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Model Ic Ip Vac
XEC-230-09 3 9 100~240
XEC-230-12 6 12 100~240
XEC-230-15 7.5 15 100~240
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 1 of 30
Xenus PLUSCompact EtherCAT XEC
DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS
CONTROL MODES• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing• Indexer,Point-to-Point,PVT• Camming,Gearing• Position, Velocity, TorqueCOMMANDINTERFACE• CANopen application protocol over EtherCAT (CoE) • ASCIIanddiscreteI/O • Steppercommands • ±10V position/velocity/torque • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)COMMUNICATIONS• EtherCAT• RS-232FEEDBACKIncremental• Digital quad A/B encoder• Analog sin/cos encoder• PanasonicIncrementalA• Aux. encoder / encoder out Absolute• SSI• EnDat 2.1 & 2.2• Absolute A• TamagawaAbsoluteA• PanasonicAbsoluteAFormat• Sanyo Denki Absolute A• BiSS (B&C)Other • DigitalHalls • Resolver (-R option)I/ODIGITAL• 6High-speedinputs • 1Motorover-tempinput• 4 Opto-isolated inputs• 1High-speedoutput• 3 Opto-isolated outputs• 1Opto-isolatedmotorbrakeoutputI/OANALOG• 1 Reference input, 12-bitSAFE TORQUE OFF (STO)• SIL3,Category3,PLd
DIMENSIONS:IN[MM]• 7.54x4.55x2.13[191.4x115.6x54.1]
DESCRIPTIONXEC sets new levels of performance, connectivity, andflexibility.CANopen application protocol over EtherCAT (CoE) communicationprovidesawidelyusedcost-effectiveindustrialbus.Awiderangeofabsoluteencodersaresupported.
HighresolutionA/Dconvertersensureoptimalcurrentloopperformance.Bothisolatedandhigh-speednon-isolatedI/Oareprovided.Forsafetycriticalapplications,redundantpowerstageenableinputscanbeemployed.
Add-Rtothepartnumberforresolverfeedback
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 2 of 30
Xenus PLUSCompact EtherCAT XEC
Testconditions:Wyeconnectedload:2mHline-line.Ambienttemperature=25°C.Powerinput=230Vac,60Hz,1Ø
MODEL XEC-230-09 XEC-230-12 XEC-230-15OUTPUT CURRENT
PeakCurrent 9(6.4) 12(8.5) 15(10.6) Adc(Arms,sinusoidal) Peaktime 1 1 1 s Continuouscurrent 3(2.12) 6(4.24) 7.5(5.3) Adc(Arms,sinusoidal) Efficiency >97%@230Vacandratedcontinuouscurrent
INPUTPOWER Mainsvoltage,phase,frequency 100~240 100~240 100~240 Vac,±10%,1Øor3Ø,47~63Hz MaximumMainsCurrent,(Note 2) 4.7 9.4 11.8 Arms1Ø 2.6 5.2 6.5 Arms3Ø InrushCurrent 15Apeak@120VAC,35Apeak@240VAC +24VdcControlpower +20~32VdcRequiredforoperation(Note3) 7.5W(Typ,noloadon+5Voutputs),≤18W,(Max,both+5Voutputs@500mA)
DIGITALCONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 200µHline-line Resolution 12-bit capture of U & V phase currents
COMMANDINPUTS CANopen application protocol over EtherCAT Cyclic synchronous Position-Velocity-Torque, ProfilePosition-Velocity-Torque,Interpolatedposition,Homing Stand-alone mode Analog torque, velocity, position reference ±10 Vdc, 12 bit resolution Dedicated differential analog input Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(4MHzmaximumrate) Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature) Digitaltorque&velocityreference PWM,Polarity PWM=0%-100%,Polarity=1/0 PWM50% PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing Upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming Upto10CAMtablescanbestoredinflashmemory ASCII RS-232,9600~115,200Baud,3-wire,RJ-11connector
DIGITALINPUTS [IN1,2] Digital,Schmitttrigger,1.5µsRCfilter,24Vdccompatible,15kΩprogrammablepull-up/downsto+5Vdc/ground, Vt+≥3.15Vdc,VT-≤1.13Vdc [IN3,4,5,6] Programmableas4single-endedor2differentialpairs,100nsRCfilter,5Vdctypical,12Vdcmax 10 kΩprogrammablepull-up/downperinputto+5Vdc/ground, SE:Vin-LO≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,DIFF:Vin-LO≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp, [IN7,8,9,10] Opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,withcommonreturnto+24Vorground Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typical Maximumworkingvoltagewithrespecttosignalground:32Vdc [IN11] Motorovertempsignalonfeedbackconnector,Schmitttrigger,24Vdccompatible 330µsRCfilter,4.99kpullupto+5Vdc,Vt+≥3.15Vdc,VT-≤1.13Vdc ProgrammableforotherfunctionsifnotusedforMotemp
ANALOGINPUT [AIN±] Differential,±10Vdc,5.06kΩinputimpedance,12-bitresolution
SAFE TORQUE OFF (STO)Function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted Standard DesignedtoIEC-61508-1,IEC-61508-2,IEC-61800-5-2,ISO-13849-1 SafetyIntegrityLevel SIL3,Category3,Performanceleveld Inputs 2two-terminal:STO-IN1+,STO-IN1-,STO-IN2+,STO-IN2- Type Opto-isolators,24Vcompatible,Vin-LO≤6.0Vdcoropen,Vin-HI≥15.0Vdc, Inputcurrent(typical)STO-IN1:9.0mA,STO-IN2:4.5mA Responsetime 2msfromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Reference Xenus Plus Compact STO Manual
RS-232 PORT Signals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector,non-isolated Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200baud Protocol BinaryandASCIIformats
DIGITALOUTPUTS [OUT1~3] Opto-isolatedSSR,two-terminal,300mAmax,24Vtolerant,series1Ωresistor,36VZenerflybackdiode Ratedimpulse≥800V [OUT4] High-speedCMOSbuffer,+5Vmax,±8mAinto560Ω(minimum) [OUT5] Motorbrakecontrol:opto-isolated,current-sinkingwithflybackdiodeto+24Vdc,1Adcmax
ETHERCATPORTS Format DualRJ-45receptacles,100BASE-TX,isolatedfromsignalground,maxworkingvoltagewithrespecttosignalground:32Vdc Protocol EtherCAT, CAN application protocol over EtherCAT (CoE)
5V OUTPUTSNumber 2:+5Vout1onthefeedbackconnector(J5),+5Vout2onthecontrolconnector(J6)forthemulti-modeencoder Ratings +5Vdc@500mAeachoutput,1000mAtotalforbothoutputs,thermalandoverloadprotected
NOTES:1.Brakeoutput[OUT5]isprogrammableasmotorbrake,orasgeneralpurposedigitaloutput.2.Theactualmainscurrentisdependentonthemainsvoltage,andmotorloadandoperatingconditions.TheMaximumMainsCurrentsshownaboveoccurwhenthedriveisoperatingfromthemaximuminputvoltageandisproducingtheratedpeakandcontinuousoutputcurrentsatthemaximumoutputvoltage.
3.WhenSTOfeatureisused,the24VpowersupplymustbeaSELVorPELVtypewiththemaximumoutputvoltagelimitedto60Vdcorlower.
