Xenus. DIGITAL SERVOAMPLIFIER for BRUSHLESS or BRUSH MOTORS CANOPEN OR STAND-ALONE OPERATION

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1 00 to 0 Vac Operation Single or Three Phase CANopen Distributed Drive PVT, Profile, Homing Powerful Software Tools Standalone Mode Indexing ±0V Velocity/Torque Command Stepper Controller Interface PWM Velocity / Torque Command Electronic Gearing Hall or BEMF Velocity Control Field-oriented Control for Optimal Speed/Torque Auto-tuning and Auto-phasing Motor Feedback Digital Encoder & Halls Analog Sin/Cos Encoder Resolver versions Tri-Mode Encoder Port Programmable as: Dual Encoder Input, or Buffered Motor Encoder Output, or Emulated Encoder Output from Sin/Cos Motor Encoders (ServoTube) Programmable I/O inputs, outputs Opto-isolated Brake Output ENCODER RESOLVER Ic Ip VAC XSL-0-8 XSL-0-8-R 6 8 XSL-0-6 XSL-0-6-R 6 XSL-0-0 XSL-0-0-R ~0 Ø, Ø DESCRIPTION combines CANopen networking with 00% digital control of brushless or brush motors in an off-line powered package that can operate from single or three-phase mains with continuous power output to kw. is offered in two versions based on the type of feedback. Standard models supports digital quadrature or analog sin/cos encoders. Resolver feedback is available in -R models which convert the resolver angle into quadrature encoder signals for using Xenus with external controllers. operates as a Motion Control Device under the DSP-0 protocol of the CANopen DS-0 V.0 (EN 0-) application layer. DSP-0 modes supported include: Profile Position and Profile Velocity Modes, Interpolated Position Mode (PVT), and Homing Modes. Amplifier commissioning is fast and simple using CME software operating under Windows communicating with via an RS- link. CAN address selection is by a 6-position rotary switch on the front panel. If there are more than fifteen devices on a CAN bus, the additional address bits needed can come from programmable inputs, or can be set in flash memory. Profile Position Mode does a complete motion index on command with S-curve acceleration & deceleration, top speed, and distance programmable. In PVT mode, the controller sends out a sequence of points each of which is an increment of a larger, more complex move than a single index or profile. The amplifier then uses cubic polynomial interpolation to connect the dots such that the motor reaches each point (Position) at the specified velocity (Velocity) at the prescribed time (Time). Homing mode is configurable to work with a variety of limit, index, and home switches such that the amplifier moves the motor into a position that has an absolute reference to some part of the machine. Eleven logic inputs are programmable as limit or home switches, stepper/encoder pulse inputs, reset, digital torque or velocity reference, or motor-temperature. A twelfth input is dedicated to the amplifier Enable function. Three programmable logic outputs are for reporting an amplifier fault or other status indications. A fourth optically-isolated output can drive a motor brake from the external + Vdc power supply or can be programmed as a logic output. In addition to CANopen motion commands, can operate as a stand-alone amplifier. Current and velocity modes accept ±0 Vdc analog, digital 0% PWM or PWM/polarity inputs. In position mode inputs can be incremental position commands from step-motor controllers in Pulse/Direction or CW/CCW format, as well as A/B quadrature commands from a master-encoder. Pulse to position ratio is programmable for electronic gearing. Power output of the amplifier varies with the input power which can range from 00 to 0 Vac, and from 7 to 6 Hz. Either single or three phase mains can be used giving the ability to work in the widest possible range of industrial settings. Signal and control circuits are isolated from the high-voltage power supply and inverter stage that connect to the mains. A + Vdc input powers control circuits for keep-alive operation permitting the amplifier power stage to be completely powered down without losing position information, or communications with the control system. Tech Support: sales@copleycontrols.com, Internet: Page of 6

2 GENERAL SPECIFICATIONS (ALL VERSIONS) Test conditions: Wye connected load: mh line-line. Ambient temperature = C. Power input = 0 Vac, 60 Hz, Ø MODEL XSL-0-8 XSL-0-6 XSL-0-0 XSL-0-8-R XSL-0-6-R XSL-0-0-R OUTPUT CURRENT Peak Current 8 (.7) 6 (.) 0 (8.) Adc (Arms, sinusoidal) Peak time s Continuous current (Note ) 6 (.) (8.) 0 (.) Adc (Arms, sinusoidal) INPUT POWER Mains voltage, phase, frequency 00~0 Vac, ±0%, Ø or Ø, 7~6 Hz Mains current 0 Arms + Vdc Control power +0 to + Vdc, 00 ma max Required for operation DIGITAL CONTROL Digital Control Loops Current, velocity, position. 00% digital loop control Sampling rate (time) Current loop: khz ( 67 µs ), Velocity & position loops: khz ( µs ) Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth Minimum load inductance 00 µh line-line REFERENCE INPUTS (Note: Digital input functions are programmable) As CAN node CANopen bus Position & Velocity Mode commands Homing, Profile, and Interpolated profile modes Stand-alone mode Analog torque & velocity reference ±0 Vdc, bit resolution Dedicated differential analog input Input impedance 66 kω Between Re f(+), Ref(-) Digital position reference Pulse/Direction, CW/CCW Stepper commands ( MHz maximum rate) Quad A/B Encoder M line/sec, 8 Mcount/sec (after quadrature) Digital torque & velocity reference PWM, Polarity PWM = 0% - 00%, Polarity = /0 PWM 0% PWM = 0% ±0%, no polarity signal required PWM frequency range khz minimum, 00 khz maximum PWM minimum pulse width 0 ns DIGITAL INPUTS Number All inputs 7HC Schmitt trigger operating from.0 Vdc with RC filter on input, 0 kω to + Vdc or ground (selectable) Logic levels Vin-LO <. Vdc, Vin-HI >.6 Vdc Pull-up, pull-down control Inputs are divided into four groups with selectable connection of input pull-up/down resistor to + Vdc or ground for each group: [IN,,], [IN,], [IN6,7,8], [IN9,0,,] Enable [IN] dedicated input with 0 µs RC filter for amplifier enable. Active level programmable, + Vdc max GP [IN,,,,,] 6 General Purpose inputs with 0 µs RC filter, programmable functions, and active level select, + Vdc max HS [IN6,7,8,9,0] High-Speed Inputs inputs with 00 ns RC filter, programmable functions, and active level select, + Vdc max DIGITAL OUTPUTS (NOTE ) Number [OUT], [OUT], [OUT] Current-sinking MOSFET with kω pullup to + Vdc through diode Current rating Adc max, +0 Vdc max. Functions programmable External flyback diode required if driving inductive loads Brake [OUT] Opto-isolated, current-sinking with flyback diode to + Vdc, Adc QUADRATURE ENCODER OUTPUTS Maximum frequency 8 M-counts, post-quadrature (. M-lines/sec) Encoder feedback models Operation Motor encoder signals are buffered and appear on J7 Signals A, /A, B, /B, X, /X Driver 6LS differential line driver Resolver feedback models Operation Quadrature encoder emulation with programmable resolution to 096 lines (6,6 count/rev) Signals A, /A, B, /B Driver 6LS differential line driver RS- PORT Signals RxD, TxD, Gnd in 6-position, -contact RJ- style modular connector Mode Full-duplex, serial communication port for amplifier setup and control, 9,600 to,00 baud Protocol Binary and ASCII formats CAN PORTS Signals CANH, CANL, Gnd in 8-position RJ- style modular connector, wired as per CAN Cia DR-0-, V. Format CAN V.0b physical layer for high-speed connections compliant Data Address selection CANopen Device Profile DSP-0 6 position rotary switch on front panel with additional address bits available as digital inputs or programmable to flash memory (7-bit addressing, 8 devices per CAN network) STATUS INDICATORS Amp Status Bicolor LED, amplifier 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 Specification 0- REGENERATION Cut-In Voltage +HV > 90 Vdc Regen output is on, (optional external) regen resistor is dissipating energy Drop-Out Voltage +HV < 80 Vdc Regen output is off, (optional external) regen resistor not dissipating energy Tolerance ± Vdc For either Cut-In or Drop-Out voltage Hysteresis 0 ±0. Vdc Differential between Cut-In & Drop-Out voltage NOTES:. Heatsinking and/or forced-air cooling is required for continuous output power rating. Brake[OUT] is programmable as motor brake, or as general purpose digital output Tech Support: sales@copleycontrols.com, Internet: Page of 6

