Jenny Science XENAX Xvi 75V8S User manual

Instruction Manual XENAX® Xvi
75V8S
Translation of “Anleitung XENAX® Xvi 75V8S”
Edition 19. November 2020
Compact Ethernet Servo Controller
Parameterization over Web browser
The integrated webserver allows a setup
and parameterization over web browser.
After an automatic self -check, the
connected LINAX® linear motor axis, the
ELAX® electric slide or the ROTAX® rotary
axis can instantly be set in motion by click
on the Quick Start Button.
This XENAX® Xvi 75V8S is setting new
standards in terms of intuitive handling.

2
General
The XENAX® Xvi 75V8 S Ethernet servo
controller controls all series of the LINAX®
linear motor axes, the ELAX® electric slide
product family and the ROTAX® rotary axis.
It is also possible to control servo motors
series RAxx (ultra-compact rotary axes) and
RT-xx (round table with hollow shaft).
Customary rotary AC/DC/EC servo motors
for example from FAULHABER® or MAXON®
can also be operated by the XENAX® Xvi
75V8S.
The logic supply (24V DC) and the
intermediate circuit voltage (24V –75V DC)
are separately connectable. This is how
“Safety Torque Off” is possible as a
standard.
Master-Slave function, Force Calibration
(compensation of the cogging forces in iron
core linear motors) and optional “Safety”
functionalities such as SS1, SS2, or SLS are
further features of this compact XENAX®
Xvi 75V8S servo controller.
Alois Jenny
Jenny Science AG

3
Contents
1 Characteristics XENAX® Xvi 75V8S 7
1.1 Electronics / Firmware 7
1.2 Performance / Options 7
1.3 Dimensions 8
1.4 Xvi 75V8 versus Xvi 75V8S 9
2 Controllable Motor Types 10
2.1 Linear Motor Axes and Electric Slides 10
2.2 Servo Motors in our Product Line 10
2.3 Customary Servo Motors 11
3 Hardware and Installation 12
3.1 Environmental Conditions 12
3.2 Assembly and Installation 12
4 Functional Safety - TÜV certified 13
4.1 Hardware Requirements 13
4.2 Safety Standards 13
4.3 Basic Conditions 14
4.4 Technical Data Safety 15
4.5 Safety Functions 16
4.5.1 STO, Safe Torque Off 16
4.5.2 SS1, Safe Stop 1 16
4.5.3 SS2, Safe Stop 2 17
4.5.4 SLS, Safely Limited Speed 17
4.6 Functional Safety Parameterization in WebMotion® 18
4.6.1 Display Active Safety Parameters 18
4.6.2 Modification of Safety Parameters 18
5 Electrical Connections 20
5.1 Plug Arrangement 20
5.2 Plug Pin Configuration 20
5.2.1 USB/COM 20
5.2.2 Motor Plug 3 Phase 21
5.2.3 Logic and Power Supply 21
5.2.4 Encoder and Hall Signals 22
5.2.5 Definition of Rotating Direction for Servo Motors 22
5.2.6 OPTIO CAN, Pulse/Dir, Second Encoder Channel 23
5.2.7 PLC I/O 24
5.3 Internal I/O Circuit 25
5.4 Output Configuration 26
6 Configuration Motor Type Jenny Science / Motor customer specific 27
7 USB/COM Socket 28
7.1 USB Operation 28