GENERAL SPECIFICATIONS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 3 of 30
Xenus PLUSCompact EtherCAT XEC
STATUSINDICATORS Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition NETStatus RUN/ERRLEDs,statusofEtherCATbusindicatedbycolorandblinkcodestoCANIndicatorSpecification303-3
REGENERATION Operation Solidstateswitchdrives60Ω internal regen resistor BusCapacitance 940µF ContinuousPowerCapability 20W Cut-InVoltage +HV>390Vdc±2Vdc Regenoutputison,regenresistorisdissipatingenergy Drop-OutVoltage +HV<380Vdc±2Vdc Regenoutputisoff,regenresistornotdissipatingenergy
PROTECTIONS ACMainsLoss LossofmainspowerbetweenL1&L2isdetected HVOvervoltage +HV>400Vdc DrivePWMoutputsturnoffuntil+HVislessthan400Vdc HVUndervoltage +HV<60Vdc DrivePWMoutputsturnoffuntil+HVisgreaterthan60Vdc Driveovertemperature IGBT>80°C±3°C DrivePWMoutputsturnoffuntilIGBTtemperatureisbelow80ºC Shortcircuits Motor:Outputtooutput,outputtoground,outputtoHV,internalPWMbridgefaults Regen:Regen+toground,Regen-toHV I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature [IN11]inputprogrammabletodisabledrivewhenmotorsensorresistanceincreases Feedbackloss ProgrammabletodetectlossofAORBencoderchannels,orlossofAORBORXchannels CommandSignalLoss EtherCATmasterstopscyclicalupdates,networkcableisunplugged Programmableasalatchingfault 24VReversedPolarity Reversingthe+24Vconnections(J3-4&J3-1)willnotdamagethedrive
MECHANICAL&ENVIRONMENTAL Size 7.54x4.55x2.13[191.4x115.6x54.1] Weight 2.2lb[1.0kg] Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage Altitude ≤2000m(6560ft) Humidity 0%to95%,non-condensing Contaminants Pollutiondegree2 Vibration 2 gpeak,10~500Hz(sine),IEC60068-2-6 Shock 10 g,10ms,half-sinepulse,IEC60068-2-27 Cooling Internalfanallowsoperationatratedcontinuouscurrentto45Cambient
AGENCYSTANDARDSCONFORMANCEStandards and Directives Functional Safety IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) Directive 2006/42/EC (Machinery) ISO13849-1:2015(Cat3,PLd) IEC61800-5-2:2007(SIL3) Reference: Xenus Plus Compact STO Manual (16-01553)
Product Safety Directive2014/35/EU(LowVoltage) IEC61800-5-1:2007
EMC Directive 2014/30/EU (EMC) IEC61800-3:2004/A1:2011
Restriction of the Use of Certain Hazardous Substances (RoHS) Directive2011/65/EU(RoHSII)
Voltage Sag Immunity SEMIF47-0706
Approvals UL and cUL recognized component to: UL 61800-5-1, 1st Ed. UL Functional Safety Certification to: IEC61508-1:2010,IEC61508-2:2010(SIL3) ISO13849-1:2015,IEC61800-5-2:2007,UL61800-5-2:2012(Cat3,PLd)
GENERAL SPECIFICATIONS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 4 of 30
Xenus PLUSCompact EtherCAT XEC
GENERAL SPECIFICATIONS
FEEDBACKIncremental: DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec),MAX3097differentiallinereceiver 121ΩterminatorsbetweenA&/A,B&/Binputs,130ΩbetweenX&/Xinput AnalogIncrementalEncoder Sin/cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%,ServoTubemotorcompatible BW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 12-bitresolution,BW>300kHz,withzero-crossingdetection Absolute: SSI Clock(X,/X),Data(S,/S)signals,4-wire,ClockisoutputfromXEC,Dataisinputfromencoder 130ΩterminatoRbetweenX&/Xoutputs,221ΩbetweenS&/Sinputs 1kΩpull-upsto+5VdconX&S,1kΩpull-downstoSgndon/X&/S EnDAT Clock (X, /X), Data (S, /S), Sin/Cos (Sin+, Sin-, Cos+, Cos-) signals AbsoluteA,TamagawaAbsoluteA,PanasonicAbsoluteAFormat,SanyoDenkiAbsoluteA SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplexcommunication Position feedback: 13-bit resolution per rev, 16 bit revolution counter (29 bit absolute position data) Status data for encoder operating conditions and errors BiSS(B&C) MA+,MA-(X,/X),SL+,SL-(S,/S)signals,4-wire,ClockoutputfromXEC,Dataisinputfromencoder X&SchannelsforabsoluteencodersuseISL3178bi-directionallinedriver/receivers
RESOLVER(-ROPTION) Type Brushless,single-speed,1:1to2:1programmabletransformationratio Resolution 14 bits (equivalent to a 4096 line quadrature encoder) Referencefrequency 8.0kHz Referencevoltage 2.8Vrms,auto-adjustablebythedrivetomaximizefeedback Referencemaximumcurrent 100mA MaximumRPM 10,000+
HALLSDigital: U,V,W:Single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1µsRCfilter,24Vdccompatible,10kΩpull-upto+5Vdc Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc
Analog: U & V: Sin/cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%,ServoTubemotorcompatible BW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 12-bitresolution,BW>300kHz,withzero-crossingdetection
MULTI-MODEENCODERPORT AsInput SeeDigitalIncrementalEncoderaboveforelectricaldataonA,B,&Xchannels,or AbsoluteencodersusingXorSchannels.NoterminatorsonA&Bchannels,X&Schannelsasshownabove AsEmulatedOutput QuadratureA/Bencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromanalogsin/cosencodersorabsoluteencoders.A/BoutputsuseISL3178linedrivers. A,/A,B,/B,outputsfromISL3178differentiallinedriver,X,/X,S,/SoutputsfromISL3178driver AsBufferedOutput DigitalA/B/XencodersignalsfromprimarydigitalencoderarebufferedbyISL3178linedrivers,5MHzmax
5V OUTPUTSNumber 2:+5Vout1onthefeedbackconnector(J5),+5Vout2onthecontrolconnector(J6)forthemulti-modeencoder Ratings +5Vdc@500mAeachoutput,1000mAtotalforbothoutputs,thermalandoverloadprotected
Set x10 x1 Set x10 x1
Hex Dec Hex Dec
0 0 0 8 128 8
1 16 1 9 144 9
2 32 2 A 160 10
3 48 3 B 176 11
4 64 4 C 192 12
5 80 5 D 208 13
6 96 6 E 224 14
7 112 7 F 240 15
PIN SIGNAL
1 TX+
2 TX-
3 RX+
6 RX-
S2
S1
X1X10DEVICE ID
J8AMP
J9
J7
ERRIN
OUTRUNL/A
L/A
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 5 of 30
Xenus PLUSCompact EtherCAT XEC
J7:EtherCAT PORTSRJ-45receptacles, 8 position, 4 contact
ETHERCATCONNECTIONSDualRJ-45socketsacceptstandardEthernetcables.TheINportconnectstoamaster,ortotheOUTportofadevicethatis‘upstream’,betweentheXECandthemaster.TheOUTportconnectsto‘downstream’nodes.IftheXECisthelastnodeonanet-work,onlytheINportisused.NoterminatorisrequiredontheOUTport.
ETHERCATLEDS(ONRJ-45CONNECTORS)L/A AgreenLEDindicatesthestateoftheEtherCATnetwork:
LED Link Activity Condition ON Yes No PortOpen Flickering Yes Yes PortOpenwithactivity Off No (N/A) Port Closed
RUN Green:ShowsthestateoftheESM(EtherCATStateMachine) Off = Init Blinking = Pre-operational Single-flash= Safe-operational On = Operational
ERR Red:Showserrorssuchaswatchdogtimeoutsandunsolicited state changes in the XEC due to local errors. Off = EtherCATcommunicationsareworkingcorrectly Blinking = Invalidconfiguration,generalconfigurationerror SingleFlash= Localerror,slavehaschangedEtherCATstateautonomously DoubleFlash= PDOorEtherCATwatchdogtimeout, oranapplicationwatchdogtimeouthasoccurred
The AMP bi-color LED gives the state of the drive. Colors do not alternate, and can be solid ON or blinking. Whenmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed. Whenthatconditionisclearedthenextonebelowwillshown.
1)Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset. 2)Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhen theconditioncausingthefaultisremoved. 3)Green/Double-Blinking = STOcircuitactive,driveoutputsareSafe-Torque-Off 4)Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled. 5)Green/Fast-Blinking = PositiveorNegativelimitswitchactive. Drivewillonlymoveindirectionnotinhibitedbylimitswitch. 7)Green/Solid = DriveOKandenabled.Willruninresponseto referenceinputsorEtherCATcommands.Latching FaultsDefault Optional(programmable) • Shortcircuit(Internalorexternal) • Over-voltage • Driveover-temperature • Under-voltage • Motorover-temperature • MotorPhasingError • FeedbackError • CommandInputLost • FollowingError • MotorWiringDisconnected • STO Active • Over Current (latched)
ETHERCAT COMMUNICATIONS
INDICATORS: DRIVE STATE
EtherCATDeviceIDSwitch Decimalvalues
CME2->Amplifier->NetworkConfigurationEtherCAT DEVICEID(STATIONALIAS)InanEtherCATnetwork,slavesareautomaticallyassignedconsecutiveaddressesbasedontheirpositiononthenetwork.Butwhenthedevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisused.Thisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x00~0xFF(0~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:1)FindthehighestnumberintheX10columnthatislessthan107
andsetX10tothehexvalueinthesamerow: 96<107and112>107,soX10=96=Hex6
2)Subtract96fromthedesiredDeviceIDtogetthedecimalvaluefortheswitchX1andsetittotheHexvalueinthesamerow: X1=(107-96)=11=HexB
3)Result:X10=6,X1=B,Alias=0x6B(107)
PIN SIGNAL
2 RxD
3,4 Gnd*
5 Txd6
9
1
5
3 2TxD RxD
RJ-11on
ServoDrive
RJ-11 cable6P6CStraight-wired
5 3Gnd Gnd
RxD TxD2 5
D-Sub 9F
Dsub-9Fto RJ11Adapter
16
RxD TxD
1 2 3 4 5 6
RJ-11(DTE)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 6 of 30
Xenus PLUSCompact EtherCAT XEC
J8:RS-232PORTRJ-11receptacle, 6 position, 4 contact
RS-232COMMUNICATIONSXECisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit. Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheXECRS-232portarethroughJ8,anRJ-11connector. The XEC SerialCableKit(SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector (COM1,COM2,etc.)onPC’sandcompatibles.
SER-CKSERIALCABLEKITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorontheXEC.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheXEC.Theconnectionsareshowninthediagrambelow.
