PRELIMINARY. Xenus MACRO. RoHS. Plus. Control Modes Indexer, Point-to-Point, PVT Camming, Gearing Position, Velocity, Torque.

Transcription

1 Control Modes Indexer, Point-to-Point, PVT Camming, Gearing Position, Velocity, Torque Command Interface ASCII and discrete I/O Stepper commands ±0V position/velocity/torque ( inputs) PWM velocity/torque command Master encoder (Gearing/Camming) Communications RS- RS-8 (Optional) Accessories External regen resistors External edge filter Feedback Digital quad A/B encoder EnDat, Hiperface, BiSS, SSI, Yaskawa & Panasonic encoders Aux. encoder / encoder out Analog sin/cos encoder Resolver option Digital Halls Safety Disable Two active inputs enable power stage One output confirms power stage status I/O Digital inputs, 6 outputs I/O Analog, 6 bit inputs, bit output Dimensions: in [mm] 7.9 x. x. [0 x 9 x ] Model Vac Ic Ip XML XML XML Add -R for resolver feedback option. description set new levels of performance, connectivity, and flexibility via the interface. 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: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

2 GENERAL SPECIFICATIONS Test conditions: Wye connected load: mh line-line. Ambient temperature = C. Power input = 0 Vac, 60 Hz, Ø MODEL XML-0-8 XML-0-6 XML-0-0 Same specs for XML and XML models 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 Command inputs Torque, velocity control digital interface ±0 Vdc analog input Connectors Duplex SC optical fiber receptacle Fiber medium 6. micron Multi-Mode Glass Fiber per ISO/IEC 9- & ANSI X Commonly referred to as 6./ multi-mode glass fiber cable Wavelength 00 nm Data Format Address Selection Dual 6-position rotary switches for Master and Node addresses Address range 0x0 to 0xF hex (0~ decimal) for Master & Node Analog ±0 Vdc, bit resolution, differential, kw input impedance, non-isolated DIGITAL inputs Number [IN,,] Non-isolated Schmitt trigger, µs RC filter, Vdc max, Vin-LO <=. Vdc, Vin-HI >=. Vdc, Hysteresis = 0.60 Vdc minimum, 0 kω programmable per input to pull-up to + Vdc or pull-down to ground [IN~6] Non-isolated line receiver, 00 ns RC filter, + Vdc max, programmable as single-ended, or differential Single-ended: [IN,] or [IN,6]: Vin-LO <=. Vdc, Vin-HI >=.7 Vdc, Vhysteresis = 00 mvdc Differential: [IN/] or [IN/6]: Vin-LO <= -00 mvdc, Vin-HI >= 00 mvdc, Vhysteresis = ±00 mvdc [IN7~] Isolated: Opto-isolated, ± to ±0 Vdc compatible, bi-polar, groups of with common for each group analog inputs Number [AIN~] Differential, ±0 Vdc, kw input impedance, 6-bit resolution [AIN] Single-ended, motor temperature sensor,.99 kw pulled-up to + Vdc digital outputs Number 6 [OUT~] Current-sinking MOSFET with kω pullup to + Vdc through diode Adc max, +0 Vdc max; external flyback diode required if driving inductive loads [OUT] High-speed CMOS buffer, ± ma [OUT~] Opto-isolated Darlingtons with 6V Zener flyback diodes, 0 ma max [OUT6] Motor brake control: opto-isolated, current-sinking with flyback diode to + Vdc, Adc max ANALOG output Number Range ± Vdc single-ended Resolution -bit multi-mode encoder port As Input Secondary digital quadrature encoder (A, /A, B, /B, X, /X), Ω terminating resistors 8 M-counts/sec, post-quadrature (. M-lines/sec) As Output Quadrature encoder emulation with programmable resolution to 096 lines (6,6 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 6LS differential line driver RS- PORT Signals RxD, TxD, Gnd in 6-position, -contact RJ- style modular connector Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to,00 baud Protocol Binary and ASCII formats ethercat PORTS Format Dual RJ- receptacles, 00BASE-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 Specification 0- Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