4
7.2 RS232 Operation 28
8 ETHERNET TCP/IP Interface 29
8.1 Test IP Connection with >IPCONFIG 30
8.2 Test Connection with >PING 30
8.3 Close Port 10001 30
9 ASCII Protocol 31
9.1 ASCII Protocol TCP/IP 32
9.2 Asynchronous Messages (Events) 32
10 WebMotion® 33
10.1 Start WebMotion® 34
10.1.1 Error „Upload XENAX Settings®“ 34
10.2 Quick Start (only with LINAX® and ELAX® linear motor axes) 35
10.3 Operation, Status Line 36
10.4 Move Axis by Click 37
10.4.1 Move Axis by Click for LINAX®/ELAX® Linear Motors 37
10.4.2 Move Axis by Click for ROTAX® Rotary Motor or Third Party Motors 39
10.5 Move Axis by Command Line 40
10.6 ASCII Command Set for XENAX® 40
10.6.1 Power / Reset 40
10.6.2 Basic Settings 41
10.6.3 Motor Settings 41
10.6.4 Controller Settings 41
10.6.5 Motion Settings 42
10.6.6 Reference LINAX® / ELAX® 43
10.6.7 Reference Gantry 43
10.6.8 Reference Rotary Motors 43
10.6.9 Move Commands 44
10.6.10 Index / Moves with I_Force (programmed movements) 44
10.6.11 Program / Application 45
10.6.12 Event 45
10.6.13 Input / Output 46
10.6.14 Limit Position ELAX® 47
10.6.15 Force Control 48
10.6.16 Correction Table 50
10.6.17 System Information 51
10.6.18 Ethernet 52
10.6.19 Bus Module Information 52
10.6.20 Error Handling 52
10.6.21 System Monitoring 53
10.7 Move Axis by Forceteq® 54
10.8 Move Axis Motion Diagram 54
10.9 Index 56
10.10 Drive I_Force 57

5
10.11 Sector I_Force 57
10.12 Program 58
10.12.1 Program commands 59
10.13 I/O Functions 62
10.13.1 Selection of Input Functions 63
10.13.2 Selection Output Functions 65
10.13.3 Operation with Additional Holding Brake 65
10.14 Profile (Velocity) 66
10.15 Captured Pos 67
10.16 State Controller 68
10.16.1 F Setting 71
10.17 Motor 74
10.17.1 Motors LINAX® and ELAX® 74
10.17.2 Motor ROTAX® 75
10.17.3 Third Party Motors 76
10.17.4 Position Overflow 77
10.18 Reference 78
10.18.1 Reference LINAX® 78
10.18.2 Reference ELAX® 78
10.18.3 Reference ROTAX® und Third Party Motors 80
10.18.4 Reference to Mechanical Stop 81
10.18.5 Correction Table for LINAX® / ELAX® 82
10.19 Basic Settings 85
10.20 Version 86
10.21 Update Firmware 87
10.22 Save 88
10.23 Open 88
11 Master / Slave 89
11.1 Master/Slave Configuration 89
11.2 Programming example Pick&Place 90
11.3 Timing Master / Slave 90
12 Gantry Synchronized Mode 91
12.1 Activate Gantry Mode 91
12.2 ASCII Commands for Gantry Synchronized Mode 92
13 Force Process Forceteq® 93
13.1 Overview Forceteq® Functions 93
13.1.1 Force Calibration 94
13.1.2 Force Limitation 94
13.1.3 Force Monitoring 95
13.1.4 Force Control 96
13.2 Integration of Force Processes 97
13.2.1 XENAX® in Program 97
13.2.2 Over Command Set 99

6
13.2.3 Sector Offset for Touching Position 102
13.3 Application Example 103
13.3.1 Programming Force Process in XENAX® 104
13.3.2 Force Process with ASCII Commands 106
14 Operating Status on 7-Segment Display 107
15 Error Handling 108
15.1 Error Codes 108
15.2 Notes for Error 50 112
15.3 Notes for Error 89 113
15.4 Notes for Error 91 115
15.5 Arbitrary Display on 7-Segment 116
15.5.1 Defective adapter for logic supply 116
15.5.2 Defective Firmware 116

