Copley Controls Xenus PLUS User manual

Model Vac Ic Ip
800-1782 100~240 10 20
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 32
RoHS
Xenus PLUS 2-Axis EtherCAT
800-1782
Current ratings are for each axis
Control Modes
• CyclicSynchronousPosition-Velocity-Torque(CSP,CSV,CST)
• ProlePosition-Velocity-Torque,InterpolatedPosition,Homing
• Camming,Gearing
• Indexer
CommandInterface
• CANapplication layeroverEtherCAT(CoE)
• ASCIIanddiscreteI/O
• Stepper commands
• ±10Vposition/velocity/torque
• PWMvelocity/torquecommand
• Masterencoder(Gearing/Camming)
Communications
• EtherCAT
• RS-232
Accessories
• Externalregenresistor
Feedback
• NSKSSBMotorIncrementalResolver
• NSKJSGMotorIncremental/AbsoluteResolver
SafeTorqueOff(STO)
• SIL3,Category3,PLd
I/ODigital
• 20inputs,5outputs
• [IN16~19]dedicatedtoNSKrobotlimitswitches
I/OAnalog
• 2inputs,±10V,14-bit
Dimensions:in[mm]
• 9.24[234.7]x5.77[146.6]x2.31[58.7]
2-AXISDIGITALSERVODRIVE
FORBRUSHLESS/BRUSHMOTORS
DESCRIPTION
800-1782setnewlevelsofperformance,connectivity,andexibility.CANapplicationlayeroverEtherCAT
(CoE) communication provides a widely used cost-effective industrial bus. Primary position feedback on both
axessupportsNSKSSBmotors withincrementalVR (variable-reluctance)resolversorNSKJSG motorswith
incremental/absoluteVRresolvers.
HighresolutionA/Dconvertersensureoptimalcurrentloopperformance.Bothisolatedandhigh-speednon-isolated
I/Oareprovided.Forsafetycriticalapplications,redundantpowerstageenableinputs(STO)canbeemployed.

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 32
RoHS
Xenus PLUS 2-Axis EtherCAT
800-1782
GENERALSPECIFICATIONS
 Testconditions:Wyeconnectedload:2mHline-line.Ambienttemperature=25°C.Powerinput=230Vac,60Hz,1Ø
MODEL 800-1782
OUTPUTCURRENT(EACHAXIS)
 PeakCurrent  20(14)  Adc(Arms,sinusoidal)
Peak time 1s
 Continuouscurrent(Heatsinkrequired)  10(7)  Adc(Arms,sinusoidal)
INPUTPOWER
 Mainsvoltage,phase,frequency 100~240 Vac,±10%,1Øor3Ø,47~63Hz
 MaximumMainsCurrent,1Ø(Note2,page3) 20 Arms
 MaximumMainscurrent,3Ø(Note2,page3) 15.4 Arms
 +24VdcControlpower +20to+32Vdc,0.5~1.1Adc(Note3,page3) Requiredforoperation
DIGITALCONTROL
 DigitalControlLoops Current,velocity,position.100%digitalloopcontrol
Sampling rate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs)
 Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth
Minimum load inductance 200µHline-line
COMMANDINPUTS(NOTE:DIGITALINPUTFUNCTIONSAREPROGRAMMABLE)
Distributed Control Modes
 CAN application layer overEtherCAT(CoE) CyclicSynchronousPosition-Velocity-Torque,ProlePosition-Velocity-Torque,
 InterpolatedPosition,Homing
Stand-alone mode
 Analogtorque,velocity,positionreference ±10Vdc,14bitresolution Dedicateddifferentialanaloginput
 Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate)
 QuadA/BEncoder 2Mline/sec,8Mcount/sec(afterquadrature)
 Digitaltorque&velocityreference PWM,Polarity PWM=0%-100%,Polarity=1/0
 PWM50% PWM=50%±50%,nopolaritysignalrequired
 PWMfrequencyrange 1kHzminimum,100kHzmaximum
PWM minimum pulse width 220 ns
 Indexing Upto32sequencescanbelaunchedfrominputsorASCIIcommands.
