Copley Controls Xenus R10 Manual page 143

Accelnet R23
EnCoDER ConnECTIonS
The development kit has a 26C32 differential line receiver for the motor
encoder inputs. Differential-output encoders are preferred for best signal
quality and noise rejection. Wiring should be twisted-pairs, preferably with
a shield for each pair. To eliminate noise on the encoder signals caused
by reflections on the cables, it is good practice to terminate signal-pairs
with a resistor that matches the characteristic impedance of the cable.
On the development kit, 121Ω resistors are provided for this purpose.
Jumpers at JP9-A, b, and C connect these termination resistors across
the differential signals when installed.
If single-ended encoders are used, they must have active (not open-
collector) outputs. They should be connected to the A, B, and X pins
leaving the /A, /B, and /X pins open. Jumpers at JP1-A, B, and C must
be removed.
POWeR SuPPlIeS
The drive main power, +HV, is typically supplied
by unregulated DC power supplies. These
must be isolated from the mains, and all
circuits should be grounded to earth at some
point. The +HV supply connects to J1. for
good wiring practice, the +HV wires should be
twisted together for noise suppression, and the
power supply should not be grounded. Doing
this ensures that the higher currents flowing
in these conductors will not flow through any
circuit grounds where they might induce noise.
During deceleration, mechanical energy in the
motor and load is converted back into electrical
energy that must be dissipated as the motor
comes to a stop. While some of this is converted
to heat in the motor windings, the rest of it will
flow through the drive into the power supply. An
external storage capacitor should be used if the
load has appreciable inertia, and this should be
sized such that adding the undissipated energy
from the motor will not raise the voltage beyond
the point at which the drive shuts down. When
this is not possible, an external 'dumper', or
regenerative energy dissipater must be used
which acts as a shunt regulator across the +HV
and Gnd terminals.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
ENCODER
SWITCHInG POWeR SuPPlIeS
Switching power supplies can also be used for +HV
power. Unlike unregulated supplies, these cannot
accept reverse energy flow, so an isolating diode
must be placed between the power supply and
J1-1 to block current flow back into the power
supply. When this is done, an external storage
capacitor must be used across J1-1 & J1-2 because
the capacitor on the Development Kit board is only
for ripple-current control, and cannot store enough
energy to handle regeneration.
GROunDInG
An earthing ground connection can be made via
a second conductor to J1-2 that connects to the
equipment frame ground.
enCODeR +5 VDC
encoder power can be supplied from an external +5 Vdc supply or from the drive. To use drive +5 Vdc
@ 250 mA maximum, install jumper JP8. If more than 250 mA is required then this must come from
an external +5V source and JP8 must be removed when this is done.
IMPoRtant: REMoVE JP8 BEFoRE ConnECtInG
EXtERnal +5V PoWER to J8-1.
FaIlURE to Do so WIll DaMaGE DRIVE!!
RUGGEDIZED DIGITAL
SERVO DRIVE fOR
BRUSHLESS/BRUSH MOTORS
Development Kit
JP1
C B A
121
J2
+5V
JP7
10 k
C
10 k
8
15
B
7
14
10 k
6
13
A
9
AuX HV
not required for stand-alone operation, an Aux HV
power supply provides power for the drive control
circuits so that CAn bus communications with the
drive can be maintained when the +HV supply
is turned off. This might occur as a result of an
Emergency off condition, or for machine operator
intervention. The Aux HV supply does not power
the PWM stage that drives the motor, but keeps
the drive controller enabled as well as inputs and
outputs. The Aux HV supply must be less than the
+HV supply voltage and greater than the drive
minimum HV rating.
Tel: 781-828-8090
R23
RoHS
Enc /X
Enc /B
Enc /A
9 8 7
J3
SIGNAL
Enc A
Enc B
Enc X
[IN5]
Fax: 781-828-6547
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