7
1Characteristics XENAX® Xvi 75V8S
1.1 Electronics / Firmware
Description
Data
Interfaces
Ethernet, TCP/IP, http web server
Puls/direction, Master Encoder, I/O
I2C Master/Slave, Start-up Key
USB (standard) or RS232 (optional), CAN for Signateq®
measuring amplifier
Bus, multi-axis operation
EtherCAT (CoE), DS402
Ethernet POWERLINK, DS402
CANopen, DS 402
PROFINET (PROFIdrive)
EtherNet/IP, DS402
Ethernet Switch, TCP/IP
Operation Modes
Standard Servo (MODE 0)
Multi axis operation (Master/Slave, Gantry)
Electronic gear (MODE 1) optional
Pulse/Direction (MODE 2) optional
Safety Motion Unit SMU
Security module, 2-channel monitoring
TÜV certified
SIL 2 Safety Integrity Level 2
Cat 3 Category 3
PL d Performance Level d
MTTFd 1733313 h
Status indication
7-Segment LED
Input digital
12 x 24V Pull down
Output digital
8 x 24V, 100mA Source or 400mA Sink
Input function
8 inputs to start a function or program
Output function
8 outputs to indicate a condition
Reference for rotary motors
free to define, incl. external sensor
Index
50 motion moves (accl. / speed / distance, position)
Profile
5 extended motion profiles with 7 profile segments each.
Number of application programs via input
15, Input 9-12 binary coded (MODE >=10)
Firmware update
Over TCP/IP, Flash-memory internal
Application and parameter update
Over TCP/IP, Flash-memory internal
1.2 Performance / Options
„LG“ logic supply
24VDC / max. 1.3 A
„PW“ power supply motor
12-75VDC
3- Phase Output frequency
0-599 Hz
Nominal current
0-8A
Peak current
18A
Continuous power / dissipation loss
Typical 48V / 3A / 150W / η≈85% / Pv = 22W
Temperature monitoring output stage
Shutdown at 80°C
Excess voltage –observation
> 85V
Under voltage –observation
< 10V
Ballast circuit
up to 80W
Fuse power
10AF

8
Motor temperature observation with LINAX®, ELAX®
and ROTAX®, sensor in coils
Shutdown at 80°C
PLC Input
8 Inputs, 24V
PLC Input BCD
4 Inputs, 24V, binary coded for program selection
PLC Output
8 Outputs, 24V, Source 100mA, Sink 400mA, Source/Sink
Options
EtherCAT (CoE)
DS402, Beckhoff®, OMRON®, TRIO® MC
POWERLINK (CoP)
DS402, B&R®
CANopen
DS402
EtherNet/IP
DS402, Allen-Bradley
PROFINET (PROFIdrive)
SIMATIC, SIMOTION, SINUMERIK
SMU Safety Functions
STO Safe Torque Off
SS1 Safe Stop 1
SS2 Safe Stop 2
SLS Safely-Limited Speed
Start-up Key
ID number for Master Slave and application memory
Force Processes
Enabled by default
Controllable Motor-Types
LINAX®, ELAX®, ROTAX® and third party motors enabled by
default
1.3 Dimensions
Dirt resistance
IP 20
Weight
Standard 840g, with bus module 880g
Case
Chrome steel
Ground plate
Chrome steel

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1.4 Xvi 75V8 versus Xvi 75V8S
The XENAX® Xvi 75V8Sis the evolution of the current model XENAX® Xvi 75V8. The new model supports all the
previous functionalities of the Xvi 75V8, has the same dimensions and can therefore be replaced 1:1. For new
developments we recommend to use the Xvi 78V8S. It doesn't need JAVA and offers additional possibilities.
New possibilities Xvi 75V8S
Note:
When replacing an Xvi 75V8 with the Xvi 75V8Sin an existing bus system, please note that the product-code is
different. The corresponding development environment is required so that the new bus device can be integrated
correctly. You will find instructions for this in the manual of the bus module used on our website.
https://www.jennyscience.ch/en/products/download
Xvi 75V8
Xvi 75V8S
Webserver base for WebMotion®
Java
HTML5
Option for measuring amplifier Signateq® with external force
sensor, precise force measurement
-
Yes
Position accuracy absolute ROTAX® Rxhq
Standard
High
(with correction table)
Optimized output stage for minimal space requirement
(Heat emission), can be installed directly next to each other
-
Yes
Switching for connection of third-party motors
DIP-Switch
automatic
Position detection prepared for absolute encoder
-
Yes
USB-Interface
-
Yes
RS232-Interface
Yes
optional
Pulse/Direction
Yes
optional
Electronic gear
Yes
optional
Case
Aluminium
Chrome steel
Weight
515g
840g
UL-certified version
Yes
-
Product-code
0x7508
0x7509

