Combining Today s Best Technologies. For Tomorrow s Break Through Discoveries. Control Modes. Command Interface. Communications

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1 Phone: -- Phone: -IP-Tech Fax: -IP-Tech Control Modes Command Interface Stepper commands Communications Accessories Feedback Panasonic encoders I/O Digital I/O Analog Dimensions: in [mm] Model Vac Ic Ip Add -R for resolver feedback option. DESCRIPTION Xenus Plus MACRO A wide range of absolute interfaces are built-in including EnDat, Hiperface, and BiSS. High resolution A/D converters ensure optimal current loop performance. Both isolated and highspeed non-isolated I/O are provided. For safety critical applications, redundant power stage enable inputs can be employed. Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

2 Phone: -- Phone: -IP-Tech Fax: -IP-Tech MODEL OUTPUT CURRENT Peak time s INPUT POWER Mains current 0 Arms Sampling r Bus voltage compensation Minimum load inductance COMMAND INPUTS Distributed Control Mode Changes in bus or mains voltage do not affect bandwidth Stand-alone mode PWM minimum pulse width 0 ns Number 0 k T T H [IN] Encoder fault; same electrical specs as [IN,,] except 0 k input impedance, -bit resolution Number Number MULTI-MODE ENCODER PORT Mode Protocol MACRO PORT Full-duplex, DTE serial communication port for drive setup and control,,00 to,00 Baud Binary and ASCII formats Data Format Address Selection STATUS INDICATORS Drive Status MACRO Dual -position rotary switches for Master and Node addresses Bicolor LED, drive status indicated by color, and blinking or non-blinking condition NOTES:. Brake[OUT] is programmable as motor brake, or as general purpose digital output Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

3 Phone: -- Phone: -IP-Tech Fax: -IP-Tech PROTECTIONS Mains power loss Interruption or loss of AC power is detected Short circuits I T Current limiting Output to output, output to ground, internal PWM bridge faults, regen resistor fail-shorts Programmable: continuous current, peak current, peak time Ambient temperature 0 to C operating, -0 to C storage Contaminants Pollution degree g Shock 0 g, 0 ms, half-sine pulse, IEC00-- Environment IEC-: 0 Following the provisions of EC Directive //EEC: Following the provisions of EC Directive 00//EC: DIMENSIONS R.0. TYP For CE compliance and machine safety an electrically conductive grounding tab is provided. This connects to the heatplate and to the frame ground Chassis grounding tab Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web:

4 Phone: -- Phone: -IP-Tech Fax: -IP-Tech FEEDBACK SPECIFICATIONS Type Quadrature, differential line driver outputs RS-/RS- line receivers with fault detection for open/shorted inputs, or low signal amplitude Type Inputs MULTI-MODE ENCODER PORT Digital, single-ended, 0 electrical phase difference 0 k terminating resistors from analog sin/cos encoders or resolvers. Type Brushless, single-speed, : to : programmable transformation ratio Reference maximum current 00 ma Maximum RPM 0,000 ENCODER POWER SUPPLIES Number Inputs Output two-terminal: [ENH], [ENH-], [ENL], [ENL-] two-terminal: [LED], [LED-] Note! When you see this marker, it s for hot tips or best practices that will help you get the best results when using Copley Controls products. Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