3 GENERAL SPECIFICATIONS (ALL VERSIONS, CONTINUED) PROTECTIONS HV Overvoltage +HV > 00 Vdc Amplifier PWM outputs turn off until +HV is less than overvoltage HV Undervoltage +HV < 60 Vdc Amplifier PWM outputs turn off until +HV is greater than undervoltage Amplifier over temperature IGBT > 80 C ± C Amplifier PWM outputs turn off until IGBT temperature is below threshold Short circuits Output to output, output to ground, internal PWM bridge faults I T Current limiting Programmable: continuous current, peak current, peak time Motor over temperature Amplifier shuts down when motor over-temperature switch changes to high-resistance state, or opens Feedback power loss Fault occurs if feedback + Vdc output is < 8% of nominal value MECHANICAL & ENVIRONMENTAL Size 7. in (9,8 mm) X.7 in (, mm) X.7 in (6, mm) Weight.0 lb (.6 kg) for amplifier without heatsink (see page for heatsink details) Ambient temperature 0 to + C operating, -0 to +8 C storage Humidity 0% to 9%, non-condensing Contaminants Pollution degree Environment IEC68-: 990 Cooling Heat sink and/or forced air cooling required for continuous power output SPECIFICATIONS FOR ENCODER FEEDBACK VERSIONS DIGITAL ENCODER Type Quadrature, differential line driver outputs Signals A, /A, B, /B, (X, /X, index signals optional) Frequency MHz line frequency, 0 MHz quadrature count frequency ANALOG ENCODER Type Sin/cos, differential line driver outputs, 0. Vpeak-peak (.0 Vpeak-peak differential) centered about. Vdc typical. Common-mode voltage 0. to.7 Vdc Signals Sin(+), sin(-), cos(+), cos(-) Frequency 0 khz maximum line (cycle) frequency Interpolation 0 bits/cycle (0 counts/cycle) DIGITAL HALLS Type Digital, single-ended, 0 electrical phase difference Signals U, V, W Frequency Consult factory for speeds >0,000 RPM ENCODER POWER SUPPLY Power Supply + 0 ma to power encoders & Halls Protection Current-limited to 70 Vdc if overloaded Encoder power developed from + Vdc so position information is not lost when AC mains power is removed MOTOR CONNECTIONS Phase U, V, W PWM outputs to -phase ungrounded Wye or delta connected brushless motors Hall U, V, W Hall signals Digital Encoder A, /A, B, /B, (X,/X) Analog Encoder Sin(+), sin(-), cos(+), cos(-) Hall & encoder power + 0 ma maximum Motemp [IN] Motor overtemperature sensor input. Active level programmable. 0 kω to + Vdc or ground Disables amplifier when motor over-temperature condition occurs Same input circuit as GP digital inputs Signal ground Return for encoder, Halls, and temperature sensor Brake [OUT] Current-sinking motor brake driver + Vdc From amplifier + Vdc power supply to power motor brake Frame ground For motor cable shield SPECIFICATIONS FOR RESOLVER FEEDBACK VERSIONS RESOLVER Type Brushless, single-speed, : to : programmable transformation ratio Resolution bits (equivalent to a 096 line quadrature encoder) Reference frequency 7. khz Reference voltage.8 Vrms, auto-adjustable by amplifier to maximize feedback Reference maximum current 00 ma Maximum RPM 0,000 Encoder Emulation Resolution Programmable to 6,6 counts/rev (096 line encoder equivalent) Buffered encoder outputs 6LS differential line driver MOTOR CONNECTIONS Phase U, V, W PWM outputs to -phase ungrounded Wye or delta connected brushless motors Resolver R, R, S, S, S, S Motemp [IN] Motor overtemperature sensor input. Active level programmable. 0 kω to + Vdc or ground Disables amplifier when motor over-temperature condition occurs Same input circuit as GP digital inputs Signal ground Return for temperature sensor Brake [OUT] Current-sinking motor brake driver + Vdc From amplifier + Vdc power supply to power motor brake Frame ground For motor cable shield Tech Support: sales@copleycontrols.com, Internet: Page of 6

