Copley Controls Xenus XTL Series User manual

Xenus XTL
™
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 1 of 30
RoHS
DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
DESCRIPTION
Xenus combines CANopen networking with 100% digital control of
brushless or brush motors in an off-line powered package that can
operate from single or three-phase mains with continuous power
output to 4 kW.
Standard models use quad A/B digital encoders for feedback. Two
other versions are available for use with resolvers or sin/cos analog
encoders.
Xenus operates as a Motion Control Device under the DSP-402
protocol of the CANopen DS-301 V4.01 (EN 50325-4) application
layer. DSP-402 modes supported include: Prole Position, Prole
Velocity, Prole Torque, Interpolated Position (PVT), and Homing.
Drive commissioning is fast and simple using CME 2 software
operating under Windows®communicating with Xenus via CAN or an
RS-232 link. CAN address selection is by a 16-position rotary switch
on the front panel. If there are more than fteen devices on a CAN
bus, the additional address bits needed can come from programmable
inputs, or can be set in ash memory. Prole Position Mode does
a complete motion index on command with S-curve acceleration &
deceleration, top speed, and distance programmable. In PVT mode,
the controller sends out a sequence of points each of which is an
increment of a larger, more complex move than a single index or
prole. The drive then uses cubic polynomial interpolation to “connect
the dots” such that the motor reaches each point (Position) at the
specied velocity (Velocity) at the prescribed time (Time).
Homing mode is congurable to work with a variety of limit,
index, and home switches such that the drive moves the motor
into a position that has an absolute reference to some part of the
machine. Eleven logic inputs are programmable as limit or home
switches, stepper/encoder pulse inputs, reset, digital torque or
velocity reference, or motor over-temperature. A twelfth input is
dedicated to the drive Enable function. Three programmable logic
outputs are for reporting a drive fault or other status indications.
A fourth optically-isolated output can drive a motor brake from
the external +24 Vdc power supply or can be programmed as a
logic output.
In addition to CANopen motion commands, Xenus can operate as
a stand-alone drive. Current and velocity modes accept ±10 Vdc
analog, digital 50% PWM or PWM/polarity inputs. In position mode
inputs can be incremental position commands from step-motor
controllers in Pulse/Direction or CW/CCW format, ±10 Vdc analog,
or A/B quadrature commands from a master-encoder. Pulse to
position ratio is programmable for electronic gearing.
Power output of the drive varies with the input power which can
range from 100 to 240 Vac, and from 47 to 63 Hz. Either single
or three phase mains can be used giving Xenus the ability to work
in the widest possible range of industrial settings. Signal and
control circuits are isolated from the high-voltage power supply
and inverter stage that connect to the mains. A +24 Vdc input
powers control circuits for keep-alive operation permitting the drive
power stage to be completely powered down without losing position
information or communications with the control system.
Control Modes
• Indexer, Point-to-Point, PVT
• Camming, Gearing, Position, Velocity, Torque
Command Interface
• Stepper commands
Single-ended or Differential selectable
• CANopen/DeviceNet
• ASCII and discrete I/O
• ±10V position/velocity/torque command
• PWM velocity/torque command
• Master encoder (Gearing/Camming)
Communications
• CANopen/DeviceNet
• RS232
Feedback
• Digital quad A/B encoder
• Analog sin/cos encoder (-S versions)
• Resolver (-R versions)
• Secondary encoder / emulated encoder out
• Digital Halls
I/O - Digital
• 12 inputs, 4 outputs
Accessories
• External regen resistors
• External edge lter
Dimensions: mm [in]
• 7.5 x 5.5 x 2.5 [191 x 140 x 64]
Model Vac Ic Ip
XTL-230-18 100 - 240 6 18
XTL-230-36 100 - 240 12 36
XTL-230-40 100 - 240 20 40
Add -S to part numbers above for sin/cos feedback,
or add -R for resolver feedback models.

