Xenus PLUS XE2 2-Axis EtherCAT RoHS 2-AXIS DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS Control Modes • Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST) • Profile Position-Velocity-Torque, Interpolated Position, Homing • Camming, Gearing • Indexer Command Interface • CAN application layer over EtherCAT (CoE) • ASCII and discrete I/O • Stepper commands • ±10V position/velocity/torque • PWM velocity/torque command • Master encoder (Gearing/Camming) Communications • EtherCAT • RS-232 Accessories • External regen resistors Feedback Incremental Encoders • Digital quad A/B Analog Sin/Cos Panasonic Incremental A Format • Aux. quad A/B encoder / encoder out Absolute Encoders • SSI, EnDat, Absolute A, Tamagawa & Panasonic Absolute A Sanyo Denki Absolute A, Biss Resolver (-R option) • Brushless Resolver Other • Digital Halls Safe Torque Off (STO) • SIL 3, Category 4, PL e I/O Digital • 22 inputs, 7 outputs I/O Analog • 2, 14-bit inputs Dimensions: in [mm] • 9.24 [234.7] x 5.77 [146.6] x 2.31 [58.7] Model Vac Ic Ip XE2-230-20 100~240 10 20 Current ratings are for each axis Add -R to part number for resolver feedback option DESCRIPTION XE2 set new levels of performance, connectivity, and flexibility. CAN application layer over EtherCAT (CoE) communication provides a widely used cost-effective industrial bus. A wide range of absolute encoders are supported. High resolution A/D converters ensure optimal current loop performance. Both isolated and high-speed non-isolated I/O are provided. For safety critical applications, redundant power stage enable inputs (STO) can be employed. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Fax: 781-828-6547 Page 1 of 34

Xenus PLUS 2-Axis EtherCAT XE2 RoHS GENERAL SPECIFICATIONS Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25° C. Power input = 230 Vac, 60 Hz, 1 Ø MODEL XE2-230-20 OUTPUT CURRENT (EACH AXIS) Peak Current 20 (14) Adc (Arms, sinusoidal) Peak time 1 s Continuous current (Heatsink required) 10 (7) Adc (Arms, sinusoidal) INPUT POWER Mains voltage, phase, frequency 100~240 Vac, ±10%, 1 Ø or 3 Ø, 47~63 Hz Maximum Mains Current, 1Ø (Note 2) 20 Arms Maximum Mains current, 3Ø (Note 2) 15.4 Arms +24 Vdc Control power +20 to +32 Vdc, 0.5~1.1 Adc (Note 3) Required for operation...

1. Heatsinking and/or forced-air cooling is required for continuous output power rating. Order XE2-230-20 with -H option for factory-installed heatsink, or order XE2-HK for user-installed kit. 3. With no encoders connected the minimum current requirement for the +24V supply is 500 mA With four encoders operating at the maximum 400 mA rating of the four +5V supplies the +24 current requirement is ~1.1 Adc Cut-in Voltage Drop-Out Voltage Internal solid-state switch drives external regen resistor (see Ordering Guide for types) + HV > 390 Vdc Regen output is on, (optional external) regen resistor...

Xenus PLUS 2-Axis EtherCAT XE2 RoHS FEEDBACK SPECIFICATIONS FEEDBACK Incremental: Digital Incremental Encoder 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 Ω terminating resistor between complementary inputs Analog Incremental Encoder Sin/cos format (sin+, sin-, cos+, cos-), differential, 1 Vpeak-peak, ServoTube motor compatible, BW > 300 kHz, 121 Ω terminating resistor between complementary inputs Analog Index signal Differential, 121 Ω terminating resistor...

Xenus PLUS XE2 2-Axis EtherCAT RoHS 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 ‘upstream’, between the Accelnet and the master. The OUT port connects to ‘downstream’ nodes. If Accelnet 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) J8: EtherCAT PORTS L/A Green: Shows the state of the physical link and activity on the link. Off = No Link On = Port open, no activity On & Flickering = Port open and activity...

Xenus PLUS 2-Axis EtherCAT XE2 RoHS COMMUNICATIONS 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-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. After power-on or a reset, the Baud rate will be 9,600. After connecting...

Xenus PLUS XE2 2-Axis EtherCAT RoHS SAFE TORQUE OFF (STO) 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. NECESSARY...

Xenus PLUS 2-Axis EtherCAT XE2 RoHS COMMAND INPUTS DIGITAL POSITION Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs. Differential inputs have 121 Ω line-terminators. SINGLE-ENDED PULSE & DIRECTION IN4(14) DIFFERENTIAL PULSE & DIRECTION IN2(12) Pulse PULSE+ IN3(13) IN5(15) PULSE- Direction COMMAND SINGLE-ENDED IN4(14) DIRECTION+ Axis A Axis B Pls, Enc A 10 15 Dir, Enc B SINGLE-ENDED CU/CD Signal DIRECTION- IN5(15) 11 30 DIFFERENTIAL CU/CD...