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Copley Controls Xenus PLUS Compact CANopen Series Manual

Digital servo drive for brush & brushless motors
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Xenus
dIgItal serVo drIVe for brush & brushless Motors
CoNtRol MoDeS
• Profile Position-Velocity-Torque, Interpolated Position, Homing
• Indexer, Point-to-Point, PVT
• Camming, Gearing
Command InTerfaCe
• Canopen
• aSCII and discrete I/o
• Stepper commands
• ±10V position/velocity/torque
• PWm velocity/torque command
• master encoder (Gearing/Camming)
CommunICaTIonS
• Canopen
• 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
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
dImenSIonS: In [mm]
• 7.54 x 4.55 x 2.13 [191.4 x 115.6 x 54.1]
deSCrIPTIon
XPC sets new levels of performance, connectivity, and
flexibility. CANopen communication provides a widely used
cost-effective industrial bus. a wide range of absolute
encoders are supported.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01
PLUS
Compact
Model
XPC-230-09
XPC-230-12
XPC-230-15
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.
XPC
CANopen
Ic
Ip
Vac
3
9
100~240
6
12
100~240
7.5
15
100~240
RoHS
Page 1 of 28

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Summary of Contents for Copley Controls Xenus PLUS Compact CANopen Series

  • Page 1 High resolution a/d converters ensure optimal current loop XPC sets new levels of performance, connectivity, and performance. both isolated and high-speed non-isolated flexibility. CANopen communication provides a widely used I/o are provided. for safety critical applications, redundant cost-effective industrial bus. a wide range of absolute power stage enable inputs can be employed. encoders are supported. Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 1 of 28...

  • Page 2: General Specifications

    [ouT1~3] opto-isolated SSr, two-terminal, 300 ma max, 24 V tolerant, series 1 Ω resistor, 36 V Zener flyback diode rated impulse ≥ 800 V [ouT4] High-speed CmoS buffer, +5V max, ±8 ma into 560 Ω (minimum) [ouT5] motor brake control: opto-isolated, current-sinking with flyback diode to +24 Vdc, 1 adc max CAN PoRtS format dual rJ-45 receptacles, isolated from signal ground, max working voltage with respect to signal ground: 32 Vdc Protocol Canopen Cia-402 5V ouTPuTS number 2: +5Vout1 on the feedback connector (J5), +5Vout2 on the control connector (J6) for the multi-mode encoder ratings +5 Vdc @ 500 ma each output, 1000 ma total for both outputs, thermal and overload protected noTeS: 1. brake output is programmable as motor brake, or as general purpose digital output 2. The actual mains current is dependent on the mains voltage, and motor load and operating conditions. The maximum mains Currents shown above occur when the drive is operating from the maximum input voltage and is producing the rated peak and continuous output currents at the maximum output voltage. Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 2 of 28...

  • Page 3: Status Indicators

    Restriction of the Use of Certain Hazardous Substances (RoHS) directive 2011/65/eu (roHS II) Approvals UL and cUL recognized component to: Ul 61800-5-1, 1st ed. UL Functional Safety Certification to: IeC 61508-1:2010, IeC 61508-2:2010, IeC 61508-3:2010, IeC 61508-4: 2010 (SIl 3) ISo 13849-1/Cor. 1:2009 (Cat 3, Pl d) Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 3 of 28...
  • Page 4 Schmitt trigger, 1 µs rC filter, 24 Vdc compatible, 10 kΩ pull-up to +5 Vdc Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc Analog: u & V: 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, with zero-crossing detection mulTI-mode enCoder PorT as Input See digital Incremental encoder above for electrical data on a, b, & X channels, or absolute encoders using X or S channels. no terminators on a & b channels, X & S channels as shown above as emulated output quadrature a/b encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev from analog sin/cos encoders or absolute encoders. a/b outputs use ISl3178 line drivers. a, /a, b, /b, outputs from ISl3178 differential line driver, X, /X, S, /S outputs from ISl3178 driver as buffered output digital a/b/X encoder signals from primary digital encoder are buffered by ISl3178 line drivers, 5 mHz max 5V ouTPuTS number 2: +5Vout1 on the feedback connector (J5), +5Vout2 on the control connector (J6) for the multi-mode encoder ratings +5 Vdc @ 500 ma each output, 1000 ma total for both outputs, thermal and overload protected Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 4 of 28...

