Xenus 2-Axis EtherCAT Rev 01 XE2

Transcription

1 digital servo drive for brush & brushless motors Control Modes Indexer, Point-to-Point, PVT Camming, Gearing Position, Velocity, Torque Command Interface CANopen application protocol over EtherCAT (CoE) ASCII and discrete I/O Stepper commands ±0V position/velocity/torque (2 inputs) PWM velocity/torque command Master encoder (Gearing/Camming) Communications EtherCAT RS-232 Feedback Incremental Digital quad A/B encoder Analog Sin/Cos encoder Panasonic Incremental A Format Sanyo Denki Wire-saving Incremental Aux. encoder / encoder out Absolute SSI EnDat 2. & 2.2 Absolute A Tamagawa Absolute A Panasonic Absolute A Format Sanyo Denki Absolute A BiSS (B&C) Other Digital Halls I/O Digital 2 High-speed inputs 2 Motor over-temp inputs 8 Opto-isolated inputs 5 Opto-isolated outputs 2 Opto-isolated motor brake outputs I/O Analog 2 Reference inputs, -bit Safe Torque Off (STO) SIL 3, Category 3, PL d Model Vac Ic Ip XE ~ Add -R to model number for resolver option Dimensions: in [mm] 9.2 x 5.2 x 3.59 [23.7 x 37.6 x 9.] description XE2 sets new levels of performance, connectivity, and flexibility. CANopen application protocol over EtherCAT (CoE) communication provides a widely used cost-effective industrial bus. A wide range of absolute encoders are supported. High resolution A/D converters ensure optimal current loop performance. Both isolated and high-speed non-isolated I/O are provided. For safety critical applications, redundant power stage enable inputs can be employed. Tech Support: sales@copleycontrols.com, Web: Page of 36

