Motor Connections - Copley Controls XenusPlus EtherCAT Manual

MoToR ConnECTIonS

Motor connections are of three types: phase, feedback, and thermal sensor. The phase connections carry the drive output currents that
drive the motor to produce motion. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect
the motor. Feedback can be digital quad A/B encoder, analog sin/cos encoder, resolver or digital Halls, depending on the version of the
drive.
QUAD A/B ENCODER WITH FAULT PROTECTION
Encoders with differential line-driver outputs provide incremental
position feedback via the A/B signals and the optional index
signal (X) gives a once per revolution position mark. The
MAX3097 receiver has differential inputs with fault protections
for the following conditions:
Short-circuits line-line: This produces a near-zero voltage
between A & /A which is below the differential fault threshold.
Open-circuit condition: The 121Ω terminator resistor will pull
the inputs together if either side (or both) is open. This will
produce the same fault condition as a short-circuit across the
inputs.
Low differential voltage detection: This is possible with very long
cable runs and a fault will occur if the differential input voltage
is < 200mV.
±15kV ESD protection: The 3097E has protection against high-
voltage discharges using the Human Body Model.
Extended common-mode range: A fault occurs if the input
common-mode voltage is outside of the range of -10V to
+13.2V
Encoder Xenus Plus
J10
FG 1
A
13
A
/A
12
B
11
B
/B
10
X
9
Z
/X
8
+5V 6
0V 5
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Xenus Plus
Frame Ground
Enc. A
121
MAX3097
Enc. B
121
MAX3097
121 Enc. Index
MAX3097
+5V output @ 400 mA
Signal Ground
EtherCAT
ANALOG SIN/COS INCREMENTAL ENCODER
The sin/cos/index inputs are differential with 121 Ω terminating resistors
and accept 1 Vp-p signals in the format used by incremental encoders
with analog outputs, or with
Encoder
FG
sin
cos
indx
+5V
0V
RESOLVER (-R MODELS)
Connections to the resolver should be made with shielded cable
that uses three twisted-pairs. once connected, resolver set up,
motor phasing, and other commissioning adjustments are made
with CME 2 software. There are no hardware adjustments.
Resolver
Sin
S3 S1
R2 Ref R1
Tel: 781-828-8090
ServoTube motors.
Xenus Plus
J10
1 Frame Ground
10k
Sin(+)
19
-
121
Sin(-)
18
+
10k
10k
Cos(+)
21
-
121
Cos(-)
20
+
10k
10k
Inx(+)
23
-
121
Inx(-)
22
+
10k
6
+5V output @ 400 mA
5 Signal Ground
Xenus Plus
J10
FG
1 Frame Ground
19
Sin(+)
18 Sin(-)
R/D
Conversion
S2
21 Cos(+)
Cos
Cos(-)
20
S4
23
Ref(+)
Ref(-)
22
Fax: 781-828-6547
Page 10 of 26
RoHS
Sin
Cos
Indx