  • Page 5: Canopen Communications

    (address) In an Canopen network, nodes are assigned addresses 1~127. address 0 is reserved for the Can bus master. In the XPC, the node address is provided by two 16-position rotary switches with hexadecimal encoding. These can set the address of the drive from 0x01~0x7f (1~127 decimal). The chart shows the decimal values of the hex settings of each switch. DEVICE ID node-Id (address) Switches To find the node-Id given the switch settings: node-Id = (S1 * 16) + S2 example: S1 = 5, S2 = b S1 value = (5*16) = 80, S2 value = Hex(b) = 11, Canopen Settings node-Id = 80 + 11 = 91 To find the switch settings for a given address: S1 = The integer part of (node-Id / 16) S2 = Hex (node-Id - (S1 * 16) ) example: node-Id = 91 S1 = 91/16 = 5.69, integer part = 5, (5*16) = 80 Used S2 = Hex (91 - 80) = 11 = 0xb Addr Cme2 -> amplifier -> network Configuration Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 5 of 28...

  • Page 6: Ascii Communications

    CAN nodes. CANopen CANopen RS-232 CAN Addr 0 CAN Addr 1 CAN Addr n CAN Master CAN Node CAN Node for Serial-multi-drop you’ll need an Serial Cable kit Ser-Ck plus Canopen network cables to connect the drives as shown. The XP2-nC-01 and XP2-nC-10 are 1 ft (0.3m) and 10 ft (3m) cables that will do the job. Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 6 of 28...
  • Page 7 STO-Bypass (6.5 mA) XPC and can be replaced by a wire between pins 7 and 9. STO-Gnd (Sgnd) Frame Ground Sto CoNNeCtoR J4 SIGnalS SIGnal SIGnal frame Gnd STo-1(+) STo-1(+) STo-1(-) STo-1(-) STo-PWr STo-2(+) STo-Gnd STo-2(-) Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 7 of 28...
  • Page 8 Curr-Vel Duty = 50% ±50% [IN4] [In5] Pol-dir /Curr-Vel [IN6] <no connection> <not used> [In6] /Pol-dir [IN5] 6,16,22,31, Signal Ground 37,44 <no connection> Function [IN6] frame Ground Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 8 of 28...

  • Page 9: Input Types

    +5V output @ 500 mA Input Select Input/Output Signal Ground Select 4-Wire digital absolute 2-Wire digital absolute encoder signals Output encoder signals Select MAX3362 MAX3362 Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 9 of 28...
  • Page 10 Buffered A/B/X signals Select Emulated A/B signals from primary encoder MAX3362 MAX3032 Emulated Quad A/B Quad A/B/X primary signals from encoder analog Sin/Cos encoder Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 10 of 28...
  • Page 11 Vloop: output filter 3 disabled √ feedback error Iloop: Input filter 1 disabled motor Phasing error Iloop: Input filter 2 disabled √ following error Input Shaping disabled Command Input fault motor Wiring disconnected STo active oPTIonal faulTS over Current (latched) option Notes Method Set Current Position as Home Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 11 of 28...

  • Page 12: Feedback Connector

    [IN3,5] ConneCTIonS notes: S.e. dIff 1) VH is hysteresis voltage In2 - In3 or In12 - In13 J6-9 In3+ 2) The r2*C2 time constant applies when input is driven by J6-10 In4- active HI/lo devices) In5+ J6-11 3) Vdiff = aInn(+) - aInn(-) n = 1 for axis a, 2 for axis b In6- J6-12 [IN4,6] Sgnd J6-6, 16, 22, 31, 37 , 44 Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 12 of 28...

  • Page 13: Specifications

    * rC time constant applies resistance in the temperature ConneCTIonS 60~750 when input is driven by range 20°C to +70°C active high/low device Input resistance at 85°C ≤1650 In11 J5-7 resistance at 95°C ≥3990 Sgnd J5-5, 16, 25, 26 resistance at 105°C ≥12000 Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 13 of 28...
  • Page 14 * at 24 Vdc output Current Iout 300 madc max HI/lo defInITIonS: ouTPuTS ConneCTIonS Input State Condition Signal output SSr is on, current flows oUt1 J6-42 J6-27 oUt1~3 output SSr is off, no current flows oUt2 J6-41 J6-26 oUt3 J6-40 J6-25 Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 14 of 28...
  • Page 15 = brake is holding motor shaft (i.e. the Brake is Active) J3 ConneCTIonS motor cannot move no current flows in coil of brake Signal Cme2 I/o line States shows output 4 as HI brk 24V Input brk output voltage is HI (24V), moSfeT is off Servo drive output current is zero brk 24V output Servo drive is disabled, PWm outputs are off brake [ouT5] Inactive = brake is not holding motor shaft (i.e. the Brake is Inactive) motor can move 24V return Current flows in coil of brake Cme2 I/o line States shows output 5 as lo brk output voltage is lo (~0V), moSfeT is on Servo drive is enabled, PWm outputs are on Servo drive output current is flowing Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 15 of 28...

  • Page 16: Feedback Connections

    Cos(+) Cos(-) Cos(-) indx Enc. Index 6, 17 Sgnd 5, 16, 25, 26 +5V Out @ 500 mA f.G. Signal Ground Sgnd = Signal Ground f.G. = frame Gnd Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 16 of 28...