5 Phone: -- Phone: -IP-Tech Fax: -IP-Tech MACRO COMMUNICATIONS supported. MACRO CONNECTIONS the OUT port. ACRO PORT Duplex type SC LEDS OUT IN NET AMP A bi-color LED gives the state of the MACRO interface by changing color, and either blinking or remaining solid. The possible color and blink combinations are: Off = MACRO network has not been detected Green/Blinking = MACRO network detected and has disabled drive Green = MACRO network detected and is trying to enable drive This condition can occur while the AMP LED shows any of its possible color combinations. This LED must be green in order for the AMP LED to become green Red/Solid = MACRO network errors have been detected A bi-color LED gives the state of the XML drive. Colors do not alternate, and can be solid ON or blinking: If drive is hardware-enabled but disabled by MACRO then both NET and AMP LED s will be blinking Drive will only move in direction not inhibited by limit switch. Will drive motor in response to command inputs or MACRO commands. Red/Solid = Transient fault condition. Drive will resume operation when fault is removed. Red/Blinking = Latching fault. Operation will not resume until drive is Reset. MACRO ADDRESS A PMAC card can hold up to four MACRO IC s each of which is a master on a MACRO ring. Switch S is set to select the master IC to which the Xenus will be linked. The four possible As a MACRO station or node the Accelnet has eight available addresses as a motion control greyed-out are invalid selections and have no function. The switch positions are numbered in hexadecimal. The chart shows these positions with the slave address shown in decimal. The Accelnet will be node controlled by master IC on the PMAC S Slave S Master MACRO Node Address Switch Switch Address HEX S DEC 0 0 A B C D E F Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

6 Phone: -- Phone: -IP-Tech Fax: -IP-Tech COMMUNICATIONS XEL XEL XEL Serial Cable Kit SER-CK SERIAL CABLE KIT port of a PC and uses common modular cable to connect to the XEL. The connections are shown in the diagram below. position, contact PIN RxD Txd D-Sub F Don t forget to order a Serial Cable Kit SER-CK when placing your order for an XPL! ASCII COMMUNICATIONS The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet, been programmed using CME, a control program can use the ASCII Interface to: variables. f Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

7 Phone: -- Phone: -IP-Tech Fax: -IP-Tech DESCRIPTION current through the LED to light it whenever the PWM outputs can be activated, or the drive is in a diagnostic state. When the LED opto-coupler is OFF, the drive is in a Safe state and the PWM outputs cannot be activated to drive a motor. When this is done the STO feature is defeated and control of the output PWM stage is under control of the digital control core. If not using the STO feature, these connections must be made in order for the Xenus to be enabled. STO (Safe Torque Off) Override Connections Xenus Plus J ENH().k ENH(-).V.k High Side PWM ENH HV These connections MUST be made to enable the Xenus. ENL() ENL(-).k.V.k Low Side PWM ENL LED() 0 V LED(-) V V Output From V input on J- ENH ENL DIAG-ON Signal ground Frame Ground STO CONNECTOR PIN PIN J Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

8 Phone: -- Phone: -IP-Tech Fax: -IP-Tech COMMAND INPUTS Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs. Differential inputs have line-terminators. DIFFERENTIAL CU/CD [IN] CU [IN] [IN-] PULSE [IN] CD [IN] [IN-] DIRECTION QUAD A/B ENCODER DIFFERENTIAL [IN] Enc. A [IN] [IN-] Enc. B [IN] Enc. B [IN] [IN-] Enc A pull-up and pull-down to take advantage of the high-speed inputs. Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

9 Phone: -- Phone: -IP-Tech Fax: -IP-Tech MULTI-MODE ENCODER PORT This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive. a dual-loop position control system or use the signals as master-encoder commands in camming mode. In addition, the port can take AS COMMAND INPUTS MAX0 PULSE-UP/PULSE-DOWN, OR The multi-mode port can also be used when digital command signals are in a differential format. These are the signals that typically go to single-ended which case the multi-mode port can be used. Pulse/Dir or CU/CD differential commands MAX0 Input/Output Select MAX0 When operating in position mode the multi-mode port can accept digital command signals from external encoders. These can be used to drive cam tables, or as master-encoder signals when operating in a master/slave A/B/X signals from digital encoder MAX0 Input/Output Select the multi-mode port output buffers directly. This is useful in systems that use external controllers that also need the motor feedback encoder signals because cabling where the motor feedback cable has to split to connect to both controller and motor, the buffered outputs reduce loading on the feedback cable that could occur if the motor encoder had to drive two differential inputs in parallel, each with it s own ohm terminating resistor. Buffered A/B/X signals from primary encoder Secondary Encoder Input MAX0 MAX0 Input/Output Select Quad A/B/X primary encoder AS EMULATED QUAD A/B/X ENCODER OUTPUTS FROM AN Secondary Encoder Input MAX0 Analog sin/cos signals are interpolated in the drive with programmable resolution. The incremental position data is then converted back into digital analog encoders also produce a digital index pulse which is connected directly can be used as feedback to an external control system. Emulated A/B/X signals MAX0 Input/Output Select Emulated Quad A/B signals from analog Sin/Cos encoder or resolver Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