4 DIMENSIONS Inches (mm) Note: Use external tooth lockwashers between mounting screw head and amplifier chassis for safety and CE compliance. Recommended screws are #6- (M.) torqued to 8~0 lb in (0.79~.0 N m). Weights: Amplifier:.0 lb (.6 kg) Low-profile Heatsink:. lb (0.9 kg) Standard Heatsink:.8 lb (0.8 kg) Tech Support: sales@copleycontrols.com, Internet: Page of 6

5 INSTALLATION Page 7 Page 9 Page 7 Page 0 Page 9 Page 9 Page Page NEW FEATURES Xenus models manufactured after March, 00 have enhanced features and can be identifi ed by the red square on the label. The new features are: Indexing ASCII communications Multi-mode encoder port Emulated encoder outputs from ServoTube motors Buffered digital encoder outputs Secondary encoder input Tech Support: sales@copleycontrols.com, Internet: Page of 6

6 AMPLIFIER POWER SOURCES An external + Vdc power supply is required, and powers an internal DC/DC converter that supplies all the control voltages for amplifier operation. Use of an external supply enables CAN communication with the amplifier when the mains power has been removed. Power distribution in Xenus is divided into three sections: + Vdc, signal, and highvoltage. Each is isolated from the other and all are isolated from the chassis. EXTERNAL + Vdc The primary side of the DC/DC converter operates directly from the external + Vdc supply and is isolated from other amplifier power sections. The Brake output [OUT] operates in this section and is referenced to the + Vdc return (0V). It sinks current from an external load connected to the external + Vdc power source. INTERNAL SIGNAL POWER The signal power section supplies power for the DSP controller 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 amplifier and controller inputs and output voltage levels work properly with each other. MAINS POWER Mains power drives the high-voltage section. It is rectified and capacitor-filtered to produce +HV which the PWM stage 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 shock hazard requiring proper insulation techniques during installation. GROUNDING A grounding system has three primary functions: safety, voltage-reference, and shielding. As a safety measure, the primary ground at J- will carry fault-currents from 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. The pin on the amplifier at J- is longer than the other pins on J giving it a first-make, lastbreak action so that the amplifier chassis is never ungrounded when the mains power is connected. This wire is a bonding conductor that should connect to an earthed ground point and must not pass through any circuit interrupting devices. All of the other circuits on J, J, and J are mains-connected and must never be grounded. The ground terminals at J-, J-, and J- all connect to the amplifier chassis and are isolated from all amplifier internal circuits. Signal grounding references the amplifier 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 amplifier signal ground be connected to the control system circuit ground. When this is done the amplifier signal voltages will be referenced to the same 0 V level as the circuits in the control system. Small currents flow between controller and amplifier when inputs and outputs interract. The signal ground is the path for these currents to return to their power sources in both controller and amplifier. Shields on cables reduce emissions from the amplifier 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 that connects to J-. This cable should be of the same gauge as the other motor phase cables. For CE compliance and operator safety, the amplifier should be earthed by using external tooth lockwashers under the mounting screws. These will make contact with the aluminum chassis through the anodized finish to connect the chassis to the equipment frame ground. REGENERATION The chart below shows the energy absorption in W s for a Xenus amplifier operating at some typical mains voltages. When the load mechanical energy is greater than these values an external resistor is available as an accessory. Tech Support: sales@copleycontrols.com, Internet: Page 6 of 6

7 COMMUNICATIONS CME SOFTWARE Amplifier setup is fast and easy using CME software. All of the operations needed to configure the amplifier are accessible through this powerful and intuitive program. Auto-phasing of brushless motor Hall sensors and phase wires eliminates wire and try. Connections are made once and CME does the rest thereafter. Encoder wire swapping to establish the direction of positive motion is eliminated. Motor data can be saved as.ccm files. Amplifier data is saved as.ccx files that contain all amplifier settings plus motor data. This eases system management as files can be crossreferenced to ampifiers. Once an amplifier configuration has been completed systems can be replicated easily with the same setup and performance. RS- COMMUNICATION Xenus is configured via a three-wire, full-duplex RS- port that operates from 9,600 to,00 Baud. CME software communicates with the amplifier over this link for commissioning and adjustments. When operating as a stand-alone amplifier that takes command inputs from an external controller, CME is used for configuration. When operated as a CAN node, CME can be used for programming before and after installation in a CAN network. Xenus can also be controlled via CME while it is in place as a CAN node. During this process, amplifier operation as a CAN node is suspended. When adjustments are complete, CME relinquishes control of the amplifier and returns it to the CAN node state. CANopen NETWORKING Based on the CAN V.0b physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost and noise-immunity are essential, CANopen adds support for motion-control devices and command synchronization. The result is a highly effective combination of data-rate and low cost for multi-axis motion control systems. Device synchronization enables multiple axes to coordinate moves as if they were driven from a single control card. CANopen COMMUNICATION Xenus uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication. Before installing the amplifier in a CAN system, it must be assigned a CAN address. A maximum of 7 CAN nodes are allowed on a single CAN bus. The rotary switch on the front panel controls the four lower bits of the seven-bit CAN address. When the number of nodes on a bus is less than sixteen, the CAN address can be set using only the switch. For installations with sixteen or more CAN nodes on a network CME can be used to configure Xenus to use the rotary switch, or combinations of digital inputs and programmed offset in flash memory to configure the amplifier with a higher CAN node address. CAN status LED Note: Red & green led on-times do not overlap. LED color may be red, green, off, or flashing of either color. Amplifier Fault conditions: Over or under-voltage Motor over-temperature Encoder + Vdc fault Short-circuits from output to output Short-circuits from output to ground Internal short circuits Driver over-temperature Faults are programmable to be either transient or latching AMP status LED A single bi-color LED gives the state of the driver by changing color, and either blinking or remaining solid. The possible color and blink combinations are: Green/Solid: Driver OK and enabled. Will run in response to reference inputs or CANopen commands. Green/Slow-Blinking: Driver OK but NOT-enabled. Will run when enabled. Green/Fast-Blinking: Positive or Negative limit switch active. Driver will only move in direction not inhibited by limit switch. Red/Solid: Transient fault condition. Driver will resume operation when fault is removed. Red/Blinking: Latching fault. Operation will not resume until amp is Reset Tech Support: sales@copleycontrols.com, Internet: Page 7 of 6

