XenusPLUS Compact EtherCAT XEC
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Xenus PLUSCompact EtherCAT   DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS CONTROL MODES • Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST) • Profile Position-Velocity-Torque, Interpolated Position, Homing • Indexer, Point-to-Point, PVT • Camming, Gearing • Position, Velocity, Torque COMMAND INTERFACE • CANopen application protocol 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 FEEDBACK Incremental • Digital quad A/B encoder • Analog sin/cos encoder • Panasonic Incremental A • Aux. encoder / encoder out Absolute • SSI • EnDat 2.1 & 2.2 • Absolute A • Tamagawa Absolute A • Panasonic Absolute A Format • Sanyo Denki Absolute A • BiSS (B&C) Other • Digital Halls • Resolver (-R option) I/O DIGITAL • 6 High-speed inputs • 1 Motor over-temp input • 4 Opto-isolated inputs • 1 High-speed output • 3 Opto-isolated outputs • 1 Opto-isolated motor brake output I/O ANALOG • 1 Reference input, 12-bit SAFE TORQUE OFF (STO) • SIL 3, Category 3, PL d Model DIMENSIONS: IN [MM] XEC-230-09 • 7.54 x 4.55 x 2.13 [191.4 x 115.6 x 54.1] XEC-230-12 XEC-230-15 Add -R to the part number for resolver feedback DESCRIPTION XEC sets new levels of performance, connectivity, and flexibility. CANopen application protocol over EtherCAT (CoE) communication provides a widely used cost-effective industrial bus. A wide range of 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 can be employed. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Te

Xenus PLUSCompact EtherCAT   GENERAL SPECIFICATIONS Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1Ø MODEL OUTPUT CURRENT Peak Current Peak time Continuous current Efficiency INPUT POWER Mains voltage, phase, frequency Maximum Mains Current, (Note 2) Inrush Current +24 Vdc Control power Adc (Arms, sinusoidal) s Adc (Arms, sinusoidal) 100~240 100~240 100~240 Vac, ±10%, 1Ø or 3Ø, 47~63 Hz 4.7 9.4 11.8 Arms 1Ø 2.6 5.2 6.5 Arms 3Ø 1 5 A peak @ 120 VAC, 35 A peak @ 240 VAC +20~32 Vdc equired for operation (Note 3) R 7 .5 W (Typ,...

Xenus PLUSCompact EtherCAT   GENERAL SPECIFICATIONS STATUS INDICATORS Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition NET Status RUN/ERR LEDs, status of EtherCAT bus indicated by color and blink codes to CAN Indicator Specification 303-3 REGENERATION Operation Solid state switch drives 60 W internal regen resistor Bus Capacitance 940 µF Continuous Power Capability 20 W Cut-In Voltage +HV > 390 Vdc ±2 Vdc Regen output is on, regen resistor is dissipating energy Drop-Out Voltage +HV < 380 Vdc ±2 Vdc Regen output is off, regen resistor not...

Xenus PLUSCompact EtherCAT   GENERAL 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 121 Ω terminators between A & /A, B & /B inputs, 130 Ω between X & /X input Analog Incremental Encoder Sin/cos format (Sin+, Sin-, Cos+, Cos-), differential, 1 Vpeak-peak ±20%, ServoTube motor compatible BW > 300 kHz, 121 Ω terminating resistors between Sin+ & Sin-, Cos+ & Cos- inputs 12-bit resolution, BW > 300 kHz,...

Xenus PLUSCompact EtherCAT   ETHERCAT COMMUNICATIONS 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 XEC and the master. The OUT port connects to ‘downstream’ nodes. If the XEC is the last node on a network, only the IN port is used. No terminator is required on the OUT port. ETHERCAT LEDS (ON RJ-45 CONNECTORS) L/A A green LED indicates the state of the EtherCAT network: LED Link Activity Condition ON Yes No Port Open Flickering Yes Yes Port Open with activity Off No...

Xenus PLUSCompact EtherCAT   COMMUNICATIONS: RS-232 SERIAL RS-232 COMMUNICATIONS XEC 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 XEC RS-232 port are through J8, an RJ-11 connector. The XEC 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...

Xenus PLUSCompact EtherCAT   SAFE TORQUE OFF (STO) DESCRIPTION The XEC 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....

Xenus PLUSCompact EtherCAT   DIGITAL COMMAND INPUTS: POSITION POSITION COMMAND INPUTS Digital position commands must be sourced from devices with active pullup and pull-down to take advantage of the high-speed inputs. SINGLE-ENDED PULSE & DIRECTION For differential commands, the A & B channels of the multi-mode encoder ports may be used. DIFFERENTIAL PULSE & DIRECTION [IN3] SINGLE-ENDED CU/CD Signal Ground Frame Ground DIFFERENTIAL CU/CD QUAD A/B ENCODER SINGLE-ENDED Frame Ground Signal Ground QUAD A/B ENCODER DIFFERENTIAL DIGITAL COMMAND INPUTS: VELOCITY, TORQUE Single-ended digital torque...