10 Phone: -- Phone: -IP-Tech Fax: -IP-Tech INPUTS HS active sources. The active level is programmable on each input. Input [IN] is dedicated to the.0 V A [IN] [IN] 0k 0k HC 00p ended or differential: DIFFERENTIAL V V V V 0k k 00 pf MAX0 0k k 00 pf MAX0.V V V 0k k 00 pf 0k k 00 pf MAX0 V V 0k k 00 pf MAX0 0k k 00 pf MAX0.V V V 0k k 00 pf 0k k 00 pf MAX0 commonly use NPN or current-sinking outputs. Set the Xenus inputs to pull-down to ground for current-sourcing Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page 0 of

11 Phone: -- Phone: -IP-Tech Fax: -IP-Tech V GND J V GND J V [COMM_A] V [COMM_B] [IN].k [IN].k.k.V.k.V [IN].k [IN].k.k.V.k.V [IN].k [IN].k.k.V 0.k.V [IN0].k [IN].k V.k.V V.k.V connections. Connect the COMM to controller ground/common controller for current-sinking connections. D/A J F.G. Frame Ground programmable functions. As a reference input [AIN] can ±0V AIN.k AIN- - Vref A second input [AIN] is programmable for other functions. The ratio of drive output current or velocity vs. reference input voltage is programmable. Sgnd.V AIN AIN-.k - Vref Sgnd.V Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

12 Phone: -- Phone: -IP-Tech Fax: -IP-Tech OUTPUTS These are open-drain MOSFETs with k pull-up resistors in series with a diode J of the outputs is programmable to be on or off. When driving inductive loads [OUT] R-L The internal diode in the output is for driving PLC inputs that are opto-isolated through the k on, giving a false indication of the drive output state. 00mA [OUT] R-L Sgnd 00mA 0V max OPTO-ISOLATED OUTPUTS [OUT,] J V NCSZ R ±ma 0V max R-L 0mA J [OUT] [OUT-] 0V max R-L 0mA [OUT] [OUT-] BRAKE OUTPUT [OUT] This output is an open-drain MOSFET with an internal can sink up to A from a motor brake connected to programmable with CME. It can also be programmed as a general-purpose digital output. J The analog output is programmable and An op-amp buffers the output of a -bit D/A converter. V J BRK Brk 00 V 0V Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

13 Phone: -- Phone: -IP-Tech Fax: -IP-Tech MOTOR CONNECTIONS Motor connections are of three types: phase, feedback, and thermal sensor. The phase connections carry the drive output currents that drive the motor to produce motion. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect drive. QUAD A/B ENCODER WITH FAULT PROTECTION Encoders with differential line-driver outputs provide incremental position feedback via the Encoder J0 FG Frame Ground Short-circuits line-line: the differential fault threshold. Open-circuit condition: The terminator resistor will pull the inputs together if either across the inputs. Low differential voltage detection: This is possible with very long cable runs and a fault will A B A /A B /B 0 Enc. A MAX0 Enc. B MAX0 ±kv ESD protection: the Human Body Model. Extended common-mode range: A fault occurs if the input common-mode voltage is Z V X Enc. Index /X MAX0 V 00 ma 0V Signal Ground Encoder J0 signals in the format used by incremental encoders with analog outputs, or with ServoTube motors. sin FG Frame Ground Sin() 0k Sin(-) 0k - Sin cos Cos() Cos(-) 0 0k 0k - Cos indx V Inx() 0k - Inx(-) 0k V 00 ma Indx 0V Signal Ground Resolver J0 FG Frame Ground Sin() Connections to the resolver should be made with shielded cable that uses three twisted-pairs. Once connected, resolver set up, motor phasing, and other S R Sin Ref S S Cos S R 0 Sin(-) R/D Conversion Cos() Cos(-) Ref() Ref(-) Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web:

14 Phone: -- Phone: -IP-Tech Fax: -IP-Tech SSI ABSOLUTE ENCODER absolute position encoder to a motion controller or control system. The XML drive provides a train of clock signals in differential format to the encoder which number of encoder data bits and counts per motor revolution are programmable. The hardware bus consists of two signals: SCLK and SDATA. Data is sent Data is clocked out on the falling edge and clock in on the rising edge of the Master. Encoder FG J0 Frame Ground BiSS ABSOLUTE ENCODER BiSS is an - Open Source - digital interface for sensors and actuators. BiSS refers to principles of well known industrial standards for Serial Synchronous Interfaces like SSI, AS-Interface and Interbus with additional options. Serial Synchronous Data Communication Cyclic at high speed unidirectional lines Clock and Data Line delay compensation for high speed data transfer Safety capable: CRC, Errors, Warnings Bus capability incl. actuators Bidirectional BiSS B-protocol: Mode choice at each cycle start BiSS C-protocol: Continuous mode Clk Data Clk /Clk Dat /Dat A B A B Clk MAXB Data MAXB BiSS Encoder FG Master Xenus J Frame Ground MA MA- Clk MAXB V 0V V 00 ma Signal Ground Slave SL SL- Data MAXB V V 00 ma ENDAT ABSOLUTE ENCODER The EnDat interface is a Heidenhain interface that is similar to SSI in the use of clock and data signals, but which also supports analog sin/cos channels from the same encoder. The number of position data bits is programmable as is the use of sin/cos channels. Use of sin/cos incremental signals is optional V- NIKON-A ABSOLUTE ENCODER The Nikon A interface is a serial, half-duplex type that is electrically the same as RS- Signal Ground Encoder Xenus Plus J0 FG Clk Data Frame Ground Clk A Clk /Clk B MAXB Dat A /Dat B MAXB Data SD D-R Nikon-A Encoder V.k 0.k SD SD- Xenus J0 Cmd D-R sin Sin() Sin(-) 0k - Sin 0k Cmd MAXB V V- V 0V V output Signal Ground MAXB SD cos Cos() Cos(-) 0 0k 0k - Cos V 0V V 00 ma Signal Ground Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

15 Phone: -- Phone: -IP-Tech Fax: -IP-Tech MOTOR PHASE CONNECTIONS The drive output is a three-phase PWM inverter that converts the DC buss voltage J PWM F.G. noise coupling into other circuits. The motor cable shield should connect to motor HV W V 0V U Halls J0 Hall A Hall U 0K 0K V 00p Hall signals are single-ended signals that provide absolute feedback within one sourced by magnetic sensors in the motor, or by encoders that have Hall tracks as Hall B Hall V 0K V 0K 00p commutation. Hall C Hall W 0K 0K V 00p V 0V V 00 ma * Signal Ground * Alternate Sgnd connections on J0 are pins,, MOTOR TEMPERATURE SENSOR overtemperature switch or sensor. The input voltage goes ENCODER FAULT programmable. For encoders that output a FAULT signal in addition to the other position data signals Thermistor, Posistor, or switch * Sgnd Motemp [AIN] V.k 00k 0k 00n ENCODER FAULT OUTPUT ENCFLT [IN] * Sgnd.0 V 0k 0k 00p HC * Alternate Sgnd connections on J0 are pins,, Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