8 HEATSINK & FAN CONFIGURATIONS NO HEATSINK NO FAN. in Fan NO HEATSINK WITH FAN LOW-PROFILE HEATSINK NO FAN. in Fan LOW PROFILE HEATSINK WITH FAN STANDARD HEAT- SINK NO FAN. in Fan STANDARD HEATSINK WITH FAN HEATSINK MOUNTING Phase change material (PSM) is used in place of thermal grease. This material comes in sheet form and changes from solid to liquid form as the amplifier warms up. This forms an excellent thermal path from amplifier heatplate to heatsink for optimum heat transfer. STEPS TO INSTALL. Remove the PSM (Phase Change Material) from the clear plastic carrier.. Place the PSM on the amplifier taking care to center the PSM holes over the heatsink mounting holes.. Mount the heatsink onto the amplifier taking care to see that the holes in the heatsink, PSM, and amplifier all line up.. Torque the #6- mounting screws to 8~0 lb-in (0.9~. N m). #6- Mounting Screws Heatsink Xenus Amplifier Phase Change Material Transparent Carrier (Discard) Tech Support: sales@copleycontrols.com, Internet: Page 8 of 6

9 Ambient Temperature ( C) Ambient Temperature ( C) Ambient Temperature ( C) Ambient Temperature ( C) Ambient Temperature ( C) Ambient Temperature ( C) MAXIMUM OPERATING TEMPERATURE VS HEATSINK TYPE & AIR CIRCULATION The charts below show that maximum ambient temperature vs. continuous output current for the Xenus models. The cooling options are no heatsink, standard heatsink, and low-profile heatsink. For each of these the amplifier can be operated with convection or forced-air cooling. Model: XSL-0-8 Mains: 0 Vac Model: XSL-0-8 Mains: 0 Vac 60 0 Low Profile Heatsink * No Heatsink 60 0 All other heatsink and fan combinations enable operation at C 0 0 * All other heatsink and fan combinations enable operation at C 0 0 Low Profile Heatsink * No Heatsink Continuous Output Current (Adc) Continuous Output Current (Adc) Model: XSL-0-6 Mains: 0 Vac Model: XSL-0-6 Mains: 0 Vac See Note. Low Profile Heatsink No Heatsink Standard Heatsink w/fan Low Profile Heatsink w/fan Standard Heatsink Low Profile Heatsink or no Heatsink w/fan No Heatsink Continuous Output Current (Adc) Continuous Output Current (Adc) Model: XSL-0-0 Mains: 0 Vac Model: XSL-0-0 Mains: 0 Vac 60 Standard Heatsink w/fan 60 Standard Heatsink w/fan Low Profile Heatsink w/fan Standard Heatsink Low Profile Heatsink or no Heatsink w/fan No Heatsink Low Profile Heatsink w/fan Standard Heatsink Low Profile Heatsink or no Heatsink w/fan No Heatsink Continuous Output Current (Adc) Continuous Output Current (Adc) Tech Support: sales@copleycontrols.com, Internet: Page 9 of 6

10 REFERENCE INPUTS As a CANopen network amplifier, the primary command inputs are from a CAN bus. But, can also operate in stand-alone mode, taking position, velocity, or torque (force, current) commands from a motion controller. ANALOG REFERENCE INPUT A single ±0 Vdc differential input takes inputs from controllers that use PID or similar compensators, and output a current command to the amplifier. Amplifier output current or velocity vs. reference input voltage is programmable. DIGITAL REFERENCE INPUTS (CONT D) In two-wire format (PWM/Direction), one input takes a PWM waveform of fixed frequency and variable duty cycle, and the other input takes a DC level that controls the polarity of the output current. A 0% duty cycle will command zero current, and a 00% will produce a maximum. The direction of the force or torque produced will depend on the polarity of the DC signal on the direction input. In either mode, inputs are programmable to treat 0% or 00% inputs as faults as a safety measure should a cable break. PWM/Direction Format DIGITAL REFERENCE INPUTS In stand-alone mode, digital reference inputs control amplifier current or velocity in the same fashion as the analog reference input, but do it using digital signals. Digital inputs [IN9] and [IN0] have highspeed input filters and can be programmed for signals in several formats. Current (torque, force) or velocity commands can be in one or two-wire format. In the onewire format (0% PWM), a single input takes a square waveform that has a 0% duty cycle when the amplifier output should be zero. Thereafter, increasing the duty cycle toward 00% will command a maximum positive output, and decreasing the duty cycle toward 0% will produce a maximum negative output. 0% PWM Format Tech Support: sales@copleycontrols.com, Internet: Page 0 of 6

11 DIGITAL INPUTS has twelve digital inputs, eleven of which have programmable functions. Input [IN] is not programmable and is dedicated to the amplifier Enable function. This is done to prevent accidental programming of the input in such a way that the controller could not shut it down. Two types of RC filters are used: GP (general purpose) and HS (high speed). Input functions such as Pulse/Dir, CW/CCW, Quad A/B are wired to inputs having the HS filters, and inputs with the GP filters are used for general purpose logic functions, limit switches, and the motor temperature sensor. Programmable functions of the digital inputs are: Positive Limit switch Negative Limit switch Home switch Amplifier Reset Pulse & Direction, or CW/CCW step motor position commands Quad A/B master encoder position commands CAN address bits Motor over-temperature Reference input attenuation select (zero or divide by eight) In addition to the active level and function for each programmable input, the input resistors are programmable in four groups to either pull up to + Vdc, or down to ground. Grounded inputs with HI active levels interface to PLC s that have PNP outputs that source current from + Vdc sources. Inputs pulled up to + Vdc work with open-collector, or NPN drivers that sink current to ground. DIGITAL OUTPUTS The digital outputs are open-drain MOSFETs with kω pull-up resistors in series with a diode to + Vdc. They can sink up to Adc from external loads operating from power supplies to +0 Vdc. The output functions are programmable. The active state of the outputs is programmable to be on or off. When driving inductive loads such as a relay, an external fly-back diode is required. The internal diode in the output is for driving PLC inputs that are opto-isolated and connected to + Vdc. The diode prevents conduction from + Vdc through the kω resistor to + Vdc in the amplifier. This could turn the PLC input on, giving a false indication of the amplifier output state. DIGITAL INPUT CIRCUITS BRAKE OUTPUT [OUT] This output is an open-drain MOSFET with an internal flyback diode connected to the + Vdc input. It can sink up to A from a motor brake connected to the + Vdc supply. The operation of the brake is programmable with CME. It can also be programmed as a general-purpose digital output. Tech Support: sales@copleycontrols.com, Internet: Page of 6

