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Xenus Plus EtherCAT 2-Axis XE2

1. al f 4 99k 5 1V F IN9 uL ee o 0 SEL id 4 99k ts 24V V SNPRA ENS V sinking connections The 24V power shown in these connection diagrams does not have to be connected to the logic power supply for the drive and is commonly provided in the control system to power relays and other devices These inputs work with current sourcing OR current sinking connections Connect the COMM to controller ground common for current sourcing connections and to 24V for current IN16 19 30 Vdc max J9 24V GND qM cs DN CoMM2 t 7 e j SY Y V i UNA E in o 7 e i e 4 99k n gt G 24 10 Vdc max e Ps T 4 99k IN18 Oo 9 4 99k IN19 atr x O 18 l 4 99k 2N o o e coecteecetc V IN6 9 16 19 SIGNALS Tine ez me 197 vw Le 19 imo soe e Copley Controls 20 Dan Road Canton MA 02021 USA Tech Support E mail sales copleycontrols com Web http www copleycontrols com Tel 781 828 8090 Fax 781 828 6547 Page 11 of 36 cople ce copley Xenus 2 Axis EtherCAT XE 2 c ANALOG INPUTS The analog inputs have a 10 Vdc range at 14 bit resolution As reference inputs they can take position velocity torque commands AIN A B from a controller If not used as com
2. DANGER HIGH VOLTAGE i CIRCUITS ON J1 J2 3 J4 Xenus Plus 2 Axis cE ARE CONNECTED TO C MAINS POWER SPD Fuse 38 A A a a 2 5 Fuse 16 Seto N 112 I 3 4 e HJ L1 BRAKE Fuse 4 A I AC MAINS 100 240 Vac 10 or 30 BRAKE B BRAKE 5 24V 4 24V 24 Vdc 3 A BRK J 5 0 5 Adc 2 B BRL 1 24V RTN 24V Power Supply Required for Mounting Drive Operation Screws Keep the chassis grounding connections short for best shielding performance 1 Items marked with CE are required for standards conformance 2 In the end product installation a UL RC Recognized Component SPD Surge Protective Device type 1CA 2CA 3CA or a UL Listed VZCA SPD type 1 2 or 3 rated 2500 V with a minimum SCCR of 5 kA 240 Vac and surge voltage monitoring needs to be provided if the over voltage category of the installation is greater than Category II When this occurs the purpose of the SPD is to establish an over voltage CAT II environment for the drives 3 The line filter used in CE conformance testing was a Filter Concepts 3F15 4 Fuses and or circuit breakers are optional and can be selected by the user to meet local codes and or machine construction requirements 5 The internal regen resistor of the XE2 must be unplugged when using an external regen resistor Only one regen resistor can be connected to the Regen connector J 2 Notes Copley Controls 20 Dan Road Canton MA
3. The information provided in the Xenus Plus Dual Axis STO User Manual must be considered for any application using the XE2 drive STO feature Failure to heed this warning can cause equipment damage injury or death STO BYPASS MUTING In order for the PWM outputs of the drive to be activated current must be flowing through all of the opto couplers that are connected to the STO 1 and STO 2 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 drive to be enabled STO BYPASS CONNECTIONS de 2 4 3 5 6 8 7 9 gt Xenus Plus Dual Axis a M eras Note STO applies to ee Mm Axis A AND Axis B J6 Re quB VI Buffer i I Upper IGBT Gate Drive LO STO 1 4 HV Current must flow ee E through all of the STO 1 aK opto couplers before 6 r3 the drive
4. conductor that should connect to an earthed ground point and must not pass through any circuit interrupting devices The graphic below shows the different power sections of the Xenus Plus drive and the isolation barriers between them Only one motor is shown but all motor PWM drivers are in the mains connected section ju JA lo MAINS 9 113 oS PE SAFETY GROUND SHIELD REGEN PWM INVERTER PWM STAGE CONTROL POWER SHIELD GND 24 Brakes VDC A B DC DC 24 Vdc i GROUND CONTROL SYSTEM 1 J12 ENABLE IN1 CONTROL _ Signal Gnd FEEDBACK POWER amp DECODING FEEDBACK SIGNAL GND GROUND LOGIC SHIELD Se E CONTROL SIGNAL FRAME GROUND SAFETY GROUND wn XE2 cc All of the circuits on J1 J2 J3 and J4 are mains connected and must never be grounded The frame ground terminals at J1 3 J2 3 J 3 1 J4 1 J6 1 J9 1 J 10 1 J11 1 and J12 1 all connect to the drive chassis and are isolated from all drive internal circuits Signal grounding references the drive control circuits to those of the control system These controls circuits typically have their own earth connection at some point To eliminate ground loops it is recommended that the drive signal ground be connected to the control system circuit ground When this
5. copley rons contras Xenus z Axis EtherCAT w XE2 CE For XE2 230 20 R Sin Cos Index encoder feedback is not supported Xenus Plus 2 Axis Shield 1 E Enc Sin 19 OK IL sin Enc Sin 18 l Enc Cos 21 i F i Enc Cos 20 pW Cos ANALOG ENCODER Enc Index 4 Enc Index J 11 5V Out Sgnd IN21 22 Hall U TEMP SENSOR Mot U BRUSHLESS MOTOR Mot V Mot W Shield Grounding tab e NOTES 1 5V Out on J10 amp J11 are independent power supplies and each is rated for 500 mA 2 CE symbols indicate connections required for CE compliance Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 24 of 36 copley rons cones Xenus 2 axis EtherCAT w XE2 CE Digital incremental and absolute encoders may be connected to the Multi Port on J 12 Xenus Plus 2 Axis Shield Rlvr Sin 4 RIvr Sin Cos S2 Rivr Cos RESOLVER Rlvr Cos coo Rlvr Ref J 10 Rlvr Ref J11 5V Out Sgnd IN21 22 Hall U Hall V Hall W Signal Gnd TEMP SENSOR Motemp 24V 24V J 5 Brake A Brake B Gnd Mot U 4 Mot V 3 BRUSHLESS 3 MOTOR Mot W 2 S
6. 1 30 MAX3096 PM L tif oe C ch C 4 99k Die Hioc M IN2412 4 ig i ICOM1 J10 6 i 100r T 1 Eg pci INI0 J11 7 4 99k EC m teh athe t o 0 5 feo tit i IN21 J11 24 100p wT Yo h ee o MN L gt o C V HI LO DEFINITI ONS INPUTS V BEN INPUTS WITH IN21 i pue waeeisw PROGRAMING di m PULL UP DOWN 5V w vin 2s vac Lu vn lt 2 5V 4 99k TANCAGIS 10k 74HC14 INx Nx e 10k 10k Input diode ON Input diode OFF IN6 9 are optically isolated and work from positive or negative input voltages When voltage is applied to an input and current flows through the input diode of the opto coupler the diode condition is ON When no voltage is applied to an input and no current flows through the input diode it is OFF 33n 100p Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 19 of 36 copley rons coras Xenus 2 axis EthercAT w XE2 CE CME2 amp AXIS B I O CONNECTIONS CME2 SCREEN FOR INPUTS IN11 IN20 f Input Output y jaj x Digital Inputs 1 10 Digital Inputs 11 20 Digital Outputs 1 4 Digital Outputs 5 7 Pull Up Pull Down Axis A AxisB Debounce time C IN11 ampEnableiO Enables with Clear Faults C C om H C MMA otur s cC om w c C pmpN3jl vtcford s cC om H GINGA Not
7. A Q e0 00 0 09 o o6 06 oO ve 0900 0 06 o6 o z 5 V amp BRAKE m 24V Input 24V to Brakes 4 3 O E B m ae 4 iJ jl a _ il gt 99 J5 STO n sow ew soar L1 mee 6 sae Ps sexo sz 4 sos 9 srono ALAAVS Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 28 of 36 copley Rots contras Xenus 2 axis EtherCAT w XEZ CE J12 CONTROL ON END PANEL Pew sinn mw menn 9 Sm La reo Ls sona cra Ls onze Ls ows ce a e manine x Caa _ signat Gna J9 ISOLATED 1 0 m sew jew mem mw mem s misren Ls munem 6 IN6 9 COMM Frame Ground vI NAY 3HOMLIN E OTX Gaon TX n a EL Note Signals unique to axis A or axis B are shown as Xxx A B le e E EE N N N N N N All other signals are common to both axes A amp B Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 29 of 36 copley G controls AC POWER REGEN AND MOTOR OUTPUTS J1 J4 Wago MCS MIDI Classic 231 305 107 000 J 1 231 303 107 000 J2 231 304 107 000 J3 J4 female
8. Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth Minimum load inductance 200 UH line line COMMAND INPUTS NOTE DIGITAL INPUT FUNCTIONS ARE PROGRAMMABLE Distributed Control Modes CANopen application protocol over EtherCAT Cyclic synchronous Position Velocity Torque Profile Position Velocity Torque Stand alone mode Interpolated position Homing 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 amp 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 flash memory ASCII RS 232 9600 115 200 Baud 3 wire RJ 12 connector Function Generator Software Programmed DIGITAL INPUTS Number IN1 11 IN21 22 IN2 5 12 15 IN6 9 16 19 IN10 20 ANALOG INPUTS Number AIN1 2 SAFE TORQUE OFF STO Function Standard Safety Integrity Level Inputs Type Input current typical Response time Reference RS 232 PORT Signals Mode Protocol DIGITAL OUTPUTS Number OUT1 5 OUT6 7 ETHERCAT PORTS Format Pr