Don’tforgettoorderaSerialCableKitSER-CKwhenplacing your order for an XEC!
COMMUNICATIONS: RS-232 SERIAL
ASCIICOMMUNICATIONSTheCopleyASCII Interface is a set of ASCII format commands that can be used to operate these drives over anRS-232 serialconnection.Forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammedusingCME2,acontrolprogramcanuse theASCIIInterfaceto:
•EnabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.
TheBaudratedefaultsto9,600afterpower-onorresetandisprogrammableupto115,200thereafter.Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablishedatthis speed, the Baud rate can be changed to a higher rate (19,200, 57,600, 115,200).ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 <enter>Then,changetheBaudrateinthecomputer/controllertothenewnumberandcommunicateatthatrate.
AdditionalinformationcanbefoundintheASCIIProgrammersGuideontheCopleywebsite:http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf
ASCII COMMUNICATION PROTOCOL
* Signal ground
PIN SIGNAL PIN SIGNAL
1 FrameGnd 6 STO-1(+)
2 STO-1(+) 7 STO-1(-)
3 STO-1(-) 8 STO-24V
4 STO-2(+) 9 STO-GND
5 STO-2(-)
DANGER
Refer to the Xenus Plus Compact STO Manual (16-01553)
TheinformationprovidedintheXenus Plus Compact STO Manual mustbeconsidered for any application using the XEC drive STO feature.Failure to heed this warning can cause equipment damage, injury, or death.
+HV
PWMOutputs
Channel 1
Frame Ground
STO-Bypass (6.5 mA)
STO-Gnd (Sgnd)
J4
STO-IN1+
STO-IN2+Channel 2
FPGAUVW PWM
Channel 3
STO-IN2-
STO-IN1-
STO-IN1+
STO-IN1-
2
3
1
4
5
6
7
8
9
EN
GateDrivers
FPGAPWM
Enable
16
95
Bypass Plug ConnectionsJumper pins:2-4, 3-5, 6-8, 7-9 *
16
95
SAFE
TY 1
5
6
9
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 7 of 30
Xenus PLUSCompact EtherCAT XEC
STO CONNECTOR
J4SIGNALS
SAFE TORQUE OFF (STO)DESCRIPTIONTheXECprovidestheSafeTorqueOff(STO)functionasdefinedinIEC61800-5-2.Threeopto-couplersareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperatedbythedigitalcontrolcore.ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareactivated(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.
Current must flow through all of the
opto-couplers before the drive can be
enabled
STOBYPASS(MUTING)InorderforthePWMoutputsofthedrivetobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtothe STO-1andSTO-2terminalsofJ4,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisoverriddenandcontroloftheoutputPWMstageisundercontrol of the digital control core. If not using the STO feature, these connections must be made in order for the drive to be enabled.
STOBYPASSCONNECTIONS
INSTALLATION
*STObypassconnectionsontheXECand XenusXEL/XPLmodelsaredifferent.Ifbothdrivesareinstalledinthesamecabinet,thediodeshouldbewiredasshowntopreventdamagethatcouldoccuriftheSTObypassconnectorsareinstalledonthewrongdrive.
The diode is not required for STO bypass ontheXECandcanbereplacedbyawire
betweenpins7and9.
DIFFERENTIAL:IN3,4,5,6
Signal J6Pins
[IN3]Pls,CU,EncA 9
[IN4]/Pls,/CU,Enc/A 10
[IN5]Dir,CD,EncB 11
[IN6]/Dir,/CD,Enc/B 12
SignalGround 6,16,22,31, 37,44
FrameGround 1
SINGLE-ENDED:IN5,6
Signal J6Pins
[IN5]Pls,CU,EncA 11
[IN6]Dir,CD,EncB 12
SignalGround 6,16,22,31, 37,44
FrameGround 1
DIFFERENTIAL:IN3,4,5,6
Signal J6Pins
[IN3]Curr-Vel± 9
[IN4]/Curr-Vel± 10
[IN5]Pol-Dir 11
[IN6]/Pol-Dir 12
SignalGround 6,16,22,31, 37,44
FrameGround 1
SINGLE-ENDED:IN5,6
Signal J6Pins
[IN5]Curr-Vel± 11
[IN6]Pol-Dir 12
Sgnd 6,16,22,31, 37,44
FrameGround 1
PULSE
/PULSE
DIRECTION
/DIRECTION
[IN3]
[IN4]
[IN5]
[IN6]
CD (Count-Down)
CU (Count-Up)[IN3]
[IN4]
[IN5]
[IN6]
CU (CW)
/CU (CW)
CD (CCW)
/CD (CCW)
Enc. A
Enc B
/Enc. A
/Enc B
Encoder ph. B
Encoder ph. A [IN3]
[IN4]
[IN5]
[IN6]
CU (CW)
CD (CCW)
[IN5]
[IN6]
Enc. A
Enc. B
Enc. Ph. A
Enc. Ph. B
[IN5]
[IN6]
Pulse
Direction
[IN5]
[IN6]
Curr-Vel
Pol-Dir
[IN5]
[IN6]
Duty = 50% ±50%
<no connection>
Curr-Vel±
<not used>
[IN5]
[IN6]
Duty = 0 - 100% Curr-Vel
Pol-Dir
/Curr-Vel
/Pol-Dir
[IN5]
[IN6]
[IN3]
[IN4]
[IN5]
[IN6]
[IN3]
[IN4]/Curr-Vel
Curr-Vel
NoFunction
Duty = 50% ±50%
<no connection>
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 8 of 30
Xenus PLUSCompact EtherCAT XEC
POSITIONCOMMANDINPUTSDigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.
Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoderportsmaybeused.
SINGLE-ENDEDPWM&DIRECTION
SINGLE-ENDED50%PWM
SINGLE-ENDEDPULSE&DIRECTION
SINGLE-ENDEDCU/CD
QUADA/BENCODERSINGLE-ENDED
DIFFERENTIALCU/CD
DIFFERENTIALPULSE&DIRECTION
QUADA/BENCODERDIFFERENTIAL
DIFFERENTIAL50%PWM
DIFFERENTIALPWM&DIRECTION
DIGITAL COMMAND INPUTS: POSITION
DIGITAL COMMAND INPUTS: VELOCITY, TORQUESingle-endeddigitaltorqueorvelocitycommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speed inputs.
Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoderportsmaybeused.
SIGNALS&PINS
Signal J6
Pulse, CW, Encoder A 36
/Pulse, /CW, Encoder /A 21
Direction, CCW, Encoder B 35
/Direction, /CCW, Encoder /B 20
Quad Enc X, Absolute Clock 34
Quad Enc /X, /Absolute Clock 19
Enc S, Absolute (Clock) Data 33
Enc /S, / Absolute (Clock) Data 18
SignalGround6, 16, 22, 31, 37, 44
FrameGround 1
+5V output @ 500 mA
Signal Ground
Enc. B
Enc. X
Enc. X
Enc. X
Enc. S
Enc. S
B
X
/X
/S
Enc. A
Incremental Encoder
Absolute Encoder
J6 Control
Frame Ground
A
S
/B
/A
Input/OutputSelect
MAX3097
MAX3032
A/B/X signals fromdigital encoder
Input/OutputSelect
MAX3097
MAX3032
A/B/X signals fromdigital encoder
Input/OutputSelect
MAX3097
MAX3032
Pulse/Dir or CU/CD differential commands
InputSelect
OutputSelect
ISL3178
ISL3178
X
S
4-Wire digital absolute encoder signals
Input/OutputSelect
ISL3178
ISL3178S
S
2-Wire digital absolute encoder signals
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 9 of 30
Xenus PLUSCompact EtherCAT XEC
MULTI-MODE ENCODER PORT AS AN INPUT
POSITIONCOMMANDINPUTS:DIFFERENTIAL• Pulse & Direction• CW&CCW(Clockwise&Counter-Clockwise)• Encoder Quad A & B• CammingEncoderA&Binput
CURRENT orVELOCITYCOMMANDINPUTS:DIFFERENTIAL• Current or Velocity & Direction• Current or Velocity (+) & Current or Velocity (-)
SECONDARYFEEDBACK:INCREMENTAL• QuadA/B/Xincrementalencoder
SECONDARYFEEDBACK:ABSOLUTE• Schannel:AbsoluteAencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesDatafromtheencoderinhalf-duplexmode.