10
2Controllable Motor Types
2.1 Linear Motor Axes and Electric Slides
LINAX® Linear Motors
3 phase synchronous linear motor with encoder
RS422 A/A*, B/B* und Z/Z* and distance-coded
reference marks.
Special feature:
Linear motor identification and temperature
monitoring over I2C bus.
ELAX® Electric Slides with Linear
Motor
ELAX® is the evolutionary step of the widespread
pneumatic slides. The great accomplishment is the
patented compact integration of the linear motor in
the slider case, resulting in a force/volume ratio
which has hitherto never been achieved.
Special feature:
Linear motor identification and temperature
monitoring over I2C bus.
2.2 Servo Motors in our Product Line
ROTAX® Rotary motor axes
Specifically designed for fast and precise assembly
and handling tasks. It can be equipped with standard
gripping tools. The hollow shaft feedthrough for
vacuum or compressed air enables a 360° rotation.
The XENAX® servo controller identifies the ROTAX®
rotary axis and configures the controller parameters
automatically.
Rxhq =high torque Rxvp =vacuum pressure

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Lafert, RAxx, RTxx
AC-Servo motors with encoder A/A*, B/B* and Z/Z*
and hall sensors e.g.
AEG B28 D4 0,4Nm, 6000 U/min.
Optionally available with brakes for vertical
applications.
2.3 Customary Servo Motors
Faulhaber®, Maxon®
AC / DC / EC brushless servo motors with incremental
encoder RS422 A/A*, B/B* and Z/Z* and hall sensors,
as well as DC brush-type servo motors with
incremental encoder.
For brushless AC/EC servo motors there are hall
signals and incremental encoder necessary.

12
3Hardware and Installation
3.1 Environmental Conditions
Storage and transport
No outdoor storage. Warehouses have to be well
ventilated and dry. Temperature from
-25°C up to +55°C
Temperature while operating
5°C -50°C environment,
(above 40°C, nominal current reduced to 6A)
Humidity while operating
10-90% non-condensing
Air conditioning
No external air conditioning needed; integrated heat
sink.
3.2 Assembly and Installation
Assembly with two screws on an electrically
conductive rear wall e.g. the back wall of a switch
cabinet.
For a series mounting, the devices can be mounted
directly next to each other. A distance of more than
1mm between the devices, which is advantageous for
the removal and mounting of a device, is not
necessary.
The distance to the base plate must be at least
40mm.
We recommend mounting the devices in vertical
orientation with the 7-segment display at the top to
ensure a good cooling air circulation.
Where space is limited:
Package with 5 XENAX® Servo controllers mounted on
a base plate with a common connection for the
power supply.
When operating with a power supply motor above
60VDC, the XENAX® Servo controller must be
mounted in an electrical control cabinet and the
XENAX® Servo controller must be connected to
protective earth using the shielding clamp (Art. No.
130.09.00) for motor cable.
When operating with a power supply motor below
or equal 60VDC, a SELV/PELV power supply has to
be used or XENAX® Servo controller must be
connected to protective earth using the shielding
clamp (Art. No. 130.09.00) for motor cable.

13
4Functional Safety - TÜV certified
4.1 Hardware Requirements
In order to use the TÜV certified safety functions a
XENAX® Servo controller equipped with an optional
Safety Motion Unit (SMU) is needed.
The SMU module has to be ordered by the client with
a separate article number.
XENAX® Servo controllers can only be upgraded to
SMU at Jenny Science.
Upgrade is only possible with hardware V 4.0 or
higher
SMU modules will only be supplied when mounted
into a XENAX® Servo controller.
Legal Note:
In case of any modification or attempts of
modification on the hardware by third parties, the
TÜV certification is no longer guaranteed and Jenny
Science declines all liability.
4.2 Safety Standards
EN 61508-1:2010
EN 61508-2:2010
EN 61508-3:2010
Functional safety of electrical/
electronic/programmable safety-related systems
SIL 2 Safety Integrity Level 2
EN ISO 13849-1:2015
Safety of machinery, Safety-related parts of control
systems
Cat 3 Category 3
PL d Performance Level d
EN 61800-5-2:2017
Adjustable speed electrical power drive systems
Safety Functions:
STO Safe Torque Off
SS1 Safe Stop 1
SS2 Safe Stop 2
SLS Safely-Limited Speed
Functional Safety
SIL 2, PL d, Cat. 3

