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Xenus R10

Product catalog summary

Overview: The Xenus R10 is a rugged digital servo drive designed for controlling both brushless and brush motors. It supports position, velocity, and torque control, and can function as a stand-alone unit or within a distributed control network.

Control Modes: The drive supports multiple control modes including Indexer, Point-to-Point, PVT, Camming, Gearing, Position, Velocity, and Torque.

Command Interface: It offers various command interfaces such as CANopen, ASCII, discrete I/O, stepper commands, and analog inputs for position, velocity, and torque.

Communications: The drive supports CANopen, RS-232, and optionally RS-422 for communication.

Feedback Options: Feedback can be provided via digital quad A/B encoders, analog sin/cos encoders, resolvers, and digital Halls.

Digital I/O: The drive includes 12 digital inputs and 4 digital outputs, with programmable functions.

Accessories: External regeneration resistors and edge filters are available as accessories.

Specifications: The drive operates on 100-240 Vac and supports peak currents up to 40 Adc. It requires a +24 Vdc control power supply.

Environmental Standards: The drive conforms to MIL-STD and IEC standards for temperature, humidity, vibration, and shock resistance.

Protection Features: It includes protections against overvoltage, undervoltage, over-temperature, short circuits, and feedback power loss.

Mechanical Details: The drive dimensions are 191 x 140 x 64 mm, and it requires heatsinking or forced-air cooling for continuous operation.

Agency Standards: The drive complies with EMC and Low Voltage Directives, and UL standards for power conversion equipment.

Software: CME 2 software facilitates easy setup and configuration via RS-232 or CAN bus, allowing for efficient system management and replication.

Configuration and Operation: The CME 2 is used for configuring Xenus drives, allowing programming before and after installation in a CAN network. When operated as a CAN node, CME 2 can control the drive, suspending its operation as a CAN node during adjustments. Once complete, control is returned to the CAN node state.

Communications: Xenus supports RS-232 communication, operating as a DTE device with a baud rate of 9,600 to 115,200. Multiple Xenus drives can communicate over a single RS-232 port by daisy-chaining. The Copley ASCII Interface allows operation and monitoring of amplifiers over RS-232. CANopen communication is supported, using CANH, CANL, and GND signals, with a maximum of 127 nodes on a single CAN bus.

Drive Status LED: A bi-color LED indicates the drive state with various color and blink combinations, such as green for normal operation and red for fault conditions. Faults include over/under-voltage, motor over-temperature, and short circuits.

RS-422 Communication: The drive can operate as a full-duplex RS-422 slave, allowing connection to other RS-422 nodes. The data protocol is the same as RS-232.

Command Inputs: Xenus supports analog reference inputs and digital position commands in single-ended or differential formats. Digital torque or velocity commands are also supported. High-speed digital inputs can be configured for various functions, including PWM and encoder inputs.

Digital Inputs and Outputs: Xenus has twelve digital inputs with programmable functions, including limit switches and motor temperature sensors. Digital outputs are open-drain MOSFETs, capable of sinking up to 1 Adc.

Motor Connections: The drive output is a three-phase PWM inverter, with motor connections for phase, feedback, and thermal sensors. Feedback options include digital encoders and analog Halls.

Multi-Mode Port and Encoder Connections: The multi-mode port is used for various encoder connections, including differential input for secondary incremental motor encoders. It can function as a buffered output for digital quadrature feedback encoders or as an emulated output from analog sin/cos feedback encoders. The port also accepts digital command inputs in various formats, such as pulse/direction.

Motor Temperature Sensor: The digital input [IN5] is designed for a motor overtemperature switch. It should be programmed as a pull-up to +5 Vdc if the motor switch is grounded when cold and open when overheating.

Brake Output: The brake output [OUT4] is an open-drain MOSFET capable of sinking up to 1A from a motor brake connected to the +24 Vdc supply. It can be programmed for specific operations using CME 2 software.

Analog and Digital Encoders: Xenus supports analog encoder signals for position feedback, with differential inputs and terminating resistors. Digital encoders require differential outputs to minimize noise interference, and cables should use twisted pairs with shielding for signal integrity.

Resolver Connections: For resolver connections, shielded cables with three twisted pairs are recommended. Setup and adjustments are made using CME 2 software, with no hardware adjustments required.

Grounding and Shielding: Grounding serves safety, voltage-reference, and shielding purposes. The primary ground at J1-3 is crucial for safety, carrying fault currents in case of internal failures. Signal grounding connects drive control circuits to the control system, and shields on cables reduce emissions for CE compliance.