9. Q 5V output 500 mA Q Signal Ground SECONDARY FEEDBACK ABSOLUTE e S channel Absolute A encoders 2 wire The S channel first sends a Clock signal and then receives Data from the encoder in half duplex mode e S amp X channels SSI BiSS EnDat encoders 4 wire EMULATED QUAD A B X The X channel sends the Clock signal to the encoder MULTI PORT which initiates data transmission from the encoder on the S channel in full duplex mode 12 36 12 42 nc E E ipsu uM MS 1 MAX3362 12 21 12 27 S Input J12 35 el Select J12 20 J12 26 4 Wire digital absolute encoder signals Output J 12 34 J 12 40 Select 12 19 12 25 X 12 6 16 22 31 37 44 ND Ra MORI RS sti Shld J12 1 Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 9 of 36 Input Output Select MAX3032 copley Rotts cones AXenus z Axis EtherCAT w XEZ HS Inputs IN1 2 Input Pin 24 Vdc max J12 7 15k 100p 5 0 V 24 J12 8 E N12 i m J12 11 IN15 oms J9 4 IN18 Opto 24 J9 6 ICOM2 INPUTS WITH PROGRAMMABLE PULL UP DOWN m Lm EIN Dis ze EE oO UJ oO Ui PROGRAMMABLE PULL UP DOWN The input resistor of these inputs is programmable to pull up to 5V or pull down to OV Pull up is the default and works with j12 7 IN11 J12 12 current sinking outputs from a con
10. commonly use NPN or current sinking outputs Set the Xenus inputs to pull down to ground for current sourcing PLC outputs are frequently current sourcing from 24V for driving grounded loads PC based digital controllers connections and to pull up to 5V for current sinking connections Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 10 of 36 copley controls US Xenus 2 Axis EtherCAT wn XE2 cc These inputs have all the programmable functions of the GP inputs plus opto isolation There are two groups of four inputs each with a common terminal Grounding the common terminal configures the inputs to work with current sourcing outputs from controllers like PLC s When the common terminal is connected to 24V the inputs will be activated by current sinking devices such as NPN transistors or N channel MOSFETs The minimum ON threshold of the inputs is 15 Vdc IN THE GRAPHICS BELOW 24V IS FOR CONNECTIONS TO CURRENT SOURCING OUTPUTS AND GND IS FOR CURRENT SINKING OUTPUTS ON THE CONTROL SYSTEM IN6 9 30 Vdc max J9 24V GND 01597 rR UE aS ON i ICOMM1 m e a 6 4 B i Vv v i INS Ak teh lt O 2 gt f d 4 99k 5 1V TESI UE QN eedsetsces onn d ae o O3 i Oom M ue i tel po Cee
11. is amure as 19 2 3 EN 5 Ren 6 Signal Gnd 7 unner RH Nu 10 nus i2 13 2 2 22 0 zr avons 24 e mutiene 25 cwn x 26 cwn 27 ecwusenc rA mne 20 ne so usr IN2 GP IN3 GP gt C1 uses Cis ina as J9 ISOLATED 1 0 5V Out4 B MultiEnc S PIN Lao a oO 8 9 2 aO O SIGNAL PIN SIGNAL PIN SIGNAL IN18 GPI 18 IN19 GPI 26 iNT GPi 5 imis en 24 ras ne a C IN6 9 COMM n c 23 OUT5 O Hou 22 roan Ex EG 6 4 tinsicrt n J10 J11 FEEDBACK ew sem Jen svar o a Da un Ls vow De enex Ls eex Note Signals unique to axis A or axis B are shown as Xxx A B All other signals are common to both axes A amp B Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 27 of 36 copley Rotts cones Xenus z 4xis EtherCAT w XEZ CE ISOLATED Cl aM J1 MAINS CONNECTIONS WARNING Hazardous voltages exist on connections to J1 J2 J3 amp J4 when power is applied and for up to 5 minutes after power is removed Mains Input L3 Frame Ground 4 YAMOd PE Ground Mains Input L2 Mains Input L1 J2 REGEN RESISTOR J3 8J4 MOTOR OUTPUTS eter Phase u a
12. 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 14 of 36 copley G controls SSI ABSOLUTE ENCODER The SSI Synchronous Serial Interface is an interface used to connect an absolute position encoder to a motion controller or control system The XEL drive provides a train of clock signals in differential format to the encoder which initiates the transmission of the position data on the subsequent clock pulses The polling of the encoder data occurs at the current loop frequency 16 kHz The number of encoder data bits and counts per motor revolution are programmable The hardware bus consists of two signals SCLK and SDATA Data is sent in 8 bit bytes LSB first The SCLK signal is only active during transfers Data is clocked out on the falling edge and clock in on the rising edge of the Master Encoder Clk 130 Clk Cik e 5 A 221 Data Ps B 5V Out 500 mA FG re Signal Ground ENDAT ABSOLUTE ENCODER The EnDat interface is a Heidenhain interface that is similar to SSI in the use of clock and data signals but which also supports analog sin cos channels from the same encoder The number of position data bits is programmable as is the use of sin cos channels Use of sin cos incremental signals is optional in the EnDat specification J10 J11 ste Encoder f Ck M Cl
13. 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 STO circuit active drive outputs are Safe Torque Off Drive OK but NOT enabled Will run when enabled Positive or Negative limit switch active Drive will only move in direction not inhibited by limit switch Drive OK and enabled Will run in response to reference inputs or EtherCAT commands Axis A B Axis B 3 Green Double Blinking 4 Green Slow Blinking 5 Green Fast Blinking 7 Green Solid Latching Faults Default Short circuit Internal or external Drive over temperature Motor over temperature Feedback Error Following Error Optional programmable Over voltage Under voltage Motor Phasing Error Command Input Fault Motor Wiring Disconnected STO Active Over Current I2T Limit Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Fax 781 828 6547 Page 5 of 36 cople rons copey Xenus z axsrhercar a XE2 CE COMMUNICATIONS RS 232 SERIAL RS 232 COMMUNICATIONS XE2 is configured 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 XE2 RS 232 port are through J7 an RJ
14. Short circuits line line This produces a near zero voltage between A amp A which is below the differential fault threshold Open circuit condition The 1210 terminator resistor will pull the inputs together if either side or both is open This will produce the same fault condition as a short circuit across the inputs Low differential voltage detection This is possible with very long cable runs and a fault will occur if the differential input voltage is lt 200mV 15kV ESD protection The 3097E has protection against high voltage discharges using the Human Body Model Extended common mode range A fault occurs if the input common mode voltage is outside of the range of 10V to 13 2V CONNECTIONS WITH A B X ENCODER A B X SIGNALS CONNECTIONS WITH NO INDEX SIGNAL Encoder J10 J11 Encoder J10 J11 n Frame Ground 121 Enc A a Enc A 4d Enc B e qu 121 Enc B B H 5V 1k Au Enc Index x du H 130 7 gt Enc Index 45V Q 45VOut 9 500mA V 4 1k ov Sionardfound 45V O 5VOut 500mA V i AAE EAA ATAA AEAEE ov Signal Ground SHIELDED CABLE CONNECTIONS Double shielded cable is recommended for resolvers and analog sin cos encoders The outer shield connects to the motor and drive frames The inner shield s should only connect to the Signal Ground at the drive The inner shields shown here are for individually shielded twisted pair cables If the inner shield is a single one it connects to Signal Ground at the drive
15. configured rs nc gt o pNi6 NotConfored e g Ooms Lo pNig Wwtcogred s C om t pNig wtcongred sz C om tw IN19 Notconfigued s C om t IN20 Motor TempHiDsabes sx C om H Inputs 12 13 Differential Single Ended Inputs 14 15 Differential Single Ended INPUT DATA IN11 IN16 19 CM OE Ig ues IN12 oe V v i N16 44k iun s ma eot kel Dr p N V i i IN15 J12 30 30Vmax inam 4 7k FER i n o tt 24V typical IN12 15 oO Tt ae Cmar se ea SEIT IN17 J9 8 12V Jiacontol jue es d I 45V V AMD ik MAX3096 eo Cc 5 fe gt i ie SA E e Y 4 99 sgy 77 2 5V 4 7k amp YX 1 7 33n ET bo pote pa SN 4 99k Y 24v V DEAE a o 06 V E 5 13 J HI LO DEFINITIONS INPUTS EES I J gt IN11 20 22 Le IN20 IN22 PROGRAMMAR 74HC2G14 Input diode ON IN11 J12 12 NX ee LINX zT gt IN16 19 Input diode OFF IN12 12 13 I 33n 100p IN1 12 1 Y IN16 19 are optically isolated and work from positive or negative input voltages When voltage IN14 J12 15 is applied to an input and current flows through the input diode of the opto coupler the diode condition is ON When no voltage is applied to an input and no current flows through the input diode it is OFF Vin 2 5 Vdc u