• S&Xchannels:SSI,BiSS,EnDatencoders(4-wire) The X channel sends the Clock signal to the encoder, whichinitiatesdatatransmissionfromtheencoder ontheS-channelinfull-duplexmode
INPUT TYPES
SIGNALS&PINS
Signal J6
Encoder A 36
Encoder /A 21
Encoder B 35
Encoder /B 20
Encoder X 34
Encoder /X 19
Encoder S 33
Encoder /S 18
SignalGround 6, 16, 22, 31, 37, 44
FrameGround 1
SecondaryEncoder Input
Input/OutputSelect
Quad A/B/X primaryencoder
ISL3178
ISL3178
Buffered A/B/X signalsfrom primary encoder
SecondaryEncoder Input
Input/OutputSelect
ISL3178
ISL3178
Emulated Quad A/Bsignals from analog Sin/Cos encoder
Emulated A/B signals
Enc. B
Enc. X
B
/B
X
/X
Enc. A
Incremental Encoder
J6 Control
Frame Ground
A
/A
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 10 of 30
Xenus PLUSCompact EtherCAT XEC
MULTI-MODE PORT AS AN OUTPUT
OUTPUT TYPES
BUFFEREDFEEDBACKOUTPUTS:DIFFERENTIAL• Encoder Quad A, B, X channels• DirecthardwareconnectionbetweenquadA/B/X
encoder feedback and differential line drivers for A/B/X outputs
EMULATEDFEEDBACKOUTPUTS:DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevices:• Absolute encoders • AnalogSin/Cosincrementalencoders
Name Notes
Analog: Reference Filter Disabled
Vloop:InputFilter Disabled
Vloop: Output Filter 1 LowPass,Butterworth, 2-pole,200Hz
Vloop: Output Filter 2 Disabled
Vloop: Output Filter 3 Disabled
Iloop:InputFilter1 Disabled
Iloop:InputFilter2 Disabled
InputShaping Disabled
Option Notes
Method SetCurrentPositionasHome
Name Notes
OUT1 Fault Active Off
OUT2 Isolated NotConfiguredOUT3
OUT4 HSOutput NotConfigured
OUT5 BrakeActive-HI
Active Notes
√ Short Circuit
√ AmpOverTemperature
√ MotorOverTemp
Over Voltage
Under Voltage
√ Feedback Error
Motor Phasing Error
√ FollowingError
CommandInputFault
Motor Wiring Disconnected
STO Active
OPTIONALFAULTS
Over Current (Latched)
Name Configuration PU/PD
IN1 Enable-LO, Clear Faults +5V PU
IN2
NotConfigured +5V/Gnd
IN3
IN4
IN5
IN6
IN7
Opto NotConfigured
IN8
IN9
IN10
IN11 Motemp +5V PU
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 11 of 30
Xenus PLUSCompact EtherCAT XEC
CME2 DEFAULTS
ThesetablesshowtheCME2defaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.
SPECIFICATIONS
Input Data Notes
InputVoltages
HI VT+=2.5~3.5Vdc
LO VT-=1.3~2.2Vdc
VH1 VH=±0.7~1.5Vdc
Max +30 Vdc
Min 0 Vdc
Pull-up/down R1 15 kΩ
LowpassfilterR2 15 kΩ
C1 100 pF
InputCurrent24V 1.3mAdc
0V -0.33mAdc
Timeconstant RC2 1.5µs
CONNECTIONS
Input Pin
IN1 J6-7
IN2 J6-8
Sgnd J6-6,16,22,31,37,44
SPECIFICATIONS
Input Data Notes
InputVoltages Single-ended
HI Vin≥2.7Vdc
LO Vin≤2.3Vdc
VH1 45mVdctyp
InputVoltages Differential3
HI Vdiff≥+200mVdc
LO Vdiff≤-200mVdc
VH ±45mVdctyp
Commonmode Vcm 0 to +12 Vdc
Pull-up/down R1 10 kΩ
LowpassfilterR2 1 kΩ
C1 100 pF
Timeconstant RC2 100 ns
CONNECTIONS
S.E. DIFF Pin
IN3 IN3+ J6-9
IN4 IN4- J6-10
IN5 IN5+ J6-11
IN6 IN6- J6-12
Sgnd J6-6,16,22,31,37,44
C1
R2R1
74HC2G14
PullUp = +5VPullDown = 0V
[IN1,2]
+5V
FEEDBACK CONNECTOR
12V max+
C1
C1
2.5V
MAX3096
MAX3096
[IN3,5]
J6 Control
[IN4,6]
R1
R1
+5V
R2
R2
++5V
[IN3,5]
J6 Control
[IN4,6]
+5V
+5V
C1
R1R2
C1
R1R2
MAX3096
12V max+
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 12 of 30
Xenus PLUSCompact EtherCAT XEC
SINGLE-ENDED/DIFFERENTIAL INPUTS: IN3, IN4, IN5, IN6
HIGH SPEED INPUTS: IN1, IN2
• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 24VCompatible• Programmablefunctions
Notes:1)VHishysteresisvoltage
(VT+) - (VT-)2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices
• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 12VCompatible• Single-ended or Differential• Programmablefunctions
Notes:1)VHishysteresisvoltage IN2-IN3orIN12-IN13
2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices)
3)Vdiff=AINn(+)-AINn(-) n=1forAxisA,2forAxisB
SINGLE-ENDED
DIFFERENTIAL
SPECIFICATIONS
Input Data Notes
InputVoltages
HI Vin≥3.5Vdc
LO Vin≤0.7Vdc
Max +24 Vdc
Min 0 Vdc
Pull-up R1 4.99 kΩ
InputCurrent24V 5.7mAdc
0V -1.0mAdc
LowpassfilterR2 10 kΩ
C1 33 nF
Timeconstant Te 330µs*BS 4999:Part 111:1987
Property ohms
Resistanceinthetemperaturerange20°Cto+70°C 60~750
Resistanceat85°C ≤1650
Resistanceat95°C ≥3990
Resistanceat105°C ≥12000
CONNECTIONS
Input Pin
IN11 J5-7
Sgnd J5-5,16,25,26
CONNECTIONS
Signal J6Pin
IN7 13
IN8 14
IN9 15
IN10 30
ICOM 28
SPECIFICATIONS
Input Data Notes
InputVoltages
HI Vin≥±10.0Vdc*
LO Vin≤±6Vdc*
Max ±30Vdc*
InputCurrent±24V ±2mAdc
0V 0mAdc
+5V
[IN11]
Thermistor,Posistor,
or switch Signal Gnd
R1
R2
C1
J5
J6
4.99k 4.7V
[IN7] 4.7k
4.7k
4.7k
4.7k
[INCOM]
4.99k 4.7V
[IN8]
4.99k 4.7V
[IN9]
4.99k 4.7V
[IN10]
+24V
24V GND
+
24V
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 13 of 30
Xenus PLUSCompact EtherCAT XEC
• Digital, non-isolated• Motorovertempinput• 24VCompatible• Programmablefunctions
• Digital, opto-isolated• Agroupoffour,withacommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions
MOTOROVERTEMPINPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.
*VdcReferencedtoICOMterminals.
* RC time constant applieswhen input is driven byactivehigh/lowdevice
MOTOR OVERTEMP INPUT: IN11
OPTO-ISOLATED INPUTS: IN7, IN8, IN9, IN10
SPECIFICATIONS
Spec Data Notes
InputVoltage Vref ±10 Vdc
InputResistance Rin 5.05 kΩ
HI/LODEFINITIONS:OUTPUTS
Input State Condition
OUT1~3HI OutputSSRisON,currentflows
LO OutputSSRisOFF,nocurrentflows
CONNECTIONS
Signal (+) (-)
OUT1 J6-42 J6-27
OUT2 J6-41 J6-26
OUT3 J6-40 J6-25
SPECIFICATIONS
Output Data Notes
ON Voltage OUT(+) - OUT(-) Vdc 0.85V@300mAdc
Output Current Iout 300mAdcmax
CONNECTIONS
Signal Pins
AIN(+) J6-3
AIN(-) J6-2
Sgnd J6-6,16,22,31,37,44
+
1.5V
Shield (Frame Gnd)
AIN(+)
AIN(-)Vref
J6D/A
F.G.
±10V
Sgnd
-
[OUTn-]
300mAmax
* at 24 Vdc
Vdc
J6
[OUTn+]
1
80Ωmin*
36V
SSR
+
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 14 of 30
Xenus PLUSCompact EtherCAT XEC
ANALOG INPUT: AIN1
Asareferenceinputittakesposition/velocity/torquecommandsfromacontroller.Ifnotusedasacommandinput,itcanbeusedasgeneral-purpose analog input.
