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Xenus
Control Modes
• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)
• Profile Position-Velocity-Torque, Interpolated Position, Homing
• Camming, Gearing
• Indexer
Command Interface
• CAN
over EtherCAT (CoE)
application layer
• ASCII and discrete I/O
Stepper commands
•
• ±10V position/velocity/torque
• PWM velocity/torque command
• Master encoder (Gearing/Camming)
Communications
• EtherCAT
• RS-232
Accessories
• External regen resistor
Feedback
• NSK SSB Motor Incremental Resolver
• NSK JSG Motor Incremental/Absolute Resolver
Safe Torque Off (STO)
• SIL 3, Category 3, PL d
I/O Digital
• 20 inputs, 5 outputs
• [IN16~19] dedicated to NSK robot limit switches
I/O Analog
• 2 inputs, ±10V, 14-bit
Dimensions: in [mm]
•
9.24 [234.7] x 5.77 [146.6] x 2.31 [58.7]
DESCRIPTION
800-1782 set new levels of performance, connectivity, and flexibility. CAN application layer over EtherCAT
(CoE) communication provides a widely used cost-effective industrial bus. Primary position feedback on both
axes supports NSK SSB motors with incremental VR (variable-reluctance) resolvers or NSK JSG motors with
incremental/absolute VR resolvers.
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 (STO) can be employed.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Web:
PLUS
2-Axis EtherCAT
Model
800-1782
Current ratings are for each axis
Tel: 781-828-8090
http://www.copleycontrols.com
800-1782
2-AXIS DIGITAL SERVO DRIVE
FOR BRUSHLESS/BRUSH MOTORS
Vac
Ic
Ip
100~240
10
20
Fax: 781-828-6547
Page 1 of 32
RoHS
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Related Manuals for Copley Controls Xenus PLUS
Summary of Contents for Copley Controls Xenus PLUS
- Page 1 (CoE) communication provides a widely used cost-effective industrial bus. Primary position feedback on both axes supports NSK SSB motors with incremental VR (variable-reluctance) resolvers or NSK JSG motors with incremental/absolute VR resolvers. 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 (STO) can be employed. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com...
- Page 2 Protocol Binary and ASCII formats ETHERCAT PORTS Format Dual RJ-45 receptacles, 100BASE-TX Protocol EtherCAT, CAN application layer over EtherCAT (CoE) STATUS INDICATORS AMP Bicolor LED, drive state indicated by color, and blinking or non-blinking condition RUN Green LED, status of EtherCAT state-machine (ESM) ERR Red LED, shows errors due to time-outs, unsolicited state changes, or local errors L/A Green LED, Link/Act, shows the state of the physical link and activity on the link (EtherCAT connection) RUN, ERR, and L/A LED colors and blink codes conform to ETG.1300 S(R) V1.1.0 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 2 of 32...
- Page 3 IEC 61800-3:2004+A1:2011 IEC 61326-3-1:2008 Hazardous Substances Lead-free and RoHS compliant FEEDBACK SPECIFICATIONS PRIMARY FEEDBACK Incremental: NSK Incremental, VR (variable reluctance) resolver (NSK SSB motor) Absolute: NSK Incremental/Absolute, VR (variable reluctance) resolver (NSK JSG motor) MULTI-MODE ENCODER PORT As Emulated Output Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev from resolvers. A, /A, B, /B, X, /X, from MAX3032 differential line driver Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 3 of 32...
- Page 4 PLUS Xenus RoHS 800-1782 2-Axis EtherCAT THIS PAGE LEFT BLANK INTENTIONALLY Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 4 of 32...
- Page 5 • Short circuit (Internal or external) • Over-voltage • Drive over-temperature • Under-voltage • Motor over-temperature • Motor Phasing Error • Feedback Error • Command Input Fault • Following Error Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 5 of 32...