  • Page 17: Ssi Absolute Encoder

    • Sanyo denki absolute a /Data Cos(-) f.G. 6, 17 Sgnd = Signal Ground Sgnd 5, 16, 25, 26 f.G. = frame Gnd +5V Out @ 500 mA f.G. Signal Ground Sgnd = Signal Ground f.G. = frame Gnd Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 17 of 28...

  • Page 18: Motor Connections

    Hall V sinusoidal commutation. frame Gnd 100p Hall C Hall W 100p +5V Out @ 500 mA Signal Ground Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 18 of 28...
  • Page 19 Brake 24V Return U(+) Mot U BRUSH V(-) MOTOR BRUSHLESS Mot V MOTOR Mot W Frame Gnd noTeS: 1) Ce symbols indicate connections required for Ce compliance. 2) When STo feature is used, the 24V power supply must be SelV or PelV with output voltage limited to 60 Vdc. Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 19 of 28...
  • Page 20 Brake 24V Return U(+) Mot U BRUSH V(-) MOTOR BRUSHLESS Mot V MOTOR Mot W Frame Gnd noTeS: 1) Ce symbols indicate connections required for Ce compliance. 2) When STo feature is used, the 24V power supply must be SelV or PelV with output voltage limited to 60 Vdc. Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 20 of 28...
  • Page 21 J3 +24 VdC & brake 24V RTN Signal +24V Input +24V to brakes brake +24V return J4 SafeTy (STo) SIGnal SIGnal frame Gnd STo-In1(+) Plus Xenus STo-In1(+) STo-In1(-) STo-In1(-) STo-mute STo-In2(+) STo-Gnd STo-In1(-) Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 21 of 28...
  • Page 22 [ouT2+] ISo [In6] HS [ouT1-] ISo [ouT1+] ISo [In7] ISo [InCom] ISo [In8] ISo n.c. Sgnd [In9] ISo [In10] ISo J8 rS-232 PorT SIGnal J8 Cable ConneCTor: n.c. rJ-11 style, male, 6 position rJ-11 receptacle, Cable: 6-conductor modular type, straight-through Plus 6 position, 4 contact J8 rS-232 noTe 1. J8 signals are referenced to Signal Gnd. n.c. Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 22 of 28...

  • Page 23: Single Wire

    11.0 (.43) 2 x 20 2 x 0.75 Gray 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 966144-1 15.0 (.59) 8.0 (.31) 1.40 (.06) 2.5 (.10) 4.7 (.19) 10 (.39) SInGle WIre double WIre Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 23 of 28...
  • Page 24 POWER & STO_24V HALLS, RESOLVER DECODING CONTROL STO_GND CONTROL NETWORK CORE CONTROL SYSTEM ENABLE [IN1] CANopen SIGNAL GND Network XCVR CONTROL SIGNAL GROUND Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 24 of 28...
  • Page 25 Cycle Time = 4.15 sec Velocity InTernal reGen reSISTor max energy 248 W·s (J) Voltage resistance 60 Ω Power, continuous 20 W Regen Power, peak 2500 W Regen Active Time 100 ms Dwell Time Regen Cycle Time Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 25 of 28...
  • Page 26 7.13 181.1 .20 5.2 End View 1.00 25.4 Fan Air-Flow 4.14 105.1 1.01 25.6 2.13 54.1 End View See Note 2 notes: 1) recommended screws for mounting slots: #8-32 or m4 external tooth SemS 2) Cable shield grounding socket: #8-32 external tooth SemS Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 26 of 28...

  • Page 27: Installation

    24V RTN 24V RTN 24V RTN 1.0 [25] 1.0 [25] Plus Plus Plus Plus Xenus Xenus Xenus Xenus Minimum Clearance 1.0 [25] in[mm] Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 27 of 28...

  • Page 28: Ordering Information

    180-044-103l001 Control metal backshell, db-25, roHS 3m: 3357-9225 XPC-NC-10 Can network cable, 10 ft (3 m) network XPC-NC-01 Can network cable, 1 ft (0.3 m) Ser-Ck RS-232 Serial Cable kit note 1: for roHS compliance, append “/rn01-0000” to the Wago part numbers listed above note 2: Insertion/extraction tool for J6 contacts is amP/Tyco 91067-2 (not included in XPC-Ck) 16-01436 document revision History revision Date remarks april 8, 2016 Initial released version october 2, 2016 Shutdown temperature changed to 85C note: Specifications subject to change without notice Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 28 of 28...

This manual is also suitable for:

Xenus plus compact canopen xpc-230-09Xenus plus compact canopen xpc-230-12Xenus plus compact canopen xpc-230-15

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