• ±10 Vdc, differential• 12-bit resolution• Programmablefunctions
OPTO-ISOLATED OUTPUTS: OUT1, OUT2, OUT3
• Digital, opto-isolated• MOSFEToutputSSR,2-terminal• Flyback diode for inductive loads• 24VCompatible• Programmablefunctions
HI/LODEFINITIONS:OUTPUTS
Input State Condition
BRAKE [OUT5]
HI
Output transistor is OFF Brakeisun-poweredandlocksmotor Motorcannotmove Brake state is Active
LO
Output transistor is ON Brakeispowered,releasingmotor Motorisfreetomove Brake state is NOT-Active
SPECIFICATIONS
Output Data Notes
Voltage Range Max +30 Vdc
Output Current Ids 1.0 Adc
SPECIFICATIONS
OutputHI Data Notes
VoutHI Voh 4.4 Vdc
IoutHI Ioh -8.0mAdc
Vout LO Vol 0.40 Vdc
IoutLO Iol 8.0mAdc
J3CONNECTIONS
Pin Signal
4 Brk24VInput
3 Brk 24V Output
2 Brake[OUT5]
1 24V Return
J3
Brake [OUT5]
4
3
24V
Brk 24V Input
Brk 24V Output
24V Return
2
1
i
+0
J6+5 Vdc
[OUT4] ±8 mA
RSgnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 15 of 30
Xenus PLUSCompact EtherCAT XEC
• Brake output• Opto-isolated• Flyback diode for inductive load• 24VCompatible• Protectedfrom24Vreverse-connectionstoJ3-1&J3-4• Programmablefunctionsfor[OUT5]
• CMOS buffer• 74AHCT1G125• Programmablefunctions
CME2DefaultSettingforBrakeOutput[OUT5]is“Brake-ActiveHI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CME2I/OLineStatesshowsOutput4asHI BRKOutputvoltageisHI(24V),MOSFETisOFF Servodriveoutputcurrentiszero Servo drive is disabled, PWM outputs are off Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CME2I/OLineStatesshowsOutput5asLO BRK output voltage is LO (~0V), MOSFET is ON Servo drive is enabled, PWM outputs are on Servodriveoutputcurrentisflowing
Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.
OPTO-ISOLATED MOTOR BRAKE OUTPUT: OUT5
HIGH-SPEED OUTPUT: OUT4
Signal J5Pins
Enc A 13
Enc /A 12
Enc B 11
Enc /B 10
Enc X 9
Enc /X 8
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
Signal J5Pins
Sin(+) 19
Sin(-) 18
Cos(+) 21
Cos(-) 20
X 9
/X 8
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
Signal J5Pins
S3 19
S1 18
S2 21
S4 20
R1 23
R2 22
Sgnd 5, 16, 25, 26
F.G. 1
1k+5V
1k
Encoder J5
FG Frame Ground
Enc. A121A
Enc. B121B
Enc. Index130X/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
1k+5V
1k
+5V Out @ 500 mA
Signal Ground
Sin(+)
Sin(-)
Cos(+)
Cos(-)
X
/X
-
+
-
+
10k
121
J5
10k
121
Encoder
FG
sin
cos
+5V
0V
indx
Frame Ground
10k
Sin
Cos
10k
Enc. Index130
Enc. A
Enc. B
Enc. Index
A
/A
B
/B
X
/X
Encoder
121
121
121
FG Frame Ground
A
B
+5V
0V
+5V Out @ 500 mA
Signal Ground
J5
Resolver
FG Frame Ground
J5
Sin(+)
Sin(-)
Cos(-)
Cos(+)
Ref(+)
Ref(-)
R/DConversionSinS3 S1
S2
S4R1R2
Cos
Ref
Sgnd
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Xenus PLUSCompact EtherCAT XEC
FEEDBACK CONNECTIONS
QUAD A/B ENCODER WITH FAULT PROTECTIONEncoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweenA&/Awhichisbelowthe
differential fault threshold.Open-circuit condition: The 121Ωterminatorresistorwillpulltheinputstogetherifeitherside(orboth)isopen.
Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.Low differential voltage detection: Thisispossiblewithverylongcablerunsandafaultwilloccurifthe
differentialinputvoltageis<200mV.±15kV ESD protection: The3097Ehasprotectionagainsthigh-voltagedischargesusingtheHumanBodyModel.Extended common-mode range: Afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V
ANALOG SIN/COS INCREMENTAL ENCODERThesin/cosinputsareanalogdifferentialwith121Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTube motors.Theindexinputisdigital,differential.
QUAD ENCODER WITH INDEX QUAD ENCODER WITH NO INDEX
SIN/COS SIGNALS RESOLVER SIGNALS
A/B/X SIGNALS
Sgnd=SignalGround F.G.=FrameGnd
Sgnd=SignalGround F.G.=FrameGnd
RESOLVER (-R MODELS)Connectionstotheresolvershouldbemadewithshieldedcablethatusesthreetwisted-pairs.Onceconnected,resolversetup,motorphasing,andothercommissioningadjustmentsaremadewithCME2software.Therearenohardwareadjustments.
Signal J5Pins
Clk 9
/Clk 8
Data 15
/Data 14
Sin(+) 19
Sin(-) 18
Cos(+) 21
Cos(-) 20
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
Signal J5Pins
Data 15
/Data 14
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
SSI BiSS J5Pins
Clk MA+ 9
/Clk MA- 8
Data SL+ 15
/Data SL- 14
+5V 6, 17
SignalGround 5, 16, 25, 26
FrameGnd 1
1k+5V
1k 1k+5V
1k
BiSSEncoder
221
130
MA+
MA-
SL+
SL-
FGFrame Ground
J5
Clk
Data
Master
Slave
V+
V-
+5V Out @ 500 mA
Signal Ground
1k+5V
1k 1k+5V
1k
Encoder
221
130
Clk
/Clk
Dat
/Dat
FGFrame Ground
J5
Clk
DataData
Clk
+5V
0V
+5V Out @ 500 mA
A
A
B
B
Signal Ground
-
+
-
+
A
B
A
B
1k+5V
1k 1k+5V
1k
Encoder
221
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Dat
/Dat
Clk
/Clk130
FGFrame Ground
J5
Clk
DataData
Clk
+5V
0V
+5V Out @ 500 mA
Signal Ground
10k
10k
121 Sin
Cos
10k
10k
121
sin
cos
Absolute-AEncoder
221
1.2k
1.2k
220
5V
SD+
SD-
J5
Battery
Dat
/DatCmd
D-R
SDCmd
D-R
SD
MAX3362B0V
+5VV+
V-
+5V Out@ 500 mA
Signal Ground
Batt+
Batt-
+
-
1k
1k
5V
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 17 of 30
Xenus PLUSCompact EtherCAT XEC
FEEDBACK CONNECTIONS
SSI ABSOLUTE ENCODERTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheXECdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequent clock pulses. The polling of the encoder data occurs at the currentloopfrequency(16kHz).Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLKandSDATA.Dataissentin8bitbytes,LSBfirst.TheSCLKsignalisonlyactiveduringtransfers.Data is clocked out on the falling edge and clock in on the rising edge of the Master.
BiSS ABSOLUTE ENCODERBiSS is an - Open Source - digital interface for sensors and actuators. BiSSreferstoprinciplesofwellknownindustrialstandardsforSerialSynchronousInterfaceslikeSSI,AS-Interface®andInterbus®withadditional options. SerialSynchronousDataCommunication Cyclic at high speed 2 unidirectional lines Clock and Data Linedelaycompensationforhighspeeddatatransfer 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 BiSSC-protocol:Continuousmode
ENDAT ABSOLUTE ENCODERTheEnDatinterfaceisaHeidenhaininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogsin/coschannelsfromthesameencoder.Thenumberofpositiondatabitsisprogrammableasistheuseofsin/coschannels.Useofsin/cosincrementalsignalsisoptionalintheEnDatspecification.
ABSOLUTE-A ENCODERThe Absolute A interface is a serial, half-duplex type that is electricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.
ENDAT SIGNALS
ABSOLUTE-A SIGNALS
Note: Single (outer) shields should be connected at both ends (motor and drive frame grounds). Inner shields should only be connected to Signal Ground on the drive.
SSI,BiSS SIGNALS
Sgnd=SignalGround F.G.=FrameGnd
Sgnd=SignalGround F.G.=FrameGnd
• Absolute A• TamagawaAbsoluteA• PanasonicAbsoluteAFormat• Sanyo Denki Absolute A
Signal J2Pin
Mot U 4
Mot V 3
Mot W 2
FrameGnd 1
Signal J5Pins
HallU 2
HallV 3
HallW 4
+5V 6, 17
Sgnd 5, 16, 25, 26
FrameGnd 1
J2
F.G.PWM
+HV
0V
+
W
V
U
Motor3 ph.
Halls
+5V Out @ 500 mA
Signal Ground
+5V
0V
10K
100p
10KHall U+5V
J5
100p
10K
10KHall V+5V
100p
10K
10KHall W
+5V
Hall A
Hall B
Hall C
HALL SIGNALS
MOTOR SIGNALS
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Xenus PLUSCompact EtherCAT XEC
MOTOR CONNECTIONS
MOTOR PHASE CONNECTIONSThe drive output is a three-phase PWM inverter that converts the DC buss voltage (+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimize PWMnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J2-1)forbestresults.
DIGITAL HALL SIGNALSHall signals are single-ended signals thatprovideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(U, V, &W) and theymay be sourced bymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc. They typically operate atmuch lowerfrequenciesthanthemotorencodersignals,and are used for commutation-initializationafter startup, and for checking themotorphasing after the amplifier has switched tosinusoidalcommutation.
