CANopen - Copley Controls
Contents
1. Keep the chassis grounding connections short for best shielding performance Xenus HEATPLATE GROUNDING SCREW PLUS ensure compliance with local electrical codes and any other applicable standards It is strongly recommended that motor and regen 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 SUPPLY J5 Heatplate Grounding Screw Notes 2 Axis CANopen e RoHS e XP2 CE shield connection points for the motor feedback and regen resistor cables By connecting the shields for these devices at the drive and atthe device the connection is continuous and provides a return path for radio frequency energy to the drive To further minimize2. Note STO applies to Xenus Plus Dual Axis ni PWMsIgnals Axis A AND Axis B ees gem Je Regulator V Buffer fe i R AE 1 eI Upper IGBT Gate Drive STO 1 KO T He HV STO 1 xi e K Current must flow through all of the opto couplers before the XP2 can be enabled PWM T Outputs STO bypass connections on the XP2 and Xenus i STO 2 He XPL models are different If both drives are d i yx Ik installed in the same cabinet the diode should i l STO 2 e b NE be wired as shown to prevent damage that could x O occur if the STO bypass connectors are installed H ni i on the wrong drive The diode is not required for gy 51910 AIL GEPIGEKCAE DUE STO bypass on the XP2 and can be replaced by a x wire between pins 7 and 9 i T STO 1 1 H T ck STO 24V v Ls 8 0 Li x I STO GND a 1 Frame Bo XE2 and XEL XPL STO bypass connections are different 1 The diode shown should be used if XE2 and XEL XPL drives are used on the same equipment Otherwise the diode may be replaced by a jumper XE2 STO bypass connectors are not compatible with XEL XPL drives SAFETY CONNECTOR J6 J6 SIGNALS ew sec on s 2 imma 6 se
3. Ps sexo e sro a sos o sme Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 7 of 36 o o o o o oooo copley G rons E Xenus 2 Axis CANopen Rev 01 XP2 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 take advantage of the high speed inputs Differential inputs have 121 Q line terminators SINGLE ENDED PULSE amp DIRECTION DIFFERENTIAL PULSE amp DIRECTION M IN2 12 PURSES COMMAND SINGLE ENDED 4 IN3 13 Axis A Axis B Puse 12 10 312 15 312 11 712 30 Direction s1505 coon Shid j12 1 INA 14 o px 1INAO9 birecrone J12 6 16 22 31 37 44 SINGLE ENDED CU CD DIFFERENTIAL CU CD CU Count Up CU Countup IN2 12 p SA PULSE UNo mae MUL mete PULSES COMMAND DIFFERENTIAL Tip ue MM n ynsas eco QUAD A B ENCODER SINGLE ENDED QUAD A B ENCODER DIFFERENTIAL J12 6 16 22 31 37 44 Encoder ph A Encoder ph A w202 ene a Shld J12 1 CD Count Down FL IN4 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
4. Du ipee vI NAY 3HOALL3N OTX a Ke ie Fass a IX B PED T ours ours OUT2 OUT1 EN ours ouras oun J10 J11 FEEDBACK N C No Connection SIGNAL Sin1 S3 PN 20 Cosi S4 j 6 E m m o w gt Ig w Ref R1 Signal Gnd 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 P N 16 lt tbd gt Rev 00 September 23 2015 Page 29 of 36 copley G rons cr Xenus 2 Axis CANopen Rev 01 XP2 CE AC POWER REGEN AND MOTOR OUTPUTS J1 J4 Wago MCS MIDI Classic 231 305 107 000 J1 231 303 107 000 22 231 304 107 000 23 J4 female connector with screw flange 3 pole pin spacing 5 08 mm 0 2 in Ji J2 Conductor capacity Bare stranded AWG 28 14 0 08 2 5 mm2 Insulated ferrule AWG 24 16 0 25 1 5 mm2 Stripping length 8 9 mm Operating Tool Wago MCS MIDI Classic 231 159 J3 J4 Tool 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 1 2607 3 5 0 14 4 0 0 16 10 0 39 s pos oes ego nens 1200 eoc TEE TES 216 222 12 0 47 6 0 24 1 26047 2 8 C11 3 3613 8 31 216 221 12 0647 6 0624 1 06039 2 6 10 3 1612
5. 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 Hall V 2 used for commutation initialization after startup and Hav 2 for checking the motor phasing after the amplifier has switched to sinusoidal commutation Hall B 5 16 E Hall V 10K gt OH SB cc T i 10K Hall C H 5V x A Hall W 10K Q Ci P i HoT 5V Out 500 mA Signal Ground MOTOR OVER TEMP INPUT The 4 99k pull up resistor works with PTC positive temperature MOTEMP SIGNALS 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 Motemp A J10 7 30Vmax 24V typical Motemp B J11 7 J10J11 c 10 211 COO edle Ratele ciues ends g 5 16 25 26 Ks Property Motemp 10k O gt Resistance in the temperature range 60 750 T ermistor d 20 C to 70 C Posistor l 33n Resistance at 85 C lt 1650 orswiteh Signal and zZ Resistance at 95 C 23990 1 Resistance at 105 C gt 12000 Dc E Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 16 of 36 copley G rons PE Xenus 2 Axis CANopen Rev 01 XP2 CE The multi mo
6. 7 5C30 NOTES EN F PNUM Part Number C D E SL Stripping length Dimensions mm in 4 B mM 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 Insulated ferrule AWG 24 716 0 25 1 5 mm2 A lt lt Stripping length 0 24 0 28 in 6 7 mm gt DAN Operating tool Wago MCS MINI 734 231 e FERRULE PART NUMBERS SINGLE WIRE INSULATED E 10 Red Wago 216 223 12 0 47 6 0 24 14606 3 0 12 3 5 14 8 31 0 5 G 18 0 0 75 Gray 216 222 12 0 47 6 0 24 12605 2811 3 3 13 8 31 22 05 white wago 216 221 12 0647 6 0 24 10602 2 6C10 3 1 12 7 5 30 FERRULE PART NUMBERS DOUBLE WIRE INSULATED 2x18 2x10 Red altech 2776 0 15 4 61 82132 2 4 09 3 2 13 5 8 23 11 0 43 Altech 2775 0 14 6 57 8 26032 2 0 08 3 0 12 5 5 22 11 0 43 2x 0 75 Altech 2794 0 14 6 57 8 2 32 1 7 07 3 0612 5 0 20 11 0 43 2x 0 75 966144 2 15 0 59 8 0 31 1 70 07 2 8 11 5 0 20 10 39 2 x 0 50 966144 1 15 0 59 8 0 31 1 40 06 2 5610 47 19 10 39 SINGLE WIRE DOUBLE WIRE A E i E2 yf EM n c D E C D F jd F B x B a A E Copley Controls 20 Dan Road Canton
7. amp Direction Frame Ground Current or Velocity amp Current or Velocity Oo MAX3097 DEL ce Enc A Incremental i Encoder Pulse Dir or CU CD O i differential commands E Enc B SECONDARY FEEDBACK INCREMENTAL e Quad A B X incremental encoder e Quad A B emulated encoder from sin cos encoder MAX3097 i Enc x i i Absolute i S duque Encoder Enc S A B X signals from digital encoder l O 5V output 500 mA 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 312 36 312 42 nc E J r J12 21 312 27 212 35 12 41 212 20 12 26 Input Output Select 2 Wire digital absolute encoder signals MAX3032 Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 9 of 36 copley GR rons ja Xenus 2 Axis CANopen Rev 01 XP2 CE HS Inputs IN1 2 Pin 24 Vdc max 312 7 10k 100p 5 0 V H a 10k 1k 100p 12 EH 10k 1k 100p 12 J12 11 I