16. is done the drive signal voltages will be referenced to the same 0 V level as the circuits in the control system Small currents flow between controller and drive when inputs and outputs interact The signal ground is the path for these currents to return to their power sources in both controller and drive Shields on cables reduce emissions from the drive for CE compliance and protect internal circuits from interference due to external sources of electrical noise Because of their smaller wire gauge these should not be used as part of a safety ground system Motor cases can be safety grounded either at the motor by earthing the frame or by grounding conductors in the motor cables that connect to J3 1 amp J4 1 These cables should be of the same gauge as the other motor phase cables For CE compliance and operator safety the drive heatplate should be earthed to the equipment frame Mounting the drive using SEMS screws with external lock washers will make a good connection between the drive case and the equipment frame Copley Controls 20 Dan Road Canton MA 02021 USA Tech Support E mail sales copleycontrols com Web http www copleycontrols com Tel 781 828 8090 Fax 781 828 6547 Page 31 of 36 cople CA A controle Xenus 2 4xis EtherCAT a XE2 c POWER amp BRAKE CONNECTIONS SPD Surge Protection Device
17. output from XE2 data returned from encoder DIGITAL HALLS Type Digital single ended 120 electrical phase difference between U V W signals Schmitt trigger 1 us RC filter 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 10 kQ pullups to 5 Vdc 1 us RC filter to Schmitt trigger inverters Inputs MULTI MODE ENCODER PORT As Input As Emulated Output As Buffered Output Digital quadrature encoder A A B B X X 121 Q terminating resistors between A amp A B amp B inputs 18 M counts sec post quadrature 4 5 M lines sec Digital absolute encoder Clk Clk Dat Dat half or full duplex operation 121 O terminating resistors Quadrature encoder emulation with programmable resolution to 4096 lines 65 536 counts per rev from analog sin cos encoders A A B B outputs from MAX3032 differential line driver X X S S outputs from MAC3362 drivers Digital encoder feedback signals from primary digital encoder are buffered by MAX3032 line driver ENCODER POWER SUPPLIES Number Ratings 4 two on the feedback connectors J10 J 11 two on the control connector J 12 for the A and B multi mode ports 5 Vdc 500 mA thermal and overload protected each output 2000 mA total for all four outputs FEEDBACK XE2 230 20 R RESOLVER Type Resolution Reference frequency Reference voltage Reference maximum current Maximum RPM Sin Cos inp
18. temperature sensor operate from this power source All signal circuits are referenced to signal ground This ground should connect to the control system circuit ground or common so that drive and controller inputs and output voltage levels work properly with each other POWER SECTIONS US Xenus 2 Axis EtherCAT MAINS POWER Mains power drives the high voltage section It is rectified and capacitor filtered to produce HV which the PWM stages convert into voltages that drive either three phase brushless or DC brush motors An internal solid state switch together with an internal power resistor provides dissipation during regeneration when the mechanical energy of the motors is converted back into electrical energy that must be dissipated before it charges the internal capacitors to an overvoltage condition All the circuits in this section are hot that is they connect directly to the mains and must be considered high voltages and a shock hazard requiring proper insulation techniques during installation GROUNDING A grounding system has three primary functions safety voltage reference and shielding As a safety measure the primary ground at J 1 3 will carry fault currents from the mains in the case of an internal failure or short circuit of electronic components Wiring to this is typically done with the green conductor with yellow stripe using the same gauge wire as that used for the mains This wire is a bonding
19. 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 32 of 36 copley G Controls S Grounding for Safety The protective earth PE ground at J1 3 for both single and dual axis drives is the electrical safety ground and is intended to carry the fault currents from the mains in the case of an internal failure or short circuit of electronic components Wiring to this ground should be done using the same gauge wire as that used for the mains This wire is a protective bonding conductor that should be connected to an earthed ground point and must not pass through any circuit interrupting devices The PE ground also connects to the drive heatplate Frame Ground FG Connections of the regen and motor cable shields to the FG points J2 1 J3 1 is done to prevent the motor or regen resistor housing from becoming hazardous in the event of an insulation failure Protective earth connections for the motor and regen resistor housings are subject to local electrical codes and must be reviewed for compliance with those codes It is the responsibility of the end user to HE N Keep the chassis grounding connections short for best shielding performance US Xenus 2 Axis EtherCAT ensure compliance with local electrical codes and any other applicable standards It is strongly recommended that motor and r
20. 11 connector The XE2 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 SER CK SERIAL CABLE KIT The SER CK provides connectivity between a D Sub 9 male connector and the RJ 11 J 6 RS 232 PORT connector on the XE2 It includes an adapter that plugs into the COMI or other RJ 11 receptacle port of a PC and uses common modular cable to connect to the XE2 The connections 6 position 4 contact are shown in the diagram below FFT RxD H TxD 123456 to RJ11 A Adapter RJ 11 cable 6P6C RJ 11 Straight wired on D Sub 9F Servo RxD 2 5 TxD Drive Don t forget to order a Serial Cable Kit SER CK when TxD 3 25 RxD placing your order for an XE2 Gnd gt 5 35 Gnd ASCII COMMUNI CATION PROTOCOL ASCII COMMUNICATIONS The Copley ASCII Interface is a set of ASCII format commands that can be used to operate these drives over an RS 232 serial connection For instance after basic amplifier configuration values have been programmed using CME 2 a control program can use the ASCII Interface to e Enable the amplifier in Programmed Position mode e Home the axis e 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
21. 2 31 37 44 IN5 gt NSCS _ Direction Shid COMMAND DIFFERENTIAL IN4 14 N2 12 Duty 5096 50 Li lal 14 Current or Duty 50 50 p Curr Vel PWM J12 13 SINGLE ENDED 50 PWM DIFFERENTIAL 50 PWM 2 Men lt noconnection gt N5 15 Function 4 no connection 2 No function Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 8 of 36 copley GR nous a Xenus 2 Axis EtherCAT Rev 01 XE2 CE INPUT TYPES COMMAND INPUT MULTI PORT POSITION COMMAND INPUTS DIFFERENTIAL e CW amp CCW Clockwise amp Counter Clockwise 12 36 Encoder Quad A amp B S casn Esebde A cB n22 n22 J12 6 16 22 31 37 44 A B X signals from digital encoder 1 CURRENT or VELOCITY COMMAND INPUTS DIFFERENTIAL Veron dba NR RIO Current or Velocity amp Direction e Current or Velocity amp Current or Velocity Q Frame Ground Oe Incremental i Encoder Pulse Dir or CU CD B i differential commands Q H B Enc B SECONDARY FEEDBACK INCREMENTAL e Quad A B X incremental encoder e Quad A B emulated encoder from sin cos encoder Absolute i Encoder A B X signals from digital encoder Enc S 1 Enc S H
22. 36 copley GY rons contro Xenus 2 4xis EtherCAT a XE2 CE Units in mm Cator Cc SS C c c qo aD CD aD o CO Co cS cd CIO CD CD D C 9 CHD GID Cp Gr3 GS c 5 cu CL FD ey c ca CO CD CD amp qu E a 9 240 234 7 m 194 83 8 86 225 04 56 14 19 o e eio i t mO rt B SS I eer 1 00 25 4 2 32 58 9 e 5 617 142 68 5 17 137 6 d51880506000 UE LEE 3 588 91 13 ae Crp a l GIEED GEM dadi COIT Weight 4 19 Ib 1 90kg Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 35 of 36 copley Rotts sontrois AXenus z Axis EtherCAT x XEZ CE XE2 230 20 XE2 Servo Drive 10 20 Adc Encoder feedback Eth CAT XE2 230 20 R XE2 Servo Drive 10 20 Adc Resolver feedback er e Conformance tested Example Order one Xenus Plus XE2 drive resolver version solder cup connector Kit CME 2 CD serial cab