3 REGENERATION Operation Internal solid-state switch drives external regen resistor (see Ordering Guide for types) 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 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 protections Mains power loss Interruption or loss of AC power is detected HV Overvoltage +HV > 00 Vdc Drive PWM outputs turn off until +HV is less than overvoltage HV Undervoltage +HV < 60 Vdc Drive PWM outputs turn off until +HV is greater than undervoltage Drive over temperature IGBT > 80 C ± C Drive PWM outputs turn off until IGBT temperature is below threshold Short circuits Output to output, output to ground, internal PWM bridge faults, regen resistor fail-shorts I T Current limiting Programmable: continuous current, peak current, peak time Motor over temperature Drive shuts down when motor over-temperature switch changes to high-resistance state, or opens Feedback power loss Fault occurs if feedback is removed or + V is <8% of normal MECHANICAL & ENVIRONMENTAL Size 7. in (9,8 mm) X.7 in (, mm) X.7 in (6, mm) Weight.0 lb (.6 kg) for drive without heatsink. lb (.0 kg) for XEL-HS heatsink,.86 lb (0.8 kg) for XEL-HL heatsink Ambient temperature 0 to + C operating, -0 to +8 C storage Humidity 0% to 9%, non-condensing Contaminants Pollution degree Vibration g peak, 0~00 Hz (sine), IEC Shock 0 g, 0 ms, half-sine pulse, IEC Environment IEC68-: 990 Cooling Heat sink and/or forced air cooling required for continuous power output agency standards conformance EN 0 : 998 CISPR (997) Edition /Amendment : Limits and Methods of Measurement of Radio Disturbance Characteristics of Industrial, Scientific, and Medical (ISM) Radio Frequency Equipment EN : 00 Electromagnetic Compatibility Generic Immunity Requirements Following the provisions of EC Directive 89/6/EEC: EN 600- nd Ed.: 00 Safety Requirements for Electrical Equipment for Measurement, Control, and Laboratory use Following the provisions of EC Directive 006/9/EC: DIMENSIONS Inches (mm) D C B These drawings and specifications are the property of Copley Controls Corporation and shall not be reproduced, copied or used as the basis for manufacture or sale of any apparatus without the express written authorization of Copley Controls Corporation Chassis Grounding: For CE compliance and machine safety use external tooth lockwashers between mounting screw head and drive heatplate. Recommended screws are #6- (M.) torqued to 8~0 lb in (0.79~.0 N m) R.09.7 TYP D C B A A Copley Controls, 0 Dan Road, Canton, MA 00, USA SCALE Tel: : SHEET Fax: OF Tech Support: sales@copleycontrols.com, Internet: Page of 6 SIZE DWG NO. C REV ##-#####-###

4 feedback specifications feedback UL 08C specifications rd Ed.: 00 UL Standard for Safety for Power Conversion Equipment incremental encoders & halls Digital quad a/b 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 Type Sin/cos/index, 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(-), index(+), index(-) Frequency 0kHz 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 + 00 ma to power encoders & Halls Protection Current-limited to 70 Vdc if overloaded 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 A, /A, B, /B, X, /X, on standard models Analog Sin(+), sin(-), cos(+), cos(-), index(+), index(-) Hall & encoder power + 00 ma maximum Motemp [IN] Motor overtemperature sensor input,.99 kω to + Vdc or ground Signal ground Return for encoder, Halls, and temperature sensor Brake [OUT] Current-sinking motor brake driver + Vdc From drive + Vdc power supply to power motor brake Frame ground For motor cable shield RESOLVER 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 the drive to maximize feedback Reference maximum current 00 ma Maximum RPM 0,000+ Emulation Resolution Programmable to 6,8 counts/rev (096 line encoder equivalent) Buffered encoder outputs 6C differential line driver motor connections Phase U, V, W PWM outputs to -phase ungrounded Wye or delta connected brushless motors, or DC brush motors (U-V) Resolver R, R, S, S, S, S Motemp [IN6] Motor overtemperature sensor input. Active level programmable 0~ Vdc,.99 kω pullup to + Vdc Disables drive when motor over-temperature condition occurs Signal ground Return for temperature sensor Brake [OUT] Current-sinking motor brake driver + Vdc From drive + Vdc power supply to power motor brake Frame ground For motor cable shield Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

5 J6: PORT Duplex type SC optical fiber connector OUT IN LEDs NET AMP Address A node address is an 8-bit number (0~ decimal) comprised of a master and slave address each of which is a -bit nibble (0~). Master and Slave addresses are set by two 6-position hexadecimal rotary switches. A ring supports up to sixteen masters and physical slaves per master, eight of which are for motion controls and six are for I/O. The chart shows the available slave addresses for Accelnet (0~7). Slave addresses (E~F) are reserved. S Slave S Master Switch S S macro communications (Motion And Control Ring Optical) is a non-proprietary communications network that uses optical fibre or copper cabling and supports bit-rates up to Mb/sec. The (XML) uses the optical fibre interface and operates typically as a torque drive. Velocity drive mode is also supported. More information on can be found on the organization web-site: macro connections Dual SC sockets accept standard optical fiber. The IN port connects to a master, or to the OUT port of a device that is upstream, between the Accelnet and the master. The OUT port connects to downstream nodes. If Accelnet is the last node on a network, only the IN port is used. No terminator is required on the OUT port. macro status LED (NET) A bi-color LED gives the state of the interface by changing color, and either blinking or remaining solid. The possible color and blink combinations are: Off = network has not been detected Green/Blinking = network detected and has disabled drive Green = 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 = network errors have been detected amp status LED A bi-color LED gives the state of the Accelnet drive. Colors do not alternate, and can be solid ON or blinking: Green/Slow-Blinking = Drive OK but NOT-enabled. Will run when enabled. If drive is hardware-enabled but disabled by then both NET and AMP LED s will be blinking Green/Fast-Blinking = Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch. NET LED can be Green in this state Green = Drive OK, hardware-enabled, and -enabled. Will drive motor in response to command inputs or 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. Address Switch Decimal Values Address Slave Master Hex Dec I/O 8 9 I/O 9 A I/O 0 B I/O C I/O D I/O E RSVD F RSVD Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