12 FEEDBACK : ENCODER VERSIONS DIGITAL ENCODERS The motor encoder interface is a differential line-receiver with R-C filtering on the inputs. The circuit is shown below. Encoders with differential outputs are required because they are less susceptible to noise that can be degrade single-ended outputs. Encoder cables should use twisted-pairs for each signal pair: A & /A, B & /B, Index & /Index. An overall shield should be used, and for longer cables, shields for individual pairs may be necessary to guarantee signal integrity. The encoder signals are made available to the controller via the signal connector J7, where they are re-transmitted by differential line-drivers. This eliminates split cables that would have to route the motor encoder signals to both amplifier and controller, as well as providing a good signal quality termination of the encoder signals at the amplifier. ANALOG ENCODERS Xenus supports analog encoder signals for position feedback.the Sin and Cos inputs are differential with Ω terminating resistors and accept.0 Vp-p signals in the A/B format used by encoders with analog outputs such as Heidenhain, Stegman, and Renishaw. Sin/Cos Encoder Signals Vdd = Encoder supply voltage Vcm = Common-Mode Voltage DIGITAL HALL SIGNALS Use of these signals is optional. Xenus is capable of auto-phasing using encoder signals and motor movement on power-up. Hall signals are single-ended signals that provide absolute feedback within one electrical cycle of the motor. There are three of them (U, V, & W) and they may be sourced by magnetic sensors in the motor, or by encoders that have Hall tracks as part of the encoder disc. They typically operate at much lower frequencies than the motor encoder signals, and in they are used for commutation-initialization after startup, and for checking the motor phasing after the amplifer has switched to sinusoidal commutation. TRI-MODE ENCODER PORT This port consists of three differential input/output channels with functions programmable. For dual-loop position-mode operation that employs a primary encoder on the motor, and a secondary encoder on the load, the port works as an input receiving the secondary encoder s quad A/B/X signals. For stand-alone operation with an external motion controller, the signals from the digital encoder on the motor are buffered and made available at the control signal connector for transmission to the controller. This eliminates split-wired motor cables with dual connectors that take the encoder signals to both amplifier and controller. When used with ServoTube motors, or other motors using analog encoders with sin/cos signal format, the amplifier interpolates the sin/cos signals to a resolution that is programmable. The incremental changes in position are then converted to digital quad A/B/X format for use by the external motion controller. FUNCTIONAL DIAGRAM OF ONE CHANNEL Tech Support: sales@copleycontrols.com, Internet: Page of 6

13 FEEDBACK : RESOLVER VERSIONS RESOLVER Connections to the resolver should be made with shielded cable that uses three twisted-pairs. Once connected, resolver set up, motor phasing, and other commissioning adjustments are made with CME software. There are no hardware adjustments. Tech Support: sales@copleycontrols.com, Internet: Page of 6

14 Encoder Frame Ground Tri-Mode Encoder Port A /A B /B X /X Ouputs Buffered Motor Encoder or Emulated Sin/Cos Encoder Inputs Secondary Position Encoder Enc A Enc /A Enc B Enc /B Enc X Enc /X A /A B /B X /X DIGITAL ENCODER ±0 Vdc Analog Reference + 0 ma Signal Ground Ref(+) J7 Ref(-) [IN] Enable [IN] GP [IN] GP J8 Gnd Gnd Hall U Hall V Hall W Motemp [IN] ma Sin(+) 0 6 U V W DIGITAL HALLS Sin(+) + & Gnd for Encoder + Hall [IN] GP [IN6] HS [IN7] HS Sin(-) Cos(+) Cos(-) Sin(-) Cos(+) Cos(-) ANALOG ENCODER 9 [IN8] HS 0 [IN9] HS [IN0] HS [IN] GP 6 [IN] GP J L L L LINE FILTER Fuse N H L L L AC MAINS: 00 to 0 Vac Ø or Ø 7 to 6 Hz Earth BRAKE Control Power Supply Required for Amplifier Operation + + Vdc 0. Adc - Amplifier mounting screw [OUT] [OUT] [OUT] +V BRAKE RTN J J J Mot U Mot V Mot W Frame Ground REGEN+ REGEN- Fuse Fuse Fuse Fuse U V W BRUSHLESS MOTOR DANGER: HIGH VOLTAGE CIRCUITS ON J, J, & J ARE CONNECTED TO MAINS POWER Frame Ground Notes:. The total output current from the + Vdc supply to J7- and J8- cannot exceed 0 madc. Tech Support: sales@copleycontrols.com, Internet: Page of 6

15 Encoder ACCESSORY CABLE CONNECTIONS SIGNAL CABLE ( XSL-CC-0 ) Plug assembly: Molex 6-6 Boot cover: Molex Molded connector mates with amplifier J7 and has flyinglead terminations with colors shown in chart below. Note: Wires are solid-color with a stripe of an alternate color. E.g. Black / Orange is a black wire with an orange stripe. Signal Pin Color (Body / Stripe) Pair Color (Body / Stripe) Pin Signal Shield White / Tan a 8a White / Violet [OUT] Signal Ground Tan / White b 8b Violet / White [OUT] Enable [IN] White / Brown a 9a White / Gray 6 Tri-Mode Encoder A GP Input [IN] Brown / White b 9b Gray / White 7 Tri-Mode Encoder /A GP Input [IN] White / Pink a 0a Tan / Brown 8 Tri-Mode Encoder B GP Input [IN] 6 Pink / White b 0b Brown / Tan 9 Tri-Mode Encoder /B HS Input [IN6] 7 White / Orange a a Tan / Pink 0 Tri-Mode Encoder X HS Input [IN7] 8 Orange / White b b Pink / Tan Tri-Mode Encoder /X HS Input [IN8] 9 White / Yellow a a Tan / Orange + 0 ma HS Input [IN9] 0 Yellow / White b b Orange / Tan Signal Ground HS Input [IN0] White / Green 6a a Tan / Yellow Analog Ref In(+) GP Input [IN] Green / White 6b b Yellow / Tan Analog Ref In(-) [OUT] White / Blue 7a 7b Blue / White 6 [IN] GP Input FEEDBACK CABLE ( XSL-FC-0 ) Plug assembly: Molex 6-0 Boot cover: Molex Molded connector mates with amplifier J8 and has flyinglead terminations with colors shown in chart below. Signal Pin Color (Body / Stripe) Pair Color (Body / Stripe) Pin Signal Frame Ground White / Tan a b Tan / White Digital Hall U Signal Ground White / Brown a 7a White / Blue Digital Hall V + 0 ma Brown / White b 7b Blue / White Digital Hall W Encodert A Input White / Pink a 8a White / Violet [IN] Temp Sensor Encodert /A Input Pink / White b 8b Violet / White Signal Ground Encoder B Input 6 White / Orange a 9a White / Gray 6 Encoder Sin(+) Input Encodert /B Input 7 Orange / White b 9b Gray / White 7 Encoder Sin(-) Input Encoder X Input 8 White / Yellow a 0a Tan / Brown 8 Encoder Cos(+) Input Encoder /X Input 9 Yellow / White b 0b Brown / Tan 9 Encoder Cos(-) Input Signal Ground 0 White / Green 6a 6b Green / White 0 Signal Ground Tech Support: sales@copleycontrols.com, Internet: Page of 6