16 Phone: -- Phone: -IP-Tech Fax: -IP-Tech MULTI-MODE ENCODER PORT This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive. a dual-loop position control system or use the signals as master-encoder commands in camming mode. In addition, the port can take Secondary Encoder Input MAX0 the multi-mode port output buffers directly. This is useful in systems that use external controllers that also need the motor feedback encoder signals because cabling where the motor feedback cable has to split to connect to both controller and motor, the buffered outputs reduce loading on the feedback cable that could occur if the motor encoder had to drive two differential inputs in parallel, each with it s own ohm terminating resistor. Buffered A/B/X signals from primary encoder MAX0 Input/Output Select Quad A/B/X primary encoder AS EMULATED QUAD A/B/X ENCODER OUTPUTS FROM AN Secondary Encoder Input MAX0 Analog sin/cos signals are interpolated in the drive with programmable resolution. The incremental position data is then converted back into digital analog encoders also produce a digital index pulse which is connected directly can be used as feedback to an external control system. Emulated A/B/X signals MAX0 Input/Output Select Emulated Quad A/B signals from analog Sin/Cos encoder or resolver MAX0 When operating in position mode the multi-mode port can accept digital command signals from external encoders. These can be used to drive cam tables, or as master-encoder signals when operating in a master/slave A/B/X signals from digital encoder MAX0 Input/Output Select PULSE-UP/PULSE-DOWN, OR The multi-mode port can also be used when digital command signals are in a differential format. These are the signals that typically go to single-ended which case the multi-mode port can be used. Pulse/Dir or CU/CD differential commands MAX0 MAX0 Input/Output Select Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

17 Phone: -- Phone: -IP-Tech Fax: -IP-Tech Quad A/B Encoder for CE compliance Frame Ground Frame Gnd 0 F.G. [COMM_A] [IN] GPI [IN] GPI [IN] GPI [IN0] GPI [COMM_B] [IN] GPI [IN] GPI [IN] GPI [IN] GPI J Multi-Mode Encoder Port ±0 Vdc Analog Reference A /A B /B X /X 0 00 ma Signal Ground Ain() Ain(-) [IN] Enable [IN] GP [IN] HS [IN] HS Outputs Buffered Quad A/B from Encoder A /A B /B X /X 0 Vdc Sgnd Hall U Hall V Hall W Vdc Signal Ground Motemp [AIN] J0 A /A B /B X /X Vcc 0V FLT DIGITAL ENCODER DIGITAL HALLS TEMP SENSOR [OUT] GPI [IN] HS [OUT-] GPI [OUT] GPI [OUT-] GPI 0 [IN] HS Ain() Ain(-) J J L L L Fuse N H L L L AC MAINS: 00 to 0 Vac Ø or Ø to Hz BRAKE Control Power Supply Required for Drive Operation Aout Signal Ground [OUT] [OUT] [OUT] HS J Mot U Mot V Mot W Frame Ground Earth * Fuse * Fuse U V W BRUSHLESS MOTOR Vdc 0. Adc - Drive mounting screw V BRAKE RTN J J REGEN REGEN- * Fuse * Fuse DANGER: HIGH VOLTAGE CIRCUITS ON J, J, & J ARE CONNECTED TO MAINS POWER Frame Ground NOTES: * Optional Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