2 general specifications PLUS Test conditions: Wye connected load: 2 mh line-line. Ambient temperature = 0 C MODEL XE Output CURRENT (Each Axis) 0~0 C Ambient Peak Current 20 () Adc (Arms, sinusoidal) Peak time s Continuous current 0 (7) Adc (Arms, sinusoidal) INPUT POWER Mains voltage, frequency 00~20 Vac, 50/60 Hz Mains current 8 Arms, Ø Arms, 3 Ø Inrush current Vac, 0 20 Vac, 0 ms All models Control power 2 Vdc, ±0% Required for operation 0 W (Typ, no load on encoder outputs), 3 W, (Max, all four 500 ma) DIGITAL CONTROL Digital Control Loops Current, velocity, position. 00% digital loop control Sampling rate (time) Current loop: 6 khz (62.5 µs), Velocity & position loops: khz (250 µs) bus voltage compensation Changes in bus or mains voltage do not affect bandwidth Minimum load inductance 200 µh line-line command inputs (Note: Digital input functions are programmable) Distributed Control Modes CANopen application protocol over EtherCAT Cyclic synchronous Position-Velocity-Torque, Profile Position-Velocity-Torque, Interpolated position, Homing Stand-alone mode Analog torque, velocity, position reference ±0 Vdc, bit resolution Dedicated differential analog input Digital position reference Pulse/Direction, CW/CCW Stepper commands (2 MHz maximum rate) Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature) Digital torque & velocity reference PWM, Polarity PWM = 0% - 00%, Polarity = /0 PWM 50% PWM = 50% ±50%, no polarity signal required PWM frequency range khz minimum, 00 khz maximum PWM minimum pulse width 220 ns Indexing up to 32 sequences can be launched from inputs or ASCII commands. Camming up to 0 CAM tables can be stored in flash memory ASCII RS-232, 9600~5,200 Baud, 3-wire, RJ-2 connector DIGITAL inputs Number 22 [IN,] Digital, Schmitt trigger,.5 µs RC filter, 2 Vdc compatible, 5kΩ programmable pull-up/down to 5 Vdc/ground, Vt = 2.5~3.5 Vdc, VT- =.3~2.2 Vdc, VH = 0.7~.5 Vdc [IN2, 22] Same specs as IN & IN, but with fixed 5 kω pull-up to 5 Vdc [IN2~5,2~5] Programmable as single-ended or differential pairs, 00 ns RC filter, 5 Vdc max, 0 kω programmable pull-up/down per input to 5 Vdc/ground, SE: Vin-LO 2.3 Vdc, Vin-HI 2.7 Vdc, VH = 5 mv typ, DIFF: Vin-LO 200 mvdc, Vin-HI 200 mvdc, VH = 5 mv typ, [IN6~9,6~9] [IN0,20] Opto-isolated, single-ended, ±5~30 Vdc compatible, bi-polar, 2 groups of with common return for each group Rated impulse 800 V, Vin-LO 6.0 Vdc, Vin-HI 0.0 Vdc, Input current ±3.6 ±2 Vdc, typical Motor overtemp signals on feedback connectors,, Schmitt trigger, 2 Vdc compatible 330 µs RC filter,.99k pullup to 5 Vdc, Vt = 2.5~3.5 Vdc, VT- =.3~2.2 Vdc, VH = 0.7~.5 Vdc analog inputs Number 2 [AIN~2] Differential, ±0 Vdc, 5 kw input impedance, -bit resolution SAFE torque off (sto) Function PWM outputs are inactive and current to the motor will not be possible when the STO function is asserted Standard Designed to IEC-6508-, IEC , IEC , ISO-389- Safety Integrity Level SIL 3, Category 3, Performance level d Inputs 2 two-terminal: STO-IN,STO-IN-, STO-IN2, STO-IN2- Type Opto-isolators, 2V compatible, Vin-LO 6.0 Vdc or open, Vin-HI 5.0 Vdc, Input current (typical) STO-IN: 9.0 ma, STO-IN2:.5 ma Response time 2 ms from Vin 6.0 Vdc to interruption of energy supplied to motor Reference Complete information and specifications are in the Xenus Plus 2-Axis STO Manual RS-232 PORT Signals Mode Protocol RxD, TxD, Gnd in 6-position, -contact RJ- style modular connector Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 5,200 baud binary and ASCII formats DIGITAl outputs Number 7 [OUT~5] Opto-isolated SSR, two-terminal, 300 ma max, 2 V tolerant, Rated impulse 800 V, series 20 Ω resistor [OUT6~7] Motor brake control: opto-isolated, current-sinking with flyback diode to 2 Vdc, Adc max ETHERCAT PORTS Format Dual RJ-5 receptacles, 00BASE-TX Protocol EtherCAT, CAN application layer over EtherCAT (CoE) STATUS indicator LEDs 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 V output Number, two on the feedback connectors (J0, J), two on the control connector (J2) for the A and B multi-mode ports Ratings ma, thermal and overload protected, each output ma total for all four outputs Tech Support: sales@copleycontrols.com, Web: Page 2 of 36

3 general specifications PLUS REGENERATION Operation Internal solid-state switch drives external regen resistor (see Ordering Guide for types) Cut-In Voltage HV > 390 Vdc Regen output is on, (optional external) regen resistor is dissipating energy Drop-Out Voltage HV < 380 Vdc Regen output is off, (optional external) regen resistor not dissipating energy Tolerance ±2 Vdc For either Cut-In or Drop-Out voltage protections 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 ±3 C Drive PWM outputs turn off until IGBT temperature is below threshold Short circuits output to output, output to ground, internal PWM bridge faults i 2 T Current limiting Programmable: continuous current, peak current, peak time Motor over temperature Programmable input to disable drive when voltage is above or below a set point 0~5 Vdc Feedback power loss Fault occurs if feedback is removed or 5 V is <85% of normal MECHANICAL & ENVIRONMENTAL Size 9.2 x 5.2 x 3.59 [23.7 x 37.6 x 9.] in[mm] Weight.9 lb [.90kg] Ambient temperature 0 to 0 C operating, -0 to 85 C storage Humidity 0% to 95%, non-condensing Contaminants Pollution degree 2 Vibration 2 g peak, 0~500 Hz (sine), IEC Shock 0 g, 0 ms, half-sine pulse, IEC Environment iec68-2: 990 agency standards conformance Approvals UL and cul recognized component to UL (file no. E68959) TÜV SÜD Functional Safety to IEC 6508 and ISO 389 <pending> Functional Safety IEC 6508-, IEC , EN (ISO ) 389-, EN (ISO) 389-2, IEC (see The Xenus Plus Dual-Axis STO Manual for further detail) Electrical Safety Directive 2006/95/EC Low Voltage: IEC :2007 UL EMC Directive 200/08/EC EMC: IEC :200A:20 Tech Support: sales@copleycontrols.com, Web: Page 3 of 36