16 Encoder WARNING: CONNECTIONS WITHIN DASHED OUTLINE ARE CONNECTED DIRECTLY TO MAINS POWER! J Mains Connections J Cable Connector: Wago 7-0/06-0 Euro-style 7, mm pluggable female terminal block with preceding ground receptacle Cable: AWG, 600 V recommended for XSL-0-6 and XSL-0-0 models, AWG, 600V for XSL-0-8 Shielded cable required for CE compliance Signal Pin Mains Input L Protective Ground Mains Input L Mains Input L J Cable Connector: Wago 7-0/06-07 Euro-style,0 mm pluggable female terminal block Cable: AWG, 600 V recommended for XSL-0-6 and XSL-0-0 models, AWG, 600V for XSL-0-8 Shielded cable required for CE compliance J Motor Outputs Signal Pin Motor Phase U Motor Phase V Motor Phase W Cable Shield J Cable Connector: Wago 7-60/000-0 Euro-style,0 mm pluggable male terminal block Cable: AWG, 600 V recommended for XSL-0-6 and XSL-0-0 models, AWG, 600V for XSL-0-8 Shielded cable required for CE compliance Wire Insertion/Extraction Tool: Used on J, J, & J Wago - J Regen Resistor Signal Pin Regen Resistor No Connection Regen Resistor No Connection Cable Shield NOTE: AN EXTERNAL + Vdc POWER SUPPLY IS REQUIRED FOR OPERATION J Cable Connector: Wago 7-0/06-07 Euro-style,0 mm pluggable terminal block J + VDC & Brake Signal Pin + Vdc Control Power Brake Output [OUT] 0V (+ Vdc Return) ISOLATED CIRCUIT Tech Support: sales@copleycontrols.com, Internet: Page 6 of 6

17 Encoder J RS- Pin Signal 6 No connect TxD Output Ground Ground RxD Input No connect ISOLATED CIRCUIT J6 CAN Bus Pin Signal CAN_H CAN_L CAN_GND No connection No connection 6 (CAN_SHLD) 7 CAN_GND 8 (CAN_V+) J Cable Connector: RJ- style, male, 6 position Cable: 6-conductor modular type Notes:. CAN circuits are opto-isolated from amplifier circuits.. CAN_GND connects to amplifier Signal Ground.. CAN_SHLD and CAN_V+ are wired-thru on both J6 connectors and have no connection to amplifier. J7 Control Signals Signal Pin Signal Frame Ground [OUT] Signal Ground [OUT] Enable [IN] 6 Tri-Mode Encoder A GP Input [IN] 7 Tri-Mode Encoder /A GP Input [IN] 8 Tri-Mode Encoder B GP Input [IN] 6 9 Tri-Mode Encoder /B HS Input [IN6] 7 0 Tri-Mode Encoder X HS Input [IN7] 8 Tri-Mode Encoder /X HS Input [IN8] ma HS Input [IN9] 0 Signal Ground HS Input [IN0] Ref(+) Input GP Input [IN] Ref(-) Input [OUT] 6 [IN] GP Input J6 Cable Connector: RJ- style, male, 8 position Cable: 8-conductor modular type J7 Cable Connector: M: VE connector J8 Motor Feedback M: 06-F0-008 backshell 6 position male,.7 mm pitch Signal Pin Signal Cable: 6 conductor, shielded Frame Ground Digital Hall U Signal Ground Digital Hall V Note: Molded cable assemblies are available for J7 & J8. See Accessories p ma Digital Hall W Encoder A Input [IN] Temp Sensor Encoder /A Input Signal Ground Encoder B Input 6 6 Encoder Sin(+) Input Encoder /B Input 7 7 Encoder Sin(-) Input Encoder X Input 8 8 Encoder Cos(+) Input Encoder /X Input 9 9 Encoder Cos(-) Input Signal Ground 0 0 Signal Ground J8 Cable Connector: M: VE connector M: 00-F0-008 backshell 0 position male,.7 mm pitch Cable: 0 conductor, shielded Tech Support: sales@copleycontrols.com, Internet: Page 7 of 6

18 Resolver Frame Ground Tri-Mode Encoder Port A /A B /B X /X Outputs Emulated Quad A/B from Resolver Inputs Secondary Position Encoder R R S S S S R R S S S S BRUSHLESS RESOLVER + 0 ma Signal Ground J8 ±0 Vdc Analog Reference Ref(+) J7 Ref(-) Gnd Gnd [IN] Enable [IN] GP [IN] GP [IN] GP [IN6] HS [IN7] HS Motemp [IN] + 0 ma No Connect [IN8] HS 0 [IN9] HS [IN0] HS [IN] GP 6 [IN] GP J L L L LINE FILTER Fuse N H L L L AC MAINS: 00 to 0 Vac Ø or Ø 7 to 6 Hz Earth BRAKE Control Power Supply Required for Amplifier Operation + + Vdc 0. Adc - Amplifier mounting screw [OUT] [OUT] [OUT] +V BRAKE RTN J J J Mot U Mot V Mot W Frame Ground REGEN+ REGEN- -HV Fuse Fuse Fuse Fuse U V W BRUSHLESS MOTOR DANGER: HIGH VOLTAGE CIRCUITS ON J, J, & J ARE CONNECTED TO MAINS POWER Frame Ground Notes:. The total output current from the + Vdc supply to J7- and J8- cannot exceed 0 madc. Tech Support: sales@copleycontrols.com, Internet: Page 8 of 6