23. IONS can be found on page 27 Voltage Range 30 Vdc HI LO DEFINITIONS OUTPUTS Output transistor is OFF Brake is un powered and locks motor Motor cannot move BRK A B Brake state is Active OUT6 7 Output transistor is ON LO Brake is powered releasing motor Motor is free to move Brake state is NOT Active CME2 Default Setting for Brake Outputs OUT6 7 is Brake Active HI Active Brake is holding motor shaft i e the Brake is Active Motor cannot move No current flows in coil of brake CME2 I O Line States shows Output 6 or 7 as HI BRK Output voltage is HI 24V MOSFET is OFF Servo drive output current is zero Servo drive is disabled PWM outputs are off Inactive Brake is not holding motor shaft i e the Brake is Inactive Motor can move Current flows in coil of brake CME2 I O Line States shows Output 6 or 7 as LO BRK output voltage is LO 40V MOSFET is ON Servo drive is enabled PWM outputs are on Servo drive output current is flowing HI J5 Brake Axis B Brake Signal Ground V v gt Om RTN Earthing connections for power supplies should be as close possible potential differences between power supply OV terminals o elimimate Axis A Brake Axis B Brake The brake circuits are optically isolated from all drive circuits and frame ground CONNECTI ONS eaw i O A Brk OUT6 B Brk OUT7 24V Return This diagram
24. N Double Flash PDO or EtherCAT watchdog timeout or an application watchdog timeout has occurred EtherCAT DEVICE ID STATION ALIAS In an EtherCAT network slaves are automatically assigned consecutive addresses based on their position on the network But when the device must have a positive identification that is independent of cabling a Device ID is used This is provided by two 16 position rotary switches with hexadecimal encoding These can set the Device ID of the drive from 0x00 OxFF 0 255 decimal The ERR Kk NEN x 51 1 S2 1 Resulting Address 1 EtherCAT Device ID Switch chart shows the decimal values of the hex settings of each switch Decimal values Example 1 Find the switch settings for decimal Device ID 107 1 Find the highest number in the x10 column that is less than 107 and set x10 to the hex value in the same row 96 107 and 112 gt 107 so x10 96 Hex 6 2 Subtract 96 from the desired Device ID to get the decimal value hn ce PONE for the switch x1 and set it to the Hex value in the same row x1 107 96 11 Hex B 3 Result X10 6 X1 B Alias 0x6B 107 INDICATORS DRIVE STATE 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
25. RULE PART NUMBERS DOUBLE WIRE INSULATED Fus 2x10 rea atem 27760 asacon eztoa zacon 2129 seca co cao 19 2 x 0 50 966144 1 15 0059 8 0 31 140606 2 5 10 47 19 10 39 SINGLE WIRE DOUBLE WIRE Tr t 3 L t AT Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Tech Support E mail sales copleycontrols com Web http www copleycontrols com lt A Fax 781 828 6547 Page 30 of 36 copley EN DRIVE POWER SOURCES An external 24 Vdc power supply is required and powers an internal DC DC converter that supplies all the control voltages for drive operation Use of an external supply enables EtherCAT communication with the drive when the mains power has been removed Power distribution in XE2 is divided into three sections 24 Vdc signal and high voltage Each is isolated from the other and all are isolated from the chassis EXTERNAL 24 VDC The primary side of the DC DC converter operates directly from the external 24 Vdc supply and is isolated from other drive power sections The Brake outputs operate in this section and are referenced to the 24 Vdc return OV They sink current from an external load connected to the external 24 Vdc power source INTERNAL SIGNAL POWER The signal power section supplies power for the control circuits as well as logic inputs and outputs Motor feedback signals such as Halls encoder and
26. The inner shield should have no connection at the motor or the the outer shield Double shielding is used less frequently for digital encoders but the connections are shown here and on following pages for completeness ANALOG SIN COS INCREMENTAL ENCODER The sin cos idx inputs are differential with 121 Q terminating RESOLVER XE2 230 20 R resistors and accept 1 Vp p signals in the format used by Resolver set up motor phasing and other commissioning adjust incremental encoders with analog outputs or with ServoTube ments are made with CME 2 software There are no hardware motors adjustments Encoder J10 J11 Resolver J10 J11 RESOLVER SIGNALS FG u di10 Frame Ground J oa 11 In R D Conversion Cos S2 FG Frame Ground eu E NR Ew 121 Sin Sin CO o Cos 10k ee as i 121 Cos Q p e 1k FIT Cos 4 Ref R1 Signal Ground Shld ENTE M Owe Q 5V Out 500 mA V ov A Signal Ground Notes for XE2 230 20 R model These connections are not supported on J10 amp J11 The Multi Port on J12 can be programmed to accept these feedback types Sin Cos feedback is not supported Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781
27. ake advantage of the high speed inputs Differential inputs have 121 Q line terminators SINGLE ENDED PULSE amp DIRECTION DIFFERENTIAL PULSE amp DIRECTION balse PUA purser COMMAND SINGLE ENDED IN3 13 Axis A Axis B PULSE 1210 nz35 an n3 Direction INA 14 o INA oiRectiON 12 6 16 22 31 37 44 PACA M DIRECTION Shid 12 1 SINGLE ENDED CU CD DIFFERENTIAL CU CD CU Count Up CU Countup IN2 12 p SA PULSE UNo LL 0 PULSES COMMAND DIFFERENTIAL ce M gt 0505 sacros QUAD A B ENCODER SINGLE ENDED QUAD A B ENCODER DIFFERENTIAL 12 6 16 22 31 37 44 Encoder ph A Encoder ph A IN202 ECC A Shld J12 1 CD Count Down 1 F INA 14 13 mana Enc A rL IN5 15 Encoder ph B IN4 14 Enc B Encoder ph B Lr INSC5 Enc B 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 amp DIRECTION DIFFERENTIAL PWM amp DIRECTION IN2 12 ayosin sM ane COMMAND SINGLE ENDED 7 IN4 14 Current or Duty 0 100 LJ I 5 velocity IN5 15 Polarity or En gt Direction T2 gt m e PWM J12 10 J12 15 Dir J12 11 J12 30 IN4 14 N gt _ Direction J12 6 16 2
28. and signals from external encoders These can be used to drive cam tables or as master encoder signals when operating in a master slave configuration A B X signals from digital encoder l FEEDBACK FROM ABSOLUTE ENCODERS Digital absolute encoder feedback as motor or load encoder can come from absolute encoders too Analog sin cos and index signals are not supported by the multi port The graphic to the right shows half duplex format but both full and half duplex operation are supported by the multi port see below MAX3097 Data amp Clk signals from absolute encoder Select MAX3032 ABSOLUTE ENCODER FULL DUPLEX MODE Full duplex Absolute encoder J 12 FG Master Clk FULL DUPLEX ENCODERS SSI Siue EnDat BiSS Data HALF DUPLEX ENCODERS Absolute A Tamagawa Absolute A Panasonic Absolute A Format Sanyo Denki Absolute A ABSOLUTE ENCODER HALF DUPLEX MODE Half duplex Absolute encoder J12 E Deu ae LE Frame i Ground Dat SD Dat Cmd ba D R D R Cmd 5V Out 3p 500 mA MAX3362B Signal Ground Input Output EMULATED QUAD A B X MULTI PORT Pin Pin FULL DUPLEX SIGNALS Pin Pin HALF DUPLEX SIGNALS Signal Axis A Axis B Pin Pin 12 33 12 39 12 18 12 24 J12 32 17 12 3823 J12 31 16 12 3722 Shid J12 1 Copley Con
29. can be i K enabled Pg ie oe STO 2 He 7 K STO bypass connections on the XE2 and Xenus XPL models are different If both drives are installed in the same cabinet the diode should m S STO 2 HE be wired as shown to prevent damage that could 6 31 duce E DIE DIE occur if the STO bypass connectors are installed on the wrong drive The diode is not required for Q STO 1 STO bypass on the XE2 and can be replaced by IN a wire between pins 7 and 9 STO 24V y C o MET T STO GND al Frame Ground XE2 and XEL XPL STO bypass connections are different D oe 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 Poe LOL EHE XE2 STO bypass connectors are not compatible with XEL XPL drives STO CONNECTOR J5 SIGNALS Tein sew PiN SIGNAL 1 meca S9 storm STO STOU STO 8 sTo 4 STO 2 9 STO GND ST0 2 Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 7 of 36 copley rons coras Xenus 2 axis EthercAT w XEZ CE 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 t
