Copley Controls Xenus Plus XP2 Series User manual

Model Vac Ic Ip
XP2-230-20 100~240 10 20
Add -R to model number for resolver option
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 1 of 34
RoHS
Xenus
PLUS 2-Axis CANopen
XP2
Rev 01
DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS
DESCRIPTION
XP2 sets new levels of performance, connectivity, and
CANopen communication provides a widely used
cost-effective industrial bus. A wide range of absolute
encoders are supported.
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.
CONTROL MODES
 
 
 
COMMAND INTERFACE
 
 
 
 
 
 
COMMUNICATIONS
 
 
FEEDBACK
Incremental
 
 
 
 
Absolute
 
 
 
 
 
 
Other
 

 
 
 
 
 

 

 
DIMENSIONS: IN [MM]
 

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 2 of 34
RoHS
Xenus
PLUS 2-Axis CANopen
XP2
Rev 01
 
MODEL XP2-230-20

     
     
     
INPUT POWER
     
Mains current 20 Arms
     

  
Sampling r 
Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth
Minimum load inductance 

Distributed Control Modes
  
Stand-alone mode
   
   
   
   
   
   
PWM minimum pulse width 220 ns
  
  
ASCII RS-232, 9600~115,200 Baud, 3-wire, RJ-12 connector

Number 22
  
  
  
  
  Ω
  
  
  
  
  

Number 4
  Ωinput impedance, 14-bit resolution
  Ω

Function PWM outputs are inactive and current to the motor will not be possible when the STO function is asserted
Standard Designed to IEC-61508-1, IEC-61508-2, IEC-61800-5-2, ISO-13849-1
Safety Integrity Level SIL 3, Category 3, Performance level d
Inputs 2 two-terminal: STO-IN1+,STO-IN1-, STO-IN2+, STO-IN2-
 
 
 
 

Number 7
  
  
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
CAN PORT
 
  
  
Address selection 16 position rotary switch on front panel with 3 additional address bits available as
  
STATUS INDICATOR LEDS
  
  

  
  
GENERAL SPECIFICATIONS

RoHS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 3 of 34
RoHS
Xenus
PLUS 2-Axis CANopen
XP2
Rev 01
GENERAL SPECIFICATIONS

  
   
   
   
PROTECTIONS
   
   
   
Short circuits Output to output, output to ground, internal PWM bridge faults
I2 
  
  

  9.24 [234.7] x 5.42 [137.6] x 3.59 [91.1] in[mm]
  
Ambient temperature 0 to +40 °C operating, -40 to +85 °C storage
  
Contaminants Pollution degree 2
  g
  g, 10 ms, half-sine pulse, IEC60068-2-27
Environment IEC68-2: 1990
  

Approvals


Functional Safety


Electrical Safety

UL 61800-5-1-2012
EMC Directive 2004/108/EC – EMC:
IEC 61800-3:2004+A1:2011
FEEDBACK
Incremental:
   
   
   
   
Absolute:
   
   
Absolute A, Tamagawa Absolute A, Panasonic Absolute A Format
    
    
status data for encoder operating conditions and errors
   

Type Digital, single-ended, 120° electrical phase difference
  
  Ω
MULTI-MODE ENCODER PORT
  Ωterminating resistors
  
  
from analog sin/cos encoders or absolute encoders
A, /A, B, /B, X, /X, from MAX3032 differential line driver
  
ENCODER POWER SUPPLIES
Number 2
  
  
  

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 4 of 34
RoHS
Xenus
PLUS 2-Axis CANopen
XP2
Rev 01
Note!

help you get the best results when using Copley Controls products.
FEEDBACK
Incremental:
   
   
   
   
   
   
Absolute:
   
   
   
    
    
status data for encoder operating conditions and errors
   

  
  
  
  Ω
MULTI-MODE ENCODER PORT
  Ωterminating resistors
  
  Ωterminating resistors
  
from analog sin/cos encoders or resolvers.
A, /A, B, /B, X, /X, from MAX3032 differential line driver
  

Type Brushless, single-speed, 1:1 to 2:1 programmable transformation ratio
  
  
  
Reference maximum current 100 mA
Maximum RPM 10,000+
  
GENERAL SPECIFICATIONS

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
Not
Used
for
CAN
Addr
8
9 9
A 10
B 11
C 12
D 13
E 14
F 15
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
S2
S1
X1X10
DEVICE ID
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 5 of 34
RoHS
Xenus
PLUS 2-Axis CANopen
XP2
Rev 01
CAN NETWORK NODE-ID (ADDRESS)
CANOPEN COMMUNICATIONS

Before installing the drive in a CAN system, it must be assigned a CAN address. A maximum of 127 CAN nodes are allowed on a single
CAN bus. The rotary switch on the front panel controls the four lower bits of the seven-bit CAN address. When the number of nodes on
a bus is less than sixteen, the CAN address can be set using only the switch.
                      