19 Resolver ACCESSORY CABLE CONNECTIONS SIGNAL CABLE ( XSL-CC-0 ) Plug assembly: Molex 6-6 Boot cover: Molex Molded connector mates with amplifier J7 and has flyinglead terminations with colors shown in chart below. Note: Wires are solid-color with a stripe of an alternate color. E.g. Black / Orange is a black wire with an orange stripe. Signal Pin Color (Body / Stripe) Pair Color (Body / Stripe) Pin Signal Shield White / Tan a 8a White / Violet [OUT] Signal Ground Tan / White b 8b Violet / White [OUT] Enable [IN] White / Brown a 9a White / Gray 6 Tri-Mode Encoder A GP Input [IN] Brown / White b 9b Gray / White 7 Tri-Mode Encoder /A GP Input [IN] White / Pink a 0a Tan / Brown 8 Tri-Mode Encoder B GP Input [IN] 6 Pink / White b 0b Brown / Tan 9 Tri-Mode Encoder /B HS Input [IN6] 7 White / Orange a a Tan / Pink 0 Tri-Mode Encoder X HS Input [IN7] 8 Orange / White b b Pink / Tan Tri-Mode Encoder /X HS Input [IN8] 9 White / Yellow a a Tan / Orange + 0 ma HS Input [IN9] 0 Yellow / White b b Orange / Tan Signal Ground HS Input [IN0] White / Green 6a a Tan / Yellow Analog Ref In(+) GP Input [IN] Green / White 6b b Yellow / Tan Analog Ref In(-) [OUT] White / Blue 7a 7b Blue / White 6 [IN] GP Input FEEDBACK CABLE ( XSL-FC-0 ) Plug assembly: Molex 6-0 Boot cover: Molex Molded connector mates with amplifier J8 and has flyinglead terminations with colors shown in chart below. =Signal Pin Color (Body / Stripe) Pair Color (Body / Stripe) Pin Signal Frame Ground White / Tan a b Tan / White No Connection Signal Ground White / Brown a 7a White / Blue R Output + 0 ma Brown / White b 7b Blue / White R Output No Connection White / Pink a 8a White / Violet [IN] Temp Sensor No Connection Pink / White b 8b Violet / White Signal Ground No Connection 6 White / Orange a 9a White / Gray 6 S Input No Connection 7 Orange / White b 9b Gray / White 7 S Input No Connection 8 White / Yellow a 0a Tan / Brown 8 S Input No Connection 9 Yellow / White b 0b Brown / Tan 9 S Input Signal Ground 0 White / Green 6a 6b Green / White 0 Signal Ground Tech Support: sales@copleycontrols.com, Internet: Page 9 of 6

20 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. J Mains Connections J Cable Connector: Wago 7-0/06-0 Euro-style 7, mm pluggable female terminal block with preceding ground receptacle Cable: AWG, 600 V recommended for XSL-0-6 and XSL-0-0 models, AWG, 600V for XSL-0-8 Shielded cable required for CE compliance Signal Pin Mains Input L Protective Ground Mains Input L Mains Input L J Cable Connector: Wago 7-0/06-07 Euro-style,0 mm pluggable female terminal block Cable: AWG, 600 V recommended for XSL-0-6 and XSL-0-0 models, AWG, 600V for XSL-0-8 Shielded cable required for CE compliance J Motor Outputs Signal Pin Motor Phase U Motor Phase V Motor Phase W Cable Shield J Cable Connector: Wago 7-60/000-0 Euro-style,0 mm pluggable male terminal block Cable: AWG, 600 V recommended for XSL-0-6 and XSL-0-0 models, AWG, 600V for XSL-0-8 Shielded cable required for CE compliance Wire Insertion/Extraction Tool: Used on J, J, & J Wago - ISOLATED CIRCUIT J Regen Resistor Signal Pin Regen Resistor No Connection Regen Resistor No Connection Cable Shield J + VDC & Brake NOTE: AN EXTERNAL + Vdc POWER SUPPLY IS REQUIRED FOR OPERATION J Cable Connector: Wago 7-0/06-07 Euro-style,0 mm pluggable terminal block Signal Pin + Vdc Control Power Brake Output [OUT] 0V (+ Vdc Return) ISOLATED CIRCUIT Tech Support: sales@copleycontrols.com, Internet: Page 0 of 6

21 Resolver J RS- Pin Signal 6 No connect J Cable Connector: RJ- style, male, 6 position Cable: 6-conductor modular type TxD Output Ground Ground RxD Input No connect Notes:. CAN circuits are opto-isolated from amplifier circuits.. CAN_GND connects to amplifier Signal Ground.. CAN_SHLD and CAN_V+ are wired-thru on both J6 connectors and have no connection to amplifier. ISOLATED CIRCUIT J6 CAN Bus Pin Signal CAN_H CAN_L CAN_GND No connection No connection J7 Control Signals Signal Pin Signal Frame Ground [OUT] Signal Ground [OUT] Enable [IN] 6 Tri-Mode Encoder A GP Input [IN] 7 Tri-Mode Encoder /A GP Input [IN] 8 Tri-Mode Encoder B GP Input [IN] 6 9 Tri-Mode Encoder /B HS Input [IN6] 7 0 Tri-Mode Encoder X 6 (CAN_SHLD) 7 CAN_GND 8 (CAN_V+) J6 Cable Connector: RJ- style, male, 8 position Cable: 8-conductor modular type J8 Motor Feedback Signal Pin Signal Frame Ground No Connect Signal Ground Resolver R Output + 0 ma Resolver R Output No Connect [IN] Temp Sensor No Connect Signal Ground No Connect 6 6 Resolver S Input No Connect 7 7 Resolver S Input No Connect 8 8 Resolver S Input No Connect 9 9 Resolver S Input Signal Ground 0 0 Signal Ground HS Input [IN7] 8 Tri-Mode Encoder /X HS Input [IN8] ma HS Input [IN9] 0 Signal Ground HS Input [IN0] Ref(+) Input GP Input [IN] Ref(-) Input [OUT] 6 [IN] GP Input J7 Cable Connector: Solder Cup, 6 position male,.7 mm pitch Cable: 6 conductor, shielded Standard with Snap locks M: VE connector M: 06-F0-008 backshell Rugged with Screw-locks Molex: connector Molex: -06 backshell J8 Cable Connector: Solder Cup,0 position male,.7 mm pitch Cable: 0 conductor, shielded Standard with Snap locks M: VE connector M: 00-F0-008 backshell Rugged with Screw-locks Molex: connector Molex: -00 backshell Note: Molded cable assemblies are available for J7 & J8. See Accessories p. Tech Support: sales@copleycontrols.com, Internet: Page of 6