14
4.3 Basic Conditions
Motor Types
Functional Safety with SMU can be used for all
LINAX®, ELAX® and ROTAX® motor families, as well as
rotary brushless motors with different A/B/Z encoder
signals. Rotary brush type DC motors are not subject
to the functional safety.
Note1: For vertical mounted linear axis, weight
compensation must be used for safety functions SS2
and SLS. The safety function SBC (Safe Break Control)
is not available.
Note2: Rotative motors operating suspended loads
are excluded from SS2 and SLS safety functions.
Commissioning
The configuration assessment has to be warranted by
the client for each modification of the functional
safety and its parameters through commissioning.
Period of use
The maximum period of use for operating with
functional safety with SMU is 20 years.
Continuous operation
The XENAX® servo controller must be switched off at
least once a year.
Wiring
The length of the connection cables must not exceed
30m per connection cable.

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4.4 Technical Data Safety
Reaction time of the security inputs (until
activation of a safety function)
< 2ms
Probability of a dangerous failure per hour (PFH)
PFH = 51.7 * 10-9 1/h
Activation of a safety function
Switching on two channel to 0V
One-channel switched safety inputs lead to turn off of
the power stage and requires a restart of the XENAX®
servo controller.
Level of safety inputs
>21.0V safety input inactive
< 2.0V safety input active
Voltage levels outside of these limits are prohibited.
Hierarchy of safety functions
Hierarchy
Safety Functions
4
STO Safe Torque Off
3
SS1 Safe Stop 1
2
SS2 Safe Stop 2
1
SLS Safely Limited Speed
Safety functions of higher hierarchy levels overdrive
the ones below.

16
Deceleration ramps for SS1
Profile Position Mode and Cyclic Synchronized
Position Mode (RT-Ethernet)
Trough parameter ED (Emergency Deceleration)
Deceleration ramps for SS2
Profile Position Mode
Cyclic Synchronized Position Mode (RT-Ethernet
With Parameter ED (Emergency Deceleration)
Indicated by superior master controller
Deceleration ramps for SLS
Profile Position Mode
Cyclic Synchronized Position mode (RT-Ethernet)
After speed infringements through parameter ED
(Emergency Deceleration)
Indicated by superior master controller
4.5 Safety Functions
4.5.1 STO, Safe Torque Off
According IEC 61800-5-2
Immediate shut-down of the output stage.
Error 90 is generated if the power stage was switched
on at the time of STO.
4.5.2 SS1, Safe Stop 1
Stop followed by shut-down of the output stage
(Stop category 1)
Error 90 is generated if the power stage was switched
on at the time of SS1.
Parameter:
None
Parameter:
Timeout Stop Δt1 Standard 300ms
v
t
0
STO
Safe Torque Off
Power stage
off
PSR BIT 16
STO PRIMED/HIT
v
t
0
Timeout
Stop
STO
Safe Torque Off
Power stage
off
Δt1
PSR BIT 17
SS1 PRIMED/HIT