4 general specifications PLUS feedback Incremental: Digital Incremental Encoder Analog Incremental Encoder Analog Index signal Panasonic Incremental A Format Sanyo Denki Wire-saving Incremental Absolute: SSI Quadrature signals, (A, /A, B, /B, X, /X), differential (X, /X Index signals not required) 5 MHz maximum line frequency (20 M counts/sec) MAX3097 differential line receiver with 2 Ω terminating resistor between complementary inputs Sin/cos format (sin, sin-, cos, cos-), differential, Vpeak-peak, ServoTube motor compatible, BW > 300 khz, 2 Ω terminating resistor between complementary inputs Differential, 2 Ω terminating resistor between complementary inputs, Vpeak-peak zero-crossing detect Clock (X, /X), Data (S, /S) signals, -wire, clock output from XE2, data returned from encoder EnDAT Clock (X, /X), Data (S, /S), sin/cos (sin, sin-, cos, cos-) signals Absolute A, Tamagawa Absolute A, Panasonic Absolute A Format, Sanyo Denki Absolute A SD, SD- (S, /S) signals, 2.5 or MHz, 2-wire half-duplex communication Position feedback: 3-bit resolution per rev, 6 bit revolution counter (29 bit absolute position data) Status data for encoder operating conditions and errors BiSS (B&C) Digital Halls Type Inputs multi-mode encoder port As Input As Emulated Output As Buffered Output ENCODER Power Supplies Number MA, MA- (X, /X), SL, SL- (S, /S) signals, -wire, clock output from XE2, data returned from encoder Digital, single-ended, 20 electrical phase difference between U-V-W signals, Schmitt trigger, µs RC filter, 2 Vdc compatible, programmable pull-up/down to 5 Vdc/ground, Vt = 2.5~3.5 Vdc, VT- =.3~2.2 Vdc, VH = 0.7~.5 Vdc 0 kw pullups to 5 Vdc, µs RC filter to Schmitt trigger inverters Digital quadrature encoder (A, /A, B, /B, X, /X), 2 Ω terminating resistors between A & /A, B & /B inputs 8 M-counts/sec, post-quadrature (.5 M-lines/sec) Digital absolute encoder (Clk, /Clk, Dat, /Dat) half or full-duplex operation, 2 Ω terminating resistors quadrature encoder emulation with programmable resolution to 096 lines (65,536 counts) per rev from analog sin/cos encoders A, /A, B, /B, outputs from MAX3032 differential line driver, X, /X, S, /S outputs from MAC3362 drivers Digital encoder feedback signals from primary digital encoder are buffered by MAX3032 line driver, two on the feedback connectors (J0, J), two on the control connector (J2) for the A and B multi-mode ports ma, thermal and overload protected, each output ma total for all four outputs) Ratings Resolver (-R option) Type brushless, single-speed, : to 2: programmable transformation ratio Resolution bits (equivalent to a 096 line quadrature encoder) Reference frequency 8.0 khz Reference voltage 2.8 Vrms, auto-adjustable by the drive to maximize feedback Reference maximum current 00 ma Maximum RPM 0,000 Sin/Cos inputs Differential, 5k ±% differential impedance, 2.0 Vrms, BW 300 khz OPTIONS XTL-FA-0 Edge Filter XTL-RA-0 Regen Resistor One used for each motor output. A passive R-L-C filter that reduces capacitive coupling of PWM outputs to adjacent cabling by lengthening the rise/fall times and providing common-mode filtering of the PWM outputs. Typically used in systems that have servo drives operating near other cables carrying low-amplitude sensor or video signals. Further details on the XTL-RA-0 can be found in the Xenus Regeneration Guide on the Copley Controls web-site Used when the regenerative energy from a moving load is greater than the absorption capacity of the internal regen resistor. 5 W, 65 W default continuous power, 00 W max continuous power 0 kw peak power, 000 ms peak power time. Further details on the XTL-FA-0 can be found in the XTL-FA-0 Edge Filter for Xenus User Guide on the Copley Controls web-site: Note! When you see this marker, it s for hot tips or best practices that will help you get the best results when using Copley Controls products. Tech Support: sales@copleycontrols.com, Web: Page of 36

