Copley Controls XenusPlus EtherCAT Manual page 2

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
Peak Current
Peak time
Continuous current (note 1)
INPUT POWER
Mains voltage, phase, frequency
Mains current
+24 Vdc Control power
DIGITAL CONTROL
Digital Control Loops
Sampling rate (time)
Bus voltage compensation
Minimum load inductance
CoMMAnD InPUTS
Distributed Control Mode
CANopen over EtherCAT (CoE)
Stand-alone mode
Analog torque, velocity, position reference
Digital position reference
Digital torque & velocity reference
Indexing
Camming
DIGITAL INPUTS
Number
[IN1,2,15]
[IN3~6]
[IN7~14]
ANALOG INPUTS
Number
[AIN1~2]
[AIN3]
DIGITAL OUTPUTS
Number
[OUT1~2]
[OUT3]
[OUT4~5]
[OUT6]
ANALOG OUTPUT
Number
Range
Resolution
MULTI-MoDE EnCoDER PoRT
As Input
As Output
RS-232 PORT
Signals
Mode
Protocol
ETHERCAT PoRTS
Format
Protocol
Data
STATUS InDICAToRS
Drive Status
CAN Status
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Xenus Plus
XEL-230-18
18 (12.7)
1
6 (4.24)
+20 to +32 Vdc, 500 mA max
Current, velocity, position. 100% digital loop control
Current loop: 15 kHz (67 µs), Velocity & position loops: 3 kHz (333 µs)
Changes in bus or mains voltage do not affect bandwidth
200 µH line-line
Position, Velocity, Torque, Homing, Profile, Interpolated Profile, and Cyclic Synchronous modes
±10 Vdc, 16 bit resolution
Pulse/Direction, CW/CCW
Quad A/B Encoder
PWM , Polarity
PWM 50%
PWM frequency range
PWM minimum pulse width
Up to 32 programs can be launched from inputs or ASCII commands. Each program can
consist of moves, I/O commands, time delays, and other programmable operations.
Master quadrature encoder provides position as index to cam table.
Digital inputs initiate cam functions.
15
Non-isolated Schmitt trigger, 1 µs RC filter, 24 Vdc max, Vin-LO <= 1.25 Vdc, Vin-HI >= 3.5 Vdc,
Hysteresis = 0.66 Vdc minimum, 10 kΩ programmable per input to pull-up to +5 Vdc or pull-down to ground
Non-isolated line receiver, 100 ns RC filter, +12 Vdc max, programmable as 4 single-ended, or 2 differential
Single-ended: [IN3,4] or [IN5,6]: Vin-LO <= 2.3 Vdc, Vin-HI >= 2.7 Vdc, Vhysteresis = 400 mVdc
Differential: [IN3/4] or [IN5/6]: Vin-LO <= -200 mVdc, Vin-HI >= 200 mVdc, Vhysteresis = ±200 mVdc
Isolated: Opto-isolated, ±5 to ±30 Vdc compatible, bi-polar, 2 groups of 4 with common for each group
3
Differential, ±10 Vdc, 5 kΩ input impedance, 16-bit resolution
Single-ended, motor temperature sensor, 4.99 kΩ pulled-up to +5 Vdc
6
Current-sinking MOSFET with 1 kΩ pullup to +5 Vdc through diode
1 Adc max, +40 Vdc max; external flyback diode required if driving inductive loads
High-speed CMOS buffer, ±20 mA
Opto-isolated Darlingtons with 36V Zener flyback diodes, 50 mA max
Motor brake control: opto-isolated, current-sinking with flyback diode to +24 Vdc, 1 Adc max
1
±5 Vdc single-ended
12-bit
Secondary digital quadrature encoder (A, /A, B, /B, X, /X), 121 Ω terminating resistors
18 M-counts/sec, post-quadrature (4.5 M-lines/sec)
Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders or resolvers. Buffered signals from digital quad A/B/X primary encoder
A, /A, B, /B, X, /X, from 26LS31 differential line driver
RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector
Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 Baud
Binary and ASCII formats
Dual RJ-45 receptacles, 100BASE-TX
EtherCAT
CAnopen over EtherCAT (CoE)
Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
Bicolor LED, status of CAN bus indicated by color and blink codes to CAN Indicator Specification 303-3
EtherCAT
XEL-230-36 XEL-230-40
36 (25.5) 40 (28.3)
1 1
12 (8.5) 20 (14.1)
100~240
20
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
RoHS
Same specs for XEL and XML models
Adc (Arms, sinusoidal)
s
Adc (Arms, sinusoidal)
Vac, ±10%, 1 Ø or 3 Ø, 47~63 Hz
Arms
Required for operation
Fax: 781-828-6547
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