Copley Controls Xenus PLUS Manual page 8

Xenus
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
IN4(14)
IN5(15)
SINGLE-ENDED CU/CD
CU (Count-Up)
IN4(14)
IN5(15)
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:
PLUS
DIFFERENTIAL PULSE & DIRECTION
Pulse
Direction
DIFFERENTIAL CU/CD
CU (Count-Up)
CU
CD
CD (Count-Down)
QUAD A/B ENCODER DIFFERENTIAL
Encoder ph. A
Enc. A
Enc. B
Encoder ph. B
DIFFERENTIAL PWM & DIRECTION
Duty = 0 - 100%
IN4(14)
Current or
Velocity
IN5(15)
Polarity or
Direction
DIFFERENTIAL 50% PWM
IN4(14)
Current or
Duty = 50% ±50%
Velocity
IN5(15)
No function
<no connection>
2-Axis EtherCAT
IN2(12)
PULSE+
IN3(13)
PULSE-
IN4(14)
DIRECTION+
IN5(15)
DIRECTION-
IN2(12)
PULSE+
IN3(13)
PULSE-
IN4(14)
DIRECTION+
IN5(15)
DIRECTION-
IN2(12)
Enc. A
IN3(13)
Enc. /A
IN4(14)
Enc B
IN5(15)
Enc /B
IN2(12)
PWM+
IN3(13)
PWM-
IN4(14)
Direction+
IN5(15)
Direction-
IN2(12)
Curr/Vel+
IN3(13)
Curr/Vel-
IN4(14)
No
Function
IN5(15)
Tel: 781-828-8090
http://www.copleycontrols.com
800-1782
COMMAND SINGLE-ENDED
Signal Axis A
Pls, Enc A J12-10
Dir, Enc B J12-11
Sgnd J12-6,16,22,31,37,44
Shld J12-1
COMMAND DIFFERENTIAL
Signal Axis A
Pls, Enc A J12-8
/Pls, Enc /A J12-9
Dir, Enc B J12-10
/Dir, Enc /B J12-11
Sgnd J12-6,16,22,31,37,44
Shld J12-1
COMMAND SINGLE-ENDED
Signal Axis A
PWM J12-10
Dir J12-11
Sgnd J12-6,16,22,31,37,44
Shld J12-1
COMMAND DIFFERENTIAL
Signal Axis A
PWM J12-8
/PWM J12-9
Dir J12-10
/Dir J12-11
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Fax: 781-828-6547
Page 8 of 32
RoHS
Axis B
J12-15
J12-30
Axis B
J12-13
J12-14
J12-15
J12-30
Axis B
J12-15
J12-30
Axis B
J12-13
J12-14
J12-15
J12-30