Copley Controls Xenus R10 Manual page 203

CONNECTIONS FOR INCREMENTAL DIGITAL ENCODER
Motion
Controller
DAC
±10V
Position Commands
ENC
Step
CU
Ch. B
ENC
CD
Dir
Ch. A
Velocity, Torque commands
50%
PWM
Dir
n.c.
Controller
RS-232
I/O
NOTES:
1. P3 connections use multiple pins to share current.
All signals of the same name must be connected on the PC board to which the R52 is mounted.
2. The CANopen connector is shown to illustrate connections between the R52 and external cabling.
The connector is not part of the R52 and non-signal connections are not shown.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Stepnet
SPM
P3
P3/9 CAN_H
CAN_L
P3/7
121
*
P3/8
CAN_TERM
P3/5
CAN_GND
* To use the internal 121 ohm terminator
resistor, connect P3-7 to P3-8.
If multiple drives are on a CAN network,
this should only be done on the drive at
the end of the network.
Enable Enable Input
P2/15
[IN1] HSIn
P2/31 GP [OUT1]
P2/35 ±10V Ref(+)
P2/36 ±10V Ref(-)
[IN2] HS
P2/18
[IN3] HS
P2/17
[IN4] HS
P2/20
P2/22 [IN6] HS
P2/21 [IN7] HS
P2/24 [IN8] HS
P2/23 [IN9] HS
[IN10]
P2/26
SPI-MISO
[IN11]
P2/25
Motemp
P2/32 [OUT2] GP
[OUT3]
P2/29
SPI -MOSI
OUT4
[ ]
P2/30
SPI-CLK
[OUT5]
P2/27
SPI-EN1
[OUT6]
P2/28
SPI-EN2
P2/34
TxD
P2/2
RxD
P2/1
TxD RxD
P2/16
Gnd
R52
Plus
A
P2/6
Enc A
/A
Enc /A P2/5
B
P2/8
Enc B
/B
Enc /B P2/7
X
P2/10
Enc X
/X
P2/9
Enc /X
P2/4
Enc S
P2/3
Enc /S
P2
Hall U P2/11
Hall V
P2/13
P2/12
Hall W
P2/14
+5V
P2/33
Motemp
P2/19
GPin [IN5]
Mot P1/15,16
A P1/17,18
P1/23,24
Mot
/A
P1/25,26
Mot P1/31,21
B P1/33,34
Mot P1/39,40
/B
/B
P1/41,42
Aux HV
P1/11
Input
P1
+HV
P1/2,3,4
P1/5,6
Input
+HV
P1/7,8,9
P1/10,12
Gnd
330 µF
Minimum
per drive
Mount external
capacitor
<= 12" (30 cm)
from drive
Tel: 781-828-8090
RUGGEDIZED DIGITAL
STEPPER DRIVE MODULE
DIGITAL
ENCODER
A
STEPPER
MOTOR
DC
Power
+
+24 V
-
DC
Power
Fuse
+
-
Fax: 781-828-6547
Page 11 of 24
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