-terminators.
pull-up and pull-down to take advantage of the high-speed inputs.
DIFFERENTIAL PWM & DIRECTION
Pulse
Direction
[IN5]
[IN6]
CU
CD
[IN5]
[IN6]
CU (Count-Up)
CD (Count-Down)
Enc. A
Enc. B
IN4(14)
IN5(15)
Encoder ph. B
Encoder ph. A
DIFFERENTIAL CU/CD
PULSE
DIRECTION
[IN3+]
[IN4-]
[IN5+]
[IN6-]
CD (Count-Down)
CU (Count-Up)
DIFFERENTIAL PULSE & DIRECTION
PULSE
DIRECTION
[IN3+]
[IN4-]
[IN5+]
[IN6-]
QUAD A/B ENCODER DIFFERENTIAL
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-]
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This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive.
a dual-loop position control system or use the signals as master-encoder commands in camming mode. In addition, the port can take
stepper command signals (CU/CD or Pulse/Direction) in differential format.
Secondary
Encoder Input
Input/Output
Select
Quad A/B/X primary
encoder
MAX3032
MAX3097
Buffered A/B/X signals
from primary encoder
the multi-mode port output buffers directly. This is useful in systems that use
external controllers that also need the motor feedback encoder signals because
cabling where the motor feedback cable has to split to connect to both controller
and motor, the buffered outputs reduce loading on the feedback cable that
could occur if the motor encoder had to drive two differential inputs in parallel,
each with it’s own 121 ohm terminating resistor.
Secondary
Encoder Input
Input/Output
Select
MAX3362
MAX3097
Emulated Quad A/B
signals from
analog Sin/Cos encoder
Emulated A/B signals
AS EMULATED QUAD A/B/X ENCODER OUTPUTS FROM AN
Analog sin/cos signals are interpolated in the drive with programmable
resolution. The incremental position data is then converted back into digital
analog encoders also produce a digital index pulse which is connected directly
can be used as feedback to an external control system.
Input/Output
Select
MAX3097
MAX3032
A/B/X signals from
digital encoder
When operating in position mode the multi-mode port can accept digital
command signals from external encoders. These can be used to drive cam
tables, or as master-encoder signals when operating in a master/slave
PULSE-UP/PULSE-DOWN, OR
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
which case the multi-mode port can be used.
Input/Output
Select
MAX3097
MAX3032
Pulse/Dir or CU/CD
differential commands
MULTI-MODE ENCODER PORT
AS COMMAND INPUTS
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+
12V
+
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]
[IN15]
A
+5.0 V
COMMAND INPUTS
ended or differential:
DIFFERENTIAL
These are high-speed types with pull-up resisto
active sources. The active level is programmable on each input. Input [IN1] is dedicated to the
HS Inputs [IN1,2,15]
12V
+
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
commonly use NPN or current-sinking outputs. Set the Xenus inputs to pull-down to ground for current-sourcing
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
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programmable functions. As a reference input [AIN1] can
A second input [AIN2] is programmable for other functions.
The ratio of drive output current or velocity vs. reference
input voltage is programmable.
transisto
connections. Connect the COMM to controller ground/common
controller for current-sinking connections.
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OUTPUTS
J9
[OUT4+]
[OUT4-]
+
20mA
30V max R-L
+
20mA
30V max R-L
14
15
[OUT5+]
12
13[OUT5-]
100mA
100mA
+30V max
+
R-L
R-L
16
17
15
+5V
+5V
[OUT1]
Sgnd
[OUT2]
J8
These are open-drain MOSFETs with 1 kΩpull-up resistors in series with a diode
of the outputs is programmable to be on or off. When driving inductive loads
The internal diode in the output is for driving PLC inputs that are opto-isolated
through the 1 kΩ
on, giving a false indication of the drive output state.
100 9
15
J8
The analog output is programmable and
An op-amp buffers the output of a 12-bit
D/A converter.
OPTO-ISOLATED OUTPUTS [OUT4,5]
driving of resistive-inductive (R-L) loads
J8
NC7SZ125
+5V
18
15
[OUT3]
Sgnd ±32mA
R
BRAKE OUTPUT [OUT6]
This output is an open-drain MOSFET with an internal
can sink up to 1A from a motor brake connected to
programmable with CME 2. It can also be programmed
as a general-purpose digital output.
+
J4
3+24V
Brk
0V
2
1
24V
BRK
QUAD A/B ENCODER WITH FAULT PROTECTION
Encoders with differential line-driver outputs provide incremental position feedback via the A/B signals and the optional index signal (X) gives a once per
revolution position mark. The MAX3097 receiver has differential inputs with fault 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:
±15kV ESD protection: The 3097E has protection against high-voltage discharges using the Human Body Model.
Extended common-mode range:
+5V Out2 @ 400 mA
Signal Ground
21
20
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
17 6
16 525 26
terminating resisto
used by incremental encoders with analog outputs, or with
ServoTube motors.