18 Phone: -- Phone: -IP-Tech Fax: -IP-Tech Sin/Cos Encoder for CE compliance Frame Ground Frame Gnd Multi-Mode Encoder Port A /A B /B Outputs Buffered Quad A/B from Encoder Asin() Asin(-) Acos() Acos(-) 0 Sin() Sin(-) Cos() Cos(-) Sin / Cos ENCODER X Ainx() Index() 0 F.G. [COMM_A] [IN] GPI [IN] GPI [IN] GPI [IN0] GPI [COMM_B] [IN] GPI [IN] GPI [IN] GPI [IN] GPI J ±0 Vdc Analog Reference /X 0 00 ma Signal Ground Ain() Ain(-) [IN] Enable [IN] GP [IN] HS [IN] HS Ainx(-) Vdc Sgnd Hall U Hall V Hall W Vdc Signal Ground Motemp [AIN] J0 Index(-) Vcc 0V FLT DIGITAL HALLS TEMP SENSOR [OUT] GPI [IN] HS [OUT-] GPI [OUT] GPI [OUT-] GPI 0 [IN] HS Ain() Ain(-) J J L L L Fuse N H L L L AC MAINS: 00 to 0 Vac Ø or Ø to Hz BRAKE Control Power Supply Required for Drive Operation Aout Signal Ground [OUT] [OUT] [OUT] HS J Mot U Mot V Mot W Frame Ground Earth * Fuse * Fuse U V W BRUSHLESS MOTOR Vdc 0. Adc - Drive mounting screw V BRAKE RTN J J REGEN REGEN- * Fuse * Fuse DANGER: HIGH VOLTAGE CIRCUITS ON J, J, & J ARE CONNECTED TO MAINS POWER Frame Ground * Optional NOTES: Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

19 Phone: -- Phone: -IP-Tech Fax: -IP-Tech Resolver Frame Ground Frame Gnd for CE compliance Multi-Mode Encoder Port A /A B /B Outputs Buffered Quad A/B from Encoder Asin() Asin(-) Acos() Acos(-) 0 S Sin() S Sin(-) S Cos() S Cos(-) Resolver X Ainx() R Ref() F.G. J /X Ainx(-) Vdc R Ref(-) 0 [COMM_A] [IN] GPI [IN] GPI [IN] GPI [IN0] GPI [COMM_B] [IN] GPI [IN] GPI [IN] GPI [IN] GPI ±0 Vdc Analog Reference 0 00 ma Signal Ground Ain() Ain(-) [IN] Enable [IN] GP [IN] HS [IN] HS Sgnd Hall U Hall V Hall W Vdc Signal Ground Motemp [AIN] J0 TEMP SENSOR [OUT] GPI [IN] HS [OUT-] GPI [OUT] GPI [OUT-] GPI 0 [IN] HS Ain() Ain(-) J J L L L Fuse N H L L L AC MAINS: 00 to 0 Vac Ø or Ø to Hz BRAKE Control Power Supply Required for Drive Operation Aout Signal Ground [OUT] [OUT] [OUT] HS J Mot U Mot V Mot W Frame Ground Earth * Fuse * Fuse U V W BRUSHLESS MOTOR Vdc 0. Adc - Drive mounting screw V BRAKE RTN J J REGEN REGEN- * Fuse * Fuse DANGER: HIGH VOLTAGE CIRCUITS ON J, J, & J ARE CONNECTED TO MAINS POWER Frame Ground * Optional NOTES: Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

20 Phone: -- Phone: -IP-Tech Fax: -IP-Tech Quad A/B Encoder WARNING: Hazardous voltages exist on connections to J, J, & J when power is applied, and for up to 0 seconds after power is removed. Wago: or -0/0-0/RN Euro-style, mm pluggable female terminal block with preceding ground receptacle Signal Pin Mains Input L Protective Ground Mains Input L Mains Input L J Wago: 00 or -0/0-0/RN Euro-style,0 mm pluggable female terminal block Signal Pin Motor Phase U Motor Phase V Motor Phase W Cable Shield J J Wago: or -0/000-0/RN Euro-style,0 mm pluggable male terminal block Signal Pin Regen Resistor No Connection J Regen Resistor WIRE INSERTION/EXTRACTION TOOL: No Connection NOTE: AN EXTERNAL ISOLATED CIRCUIT Cable Shield J IS REQUIRED FOR OPERATION Signal Pin Euro-style,0 mm pluggable terminal block Brake Output [OUT] ISOLATED CIRCUIT Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page 0 of