16
3
2
1
Frame Gnd
5 25
26
17
8
9
10
11
12
1
13
Hall W 4
Hall V 3
Hall U 2
J5 6+5V Out
7
Signal Gnd
Signal Gnd
Motemp
BRUSHLESSMOTOR
U
V
U(+)
V(-)
W
BRUSHMOTOR
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J2
J3Brake
24V Return
4
Brk 24V Output
Brk 24V Input +
0V24 Vdc
Brk
Xenus Plus Compact
ENCODER
DIGITALHALLS
TEMPSENSOR
DIGITAL
/A
A
/B
B
/X
Vcc
0V
X
/A
A
/B
B
/X
X
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Xenus PLUSCompact EtherCAT XEC
Theconnectionsshownmaynotbeusedinallinstallations
MOTOR CONNECTIONS: DIGITAL QUAD A/B ENCODERS
NOTES:1) CEsymbolsindicateconnectionsrequiredforCEcompliance.2) WhenSTOfeatureisused,the24VpowersupplymustbeSELVorPELVwithoutput
voltagelimitedto60Vdc.
16
3
2
1
Frame Gnd
5 25
26
17
8
9
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
J5 6+5V Out
7
Signal Gnd
Signal Gnd
Motemp
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J2
J3Brake
24V Return
4
Brk 24V Output
Brk 24V Input +
0V24 Vdc
Brk
ENCODER
DIGITALHALLS
DIGITALINDEX
Vcc
0V
TEMPSENSOR
ANALOGSIN/COS
Sin-
Sin+
Cos-
Cos+
Ndx-
Ndx+
Enc Sin(-)
Enc Sin(+)
Enc Cos(-)
Enc Cos(+)
Enc Index(-)
Enc Index(+)
BRUSHLESS
U
V
WMOTOR
U(+)
V(-)BRUSHMOTOR
Xenus Plus Compact
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 20 of 30
Xenus PLUSCompact EtherCAT XEC
MOTOR CONNECTIONS: ANALOG SIN/COS INCREMENTAL ENCODERS
Theconnectionsshownmaynotbeusedinallinstallations
NOTES:1) CEsymbolsindicateconnectionsrequiredforCEcompliance.2) WhenSTOfeatureisused,the24VpowersupplymustbeSELVorPELVwithoutput
voltagelimitedto60Vdc.
16
3
2
1
Frame Gnd
5 25
26
17
22
23
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
J5 6+5V Out
7
Signal Gnd
Signal Gnd
Motemp
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J2
J3Brake
24V Return
4
Brk 24V Output
Brk 24V Input +
0V24 Vdc
Brk
TEMPSENSOR
RESOLVER
S1
S3
S4
S2
R2
R1
Rslvr Sin(-)
Rslvr Sin(+)
Rslvr Cos(-)
Rslvr Cos(+)
Rslvr Ref(-)
Rslvr Ref(+)
BRUSHLESS
U
V
WMOTOR
U(+)
V(-)BRUSHMOTOR
Xenus Plus Compact
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 21 of 30
Xenus PLUSCompact EtherCAT XEC
MOTOR CONNECTIONS: RESOLVERS (-R OPTION)
NOTES:1) CEsymbolsindicateconnectionsrequiredforCEcompliance.2) WhenSTOfeatureisused,the24VpowersupplymustbeSELVorPELVwithoutput
voltagelimitedto60Vdc.
Signal Pin
+24V Return 1
Brake 2
+24V to Brake 3
+24V 4
Signal Pin
FrameGround 1
Motor Phase W 2
Motor Phase V 3
Motor Phase U 4
Signal Pin
MainsInputL1 1
MainsInputL2 2
PEGround 3
FrameGround 4
MainsInputL3 5
PIN SIGNAL PIN SIGNAL
1 FrameGnd 6 STO-1(+)
2 STO-1(+) 7 STO-1(-)
3 STO-1(-) 8 STO-24V
4 STO-2(+) 9 STO-GND
5 STO-2(-)
J1
J3
J4
J5
J6
FE
ED
BA
CK
C
ON
TR
OL
+24
+24
BRK
24V RTN
SA
FE
TY
L1L2
L3U
VW
BR
AK
EM
OT
OR
P
OW
ER
XenusPlus
5 min
x10x1
DE
VIC
E ID
S1
S2
NE
TW
OR
KE
RR
L/AR
UN
L/A
RS
-232A
BA
MPJ8
J7
OU
TIN
J2
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 22 of 30
Xenus PLUSCompact EtherCAT XEC
J1MAINSCONNECTIONS
J2MOTOROUTPUT
J3+24VDC&BRAKE
WARNING: Hazardous voltages exist on connections to J1, & J2 when power is
applied, and for up to 4 minutes after power is removed.
ISOLATEDCIRCUIT
J4STO
CONNECTORS & SIGNALS
PIN SIGNAL
1 n/c
2 RxD
3 Gnd*
4 Gnd*
5 TxD
6 n/c
PIN SIGNAL PIN SIGNAL PIN SIGNAL
1 FrameGnd 10 Enc /B 19 Sin1(+) S3
2 HallU 11 Enc B 20 Cos1(-) S4
3 HallV 12 Enc /A 21 Cos1(+) S2
4 HallW 13 Enc A 22 Ref(-) R2 Note 2
5 SignalGnd 14 Enc /S 23 Ref(+) R1 Note 2
6 +5V Out1 15 Enc S 24 n/c
7 MotempIN11 16 SignalGnd 25 SignalGnd
8 Enc /X 17 +5V Out1 26 SignalGnd
9 Enc X 18 Sin1(-) S1
PIN SIGNAL PIN SIGNAL PIN SIGNAL
1 FrameGnd 16 SignalGnd 31 SignalGnd
2 Ref1(-) 17 +5V Out2 32 +5V Out2
3 Ref1(+) 18 Multi Enc /S 33 Multi Enc S
4 n/c 19 Multi Enc /X 34 Multi Enc X
5 n/c 20 Multi Enc /B 35 Multi Enc B
6 SignalGnd 21 Multi Enc /A 36 Multi Enc A
7 [IN1]GP 22 SignalGnd 37 SignalGnd
8 [IN2]GP 23 [OUT4]HS 38 n/c
9 [IN3]HS 24 n/c 39 n/c
10 [IN4]HS 25 [OUT3-]ISO 40 [OUT3+]ISO
11 [IN5]HS 26 [OUT2-]ISO 41 [OUT2+]ISO
12 [IN6]HS 27 [OUT1-]ISO 42 [OUT1+]ISO
13 [IN7]ISO 28 [INCOM]ISO 43 n/c
14 [IN8]ISO 29 n/c 44 SignalGnd
15 [IN9]ISO 30 [IN10]ISO
J1
J3
J4
J5
J6
FE
ED
BA
CK
C
ON
TR
OL
+24
+24
BRK
24V RTN
SA
FE
TY
L1L2
L3U
VW
BR
AK
EM
OT
OR
P
OW
ER
XenusPlus
5 min
x10x1
DE
VIC
E ID
S1
S2
NE
TW
OR
KE
RR
L/AR
UN
L/A
RS
-232A
BA
MPJ8
J7O
UT
IN
J2
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 23 of 30
Xenus PLUSCompact EtherCAT XEC
J8RS-232PORT
J8RS-232NOTE1.J8signalsarereferencedtoSignalGnd.
J8CABLECONNECTOR:RJ-11style,male,6positionCable:6-conductormodulartype,straight-through
Notes:1)Thetotalcurrentdrawnfrom+5VOut1onJ5cannotexceed500mA.2)Thesesignalsareonlyon-Roptionmodels.Otherwisen/c.
