Copley Controls Xenus PLUS Manual page 2

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 (EACH AXIS)
Peak Current
Peak time
Continuous current (Heatsink required)
INPUT POWER
Mains voltage, phase, frequency
Maximum Mains Current, 1Ø (Note 2, page 3)
Maximum Mains current, 3Ø (Note 2, page 3)
+24 Vdc Control power
DIGITAL CONTROL
Digital Control Loops
Sampling rate (time)
Bus voltage compensation
Minimum load inductance
COMMAND INPUTS (NOTE: DIGITAL INPUT FUNCTIONS ARE PROGRAMMABLE)
Distributed Control Modes
CAN application layer over EtherCAT (CoE)
Stand-alone mode
Analog torque, velocity, position reference
Digital position reference
Digital torque & velocity reference
Indexing
Camming
ASCII
DIGITAL INPUTS
Number 20
[IN1,11] Digital, Schmitt trigger, 1 µs RC filter, 24 Vdc compatible, programmable pull-up/down to +5 Vdc/ground,
Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc
[IN2~5,12~15] Programmable as single-ended or differential pairs, 100 ns RC filter, 5 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,
[IN6~9] Opto-isolated, single-ended, ±15~30 Vdc compatible, bi-polar, group of 4 with common return
Rated impulse ≥ 800 V, Vin-LO ≤ 6.0 Vdc, Vin-HI ≥ 10.0 Vdc, Input current ±3.6 mA @ ±24 Vdc, typical
[IN16~19] Dedicated function for NSK motor limit switches. Internal 6V power with current-limiting resistors.
[IN10,20] Motor overtemp signals on feedback connectors, Schmitt trigger, 24 Vdc compatible,
330 µs RC filter, 4.99k pullup to +5 Vdc, Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc
SAFE TORQUE OFF (STO) INPUTS
Function
Standard
Safety Integrity Level
Inputs
Type
Input current (typical)
Response time
Reference
ANALOG INPUTS
Number 2
[AIN1~2] Differential, ±10 Vdc, 5 kΩ input impedance, 14-bit resolution
DIGITAL OUTPUTS
Number 5
[OUT1~3] Opto-isolated solid-state relays, 60 mAdc max, 24 Vdc tolerant, Rated impulse ≥ 800 V, series 20 ohm resistor
MOSFET channel connects the (±) outputs, Rds-On = 10Ω max @ 60 mAdc, max Vout = 32 Vdc
Td-ON = 5000 µs max @ 60 mA, Td-OFF = 5000 µs max @ 60 mA, times include rise/fall times
[OUT6~7] Motor brake control: opto-isolated, current-sinking with flyback diode to +24 Vdc (J5-4~5), 1 Adc max, Rated impulse ≥ 800 V
Td-ON = 250 µs max @ 20 mA, Td-OFF = 250 µs max @ 200 mA, times include rise/fall times,
Programmable for other functions if not used for brake
RS-232 PORT
Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-12 style modular connector, non-isolated, common to Signal Ground
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 baud
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
Tech Support: E-mail: sales@copleycontrols.com, Web:
PLUS
+20 to +32 Vdc, 0.5~1.1 Adc (Note 3, page 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
Cyclic Synchronous Position-Velocity-Torque, Profile Position-Velocity-Torque,
Interpolated Position, Homing
±10 Vdc, 14 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, DTE, 9600~115,200 Baud, 3-wire, RJ-12 connector
PWM outputs inactive and current to the motor will not be possible when the STO function is activated
Conformance to IEC 61508-1, IEC 61508-2, IEC 61800-5-2, ISO 13849-1
SIL 3, Category 3, Performance Level d
2 two-terminal: STO_IN1+,STO_IN1-, STO_IN2+, STO_IN2-
Opto-isolators, 24V compatible, Vin-LO ≤ 6.0 Vdc or open, Vin-HI ≥ 15.0 Vdc,
STO_IN1: 11.2 mA, STO_IN2: 11.2 mA
2 ms (IN1, IN2) from Vin ≤6.0 Vdc to interruption of energy supplied to motor
Complete information and specifications are in the Xenus Plus Dual-Axis STO Manual
2-Axis EtherCAT
800-1782
20 (14)
1
10 (7)
100~240
20
15.4
Dedicated differential analog input
Stepper commands (2 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
Tel: 781-828-8090
http://www.copleycontrols.com
800-1782
Adc (Arms, sinusoidal)
s
Adc (Arms, sinusoidal)
Vac, ±10%, 1 Ø or 3 Ø, 47~63 Hz
Arms
Arms
Required for operation
Fax: 781-828-6547
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RoHS