30. connector with screw flange US Xenus 2 Axis EtherCAT wn XE2 cc Tool J3 J4 3 pole pin spacing 5 08 mm 0 2 in Conductor capacity Bare stranded Insulated ferrule Stripping length Operating Tool AWG 28 14 0 08 2 5 mm2 AWG 24 16 0 25 1 5 mm2 8 9 mm Wago MCS MIDI Classic 231 159 J1 J2 FERRULE PART NUMBERS SINGLE WIRE INSULATED 216 206 15 0 0 59 8 0 0 31 2 05 08 4 2 0 17 4 8 0 19 10 0 39 216 204 14 0 0 59 8 0 0 31 17607 3 5 0 14 4 0 0 16 10 0 39 red wo aez ioan eoc 30 2 TET 216 222 12 0047 6 0 24 1 26047 28 10 3 3 13 8 31 216 221 12 0 47 6 0 24 106039 2 6 10 31612 75 30 NOTES PNUM Part Number SL Stripping length Dimensions mm in nr EM oe ES EE e A 24V amp BRAKE J5 Wago MCS MINI 734 105 107 000 female connector with screw flange 5 pole pin spacing 3 5 mm 0 138 in J5 Tool Conductor capacity Bare stranded AWG 28 16 0 08 1 5 mm2 1 Insulated ferrule AWG 24 16 0 25 1 5 mm2 di A Stripping length 0 24 0 28 in 6 7 mm AUI n Operating tool Wago MCS MINI 734 231 Se FERRULE PART NUMBERS SINGLE WIRE INSULATED Red Wago 216 223 12 0 47 6 0 24 14606 30612 35C14 8 31 216 222 12 0 47 6 0 24 12605 2 8 11 33 13 8 31 22 5 216 221 12 0 47 6 0 24 1 0 04 2 6 10 3 1612 7 5 30 W raed FER
31. cople ce copley X enus 2 Axis EtherCAT XE 2 c DIGITAL SERVO DRIVE FOR BRUSH amp BRUSHLESS MOTORS CONTROL MODES e Pl n PVT m e Camming Gearing e Position Velocity Torque EtherCAT COMMAND INTERFACE e CANopen application protocol over EtherCAT CoE e ASCII and discrete I O e Stepper commands e 10V position velocity torque 2 inputs e PWM velocity torque command Master encoder Gearing Camming COMMUNI CATI ONS e EtherCAT e RS 232 FEEDBACK Incremental Digital quad A B encoder e Analog Sin Cos encoder e Panasonic Incremental A Format e Sanyo Denki Wire saving Incremental e Aux encoder encoder out Absolute e SSI e EnDat 2 1 amp 2 2 e Absolute A e Tamagawa Absolute A e Panasonic Absolute A Format e Sanyo Denki Absolute A e BiSS B amp C Other Digital Halls I O DIGITAL e 12 High speed inputs e 2 Motor over temp inputs e 8 Opto isolated inputs e 5 Opto isolated outputs e 2 Opto isolated motor brake outputs I O ANALOG 2 Reference inputs 14 bit SAFE TORQUE OFF STO Model Vac Ic Ip SIL 3 Category 3 PL d XE2 230 20 100 240 10 20 DIMENSIONS IN MM Add R to model number for resolver option e 9 24 x 5 42 x 3 59 234 7 x 137 6 x 91 1 DESCRIPTION XE2 sets new levels of performance connectivity and flexibility CANopen application protocol over EtherCAT CoE communication provides a widely used cost effective industrial bus A wide range of absolut
32. e A Panasonic Absolute A Format Sanyo Denki Absolute A INCREMENTAL ENCODERS Panasonic Incremental A These connections are not supported on J10 amp J11 The Multi Port on J12 can be programmed to accept these feedback types Copley Controls 20 Dan Road Canton MA 02021 USA Tech Support E mail sales copleycontrols com Web http www copleycontrols com Tel 781 828 8090 Fax 781 828 6547 Page 15 of 36 copley G controla Xenus 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 J 3 J 4 1 for best results 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 amp 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 ampl
33. e Brake is Inactive Motor can move Current flows in coil of brake CME2 I O Line States shows Output 6 or 7 as LO BRK output voltage is LO 0V MOSFET is ON Servo drive is enabled PWM outputs are on Servo drive output current is flowing Axis B Brake Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 22 of 36 copley Rotts contras AXenus z Axis EtherCAT x XEZ CE For XE2 230 20 R digital encoder feedback is not supported on J10 amp J11 Use the Multi Port on J12 for this type of feedback Xenus Plus 2 Axis Shield Enc A 13 e A XY PME Enc A 12 DIGITAL Enc B 11 Enc B 10 e x V a B ENCODER Enc X 9 O Enc X 8 45V Out 6 veg C FLT IN21 22 24 Hall U 2 TEMP HallV 3 SENSOR JB BrakeA 3 ah Axis A Axis B T Brake B 2 Brake Brake 24 Vdc Gnd 1 m Mot U J3 Mot V J4 Mot W Shield Grounding tab 2 NOTES 1 5V Out on J10 amp J11 are independent power supplies and each is rated for 500 mA 2 CE symbols indicate connections required for CE compliance Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 23 of 36
34. e encoders are supported High resolution A D converters ensure optimal current loop erformance Both isolated and high speed non isolated I O are provided For safety critical applications redundant power stage enable inputs can be employed An integral fan and heatsink enable the drive to deliver the continuous output currents in any mounting orientation And the internal regeneration resistor dissipates the energy returned by load decelerations Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 1 of 36 copley G nT Test conditions Xenus Axis EtherCAT wi XE2 cc Wye connected load 2 mH line line Ambient temperature 40 C MODEL XE2 230 20 OUTPUT CURRENT Each Axis 0 40 C Ambient Peak Current 20 14 Adc Arms sinusoidal Peak time l S Continuous current 10 7 Adc Arms sinusoidal INPUT POWER Mains voltage frequency 100 240 Vac 50 60 Hz Mains current 18 Arms 1 14 Arms 3 Inrush current 20 Apeak 120 Vac 40 Apeak 240 Vac 40 ms All models Control power 24 Vdc 10 Required for operation DIGITAL CONTROL 10 W Typ no load on encoder 5V outputs 31 W Max all four encoder 5V 500 mA Digital Control Loops Current velocity position 100 digital loop control Sampling rate time Current loop 16 kHz 62 5 us Velocity amp position loops 4 kHz 250 us
35. educes capacitive coupling of PWM outputs to adjacent cabling by lengthening the rise fall times and providing common mode filtering of the PWM outputs Typically used in systems that have servo drives operating near other cables carrying low amplitude sensor or video signals Further details on the XTL RA 04 can be found in the Xenus Regeneration Guide on the Copley Controls web site http www copleycontrols com Motion pdf Xenus_regen_quide 03 04 pdf Used when the regenerative energy from a moving load is greater than the absorption capacity of the internal regen resistor 15 Q 65 W default continuous power 400 W max continuous power 10 kW peak power 1000 ms peak power time Further details on the XTL FA 01 can be found in the XTL FA 01 Edge Filter for Xenus User Guide on the Copley Controls web site http www copleycontrols com Motion pdf Xenus Filter pdf AGENCY STANDARDS CONFORMANCE Approvals UL and cUL recognized component to UL 61800 5 1 file no E168959 TUV SUD Functional Safety to IEC 61508 and ISO 13849 Functional Safety IEC 61508 1 IEC 61508 2 EN ISO 13849 1 EN 1SO 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 Copley Controls 20 Dan Road Canton MA 02021 USA Tech Support E mail sales copleycontrols c
36. egen resistor housings also be connected to protective earth connection points located as close to the motor and regen resistor as possible In many applications the machine frame is used as a primary or supplemental protective earth connection point for the motor and regen resistor housings Grounding and Shielding for CE Compliance These connections are the means of controlling the emission of radio frequency energy from the drive so that it does not interfere with other electronic equipment The use of shielded cables to connect the drive to motors and feedback devices is a way of extending the chassis of the drive out to these devices so that the conductors carrying noise generated by the drive are completely enclosed by a conductive shield The FG ground terminals provide cable POWER i SUPPLY J5 I I i e Heatplate Grounding Screw Notes wn XE2 cc shield connection points for the motor feedback and regen resistor cables By connecting the shields for these devices at the drive and at the device the connection is continuous and provides a return path for radio frequency energy to the drive To further minimize electrical noise it is important to keep the connection between the drive heatplate and earth equipment frame as short as possible A Heatplate Grounding Screw is provided for making this connection Grounding for Leakage Current Requirements The connection to the Heatplate Grounding Screw al