6 safety description The XML has a safety feature that is designed to function under the protocol of EN 9-. functional diagram In order for the PWM outputs of the to be activated, current must be flowing through both opto-couplers that are connected to the ENH and ENL terminals of J, and the drive must be in an ENABLED state. The LED outputs on J connect an opto-coupler to an external LED and will conduct 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. Safety Override Connections safety connector SAFETY J ENH(+) ENH(-) ENL(+) ENL(-) LED(+) LED(-).99k.99k +V Output Signal ground.v.v 0.99k.99k 6V From V input on J- Frame Ground High Side PWM ENH Low Side PWM ENL +V J J signals +HV ENH ENL DIAG-ON Motor Ouputs Pin Signal Pin Signal Frame Gnd 6 Enable LED(+) Safe Enable HI(+) 7 Enable LED(-) Safe Enable HI(-) 8 Vdc Common Safe Enable LO(+) 9 + Vdc Input Safe Enable LO(-) Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 6 of 6

7 Analog Reference Input A single ±0 Vdc differential input takes inputs from controllers that use PID or similar compensators, and outputs a current command to the drive. Drive output current or velocity vs. reference input voltage is programmable. DIGITAL position 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 W line-terminators. Single-ended pulse & Direction Single-ended CU/CD CU (Count-Up) CD (Count-Down) [IN9] [IN0] [IN9] [IN0] QUAD a/b ENCODER SINGLE-ENDED ph. B ph. A [IN9] [IN0] Pulse Direction CU CD Enc. B Enc. A differential pulse & Direction differential CU/CD CU (Count-Up) CD (Count-Down) QUAD a/b ENCODER DIFFERENTIAL ph. B ph. A DIGITAL TORQUE, VELOCITY Digital torque or velocity commands can be in either single-ended or differential format. Single-ended signals must be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs. Single-ended PWM & Direction Duty = 0~00% Single-ended 0% PWM Duty = 0% ±0% no connection> [IN9] Current or Velocity [IN0] Polarity or Direction [IN9] [IN0] Current or Velocity No function differential PWM & Direction Duty = 0-00% differential 0% PWM Duty = 0% ±0% <no connection> [IN9+] [IN7-] [IN0+] [IN8-] [IN9+] [IN7-] [IN0+] [IN8-] [IN9+] [IN7-] [IN0+] [IN8-] [IN9+] [IN7-] [IN0+] [IN8-] [IN9+] [IN7-] [IN0+] [IN8-] PULSE DIRECTION PULSE DIRECTION Enc. B Enc A PWM Direction Current or Velocity No Function Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 7 of 6

8 command Inputs (continued) digital INPUTS has twelve digital inputs, eleven of which have programmable functions. Input [IN] is dedicated to the drive 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 include: Positive Limit switch Negative Limit switch Home switch Drive Reset PWM current or velocity commands CAN address bits digital INPUT CIRCUITS Vdc max [IN] [IN] [IN] +.0 V 0k 0k A HS (high speed) digital INPUTS These inputs have all the programmable functions of the GP inputs plus these additional functions on [IN8] & [IN9] which can be configured as single-ended or differential: PWM 0%, PWM & Direction for Velocity or Current modes Pulse/Direction, CU/CD, or A/B Quad encoder inputs for Position or Camming modes single-ended differential Vdc max Vdc max [IN6] [IN7] [IN8] [IN9] [IN0] [IN] [IN] 7HC nf 0k 0k 0k k + V k 00 pf 00 pf + V D C 7HC MAX8.V 0k k 00 pf 0k nf + MAX8 Step & Direction, or CU/CD step motor position commands Quad A/B master encoder position commands Motor over-temperature Motion Profile Abort Vdc max [IN] *[IN] 0k *.99k 0k nf *.nf +.0 V B 7HC [IN6] [IN9+] [IN7-] [IN0+] [IN8-] [IN] [IN] 0k 0k 0k pull-up/pull-down control 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. The table below shows the PU/PD groups and the inputs they control.` 0k + V k 0k 0k C 00 pf k k k k 0k nf + V Group 7HC D 00 pf 00 pf MAX8 00 pf 00 pf 7HC Inputs A,, B, C 6,7,8 D 9,0,, Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 8 of 6

9 outputs digital OUTPUTS [OUt], [out] These 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 drive. This could turn the PLC input on, giving a false indication of the drive output state. +0V max + R-L 00mA R-L 00mA J8 [OUT] 6 7 [OUT] Sgnd Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 9 of 6