Encoder Xenus Plus
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 Out2 @ 400 mA
Signal Ground
17 6
16 525 26
Connections to the resolver should be made with
shielded cable that uses three twisted-pairs. Once
connected, resolver set up, motor phasing, and other
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
MAX3097
MAX3097
MAX3097
Enc. A
Enc. B
Enc. Index
A
/A
B
/B
X
/X
Encoder Xenus Plus
121
121
121
FG Frame Ground
J10
A
B
+5V
0V
+5V Out2 @ 400 mA
Signal Ground
13
12
1
11
10
9
8
16
17 6
525 26
CONNECTIONS WITH A/B/X ENCODER
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MOTOR CONNECTIONS
Motor connections are of three types: phase, feedback, and thermal sensor. The phase connections carry the drive output currents that
drive the motor to produce motion. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect
drive.
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MOTOR CONNECTIONS (CONT’D)
SSI ABSOLUTE ENCODER
The SSI (Synchronous Serial Interface) is an interface used to connect an
absolute position encoder to a motion controller or control system. The XEL
drive provides a train of clock signals in differential format to the encoder which
numberofencoder databitsand counts permotorrevolutionareprogrammable.
The hardware bus consists of two signals: SCLK and SDATA. Data is sent
Data is clocked out on the falling edge and clock in on the rising edge of
the Master.
-
+
-
+
A
B
A
B
Encoder
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 Out2 @ 400 mA
Signal Ground
21
20
10k
10k
121 Sin
Cos
10k
10k
121
sin
cos
19
18
17 6
16 525 26
ENDAT ABSOLUTE ENCODER
The EnDat interface is a Heidenhain interface that is similar to SSI in the use
of clock and data signals, but which also supports analog sin/cos channels
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
Encoder
121
121
Clk
/Clk
Dat
/Dat
FG Frame Ground
J10
Clk
Data
MAX3362B
MAX3362B
Data
Clk
+5V
0V
+5V Out2 @ 400 mA
A
A
B
B
Signal Ground
9
8
1
15
14
17 6
16 525 26
BiSS ABSOLUTE ENCODER
BiSS is an - Open Source - digital interface for sensors and actuators.
BiSS refers to principles of well known industrial standards for Serial
Synchronous Interfaces like SSI, AS-Interface® and Interbus® with
additional options.
Serial Synchronous Data Communication
Cyclic at high speed
2 unidirectional lines Clock and Data
Line delay compensation for high speed data transfer
Safety capable: CRC, Errors, Warnings
Bus capability incl. actuators
Bidirectional
BiSS B-protocol: Mode choice at each cycle start
BiSS C-protocol: Continuous mode
NIKON-A ABSOLUTE ENCODER
The Nikon A interface is a serial, half-duplex type that is
electrically the same as RS-485
BiSS
Encoder Xenus
121
121
MA+
MA-
SL+
SL-
FG Frame Ground
J10
Clk
Data
MAX3362B
MAX3362B
Master
Slave
V+
V-
+5V output @ 400 mA
Signal Ground
9
8
1
15
14
6
5
Nikon-A
Encoder
121
1.2k
1.2k
220
5V
SD+
SD-
0V
+5V
J10
1
15
14
V+
V-
+5V Out2
@ 400 mA
Signal Ground
Cmd
D-R
SD
MAX3362B
Cmd
D-R
SD
MAX3362B
17 6
16 525 26
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Xenus
PLUS EtherCAT
RoHS
XEL
MOTOR CONNECTIONS (CONT’D)
MOTOR PHASE CONNECTIONS
The drive output is a three-phase PWM inverter that converts the DC buss voltage
noise coupling into other circuits. The motor cable shield should connect to motor
Halls
+5V Out2 @ 400 mA
Signal Ground
+5V
0V
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
17 6
16 525 26
Hall signals are single-ended signals that provide absolute feedback
& W) and they may be sourced by magnetic sensors in the motor, or by
encoders that have Hall tracks as part of the encoder disc. They typically
J2
1
F.G.
PWM
+HV
0V
+
W
V
U
2
3
4
Motor
3 ph.
MOTOR TEMPERATURE SENSOR
Analog input [AIN3] Motemp, is for use with a motor
overtemperature switch or sensor. The input voltage goes
7
5 16 25 26
+5V
Motemp
[AIN3]
Thermistor,
Posistor,
or switch
Signal Gnd
4.99k
100k
150k
100n
J10
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Xenus
PLUS EtherCAT
RoHS
XEL
MOTOR CONNECTIONS (CONT’D)
MULTI-MODE ENCODER PORT
This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive.
a dual-loop position control system or use the signals as master-encoder commands in camming mode. In addition, the port can take
stepper command signals (CU/CD or Pulse/Direction) in differential format.