37. f Input Output a ES m x Digital Inputs 1 10 Digital Inputs 11 20 Digital Outputs 1 4 Digital Outputs 5 7 AxisA AxisB OUT 5 Not Configured o s off OUT 6 Brake Active High X ee Hi OUT 7 Brake Active High X 2 9 Hi OUTPUT DATA OUTS OUT5 SIGNALS J9 F 30Vmax ours j9 23 O AA OUT5 J9 14 Q 5 gt LH PLE ee ec at 24 Vdc HI LO DEFINITIONS OUTPUTS Hi Output transistor is ON current flows EE b HI Output transistor is OFF no current flows sk There should be only one Output transistor is OFF conductor in each position Brake is un powered and locks motor shaft of the J5 connector If Motor cannot move brakes are to be wired Brake state is Active directly to J5 for their Output transistor is ON 24V power use a double Brake is powered releasing motor shaft wire ferrule for J5 4 Motor is free to move Information for ferrules Brake state is NOT Active can be found on page 30 CME2 Default Setting for Brake Outputs OUT6 7 is Brake Active HI Active Brake is holding motor shaft i e the Brake is Active Motor cannot move No current flows in coil of brake CME2 I O Line States shows Output 6 or 7 as HI BRK A B BRK Output voltage is HI 24V MOSFET is OFF OUT6 7 Servo drive output current is zero T Servo drive is disabled PWM outputs are off Inactive Brake is not holding motor shaft i e th
38. f the decelerati is less than the absorpti capacity of the drive then a regeneration resistor will no ity of the drive th ti istor will not be used because the bus voltage will not rise enough to hit the over voltage level that would disable the PWM outputs CALCULATING THE REGEN REPETITION FREQUENCY veidi Decel time Step 1 Find the energy of motion for a rotating load for this example let it be 1 I 1 75 Joules i E J A 775 Joules kg m RPM Absorption l 390 p j Bus A Step 2 Subtract the absorption at your mains voltage to get the energy that must Vdc ifa be dissipated in the regen resistor Use 240 Vac HVdc i I 75J 43 2 32 Joules J oules i I Active Step 3 Divide the regen energy by the continuous power rating of 20 Watts Regen to get the dwell time that can dissipate the regen energy in the resistor Resistor Dwell Time 32 Joules 1 6 sec off 20 Watts Seconds Joules Watts Step 4 Find the total regen cycle time by adding the deceleration time to the dwell time Decel Time 1 25 sec Dwell Time 1 60 sec Cycle Time 2 85 sec Velocity INTERNAL REGEN RESISTOR Max Energy 100 W s J Bus Voltage me poms Regen Active Regen Dwell Time Regen Cycle Time Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 34 of
39. hield 2 Grounding g tab NOTES 1 5V Out on J10 amp J11 are independent power supplies and each is rated for 500 mA 2 CE symbols indicate connections required for CE compliance Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 25 of 36 copley CQ controls WARNING Hazardous voltages exist on connections to J1 J2 J3 amp J4 when power is applied and for up to 5 minutes after power is removed Copley Controls 20 Dan Road Canton MA 02021 USA Tech Support E mail sales copleycontrols com Web http www copleycontrols com US Xenus 2 Axis EtherCAT ISOLATED aus AN J1 MAINS CONNECTIONS Mains Input L3 E J2 REGEN RESISTOR e e e e e e e e e e e e e e e e 00 sees Frame Grouna 3 regen 2 e t EE even e e e e e e e e e e e e e e e e e e e e J3 amp J4 MOTOR OUTPUTS Avia 5 zw return 1 em sem 7 Ls see Ps sto e sez ax o sow Tel 781 828 8090 Fax 781 828 6547 Page 26 of 36 copley Rots cones Xenus 2 axis EtherCAT w XEZ CE J12 CONTROL ON END PANEL PIN SIGNAL 2 3 5 7 10 11 12 13 14 15 SIGNAL 16 Signal Gnd 17 5V Out3 1
40. ifier has switched to sinusoidal commutation MOTEMP SIGNALS 30Vmax 24V typical 5 16 25 26 Resistance in the temperature range 60 750 20 C to 70 C Resistance at 85 C lt 1650 Resistance at 95 C 23990 Resistance at 105 C 212000 2 Axis EtherCAT Rev 01 XE 2 CE MOTOR SIGNALS J3 J4 Pin Mot U Signal HV EL er HALL SIGNALS In 5 16 i Hall V 10K oer m eee TUE i 10K Hall C H 5V x A Hall W 10K Q Ci P HOP I 5V Out 500 mA Signal Ground MOTOR OVER TEMP INPUT The 4 99k pull up resistor works with PTC positive temperature coefficient thermistors that conform to BS 4999 Part 111 1987 table below or switches that open close indicating a motor over temperature condition The active level is programmable J10 11 Motemp 10k O e 1 T Thermistor 1 b Posistor or switch Signal Gnd Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 16 of 36 copley GR T c Xenus di S 9 Axis EtherCAT wn XE2 cc The multi mode port can operate as primary or secondary feedback from digital quad A B X or absolute encoders FEEDBACK FROM DIGITAL QUADRATURE ENCODER MAX3097 When operating in position mode the multi mode port can accept digital comm
41. iting Motor over temperature Feedback power loss MECHANICAL amp ENVIRONMENTAL Size Weight Ambient temperature Humidity Contaminants Vibration Shock Environment OPTIONS XTL FA 01 Edge Filter XTL RA 04 Regen Resistor US Xenus 2 Axis EtherCAT wn XE2 ce Internal solid state switch drives external regen resistor see Ordering Guide for types HV gt 390 Vdc Regen output is on optional external regen resistor is dissipating energy HV lt 380 Vdc Regen output is off optional external regen resistor not dissipating energy 2 Vdc For either Cut In or Drop Out voltage HV gt 400 Vdc Drive PWM outputs turn off until HV is less than overvoltage HV lt 60 Vdc Drive PWM outputs turn off until HV is greater than undervoltage IGBT gt 80 C 3 C Drive PWM outputs turn off until IGBT temperature is below threshold Output to output output to ground internal PWM bridge faults Programmable continuous current peak current peak time Programmable input to disable drive when voltage is above or below a set point 0 5 Vdc Fault occurs if feedback is removed or 5 V is lt 85 of normal 9 24 x 5 42 x 3 59 234 7 x 137 6 x 91 1 in mm 4 19 Ib 1 90kg 0 to 40 C operating 40 to 85 C storage 0 to 95 non condensing Pollution degree 2 2 g peak 10 500 Hz sine IEC60068 2 6 10 g 10 ms half sine pulse IEC60068 2 27 IEC68 2 1990 One used for each motor output A passive R L C filter that r
42. k Clk 10k Qe L4 H 121 X w X 5V Q 5V Out 500 mA ov LS Signal Ground Notes for XE2 230 20 R model US Xenus 2 Axis EtherCAT SSI BiSS SIGNALS J10J11 ox e NH wn XE2 cc BiSS ABSOLUTE ENCODER BiSS is an Open Source digital interface for sensors and actuators BiSS refers to principles of well known industrial standards for Serial Synchronous Interfaces like SSI AS Interface amp and Interbus amp with additional options Serial Synchronous Data Communication Cyclic at high speed 2 unidirectional lines Clock and Data Line delay compensation for high speed data transfer Request for data generation at slaves Safety capable CRC Errors Warnings Bus capability incl actuators Bidirectional BiSS B protocol Mode choice at each cycle start BiSS C protocol Continuous mode BiSS Encoder J10 11 Vom cos UE FG tL o Frame Ground Master lt 4 Clk Slave gt Data V 5V Out 500 mA y Signal Ground ABSOLUTE A ENCODER amp INCREMENTAL A The interface is a serial half duplex type that is electrically the same as RS 485 Absolute A Encoder J10 J11 Cmd eme 5V Out 500 mA MAX3362B Signal Ground ABSOLUTE A SIGNALS ABSOLUTE ENCODERS Absolute A Tamagawa Absolut
43. le kit Qty Item Remarks 1 XE2 230 20 R Xenus Plus XE2 servo drive with resolver option 1 XE2 CK 02 Connector Kit 1 CME 2 CME 2 CD 1 SER CK Serial Cable Kit ACCESSORIES Plug 5 position 5 08 mm female Strain relief snap on 5 08 mm 5 position orange Plug 3 position 5 08 mm female Strain relief snap on 5 08 mm 3 position orange Plug 4 position 5 08 mm female Strain relief snap on 5 08 mm 4 position orange Plug 5 position 3 5 mm female XE2 CK Connector DB 9M 9 position standard male AMPLIMITE HD 20 Crimp Snap contacts 24 20AWG AU flash Metal Backshell DB 9 RoHS Jumper with pins crimped on both ends Contro Connector high density DB 44M 44 position male solder cup Metal Backshell DB 25 ROHS Feed Connector high density DB 26M 26 position male solder cup Metal Backshell DB 15 ROHS 7 EtherCAT network cable 10 ft 3 m J8 EtherCAT network cable 1 ft 0 3 m Note 1 For RoHS compliance append RN01 0000 to the Wago part numbers listed above Note 2 Insertion extraction tool for J6 contacts is AMP Tyco 91067 2 not included in XE2 CK REGENERATION RESISTOR OPTIONAL XTL RA 04 afz Jd Regeneration resistor assembly 15 Q EDGE FILTER OPTIONAL ONE REQUIRED FOR EACH AXIS QUANTITIES BELOW ARE FOR ONE FILTER AND ONE CONNECTOR KIT XTL FA 01 Edge filter Edge Filter Plug 4 position 5 0 mm female Wago 721 104 026 047 Note 1 C tor Kit ANC eet Plug 5 positio
