Copley Controls Xenus R10 Manual page 121

DAC Out
DAC Ground
Drive Enable
Signal Ground
Secondary Encoder
CW Step
CCW Dir
Position Commands
Velocity, Torque commands
RS-232
DTE
1
6
RxD
TxD
9
Gnd
5
PC Serial
Port
D-Sub
9-pos
Male
notes:
1. CANopen connectors J10 are not shown here. For details see pp 4 & 13.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Development Kit
Accelnet
DEVELOPMENT KIT
1
2 [AIN+]
3 [AIN-]
[IN1]
4
Enable
PosLim
5 [IN2]
NegLim
6 [IN3]
15
Sgnd
A
7
[IN4]
Digital
B
Quad 8 [IN5]
A/B/X
X
10
[IN6]
26
Enc. Ch. A [IN7]
25 [IN8]
Enc. Ch. B
24 [IN10] MISO
[OUT1]
16
PWM 50%
Dir n.c.
18 [OUT3] MOSI
23 [OUT4] SCLK
22 [OUT5] EN1
21
[OUT6] EN2
20 +5V ENC
19 Sgnd
6
2
2 5
5
Yellow
4
5 3
5
3
Red
3
3 2
2
Black
1
Sub-D to
Modular
RJ-11
Cable
Adapter
Serial
Cable Kit
R42
Plus
1
13
Enc A
Enc /A
12
Enc B 11
Enc /B 10
9
Enc X
8
Enc /X
15
Enc S
J7
14
Enc /S
19
Enc Sin(+)
18
Enc Sin(-)
21
Enc Cos(+)
20
Enc Cos(-)
Hall U 2
Hall V 3
Hall W 4
17
+5V SEL
+5V ENC 6
Sgnd 5
Sgnd
16
Sgnd 25
Sgnd
26
Motemp
7
[IN11]
/Brake
17
[OUT2]
J8
+5V Input 1
J5
2
Sgnd
Sgnd 3
Aux HV 4 4
Motor W 3
Motor V
4
TxD
Motor U 5
Gnd
+HV Input 1
RxD
Sgnd 2
RJ-11
J6
J9
Circuit Gnd
Tel: 781-828-8090
Ruggedized digital seRvo dRive
foR BRushless/BRush MotoRs
A
/A
QUAD
B
A/B/X
DIGITAL
/B
ENCODER
X
/X
U
HALLS
W
+5V with source selectable from JP4
+5V @ 400 mA from module
BRAKE
+ (Optional)
+5 V
for encoder
- and LED's
-
+24 V
(Optional)
+
W
MOTOR
U
Fuse *
+
-
DC
Power
* Optional
Earth
Fax: 781-828-6547
Page 21 of 26
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