General Specifications; Output Current; Digital Inputs; Digital Outputs - Copley Controls Xenus PLUS Compact CANopen Series Manual

Xenus

general specIfIcatIons

Test conditions: Wye connected load: 2 mH line-line. ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1 Ø
MoDel

oUtPUt CURReNt

Peak Current
Peak time
Continuous current
InPuT PoWer
mains voltage, phase, frequency
maximum mains Current, (
+24 Vdc Control power
7.5 W (Typ, no load on +5V outputs), ≤ 18 W, (max, both +5V outputs @ 500 ma)
dIGITal ConTrol
digital Control loops
Sampling rate (time)
bus voltage compensation
minimum load inductance
resolution
Command InPuTS
Canopen
Stand-alone mode
analog torque, velocity, position reference
digital position reference
digital torque & velocity reference
Indexing
Camming
aSCII
dIGITal InPuTS
[In1,2] digital, Schmitt trigger, 1.5 µs rC filter, 24 Vdc compatible, 15 kΩ programmable pull-up/downs to +5 Vdc/ground,
Vt+ ≥ 3.15 Vdc, VT- ≤ 1.13 Vdc
[In3,4,5,6] Programmable as 4 single-ended or 2 differential pairs, 100 ns rC filter, 5 Vdc typical, 12 Vdc max
10 kΩ programmable pull-up/down per input to +5 Vdc/ground,
Se: Vin-lo ≤ 2.3 Vdc, Vin-HI ≥ 2.7 Vdc, VH = 45 mV typ, dIff: Vin-lo ≤ 200 mVdc, Vin-HI ≥ 200 mVdc, VH = 45 mV typ,
[In7,8,9,10] opto-isolated, single-ended, ±15~30 Vdc compatible, bi-polar, with common return to +24V or ground
rated impulse ≥ 800 V, Vin-lo ≤ 6.0 Vdc, Vin-HI ≥ 10.0 Vdc, Input current ±3.6 ma @ ±24 Vdc, typical
maximum working voltage with respect to signal ground: 32 Vdc
[In11] motor overtemp signal on feedback connector, Schmitt trigger, 24 Vdc compatible
330 µs rC filter, 4.99k pullup to +5 Vdc, Vt+ ≥ 3.15 Vdc, VT- ≤ 1.13 Vdc
Programmable for other functions if not used for motemp
analoG InPuT
[aIn±] differential, ±10 Vdc, 5.06 kΩ input impedance, 12-bit resolution
Safe Torque off (STo)
function PWm outputs are inactive and current to the motor will not be possible when the STo function is asserted
Standard designed to IeC-61508-1, IeC-61508-2, IeC-61800-5-2, ISo-13849-1
Safety Integrity level SIl 3, Category 3, Performance level d
Inputs 2 two-terminal: STo-In1+,STo-In1-, STo-In2+, STo-In2-
Type opto-isolators, 24V compatible, Vin-lo ≤ 6.0 Vdc or open, Vin-HI ≥ 15.0 Vdc,
Input current (typical) STo-In1: 9.0 ma, STo-In2: 4.5 ma
response time 2 ms from Vin ≤6.0 Vdc to interruption of energy supplied to motor
Reference Xenus Plus Compact STO Manual
RS-232 PoRt
Signals rxd, Txd, Gnd in 6-position, 4-contact rJ-11 style modular connector, non-isolated
mode full-duplex, dTe serial communication port for drive setup and control, 9,600 to 115,200 baud
Protocol binary and aSCII formats
dIGITal ouTPuTS
[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
PLUS Compact
XPC-230-09 XPC-230-12
9 (6.4)
1
3 (2.12)
100~240
) 4.7
Note 2
2.6
+20~32 Vdc r equired for operation (note 3_
Current, velocity, position. 100% digital loop control
Current loop: 16 kHz (62.5 µs), Velocity & position loops: 4 kHz (250 µs)
Changes in bus or mains voltage do not affect bandwidth
200 µH line-line
12-bit capture of u & V phase currents
Profile Position-Velocity-Torque, Interpolated position, Homing
±10 Vdc, 12 bit resolution
Pulse/direction, CW/CCW
quad a/b encoder
PWm , Polarity
PWm 50%
PWm frequency range
PWm minimum pulse width
up to 32 sequences can be launched from inputs or aSCII commands.
up to 10 Cam tables can be stored in flash memory
rS-232, 9600~115,200 baud, 3-wire, rJ-11 connector
CANopen
XPC-230-15
12 (8.5) 15 (10.6)
1 1
6 (4.24) 7.5 (5.3)
100~240 100~240
9.4 11.8
5.2 6.5
dedicated differential analog input
Stepper commands (4 mHz maximum rate)
2 m line/sec, 8 mcount/sec (after quadrature)
PWm = 0% - 100%, Polarity = 1/0
PWm = 50% ±50%, no polarity signal required
1 kHz minimum, 100 kHz maximum
220 ns
XPC
adc (arms, sinusoidal)
s
adc (arms, sinusoidal)
Vac, ±10%, 1Ø or 3Ø, 47~63 Hz
arms 1Ø
arms 3Ø
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