Copley Controls Xenus R10 Manual page 2

GENERAL SPECIFICATIONS
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1Ø
MODEL
OUTPUT CURRENT
Peak Current
Peak time
Continuous current (Note 1)
INPUT POWER
Mains voltage, phase, frequency
Maximum Mains Current, 1Ø (
Maximum Mains current, 3Ø (
+24 Vdc Control power
DIGITAL CONTROL
Digital Control Loops
Sampling rate (time)
Commutation
Bandwidth
HV Compensation
Minimum load inductance
COMMAND INPUTS (NOTE: DIGITAL INPUT FUNCTIONS ARE PROGRAMMABLE)
Distributed Control Modes
CANopen
ASCII
Stand-alone mode
Analog torque, velocity, position reference
Input impedance
Digital position reference
Digital torque & velocity reference
Indexing
Camming
DIGITAL INPUTS
Inputs [IN1~5,11,12]
Input [IN6]
Inputs [IN7~10]
All inputs
DIGITAL OUTPUTS (NOTE 2)
Number
[OUT1], [OUT2], [OUT3]
Current rating
Brake [OUT4]
MULTI-MODE ENCODER PORT
As Input
As Output
RS-232 PORT
Signals
Mode
Protocol
RS-422 PORT (Optional)
Signals
Mode
Protocol
CAN PORTS
Signals
Format
Data
Address selection
NOTES:
1. Heatsinking and/or forced-air cooling is required for continuous output power rating
2. Brake [OUT4] is programmable as motor brake, or as general purpose digital output
3. The actual mains current is dependent on the mains voltage, number of phases, and motor load and operating conditions.
The Maximum Mains Currents shown above occur when the drive is operating from the maximum input voltage and is producing
the rated continuous output current at the maximum output voltage.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Xenus R10
R10-230-18
18 (12.7)
1
6 (4.24)
100~240
) 10.1
Note 3
) 6.4
Note 3
+20 to +32 Vdc, 500 mA max
Current, velocity, position. 100% digital loop control
Dual loop position control using secondary encoder input
Current loop: 15 kHz (66.7 us) Velocity, position loops: 3 kHz (333 us)
Sinusoidal field-oriented control or trapezoidal for brushless motors
Current loop: 2.5 kHz typical, bandwidth will vary with tuning & load inductance
Changes in bus voltage do not affect bandwidth
200 µH line-line
Position, Velocity, Torque, Homing, Profile, and Interpolated profile modes
Multiple drives accessible from a single RS-422 port
±10 Vdc, 12 bit resolution
74.8 kΩ
Pulse/Direction, CW/CCW
Quad A/B Encoder
PWM , Polarity
PWM 50%
PWM frequency range
PWM minimum pulse width
Up to 32 programs can be launched from inputs or ASCII commands. Each program can
consist of moves, I/O commands, time delays, and other programmable operations.
Master quadrature encoder provides position as index to cam table.
Digital inputs initiate cam functions.
74HC14 Schmitt trigger, 330 µs RC filter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +24 Vdc max
[IN1] dedicated to drive enable function, other inputs are programmable
74HC14 Schmitt trigger, 100 ns RC filter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +12 Vdc max
Single-ended: Comparator with 2.5 Vdc reference, 100 ns RC filter, Vin-LO <2.3 Vdc, Vin-HI > 2.45 Vdc
Differential: RS-485 line receiver on input pairs [IN9-7], and [IN10-8], 100 ns RC filters, +12 Vdc max
10 kΩ pull-up to +5 Vdc or pull-down to ground, selectable in groups, active level programmable
4
Current-sinking MOSFET with 1 kΩ pullup to +5 Vdc through diode
1 Adc max, +40 Vdc max. Functions programmable
External flyback diode required if driving inductive loads
Opto-isolated, current-sinking with flyback diode to +24 Vdc, 1 Adc max
Secondary digital quadrature encoder (A, /A, B, /B, X, /X), 121 Ω terminating resistors
18 M-counts/sec, post-quadrature (4.5 M-lines/sec)
Primary increment encoder for models with -S option that use sin/cos signals as analog Halls
Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders or resolvers. Buffered signals from digital quad A/B/X primary encoder
A, /A, B, /B, X, /X, from 26LS31 differential line driver
RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector
Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 baud
Binary and ASCII formats
XMT-A, XMT-B, RCV-A, RCV-B, in a 6-position, 6-contact RJ-11 style modular connector
Full-duplex, RS-422 slave, 9,600 to 115,200 baud
Binary and ASCII formats
CANH, CANL, Gnd in 8-position RJ-45 style modular connector, wired as per CAN Cia DR-303-1, V1.1
CAN V2.0b physical layer for high-speed connections compliant
CANopen Device Profile DSP-402
16 position rotary switch on front panel with 3 additional address bits available as
digital inputs or programmable to flash memory (7-bit addressing, 127 nodes per CAN network)
BRUSHLESS/BRUSH MOTORS
R10-230-36 R10-230-40
36 (25.5) 40 (28.3)
1 1
12 (8.5) 20 (14.1)
100~240 100~240
20.0 20.0
10.4 15.4
Dedicated differential analog input
Between Ref(+), Ref(-)
Stepper commands (2 MHz maximum rate)
2 M line/sec, 8 Mcount/sec (after quadrature)
PWM = 0% - 100%, Polarity = 1/0
PWM = 50% ±50%, no polarity signal required
1 kHz minimum, 100 kHz maximum
220 ns
Tel: 781-828-8090
R10
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
Same specs for -S and -R models
Adc (Arms, sinusoidal)
s
Adc (Arms, sinusoidal)
Vac, ±10%, 1Ø or 3Ø, 47~400 Hz
Arms
Arms
Required for operation
Fax: 781-828-6547
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