      
For more information on CANopen communications, download the CANopen Manual from the Copley web-site:
http://www.copleycontrols.com/motion/downloads/pdf/CANopenProgrammersManual.pdf


CAN STATUS LED
CANOPEN CONNECTORS
Dual RJ-45 connectors that accept standard Ethernet
cables are provided for CAN bus connectivity. Pins
are wired-through so that drives can be daisy-
chained and controlled with a single connection
       
should be placed in the last drive in the chain.

that plugs into a CAN controller and has an RJ-45

XP2-NK CAN CONNECTOR KIT
           


J7 CAN CONNECTIONS
Note: Red & green led on-times do not
overlap. LED color may be red, green, off,
or ashing of either color.

A bi-color LED gives the state of the CAN connection in




layer.
During a reset condition, the green LED will be off.


the right.

master. In the XPL, the node address is provided by two 16-position rotary switches with hexadecimal

decimal values of the hex settings of each switch.




Example: S1 = 5, S2 = B

Node-ID = 80 + 11 = 91



Example: Node-ID = 91


X1X16

PIN 
2 RxD
3,4 
5Txd
RoHS
Xenus
PLUS 2-Axis CANopen
XP2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 6 of 34
RS-232 MULTI-DROP

over a single RS-232 port by daisy-chaining a master drive to other drives using CAN cables. In the CAN protocol, address 0 is reserved

address is set to 0, it acts as a CAN master, converting the RS-232 data into CAN messages and passing it along to the other drives
which act as CAN nodes.
CANopen
RS-232
CANopen
CAN Addr 0
CAN Master CAN Node CAN Node
CAN Addr 1 CAN Addr n
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
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:



variables.


J6: RS-232 PORT
RJ-11 receptacle,
6 position, 4 contact
XP2
XP2 RS-232 port are through J7, an RJ-11 connector. The XP2 Serial Cable Kit

SER-CK SERIAL CABLE KIT
The SER-CK provides connectivity between a D-Sub 9 male connector and the RJ-11

port of a PC and uses common modular cable to connect to the XP2. The connections
are shown in the diagram below.

placing your order for an XP2!


COMMUNICATIONS: RS-232 SERIAL
ASCII COMMUNICATION PROTOCOL

PIN  PIN 
1 6
2 7
3 8 STO-PWR
4 9
5


The information provided in the Xenus Plus Dual-Axis STO User Manual must be


1695
Frame Ground
STO-Bypass (6.5 mA)
*XE2 and XEL-XPL STO bypass connections are different.
The diode shown should be used if XE2 and XEL-XPL drives are used on the same
equipment. Otherwise, the diode may be replaced by a jumper.
XE2 STO bypass connectors are not compatible with XEL-XPL drives.
STO-Gnd (Sgnd)
J6
Xenus Plus Dual-Axis
Bypass Plug Connections
Jumper pins:
2-4, 3-5, 6-8, 7-9 *
STO-IN1+
STO-IN2+
STO-IN2-
STO-IN1-
STO-IN1+
STO-IN1-
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
*
1695
SAFETY

INSTALLATION
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 7 of 34
RoHS
Xenus
PLUS 2-Axis CANopen
XP2
Rev 01
SAFE TORQUE OFF (STO)
DESCRIPTION

the upper and lower devices in the PWM outputs from being operated by the digital control core. This provides a positive OFF capability that cannot be

the control core will be able to control the on/off state of the PWM outputs.







XPL 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

STO bypass on the XP2 and can be replaced by a
wire between pins 7 and 9.




from an internal current-source. When this is done the STO feature is overridden and control of the output PWM stage is under control of the digital
control core.