Xenus XTL
™DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 2 of 30
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GENERAL SPECIFICATIONS
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1 Ø
MODEL XTL-230-18 XTL-230-36 XTL-230-40 Same specs for -S and -R models
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
Mains voltage, phase, frequency 100~240 Vac, ±10%, 1 Ø or 3 Ø, 47~63 Hz
Mains current 20 Arms
+24 Vdc Control power +20 to +32 Vdc, 500 mA max Required for operation
DIGITAL CONTROL
Digital Control Loops Current, velocity, position. 100% digital loop control
Sampling rate (time) Current loop: 15 kHz (67 µs), Velocity & position loops: 3 kHz (333 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
CANopen Position, Velocity, Torque, Homing, Prole, and Interpolated prole modes
DeviceNet®Compatible with Allen-Bradley PLC’s
ASCII Multiple drives accessible from a single RS-232 port
Stand-alone mode
Analog torque, velocity, position reference ±10 Vdc, 12 bit resolution Dedicated differential analog input
Input impedance 74.8 kΩBetween Ref(+), Ref(-)
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 programs can be launched from inputs or ASCII commands. Each program can
consist of moves, I/O commands, time delays, and other programmable operations.
Camming Master quadrature encoder provides position as index to cam table.
Digital inputs initiate cam functions.
DIGITAL INPUTS
Number 12
Inputs [IN1~5,11,12] 74HC14 Schmitt trigger, 330 µs RC lter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +24 Vdc max
[IN1] dedicated to drive enable function, other inputs are programmable
Input [IN6] 74HC14 Schmitt trigger, 100 ns RC lter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +12 Vdc max
Inputs [IN7~10] Single-ended: Comparator with 2.5 Vdc reference, 100 ns RC lter, Vin-LO <2.3 Vdc, Vin-HI > 2.45 Vdc
Differential: RS-485 line receiver on input pairs [IN9-7], and [IN10-8], 100 ns RC lters, +12 Vdc max
All inputs 10 kΩpull-up to +5 Vdc or pull-down to ground, selectable in groups, active level programmable
DIGITAL OUTPUTS (NOTE 2)
Number 4
[OUT1], [OUT2], [OUT3] Current-sinking MOSFET with 1 kΩpullup to +5 Vdc through diode
Current rating 1 Adc max, +40 Vdc max. Functions programmable
External yback diode required if driving inductive loads
Brake [OUT4] Opto-isolated, current-sinking with yback diode to +24 Vdc, 1 Adc max
MULTI-MODE ENCODER PORT
As Input Secondary digital quadrature encoder (A, /A, B, /B, X, /X), 121 Ωterminating resistors
18 M-counts/sec, post-quadrature (4.5 M-lines/sec)
As Output Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders or resolvers. Buffered signals from digital quad A/B/X primary encoder
A, /A, B, /B, X, /X, from 26LS31 differential line driver
RS-232 PORT
Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 baud
Protocol Binary and ASCII formats
CAN PORTS
Signals CANH, CANL, Gnd in 8-position RJ-45 style modular connector, wired as per CAN Cia DR-303-1, V1.1
Format CAN V2.0b physical layer for high-speed connections compliant
Data CANopen Device Prole DSP-402
Address selection 16 position rotary switch on front panel with 3 additional address bits available as
digital inputs or programmable to ash memory (7-bit addressing, 127 nodes per CAN network)
STATUS INDICATORS
Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
CAN Status Bicolor LED, status of CAN bus indicated by color and blink codes to CAN Indicator Specication 303-3
REGENERATION
Operation Internal solid-state switch drives external regen resistor (see Ordering Guide for types)
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
NOTES:
1. Heatsinking and/or forced-air cooling is required for continuous output power rating
2. Brake[OUT4] is programmable as motor brake, or as general purpose digital output

Xenus XTL
™
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 3 of 30