8. cople rons iji a E Xenus z Axis CANopen n XP2 CE The analog inputs have a 10 Vdc range at 14 bit resolution As reference inputs they can take position velocity torque commands from a controller If not used as command inputs they can be used as 2 general purpose analog inputs i Vref AIN A B SIGNALS AIN J12 3 J12 5 AIN 312 2 312 4 J12 6 16 22 31 37 44 Shield J12 1 ISOLATED GENERAL PURPOSE OUTPUTS OUT1 5 Digital opto isolated SSR 2 terminal Flyback diode for inductive loads 24V Compatible Programmable functions OUT1 5 SIGNALS iura 800 min HI LO DEFINITIONS OUT1 5 E 24V typical oH Output transistor is ON current flows HI 7 Output transistor is OFF no current flows 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 P N 16 lt tbd gt Rev 00 September 23 2015 Page 12 of 36 copley G rons controle Xenus 2 Axis CANopen Rev 01 XP2 CE Brake outputs Opto isolated e Flyback diodes for inductive loads 24V Compatible e Connection for external 24V power supply e Programmable functions SPECIFICATI ONS Voltage Range 30 Vdc HI LO DEFINITIONS OUTPUTS Output transistor is OFF HI Brake is un po
9. i I Cmd 5V Out 3p 1 500 mA MAX3362B Signal Ground ABSOLUTE A SIGNALS ABSOLUTE ENCODERS Absolute A Tamagawa Absolute A Panasonic Absolute A Format Sanyo Denki Absolute A Signal J10 J11 g Pin Data 15 Data 14 INCREMENTAL ENCODERS 5V 617 Panasonic Incremental A Sgnd 5 16 Shld 1 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 P N 16 lt tbd gt Rev 00 September 23 2015 Tel 781 828 8090 Fax 781 828 6547 Page 15 of 36 copley MEAM Xenus 2 Axis CANopen Rev 01 XP2 CE MOTOR PHASE CONNECTIONS The drive output is a three phase PWM inverter MOTOR SIGNALS that converts the DC buss voltage HV into three sinusoidal voltage waveforms that drive the motor phase coils Cable should be sized for HV the continuous current rating of the motor Motor cabling should use twisted shielded conductors for Mot V 3 CE compliance and to minimize PWM noise coupling MeV 3 into other circuits The motor cable shield should connect to motor frame and the drive frame ground Shield terminal J3 J4 1 for best results ov e O DIGITAL HALL SIGNALS Hall signals are single ended signals that provide HALL SIGNALS absolute feedback within one electrical cycle of the motor There are three of them U V amp W and they
10. Cable Kit XP2 NC 10 CAN network cable 10 ft 3 m J8 Network XP2 NC 01 CAN network cable 1 ft 0 3 m Note 1 For RoHS compliance append RNO1 0000 to the Wago part numbers listed above Note 2 Insertion extraction tool for J6 contacts is AMP Tyco 91067 2 not included in XP2 CK REGENERATION RESISTOR OPTIONAL XTL RA 04 D L 3 f 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 X ODER on Plug 5 position 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 tu 10 19 2015 Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 36 of 36
11. FEEDBACK OUTPUTS AS BUFFERED OUTPUTS FROM A DIGITAL MAX3032 q QUADRATURE PRIMARY ENCODER When using a digital quadrature feedback encoder the A B X signals drive the multi mode port output BUFFERED OUTPUTS MULTI PORT buffers directly This is useful in systems that use external controllers that also need the motor feedback encoder signals because these now come from J12 Pin Pin the Control connector In addition to eliminating Y l cabling where the motor feedback cable has to split ome mar Ree z to connect to both controller and motor the buffered MAX3032 outputs reduce loading on the feedback cable that Quad A B X phimary could occur if the motor encoder had to drive two differential inputs in parallel each with it s own 121 ohm terminating resistor AS EMULATED QUAD A B X ENCODER OUTPUTS FROM AN ANALOG SIN COS FEEDBACK ENCODER Analog sin cos signals are interpolated in the drive with n 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 Emulated Quad A B index pulse which is connected directly to the port s HUM em output buffer The result is digital quadrature A B X or resolver signals that can be used as feedback to an external control system Notes for XP2 230 20 R model Buffered outputs from digital encoders on J10 amp J11 are not
12. MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 30 of 36 copley Cont eie 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 CANopen communication with the drive when the mains power has been removed Power distribution in XP2 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 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 Xenus PLUS MAINS POWER Mains power drives the high voltage sectio
13. 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 Lf I 5 Velocity IN5 15 Polarity or gt Direction ME PN udi PWM 12 10 12 15 Dir 12 11 712 30 N4014 gt _ Direction J12 6 16 22 31 37 44 IN5 gt No5 Direction Shld J12 1 SINGLE ENDED 50 PWM DIEEERENTIAL EO PWM COMMAND DIFFERENTIAL IN4 14 N2 12 PWM J12 13 Duty 50 50 T Duty 50 50 p gt Curr Vel ys noconnection 2 No function Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 8 of 36 copley G rons PE Xenus 2 Axis CANopen Rev 01 XP2 CE MULTI MODE ENCODER PORT AS AN INPUT INPUT TYPES COMMAND INPUT MULTI PORT POSITION COMMAND INPUTS DIFFERENTIAL e CW amp CCW Clockwise amp Counter Clockwise e Encoder Quad A amp B d Comming Encoder A amp B input A B X signals from digital encoder 1 Sgnd J12 6 16 22 31 37 44 Shld J12 1 J12 Multi Port CURRENT or VELOCITY COMMAND INPUTS DIFFERENTIAL MMC E Current or Velocity
14. to an input and current flows through the input diode of the opto coupler the diode condition IN15 J12v 30 is ON When no voltage is applied to an input and no current flows through the input diode it is OFF Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 20 of 36 copley G rons Ma Xenus 2 Axis CANopen Rev 01 XP2 CE CME2 amp OUTPUTS 1 4 CONNECTIONS OUTPUT CONNECTIONS CME2 SCREEN FOR OUTPUTS OUT1 4 e Input Output Digital Inputs 1 10 Digital Inputs 11 20 Digital Outputs 1 4 Digital Outputs 5 7 AxisA Axis B OUT ucc O OUT 2 Fault Active Off OUT 3 Not Configured Not Configured Restore Defaults OUTPUT DATA OUT1 4 OUT1 4 SIGNALS 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 P N 16 lt tbd gt Rev 00 September 23 2015 Page 21 of 36 copley G Rots MR Xenus 2 Axis CANopen Rev 01 XP2 CE CME2 amp OUTPUTS 5 7 CONNECTIONS CME2 SCREEN FOR OUTPUTS OUT5 7 amp Input Output Digital Inputs 1 10 Digital Inputs 11 20 Digital Outputs 1 4 Digital Outputs 5 7 _ AxisA AxisB purs Tv O OUT 6 Brake Active High OUT 7 Brake
