Xenus RoHS PLUS CANopen
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Xenus PLUS Control Modes • Profile Position-Velocity-Torque, Interpolated Position, Homing • Camming, Gearing • Indexer Command Interface • CANopen • ASCII and discrete I/O • Stepper commands • ±10V position/velocity/torque (2 inputs) • PWM velocity/torque command • Master encoder (Gearing/Camming) Communications • CANopen DS-402 • RS-232 Feedback Incremental 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 (B & C) Resolver (-R option) • Brushless Resolver Other • Digital Halls Accessories • External regen resistors • External edge filter Safe Torque Off (STO) • Two active inputs enable power stage • One output confirms power stage status I/O Digital • 15 inputs, 6 outputs I/O Analog • 2, 16-bit inputs • 1, 12-bit input • 1, 12-bit output Dimensions: in [mm] • 7.9 x 5.5 x 2.3 [202 x 139 x 52] XPL CANopen RoHS DIGITAL SERVO DRIVE FOR BRUSH/BRUSHLESS MOTORS R Model Vac Ic Ip XPL-230-18 100 - 240 6 18 XPL-230-36 100 - 240 12 36 XPL-230-40 100 - 240 20 40 Add -R for resolver feedback option DESCRIPTION Xenus Plus set new levels of performance, connectivity, and flexibility. CANopen communication provides a widely used cost-effective industrial bus. A wide range of absolute interfaces are built-in including EnDat, Hiperface, and BiSS. High resolution A/D converters ensure optimal current loop performance. Both isolated and highspeed non-isolated 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 Tel: 781-828-8090 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Fax: 781-828-6547 Page 1 of 28

Xenus PLUS CANopen XPL 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 XPL-230-18 XPL-230-36 XPL-230-40 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 Vac, ±10%, 1Ø or 3Ø, 47~63 Hz 10.1 20.0 20.0 Arms Maximum Mains Current, 1Ø (Note 3) 6.4 10.4 15.4 Arms Maximum Mains current, 3Ø (Note 3) +24 Vdc Control power...

Two independent 5 Vdc @ 400 mA outputs, thermal and short-circuit protected 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 is dissipating energy +HV < 380 Vdc Regen output is off, (optional external) regen resistor not dissipating energy ±2 Vdc_For either Cut-in or Drop-Out voltage_ Drive over temperature Short circuits Motor over temperature _Feedback power loss +HV > 400 Vdc Drive PWM outputs turn off until +HV is less than overvoltage +HV < 60...

Xenus PLUS CANopen XPL RoHS SPECIFICATIONS (CONT’D) SAFE TORQUE OFF (STO) Inputs 2 two-terminal: [ENH+], [ENH-], [ENL+], [ENL-] Type Opto-isolators, 24V compatible Output 1 two-terminal: [LED+], [LED-] 24V compatible Functional Safety IEC 61508-1, IEC 61508-2, EN(ISO) 13849-1, EN(ISO) 13849-2 DIMENSIONS Inches (mm) 7.92 201.17 7.54 191.52 .19 4.83 R.094 2.37 TYP 1.29 32.69 5.12 130.07 Chassis Grounding: For CE compliance and machine safety an electrically conductive grounding tab is provided. This connects to the heatplate and to frame ground. 3.00 76.20 Chassis grounding tab CAN .190 4.83...

Xenus PLUS XPL CANopen RoHS 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 Xenus uses the CAN physical layer signals CAN_H, CAN_L, and CAN_GND for...

Xenus PLUS XPL CANopen RoHS COMMUNICATIONS RS-232 COMMUNICATIONS XPL 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 XPL RS-232 port are through J7, an RJ-11 connector. The XPL 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. STAT LED (ON J6) J6: RS-232 PORT SIGNAL 1 STAT PIN 2 RxD 6 RJ-11 receptacle, 6...

Xenus PLUS XPL CANopen RoHS SAFE TORQUE OFF (STO) DESCRIPTION The XPL has a safety feature that is designed to provide the Safe Torque Off (STO) function as defined in IEC 61800-5-2. Two 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...

Xenus PLUS XPL CANopen 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. DIFFERENTIAL PULSE & DIRECTION SINGLE-ENDED PULSE & DIRECTION [IN3+] [IN5] [IN6] [IN4-] Pulse PULSE Direction [IN5+] [IN6-] SINGLE-ENDED CU/CD DIRECTION DIFFERENTIAL CU/CD CU (Count-Up) CU (Count-Up) [IN5] [IN6] [IN3+] [IN4-] CU CD CD (Count-Down) CD (Count-Down) [IN5+] [IN6-]...