Copley Controls Xenus Plus XEL Series Manual page 8

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.
SINGLE-ENDED PULSE & DIRECTION
SINGLE-ENDED CU/CD
CU (Count-Up)
CD (Count-Down)
QUAD A/B ENCODER SINGLE-ENDED
Encoder ph. A
IN4(14)
IN5(15)
Encoder ph. B
DIGITAL TORQUE, VELOCITy
Digital torque or velocity commands can be in either single-ended or differential format. Single-ended signals must be sourced from devices with active
pull-up and pull-down to take advantage of the high-speed inputs.
SINGLE-ENDED PWM & DIRECTION
Duty = 0~100%
SINGLE-ENDED 50% PWM
Duty = 50% ±50%
<no connection>
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Web:
Xenus
[IN5]
Pulse
[IN6]
Direction
[IN5]
CU
[IN6]
CD
Enc. A
Enc. B
[IN5]
Current or
Velocity
[IN6]
Polarity or
Direction
[IN5]
Current or
Velocity
[IN6]
No function
Plus
EtherCAT
DiFFEREnTiAL PULSE & DiRECTion
DiFFEREnTiAL CU/CD
CU (Count-Up)
CD (Count-Down)
QUAD A/B EnCoDER DiFFEREnTiAL
Encoder ph. B
Encoder ph. A
DiFFEREnTiAL PWM & DiRECTion
Duty = 0 - 100%
DIFFERENTIAL 50% PWM
Duty = 50% ±50%
<no connection>
Tel: 781-828-8090
http://www.copleycontrols.com
XEL
[IN3+]
PULSE
[IN4-]
[IN5+]
DIRECTION
[IN6-]
[IN3+]
PULSE
[IN4-]
[IN5+]
DIRECTION
[IN6-]
[IN3+]
Enc. B
[IN4-]
[IN5+]
Enc A
[IN6-]
[IN3+]
PWM
[IN4-]
[IN5+]
Direction
[IN6-]
[IN3+]
Current or
Velocity
[IN4-]
[IN5+]
No
Function
[IN6-]
Fax: 781-828-6547
Page 8 of 28
RoHS