 Camming Upto10CAMtablescanbestoredinashmemory
 ASCII RS-232,DTE,9600~115,200Baud,3-wire,RJ-12connector
DIGITALINPUTS
 Number 20
 [IN1,11] Digital,Schmitttrigger,1µsRClter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground,
 Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc
 [IN2~5,12~15] Programmableassingle-endedordifferentialpairs,100nsRClter,5Vdcmax,
10 kΩprogrammablepull-up/downperinputto+5Vdc/ground,
 SE:Vin-LO≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,DIFF:Vin-LO≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp,
 [IN6~9] Opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,groupof4withcommonreturn
 Ratedimpulse≥800V, Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typical
 [IN16~19] DedicatedfunctionforNSKmotorlimitswitches.Internal6Vpowerwithcurrent-limitingresistors.
 [IN10,20] Motorovertempsignalsonfeedbackconnectors,Schmitttrigger,24Vdccompatible,
 330µsRClter,4.99kpullupto+5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc
SAFETORQUEOFF(STO)INPUTS
 Function PWMoutputsinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisactivated
 Standard Conformance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-
 Type Opto-isolators,24Vcompatible,Vin-LO≤6.0Vdcoropen,Vin-HI≥15.0Vdc,
 Inputcurrent(typical) STO_IN1:11.2mA,STO_IN2:11.2mA
 Responsetime 2ms(IN1,IN2)fromVin≤6.0Vdctointerruptionofenergysuppliedtomotor
Reference CompleteinformationandspecicationsareintheXenusPlusDual-AxisSTOManual
ANALOGINPUTS
 Number 2
 [AIN1~2] Differential,±10Vdc,5kΩinput impedance, 14-bit resolution
DIGITALOUTPUTS
 Number 5
 [OUT1~3] Opto-isolatedsolid-staterelays,60mAdcmax,24Vdctolerant,Ratedimpulse≥800V, series20ohmresistor
 MOSFETchannelconnectsthe(±)outputs,Rds-On=10Ωmax@60mAdc,maxVout=32Vdc
 Td-ON=5000µsmax@60mA,Td-OFF=5000µsmax@60mA,timesincluderise/falltimes
 [OUT6~7] Motorbrakecontrol:opto-isolated,current-sinkingwithybackdiodeto+24Vdc(J5-4~5),1Adcmax,Ratedimpulse≥800V
 Td-ON=250µsmax@20mA,Td-OFF=250µsmax@200mA,timesincluderise/falltimes,
Programmable for other functions if not used for brake
RS-232PORT
 Signals RxD,TxD,Gndin6-position,4-contactRJ-12stylemodularconnector,non-isolated,commontoSignalGround
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
 Format DualRJ-45receptacles,100BASE-TX
 Protocol EtherCAT,CANapplicationlayeroverEtherCAT(CoE)
STATUSINDICATORS
 AMP BicolorLED,drivestateindicatedbycolor,andblinkingornon-blinkingcondition
 RUN GreenLED,statusofEtherCATstate-machine(ESM)
 ERR RedLED,showserrorsduetotime-outs,unsolicitedstatechanges,orlocalerrors
 L/A GreenLED,Link/Act,showsthestateofthephysicallinkandactivityonthelink(EtherCATconnection)
 RUN,ERR,andL/ALEDcolorsandblinkcodesconformtoETG.1300S(R)V1.1.0

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
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RoHS
Xenus PLUS 2-Axis EtherCAT
800-1782
NOTES:
1. Heatsinkingand/orforced-aircoolingisrequiredforcontinuousoutputpowerrating.
OrderXP2-230-20with-Hoptionforfactory-installedheatsink,ororderXP2-HKforuser-installedkit.
2. The actual mains current is dependent on the mains voltage, number of phases, and motor load and operating conditions.
The Maximum Mains Currents shown occur when the drive is operating from the maximum input voltage and is producing
the rated continuous output current at the maximum output voltage from both axes.
