Copley Controls Xenus R10 Manual page 194

GENERAL SPECIFICATIONS
Test conditions: Load = Bipolar stepper: 2 mH + 2 Ω per phase. Ambient temperature = 25°C, +HV = HV
MODEL
OUTPUT POWER
Peak Current
Peak time
Continuous current
Maximum Output Voltage
INPUT POWER
HVmin~HVmax
Ipeak
Icont
Aux HV
PWM OUTPUTS
Type
PWM ripple frequency
CONTROL MODES
CANopen:
Microstepping: Profile Position-Velocity, Interpolated Position (PVT), Homing
Servo mode: all of the microstepping modes, plus Cyclic Synchronous Torque (CST) mode
Analog ±10 Vdc current/velocity (servo mode), camming, internal indexer and function generator
Digital PWM/Polarity current/velocity (servo mode), CW/CCW, Step/Direction, and quad A/B encoder position commands
COMMAND INPUTS
Type
Signals
Data protocol
Node-ID Selection
Analog
Digital
Camming
DIGITAL CONTROL
Digital Control Loops
Sampling rate (time)
Commutation
Modulation
Bandwidths
HV Compensation
Minimum load inductance
DIGITAL INPUTS
[IN1~9]
[IN10]
[IN11]
[IN12~14]
DIGITAL OUTPUTS
[OUT1~2]
[OUT3~6 ]
ANALOG INPUT
Type
FEEDBACK
Incremental:
Digital Incremental Encoder
5 MHz maximum line frequency (20 M counts/sec)
26LS32 differential line receiver with 121 Ω terminating resistor between complementary inputs
Encoder power
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Stepnet
R52-090-07 R52-090-10
7 (5)
1
5 (3.5)
+14 to +90 +14 to +90
7.7
5.5
+14 to +HV Vdc @ 500 mAdc maximum, 2.5 W
Dual H-bridge MOSFET , 16 kHz center-weighted PWM, space-vector modulation
CANopen, galvanically isolated from drive circuits
CAN_H, CAN_L, CAN_GND
CANopen Device Profile DSP-402
Programmable, or via digital inputs
±10 Vdc
High speed inputs for CW/CCW, Step/Direction, and quad A/B encoder
Quad A/B digital encoder
Current, velocity, position. 100% digital loop control
Current loop: 16 kHz (62.5 µs), Velocity & position loops: 4 kHz (250 µs)
Sinusoidal, field-oriented control
Center-weighted PWM with space-vector modulation
Current loop: 2.5 kHz typical, bandwidth will vary with tuning & load inductance
Changes in bus voltage do not a effect bandwidth
200 µH line-line
High-speed digital, 100 ns RC filter, 10 kW pull-up to +5 Vdc, +7 Vdc tolerant
74AHC14 Schmitt trigger, V
SLI port MISO input, 47 ns RC filter, 10 kW pull-up to +5 Vdc, +7 Vdc tolerant
74LVC2G14 Schmitt trigger, V
Motor temperature switch, 330 µs RC filter, 4.99 kW pull-up to +5 Vdc, +24V tolerant
74LVC2G14 Schmitt trigger, V
GP inputs, 1.5 µs RC filter, 15 kW pull-up to +5 Vdc, +24 Vdc tolerant
74AHC14 Schmitt trigger, V
Open-drain MOSFET with 1 kW pull-up with series diode to +5 Vdc
300 mAdc max, +30 Vdc max. Functions programmable
SLI port MOSI, SCLK, SS1, & SS2 signals, 74AHCT125 line drivers; +5 Vdc tolerant
±10 Vdc, 12-bit resolution, differential
Quadrature signals, (A, /A, B, /B, X, /X), differential (X, /X Index signals not required)
+5 Vdc ±2% @ 400 mAdc max, protected against shorts and overtemperature
R52
Plus
10 (7.1) Adc (Arms-sine), ±5%
1 Sec
10 (7.1) Adc (Arms-sine) per phase
Vout = HV*0.97 - Rout*Iout
Vdc Transformer-isolated
11 Adc (1 sec) peak
11 Adc continuous
32 kHz
+ = 3.5 Vdc max, V - = 1.5 Vdc min, V
T T
+ = 2.05~3.35 Vdc, V
T
+ = 2.05~3.35 Vdc, V
T
+ = 3.5 Vdc max, V - = 1.5 Vdc min, V
T T
Tel: 781-828-8090
RUGGEDIZED DIGITAL
STEPPER DRIVE MODULE
+ = 0.45~1.50 Vdc
H
- = 1.1~2.15 Vdc, V + = 0.65~1.6 Vdc
T H
- = 1.1~2.15 Vdc, V + = 0.65~1.6 Vdc
T H
+ = 0.45~1.50 Vdc
H
Fax: 781-828-6547
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RoHS
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