15. 0 200 210 220 4 230 240 250 260 270 Fax 781 828 6547 Page 31 of 36 copley GR rons E Xenus 2 Axis CANopen Rev 01 XP2 CE POWER REGEN amp BRAKE CONNECTIONS SPD Surge Protection Device DANGER HIGH VOLTAGE ARE CONNECTED TO POWER C L MAINS POWER SPD B C Fuse 30 A L3 I a 10 N L2 H L1 BRAKE AC MAINS 100 240 Vac 10 or 30 BRAKE 47 63 Hz B gt 5 24V L 4 24V 24 Vdc Fite d 0 5 Adc 2 B BRL External Regen i ae Frame Ground Optional Resistor 24V Power Supply Required for Drive Operation M Frame Grounding Tab Keep the chassis grounding connections short for best shielding performance Notes 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 c
16. 47 Page 4 of 36 copley G rons ont NP Xenus 2 Axis CANopen Rev 01 XP2 CE CANOPEN COMMUNICATIONS Xenus uses the CAN physical layer signals CANH CANL and GND for connection and CANopen protocol for communication Before installing the drive in a CAN system it must be assigned a CAN address A maximum of 127 CAN nodes are allowed on a single CAN bus The rotary switch on the front panel controls the four lower bits of the seven bit CAN address When the number of nodes on a bus is less than sixteen the CAN address can be set using only the switch For installations with sixteen or more CAN nodes on a network CME 2 can be used to configure Xenus to use the rotary switch or combinations of digital inputs and programmed offset in flash memory to configure the drive with a higher CAN node address For more information on CANopen communications download the CANopen Manual from the Copley web site http www copleycontrols com motion downloads pdf CANopenProgrammersManual pdf CANOPEN CONNECTORS Dual RJ 45 connectors that accept standard Ethernet cables are provided for CAN bus connectivity Pins are wired through so that drives can be daisy XP2 NK CAN CONNECTOR KIT The kit contains the XP2 CV adapter that converts the CAN interface D Sub 9M connector to an RJ 45 Ethernet cable socket plus a 10 ft 3 m cable and terminator Both connector pin outs conform to the CiA DR 303 1 specification chained and controlled with a sin
17. 5 3 5 Vdc VT 1 3 2 2 Vdc VH 0 7 1 5 Vdc Number 4 AIN1 2 Differential 10 Vdc 5 kQ input impedance 14 bit resolution AIN3 4 Single ended motor temperature sensor 4 99 kQ pulled up to 5 Vdc 12 bit resolution SAFE TORQUE OFF STO Function PWM outputs are inactive and current to the motor will not be possible when the STO function is asserted Standard Designed to IEC 61508 1 IEC 61508 2 IEC 61800 5 2 150 13849 1 Safety Integrity Level SIL 3 Category 3 Performance level d Inputs 2 two terminal STO IN1 c STO INI1 STO IN2 STO IN2 Type Opto isolators 24V compatible Vin LO x 6 0 Vdc or open Vin HI 2 15 0 Vdc Input current typical Response time STO IN1 9 0 mA STO IN2 4 5 mA 2 ms from Vin lt 6 0 Vdc to interruption of energy supplied to motor Reference Complete information and specifications are in the Xenus Plus 2 Axis STO Manual DIGITAL OUTPUTS Number 7 OUT1 5 Opto isolated Darlingtons 20 mA max 24 V tolerant collector amp emitter connections OUT6 7 Motor brake control opto isolated current sinking with flyback diode to 24 Vdc 1 Adc max RS 232 PORT Signals RxD TxD Gnd in 6 position 4 contact RJ 12 style modular connector Mode Full duplex DTE serial communication port for drive setup and control 9 600 to 115 200 baud Protocol Binary and ASCII formats CAN PORT Signals CANH CANL Gnd in 8 position dual RJ 45 style modular connector wired as per CAN Cia DR 303 1 V1 1 Format CAN V2 0b ph
18. Absolute encoder enem SIGNALS Frame Pin Pin B Cmd 5V Out 500 mA MAX3362B Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 17 of 36 copley G rons controle Xenus 2 Axis CANopen Rev 01 XP2 CE MULTI MODE ENCODER PORT COMMAND INPUTS MAX3097 AS A MASTER OR CAMMING ENCODER INPUT MAX3097 p FROM A DIGITAL QUADRATURE ENCODER When operating in position mode the multi rut AJ 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 212 36 DIRECTION PULSE UP PULSE DOWN OR Enc A J12 21 DIGITAL QUADRATURE ENCODER FORMAT E Use The multi mode port can also be used when Enc B J12 35 digital command signals are in a differential Enc B J12 20 format These are the signals that typically EHE LE ot a 712 34 go to single ended inputs But at higher ne frequencies these are likely to be differential Enc X a ae J12 19 signals in which case the multi mode port 32 17 J12 38 23 can be used Sgnd J12 31 16 J12 37 22 MULTI MODE ENCODER PORT
19. Active High Restore Defaults OUTPUT DATA OUT5 7 SIGNALS OUT5 OUT5 30Vmax Sete ee rec ub 300mA 24V typical OO SSR OUTn min max Eus E ET ee T LOSE O i OoN iom GO LU Eres E 4 36V Vdc O OUTn X HI LO DEFINITIONS OUTPUTS Output transistor is ON current flows OUT5 Output transistor is OFF no current flows Output transistor is OFF HI Brake is un powered and locks motor shaft Motor cannot move BRK A B BRK A B Brake state is Active OUT6 7 OUT6 7 O CME2 Default Setting for Brake Outputs OUT6 7 is Brake Active HI Active Brake is holding motor shaft i e the Brake is Active S i Motor cannot move i Axis B No current flows in coil of brake i prake 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 nactive 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 Output transistor is ON L Brake is powered releasing motor shaft Motor is free to move Brake state is NOT Active Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tb
20. FEEDBACK XP2 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 XP2 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 DIGITAL HALLS Type Inputs MULTI MODE ENCODER PORT As Input As Emulated Output As Buffered Output ENCODER POWER SUPPLIES Number Ratings 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 output from XP2 da
21. IAL 12 Vdc max 12 Vdc max 12V J12 Control 12V COn T e l NES e 5V 2 10k Y MAX3096 gi f 10k Y ji MAX3096 1k o 0 4 oO 4 Y IN2 4 12 14 J T IN2 4 12 14 l AW 100 pF 4 100 pF v 2 5V T gt p 5v ISN 10k Y 10k Y i 1k i 1k 4 O o 4 e Lip o 4 e 7 IN3 5 13 15 p TIN3 5 13 15 2m Tm V l 100 pF 4 MAX3096 100 pF i PLC outputs are frequently current sourcing from 24V for driving grounded loads PC based digital controllers commonly use NPN or current sinking outputs Set the Xenus inputs to pull down to ground for current sourcing connections and to pull up to 5V for current sinking connections Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 10 of 36 RoHS copley O Xenus 2 Axis CANopen Rev 01 XP2 CE OPTO ISOLATED INPUTS IN6 IN7 I N8 IN9 IN16 IN17 IN18 IN19 These inputs have all the programmable functions of the GP inputs plus opto isolation There are two groups of four inputs each with its own 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 then 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 F