44. mA 2 ms from Vin lt 6 0 Vdc to interruption of energy supplied to motor Complete information and specifications are in the Xenus Plus 2 Axis STO Manual RxD TxD Gnd in 6 position 4 contact RJ 11 style modular connector Full duplex DTE serial communication port for drive setup and control 9 600 to 115 200 baud Binary and ASCII formats 7 Opto isolated SSR two terminal 300 mA max 24 V tolerant Rated impulse 800 V series 20 Q resistor Motor brake control opto isolated current sinking with flyback diode to 24 Vdc 1 Adc max Dual RJ 45 receptacles 100BASE TX EtherCAT CAN application layer over EtherCAT CoE 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 Specification 303 3 5V OUTPUT Number 4 two on the feedback connectors J 10 J 11 two on the control connector J 12 for the A and B multi mode ports Ratings 5 Vdc 500 mA thermal and overload protected each output 2000 mA total for all four outputs Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 2 of 36 copley controls REGENERATION Operation Cut In Voltage Drop Out Voltage Tolerance PROTECTI ONS HV Overvoltage HV Undervoltage Drive over temperature Short circuits I T Current lim
45. mand inputs they can be used as general purpose analog inputs D A J12 F G AIN A B SIGNALS A Vref n Vref ISOLATED GENERAL PURPOSE OUTPUTS OUT1 5 Digital opto isolated SSR 2 terminal Flyback diode for inductive loads 24V Compatible Programmable functions OUT1 5 SIGNALS SSR OUTn min max HI LO DEFINITIONS OUT1 5 State 24V typical Output transistor is ON current flows uid Output transistor is OFF no current flows 24v 30 Vdc max Zener clamping diodes across outputs allow driving of resistive inductive R L loads without external flyback diodes Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 12 of 36 copley G controls Copley Controls 20 Dan Road Canton MA 02021 USA Xenus Axis EtherCAT wma XE2 cc Brake outputs Opto isolated J5 Flyback diodes for inductive loads x 3 24V Compatible There should be only one 5 i conductor in each position of the Connection for external 24V power supply J5 connector If brakes are to be Programmable functions wired directly to J 5 for their 24V power use a double wire ferrule for J5 4 Information for ferrules SPECIFICAT
46. n 5 0 mm male Wago 721 605 000 044 Note 1 Tool wire insertion amp extraction Wago 231 131 Note Specifications are subject to change without notice Rev 6 02 we 08 12 2015 Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 36 of 36
47. om Web http www copleycontrols com Tel 781 828 8090 Fax 781 828 6547 Page 3 of 36 copley Eo wm Xenus 2 Axis EtherCAT Ce Rev 01 X E 2 c FEEDBACK XE2 230 20 FEEDBACK Incremental Digital Incremental Encoder Analog Incremental Encoder Analog Index signal Panasonic Incremental A Format Quadrature signals A A B B X X differential X X Index signals not required 5 MHz maximum line frequency 20 M counts sec MAX3097 differential line receiver with 121 Q terminating resistor between complementary inputs Sin cos format sin sin cos cos differential 1 Vpeak peak ServoTube motor compatible BW gt 300 kHz 121 Q terminating resistor between complementary inputs Differential 121 Q terminating resistor between complementary inputs 1 Vpeak peak zero crossing detect Sanyo Denki Wire saving Incremental Absolute SSI EnDAT Clock X X Data S S signals 4 wire clock output from XE2 data returned from encoder Clock X X Data S S sin cos sin sin cos cos signals Absolute A Tamagawa Absolute A Panasonic Absolute A Format Sanyo Denki Absolute A BiSS B amp C SD SD S S signals 2 5 or 4 MHz 2 wire half duplex communication Position feedback 13 bit resolution per rev 16 bit revolution counter 29 bit absolute position data Status data for encoder operating conditions and errors MA MA X X SL SL S S signals 4 wire clock
48. otocol STATUS INDICATOR LEDS Drive Status Internal function generator Position Velocity Torque control via CVM or ASCII commands 22 Digital Schmitt trigger 1 5 us RC filter 24 Vdc compatible 15kQ programmable pull up down to 5 Vdc ground Vt 2 53 5 Vdc VT 1 32 2 Vdc VH 0 7 1 5 Vdc Same specs as IN1 amp IN11 but with fixed 15 kQ pull up to 5 Vdc Programmable as single ended or differential pairs 100 ns RC filter 5 Vdc max 10 kQ programmable pull up down per input to 5 Vdc ground SE Vin LO lt 2 3 Vdc Vin HI 2 7 Vdc VH 45 mV typ DIFF Vin LO lt 200 mVdc Vin HI 2 200 mVdc VH 45 mV typ Opto isolated single ended 15 30 Vdc compatible bi polar 2 groups of 4 with common return for each group Rated impulse 800 V Vin LO x 6 0 Vdc Vin HI 10 0 Vdc Input current 3 6 mA 24 Vdc typical Motor overtemp signals on feedback connectors Schmitt trigger 24 Vdc compatible 330 us RC filter 4 99k pullup to 5 Vdc Vt 2 53 5 Vdc VT 1 32 2 Vdc VH 0 7 1 5 Vdc 2 Differential 10 Vdc 5 kQ input impedance 14 bit resolution PWM outputs are inactive and current to the motor will not be possible when the STO function is asserted Designed to IEC 61508 1 IEC 61508 2 IEC 61800 5 2 150 13849 1 SIL 3 Category 3 Performance level d 2 two terminal STO IN1 STO IN1 STO IN2 STO IN2 Opto isolators 24V compatible Vin LO lt 6 0 Vdc or open Vin HI 15 0 Vdc STO IN1 9 0 mA STO IN2 4 5
49. 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 Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 6 of 36 copley GR nous controle Xenus 2 Axis EtherCAT Rev 01 XE2 E DESCRIPTION The XE2 provides the Safe Torque Off STO function as defined 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 firmware or associated hardware components When the opto couplers are activated current is flowing in the input diodes the control core will be able to control the on off state of the PWM outputs INSTALLATION Refer to the Xenus Plus Dual Axis STO User Manual
50. re only supported for resolver feedback Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 18 of 36 cople GY 71 c Xenus 2 Axis EtherCAT wv XE2 C CME2 amp AXIS A I O CONNECTI ONS CME2 SCREEN FOR INPUTS IN1 IN10 1nputyoutput iin Digital Inputs 1 10 Digital Inputs 11 20 Digital Outputs 1 4 Digital Outputs 5 7 Pull Up Pull Down AxisA AxisB Debounce time C QqNij amEnabeiOEnsbes with Clear Faults om Hi c C mpug wtcofoued s c c Cs C C IN Notconfgued a c6 c osa nip o gd c Ome E s IT EE ING Notconfgred s CC omo INT Wwtcoford wy 0 ms Lo JING Notconfgued iy C m INS Notconfored s om N10 Motor Temp Hi Dsabes 0 ms Hi Inputs 2 3 Differential Single Ended Inputs 4 5 Differential Q 5 n T 7 IN1 IN6 9 5V PullUp 5V 9 Input 3 PullDown OV 24V GND M COMM1 i exc n2 10x 74HC14 LL 9 T th i me v V IN6 Arki RYA INx 3 I B 10k din 4 99k X e Lm peas C i 30Vmax aR i Don i ns 24V typical i I ELE inr i IN2 5 Eo poea Vmax 12V J12 Control Ween cee i aw T toh 5V j F3 IN8 BE inr
51. shows the connections to the drive that share a common ground in the driver If the brake 24V power supply is separate from the DC supply powering the drive it is important that it connects to an earth or common grounding point with the HV power supply Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 13 of 36 copley GR nous ete Xenus 2 Axis EtherCAT Rev 01 XE2 CE 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 QUAD A B ENCODER WITH FAULT PROTECTION Encoders with differential line driver outputs are required single ended encoders are not supported and provide incremental position feedback via the A B signals and the optional index signal X gives a once per revolution position mark The MAX3097 receiver has differential inputs with fault protections for the following conditions