10 quad a/b ENCODER with fault protection s with differential line-driver outputs provide incremental position feedback via the A/B signals and the optional index signal (X) gives a once per revolution position mark. The MAX097 receiver has differential inputs with fault protections for the following conditions: Short-circuits line-line: This produces a near-zero voltage between A & /A which is below the differential fault threshold. Open-circuit condition: The W terminator resistor will pull the inputs together if either side (or both) is open. This will produce the same fault condition as a short-circuit across the inputs. Low differential voltage detection: This is possible with very long cable runs and a fault will occur if the differential input voltage is < 00mV. ±kv ESD protection: The 097E has protection against high-voltage discharges using the Human Body Model. Extended common-mode range: A fault occurs if the input common-mode voltage is outside of the range of -0V to +.V ANALOG sin/cos incremental ENCODER The sin/cos/index inputs are differential with Ω terminating resistors and accept Vp-p signals in the format used by incremental encoders with analog outputs, or with ServoTube motors. 9 Sin(+) Sin(-) 8 Cos(+) Cos(-) 0 Inx(+) A B Z FG sin 0V cos indx FG 0V Inx(-) 6 J0 A J0 Frame Ground /A B /B /X 6 X Frame Ground 0k 0k 0k 0k 0k 0k 00 ma Signal Ground MAX097 MAX097 MAX ma Signal Ground 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 the motor. Feedback can be digital quad A/B encoder, analog sin/cos encoder, resolver or digital Halls, depending on the version of the drive. Enc. A Enc. B Enc. Index Sin Cos Indx Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 0 of 6

11 MOTOR CONNECTIONS (Cont d) Ssi absolute The SSI (Synchronous Serial Interface) is an interface used to connect an absolute position encoder to a motion controller or control system. The Accelnet drive provides a train of clock signals in differential format to the encoder which initiates the transmission of the position data on the subequent clock pulses. The polling of the encoder data occurs at the current loop frequency (6 khz). The number of encoder data bits and counts per motor revolution are programmable. The hardware bus consists of four signals: SCLK, SDATA, SDEN0, and SDEN. SDATA is a bidirectional [three-state] data line which requires a pull-up or pull-down resistor. Data is sent in 8 bit bytes, LSB first. The SCLK signal is only active during transfers. Data is clocked out on the falling edge and clock in on the rising edge of the Master. The other two pins SDEN0 and SDEN are enable pins, active high. endat absolute The EnDat interface is a Heidenhain interface that is similar to SSI in its 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 in the EnDat specification. RESOLVER (-R models) 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. Sin(+) 9 Sin(-) 8 Cos(+) Cos(-) S R Clk Data Clk Data sin cos Sin Ref FG 0V FG 0V Resolver S S R Cos S FG 9 8 J0 Clk /Clk Dat /Dat Frame Ground 0k 0k Clk MAX06B Data MAX06B 6 00 ma 9 8 Clk /Clk Dat /Dat 6 J0 Frame Ground Signal Ground Sin 0k 0k J0 Frame Ground ma Signal Ground Sin(+) Sin(-) R/D Conversion Cos(+) Cos(-) Ref(+) Ref(-) Clk MAX06B Data MAX06B Cos Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

12 MOTOR CONNECTIONS (Cont d) motor phase connections The drive output is a three-phase PWM inverter that converts the DC buss voltage (+HV) into three sinusoidal voltage waveforms that drive the motor phase-coils. Cable should be sized for the continuous current rating of the motor. Motor cabling should use twisted, shielded conductors for CE compliance, and to minimize PWM noise coupling into other circuits. The motor cable shield should connect to motor frame and the drive frame ground terminal (J-) for best results. digital HALL SIGNALS 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 are used for commutation-initialization after startup, and for checking the motor phasing after the amplifer has switched to sinusoidal commutation. Motor Temperature Sensor Digital input [IN] Motemp, is for use with a motor overtemperature switch or sensor. The active level of the input, Vset, is programmable generate an overtemperature fault if the input voltage is <Vset, or >Vset. 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. = Shielded cables required for CE compliance Thermistor, Posistor, + Halls Hall A Hall B Hall C 0V Hall U 6 J0 Hall V Hall W 0K 0K p 0K 00 ma * Signal Ground 0K p 0K 0K p * Alternate Sgnd connections on J0 are pins 6,, 6 BRK V Motemp 7 or switch * Sgnd J +V J0 Brk 0V.99k * Alternate Sgnd connections on J0 are pins 6,, 6 Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