22. ME 2 CD serial cable kit XP2 230 20 XP2 Servo Drive 10 20 Adc Encoder feedback cn Nopen Qty Item Remarks 1 XP2 230 20 R H Xenus Plus XP2 servo drive with resolver 1 XP2 CK 02 Connector Kit 1 CME 2 CME 2 CD 1 SER CK Serial Cable Kit ACCESSORIES Pow Ref Name Description WemtacwereN O 1 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 2 Strain relief snap on 5 08 mm 4 position orange Plug 5 position 3 5 mm female feee Strain relief snap on 3 5 mm 5 position grey Tool wire insertion amp extraction 734 series XP2 CK Ji J2 Connector J3 J4 Tool wire insertion amp extraction 231 series Wago 231 159 Kit d Connector DB 9M 9 position standard male TE AMP 205204 4 AMPLIMITE HD 20 Crimp Snap contacts 24 20AWG AU flash TE AMP 66506 4 Metal Backshell DB 9 RoHS 3M 3357 9209 Jumper with pins crimped on both ends Copley 10 75177 01 Connector high density DB 44M 44 position male solder cup Norcomp 180 044 103L001 Metal Backshell DB 25 RoHS 3M 3357 9225 i 3 uo Connector high density DB 26F 26 position female solder cup Norcomp 180 026 203L001 J10 11 Feeg Connector high density DB 26M 26 position male solder cup Norcomp 180 026 103L001 back Metal Backshell DB 15 RoHS 3M 3357 9215 SER CK RS 232 Serial
23. N 16 lt tbd gt Rev 00 September 23 2015 Page 24 of 36 copley GN rons MR Xenus 2 Axis CANopen Rev 01 XP2 CE Digital incremental and absolute encoders may be connected to the Multi Port on J12 Xenus Plus 2 Axis Shield n CE Rivr Sin E E un Rivr Sin i Li Sin S1 Hi Rlvr Cos Li Cos S2 it Y E i RIvr Cos Li i Cos S4 E Rlvr Ref e H Ref R1 D E Ref R2 Rivr Ref i i J10 J11 I c F TEMP i SENSOR J 5 Brake A 3 Axis A Axis B BrakeB 2 Brake Brake 24 Vdc BRUSH MOTOR BRUSHLESS MOTOR Grounding tm 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 P N 16 lt tbd gt Rev 00 September 23 2015 Page 25 of 36 copley rons PRA Xenus 2 Axis CANopen Rev 01 XP2 CE ISOLATED us AN J1 MAINS CONNECTIONS Mains Input L3 FrmeGround 4 WARNING Hazardous voltages exist on connections to J1 J2 J3 amp J4 when power is applied and for up to 4 minutes after power is removed Ene PE Ground Mains Input L2 Mains Input L1 J2 REGEN RESISTOR J3 8J4 MOTOR OUTPUTS Motor Phase U 4 Motor Phase V Motor Phasew 2 IE l af 3 s e e e e oe e o o o o o om gt e o
24. N15 J9 4 IN18 J9 9 Opto 24 ine 39 9 p INPUTS WITH PROGRAMMABLE PULL UP DOWN 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 controller 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 aus 3129 3 ii 312 14 7 The other four have PU PD control for pairs of inputs IN3 J12 9 3 IN13 J12 14 7 ina J12 10 IN14 J12 15 45V PullUp 5V 4 a PullDown OV 12 11 IN15 212 30 u wo Ui I Nx IN2 5 12 15 SIGNALS S E Diff P S E Diff Pi in in l Input Input Input Input SINGLE ENDED DIFFERENTIAL DIGITAL INPUTS IN2 5 12 15 312 8 naz ina2 312 13 These inputs have all the programmable functions of the GP inputs plus these J12 9 IN13 IN12 J12 14 additional functions which can be configured as single ended SE or differential DIFF ina ina 312 10 iN14 IN144 212 15 e PWM 50 PWM amp Direction for Velocity or Current modes as IN15 IN14 J12 30 e Pulse Direction CU CD or A B Quad encoder inputs for Position or Camming modes SINGLE ENDED DIFFERENT
25. OR CONNECTIONS TO CURRENT SOURCING OUTPUTS AND GND IS FOR CURRENT SINKING OUTPUTS ON THE CONTROL SYSTEM IN6 9 IN16 19 30 Vdc max 30 Vdc max J9 J9 24V GND TONGUE MORE 24V GND IN DIM DUI IE L 2 i COMM1 24V COMM2 cae ET E o l LP cpm pay y v g ING 4 7k Eya c Y v IN16 m O0 o fe gt f t lt O oT f 4 99k 5 1V DERE f 4 99k a ern TINT mela in 30Vmax iiN17 o oG i 24V typical to 6 8 NA T 0O 4 99k Dine MED i M 499k MS i INS ATE Eg in j N18 M o oQ t 0 O09 ie f 499k say eee ae Y 4 99k T I Ty INQ AK in IN19 p o of 1 i O oe ae if 499k suy a sl Z 499k 5 24V V HEREDES 24V T V RM ES V V IN6 9 16 19 SIGNALS These inputs work with current sourcing OR current sinking ine 39 2 IN16 connections Connect the COMM to controller ground common for current sourcing connections and to 15 24V from the IN17 controller for current sinking connections i8 394 me COMMI coMM2 39 17 Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 11 of 36
26. Regen zi Cycle Time Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 34 of 36 copley G rons PE M Xenus 2 Axis CANopen Rev 01 XP2 CE Units in mm CIC Fe ae i aS SS C c c qo aD CD aD o Oo O cS cd CIO CD CD D p CHD CID Cp dD NH C CD ca FDP ey Co ca CDN CD CD amp TD ea pD il IL H Ji I 9 240 234 7 E 39 4 83 8 86 225 04 1 t 56 14 19 C m 1 00 25 4 2 32 58 9 0 S q 5 5 617 142 68 5 417 137 6 i d08080000 f HIERTBRE T e Wend 1 Weight 4 19 Ib 1 90kg Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 35 of 36 copley G3 rons PE Xenus 2 Axis CANopen Rev 01 XP2 CE XP2 230 20 R XP2 Servo Drive 10 20 Adc Resolver feedback Example Order one Xenus Plus XP2 drive resolver version solder cup connector Kit C
27. S 4 7k teh into 311 7 4 99k 10k 33n ye eee emer N IN21 311 24 10k 10k 100p wI v h vin MM Le 4o c V HI LO DEFINITIONS INPUTS V HI Vin gt 2 5 Vdc IN1 10 21 m T i3 AM ee IN10 IN21 to vin lt 13vdc PULL UP DOWN T NEN Vin 2 5 Vdc EN Input diode ON 212 7 1 IN x tine o Input diode OFF IN2 J12 8 33n 100p ina 312 8 is i 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 Eie Copley Controls 20 Dan Road Canton MA 02021 USA Tel P N 16 lt tbd gt Rev 00 September 23 2015 781 828 8090 Fax 781 828 6547 Page 19 of 36 copley ions MM Xenus 2 Axis CANopen Rev 01 XP2 CE CME2 amp AXIS B I O CONNECTIONS CME2 SCREEN FOR INPUTS IN11 IN20 Input Output 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 IN11 Amp Enable LO Enables With Clear Faults O 0 ms INTZ Not Configured 0 ms IN13 Not Configured 0 ms N14 Not Configured 0 ms IN15 Not Configured 00000 IN16 Not Configured IN17 Not Configured IN18 Not Configured COOP OR Om OO IN19 Not Confi
28. WM 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 The information provided in the Xenus Plus Dual Axis STO User Manual must be considered for any application using the XP2 drive s 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 XP2 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 XP2 to be enabled STO BYPASS CONNECTIONS Bypass Plug Connections Jumper pins 2 4 3 5 6 8 7 9