RJ-11receptacle, 6 position, 4 contact
J5FEEDBACK
J6CONTROL&I/O
CONNECTORS & SIGNALS
* Signal ground
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 24 of 30
Xenus PLUSCompact EtherCAT XEC
AWG mm2 Color Mfgr PNUM A B C D E SL
14 2.5 Blue Wago 216-206 15.0 (0.59) 8.0 (0.31) 2.05 (.08) 4.2 (0.17) 4.8 (0.19) 10 (0.39)
16 1.5 Black Wago 216-204 14.0 (0.59 8.0 (0.31) 1.7 (.07) 3.5 (0.14) 4.0 (0.16) 10 (0.39)
18 1.0 Red Wago 216-223 12.0 (.47) 6.0 (.24) 1.4 (.055) 3.0 (.12) 3.5 (.14) 8 (.31)
20 0.75 Gray Wago 216-222 12.0 (.47) 6.0 (.24) 1.2 (.047) 2.8 (.11) 3.3 (.13) 8 (.31)
22 0.5 White Wago 216-221 12.0 (.47) 6.0 (.24) 1.0 (.039) 2.6 (.10) 3.1 (.12) 7.5 (.30)
AWG mm2 Color Mfgr PNUM A B C D E SL
18 1.0 Red Wago 216-223 12.0 (.47) 6.0 (.24) 1.4 (.06) 3.0 (.12) 3.5 (.14) 8 (.31)
20 0.75 Gray Wago 216-222 12.0 (.47) 6.0 (.24) 1.2 (.05) 2.8 (.11) 3.3 (.13) 8 (.31)
22 0.5 White Wago 216-221 12.0 (.47) 6.0 (.24) 1.0 (.04) 2.6 (.10) 3.1 (.12) 7.5 (.30)
AWG mm2 Color Mfgr PNUM A B C D E SL
2 x 18 2 x 1.0 Red Altech 2776.0 15.4 (.61) 8.2[.32] 2.4 (.09) 3.2 (.13) 5.8 (.23) 11.0 (.43)
2 x 18 2 x 1.0 Gray Altech 2775.0 14.6 (.57) 8.2 (.32) 2.0 (.08) 3.0 (.12) 5.5 (.22) 11.0 (.43)
2 x 20 2 x 0.75 White Altech 2794.0 14.6 (.57) 8.2 (.32) 1.7 (.07) 3.0 (.12) 5.0 (.20) 11.0 (.43)
2 x 20 2 x 0.75 Gray TE 966144-2 15.0 (.59) 8.0 (.31) 1.70 (.07) 2.8 (.11) 5.0 (.20) 10 (.39)
2 x 22 2 x 0.50 White TE 966144-1 15.0 (.59) 8.0 (.31) 1.40 (.06) 2.5 (.10) 4.7 (.19) 10 (.39)
A
B
C D E
A
B
C D E
A
B
C D
E
WIRING
J3
FERRULEPARTNUMBERS:DOUBLEWIREINSULATED
FERRULEPARTNUMBERS:SINGLEWIREINSULATED
24V&BRAKE:J3
ACPOWER,ANDMOTOROUTPUT:J1,J2Tool
J1 J2
WagoMCS-MIDIClassic:231-305/107-000,5-pole(J1),231-304/107-000,4-pole(J2), femaleconnectors;withscrewflange;pinspacing5.08mm/0.2in
Conductor capacity Barestranded: AWG28~14[0.08~2.5mm2] Insulatedferrule: AWG24~16[0.25~1.5mm2] Strippinglength: 8~9mm OperatingTool: WagoMCS-MIDIClassic:231-159
FERRULEPARTNUMBERS:SINGLEWIREINSULATED
NOTESPNUM=PartNumberSL=StrippinglengthDimensions:mm(in)
Tool
SINGLEWIRE DOUBLEWIRE
WagoMCS-MINI:734-104/107-000,femaleconnector;withscrewflange, 4-pole;pinspacing3.5mm/0.138inConductor capacity Barestranded: AWG28~16[0.08~1.5mm2] Insulatedferrule: AWG24~16[0.25~1.5mm2] Strippinglength: 0.24~0.28in[6~7mm] Operatingtool: WagoMCS-MINI:734-231
~
~ -
+
~+
U
V
W
J3DC BUS(+)
DC BUS(-)
940 µF
Regen
L1
MAINSL3
L2J1
+5 Vdc
ENABLE [IN1]
SIGNAL GND
CONTROLSIGNALGROUND
CONTROL
RS-232
SYSTEM
J7
J8
3
1
2 BRAKE
EtherCATNetwork
PE GROUND
PWMINVERTER MOTOR
CASEFRAME GROUND
NETWORK
PHY
+24V
24VPOWER
+
-
BRAKE
24V Return
STO_GND
STO_24V
DC/DCCONVERTER
STOCONTROL
CONTROLCORE
RS-232Interface
40
10
20
30
40
50
60
70
90 100
110
120
130
140
150
160
170
180
190
200
210
220
230
240
250
260
270
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 25 of 30
Xenus PLUSCompact EtherCAT XEC
REGENERATIONThechartbelowshowstheenergyabsorptionin W·s for a XECdriveoperatingatsometypical mains voltages. When the loadmechanical energy is greater than thesevalues an external regen resistor is available as an accessory.
connected and must never be grounded. TheframegroundterminalsatJ1-3,J1-4,J2-1,J4-1,J5-1,andJ6-1allconnecttothedrivechassisandareisolatedfromalldriveinternal circuits.Signal grounding references the drive control circuits to those of the control system. These controls circuits typicallyhave theirownearthconnectionat somepoint. To eliminate ground-loops it isrecommendedthatthedrivesignalgroundbeconnectedtothecontrolsystemcircuitground. When this is done the drive signal voltageswillbereferencedtothesame0Vlevelasthecircuitsinthecontrolsystem.Smallcurrentsflowbetweencontrolleranddrivewheninputsandoutputsinteract.Thesignal ground is the path for these currents to return to their power sources in bothcontroller and drive.ShieldsoncablesreduceemissionsfromthedriveforCEcomplianceandprotectinternalcircuits from interferencedue to externalsources of electrical noise. Because of their smallerwire gauge, these should not beused as part of a safety-ground system.Motor cases can be safety-grounded either atthemotor,byearthingtheframe,orbyagroundingconductorinthemotorcablethat connects to J2-1. This cable shouldbeofthesamegaugeastheothermotorphase cables.
GROUNDINGA grounding system has three primaryfunctions: safety, voltage-reference, and shielding. As a safetymeasure, the PE(ProtectiveEarth)groundatJ1-3willcarryfault-currents fromthemains in thecaseof an internal failure or short-circuit of electronic components.Wiring to this istypicallydonewiththegreenconductorwithyellow stripe using the same gaugewireasthatusedforthemains.Thiswireisa‘bonding’conductorthatshouldconnecttoanearthedgroundpointandmustnotpassthrough any circuit interrupting devices. All of the circuits on J1, and J2 are mains-
DRIVEPOWERSOURCESTherearefourisolationzonesintheXEC:1. +24V, Brake, & STO2. Control circuits, motor feedback, andRS-232comms
3. High-voltageinputs&PWMoutputs4. EtherCATnetworkinterfaceEachoftheseisisolatedfromtheothersandallareisolatedfromthechassis.+24 VDC, BRAKE, & STOTheprimarysideof theDC/DCconverteroperates directly from the external +24Vdcsupplyandisisolatedfromotherdrivepowersections.Secondarywindingsprovidepower foreach isolationzone.TheBrakeoutput [OUT6] operates in this sectionand is referenced to the +24 Vdc return (0V).Itsinkscurrentfromanexternalloadconnectedtotheexternal+24Vdcpowersource.TheSTOcircuitsalsooperatefromthe24VpowerandtheSTO-24Vsuppliescurrentforde-activating(muting)theSTOfunctionwhenitisnotused.SIGNAL&RS-232CIRCUITSThesignalpowersectionsuppliespowerforthecontrolcircuitsaswellastheRS-232communications.Motor feedback signalssuch as Halls, encoder, and temperaturesensor operate in this section. All signal circuits are referenced to Signal Ground.This ground should connect to the control systemcircuitgroundorcommonsothatdrive and controller inputs and output voltage levels work properly with eachother.
HIGHVOLTAGE,REGEN,&PWMMains power drives the high-voltagesection.Itisrectifiedandcapacitor-filteredtoproduceinternalDCbuswhichthePWMstage converts into voltages that drive either three phase brushless or DC brush motors.Aninternalsolid-stateswitchandpowerresistorprovidesdissipationduringregeneration. All the circuits in this section are“hot”,thatis,theyconnectdirectlytothemainsandmustbeconsideredhigh-voltagesand a shock hazard requiring properinsulation techniques during installation.ETHERCATNETWORKThenetworkconnectionsfromtheEtherCATreceptaclesaremagneticallyisolatedfromthe PHY (PHYsical interface) logic whichconverts themintodatawhich ishandledby the control core.
ENERGYABSORPTION
MAINS(VAC)
Joules(W·s)
DEVICE STRUCTURE & ISOLATION
Max Energy 248W·s(J)
Resistance 60 Ω
Power,continuous 20 W
Power,peak 2500 W
Time 100ms
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 26 of 30
Xenus PLUSCompact EtherCAT XEC
Vac E100 62120 58200 34240 17
Velocity
BusVdc
HVdc
390
Off
Active
RegenResistor
Absorption
Decel time
Regen time
Velocity
BusVoltage
RegenActive Regen
Dwell Time
RegenCycle Time
REGENERATION
Thedrivehashasaninternalregenresistorwhichcanhandleregenerativeenergythatexceedstheabsorptioncapacityoftheinternalbuscapacitance.Theinternalregenresistorwillbeswitchedonwhentheenergyshowninthetablehasbeenabsorbedandthebusvoltagedrivenupto390Vdcatwhichpointtheinternalregenresistorwillbeswitchedtoabsorbthekineticenergyof the load.
ABSORPTION
INTERNALREGENRESISTOR
CALCULATINGTHEREGENREPETITIONFREQUENCY
Step4:Findthetotalregencycletimebyaddingthedecelerationtime
tothedwelltime:
DecelTime=1.25sec
DwellTime=2.90sec
CycleTime=4.15sec
Step3:Dividetheregenenergybythecontinuouspowerratingof20Watts togetthedwelltimethatcandissipatetheregenenergyintheresistor:
DwellTime=58Joules=2.9sec 20 Watts Seconds;Joules,Watts
Step1:Findtheenergyofmotionforarotatingload,forthisexampleletitbe75Joules:
E=J*RPM2 =75J 182 Joules;kg·m2, RPM
Step2:Subtracttheabsorptionatyourmainsvoltagetogettheenergythatmustbe dissipated in the regen resistor. Use 240 Vac:
75J-17J=58JJoules;Joules
Absorption is the energy that can be transferred to the 940 uF internal capacitance during deceleration. This table showstheenergyabsorptioninW·sforadriveoperatingatsometypicalmainsvoltages.Ifthedecelerationenergyis less than the absorption capacity of the drive, then the regenerationresistorwillnotbeswitched-onbecausethebusvoltagewillnotriseenoughtohittheover-voltagelevelthatwoulddisablethePWMoutputs.