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DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
ENCODER
DIGITAL QUAD A/B ENCODER
Type Quadrature, differential line driver outputs
Signals A, /A, B, /B, (X, /X, index signals optional)
Frequency 5 MHz line frequency, 20 MHz quadrature count frequency
ANALOG ENCODER
Type Sin/cos, differential line driver outputs, 0.5 Vpeak-peak (1.0 Vpeak-peak differential)
centered about 2.5 Vdc typical. Common-mode voltage 0.25 to 3.75 Vdc
Signals Sin(+), sin(-), cos(+), cos(-)
Frequency 230 kHz maximum line (cycle) frequency
Interpolation 10 bits/cycle (1024 counts/cycle)
DIGITAL HALLS
Type Digital, single-ended, 120° electrical phase difference
Signals U, V, W
Frequency Consult factory for speeds >10,000 RPM
ENCODER POWER SUPPLY
Power Supply +5 Vdc @ 400 mA to power encoders & Halls
Protection Current-limited to 750 mA @ 1 Vdc if overloaded
Encoder power developed from +24 Vdc so position information is not lost when AC mains power is removed
MOTOR CONNECTIONS
Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors
Hall U, V, W Hall signals
Digital Encoder A, /A, B, /B, X, /X, on standard models
Analog Encoder Sin(+), sin(-), cos(+), cos(-), X, /X, on -S versions (X & /X index signals are digital)
Hall & encoder power +5 Vdc @ 400 mA maximum
Motemp [IN5] Motor overtemperature sensor input, 4.99 kΩto +5 Vdc or ground
Signal ground Return for encoder, Halls, and temperature sensor
Brake [OUT4] Current-sinking motor brake driver
+24 Vdc From drive +24 Vdc power supply to power motor brake
Frame ground For motor cable shield
FEEDBACK SPECIFICATIONS
GENERAL SPECIFICATIONS (CONTINUED)
PROTECTIONS
HV Overvoltage +HV > 400 Vdc Drive PWM outputs turn off until +HV is less than overvoltage
HV Undervoltage +HV < 60 Vdc Drive PWM outputs turn off until +HV is greater than undervoltage
Drive over temperature IGBT > 80 °C ±3 °C Drive PWM outputs turn off until IGBT temperature is below threshold
Short circuits Output to output, output to ground, internal PWM bridge faults
I
2T Current limiting Programmable: continuous current, peak current, peak time
Motor over temperature Drive shuts down when motor over-temperature switch changes to high-resistance state, or opens
Feedback power loss Fault occurs if feedback is removed or +5 V is <85% of normal
MECHANICAL & ENVIRONMENTAL
Size 7.55 in (191,8 mm) X 5.57 in (141,5 mm) X 2.57 in (65,3 mm)
Weight 3.0 lb (1.36 kg) for drive without heatsink
1.9 lb (0.86 kg) for XTL-HS heatsink, 1.26 lb (0.57 kg) for XTL-HL heatsink
Ambient temperature 0 to +45 °C operating, -40 to +85 °C storage
Humidity 0% to 95%, non-condensing
Vibration 2 gpeak, 10~500 Hz (sine), IEC60068-2-6
Shock 10 g, 10 ms, half-sine pulse, IEC60068-2-27
Contaminants Pollution degree 2
Environment IEC68-2: 1990
Cooling Heat sink and/or forced air cooling required for continuous power output
AGENCY STANDARDS CONFORMANCE
EN 55011 : 1998 CISPR 11 (1997) Edition 2/Amendment 2:
Limits and Methods of Measurement of Radio Disturbance Characteristics of Industrial, Scientic, and
Medical (ISM) Radio Frequency Equipment
EN 61000-6-1 : 2001 Electromagnetic Compatibility Generic Immunity Requirements
Following the provisions of EC Directive 89/336/EEC:
EN 61010-1 2nd Ed.: 2004 Safety Requirements for Electrical Equipment for Measurement, Control, and Laboratory use
Following the provisions of EC Directive 2006/95/EC:
UL 508C 3rd Ed.: 2002 UL Standard for Safety for Power Conversion Equipment

REGEN+
REGEN-
REGEN+
REGEN-
3.00 (76,2)
1.5 (38,1)
7.15 (181,6) 5.54 (140,7)
2.55 (64,8)
1.99 (50,5)
0.925 (23,5)
STANDARD
HEATSINK OPTION (-HS)
6.75
(171,5)
LOW-PROFILE
HEATSINK OPTION (-HL)
0.88 (22,4)
1.00 (25,4)
8 x 0.160
7.55 (191,7)
(4,1)
Chassis Grounding:
For CE compliance and machine
safety use external tooth lockwashers
between mounting screw head and
drive heatplate. Recommended screws
are #6-32 (M3.5) torqued to 8~10
lb·in (0.79~1.02 N·m).