17
4.5.3 SS2, Safe Stop 2
Stop while remaining in stop position, axis remains
under power, power stage active. Then observation
of stop-position, status SOS (Safe Operating Stop).
If exceeding the position limit, STO will be triggered.
Shut-down of the output stage (stop category 2)
4.5.4 SLS, Safely Limited Speed
Observation of a safe speed. If Safety Limited Speed
(SLS) is exceeded, Safe Stop (SS2) while observing the
position window. If position window is exceeded as
well, then triggering STO, shut-down of the output
stage. Adjustment of speed during SLS time out has to
be specified by user.
Parameter:
Timeout SLS Δt2Standard 300ms
Safely Limited Speed vmax Standard +-50‘000 Inc/s
Timeout Stop Δt1Standard 300ms
Position window Δs Standard +-2500 Inc
Parameter
Timeout Stop Δt1 Standard 300ms
Position window Δs Standard +-2500 Inc
Δs
Error reaction
v
t
0
Timeout
Stop
SOS
Safe Operating Stopp
Observation of standstill
position
STO
Safe Torque Off
Power stage
off
Δt1
PSR BIT 18
SS2 PRIMED
PSR BIT 19
SS2 HIT
PSR BIT 20
SLS PRIMED
PSR BIT 21
SLS SPEED HIT
PSR BIT 22
SLS POSITION HIT

18
4.6 Functional Safety Parameterization in
WebMotion®
4.6.1 Display Active Safety Parameters
The defined Safety Functions and parameters are
shown in WebMotion® in the menu application/io.
This safety information can only be read, not
modified.
The parameters of the Safety Functions can be made
visible by pressing „Safety Param“.
Please refer to chapter 10 WebMotion® for further
explanations on WebMotion® interface.
If the XENAX® servo controller contains a Safety
Motion Unit (SMU) but no parameters are assigned,
the following message appears: “SMU not active, no
parameter set”. The button directs to the page
where the parameters are set.
4.6.2 Modification of Safety Parameters
The safety parameters can be modified with
WebMotion® and the functional safety login:
Enter IP address of the XENAX® servo controller and
add „/SAFETY.html“ in Web browser.
E.g. http://192.168.2.190/SAFETY.html
Password: SafetyXvi75V8S
„OK“
Note: Please pay attention to capital and small
letters.

19
Actual
Current safety parameters of XENAX®servo
controller with SMU.
New
This is where new safety parameters can be selected
from the drop down menu. They are activated in
XENAX® servo controller by pressing „save“.
save
to XENAX®:
The modified safety parameters are being sent to
XENAX®/ SMU. The active parameters are visible in
the column XENAX®.
to File:
The safety parameters on the SMU are saved into a
file.
open
Safety parameters can also be loaded from a pc file.
In order to be activated on the XENAX® servo
controller, the parameters have to be saved by
pressing on the save → to XENAX.
ED x 1000
The Parameter ED „Emergency Deceleration“ muss be
set as big, that STOP and SLS Timeout can be hold by
stopping.
By pressing „EXIT“ you exit functional safety and get
back to WebMotion®.
Note: The Signal of an active safety function has to be
operated by a higher level control system.

20
5Electrical Connections
Note:
To disconnect or connect the electrical components
at the electrical connectors, the power supply must
be disconnected.
XENAX® Xvi 75V8S
5.1 Plug Arrangement
Description
Plug Type
RS232
USB-B socket
Real time Ethernet (optional)
2 x RJ45 socket with status LED
CANopen (optional)
9 Pol socket D-Sub
Ethernet TCP/IP
RJ45 socket with status LED
MOTOR
3 pole plug Wago, pitch 3,5mm
POWER / LOGIK
4 pole plug Wago, pitch 3,5mm
ENCODER HALL
15 pole plug D-Sub High Density
OPTIO
8 pole socket RJ45
PLC I/O
26 pole plug D-Sub High Density
START-UP / MASTER-SLAVE
2 x 4 pole plug USB-A
5.2 Plug Pin Configuration
5.2.1 USB/COM
USB-B Socket
The XENAX® is equipped with a standard USB-B
socket. I can be connected to a computer and it will
install a COM port for serial communication.
Optionally, it is possible to wire a plain RS232
connection from the XENAX® to the USB-B socket.
USB Socket
XENAX®
PC/SPS
1
N.C.
2
RX
TX
3
TX
RX
4
GND
GND
Pin 1
Pin 3
Pin 4
Pin 2