PRELIMINARY
Xenus
PLUS EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
T
ech
Support:
E-mail:
[email protected],
Internet:
http://www
.copleycontrols.com
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GENERAL SPECIFICATIONS
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1 Ø
MODEL XEL-230-18 XEL-230-36 XEL-230-40 Same specs for XEL and XML models
OUTPUT CURRENT
Peak Current 18 (12.7) 36 (25.5) 40 (28.3) Adc (Arms, sinusoidal)
Peak time 1 1 1 s
Continuous current (Note 1) 6 (4.24) 12 (8.5) 20 (14.1) Adc (Arms, sinusoidal)
INPUT POWER
Mains voltage, phase, frequency 100~240 Vac, ±10%, 1 Ø or 3 Ø, 47~63 Hz
Mains current 20 Arms
+24 Vdc Control power +20 to +32 Vdc, 500 mA max Required for operation
DIGITAL CONTROL
Digital Control Loops Current, velocity, position. 100% digital loop control
Sampling rate (time) Current loop: 15 kHz (67 µs), Velocity & position loops: 3 kHz (333 µs)
Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth
Minimum load inductance 200 µH line-line
COMMAND INPUTS
Distributed Control Mode
CANopen over EtherCAT (CoE) Position, Velocity, Torque, Homing, Prole, Interpolated Prole, and Cyclic Synchronous modes
Stand-alone mode
Analog torque, velocity, position reference ±10 Vdc, 16 bit resolution Dedicated differential analog input
Digital position reference Pulse/Direction, CW/CCW Stepper commands (2 MHz maximum rate)
Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature)
Digital torque & velocity reference PWM , Polarity PWM = 0% - 100%, Polarity = 1/0
PWM 50% PWM = 50% ±50%, no polarity signal required
PWM frequency range 1 kHz minimum, 100 kHz maximum
PWM minimum pulse width 220 ns
Indexing 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.
Camming Master quadrature encoder provides position as index to cam table.
Digital inputs initiate cam functions.
DIGITAL INPUTS
Number 15
[IN1,2,15] Non-isolated Schmitt trigger, 1 µs RC lter, 24 Vdc max, Vin-LO <= 1.25 Vdc, Vin-HI >= 3.5 Vdc,
Hysteresis = 0.66 Vdc minimum, 10 kΩ programmable per input to pull-up to +5 Vdc or pull-down to ground
[IN3~6] Non-isolated line receiver, 100 ns RC lter, +12 Vdc max, programmable as 4 single-ended, or 2 differential
Single-ended: [IN3,4] or [IN5,6]: Vin-LO <= 2.3 Vdc, Vin-HI >= 2.7 Vdc, Vhysteresis = 400 mVdc
Differential: [IN3/4] or [IN5/6]: Vin-LO <= -200 mVdc, Vin-HI >= 200 mVdc, Vhysteresis = ±200 mVdc
[IN7~14] Isolated: Opto-isolated, ±5 to ±30 Vdc compatible, bi-polar, 2 groups of 4 with common for each group
ANALOG INPUTS
Number 3
[AIN1~2] Differential, ±10 Vdc, 5 kΩ input impedance, 16-bit resolution
[AIN3] Single-ended, motor temperature sensor, 4.99 kΩ pulled-up to +5 Vdc
DIGITAL OUTPUTS
Number 6
[OUT1~2] Current-sinking MOSFET with 1 kΩ pullup to +5 Vdc through diode
1 Adc max, +40 Vdc max; external yback diode required if driving inductive loads
[OUT3] High-speed CMOS buffer, ±20 mA
[OUT4~5] Opto-isolated Darlingtons with 36V Zener yback diodes, 50 mA max
[OUT6] Motor brake control: opto-isolated, current-sinking with yback diode to +24 Vdc, 1 Adc max
ANALOG OUTPUT
Number 1
Range ±5 Vdc single-ended
Resolution 12-bit
MULTI-MODE ENCODER PORT
As Input Secondary digital quadrature encoder (A, /A, B, /B, X, /X), 121 Ωterminating resistors
18 M-counts/sec, post-quadrature (4.5 M-lines/sec)
As Output 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
RS-232 PORT
Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 Baud
Protocol Binary and ASCII formats
ETHERCAT PORTS
Format Dual RJ-45 receptacles, 100BASE-TX
Protocol EtherCAT
Data CANopen over EtherCAT (CoE)
STATUS INDICATORS
Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
CAN Status Bicolor LED, status of CAN bus indicated by color and blink codes to CAN Indicator Specication 303-3
