Command Inputs - Copley Controls XenusPlus EtherCAT Manual

CoMMAnD InPUTS

ANALOG REFERENCE INPUT
A single ±10 Vdc differential input takes inputs from controllers that use PID or similar
compensators, and outputs a current command to the drive. Drive output current or
velocity vs. reference input voltage is programmable.
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
SINGLE-ENDED CU/CD
CU (Count-Up)
CD (Count-Down)
QUAD A/B ENCODER SINGLE-ENDED
Encoder ph. B
Encoder ph. A
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%
[IN3]
[IN5]
SINGLE-ENDED 50% PWM
Duty = 50% ±50%
[IN3]
[IN5]
<no connection>
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Xenus Plus
[IN3]
Pulse
[IN5]
Direction
[IN3]
CU
[IN5]
CD
[IN3]
Enc. B
[IN5]
Enc. A
Current or
Velocity
Polarity or
Direction
Current or
Velocity
No function
EtherCAT
DIFFERENTIAL PULSE & DIRECTION
DIFFEREnTIAL CU/CD
CU (Count-Up)
CD (Count-Down)
QUAD A/B EnCoDER DIFFEREnTIAL
Encoder ph. B
Encoder ph. A
DIFFERENTIAL PWM & DIRECTION
Duty = 0 - 100%
DIFFERENTIAL 50% PWM
Duty = 50% ±50%
<no connection>
Tel: 781-828-8090
RoHS
[IN3+]
PULSE
[IN4-]
[IN5+]
DIRECTION
[IN6-]
[IN3+]
PULSE
[IN4-]
[IN5+]
DIRECTION
[IN6-]
[IN3+]
Enc. B
[IN4-]
[IN5+]
Enc A
[IN6-]
[IN3+]
PWM
[IN4-]
[IN5+]
Direction
[IN6-]
[IN3+]
Current or
Velocity
[IN4-]
[IN5+]
No
Function
[IN6-]
Fax: 781-828-6547
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