Motor Connections - Copley Controls Xenus R10 Manual

MoToR ConnECTIonS

Motor connections consist of: phases, Halls, encoder, thermal sensor, and brake. The phase connections carry the drive output currents
that drive the motor to produce motion. The Hall signals are three digital signals that give absolute position feedback within an electrical
commutation cycle. The encoder signals give incremental position feedback and are used for velocity and position modes, as well as
sinusoidal commutation. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect the motor. A
brake can provide a fail-safe way to prevent movement of the motor when the drive is shut-down or disabled.
QuAD A/B INCREMENTAL 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 121W 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
If encoder fault detection is selected (CME2 main page, Configure Faults block, Feedback Error) and an encoder with no index is
used, then the X and /X inputs must be wired as shown below to prevent the unused index input from generating an error for low
differential voltage detection.
DIGITAL QuADRATuRE ENCODER INPuT
5V
* 121Ω terminating resistors
on user's PC board
Encoder
Module
P2/6
A
A
*
P2/5
/A
P2/8
B
B
*
P2/7
/B
P2/10
X
Z
*
P2/9
/X
P2/14
+5V
P2/16
0V
CME2 -> Motor/Feedback -> Feedback
AnAlog SIn/CoS InCREMEnTAl EnCoDER
The sin/cos 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 ServoTube motors.
CME2 -> Motor/Feedback -> Feedback
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Accelnet
MAX3097
MAX3097
MAX3097
+5V ENC
Sgnd
Ruggedized digital seRvo dRive
R42
Plus
A/B CONNECTIONS (NO INDEX)
* 121Ω terminating resistors
on user's PC board
Encoder
A
B
+5V
0V
Encoder
sin
cos
+5V
0V
Tel: 781-828-8090
foR BRushless/BRush MotoRs
Module
P2/6
A
*
P2/5
MAX3097
/A
P2/8
B
*
P2/7
MAX3097
/B
P2/10
X
P2/9
MAX3097
/X
P2/14
+5V ENC
P2/16
Sgnd
Accelnet Plus Module
P2/39
-
Sin+
121
P2/40
+
Sin-
P2/37
-
Cos+
121
P2/38
+
Cos-
P2/14
+5V ENC
P2/16
Sgnd
Fax: 781-828-6547
Page 7 of 26
RoHS
Sin
Cos