3. Withnoencodersconnectedtheminimumcurrentrequirementforthe+24Vsupplyis500mA
Withfourencodersoperatingatthemaximum500mAratingofthefour+5Vsuppliesthe+24currentrequirementis~1.1Adc
5VOUTPUT
 Number 4,twoonthefeedbackconnectors(J10,J11),twoonthecontrolconnector(J12)fortheAandBmulti-modeports
 Ratings(each) 5Vdc@500mA,thermalandoverloadprotected
REGENERATION
 Operation Internalsolid-stateswitchdrivesexternalregenresistor(XTL-RA-04)
 Cut-InVoltage +HV>390Vdc Regenoutputison,(optionalexternal)regenresistorisdissipatingenergy
 Drop-OutVoltage +HV<380Vdc Regenoutputisoff,(optionalexternal)regenresistornotdissipatingenergy
 Tolerance ±2Vdc ForeitherCut-InorDrop-Outvoltage
PROTECTIONS
 HVOvervoltage +HV>400Vdc±3Vdc DrivePWMoutputsturnoffuntil+HVislessthanovervoltage
 HVUndervoltage +HV<60Vdc±3Vdc DrivePWMoutputsturnoffuntil+HVisgreaterthanundervoltage
 ACMainsLoss LossofmainspowerbetweenL1&L2isdetected
 Driveovertemperature IGBT>80°C+3°C,-0°C DrivePWMoutputsturnoffuntilIGBTtemperatureisbelowthreshold
 Shortcircuits Motors:Outputtooutput,outputtoground,outputtoH V, internalPWMbridgefaults
 Regen:Regen+toground,Regen-toHV
I
2T Current limiting Programmable: continuous current, peak current, peak time
 Motorovertemperature Programmableinputtodisabledrivewhenvoltageisaboveorbelowasetpoint0~5Vdc
 Feedbackpowerloss Faultoccursiffeedbackisremovedor+5Vis<85%ofnormal
 ACpowerloss Interruptionofmainspowercanbedetected
 24Vpowerinputreversal Nodamagetothedriveifthe24Vpowerconnectionsarereversed
MECHANICAL&ENVIRONMENTAL
 Size 9.24[234.7]x5.77[146.6]x2.31[58.7]in[mm]
 Weight 3.13lb[1.42kg]fordrivewithoutheatsink
 3.63lb[1.65kg]forXE2-HKheatsink
 Ambienttemperature 0to+40°Coperating,-40to+85°Cstorage
 Humidity 0%to95%,non-condensing
Contaminants Pollution degree 2
 Vibration 2gpeak,10~500Hz(sine),IEC60068-2-6
Shock 10 g,10ms,half-sinepulse,IEC60068-2-27
 Environment IEC68-2:1990
 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput
AGENCYSTANDARDSCONFORMANCE
Approvals
ULandcULrecognizedcomponenttoUL61800-5-1(leno.E168959)
TÜVSÜDFunctionalSafetytoIEC61508andISO13849(pending)
Functional Safety
IEC61508-1,IEC61508-2,EN(ISO)13849-1,EN(ISO)13849-2,IEC61800-5-2
(seeTheXenusPlusDual-AxisSTOManualforfurtherdetail)
Electrical Safety
Directive2006/95/EC–LowVoltage:IEC61800-5-1:2007
UL61800-5-1-2012
EMC Directive 2004/108/EC – EMC:
IEC61800-3:2004+A1:2011
IEC61326-3-1:2008
Hazardous Substances
Lead-freeandRoHScompliant
FEEDBACKSPECIFICATIONS
PRIMARYFEEDBACK
Incremental:
  NSKIncremental,VR(variablereluctance)resolver(NSKSSBmotor)
Absolute:
NSKIncremental/Absolute,VR(variablereluctance)resolver(NSKJSGmotor)
MULTI-MODEENCODERPORT
 AsEmulatedOutput Quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev
from resolvers.
 A,/A,B,/B,X,/X,fromMAX3032differentiallinedriver

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RoHS
Xenus PLUS 2-Axis EtherCAT
800-1782
THIS PAGE
LEFT BLANK
INTENTIONALLY

S1 S2
HEX DEC
000
116 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
B176 11
C 192 12
D 208 13
E 224 14
F 240 15
PIN SIGNAL
1 TX+
2TX-
3 RX+
6RX-
S2S1
Axis A J7
Axis B
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 32
RoHS
Xenus PLUS 2-Axis EtherCAT
800-1782
J8:EtherCATPORTS
RJ-45receptacles,
8 position, 4 contact
IN
OUT
J8
L/A
RUN
L/A
ERR
ETHERCATCONNECTIONS
DualRJ-45socketsacceptstandardEthernetcables.TheINportconnectstoamaster,ortotheOUTportofadevicethatis‘up-
stream’,betweenthe800-1782andthemaster.TheOUTportconnectsto‘downstream’nodes.If800-1782isthelastnodeona
network,onlytheINportisused.NoterminatorisrequiredontheOUTport.