Xenus XTL
™DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 4 of 30
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DIMENSIONS
Inches (mm)
RESOLVER
RESOLVER
Type Brushless, single-speed, 1:1 to 2:1 programmable transformation ratio
Resolution 14 bits (equivalent to a 4096 line quadrature encoder)
Reference frequency 7.5 kHz
Reference voltage 2.8 Vrms, auto-adjustable by the drive to maximize feedback
Reference maximum current 100 mA
Maximum RPM 10,000+
ENCODER EMULATION
Resolution Programmable to 16,384 counts/rev (4096 line encoder equivalent)
Buffered encoder outputs 26C31 differential line driver
MOTOR CONNECTIONS
Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors
Resolver R1, R2, S1, S2, S3, S4
Motemp [IN5] Motor overtemperature sensor input. Active level programmable. 4.99 kΩ to +5 Vdc or ground
Disables drive when motor over-temperature condition occurs
Same input circuit as GP digital inputs
Signal ground Return for temperature sensor
Brake [OUT4] Current-sinking motor brake driver
+24 Vdc From drive +24 Vdc power supply to power motor brake
Frame ground For motor cable shield
FEEDBACK SPECIFICATIONS (CONTINUED)

Xenus XTL
™
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 5 of 30
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DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
CME 2 SOFTWARE
Drive setup is fast and easy using CME 2 software communicating via RS-232 or over the CAN bus.
All of the operations needed to configure the drive are accessible through this powerful and intuitive program. Auto-
phasing of brushless motor Hall sensors and phase wires eliminates “wire and try”. Connections are made once and
CME 2 does the rest thereafter. Encoder wire swapping to establish the direction of positive motion is eliminated.
Motor data can be saved as .ccm files. Drive data is saved as .ccx files that contain all drive settings plus motor
data. This eases system management as files can be cross-referenced to drives. Once a drive configuration
has been completed systems can be replicated easily with the same setup and performance.
When operating as a stand-alone drive that takes command inputs from an external controller, CME 2 is used for conguration. When
operated as a CAN node, CME 2 can be used for programming before and after installation in a CAN network. Xenus can also be controlled
via CME 2 while it is in place as a CAN node. During this process, drive operation as a CAN node is suspended. When adjustments are
complete, CME 2 relinquishes control of the drive and returns it to the CAN node state.
COMMUNICATIONS
6
9
1
5
RxD
TxD
Gnd
D-Sub 9M
(DTE)
6
9
1
5
D-Sub 9F
RxD TxD
123456
RJ-11
(DTE)
RxD
32
TxD
25
Gnd
RxD
TxD
Gnd 53
RxD TxD
123456
RJ-11
(DTE)
RS-232
Xenus operates as a DTE device from a three-wire, full-duplex RS-232 port at 9,600 to 115,200 Baud, 8 bits, no parity, and one stop
bit. The SER-CK Serial Cable Kit provides an adapter that connects to the COMM port of a PC (a 9 position, male D-Sub connector) and
accepts a modular cable with RJ-11 connectors for connection to the Xenus RS-232 port (J6).
RS-232 MULTI-DROP
The RS-232 specication makes no allowance for more than two devices on a serial link. But, multiple Xenus drives can communicate
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
for the CAN master and thereafter all other nodes on a CAN network must have unique, non-zero addresses. When the Xenus CAN
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.
ASCII COMMUNICATIONS
The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet,
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.
Additional information can be found in the ASCII Programmers Guide on the Copley website:
http://www.copleycontrols.com/motion/downloads/pdf/ASCII_ProgrammersGuide.pdf
SER-CK SERIAL CABLE KIT ADAPTER CONNECTIONS J5 SIGNALSPC COMM PORT SIGNALS
CANopen
RS-232
CANopen
CAN Addr 0
CAN Master CAN Node CAN Node
CAN Addr 1 CAN Addr n

CAN Status LED
J6
Xenus XTL
™DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 6 of 30
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DEVICENET
DeviceNet operation is a communications protocol that uses the CAN bus for the hardware layer. It is employed by Allen-Bradley
PLC’s and enables Xenus drives to be controlled directly from A-B PLC’s.
For more information on DeviceNet communications, download the DeviceNet FW & EDS les from the Copley web-site:
http://www.copleycontrols.com/motion/downloads/zip/DeviceNet.zip
This link is to a ZIP le that contains the DeviceNet Programmers guide and EDS les for Copley motion products.
CANOPEN COMMUNICATION
Xenus uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication.
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 installations with sixteen or more CAN nodes on a network CME 2 can be used to congure Xenus to use the rotary switch,
or combinations of digital inputs and programmed offset in ash memory to congure the drive with a higher CAN node address.
For more information on CANopen communications, download the CANopen Manual from the Copley web-site:
http://www.copleycontrols.com/motion/downloads/pdf/CANopenProgrammersManual.pdf
CANOPEN
Based on the CAN V2.0b physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost
and noise-immunity are essential, CANopen adds support for motion-control devices and command synchronization. The result is a
highly effective combination of data-rate and low cost for multi-axis motion control systems. Device synchronization enables multiple
axes to coordinate moves as if they were driven from a single control card.