13 MOTOR CONNECTIONS (cont d) multi-mode ENCODER PORT This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive. On drives with quad A/B encoder feedback, the port works as an output buffering the signals from the encoder. With resolver or sin/cos encoder versions, the feedback is converted to quad A/B signals with programmable resolution. These signals can then be fed back to an external motion controller that closes the position or velocity loops. As an input, the port can take quad A/B signals to produce a dual-loop position control system or use the signals as master-encoder feedback in camming mode. In addition, the port can take stepper command signals (CU/CD or Pulse/Direction) in differential format. as buffered outputs from a digital quadrature feedback encoder When using a digital quadrature feedback encoder, the A/B/X signals drive 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 these now come from J7, the Control connector. In addition to eliminating Y 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. as emulated quad a/b/x encoder outputs from an analog sin/cos feedback encoder Analog sin/cos signals are interpolated in the drive with programmable resolution. The incremental position data is then converted back into digital quadrature format which drives the multi-mode port output buffers. Some analog encoders also produce a digital index pulse which is connected directly to the port s output buffer. The result is digital quadrature A/B/X signals that can be used as feedback to an external control system. as a master or camming encoder input from a digital quadrature encoder 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 configuration. as digital command inputs in pulse/direction, pulse-up/pulse-down, or digital quadrature encoder format 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 [IN9] and [IN0] when they are single-ended. But, at higher frequencies these are likely to be differential signals in which case the multi-mode port can be used..k.k k k pf.k k k pf k k pf pf pf pf Secondary Input 6CS 6CS Secondary Input 6CS 6CS Input/Output Select Quad A/B Feedback Input/Output Select Emulated Quad A/B signals from analog Sin/Cos encoder or resolver Secondary Input 6CS 6CS Input/Output Select Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

14 MOTOR CONNECTIONS (cont d) Quad A/B F.G. [COMM_A] [IN7] GPI [IN8] GPI [IN9] GPI [IN0] GPI [COMM_B] [IN] GPI [IN] GPI [IN] GPI [IN] GPI J9 [OUT+] GPI [OUT-] GPI [OUT+] GPI [OUT-] GPI BRAKE Control Power Supply Required for Drive Operation + + Vdc 0. Adc - Frame Ground Multi-Mode Port ±0 Vdc Analog Reference A /A B /B X /X ma Signal Ground Ain(+) Ain(-) Outputs Buffered Quad A/B from Frame Gnd A /A B /B X /X Vdc 6 Sgnd Hall U Hall V Hall W + Vdc 7 Signal Ground 6 Motemp [IN] 7 DIGITAL ENCODER DIGITAL HALLS Drive mounting screw (Note ) [IN] Enable [IN] GP [IN] GP [IN] GP [IN] HS [IN6] HS Ain(+) Ain(-) Aout J8 Signal Ground [OUT] [OUT] [OUT] +V BRAKE RTN J J J J J0 L L L Mot U Mot V Mot W Frame Ground REGEN+ REGEN- Frame Ground (Note ) * Fuse * Fuse Earth * Optional * Fuse * Fuse LINE FILTER Notes: ) The total output current from the + Vdc supply to J7-0 cannot exceed 00 madc ) Line filter is required for CE A /A B /B X /X Vcc 0V U V W Fuse TEMP SENSOR N H BRUSHLESS MOTOR L AC MAINS: 00 to 0 Vac Ø or Ø L 7 to 6 Hz L DANGER: HIGH VOLTAGE CIRCUITS ON J, J, & J ARE CONNECTED TO MAINS POWER Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

15 MOTOR CONNECTIONS (cont d) Sin/Cos F.G. [COMM_A] [IN7] GPI [IN8] GPI [IN9] GPI [IN0] GPI [COMM_B] [IN] GPI [IN] GPI [IN] GPI [IN] GPI J9 [OUT+] GPI [OUT-] GPI [OUT+] GPI [OUT-] GPI BRAKE Control Power Supply Required for Drive Operation + + Vdc 0. Adc - Frame Ground Multi-Mode Port Drive mounting screw ±0 Vdc Analog Reference A /A B /B X 6 /X Outputs Buffered Quad A/B from + 00 ma Signal Ground Ain(+) Ain(-) Aout J8 Signal Ground 7 [OUT] 8 [IN] Enable [IN] GP [IN] GP [IN] GP [IN] HS [IN6] HS Ain(+) Ain(-) [OUT] [OUT] +V BRAKE RTN J Frame Gnd Asin(+) Asin(-) Acos(+) Acos(-) Ainx(+) Ainx(-) Vdc 6 Sgnd Hall U Hall V Hall W + Vdc 7 Signal Ground 6 J J J Motemp [IN] J0 L L L Mot U Mot V Mot W REGEN+ REGEN- 7 Frame Ground Frame Ground * Fuse * Fuse DIGITAL HALLS Sin / Cos ENCODER Earth * Optional * Fuse * Fuse LINE FILTER Sin(+) Sin(-) Cos(+) Cos(-) Index(+) Index(-) Vcc 0V U V W TEMP SENSOR Fuse N H BRUSHLESS MOTOR Notes: ) The total output current from the + Vdc supply to J7-0 cannot exceed 00 madc ) Line filter is required for CE L AC MAINS: 00 to 0 Vac Ø or Ø L 7 to 6 Hz L DANGER: HIGH VOLTAGE CIRCUITS ON J, J, & J ARE CONNECTED TO MAINS POWER Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