ETHERCATLEDS(ONRJ-45CONNECTORS)
L/AAgreenLEDindicatesthestateoftheEtherCATnetwork:
LED Link Activity Condition
ON Yes No PortOpen
Flickering Yes Yes PortOpenwithactivity
Off No (N/A) PortClosed
RUN Green:ShowsthestateoftheESM(EtherCATStateMachine)
Off = Init
Blinking = Pre-operational
Single-ash = Safe-operational
On = Operational
ERR Red: Shows errors such as watchdog timeouts and unsolicited
state changes in the XE2 due to local errors.
Off = EtherCATcommunicationsareworkingcorrectly
Blinking = Invalidconguration,generalcongurationerror
SingleFlash = Localerror,slavehaschangedEtherCATstateautonomously
DoubleFlash= PDOorEtherCATwatchdogtimeout,
or an application watchdog timeout has occurred
EtherCAT ADDRESS(STATIONALIAS)
InanEtherCATnetwork,slavesareautomaticallyassignedaddressesbasedon
theirpositioninthebus.Butwhenthedevicemusthaveapositiveidenticationthatis
independentofcabling,aStationAliasisneeded.Inthe800-1782,thisisprovidedbytwo
16-position rotary switches with hexadecimal encoding. These can set the address of the
drivefrom0x01~0xFF(1~255decimal).Thechartshowsthedecimalvaluesofthehex
settings of each switch.
Example 1: Find the switch settings for decimal address 107:
1)FindthehighestnumberunderS1thatislessthan107andsetS1tothehexvaluein
thesamerow:96<107and112>107,soS1=96=Hex6
2)Subtract96fromthedesiredaddress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
EtherCAT
Address Switch
Decimal values
CME2->Amplier->NetworkConguration
AXISLEDS
Abi-colorLEDgivesthestateofeachaxis.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.
3)Green/Double-Blinking = STOcircuitactive,driveoutputsareSafe-Torque-Off
4)Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled.
5)Green/Fast-Blinking = PositiveorNegativelimitswitchactive.
Drive will only move in direction not inhibited by limit switch.
7)Green/Solid = DriveOKandenabled.Willruninresponseto
reference inputs or EtherCAT commands.
LatchingFaults
Default Optional(programmable)
• Shortcircuit(Internalorexternal) • Over-voltage
• Driveover-temperature • Under-voltage
• Motorover-temperature • MotorPhasingError
• FeedbackError • CommandInputFault
• FollowingError

PIN SIGNAL
2 RxD
3,4 Gnd
5Txd
6
9
1
5
32
TxD RxD
RJ-11
on
Servo
Drive
RJ-11 cable
6P6C
Straight-wired
53
Gnd Gnd
RxD TxD
25
D-Sub 9F
Dsub-9F
to RJ11
Adapter
1
6
RoHS
Xenus PLUS 2-Axis EtherCAT
800-1782
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 32
COMMUNICATIONS
ASCIICOMMUNICATIONS
TheCopleyASCIIInterfaceisasetofASCIIformatcommandsthatcanbeusedtooperateandmonitorCopleyControls800-1782,
Stepnet,andXenusseriesampliersoveranRS-232serialconnection.Forinstance,afterbasicampliercongurationvalueshave
beenprogrammedusingCME2,acontrolprogramcanusetheASCIIInterfaceto:
•EnabletheamplierinProgrammedPositionmode.
•Hometheaxis.
•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.
TheBaudratedefaultsto9,600afterpower-onorresetandisprogrammableupto115,200thereafter.
Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablishedat
thisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).
ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal:
s r0x90 115200 <enter>
Then,changetheBaudrateinthecomputer/controllertothenewnumberandcommunicateatthatrate.
AdditionalinformationcanbefoundintheASCIIProgrammersGuideontheCopleywebsite:
http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf
J7:RS-232PORT
RJ-11receptacle,
6 position, 4 contact
RS-232COMMUNICATIONS
800-1782isconguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformat
isfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.Connectionstothe800-1782RS-232portarethroughJ7,anRJ-11connector.The800-1782 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.
Afterpower-onorareset,theBaudratewillbe9,600.Afterconnectingatthatrate,theBaudratecanbeprogrammedtoa115,200(max)andwillremain
atthatrateuntilpower-onorreset.SendinganASCIIBreakcharacterwillresettheBaudrateto9,600.