- Page 6 The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls 800-1782, Stepnet, and Xenus series amplifiers over an RS-232 serial connection. For instance, after basic amplifier configuration values have been programmed using CME 2, a control program can use the ASCII Interface to: • Enable the amplifier in Programmed Position mode. • Home the axis. • Issue a series of move commands while monitoring position, velocity, and other run-time variables. The Baud rate defaults to 9,600 after power-on or reset and is programmable up to 115,200 thereafter. After power-on, reset, or transmission of a Break character, the Baud rate will be 9,600. Once communication has been established at this speed, the Baud rate can be changed to a higher rate (19,200, 57,600, 115,200). ASCII parameter 0x90 holds the Baud rate data. To set the rate to 115,200 enter this line from a terminal: s r0x90 115200 <enter> Then, change the Baud rate in the computer/controller to the new number and communicate at that rate. Additional information can be found in the ASCII Programmers Guide on the Copley website: http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 6 of 32...
- Page 7 XE2 STO bypass connectors are not compatible with XEL-XPL drives. STO CONNECTOR J6 J6 SIGNALS SIGNAL SIGNAL Frame Gnd STO-IN1+ STO-IN1+ STO-IN1- STO-IN1- STO-Bypass STO-IN2+ STO-Gnd STO-IN2- Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 7 of 32...
- Page 8 <no connection> No function J12-10 J12-15 /Dir J12-11 J12-30 IN4(14) Sgnd J12-6,16,22,31,37,44 <no connection> Function Shld J12-1 IN5(15) Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 8 of 32...
- Page 9 J12-1 external encoders. These can be used to drive cam tables, or as master-encoder signals when MAX3032 operating in a master/slave configuration. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 9 of 32...
- Page 10 [IN2,4,12,14] [IN2,4,12,14] 100 pF 100 pF 2.5V [IN3,5,13,15] [IN3,5,13,15] 100 pF 100 pF MAX3096 PLC outputs are frequently current-sourcing from 24V for driving grounded loads. PC based digital controllers commonly use NPN or current-sinking outputs. Set the Xenus inputs to pull-down to ground for current-sourcing connections, and to pull-up to 5V for current-sinking connections. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 10 of 32...
- Page 11 Axis A Axis B ±10V Vref AIN(+) J12-3 J12-5 AIN2- AIN(-) J12-2 J12-4 1.5V Sgnd Sgnd J12-6,16,22,31,37,44 Shield J12-1 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 11 of 32...
- Page 12 Note: +6VISO and ISOGND are from an internally S2_A generated, non-regulated, and isolated power supply S1_A 4X 453 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 12 of 32...
- Page 13 Inactive = Brake is not holding motor shaft (i.e. the Brake is Inactive) Motor can move Current flows in coil of brake CME2 I/O Line States shows Output 6 or 7 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 Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 13 of 32...
- Page 14 NSK VR Absolute Resolver Rslvr Abs A Incremental/Absolute Select Rslvr White Abs B Rslvr Black Abs C Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 14 of 32...
- Page 15 Resistance in the temperature range 60~750 Signal Gnd or switch 20°C to +70°C Resistance at 85°C ≤1650 Resistance at 95°C ≥3990 Resistance at 105°C ≥12000 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 15 of 32...
- Page 16 NSK VR Incremental Resolver Rslvr Red/Wht Inc A Rslvr Inc B White/Blk Converter Rslvr Inc C Black/Wht 3X 10.0 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 16 of 32...
- Page 17 ≤1650 Thermistor, J10,J11 Posistor, Sgnd Resistance at 95°C ≥3990 Signal Gnd -5,16,25,26 or switch Resistance at 105°C ≥12000 +30Vmax +24V typical +24V Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 17 of 32...
- Page 18 When voltage is applied J12-10 to an input and current flows through the input diode of the opto-coupler the diode condition is J12-11 ON. When no voltage is applied to an input and no current flows through the input diode it is OFF. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 18 of 32...
- Page 19 IN12~15 [IN20] Vin < 2.5 Vdc IN11 J12-12 IN12 J12-13 74HC14 IN13 J12-14 [INx] IN14 J12-15 4.99k 33nF IN15 J12v-30 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 19 of 32...