Signal Axis A Axis B
Pls, Enc A J12-10 J12-15
Dir, Enc B J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Signal Axis A Axis B
Pls, Enc A J12-8 J12-13
/Pls, Enc /A J12-9 J12-14
Dir, Enc B J12-10 J12-15
/Dir, Enc /B J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Signal Axis A Axis B
PWM J12-10 J12-15
Dir J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Signal Axis A Axis B
PWM J12-8 J12-13
/PWM J12-9 J12-14
Dir J12-10 J12-15
/Dir J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 8 of 34
RoHS
Xenus
PLUS 2-Axis CANopen
XP2
Rev 01
HIGH SPEED INPUTS: IN2, IN3, IN4, IN5, IN12, IN13, IN14, IN15

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
Pulse
Direction
IN4(14)
IN5(15)
Enc. A
Enc. B
IN4(14)
IN5(15)
Encoder ph. B
Encoder ph. A
PULSE+
PULSE-
DIRECTION-
DIRECTION+
IN2(12)
IN3(13)
IN4(14)
IN5(15)
Enc. A
Enc. /A
Enc B
Enc /B
Encoder ph. B
Encoder ph. A 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)

COMMAND DIFFERENTIAL




 

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>
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)

Signal Axis A Axis B
Enc A J12-36 J12-42
Enc /A J12-21 J12-27
Enc B J12-35 J12-41
Enc /B J12-20 J12-26
Enc X J12-34 J12-40
Enc /X J12-19 J12-25
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Signal Axis A Axis B
Pls, Enc A J12-36 J12-42
/Pls, Enc /A J12-21 J12-27
Dir, Enc B J12-35 J12-41
/Dir, Enc /B J12-20 J12-26
Enc X J12-34 J12-40
Enc /X J12-19 J12-25
Sgnd J12-6,16,22,31,37,44
Shld J12-1
+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
J12 Multi-Port
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/Output
Select
MAX3032
S
S
2-Wire digital absolute
encoder signals
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 9 of 34
RoHS
Xenus
PLUS 2-Axis CANopen
XP2
Rev 01
MULTI-MODE ENCODER PORT AS AN INPUT
COMMAND INPUT
MULTI-PORT
EMULATED QUAD A/B/X
MULTI-PORT
POSITION COMMAND INPUTS: DIFFERENTIAL




CURRENT or



Quad A/B/X incremental encoder
Quad A/B emulated encoder from sin/cos encoder



receives Data from the encoder in half-duplex mode.


which initiates data transmission from the encoder
on the S-channel in full-duplex mode
INPUT TYPES

Input Pin R1 R2 C1 
 J12-7   100p +24
 J12-8
  100p +12
 J12-9
 J12-10
 J12-11
IN6 J9-2
Opto 
IN7 J9-3
IN8 J9-4
IN9 J9-5
ICOM1 J9-6
IN10 J10-7   33n +24
IN21 J10-24   100p
Input Pin R1 R2 C1 
 J12-12   100p +24
 J12-13
  100p +12
 J12-14
 J12-15
 J12-30
IN16 J9-7
Opto 
IN17 J9-8
IN18 J9-9
IN19 J9-18
ICOM2 J9-17
IN20 J11-7   33n +24
IN22 J11-24   100p






Input Pin PU/PD Input Pin PU/PD
IN1 J12-7 1 IN11 J12-12 5
IN2 J12-8 2 IN12 J12-13 6
IN3 J12-9 3 IN13 J12-14 7
IN4 J12-10 4IN14 J12-15 8
IN5 J12-11 IN15 J12-30
S.E.
Input
Diff
Input Pin S.E. Input
Diff
Input Pin
IN2 IN2+ J12-8 IN12 IN12+ J12-13
IN3 IN2- J12-9 IN13 IN12- J12-14
IN4 IN4+ J12-10 IN14 IN14+ J12-15
IN5 IN4- J12-11 IN15 IN14- J12-30
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
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 10 of 34
RoHS
Xenus
PLUS 2-Axis CANopen
XP2
Rev 01
HS Inputs [IN1~2]





The input resistor of these inputs is programmable to pull-up to
           
       
       
Six of the inputs have individually settable PU/PD.
The other four have PU/PD control for pairs of inputs.





 
 
or Camming modes
DIFFERENTIAL
 

GENERAL PURPOSE INPUTS