5 ethercat communications PLUS EtherCAT connections Dual RJ-5 sockets accept standard Ethernet cables. The IN port connects to a master, or to the OUT port of a device that is upstream, between the Xenus Plus and the master. The OUT port connects to downstream nodes. If Xenus Plus is the last node on a network, only the IN port is used. No terminator is required on the OUT port. EtherCAT LEDs (ON RJ-5 CONNECTORS) L/A RUN ERR A green LED indicates the state of the EtherCAT network: LED Link Activity Condition ON Yes No Port Open Flickering Yes Yes Port Open with activity Off No (N/A) Port Closed Green: Shows the state of the ESM (EtherCAT State Machine) Off = Init Blinking = Pre-operational Single-flash = Safe-operational On = Operational Red: Shows errors such as watchdog timeouts and unsolicited state changes in the XE2 due to local errors. Off = EtherCAT communications are working correctly Blinking = Invalid configuration, general configuration error Single Flash = Double Flash = Local error, slave has changed EtherCAT state autonomously PDO or EtherCAT watchdog timeout, or an application watchdog timeout has occurred OUT J8 IN L/A RUN L/A ERR signal TX 2 TX- 3 rx 6 RX- J8: EtherCAT PORTS RJ-5 receptacles, 8 position, contact EtherCAT Device ID (station alias) In an EtherCAT network, slaves are automatically assigned consecutive addresses based on their position on the network. But when the device must have a positive identification that is independent of cabling, a Device ID is used. This is provided by two 6-position rotary switches with hexadecimal encoding. These can set the Device ID of the drive from 0x00~0xFF (0~255 decimal). The chart shows the decimal values of the hex settings of each switch. Example : Find the switch settings for decimal Device ID 07: ) Find the highest number in the x0 column that is less than 07 and set x0 to the hex value in the same row: 96 < 07 and 2 > 07, so x0 = 96 = Hex 6 2) Subtract 96 from the desired Device ID to get the decimal value for the switch x and set it to the Hex value in the same row: x = (07-96) = = Hex B 3) Result: X0 = 6, X = B, Alias = 0x6B (07) CME2 -> Amplifier -> Network Configuration DEVICE ID X0 X S S2 EtherCAT Device ID Switch Decimal values Set x0 x Set x0 x Hex Dec Hex Dec A B 76 6 C D E F 20 5 indicators: drive state A bi-color LED gives the state of each axis. Colors do not alternate, and can be solid ON or blinking. When multiple conditions occur, only the top-most condition will be displayed. When that condition is cleared the next one below will shown. ) Red/Blinking = Latching fault. Operation will not resume until drive is Reset. 2) Red/Solid = Transient fault condition. Drive will resume operation when the condition causing the fault is removed. 3) Green/Double-Blinking = STO circuit active, drive outputs are Safe-Torque-Off ) Green/Slow-Blinking = Drive OK but NOT-enabled. Will run when enabled. 5) Green/Fast-Blinking = Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch. 7) Green/Solid = Drive OK and enabled. Will run in response to reference inputs or EtherCAT commands. Latching Faults Default optional (programmable) Short circuit (Internal or external) Over-voltage Drive over-temperature Under-voltage Motor over-temperature Motor Phasing Error Feedback Error Command Input Fault Following Error Axis A Axis B J7 Tech Support: sales@copleycontrols.com, Web: Page 5 of 36