- Page 20 J9-11 [OUT3+] J9-21 [OUT3-] J9-12 [OUTn-] * at 24 Vdc HI/LO DEFINITIONS: OUTPUTS Input State Condition Output transistor is ON, current flows OUT1~3 Output transistor is OFF, no current flow Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 20 of 32...
- Page 21 Inactive = Brake is not holding motor shaft (i.e. the Brake is Inactive) Motor can move Current flows in coil of brake CME2 I/O Line States shows Output 6 or 7 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 Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 21 of 32...
- Page 22 A-, B-, and C- must be connected externally. F.G. Mot C Motor Mot B 3 ph. Mot A NOTES: 1) CE symbols indicate connections required for CE compliance. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 22 of 32...
- Page 23 A-, B-, and C- must be connected externally. F.G. Mot C Motor Mot B 3 ph. Mot A NOTES: 1) CE symbols indicate connections required for CE compliance. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 23 of 32...
- Page 24 J6 CABLE CONNECTOR: SIGNAL SIGNAL D-Sub male, 9 Position Frame Gnd STO_IN1(+) SAFETY STO_IN1(+) STO_IN1(-) STO_IN1(-) STO_Bypass(+) STO_IN2(+) STO_Gnd STO_IN2(-) Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 24 of 32...
- Page 25 [IN10(20)] A(B) Motemp Signal Gnd Signal Gnd n.c. A(B) +5VOut1(2) Signal Gnd Rslvr Abs A (Note 2) Rslvr Inc A Notes: J10(J11) CABLE CONNECTOR: 1) These signals are dedicated to NSK motor limit switches High-Density D-Sub male, 26 Position 2) These signals only used with JSG motor 3) n.c. = No connection Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 25 of 32...
- Page 26 An unplated tab is POWER SECTIONS provided on the heatplate (near to J1) for The graphic below shows the different power sections of the Xenus Plus drive this connection. and the isolation barriers between them. Only one motor is shown but all motor PWM drivers are in the mains-connected section.
- Page 27 Drive Operation Frame Grounding Tab Keep the chassis grounding connections short for best shielding performance Notes: 1) Shielded cables required for CE are shown in the diagram. 2) Line filter required for CE 3) In the end product installation, a UL RC (Recognized Component) SPD (Surge Protective Device) type 1CA, 2CA, 3CA or a UL Listed (VZCA) SPD type 1, 2, or 3 rated 2500 V, with a minimum SCCR of 5 kA, 240 Vac, and surge voltage monitoring needs to be provided. The purpose of the SPD is to establish an over-voltage CAT II environment. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 27 of 32...
- Page 28 POWER SUPPLY SAFE TORQUE REGEN Keep the chassis grounding connections short for best shielding performance Uplated tab for heatplate ground Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 28 of 32...
- Page 29 No Fan Top view Vertical mounting No heatsink No fan Total Continuous Output Current (Adc) for Axis A and Axis B Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 29 of 32...
- Page 30 Note: If alignment markings are not 0.4 in on heatsink, use these dimensions to 10 mm place the pad XE2 front panel 1.8 in on this side 45.5 mm Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 30 of 32...
- Page 31 8.86 [225] L /A L /A MOT A MOT B 0.31 [7.9] 2.41 [61.1] Weights: 800-1782 drive: 3.13 lb [1.42 kg] 800-1782-HK heatsink: 3.63 lb [1.65 kg] Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 31 of 32...
- Page 32 PLUS Xenus RoHS 800-1782 2-Axis EtherCAT ORDERING GUIDE 800-1782 800-1782 Xenus Plus 2-Axis EtherCAT Servo Drive, 10/20 Adc, NSK VR Resolver feedback Example: Order one Xenus Plus 800-1782 drive, resolver version, solder-cup connector Kit, CME 2 CD, serial cable kit: Qty Item Remarks 800-1782 Xenus Plus 800-1782 servo drive XE2-CK-02 Connector Kit CME 2 CME 2 CD SER-CK Serial Cable Kit...
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