Note: Red & green led on-times do not overlap.
LED color may be red, green, off, or ashing of either color.
CAN S TATUS LED
COMMUNICATIONS (CONTINUED)
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
J6
Pin 8Pin 1
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 to the user’s
CAN interface. A CAN terminator should
be placed in the last drive in the chain.
The XTL-NK connector kit provides a D-Sub
adapter that plugs into a CAN controller
and has an RJ-45 socket that accepts the
Ethernet cable.
XTL-NK CAN CONNECTOR KIT
The kit contains the XTL-CV adapter that converts the CAN interface D-Sub
9M connector to an RJ-45 Ethernet cable socket, plus a 10 ft (3 m) cable and
terminator. Both connector pin-outs conform to the CiA DR-303-1 specication.
J6 CAN CONNECTIONS

Xenus XTL
™
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
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DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
DRIVE STATUS LED
A single bi-color LED gives the state of the drive by changing color, and either blinking or remaining solid.
The possible color and blink combinations are:
•Green/Solid: Drive OK and enabled. Will run in response to reference inputs or CANopen commands.
•Green/Slow-Blinking: Drive OK but NOT-enabled. Will run when enabled.
•Green/Fast-Blinking: Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch.
•Red/Solid: Transient fault condition. Drive will resume operation when fault is removed.
•Red/Blinking: Latching fault. Operation will not resume until drive is Reset.
Drive Fault conditions:
• Over or under-voltage
• Motor over-temperature
• Encoder +5 Vdc fault
• Short-circuits from output to output
• Short-circuits from output to ground
• Internal short circuits
• Drive over-temperature
Faults are programmable to be either
transient or latching
COMMUNICATIONS (CONTINUED)

Xenus XTL
™DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
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ANALOG REFERENCE INPUT
A single ±10 Vdc differential input takes inputs from controllers that use PID or similar
compensators, and outputs a current command to the drive. Drive output current or
velocity vs. reference input voltage is programmable.
COMMAND INPUTS
PULSE
[IN9+]
[IN7-]
DIRECTION
[IN10+]
[IN8-]
PULSE
[IN9+]
[IN7-]
DIRECTION
[IN10+]
[IN8-]
CD (Count-Down)
CU (Count-Up)
Pulse
Direction
[IN9]
[IN10]
CU
CD
[IN9]
[IN10]
CU (Count-Up)
CD (Count-Down)
Enc. B
Enc. A
[IN9]
[IN10]
Encoder ph. A
Encoder ph. B
Enc A
[IN10+]
[IN8-]
Encoder ph. A
Enc. B
[IN9+]
[IN7-]
Encoder ph. B
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.
SINGLE-ENDED PULSE & DIRECTION
DIFFERENTIAL CU/CD
DIFFERENTIAL PULSE & DIRECTION
SINGLE-ENDED CU/CD
QUAD A/B ENCODER SINGLE-ENDED QUAD A/B ENCODER DIFFERENTIAL
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.
Current or
Velocity
Polarity or
Direction
[IN9]
[IN10]
Duty = 0~100%
SINGLE-ENDED PWM & DIRECTION
Current or
Velocity
No function
[IN9]
[IN10]
Duty = 50% ±50%
<no connection>
SINGLE-ENDED 50% PWM
Current or
Velocity
[IN9+]
[IN7-]
Duty = 50% ±50%
No
Function
<no connection>
[IN10+]
[IN8-]
DIFFERENTIAL 50% PWM
PWM
[IN9+]
[IN7-]
Duty = 0 - 100%
Direction
[IN10+]
[IN8-]
DIFFERENTIAL PWM & DIRECTION

Xenus XTL
™
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
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DIGITAL SERVO DRIVE
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COMMAND INPUTS (CONTINUED)
HS (HIGH SPEED) DIGITAL INPUTS
These inputs have all the programmable functions of the GP inputs plus these additional functions on [IN8] & [IN9]
which can be congured as single-ended or differential:
• PWM 50%, PWM & Direction for Velocity or Current modes
• Pulse/Direction, CU/CD, or A/B Quad encoder inputs for Position or Camming modes
DIFFERENTIALSINGLE-ENDED
12 Vdc max 12 Vdc max
100 pF
1k
+5 V
C
10k
10k
10k
74HC14
[IN6]
[IN7-]
+5 V
100 pF
100 pF
100 pF
100 pF
10k
[IN9+]
[IN10+]
[IN8-]
1k
1k
1k
1k
10k
10k
33 nF
10k
74HC14
MAX3283
[IN11]
[IN12]
D
100 pF
1k
2.5V
+5 V
10k 100 pF
1k
+5 V
C
D
10k
[IN6]
74HC14
MAX3281
33 nF
10k
10k
10k
[IN11]
[IN12]
+
[IN7]
[IN8]
100 pF
1k
MAX3281
[IN9]
[IN10]
33nF
10k
10k 74HC14
[IN1]
[IN2]
[IN3]
A
+5.0 V
33nF
*3.3nF
10k
10k
*4.99k 74HC14
[IN4]
*[IN5]
+5.0 V
B
DIGITAL INPUTS
Xenus has twelve digital inputs, eleven of which have programmable functions. Input [IN1] is dedicated to the drive Enable function.