16 MOTOR CONNECTIONS (cont d) Resolver F.G. [COMM_A] [IN7] GPI [IN8] GPI [IN9] GPI [IN0] GPI [COMM_B] [IN] GPI [IN] GPI [IN] GPI [IN] GPI J9 [OUT+] GPI [OUT-] GPI [OUT+] GPI [OUT-] GPI BRAKE Control Power Supply Required for Drive Operation + + Vdc 0. Adc - Frame Ground Multi-Mode Port Drive mounting screw ±0 Vdc Analog Reference A /A B /B X 6 /X Outputs Buffered Quad A/B from + 00 ma Signal Ground Ain(+) Ain(-) Aout J8 Signal Ground 7 [OUT] 8 [IN] Enable [IN] GP [IN] GP [IN] GP [IN] HS [IN6] HS Ain(+) Ain(-) [OUT] [OUT] +V BRAKE RTN J Frame Gnd Asin(+) Asin(-) Acos(+) Acos(-) Ainx(+) Ainx(-) + Vdc 6 Sgnd Notes: ) The total output current from the + Vdc supply to J7-0 cannot exceed 00 madc ) Line filter is required for CE Hall U Hall V Hall W + Vdc 7 Signal Ground 6 J Motemp [IN] J J J0 L L L Mot U Mot V Mot W REGEN+ REGEN- 7 Frame Ground Frame Ground * Fuse * Fuse Earth * Optional * Fuse * Fuse LINE FILTER S Sin(+) S Sin(-) S Cos(+) S Cos(-) R Ref(+) R Ref(-) U V W TEMP SENSOR Fuse N H BRUSHLESS MOTOR Resolver L AC MAINS: 00 to 0 Vac Ø or Ø L 7 to 6 Hz L DANGER: HIGH VOLTAGE CIRCUITS ON J, J, & J ARE CONNECTED TO MAINS POWER Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 6 of 6

17 Drive POWER SOURCES An external + Vdc power supply is required, and powers an internal DC/DC converter that supplies all the control voltages for drive operation. Use of an external supply enables CAN communication with the drive when the mains power has been removed. Power distribution in is divided into four sections: + Vdc, CAN, signal, and high-voltage. 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 drive 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 drive and controller inputs and output voltage levels work properly with each other. FRAME GROUND (SAFETY GROUND) + VDC CONTROL SYSTEM J MAINS BRAKE J + Vdc GROUND J7 CONTROL SIGNAL GROUND L L L FRAME GROUND ~ ~ + Vdc RTN BRAKE + Vdc + ~ - DC/DC Cntrl DC/DC Converter REGEN(-) 760 µf + J PWM STAGE CONTROL POWER SHIELD REGEN(+) DC BUSS(+) PWM INVERTER DC BUSS(-) ISOLATION BARRIER U V W SHIELD RESOLVER DRIVE & DECODING J ENABLE [IN] SIGNAL GND LOGIC & SIGNAL POWER 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 drive at J- is longer than the other pins on J giving it a first-make, last-break action so that the drive 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. CONTROL LOGIC J8 MOTOR CASE RESOLVER Energy Absorption (W s) All of the circuits on J, J, and J are mainsconnected and must never be grounded. The ground terminals at J-, J-, and J- all 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 voltages will be referenced to the same 0 V level as the circuits in the control system. Small currents flow between controller and 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 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 drive 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 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 Mains Voltage (Vac) Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 7 of 6

18 grounding & shielding for ce Grounding and shielding are the means of controlling the emission of radio frequency energy from the drive so that it does not interfere with other electronic equipment. 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 of the drive, J. The ground terminal here 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 the safety device (fuse or circuit breakers) disconnects the drive from the mains. This connection ensures that the heatplate of the drive remains at earth potential and eliminating a shock hazard that could occur of the chassis were allowed to float to the potential of the mains. While this connection keeps the heatplate at earth potential the high frequency noise 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 mount the drive to the equipment panel using external-toothed lock washers. These will penetrate the anodized finish of the heatplate (which is an electrical insulator) and make good electrical contact with the aluminum plate. Grounding the heatplate in this way shortens the path from drive to earth ground and further reduces 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 devices (which are typically in the motor case) should be grounded by mounting to equipment that is grounded as a safety ground. By connecting the shields for these devices at the drive and at the device, the connection is continuous and provides a return path for radio-frequency energy to the drive. CONTROLLER V POWER SUPPLY XENUS LINE FILTER TURNS AROUND TOROID INDUCTOR FEEDBACK MOTOR J8 J J0 Notes: ) Shielded cables required for CE are shown in the diagram above. ) Line filter required for CE ) Ferrite core required for shielded cable to regen resistor which must be in shielded enclosure. J J J MAINS REGEN Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 8 of 6

