Copley Controls Xenus R10 Manual page 16

DRIVE POWER SOURCES
An external +24 Vdc power supply is required, and
powers an internal DC/DC converter that supplies
all the control voltages for drive operation. Use of
an external supply enables CAN communication
with the drive when the mains power has been
removed.
Power distribution in Xenus R10 is divided into four
sections: +24 Vdc, CAN, signal, and high-voltage.
Each is isolated from the other and all are isolated
from the chassis.
EXTERNAL +24 VDC
The primary side of the DC/DC converter operates
directly from the external +24 Vdc supply and
is isolated from other drive power sections. The
Brake output [OUT4] operates in this section and
is referenced to the +24 Vdc return (0V). It sinks
current from an external load connected to the
external +24 Vdc power source.
INTERNAL SIGNAL POWER
The signal power section supplies power for the
DSP controller as well as logic inputs and outputs.
Motor feedback signals such as Halls, encoder,
and temperature sensor operate from this power
source. All signal circuits are referenced to signal
ground. This ground should connect to the control
system circuit ground or common so that drive
and controller inputs and output voltage levels
work properly with each other.
FRAME GROUND
L1
J1
L2
MAINS
L3
FRAME GROUND
(SAFETY GROUND)
+24 Vdc
J4
+24
BRAKE
BRAKE
VDC
RTN
+24 Vdc
CONTROL
GROUND
+5 Vdc
SYSTEM
J7
ENABLE [IN1]
SIGNAL GND
CONTROL
SIGNAL
GROUND
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Xenus R10
MAINS POWER
Mains power drives the high-voltage section. It
is rectified and capacitor-filtered to produce +HV
which the PWM stage converts into voltages that
drive either three phase brushless or DC brush
motors. An internal solid-state switch together
with an external power resistor provides dissipation
during regeneration when the mechanical energy
of the motor is converted back into electrical
energy that must be dissipated before it charges
the internal capacitors to an overvoltage condition.
All the circuits in this section are "hot", that is,
they connect directly to the mains and must be
considered high-voltages and a shock hazard
requiring proper insulation techniques during
installation.
GROUNDING
A grounding system has three primary functions:
safety, voltage-reference, and shielding. As a
safety measure, the primary ground at J1-3 will
carry fault-currents from the mains in the case
of an internal failure or short-circuit of electronic
components. Wiring to this is typically done with
the green conductor with yellow stripe using the
same gauge wire as that used for the mains. The
pin on the drive at J1-3 is longer than the other
pins on J1 giving it a first-make, last-break action
so that the drive chassis is never ungrounded
when the mains power is connected. This wire is
a 'bonding' conductor that should connect to an
earthed ground point and must not pass through
any circuit interrupting devices.
All of the circuits on J1, J2, and J3 are mains-
connected and must never be grounded. The
ground terminals at J1-3, J2-1, and J3-5 all
connect to the drive chassis and are isolated from
all drive internal circuits.
SHIELD
J3
REGEN(-) REGEN(+)
1760 µF
+
~
DC BUSS(+)
+
~
DC BUSS(-)
-
~
PWM
STAGE
CONTROL
POWER
ISOLATION BARRIER
LOGIC
DC/DC
Cntrl &
SIGNAL
POWER
DC/DC
Converter
CONTROL
LOGIC
BRUSHLESS/BRUSH MOTORS
J2
U
V
PWM
MOTOR
INVERTER
W
CASE
SHIELD
RESOLVER
DRIVE &
DECODING
RESOLVER
J8
Tel: 781-828-8090
R10
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
Signal grounding references the drive control
circuits to those of the control system. These
controls circuits typically have their own earth
connection at some point. To eliminate ground-
loops it is recommended that the drive signal
ground be connected to the control system circuit
ground. When this is done the drive signal voltages
will be referenced to the same 0 V level as the
circuits in the control system. Small currents flow
between controller and drive when inputs and
outputs interact. The signal ground is the path for
these currents to return to their power sources in
both controller and drive.
Shields on cables reduce emissions from the drive
for CE compliance and protect internal circuits from
interference due to external sources of electrical
noise. Because of their smaller wire gauge, these
should not be used as part of a safety-ground
system. Motor cases can be safety-grounded
either at the motor, by earthing the frame, or by
a grounding conductor in the motor cable that
connects to J2-1. This cable should be of the same
gauge as the other motor phase cables.
For CE compliance and operator safety, the
drive should be earthed by using external tooth
lockwashers under the mounting screws. These
will make contact with the aluminum chassis
through the anodized finish to connect the chassis
to the equipment frame ground.
REGENERATION
The chart below shows the energy absorption
in W·s for a Xenus R10 drive operating at some
typical mains voltages. When the load mechanical
energy is greater than these values an external
regen resistor is available as an accessory.
120
Energy Absorption vs.
Mains Voltage
100
80
60
40
20
100 120 140 160
Mains Voltage (Vac)
SIGNAL GND
+5 Vdc
Fax: 781-828-6547
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