52. so provides a second protective earthing conductor to address the touch current requirements of IEC 61800 5 1 Further information on this topic can be found in the Xenus Plus User Guide i CE z r L L Protective I Earth im EXTERNAL REGEN RESISTOR 1 Shielded cables required for CE are shown in the diagram above 2 Line filter required for CE Copley Controls 20 Dan Road Canton MA 02021 USA Tech Support E mail sales copleycontrols com Web http www copleycontrols com Tel 781 828 8090 Fax 781 828 6547 Page 33 of 36 copley GR nous eee Xenus 2 Axis EtherCAT Rev 01 XE2 CE The drive has has an internal regen resistor which can handle regenerative energy that exceeds the absorption capacity of the internal bus capacitance The internal regen resistor will be switched on when the energy shown in the table has been absorbed and the bus voltage driven up to 390 Vdc at which point the internal regen resistor will be switched to absorb the kinetic energy of the load ABSORPTION Absorption is the energy that can be transferred to the Terms internal capacitors during deceleration This table shows V E e f E E les Watt d the energy absorption in W s for a drive operating at some j Rotary Moret pm omi SUCSERUUOS typical mains voltages The capacitor bank is 2350 uF and P Power Watts the energy absorption is shared with both axes e deceleration energy is less than the absorption I
53. ted each output 2000 mA total for all four outputs Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 4 of 36 copley oe PLUS Xenus 2 Axis EtherCAT wn XE2 cc ETHERCAT COMMUNI CATIONS 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 Xenus Plus and the master The OUT port connects to downstream nodes If Xenus Plus 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 Agreen 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 J8 EtherCAT PORTS L A RJ 45 receptacles Single flash Safe operational OUT 8 position 4 contact On Operational ERR Red Shows errors such as watchdog timeouts and unsolicited RUN PIN SIGNAL state changes in the XE2 due to local errors J 8 TX Off EtherCAT communications are working correctly L A Blinking Invalid configuration general configuration error Single Flash Local error slave has changed EtherCAT state autonomously I
54. troller Pull down works with current sourcing outputs typically PLC s that drive grounded loads J12 8 IN12 J12 13 6 Six of the inputs have individually settable PU PD The other four have PU PD control for pairs of inputs J12 9 IN13 J12 14 J12 10 IN14 J12 15 pu Pina 1230 f 114 1225 a PullDown OV J12 11 IN15 J12 30 I Nx IN2 5 12 15 SIGNALS Pin l Input Input SINGLE ENDED DIFFERENTIAL DIGITAL INPUTS IN2 5 12 15 These inputs have all the programmable functions of the GP inputs plus these IN3 IN2 J12 9 additional functions which can be configured as single ended SE ins mo 122 9 or differential DIFF ina ina 112 10 e PWM 50 PWM amp Direction for Velocity or Current modes e Pulse Direction CU CD or A B Quad encoder inputs for Position or Camming modes S E Diff Pin Input Input IN13 IN12 12 14 IN14 IN14 J12 15 IN15 IN14 J12 30 SINGLE ENDED DIFFERENTIAL 12 Vdc max 12 Vdc max 12V Ji2Con ol a penaa 12V ui ES i ad 4 os 5V a 10k Y MAX3096 gi 10k Y T MAX3096 oo eg Oo O T IN2 4 12 14 I Y IN2 4 12 14 i T AR 100 pF T 100 pF Lb 2 5V gt MN Op 5V 10k v d 10k Y i 1k H 1k Lip 4 0 O L Oo gt 4 e IN3 5 13 15 p M INS53 15 V 100 pF maxsos6 100 pe T v v
55. trols 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Fax 781 828 6547 Page 17 of 36 copley GM rons contro Xenus 2 4xis EtherCAT a XE2 CE MULTI MODE ENCODER PORT COMMAND INPUTS AS A MASTER OR CAMMING ENCODER INPUT gt MANGO MAX3097 FROM A DIGITAL QUADRATURE ENCODER When operating in position mode the multi sk A B X signals from mode port can accept digital command signals digital encoder from external encoders These can be used to drive cam tables or as master encoder signals when operating in a master slave configuration Pulse Dir or CU CD differential commands COMMAND INPUTS MULTI PORT Axis A Axis B AS DIGITAL COMMAND INPUTS IN PULSE Enc A Pulse J12 36 DIRECTION PULSE UP PULSE DOWN OR DIGITAL QUADRATURE ENCODER FORMAT ENEJA The multi mode port can also be used when Enc B J12 35 digital command signals are in a differential format These are the signals that typically enx pos unz4 go to single ended inputs But at higher ne J12 J12 frequencies these are likely to be differential enx nz39 n2 35 Erba in a case the multi mode port J 12 38 23 can be used MULTI MODE ENCODER PORT FEEDBACK OUTPUTS AS BUFFERED OUTPUTS FROM A DIGITAL QUADRATURE PRIMARY ENCODER When using a digital quadrature feedback encoder the A B X signals drive the multi mode port o
56. utput BUFFERED OUTPUTS MULTI PORT buffers directly This is useful in systems that use gt external controllers that also need the motor feedback Signal encoder signals because these now come from J12 m m the Control connector In addition to eliminating Y Buffered A B X signals Enc A J12 36 J12 42 cabling where the motor feedback cable has to split eases Enc A 12 21 12 27 to connect to both controller and motor the buffered MAX3032 outputs reduce loading on the feedback cable that 0 KI Quad A B X primary could occur if the motor encoder had to drive two differential inputs in parallel each with it s own 121 ohm terminating resistor pulse Enc IX 112 25 5V J12 38 23 Secor Sgnd J12 31 16 J12 37 22 AS EMULATED QUAD A B ENCODER OUTPUTS FROM 3 AN ANALOG SIN COS FEEDBACK ENCODER F G Analog sin cos signals are interpolated in the drive with 3 programmable resolution The incremental position data is then converted back into digital quadrature format which drives the multi mode port output buffers Some analog encoders also produce a digital index pulse which is connected directly to the port s aS E e acoder output buffer The result is digital quadrature A B or resolver signals that can be used as feedback to an external control system E mulated Quad A B Notes for XE2 230 20 R model Buffered outputs from digital encoders on J10 amp J11 are not supported Emulated quad A B outputs a
57. uts Brushless single speed 1 1 to 2 1 programmable transformation ratio 14 bits equivalent to a 4096 line quadrature encoder 8 0 kHz 2 8 Vrms auto adjustable by the drive to maximize feedback 100 mA 10 000 i i Differential 54k 1 differential impedance 2 0 Vrms BW 300 kHz DIGITAL HALLS Type Digital single ended 120 electrical phase difference between U V W signals Schmitt trigger 1 us RC filter 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 10 kQ pullups to 5 Vdc 1 us RC filter to Schmitt trigger inverters Inputs MULTI MODE ENCODER PORT As Input As Emulated Output Digital quadrature encoder A A B B X X 121 Q terminating resistors between A amp A B amp B inputs 18 M counts sec post quadrature 4 5 M lines sec Digital absolute encoder Clk Clk Dat Dat half or full duplex operation 121 O terminating resistors See above for listing of absolute encoder types EnDat Sin Cos signals are not supported Quadrature encoder emulation with programmable resolution to 4096 lines 65 536 counts per rev from resolver A A B B outputs from MAX3032 differential line driver X X S S outputs from MAC3362 drivers ENCODER POWER SUPPLIES Number 4 two on the feedback connectors J10 J 11 two on the control connector J 12 for the A and B multi mode ports Ratings 5 Vdc 500 mA thermal and overload protec
58. vns Cm vn 25 ae IN12 15 bus PRES 8 mera HI LO HI LO HI O Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 20 of 36 cople RoHs copiey Xenus 2 Axis EtherCAT s XE2 E CME2 amp OUTPUTS 1 4 CONNECTIONS OUTPUT CONNECTIONS CME2 SCREEN FOR OUTPUTS OUT1 4 f amp Input Output zy x Digital Inputs 1 10 Digital Inputs 11 20 Digital Outputs 14 Digital Outputs 5 7 AxisA Axis B rtg frautactveor A 4 o Configure Custom 0UT2 frautacveof A EE off Configure Gustom OUT Not Configured z 9 s off it Configure Custom urg rctcofored 5 6 e Configure Custom I Hold position when limit switch is active OUTPUT DATA OUT1 4 SIGNALS 1 11 000000 0ceHHHHHee ss8 800 300mA case Utes ee O ures oor Q ih 2 EXE ia e 6 w i ls Fon e a tA Sl at 24 Vdc HI LO DEFINITIONS OUTPUTS oH Output transistor is ON current flows OUT1 4 HI Output transistor is OFF no current flow Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 21 of 36 copley GR m MR Xenus 2 Axis EtherCAT Rev 01 XE2 CE CME2 SCREEN FOR OUTPUTS OUT5 7

Xenus Plus EtherCAT 2-Axis XE2

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