SER-CKSERIALCABLEKIT
TheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11
connector on the 800-1782.ItincludesanadapterthatplugsintotheCOM1(orother)
port of a PC and uses a staight-wired modular cable to connect to the 800-1782.
The connections are shown in the diagram below.
Don’tforgettoorderaSerialCableKitSER-CKwhen
placing your order for an 800-1782!

PIN SIGNAL PIN SIGNAL
1FrameGnd 6STO-IN1+
2STO-IN1+ 7STO-IN1-
3STO-IN1- 8STO-Bypass
4STO-IN2+ 9STO-Gnd
5STO-IN2-
1695
Frame Ground
STO-PWR (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-1(+)
STO-2(+)
STO-2(-)
STO-1(-)
STO-1(+)
STO-1(-)
2
3
1
4
5
6
7
8
9
Upper IGBT Gate Drive
PWM Signals
Buffer
Voltage
Regulator
EN
+HV
PWM
Outputs
+VI
+VI
V_in
+VI Lower IGBT Gate Drive
1695
SAFETY
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 32
RoHS
Xenus PLUS 2-Axis EtherCAT
800-1782
DESCRIPTION
The800-1782providestheSafeTorqueOff(STO)functionasdenedinIEC61800-5-2.Threeopto-couplersareprovidedwhich,whende-energized,
prevent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overriddenbythecontrolrmware,orassociatedhardwarecomponents.Whentheopto-couplersareactivated(currentisowingintheinput
diodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.
SAFETORQUEOFF(STO)
STOBYPASS(MUTING)
InorderforthePWMoutputsofthe800-1782tobeactivated,currentmustbeowingthroughalloftheopto-couplersthatareconnected
totheSTO-IN1andSTO-IN2terminalsofJ6,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisina
SafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.Thisdiagramshowsconnections
thatwillenergizealloftheopto-couplers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.
IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderforthe800-1782tobeenabled.
STOBYPASSCONNECTIONS
STOCONNECTORJ6 J6SIGNALS
Currentmustow
throughalloftheopto-
couplersbeforethe
800-1782
canbeenabled
*STObypassconnectionsonthe800-1782and
XenusXELmodelsaredifferent.Ifbothdrivesare
installed in the same cabinet, the diode should be
wired as shown to prevent damage that could occur
iftheSTObypassconnectorsareinstalledonthe
wrongdrive.ThediodeisnotrequiredforSTO
bypass on the 800-1782 and can be replaced by a
wire between pins 7 and 9.
INSTALLATION
DANGER
RefertotheXenusPlusDual-AxisSTOUserManual
TheinformationprovidedintheXenusPlusDual-AxisSTOUserManualmustbe
consideredforanyapplicationusingthe800-1782drive’sSTOfeature.
Failuretoheedthiswarningcancauseequipmentdamage,injury,ordeath.

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
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
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 J12-8 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
COMMANDSINGLE-ENDED
COMMANDSINGLE-ENDED
COMMANDDIFFERENTIAL
COMMAND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)
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)
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)
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 32
RoHS
Xenus PLUS 2-Axis EtherCAT
800-1782
COMMANDINPUTS
DIGITALPOSITION
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.
DIGITALTORQUE,VELOCITY
Digitaltorqueorvelocitycommandscanbeineithersingle-endedordifferentialformat.Single-endedsignalsmustbesourcedfromdeviceswithactive
pull-up and pull-down to take advantage of the high-speed inputs.
SINGLE-ENDEDPWM&DIRECTION
SINGLE-ENDED50%PWM DIFFERENTIAL50%PWM
DIFFERENTIALPWM&DIRECTION
SINGLE-ENDEDPULSE&DIRECTION
SINGLE-ENDEDCU/CD
QUADA/BENCODERSINGLE-ENDED
DIFFERENTIALCU/CD
DIFFERENTIALPULSE&DIRECTION
QUADA/BENCODERDIFFERENTIAL

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
COMMANDINPUT
MULTI-PORT
Input/Output
Select
MAX3097
MAX3032
A/B/X signals from
digital encoder
Input/Output
Select
MAX3097
MAX3032
Pulse/Dir or CU/CD
differential commands
Secondary or CAM
Master encoder
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 32
RoHS
Xenus PLUS 2-Axis EtherCAT
800-1782
Thisportconsistsofthreedifferentialinput/outputchannelsthattaketheirfunctionsfromtheBasicSetupofthedrive.