29. WOvadsasds 17 esv oui is smi 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 P N 16 lt tbd gt Rev 00 September 23 2015 Page 27 of 36 copley rons E Xenus 2 Axis CANopen Rev 01 XP2 CE eve 0009 009 06 o6 9 oO WARNING Hazardous voltages exist on connections to J1 J2 J3 amp J4 when ISOLATED CIRCUIT power is applied and for up to 5 minutes after power is removed A J1 MAINS CONNECTIONS Mains Input L3 5 Mains Input L2 Mains Input L1 1 J2 REGEN RESISTOR 5 5 PEGround 3 2 EN Oolilole e e e elo J3 amp J4 MOTOR OUTPUTS V EN i J5 24 VDC amp BRAKE 24V Input Brake 24V Output 4 J5 STO m se on s Pa meeew 6 Jono Ps sexo e sow 4 sms s srono 00000 i24 599 AOE o o 0il e O OMC Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 28 of 36 copley G rons Pay D Xenus 2 Axis CANopen Rev 01 XP2 CE J12 CONTROL ON END PANEL Pew sona n amp menn o Sm La era s signal Grd Ls uer Ls mnre a0 eaten x Caa sumo J9 ISOLATED I O m sow ew sen po om Ls usen Ls uen
30. Xenus regen guide 03 04 pdf Used when the regenerative energy from a moving load is greater than the absorption capacity of the internal regen resistor 15 O 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 Standards and Directives Functional Safety IEC 61508 1 2010 IEC 61508 2 2010 IEC 61508 3 2010 IEC 61508 4 2010 SIL 3 Directive 2006 42 EC Machinery ISO 13849 1 Cor 1 2009 Cat 3 PL d IEC 61800 5 2 2007 SIL3 see the Xenus Plus Dual Axis STO Manual for further details XTL RA 04 Regen Resistor Product Safety Directive 2006 95 EC Low Voltage IEC 61800 5 1 2007 EMC Directive 2004 108 EC EMC IEC 61800 3 2004 A1 2011 Restriction of the Use of Certain Hazardous Substances RoHS Directive 2011 65 EU RoHS II Approvals UL and cUL recognized component to UL 61800 5 1 1st Ed TUV SUD Functional Safety to IEC 61508 1 2010 IEC 61508 2 2010 IEC 61508 3 2010 IEC 61508 4 2010 SIL 3 ISO 13849 1 Cor 1 2009 Cat 3 PL d Copley Controls 20 Dan Road Canton MA 02021 USA P N 16 lt tbd gt Rev 00 September 23 2015 Tel 781 828 8090 Fax 781 828 6547 Page 3 of 36 copley GR controle Xenus is S 9 Axis CANopen wa XP 2 CE
31. an be selected by the user to meet local codes and or machine construction requirements 5 The internal regen resistor of the XP2 must be unplugged when using an external regen resistor Only one regen resistor can be connected to the Regen connector J2 Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 32 of 36 copley G onol 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 32 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 Ew RTI UP ALI yy
32. copley PLUS controle Xenus 2 Axis CANopen Rev 01 XP2 CE RoHS DIGITAL SERVO DRIVE FOR BRUSH amp BRUSHLESS MOTORS CONTROL MODES e Indexer Point to Point PVT e Camming Gearing e Position Velocity Torque COMMAND INTERFACE e CANopen e ASCII and discrete I O e Stepper commands e 10V position velocity torque 2 inputs e PWM velocity torque command e Master encoder Gearing Camming COMMUNICATIONS e CANopen e RS 232 FEEDBACK Incremental Digital quad A B encoder e Analog sin cos encoder e Panasonic Incremental A 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 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 5 Opto isolated outputs 2 Opto isolated motor brake outputs I O ANALOG 2 Reference inputs 14 bit SAFE TORQUE OFF STO SIL 3 Category 3 PL d DIMENSIONS IN MM e 9 24 234 7 x 5 42 137 6 x 3 59 91 1 DESCRIPTI ON XP2 sets new levels of performance connectivity and flexibility CANopen communication provides a widely used cost effective industrial bus A wide range of absolute encoders are supported Model Vac Ke Ip XP2 230 20 100 240 10 20 Add R to model number for resolver option High resolution A D converters ensure optimal current loop performance Both isolated and high speed non isola
33. d gt Rev 00 September 23 2015 Page 22 of 36 copley GN rons MA Xenus 2 Axis CANopen Rev 01 XP2 CE For XP2 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 DIGITAL ENCODER J10 J11 TEMP SENSOR J5 Mot U J 3 Mot V J 4 Mot W Shield Grounding 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 P N 16 lt tbd gt Rev 00 September 23 2015 Page 23 of 36 copley GN rons eae Xenus 2 Axis CANopen Rev 01 XP2 CE For XP2 230 20 R Sin Cos Index encoder feedback is not supported Xenus Plus 2 Axis Shield 1 Enc Sin 19 Enc Sin 18 Enc Cos 21 ANALOG Enc Cos ENCODER Enc Index 4 Enc Index 45V Out J11 Sgnd IN21 22 Hall U TEMP SENSOR Gnd 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 P
34. de port can operate as primary or secondary feedback from digital quad A B X or absolute encoders FEEDBACK FROM DIGITAL QUADRATURE FNCODER MAX3097 EMULATED QUAD A B X When operating in position mode the multi mode port MULTI PORT Axis A Axis B 312 35 12 41 312 20 312 26 can accept digital command signals from external encoders These can be used to drive cam tables or as master encoder signals when operating in a master slave configuration A B X signals from digital encoder l J12 34 J12 40 J12 19 J12 25 32 17 J12 38 23 MAX3097 J12 31 16 312 37 22 Shld 12 1 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 Input Output Select Data amp CIk signals from absolute encoder MAX3032 ABSOLUTE ENCODER FULL DUPLEX MODE Full duplex Absolute encoder J12 FULL DUPLEX SIGNALS Axis A Axis B Signal Pin Pin Clk ree SSI EnDat FG Master Data z z s HALF DUPLEX ENCODERS aue uz 24 Absolute A 45V J12 38 23 Sanyo Denki Absolute A J12 37 22 pem ABSOLUTE ENCODER HALF DUPLEX MODE r oes J12 HALF DUPLEX
35. econds the energy absorption in W s for a drive operating at some J Rotary Moment of Inertia kg m 120 145 typical mains voltages The capacitor bank is 2350 uF and P Power Watts 120 145 the energy absorption is shared with both axes If the deceleration energy is less than the absorption capacity of the drive then a regeneration resistor 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 Veladiy T Decel time Step 1 Find the energy of motion for a rotating load for this example let it be 75 Joules l i l E J RPM 75J Joules kg m RPM 4 Absorption l mE pus de rescued L4 Step 2 Subtract the absorption at your mains voltage to get the energy that must Vdc ift be dissipated in the regen resistor Use 240 Vac HVdc Ji 75 43 32 Joules Joules Regen time I Active T j 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 out Velocity INTERNAL REGEN RESISTOR Bus Voltage Regen Active Regen Dwell Time
36. 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 also 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 CE t Protective Earth p 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 Rev 00 September 23 2015 P N 16 lt tbd gt Tel 781 828 8090 Fax 781 828 6547 Page 33 of 36 copley rons POE Xenus 2 Axis CANopen Rev 01 XP2 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 ashore E Energy Joules Watt s
