Copley Controls Xenus R10 Manual page 113

ConnECTIonS FoR InCREMEnTAl DIgITAl oR AnAlog EnCoDERS
Motion
Controller
DAC
±10V
Position Commands
ENC
Step
CU
Ch. B
ENC
CD
Dir
Ch. A
Velocity, Torque commands
50%
PWM
Dir
n.c.
Controller
RS-232
I/O
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Accelnet
Drive
P1
P1/1,2,3,4,5,6
CAN_GND
P1/9 CAN_H
P1/7 CAN_L
P1/8 TERM
P1/10,11,12,
13,14,15,16
CAN_GND
Enable Enable Input
P2/15
[IN1] HSIn
P2/31 GP [OUT1]
P2/35 ±10V Ref(+)
P2/36 ±10V Ref(-)
[IN2] HS
P2/18
P2/17 [IN3] HS
P2/20 [IN4] HS
P2/22 [IN6] HS
P2/21 [IN7] HS
P2/24 [IN8] HS
P2/23 [IN9] HS
[IN10]
P2/26
SPI-MISO
[IN11]
P2/25
Motemp
P2/32
[OUT2] GP
[OUT3]
P2/29
SLI-MOSI
OUT4
[ ]
P2/30
SLI-SCLK
[OUT5]
P2/27
SLI-SS1
[OUT6]
P2/28
SLI-SS2
P2/34
TxD
P2/2
RxD
P2/1 RxD
TxD
P2/16
Gnd
R42
Plus
* 121Ω terminating resistors
on user's PC board
Enc A P2/6
121
*
/A
P2/5
Enc /A
Enc B P2/8
121
*
P2/7
Enc /B
P2/10
Enc X
121
*
/X
P2/9
Enc /X
P2/4
Enc S
P2/3
Enc /S
Sin+
Enc Sin(+)
P2/39
Sin-
Enc Sin(-) P2/40
Cos+
Enc Cos(+)
P2/37
Cos-
P2/38
Enc Cos(-)
P2
Hall U P2/11
Hall V
P2/13
P2/12
Hall W
+5V P2/14
P2/33
Motemp
P2/19
GPin [IN5]
Mot P1/17,18,19
W
P1/21,21,22
W
Fuse *
Mot P1/27,28,29
P1/30,31,32
V
Fuse *
Mot
P1/37,38,39
P1/40,41,42
U
Aux HV
P1/8
Input
J1
+HV
P1/1,2,3
P1/4,5,6
Input
+HV
P1/9,10,11
P1/12,13,14
Com
Mount external
capacitor
<= 12" (30 cm)
from drive
Tel: 781-828-8090
Ruggedized digital seRvo dRive
foR BRushless/BRush MotoRs
A
B
DIGITAL
ENCODER
/B
X
ANALOG
ENCODER
U
HALLS
W
* Optional
BRUSHLESS
MOTOR
Note: Brush motors
connect to U & V
outputs
U
DC
Power
+
+24 V
-
DC
Power
Fuse
+
-
330 µF
Minimum
per drive
Fax: 781-828-6547
Page 13 of 26
RoHS