22 SINGLE-AMPLIFIER SETUP FOR CANOPEN POSITION CONTROL Xenus operates as a CAN node. All commands are passed on the CAN bus. CME is used for setup and configuration before installation as CAN node. SER-CK J J6 J7 J8 See diagram on page 7 for connections to: J AC mains power J Motor phases J Regen resistor J + Vdc Aux Power XSL-NK CANopen Network Kit XSL-NK Connects a CAN card to Xenus connector J6 and includes terminator for last amp on CAN bus () CAN card 9-pin Sub-D to RJ- adapter () 6 ft ( m) RJ- cable () CAN terminator Connector/Cable Kit XSL-CA Includes connectors J~J, J7 & J8: () Molded 0 ft ( m) cables for J7 & J8 () Wago connectors for J~J XSL-CA Logic Inputs and Outputs () () J~J not shown Motor Feedback Encoder, Halls, and Temperature Sensor Serial Cable Kit SER-CK Connects a PC serial port to Xenus RX- connector J () RS- 9-pin Sub-D to RJ- adapter () 6 ft ( m) RJ- cable Connector/Cable Kit XSL-CK Includes connectors for J~J, J7, J8: () Soldercup connectors for J7 & J8 () Wago connectors for J~J () () () CAN CARD Quantity PART NUMBER DESCRIPTION * CML C ++ Libraries Windows 9, 98, 000, ME, NT, and Linux XSL-0-8 XSL-0-8-R Xenus Servoamplifier 6/8 A XSL-0-6 XSL-0-6-R Xenus Servoamplifier /6 A XSL-0-0 XSL-0-0-R Xenus Servoamplifier 0/0A XSL-NK CANopen Network Kit * () () XSL-CA XSL-CK COM COM COMx CMO Copley Motion Objects Windows 9, 98, 000, ME, NT, and Linux CME Windows 9, 98, 000, ME, and NT Computer: PC or compatible with 66MHz with 6MB RAM minimum 66 MHz with 8MB RAM recommended Serial port (RS-) CAN bus interface Using the minimum requirements will allow CME to run but the performance will be significantly reduced. Ordering Guide Table below shows parts to order for the configuration on this page See page for other parts required (motor, + Vdc power supply, etc.) * Multiple choices exist. Pick one. Xenus Molded-Cable Connector Kit Xenus Solder-Cup Connector Kit CME CME Configuration Software CD SER-CK CME RS- Cable Kit Tech Support: sales@copleycontrols.com, Internet: Page of 6

23 MULTIPLE-AMPLIFIER SETUP FOR CANOPEN POSITION CONTROL XSL-NK J6 J6 XSL-NC-0 or XSL-NC-0 For side-by-side amplifier mounting, use XSL-NC-0 cables that are ft long. Use XSL-NC-0 cables (length is 0 ft) where distances between amplifiers is greater. For multiple-amplier installations, use the ordering guide on this page. Computer equipment is the same as for single-amplifier installations. And Serial Cable Kit SER-CK is used when CME is in use for amplifier set up and configuration. SER-CK XSL-NC-0 or XSL-NC-0 Ordering Guide Table below shows parts to order for the configuration on this page See page for other parts required (motor, +V power supply, etc.) PART NUMBER DESCRIPTION XSL-0-8 XSL-0-8-R Xenus Servoamplifier 6/8 A XSL-0-6 XSL-0-6-R Xenus Servoamplifier /6 A XSL-0-0 XSL-0-0-R Xenus Servoamplifier 0/0A XSL-NK CANopen Network Kit J6 CAN Terminator (Part of XSL-NK) XSL-NC-0 CAN network cable, 0 ft ( m) XSL-NC-0 CAN network cable, ft (0. m) XSL-CK Xenus Solder-Cup Connector Kit XSL-CA Xenus Molded-Cable Connector Kit CME CME Configuration Software CD SER-CK XSL-HS XSL-HL CME RS- Cable Kit Heatsink, Standard (Optional) Heatsink, Low Profile (Optional) XSL-RA-0 Regeneration Resistor, 0 (Optional) XSL-RA-0 Regeneration Resistor, (Optional) Tech Support: sales@copleycontrols.com, Internet: Page of 6

24 STAND-ALONE OPERATION Xenus takes digital position commands in Pulse/Direction, or CW/ CCW format from an external controller or quadrature encoder signals from a master-encoder for electronic gearing. Velocity or torque control can be from ±0V, digital PWM signals. CME used for setup and configuration. SER-CK COM COM COMx J J7 J8 XSL-CA Digital reference signals, Logic Inputs and Outputs Motor Feedback Encoder, Halls, and Temperature Sensor Motion Controller CME Windows 9, 98, 000, ME, and NT Computer: PC or compatible with 66MHz with 6MB RAM minimum 66 MHz with 8MB RAM recommended Serial port (RS-) Motion controller card Using the minimum requirements will allow CME to run but the performance will be significantly reduced. Ordering Guide This table shows parts to order for the configuration on this page See page for other parts required (motor, + Vdc power supply, etc.) PART NUMBER DESCRIPTION XSL-0-8 XSL-0-8-R Xenus Servoamplifier 6/8 A XSL-0-6 XSL-0-6-R Xenus Servoamplifier /6 A XSL-0-0 XSL-0-0-R Xenus Servoamplifier 0/0A XSL-CA XSL-CK CME SER-CK XSL-HS XSL-HL Xenus Molded-Cable Connector Kit Xenus Solder-Cup Connector Kit CME Configuration Software CD CME RS- Cable Kit Heatsink, Standard (Optional) Heatsink, Low Profile (Optional) XSL-RA-0 Regeneration Resistor, 0 (Optional) XSL-RA-0 Regeneration Resistor, (Optional) Tech Support: sales@copleycontrols.com, Internet: Page of 6