37. en resistor not dissipating energy 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 Size 9 24 x 5 42 x 3 59 234 7 x 137 6 x 91 1 in mm Weight 4 19 Ib 1 90kg Ambient temperature 0 to 40 C operating 40 to 85 C storage Humidity 0 to 95 non condensing Contaminants Pollution degree 2 Vibration 2 g peak 10 500 Hz sine IEC60068 2 6 Shock 10 g 10 ms half sine pulse IEC60068 2 27 Environment EC68 2 1990 OPTIONS XTL FA 01 Edge Filter One used for each motor output A passive R L C filter that reduces 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
38. gle connection to the user s CAN interface A CAN terminator _ __ should be placed in the last drive in the chain fee The XP2 NK connector kit provides a D Sub adapter a 2o g DW Dy that plugs into a CAN controller and has an RJ 45 9 E um mas J7 Socket that accepts the Ethernet cable D Sub 9E E o d E CAN L 25 ANL A 3 3 Pin 1 Pin 8 CAN GND gt gt 5 CAN GND Y eC NS caca CAN Status LED 00000000 00000000 1 i J 7 DRIVE STATE LED ON OFF CONDITION fa oO o o J7 CAN CONNECTIONS Pre operational b CAN STATUS LED grean NET CAN STATUS LED Operational B i A bi color LED gives the state of the CAN connection in green accordance with the CAN CiA specification 303 part 3 Stopped n The green RUN LED shows the state of the CANopen state L 1s L green machine The red ERR LED shows the occurrence of errors Warning Limit Reached J i he sync guard or heartbeat and of the CAN bus physical 1s green d layer 2 Error Control Event a eS qe c5 oft During a reset condition the green LED will be off n green In operation the red amp green colors will alternate with the Sync Error J LJ LI ee number of blinks or on off condition shown in the table to green the right red Bus off Saar off Note Red amp green led on times do not overlap LED color may be red green off or flashing of either co
39. gured 9 IN20 Motor Temp HI Disables Inputs 12 13 Differential Single Ended Inputs 14 15 Differential Single Ended Restore Defaults INPUT DATA IN11 IN16 19 z 5V PullUp 5V 9 Input PullDown 0V 24V GND MEE i comma 24V Es lt _ DEDE oe E 9 1 3 v 1 IN16 VM DEYY 5 c IN11 J12 12 IN12 J12 13 10k 74HC14 pe v INx IN13 312 14 x IN14 J12 15 zr MP i mia 312 15 ii NE IN15 J12 30 30Vmax inam 47K xx 24V typical Lt t o fep ttt i Y 499k siv IN12 15 IN16 J9 7 odis Pas 7 IN17 12V DE CONTO as a a Vmax H atv m anf Eyak IN18 V AMD 2 RS 0 6 8 4 feft t i 2 EN f 499k s v IN19 J9 18 9o M IINZA 12 4 J ICOM2 J9 17 ios T t 2 5v IN19 ark Ay IN20 311 7 4 99k 33n E deo deem iJ wi pa SN 4 99k 3 24V V AO E RPM O O ph Vv IRI I HI LO DEFINITIONS INPUTS i Md Li INPUTS WITH T tiv22 INTI 20 22 PROGRAMMABLE miam Hi poc des Nde PULL UP DOWN Im E i Vin gt 2 5 Vdc one Vin 2 5 Vde ass 74Hc2c14 i giis IN16 19 input diode ON IN11 312 12 TN TT c Input diode OFF IN12 J12 13 6 100p z v IN16 19 are optically isolated and work from Urs Hes positive or negative input voltages When voltage IN14 J12 15 is applied
40. ion Pulse Direction CW CCW Quad A B Encoder PWM Polarity PWM 50 PWM frequency range PWM minimum pulse width Dedicated differential analog input Stepper commands 2 MHz maximum rate 2 M line sec 8 Mcount sec after quadrature PWM 0 100 Polarity 1 0 PWM 50 50 no polarity signal required 1 kHz minimum 100 kHz maximum 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 DIGITAL INPUTS Number 22 IN1 11 Digital Schmitt trigger 1 us RC filter 24 Vdc compatible programmable pull up down to 5 Vdc ground Vt 2 53 5 Vdc VT 1 32 2 Vdc VH 0 7 1 5 Vdc IN21 22 Same specs as IN1 amp IN11 but with fixed pull up to 5 Vdc IN2 5 12 15 Programmable as single ended or differential pairs 100 ns RC filter 12 Vdc max 10 kQ programmable pull up down per input to 5 Vdc ground SE Vin LO x 2 3 Vdc Vin HI 2 7 Vdc VH 45 mV typ DIFF Vin LO x 200 mVdc Vin HI 2 200 mVdc VH 45 mV typ IN6 9 16 19 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 2 10 0 Vdc Input current 3 6 mA 24 Vdc typical IN10 20 Motor overtemp signals on feedback connectors Schmitt trigger 24 Vdc compatible ANALOG INPUTS 330 us RC filter 4 99k pullup to 5 Vdc Vt 2
41. l format is full duplex 3 wire DTE using RxD TxD and Gnd Connections to the XP2 RS 232 port are through J7 an RJ 11 connector The XP2 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 J6 RS 232 PORT connector on the XP2 It includes an adapter that plugs into the COM1 or other RJ 11 receptacle port of a PC and uses common modular cable to connect to the XP2 The connections 6 position 4 contact are shown in the diagram below RxD H TxD 123456 to RJ11 A Adapter RJ 11 cable 6P6C Straight wired D Sub 9F RxD gt 5 xD l Don t forget to order a Serial Cable Kit SER CK when Tb 3 5 gt 25 RxD placing your order for an XP2 Gnd 2 3 Gnd ASCII COMMUNICATION PROTOCOL ASCII COMMUNICATIONS The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet Stepnet and Xenus series amplifiers 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 Home the axis Issue a series of move command
42. lor CAN NETWORK NODE ID ADDRESS In an CANopen network nodes are assigned addresses 1127 Address 0 is reserved for the CAN bus master In the XPL the node address is provided by two 16 position rotary switches with hexadecimal encoding These can set the address of the drive from 0x01 0x7F 1 127 decimal The chart shows the decimal values of the hex settings of each switch Note Red amp green led on times do not overlap LED color may be red green off or flashing of either color DEVICE ID X10 Xl Node ID Address Switches D To find the Node ID given the switch settings Node ID S1 16 S2 X16 X1 Example S1 5 S2 B S1 value 5 16 80 S2 value Hex B 11 Node ID 80 11 91 EthercAT Settings To find the switch settings for a given address S1 The integer part of Node ID 16 S2 Hex Node ID S1 16 Example Node ID 91 S1 91 16 5 69 integer part 5 5 16 80 S2 Hex 91 80 11 OxB S S2 Resulting Address CME2 gt Amplifier gt Network Configuration Copley Controls 20 Dan Road Canton MA 02021 USA P N 16 lt tbd gt Rev 00 September 23 2015 Tel 781 828 8090 Fax 781 828 6547 Page 5 of 36 cople rons copley Xenus z Axis CANopen n XP2 CE COMMUNI CATI ONS RS 232 SERI AL XP2 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 Signa