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
the multi-mode port output buffers directly. This is useful in systems that use
external controllers that also need the motor feedback encoder signals because
cabling where the motor feedback cable has to split to connect to both controller
and motor, the buffered outputs reduce loading on the feedback cable that
could occur if the motor encoder had to drive two differential inputs in parallel,
each with it’s own 121 ohm terminating resistor.
AS EMULATED QUAD A/B/X ENCODER OUTPUTS FROM AN
Analog sin/cos signals are interpolated in the drive with programmable
resolution. The incremental position data is then converted back into digital
analog encoders also produce a digital index pulse which is connected directly
can be used as feedback to an external control system.
When operating in position mode the multi-mode port can accept digital
command signals from external encoders. These can be used to drive cam tables,
See page 13 for connections when A/B encoders with no X index signal are used.
PULSE-UP/PULSE-DOWN, OR
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
which case the multi-mode port can be used.
Input/Output
Select
MAX3097
MAX3032
Pulse/Dir or CU/CD
differential commands
S
/S 13
14
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 25
24
+5V
Out2 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
5
26
Signal Ground
Signal Ground
Signal Ground
16
+5V Out2 17
DIGITAL
ENCODER
DIGITAL
HALLS
/A
A
/B
B
/X
Vcc
0V
FLT
X
+5V Out1
Signal Ground
Ain1(-)
Ain1(+)
±10 Vdc
Analog
Reference
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
Frame Grounding Tab
[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
+
-
Motemp
[AIN3]
TEMP
SENSOR
7
[IN15]
(NOTE 1)
(NOTE 1)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Xenus
PLUS EtherCAT
RoHS
XEL
Quad A/B Encoder
NOTES:
MOTOR CONNECTIONS (CONT’D)
for CE compliance
S
/S 13
14
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 Emulated
Quad A/B from
Analog Encoder
Sgnd 25
24
+5V Out2 6
Sin(+)
Cos(+)
Cos(-)
Inx(+)
Inx(-)
Sin(-)
21
22
23
26
24
25
1
22
23
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
Signal Ground 5
Signal Ground 16
Signal Ground 26
+5V Out2 17
Sin / Cos
ENCODER
DIGITAL
HALLS
Sin(-)
Sin(+)
Cos(-)
Cos(+)
Index(-)
Vcc
0V
FLT
Index(+)
+5V Out1
Signal Ground
Ain1(-)
Ain1(+)
±10 Vdc
Analog
Reference
7
Motemp
[AIN3]
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
Frame Grounding Tab
[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
+
-
[IN15]
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Xenus
PLUS EtherCAT
RoHS
XEL
Sin/Cos Encoder
NOTES:
MOTOR CONNECTIONS (CONT’D)
for CE compliance
(NOTE 1)
(NOTE 1)
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
S
/S
Frame
Gnd
Outputs Emulated
Quad A/B from
Resolver
Sgnd 25
24
+5V Out2 6
Sin(+)
Cos(+)
Cos(-)
Ref(+)
Ref(-)
Sin(-)
21
22
23
26
24
25
1
22
23
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
Signal Ground 16
Signal Ground 26
Signal Ground 5
+5V Out2 17
Resolver
S1 Sin(-)
S3 Sin(+)
S4 Cos(-)
S2 Cos(+)
R2 Ref(-)
R1 Ref(+)
+5V Out1
Signal Ground
Ain1(-)
Ain1(+)
±10 Vdc
Analog
Reference
7
Motemp
[AIN3]
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
Frame Grounding Tab
[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
+
-
[IN15]
13
14
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Xenus
PLUS EtherCAT
RoHS
XEL
Resolver
MOTOR CONNECTIONS (CONT’D)
NOTES:
(NOTE 1)
(NOTE 1)
for CE compliance
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
Wago: 51118287 or 721-204/026-045/RN01-0000
Euro-style 7,5 mm pluggable female terminal block
with preceding ground receptacle
for XEL-230-36-R and XEL-230-40-R models,
Wago: 51118008 or 721-104/026-047/RN01-0000
Euro-style 5,0 mm pluggable female terminal block
for XEL-230-36-R and XEL-230-40-R models,
Wago: 51111279 or 721-605/000-044/RN01-0000
Euro-style 5,0 mm pluggable male terminal block
for XEL-230-36-R and XEL-230-40-R models,
WARNING: Hazardous voltages exist on connections
to J1, J2, & J3 when power is applied, and for up to 30
seconds after power is removed.
WIRE INSERTION/EXTRACTION TOOL:
Wago 231-131 ISOLATED CIRCUIT
ISOLATED CIRCUIT
Wago: 51117974 or 721-103/026-047/RN01-0000
Euro-style 5,0 mm pluggable terminal block
NOTE: AN EXTERNAL
IS REQUIRED FOR OPERATION
J1
J2
J3
J4
J5
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Xenus
PLUS EtherCAT
RoHS
XEL
Quad A/B & Sin/Cos Encoder
Signal Pin
3
Brake Output [OUT6] 2
1
This manual suits for next models
3
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