Drive Power Sources: An external +24 Vdc power supply is required for the internal DC/DC converter, which supplies control voltages. Power distribution is divided into +24 Vdc, CAN, signal, and high-voltage sections, all isolated from each other and the chassis.

Regeneration: The drive includes a regeneration system to dissipate mechanical energy converted back into electrical energy during operation. An external regen resistor is available for loads exceeding typical energy absorption values.

Grounding and Shielding: The document outlines the importance of grounding and shielding in the Xenus R10 servo drive system to minimize noise and ensure safety. The grounding process begins at the mains connector (J1), where the safety ground connection is established to carry fault current to earth in case of a short circuit. The drive should be mounted using external-toothed lock washers to ensure good electrical contact and reduce emissions. The heatplate is connected to frame ground terminals for shielding purposes, not safety grounding.

Connector Specifications: The document provides detailed specifications for various connectors used in the system, including J1 (mains connections), J2 (motor outputs), J3 (regen resistor), and J4 (+24 VDC & brake). Each connector type is specified with recommended cable types and gauges for different models, emphasizing the need for shielded cables for CE compliance.

Warnings and Tools: It warns of hazardous voltages on connections J1, J2, and J3 when power is applied and for up to 30 seconds after power removal. A wire insertion/extraction tool (Wago 231-131) is recommended for use with these connectors.

Control and Feedback Connections: The document details the connections for motor feedback (J8), control signals (J7), CAN bus (J6), and RS-232 (J5). It notes that CAN circuits are opto-isolated and provides pin configurations for each connector.

Part Number Description: The document lists part numbers for different configurations of the Xenus R10 servo drive, including options for CANopen network kits and resolver feedback models.

Setup and Configuration: The Xenus R10 operates as a CAN node, with setup and configuration done via CME 2 software. The document provides an ordering guide for necessary parts and accessories, including connector/cable kits and serial cable kits.

Specifications: The Xenus R10 series includes models R10-230-18, R10-230-36, and R10-230-40, each offering different current ratings (6/18 A, 12/36 A, and 20/40 A respectively). The drives support digital position commands in Pulse/Direction or CW/CCW formats and can operate in velocity or torque control modes using ±10V or digital PWM signals.

Installation and Configuration: The document outlines the necessary components for installation, including heatsinks, fans, and connectors. It provides a step-by-step guide for mounting heatsinks using a dry-film interface pad. The CME 2 software is used for drive setup and configuration, requiring a PC with specific minimum hardware requirements.

Multiple-Drive Setup: For installations involving multiple drives, the document recommends using specific network cables (R10-NC-10 or R10-NC-01) and a CANopen Network Kit (R10-NK) for position control. It also provides an ordering guide for necessary components.

Heatsink and Fan Configurations: Various cooling options are available, including no heatsink, low-profile heatsink, and standard heatsink, with or without fans. The document includes charts showing the relationship between ambient temperature and continuous output current for different models and cooling configurations.

Accessories and Ordering Information: The document lists additional accessories such as connector kits, regeneration resistors, and edge filters. It provides guidance on ordering specific configurations, including options for sin/cos feedback and resolver feedback models.

Contact Information: For technical support and sales inquiries, contact Copley Controls at their Canton, MA office.

Catalog excerpts

Xenus R10 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS R10 CONTROL MODES • Indexer, Point-to-Point, PVT • Camming, Gearing, Position, Velocity, Torque COMMAND INTERFACE • CANopen • ASCII and discrete I/O • Stepper commands RoHS R Single-ended or Differential selectable • ±10V position/velocity/torque command • PWM velocity/torque command • Master encoder (Gearing/Camming) COMMUNICATIONS • CANopen • RS-232 • RS-422 (Optional) FEEDBACK • Digital quad A/B encoder • Aux encoder / emulated encoder out • Analog sin/cos encoder (-S versions) • Resolver (-R versions) • Digital Halls I/O - DIGITAL • 12 inputs, 4 outputs ACCESSORIES • External regen resistors • External edge filter DIMENSIONS: mm [in] • 191 x 140 x 64 [7.5 x 5.5 x 2.5] Model Vac Ic Ip R10-230-18 100 - 240 6 18 R10-230-36 100 - 240 12 36 R10-230-40 100 - 240 20 40 Add -S to part numbers above for sin/cos feedback Add -R for resolver feedback DESCRIPTION Xenus R10 is a ruggedized, AC powered servo drive for position, velocity, and torque control of AC brushless and DC brush motors. It operates on a distributed control network, as a stand-alone indexing drive, or with external motion controllers. Indexing mode simplifies operation with PLC’s that use outputs to select and launch indexes and inputs to read back drive status. A single serial port on the PLC can send ASCII data to multiple drives to change motion profiles as machine requirements change. CAN bus operation supports Profile Position, Profile Velocity, Profile Torque, Interpolated Position, and Homing. Up to 127 Xenus R10 drives can operate on a single CAN bus and groups of drives can be linked via the CAN so that they execute motion profiles together. Operation in torque (current), velocity, and position modes with external motion controllers is supported. Input command signals are ±10 Vdc (torque, velocity, position), PWM/Polarity (torque, velocity), or Step/Direction (position). RUGGEDIZED STANDARDS CONFORMANCE Ambient Temperature Thermal Shock Relative Humidity Vibration Altitude Shock MIL-STD specifications IEC specifications Non-Operating Operating Operating Non-Operating Operating Operating Non-Operating Operating Crash Safety Operating MIL-STD- IEC- -50ºC to 85ºC -40ºC to 70ºC -40ºC to 70ºC in 1 minute 95% non-condensing at 60ºC 95% non-condensing at 60ºC 5 Hz to 500 Hz, up to 3.85 grms -400 m to 12,200 m -400 m to 5,000 m 75 g peak acceleration 40 g peak acceleration 461, 704, 810, 1275, 1399 60068, 60079 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Fax: 781-828-6547 Page 1 of 30