This is done to prevent accidental programming of the input in such a way that the controller could not shut it down.
Two types of RC lters are used: GP (general purpose) and HS (high speed). Input functions such as Pulse/Dir, CW/CCW, Quad A/B are
wired to inputs having the HS lters, and inputs with the GP lters are used for general purpose logic functions, limit switches, and the
motor temperature sensor. Programmable functions of the digital inputs include:
• Positive Limit switch • Step & Direction, or CU/CD
• Negative Limit switch step motor position commands
• Home switch • Quad A/B master encoder
• Drive Reset position commands
• PWM current or velocity commands • Motor over-temperature
• CAN address bits • Motion Prole Abort
DIGITAL INPUT CIRCUITS
24VDC MAX 24VDC MAX
Group Inputs
A 1,2,3
B 4,5
C 6,7,8
D 9,10,11,12
PULL-UP/PULL-DOWN CONTROL
In addition to the active level and function
for each programmable input, the input
resistors are programmable in four groups
to either pull up to +5 Vdc, or down to
ground. Grounded inputs with HI active
levels interface to PLC’s that have PNP
outputs that source current from +24 Vdc
sources. Inputs pulled up to +5 Vdc work
with open-collector, or NPN drivers that
sink current to ground. The table below
shows the PU/PD groups and the inputs
they control.`

DIGITAL HALL SIGNALS
Hall signals are single-ended signals that provide absolute feedback within one
electrical cycle of the motor. There are three of them (U, V, & 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 operate at much lower frequencies than the
motor encoder signals, and are used for commutation-initialization after startup,
and for checking the motor phasing after the amplifIer has switched to sinusoidal
commutation. Resolver models can also take Hall signal at inputs [IN6~8]. See
page 15 for connections.
HALL
U, V, W 10 k
3.3 nF
74HC14
+5V
10 k
UVW
Xenus XTL
™DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 10 of 30
RoHS
DIGITAL OUTPUTS
The digital outputs are open-drain MOSFETs with 1 kΩpull-up resistors in series with a
diode to +5 Vdc. They can sink up to 1 Adc from external loads operating from power
supplies to +30 Vdc.
The output functions are programmable. The active state of the outputs is programmable
to be on or off.
When driving inductive loads such as a relay, an external y-back diode is required. The
internal diode in the output is for driving PLC inputs that are opto-isolated and connected
to +24 Vdc. The diode prevents conduction from +24 Vdc through the 1 kΩresistor to
+5 Vdc in the drive. This could turn the PLC input on, giving a false indication of the drive
output state.
BRAKE OUTPUT [OUT4]
This output is an open-drain MOSFET with an internal yback diode connected to the +24
Vdc input. It can sink up to 1A from a motor brake connected to the +24 Vdc supply.
The operation of the brake is programmable with CME 2. It can also be programmed as
a general-purpose digital output.
OUTPUTS
MOTOR PHASE CONNECTIONS
The drive output is a three-phase PWM inverter that converts the DC buss voltage
(+HV) into three sinusoidal voltage waveforms that drive the motor phase-coils.
Cable should be sized for the continuous current rating of the motor. Motor cabling
should use twisted, shielded conductors for CE compliance, and to minimize PWM
noise coupling into other circuits. The motor cable shield should connect to motor
frame and the drive frame ground terminal (J2-1) for best results.
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
the motor. Feedback can be digital quad A/B encoder, analog sin/cos encoder, resolver or digital Halls, depending on the version of the
drive.