WithquadA/Bencoderfeedbackonthemotor,theportworksasanoutput,bufferingthesignalsfromthemotorencoder.Withresolver
orsin/cosencoderversions,thefeedbackisconvertedto“emulated”quadA/B/Xsignalswithprogrammableresolution.Thesesignals
canthenbefedbacktoanexternalmotioncontrollerthatclosesthepositionorvelocityloops.Asaninput,theportcantakequadA/B
signalstoproduce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.
ASAMASTERORCAMMINGENCODERINPUT
FROMADIGITALQUADRATURE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conguration.
ASDIGITALCOMMANDINPUTSINPULSE/DIREC-
TION,PULSE-UP/PULSE-DOWN,OR
DIGITALQUADRATUREENCODERFORMAT
The multi-mode port can also be used when digital
command signals are in a differential format. These
are the signals that typically go to single-ended
inputs.But,athigherfrequenciesthesearelikelyto
be differential signals in which case the multi-mode
port can be used.
MULTI-MODEENCODERPORT
ASCOMMANDINPUTS

Input Pin R1 R2 C1 Input Pin R1 R2 C1
*IN1 J12-7 10k 10k 100p *IN11 J12-12 10k 10k 100p
*IN2 J12-8
10k 1k 100p
*IN12 J12-13
10k 1k 100p
*IN3 J12-9 *IN13 J12-14
*IN4 J12-10 *IN14 J12-15
*IN5 J12-11 *IN15 J12-30
IN6 J9-2
Opto
±24V
IN16 J9-7 Dedicated
Function for
MotorLimit
Switches
(seep.12)
IN7 J9-3 IN17 J9-8
IN8 J9-4 IN18 J9-9
IN9 J9-5 IN19 J9-18
ICOM1 J9-6 ICOM2 J9-17
IN10 J10-7 4.99k 10k 33n IN20 J11-7 4.99k 10k 33n
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
Input Pin PU/PD Input Pin PU/PD
IN1 J12-7 1IN11 J12-12 5
IN2 J12-8 2IN12 J12-13 6
IN3 J12-9 3IN13 J12-14 7
IN4 J12-10 4IN14 J12-15 8
IN5 J12-11 IN15 J12-30
C
R2
R1
[INx]
+5
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
100p
10k
10k 74HC14
PullUp = 5V
PullDown = 0V
[INx]
+5V
12V
+
100 pF
[IN2,4,12,14]
J12 Control
100 pF
1k
[IN3,5,13,15]
10k
+5V
1k
10k
+5V
MAX3096
+5V
+6V
+24V
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 32
RoHS
Xenus PLUS 2-Axis EtherCAT
800-1782
SINGLE-ENDED/DIFFERENTIALDIGITALINPUTS[IN2~5,12~15]
TheseinputshavealltheprogrammablefunctionsoftheGPinputsplusthese
additionalfunctionswhichcanbeconguredassingle-ended(SE)
ordifferential(DIFF):
• PWM50%,PWM&DirectionforVelocityorCurrentmodes
DIFFERENTIALSINGLE-ENDED
12Vdcmax 12Vdcmax
PROGRAMMABLEDIGITALINPUTS
Usethischartshowsasaquickreferencetothe
inputs and their characteristic R/C combinations.
PLCoutputsarefrequentlycurrent-sourcingfrom24Vfordrivinggroundedloads.PCbaseddigitalcontrollers
commonlyuseNPNorcurrent-sinkingoutputs.SettheXenusinputstopull-downtogroundforcurrent-sourcing
connections,andtopull-upto5Vforcurrent-sinkingconnections.
*PROGRAMMABLEPULLUP/DOWN
The input resistor of these inputs is programmable
topull-upto+5Vorpull-downto0V.Pull-upisthe
default and works with current-sinking outputs from
a controller. Pull-down works with current-sourcing
outputs,typicallyPLC’sthatdrivegroundedloads.
Six of the inputs have individually settable PU/PD.
The other four have PU/PD control for pairs of inputs.
INPUTSWITHPROGRAMMABLEPULLUP/DOWN
[IN2~5,12~15]SIGNALS
[IN1~20]SIGNALS
Internal6Vwithcurrent
limiting resistors
Vmax
±30Vmax
±24Vtypical