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Xenus R10 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS R10 RoHS GENERAL SPECIFICATIONS Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1Ø MODEL R10-230-18 R10-230-36 R10-230-40 Same specs for -S and -R models OUTPUT CURRENT Peak Current 18 (12.7) 36 (25.5) 40 (28.3) Adc (Arms, sinusoidal) Peak time 1 1 1 s Continuous current (Note 1) 6 (4.24) 12 (8.5) 20 (14.1) Adc (Arms, sinusoidal) INPUT POWER Mains voltage, phase, frequency 100~240 100~240 100~240 Vac, ±10%, 1Ø or 3Ø, 47~400 Hz 10.1 20.0 20.0 Arms Maximum Mains Current,...

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Xenus R10 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS R10 RoHS GENERAL SPECIFICATIONS (CONT’D) STATUS INDICATORS Drive Status CAN Status REGENERATION Operation Cut-In Voltage Drop-Out Voltage Tolerance PROTECTIONS HV Overvoltage HV Undervoltage Drive over temperature Short circuits I2T Current limiting Motor over temperature Feedback power loss MECHANICAL Size Weight Contaminants Environment Cooling Bicolor LED, drive status indicated by color, and blinking or non-blinking condition Bicolor LED, status of CAN bus indicated by color and blink codes to CAN Indicator Specification...

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Xenus R10 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS R10 RoHS FEEDBACK SPECIFICATIONS (CONT’D) RESOLVER RESOLVER Type Resolution Reference frequency Reference voltage Reference maximum current Maximum RPM Brushless, single-speed, 1:1 to 2:1 programmable transformation ratio 14 bits (equivalent to a 4096 line quadrature encoder) 7.5 kHz 2.8 Vrms, auto-adjustable by the drive to maximize feedback 100 mA 10,000+ ENCODER EMULATION Resolution Buffered encoder outputs Programmable to 16,384 counts/rev (4096 line encoder equivalent) 26C31 differential line driver MOTOR CONNECTIONS Phase...

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Xenus R10 R10 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS RoHS COMMUNICATIONS CME 2 SOFTWARE Drive setup is fast and easy using CME 2 software communicating via RS-232 or over the CAN bus. All of the operations needed to configure the drive are accessible through this powerful and intuitive program. Autophasing of brushless motor Hall sensors and phase wires eliminates “wire and try”. Connections are made once and CME 2 does the rest thereafter. Encoder wire swapping to establish the direction of positive motion is eliminated. Motor data can be saved as .ccm files. Drive data is...

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Xenus R10 R10 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS RoHS COMMUNICATIONS (CONTINUED) CANOPEN Based on the CAN V2.0b physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost and noise-immunity are essential, CANopen adds support for motion-control devices and command synchronization. The result is a highly effective combination of data-rate and low cost for multi-axis motion control systems. Device synchronization enables multiple axes to coordinate moves as if they were driven from a single control card. CANOPEN COMMUNICATION...

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Xenus R10 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS R10 RoHS COMMUNICATIONS (CONTINUED) DRIVE STATUS LED A single bi-color LED gives the state of the drive by changing color, and either blinking or remaining solid. The possible color and blink combinations are: • Green/Solid: Drive OK and enabled. Will run in response to reference inputs or CANopen commands. • Green/Slow-Blinking: Drive OK but NOT-enabled. Will run when enabled. • Green/Fast-Blinking: Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch. • Red/Solid: Transient...

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Xenus R10

Xenus R10

Catalog excerpts

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