19 installation AC Mains 90~6 Vac 7~6 Hz or ph. Motor Regen Resistor (Optional) Edge Filter (Optional) Line Filter + Vdc Power Supply CME RS- (DTE) Quad A/B Controller or PLC EtherCAT Master ASCII Control Absolute EtherCAT Slaves Sin/Cos Resolver -R Models Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 9 of 6

20 Quad A/B 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 Cable Connector: Wago: 887 or 7-0/06-0/RN Euro-style 7, mm pluggable female terminal block with preceding ground receptacle Cable: AWG, 600 V recommended for XML-0-6-R and XML-0-0-R models, AWG, 600V for XML-0-8-R Shielded cable required for CE compliance J Cable Connector: Wago: 8008 or 7-0/06-07/RN Euro-style,0 mm pluggable female terminal block Cable: AWG, 600 V recommended for XML-0-6-R and XML-0-0-R models, AWG, 600V for XML-0-8-R Shielded cable required for CE compliance J Cable Connector: Wago: 77 or 7-60/000-0/RN Euro-style,0 mm pluggable male terminal block Cable: AWG, 600 V recommended for XML-0-6-R and XML-0-0-R models, AWG, 600V for XML-0-8-R Shielded cable required for CE compliance Wire Insertion/Extraction Tool: Used on J, J, J, & J Wago - ISOLATED CIRCUIT NOTE: AN EXTERNAL + Vdc POWER SUPPLY IS REQUIRED FOR OPERATION J Mains Connections Signal Signal J Cable Connector: Wago: 797 or 7-0/06-07/RN Euro-style,0 mm pluggable terminal block Pin Mains Input L Protective Ground Mains Input L Mains Input L J Motor Outputs Pin Motor Phase U Motor Phase V Motor Phase W Cable Shield J Regen Resistor Signal Pin Regen Resistor No Connection Regen Resistor No Connection Cable Shield J + VDC & Brake Signal Pin + Vdc Control Power Brake Output [OUT] 0V (+ Vdc Return) ISOLATED CIRCUIT J J J J J Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 0 of 6

21 Quad A/B J6 J7 J8 J9 J0 J8 Control Signals Pin Signal Pin Signal Pin Signal Frame Gnd 0 [IN6] HS 9 Signal Gnd [AIN+] [AIN+] 0 + Vdc Out [AIN-] [AIN-] Multi Enc /X [IN] GP Multi Enc /S Multi Enc X [IN] GP Multi Enc S Multi Enc /B 6 [IN] HS Signal Gnd Multi Enc B 7 [IN] HS 6 [OUT] Multi Enc /A 8 [IN] HS 7 [OUT] 6 Multi Enc A 9 [AOUT] 8 [OUT] J9 secondary I/O connector Pin Signal Pin Signal Pin Signal Frame Gnd 6 [IN0] GPI [IN] GPI [COMM_A] 7 [COMM_B] [OUT+] GPI [IN7] GPI 8 [IN] GPI [OUT-] GPI [IN8] GPI 9 [IN] GPI [OUT+] GPI [IN9] GPI 0 [IN] GPI [OUT-] GPI J0 feedback Pin Signal Pin Signal Pin Signal Frame Gnd 0 Enc /B 9 Sin(+) Hall U Enc B 0 Cos(-) Hall V Enc /A Cos(+) Hall W Enc A Index(-) Signal Gnd Enc /S Index(+) 6 + Vdc Out Enc S Enc Fault 7 Motemp 6 Signal Gnd Signal Gnd 8 Enc /X 7 + Vdc Out 6 Signal Gnd 9 Enc X 8 Sin(-) J safety disable Pin Signal Pin Signal Frame Gnd 6 Enable LED(+) Safe Enable HI(+) 7 Enable LED(-) Safe Enable HI(-) 8 Vdc Common Safe Enable LO(+) 9 + Vdc Input Safe Enable LO(-) J8 Cable Connector: High-Density D-Sub female, 6 Position J9 Cable Connector: High-Density D-Sub male, Position J0 Cable Connector: High-Density D-Sub male, 6 Position J Cable Connector: D-Sub male, 9 Position Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