Terms:
E Energy Joules,Watt·seconds
J RotaryMomentofInertia kg·m2
P Power Watts
0.00
5.00
10.00
15.00
20.00
25.00
0 500 1000 1500 2000 2500 3000 3500
AC M
ains
Inpu
t Cur
rent
(Arm
s)
Drive Output Power (W)
AC Mains Input Current @ 208VAC Mains Voltage
1 PH (Cont OperatingRange)3 PH (Cont OperatingRange)1 PH (Peak OperatingRange)3 PH (Peak OperatingRange)
Output Current InputCurrent(Arms)
ACInput (Vrms)
Peak of Sine (A)
Power (W) 1Ø 3Ø
208 1.0 217 1.57 0.87
208 2.0 433 3.15 1.73
208 3.0 650 4.72 2.60
208 4.0 866 6.29 3.47
208 5.0 1083 7.87 4.34
208 6.0 1299 9.44 5.20
208 7.0 1516 11.02 6.07
208 7.5 1624 11.80 6.50
208 8.0 1732 12.59 6.94
208 9.0 1949 14.16 7.81
208 10.0 2165 15.74 8.67
208 11.0 2382 17.31 9.54
208 12.0 2598 18.88 10.41
208 13.0 2815 20.46 11.27
208 14.0 3031 22.03 12.14
208 15.0 3248 23.61 13.01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 27 of 30
Xenus PLUSCompact EtherCAT XEC
AC POWER REQUIREMENTS
OperationfromACpowerandfull-waverectificationtoDCinthedriveproducespowerfactorsof66%from1-phaseand69%from3-phasemains.ThetableandchartbelowshowtheACinputcurrentsthatresultfromtheoutputpowerneededtodriveamotorinanapplication.
Thechartaboveshowsanexampleusinga1HP(746Watt)motoroperatingatitsratedpoweroutput. From1Ømains,theinputcurrentwouldbe2.98Armsandfor3Ømainsitwouldbe5.42Arms.
746
5.42
2.98
See Note 2
1.01 25.6
4.8.19
1.00 25.4
End View
Fan Air-Flow
End View
4.12 104.7
2.13 54.1
.20 5.2
13.3.53
7.13 181.1
7.54 191.4
4.54 115.2
4.70 119.5
4.8.19
5 m
ind
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 28 of 30
Xenus PLUSCompact EtherCAT XEC
DIMENSIONS [IN/MM]
Notes:1)Recommendedscrewsformountingslots:#8-32orM4externaltoothSEMS2)Cableshieldgroundingsocket:#8-32externaltoothSEMS
J2 J2 J2 J2
J1
J3
J4
J5
J6
FE
ED
BA
CK
C
ON
TR
OL
+24
+24
BRK
24V RTN
SA
FE
TY
L1L2
L3U
VW
BR
AK
EM
OT
OR
P
OW
ER
XenusPlus
5 min
x10x1
DE
VIC
E ID
S1
S2
NE
TW
OR
KE
RR
L/AR
UN
L/A
RS
-232A
BA
MPJ8
J7O
UT
IN
J2
J1
J3
J4
J5
J6
FE
ED
BA
CK
C
ON
TR
OL
+24
+24
BRK
24V RTN
SA
FE
TY
L1L2
L3U
VW
BR
AK
EM
OT
OR
P
OW
ER
XenusPlus
5 min
x10x1
DE
VIC
E ID
S1
S2
NE
TW
OR
KE
RR
L/AR
UN
L/A
RS
-232A
BA
MPJ8
J7
OU
TIN
J2
J1
J3
J4
J5
J6
FE
ED
BA
CK
C
ON
TR
OL
+24
+24
BRK
24V RTN
SA
FE
TY
L1L2
L3U
VW
BR
AK
EM
OT
OR
P
OW
ER
XenusPlus
5 min
x10x1
DE
VIC
E ID
S1
S2
NE
TW
OR
KE
RR
L/AR
UN
L/A
RS
-232A
BA
MPJ8
J7
OU
TIN
J2
J1
J3
J4
J5
J6
FE
ED
BA
CK
C
ON
TR
OL
+24
+24
BRK
24V RTN
SA
FE
TY
L1L2
L3U
VW
BR
AK
EM
OT
OR
P
OW
ER
XenusPlus
5 min
x10x1
DE
VIC
E ID
S1
S2
NE
TW
OR
KE
RR
L/AR
UN
L/A
RS
-232A
BA
MPJ8
J7
OU
TIN
J2
2 [50]
2 [50]
0.4 [10] 0.4 [10]
Minimum Clearancein[mm]
Minimum Clearancein[mm]
Minimum Spacingin[mm]
Fan Air-Flow
Fan Air-Flow
Fan Air-Flow
Fan Air-Flow
0.4 [10]
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 29 of 30
Xenus PLUSCompact EtherCAT XEC
INSTALLATION
Thegraphicbelowshowstherecommendedmountingformultipledrives. Theclearancesshowsareminimums.
XEC-230-09 XEC Servo Drive, 3/9 Adc
XEC-230-09-R XEC ServoDrive,3/9Adcwithresolverfeedback
XEC-230-12 XEC Servo Drive, 6/12 Adc
XEC-230-12-R XEC ServoDrive,6/12Adcwithresolverfeedback
XEC-230-15 XEC Servo Drive, 7.5/15 Adc
XEC-230-15-R XEC ServoDrive,7.5/15Adcwithresolverfeedback
Qty Ref Name Description Manufacturer P/N
XEC-CKConnector Kit
1J1 ACPwr
Plug,5position,5.08mm,female Wago: 231-305/107-000 (Note 1)
1 Strainrelief,snap-on,5.08mm,5position,orange Wago: 232-635
1J2 Motor
Plug,4position,5.08mm,female Wago: 231-304/107-000 (Note 1)
1 Strainrelief,snap-on,5.08mm,4position,orange Wago: 232-634
1 J1,J2 Tool Tool,wireinsertion&extraction,231series Wago: 231-159
1J3 Brake
Plug,4position,3.5mm,female Wago: 734-104/107-000 (Note 1)
1 Strainrelief,snap-on,3.5mm,5position,grey Wago: 734-604
1 J5 Tool Tool,wireinsertion&extraction,734series Wago: 734-231
1
J4 Note 2 Safety
Connector,DB-9M,9-position,standard,male TE/AMP: 205204-4
9 AMPLIMITEHD-20Crimp-Snapcontacts,24-20AWG,AUflash TE/AMP: 66506-9
1 MetalBackshell,DB-9,RoHS 3M: 3357-9209
4 Jumper,withpinscrimpedonbothends Copley: 10-75177-01
1J5 Feed-
backConnector,high-densityDB-26M,26position,male,soldercup Norcomp: 180-026-103L001
1 MetalBackshell,DB-15,RoHS 3M: 3357-9215
1J6 Control
Connector,high-densityDB-44M,44position,male,soldercup Norcomp: 180-044-103L001
1 MetalBackshell,DB-25,RoHS 3M: 3357-9225
XEC-NC-10 1J7 Network
EtherCAT®networkcable,10ft(3m)
XEC-NC-01 1 EtherCAT®networkcable,1ft(0.3m)
SER-CK 1 J8 RS-232 Serial Cable Kit
Note1:ForRoHScompliance,append“/RN01-0000”totheWagopartnumberslistedabove
Note2:Insertion/extractiontoolforJ6contactsisAMP/Tyco91067-2(notincludedinXEC-CK)
16-01435DocumentRevisionHistory
Revision Date Remarks
00 August 30, 2016 Initialreleasedversion
01 January3,2017 Updatedimensions
03 March 20, 2017 ECO-066029,addedresolverfeedbackanddrivemountingspacings
04 April 30, 2018 AddedF47toapprovals,correctionstoinputpowerfor-09,-12models,ACpowerrequirements
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 Page 30 of 30
Xenus PLUSCompact EtherCAT XEC
Note:Specificationssubjecttochangewithoutnotice
ORDERINGGUIDE
Example:OrderoneXenus Plus Compactdrive,6/12AwithconnectorKit,resolverfeedback,andserialcablekit:Qty Item Remarks 1 XEC-230-12-R Xenus Plus Compactservodrivewithresolverfeedback 1 XEC-CK Connector Kit 1 SER-CK Serial Cable Kit
ACCESSORIES
EtherCATisaregisteredtrademarkandpatentedtechnology,licensedbyBeckhoffAutomationGmbH,Germany.
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