43. mmable 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 0004 Differential 54k 1 differential impedance 2 0 Vrms BW 300 kHz 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 32 2 Vdc VH 0 7 1 5 Vdc 10 kQ pullups to 5 Vdc 1 us RC filter to Schmitt trigger inverters 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 CIk Dat Dat half or full duplex operation 121 Q 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 4 two on the feedback connectors J10 J11 two on the control connector J12 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 Copley Controls 20 Dan Road Canton MA 02021 USA P N 16 lt tbd gt Rev 00 September 23 2015 Tel 781 828 8090 Fax 781 828 65
44. n 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 external 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 J1 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 The pin on the drive at J1 3 is longer than the other pins on J1 giving it a first make last break action so that the drive chassis is never ungrounded when the mains power is connected This wire is a bonding 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 dri
45. o o o oo ooo oo M J5 24 VDC amp BRAKE 24V Input Brake 24V Output 4 000 000 J5 STO Em soa on sa 7 1 memes 6 o Ps sexo e seo a sos sms 7 00 I Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 26 of 36 copley GR rons E Xenus 2 Axis CANopen Rev 01 XP2 CE J12 CONTROL ON END PANEL SIGNAL SIGNAL SIGNAL 16 Signal Gnd 31 Signal Gnd 17 5V Out3 32 5V Out3 18 A MultiEnc S 33 A MultiEnc S 19 A MultiEnc X 34 A MultiEnc X 20 A MultiEnc B 35 A MultiEnc B 21 A MultiEnc A 36 A MultiEnc A 22 Signal Gnd 37 Signal Gnd 23 5V Out4 38 5V Out4 24 B MultiEnc S 39 B MultiEnc S 25 B MultiEnc X B MultiEnc X Frame Gnd 2 Ref1 3 Refi Ref2 5 Ref2 Signal Gnd IN1 GP IN2 GP IN3 GP 10 IN4 GP vI NAY 3HOAL3N 11 IN5 HS 12 IN11 HS 13 IN12 HS 14 IN13 HS 26 B MultiEnc B 27 B MultiEnc A 28 n c 29 n c ae x a lo e m e m o B MultiEnc B B MultiEnc A n C Signal Gnd 15 IN14 HS 30 IN15 J9 ISOLATED 1 0 a T cse is ee 23 rovs a tours 22 fioura 13 tou a iow 12 tours 20 fioura IN6 GPI 11 OUT2 19 rouT1 ro touri J10 J11 FEEDBACK aena rin ewe ein siGNat Frame cad 20 Ene
46. ol 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 An unplated tab is provided on the heatplate near to J1 for this connection REGENERATION The chart below shows the energy absorption in W s for an XP2 drive operating at some typical mains voltages When the load mechanical energy is greater than these values an external regen resistor is available as an accessory The capacitor bank is 2350 uF and the energy absorption is shared with both axes ENERGY ABSORPTION 180 T I 160 140 4 120 100 80 60 40 20 I o o 100 110 120 130 140 150 160 170 180 19
47. on MA 02021 USA P N 16 lt tbd gt Rev 00 September 23 2015 Tel 781 828 8090 Fax 781 828 6547 Page 14 of 36 PLUS copley C2 controls Xenus 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 ha Clk e D A Data B 5V Out 500 mA FG Clk oe 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 Encoder zm jit ENDAT SIGNALS FG H r Frame Gr
48. otor 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 resistors and accept 1 Vp p signals in the format used by incremental encoders with analog outputs or with ServoTube motors Encoder Frame Ground ye 10k Ansin Net Cos Oe Oe f Ndxen Y f Nix m Notes for XP2 230 20 R model iH O 5V Out 500 mA o Signal Ground SIN COS SIGNALS i J10 J11 aon 19 JE RESOLVER XP2 230 20 R Resolver set up motor phasing and other commissioning adjust ments are made with CME 2 software There are adjustments Resolver J10 J11 no hardware RESOLVER SIGNALS Sin S3 Sin S1 R D Conversion Cos S2 Cos S4 Ref R1 Ref R2 00 0000 Signal Ground P Sn 53 TE Cos S4 Ref R1 Ref R2 Cos 52 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 Cant
49. ound J10 Jii i EN A sin Que IPEM i 10k L 1 4 Ou Hts D 121 Cos y poet Cos 10k E O 5V Out 500 mA e Signal Ground Notes for XP2 230 20 R model 2 Axis CANopen SSI BiSS SIGNALS jm RoHS nvr XP2 CE 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 and Interbus 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 119 111 n J10 J11 FG toO Frame Ground Pin Master A ma bd 130 Clk Oo Slave i N SL Bao 71 Data 5V Out 500 mA 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 EE E te Frame Ground A a AN Dat 1 V 1 H sD A Dat Cmd T VU i T D R i D R 1
50. r common grounding point T 2 with the HV power supply Frame Gnd I J5 G Signal Gnd 9 Serial Signal Gnd Heatplate chassis Earth Ground Earthing connections for power supplies should be as close as possible to elimimate potential differences between power supply OV terminals Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 13 of 36 copley controls Xenus PLUS 2 Axis CANopen e RoHS XP2 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 Short circuits line line Open circuit condition Low differential voltage detection X15kV ESD protection Extended common mode range Thi
51. s produces a near zero voltage between A amp A which is below the differential fault threshold 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 This is possible with very long cable runs and a fault will occur if the differential input voltage is 200mV The 3097E has protection against high voltage discharges using the Human Body Model 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 Encoder ov SHIELDED CABLE CONNECTIONS Double shielded cable is recommended for resolvers and analog sin cos encoders The outer shie Signal Ground A B X SIGNALS J10 J11 Pin 13 Perea 13 Signal CONNECTIONS WITH NO INDEX SIGNAL Encoder FG Line Frame Ground Enc B H 5V Enc Index d 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 The inner shield should have no connection at the m
52. s while monitoring position velocity and other run time variables Additional information can be found in the ASCII Programmers Guide on the Copley website RS 232 MULTI DROP The RS 232 specification makes no allowance for more than two devices on a serial link But multiple Xenus drives can communicate over a single RS 232 port by daisy chaining a master drive to other drives using CAN cables In the CAN protocol address 0 is reserved for the CAN master and thereafter all other nodes on a CAN network must have unique non zero addresses When the Xenus CAN address is set to 0 it acts as a CAN master converting the RS 232 data into CAN messages and passing it along to the other drives which act as CAN nodes CAN Addr 0 CAN Addr 1 CAN Addr n CAN Master CAN Node CAN Node For Serial multi drop you ll need an Serial Cable Kit SER CK plus CANopen network cables to connect the drives as shown The XP2 NC 01 and XP2 NC 10 are 1 ft 0 3m and 10 ft 3m cables that will do the job Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P hhiSugpbdt E Rrail Ogal amp splesplesicantra 16om Web http www copleycontrols com Page Page 3b of 36 copley G rons A Xenus 2 Axis CANopen Rev 01 XP2 CE DESCRIPTION The XP2 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 P