21 Phone: -- Phone: -IP-Tech Fax: -IP-Tech Quad A/B Encoder J J PIN PIN PIN 0 [IN] HS [AIN] [AIN] 0 [AIN-] [AIN-] Multi Enc /X Multi Enc /S Multi Enc X Multi Enc S Multi Enc /B Multi Enc B [IN] HS [OUT] Multi Enc /A [IN] HS [OUT] Multi Enc A [AOUT] High-Density D-Sub female, Position J PIN PIN PIN [COMM_A] [COMM_B] 0 High-Density D-Sub male, Position J J0 PIN PIN PIN 0 Enc /B Hall U Enc B 0 Enc /A Hall W Enc A Enc /S Enc S [IN] ENCFLT Enc /X Enc X CONNECTOR: High-Density D-Sub male, Position PIN PIN D-Sub male, Position Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

22 Phone: -- Phone: -IP-Tech Fax: -IP-Tech Resolver WARNING: Hazardous voltages exist on connections to J, J, & J when power is applied, and for up to 0 seconds after power is removed. Wago: or -0/0-0/RN Euro-style, mm pluggable female terminal block with preceding ground receptacle Signal Pin Mains Input L Protective Ground Mains Input L Mains Input L J Wago: 00 or -0/0-0/RN Euro-style,0 mm pluggable female terminal block Signal Pin Motor Phase U Motor Phase V Motor Phase W Cable Shield J J Wago: or -0/000-0/RN Euro-style,0 mm pluggable male terminal block Signal Pin Regen Resistor No Connection J Regen Resistor WIRE INSERTION/EXTRACTION TOOL: No Connection NOTE: AN EXTERNAL ISOLATED CIRCUIT Cable Shield J IS REQUIRED FOR OPERATION Signal Pin Euro-style,0 mm pluggable terminal block Brake Output [OUT] ISOLATED CIRCUIT Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

23 Phone: -- Phone: -IP-Tech Fax: -IP-Tech Resolver J J PIN PIN PIN 0 [IN] HS [AIN] [AIN] 0 [AIN-] [AIN-] Multi Enc /X Multi Enc /S Multi Enc X Multi Enc S Multi Enc /B Multi Enc B [IN] HS [OUT] Multi Enc /A [IN] HS [OUT] Multi Enc A [AOUT] High-Density D-Sub female, Position J PIN PIN PIN [COMM_A] [COMM_B] 0 High-Density D-Sub male, Position J J0 PIN PIN PIN 0 Enc /B Hall U Enc B 0 Enc /A Hall W Enc A Enc /S Enc S [IN] ENCFLT Enc /X Enc X CONNECTOR: High-Density D-Sub male, Position PIN PIN D-Sub male, Position Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web:

24 Phone: -- Phone: -IP-Tech Fax: -IP-Tech and powers an internal DC/DC converter that supplies all the control voltages for drive operation. Use of an external supply enables MACRO communication with the drive when the mains power has been removed. Power distribution in XML is divided into voltage. Each is isolated from the other and all are isolated from the chassis. The primary side of the DC/DC converter operates directly from the external power sections. The Brake output [OUT] operates in this section and is referenced from an external load connected to the The signal power section supplies power for the control circuits 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. MAINS POWER Mains power drives the high-voltage 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 A grounding system has three primary functions: safety, voltage-reference, and shielding. As a safety measure, the primary 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. last-break action so that the drive chassis is never ungrounded when the mains power is that should connect to an earthed ground point and must not pass through any circuit interrupting devices. All of the circuits on J, J, and J are mainsconnected and must never be grounded. The connect to the drive chassis and are isolated from all drive internal circuits. 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 level as the circuits in the control system. 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 be of the same gauge as the other motor phase cables. For CE compliance and operator safety, the drive heatplate should be earthed to this connection. SHIELD REGEN(-) J REGEN() (SAFETY GROUND) VDC CONTROL SYSTEM J MAINS BRAKE J Vdc GROUND J L L L ~ ~ Vdc RTN BRAKE Vdc ~ - DC/DC Cntrl DC/DC Converter ENABLE [IN] SIGNAL GND 0 µf PWM STAGE CONTROL POWER LOGIC & SIGNAL POWER DC BUS() DC BUS(-) CONTROL LOGIC PWM INVERTER ISOLATION BARRIER U V W SHIELD FEEDBACK POWER & DECODING J MOTOR CASE FEEDBACK The chart below shows the energy absorption in W s for a Xenus Plus 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 Energy Absorption vs. Mains Voltage CONTROL SIGNAL GROUND J Mains Voltage (Vac) Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