22 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 Cable Connector: Wago: 887 or 7-0/06-0/RN Euro-style 7, mm pluggable female terminal block with preceding ground receptacle Cable: AWG, 600 V recommended for XML-0-6-R and XML-0-0-R models, AWG, 600V for XML-0-8-R Shielded cable required for CE compliance J Cable Connector: Wago: 8008 or 7-0/06-07/RN Euro-style,0 mm pluggable female terminal block Cable: AWG, 600 V recommended for XML-0-6-R and XML-0-0-R models, AWG, 600V for XML-0-8-R Shielded cable required for CE compliance J Cable Connector: Wago: 77 or 7-60/000-0/RN Euro-style,0 mm pluggable male terminal block Cable: AWG, 600 V recommended for XML-0-6-R and XML-0-0-R models, AWG, 600V for XML-0-8-R Shielded cable required for CE compliance Wire Insertion/Extraction Tool: Used on J, J, J, & J Wago - ISOLATED CIRCUIT NOTE: AN EXTERNAL + Vdc POWER SUPPLY IS REQUIRED FOR OPERATION J Mains Connections Signal Signal J Cable Connector: Wago: 797 or 7-0/06-07/RN Euro-style,0 mm pluggable terminal block Pin Mains Input L Protective Ground Mains Input L Mains Input L J Motor Outputs Pin Motor Phase U Motor Phase V Motor Phase W Cable Shield J Regen Resistor Signal Pin Regen Resistor No Connection Regen Resistor No Connection Cable Shield J + VDC & Brake Signal Pin + Vdc Control Power Brake Output [OUT] 0V (+ Vdc Return) ISOLATED CIRCUIT J J J J J Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

23 Resolver J6 J7 J8 J9 J0 J8 Control Signals Pin Signal Pin Signal Pin Signal Frame Gnd 0 [IN6] HS 9 Signal Gnd [AIN+] [AIN+] 0 + Vdc Out [AIN-] [AIN-] Multi Enc /X [IN] GP Multi Enc /S Multi Enc X [IN] GP Multi Enc S Multi Enc /B 6 [IN] HS Signal Gnd Multi Enc B 7 [IN] HS 6 [OUT] Multi Enc /A 8 [IN] HS 7 [OUT] 6 Multi Enc A 9 [AOUT] 8 [OUT] J9 secondary I/O connector Pin Signal Pin Signal Pin Signal Frame Gnd 6 [IN0] GPI [IN] GPI [COMM_A] 7 [COMM_B] [OUT+] GPI [IN7] GPI 8 [IN] GPI [OUT-] GPI [IN8] GPI 9 [IN] GPI [OUT+] GPI [IN9] GPI 0 [IN] GPI [OUT-] GPI J0 feedback Pin Signal Pin Signal Pin Signal Frame Gnd 0 Enc /B 9 Sin(+) S Hall U Enc B 0 Cos(-) S Hall V Enc /A Cos(+) S Hall W Enc A Ref(-) R Signal Gnd Enc /S Ref(+) R 6 + Vdc Out Enc S Enc Fault 7 Motemp 6 Signal Gnd Signal Gnd 8 Enc /X 7 + Vdc Out 6 Signal Gnd 9 Enc X 8 Sin(-) S J safety disable Pin Signal Pin Signal Frame Gnd 6 Enable LED(+) Safe Enable HI(+) 7 Enable LED(-) Safe Enable HI(-) 8 Vdc Common Safe Enable LO(+) 9 + Vdc Input Safe Enable LO(-) J8 Cable Connector: High-Density D-Sub female, 6 Position J9 Cable Connector: High-Density D-Sub male, Position J0 Cable Connector: High-Density D-Sub male, 6 Position J Cable Connector: D-Sub male, 9 Position Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

24 Multiple-drive setup for ethercat Position Control J6 J6 XML-NC-0 or XML-NC-0 XML-NC-0 or XML-NC-0 For side-by-side drive mounting, use XML-NC-0 cables that are ft long. Use XML-NC-0 cables (length is 0 ft) where distances between drives is greater. XML-NC-0 or XML-NC-0 Part number XML-0-8 XML-0-6 XML-0-0 description XML Servodrive 6/8 A XML Servodrive /6 A XML Servodrive 0/0 A XML-NC-0 EtherCAT Network Cable,0 ft ( m) J6 XML-NC-0 EtherCAT Network Cable, ft (0. m) XML-ck Solder-Cup Connector Kit cme CME Configuration Software CD ser-ck For multiple-drive installations, use the ordering guide on this page. Computer equipment is the same as for single-drive installations. And Serial Cable Kit SER-CK is used when CME is in use for drive set up and configuration. SER-CK 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.) CME RS- Cable Kit Add -S to part numbers above for sin/cos feedback, or add -R for resolver feedback models. Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6

25 Stand-alone operation 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. J J7 J8 SER-CK XML-CK Digital reference signals, Logic Inputs and Outputs Motor Feedback Resolver and Temperature Sensor 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.) COM COM COMx Motion Controller 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. Part number XML-0-8 XML-0-6 XML-0-0 XML-ck cme ser-ck description XML Servodrive 6/8 A XML Servodrive /6 A XML Servodrive 0/0 A Solder-Cup Connector Kit CME Configuration Software CD CME RS- Cable Kit CME Windows 9, 98, 000, ME, and NT Add -S to part numbers above for sin/cos feedback, or add -R for resolver feedback models. Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of 6