53. supported Emulated quad A B outputs are only supported for resolver feedback Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 P N 16 lt tbd gt Rev 00 September 23 2015 Page 18 of 36 copley Rots AE Xenus 2 Axis CANopen Rev 01 XP2 CE CME2 amp AXIS A I O CONNECTIONS CME2 SCREEN FOR INPUTS IN1 IN10 PLUS amp Input Output me Digital Inputs 1 10 Digital Inputs 11 20 Digital Outputs 1 4 Digital Outputs 5 7 Pull Up Pull Down O o N1 IN2 IN3 INA IN5 ING IN7 INS INS Amp Enable LO Enables With Clear Faults AxisA Axis B Not Configured Not Configured Not Configured Not Configured Not Configured Not Configured Not Configured Not Configured 000000000 Debounce time O 0 ms 0 ms IN10 Motor Temp HI Disables Inputs 2 3 Differential Single Ended Inputs4 5 Differentia INPUT DATA IN1 IN6 9 Piet oe Ta Tera En Be ee x27 m a uvey 10x 74HC14 LL ra 4 J i S 10k ro 4 99k X Qu 100p ina nee 30Vmax aR ar J12 24V typical EN teh ines Eo pee Vmax 12V J12 Control base tect se P0 LA 00 MAX3096 b da 1 I4 I A MN en N RA O 4 99k k E ene M IN24 12 14 ig VA ICOM1 soon T ee TIN
54. ta returned from encoder 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 32 2 Vdc VH 0 7 1 5 Vdc 10 kQ pullups to 5 Vdc 1 us RC filter to Schmitt trigger inverters 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 CIk Dat Dat half or full duplex operation 121 Q 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 4 two on the feedback connectors J10 J11 two on the control connector J12 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 XP2 230 20 R RESOLVER Type Resolution Reference frequency Reference voltage Reference maximum current Maximum RPM Sin Cos inputs DIGITAL HALLS Type Inputs MULTI MODE ENCODER PORT As Input As Emulated Output ENCODER POWER SUPPLIES Number Ratings Brushless single speed 1 1 to 2 1 progra
55. ted I O are provided For safety critical applications redundant power stage enable inputs can be employed Copley Controls 20 Dan Road Canton MA 02021 USA P N 16 lt tbd gt Rev 00 September 23 2015 Tel 781 828 8090 Fax 781 828 6547 Page 1 of 36 e RoHS s XP2 CE Test conditions Wye connected load 2 mH line line Ambient temperature 25 C Power input 230 Vac 60 Hz 1 copley G RI PLUS Xenus 2 Axis CANopen MODEL XP2 230 20 OUTPUT CURRENT EACH AXIS Peak Current 20 14 Adc Arms sinusoidal Peak time 1 S Continuous current Note 1 10 7 Adc Arms sinusoidal INPUT POWER Mains voltage phase frequency 100 240 Vac 10 1 or 3 47 63 Hz Mains current 20 Arms 24 Vdc Control power 20 to 32 Vdc 500 mA max DIGITAL CONTROL Digital Control Loops Sampling rate time Bus voltage compensation Minimum load inductance Required for operation Current velocity position 100 digital loop control Current loop 16 kHz 62 5 us Velocity amp position loops 4 kHz 250 us Changes in bus or mains voltage do not affect bandwidth 200 HH line line COMMAND INPUTS NOTE DIGITAL INPUT FUNCTIONS ARE PROGRAMMABLE Distributed Control Modes CANopen Stand alone mode Analog torque velocity position reference Digital position reference Digital torque amp velocity reference Position Velocity Torque Profile amp Interpolated modes Homing 10 Vdc 14 bit resolut
56. ve and the isolation barriers between them Only one motor is shown but all motor PWM drivers are in the mains connected section lu Q Jl tw MAINS 7 I SHIELD REGEN DC BUS INVERTER DC BUS FRAME GROUND SAFETY GROUND l DC DC BRAKES A B Converter 424 vde e i GROUND 1 5 Vdc 24 VDC CONTROL SYSTEM PWM STAGE CONTROL FEEDBACK POWER amp DECODING SIGNAL GND oz J12 ENABLE IN1 Y CONTROL SIGNAL GROUND Copley Controls 20 Dan Road Canton MA 02021 USA Rev 00 September 23 2015 P N 16 lt tbd gt SAFETY GROUND 2 Axis CANopen Joules W s Tel 781 828 8090 e RoHS w XP2 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 32 3 33 1 J4 1 J6 1 J9 1 310 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 is done the drive signal voltages will be referenced to the same 0 V level as the circuits in the contr
57. wered and locks motor Motor cannot move BRK A B Brake state is Active OUT6 7 Output transistor is ON Brake is powered releasing motor Lo Motor is free to move Brake state is NOT Active CME2 Default Setting for Brake Outputs OUT6 7 is Brake Active HI The brake circuits are optically isolated from Active Brake is holding motor shaft i e the Brake is Active all drive circuits and frame ground Motor cannot move No current flows in coil of brake CONNECTIONS 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 4 eav Motor can move Current flows in coil of brake A Brk OUT6 CME2 1 O Line States shows Output 6 or 7 as LO B Brk OUT7 BRK output voltage is LO OV MOSFET is ON 24V Return Servo drive is enabled PWM outputs are on Servo drive output current is flowing io 28 J9 J2 B Rer MA E s Brake O 9 This diagram shows the G 9 9 li io JOERA Input connections to the drive that TWV O e gm share a common ground in HV Com the driver If the brake 24V Signal Gnd power supply is separate ed Signal Gnd from the DC supply powering T g9 Sonal cna the drive it is important T that it connects to an earth C ens Chd o
58. ysical layer for high speed connections compliant Data CANopen Device Profile DSP 402 Address selection STATUS INDICATOR LEDS Drive Status 16 position rotary switch on front panel with 3 additional address bits available as digital inputs or programmable to flash memory 7 bit addressing 127 nodes per CAN network 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 J10 J11 two on the control connector J12 for the A and B multi mode ports Ratings each 5 Vdc 500 mA thermal and overload protected Copley Controls 20 Dan Road Canton MA 02021 USA Rev 00 September 23 2015 P N 16 lt tbd gt Tel 781 828 8090 Fax 781 828 6547 Page 2 of 36 copley G PLUS Rotts controle Xenus 2 Axis CANopen wn KMPD Cc REGENERATION Operation Internal solid state switch drives external regen resistor see Ordering Guide for types Cut In Voltage Drop Out Voltage Tolerance PROTECTI ONS HV Overvoltage HV Undervoltage Drive over temperature Short circuits I T Current limiting Motor over temperature Feedback power loss MECHANICAL amp ENVIRONMENTAL HV gt 390 Vdc HV lt 380 Vdc 2 Vdc Regen output is on optional external regen resistor is dissipating energy Regen output is off optional external reg
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