25 Phone: -- Phone: -IP-Tech Fax: -IP-Tech energy from the drive so that it does not The use of shielded cables to connect the drive to motors and feedback devices is a way of extending the chassis of the drive out to these devices so that the conductors carrying noise generated by the drive are completely enclosed by a conductive shield. The process begins at the mains connector CONTROLLER J J0 FEEDBACK has a circle around it indicating that this is the safety or bonding ground connection. This should be connected with wire that is the same gauge as that used for the mains. In the case of a short-circuit in the drive the function of this ground connection is to carry the fault current to earth ground until J MOTOR disconnects the drive from the mains. This connection ensures that the heatplate of the drive remains at earth potential and XENUS Plus potential of the mains. While this connection keeps the heatplate J LINE FILTER MAINS generated by switching circuits in the drive can radiate from the wire used for the safety ground connection. In order to keep the path between the heatplate and earth as short as possible it s also recommended to unplated tab on the heatplate is provided for this and will ground the heatplate directly V POWER SUPPLY J J REGEN emissions. The heatplate also connects directly to the frame ground terminals on the motor, feedback, and regen connectors. Note that the ground symbols for these do not have a circle around them which indicates that these are for shielding and not not for safety grounding. Motors and their feedback Uplated tab for heatplate ground TURNS AROUND TOROID INDUCTOR Keep the chassis grounding connections short for best shielding performance ground. By connecting the shields for these devices at the drive and at the device, the connection is continuous and provides a Notes: above. the drive. which must be in shielded enclosure. Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of

26 Phone: -- Phone: -IP-Tech Fax: -IP-Tech Servo Drive / Adc Add -R to model number for resolver option Servo Drive 0/0 Adc ServoTube motors work with XEL servo drives. More information on these products can be found here: ACCESSORIES QTY REF DESCRIPTION MANUFACTURERS PART NUMBER XML-CK Connector Kit with Solder Cup Connectors for CME SER-CK Plug, position,. mm, female Wago: or -0/0-0/RN Plug, position,.0 mm, female Wago: 00 or -0/0-0/RN Plug, position,.0 mm, male Wago: or -0/000-0/RN Connector, D-Sub, -position, male, solder cup Norcomp: R Connector, high-density D-Sub, position, female, solder cup Norcomp: -0-00R Connector, high-density D-Sub, position, male, solder cup Norcomp: R Connector, high-density D-Sub, position, male, solder cup Norcomp: -0-00R XML-HL Heatsink Kit XML-HS Heatsink Kit Standard Heatsink thermal material Heatsink hardware Heatsink, standard Heatsink thermal material Heatsink hardware XTL-RA-0 XTL-FA-0 Edge Filter Connector Kit XTL-FK Plug, position,.0 mm, female Wago: 00 or -0/0-0/RN Plug, position,.0 mm, male Wago: or -0/000-0/RN Example: Order one Xenus Plus drive, resolver version, / A with solder-cup connector Kit, CME Qty Item Remarks Xenus Plus servo drive XML-CK Connector Kit CME CME CD SER-CK Serial Cable Kit Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: --00 Fax: -- Tech Support: sales@copleycontrols.com, Web: Page of