6 communications: rs-232 serial RS-232 communications XE2 is configured via a three-wire, full-duplex DTE RS-232 port that operates from 9600 to 5,200 Baud, 8 bits, no parity, and one stop bit. Signal format is full-duplex, 3-wire, DTE using RxD, TxD, and Gnd. Connections to the XE2 RS-232 port are through J7, an RJ- connector. The XE2 Serial Cable Kit (SER-CK) contains a modular cable, and an adapter that connects to a 9-pin, Sub-D serial port connector (COM, COM2, etc.) on PC s and compatibles. SER-CK serial cable kit The SER-CK provides connectivity between a D-Sub 9 male connector and the RJ- connector on the XE2. It includes an adapter that plugs into the COM (or other) port of a PC and uses common modular cable to connect to the XE2. The connections are shown in the diagram below. J6: RS-232 Port RJ- receptacle, 6 position, contact signal 2 RxD 3, Gnd D-Sub 9F RxD TxD Dsub-9F to RJ Adapter RJ- cable 6P6C Straight-wired TxD RxD 6 RJ- on Servo Drive 5 Txd Don t forget to order a Serial Cable Kit SER-CK when placing your order for an XE2! Gnd 5 3 Gnd ascii communication protocol ASCII communications The Copley ASCII Interface is a set of ASCII format commands that can be used to operate these drives over an RS-232 serial connection. For instance, after basic amplifier configuration values have been programmed using CME 2, a control program can use the ASCII Interface to: Enable the amplifier in Programmed Position mode. Home the axis. Issue a series of move commands while monitoring position, velocity, and other run-time variables. The Baud rate defaults to 9,600 after power-on or reset and is programmable up to 5,200 thereafter. After power-on, reset, or transmission of a Break character, the Baud rate will be 9,600. Once communication has been established at this speed, the Baud rate can be changed to a higher rate (9,200, 57,600, 5,200). ASCII parameter 0x90 holds the Baud rate data. To set the rate to 5,200 enter this line from a terminal: s r0x <enter> Then, change the Baud rate in the computer/controller to the new number and communicate at that rate. Additional information can be found in the ASCII Programmers Guide on the Copley website: Tech Support: sales@copleycontrols.com, Web: Page 6 of 36

7 safe torque off (sto) PLUS description The XE2 provides the Safe Torque Off (STO) function as defined in IEC Three opto-couplers are provided which, when de-energized, prevent the upper and lower devices in the PWM outputs from being operated by the digital control core. This provides a positive OFF capability that cannot be overridden by the control firmware, or associated hardware components. When the opto-couplers are activated (current is flowing in the input diodes), the control core will be able to control the on/off state of the PWM outputs. installation Refer to the Xenus Plus Dual-Axis STO User Manual DANGER The information provided in the Xenus Plus Dual-Axis STO User Manual must be considered for any application using the XE2 drive STO feature. Failure to heed this warning can cause equipment damage, injury, or death. sto bypass (muting) In order for the PWM outputs of the drive to be activated, current must be flowing through all of the opto-couplers that are connected to the STO- and STO-2 terminals of J6, and the drive must be in an ENABLED state. When the opto-couplers are OFF, the drive is in a Safe Torque Off (STO) state and the PWM outputs cannot be activated by the control core to drive a motor. This diagram shows connections that will energize all of the opto-couplers from an internal current-source. When this is done the STO feature is overridden and control of the output PWM stage is under control of the digital control core. If not using the STO feature, these connections must be made in order for the drive to be enabled. sto bypass connections Bypass Plug Connections Jumper pins: 2-, 3-5, 6-8, 7-9 * Note: STO applies to Axis-A AND Axis-B Xenus Plus Dual-Axis J6 EN V_in Voltage Regulator VI PWM Signals Buffer VI Upper IGBT Gate Drive Current must flow through all of the opto-couplers before the drive can be enabled 2 3 STO-IN STO-IN- STO-IN2 HV PWM Outputs * STO bypass connections on the XP2 and Xenus XPL models are different. If both drives are installed in the same cabinet, the diode should be wired as shown to prevent damage that could occur if the STO bypass connectors are installed on the wrong drive. The diode is not required for STO bypass on the XP2 and can be replaced by a wire between pins 7 and 9. * STO-IN2- STO-IN STO-IN- STO-Bypass (6.5 ma) VI Lower IGBT Gate Drive 9 STO-Gnd (Sgnd) Frame Ground * XE2 and XEL-XPL STO bypass connections are different. The diode shown should be used if XE2 and XEL-XPL drives are used on the same equipment. Otherwise, the diode may be replaced by a jumper. XE2 STO bypass connectors are not compatible with XEL-XPL drives. STO connector SAFETY J5 signals Signal Signal Frame Gnd 6 STO-() 2 STO-() 7 STO-(-) 3 STO-(-) 8 STO-PWR STO-2() 9 STO-Gnd 5 STO-2(-) Tech Support: sales@copleycontrols.com, Web: Page 7 of 36

8 digital command inputs: in2, in3, IN, in5, in2, in3, in, in5 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 2 W line-terminators. Single-ended pulse & Direction differential pulse & Direction IN() IN5(5) Pulse Direction IN2(2) IN3(3) PULSE PULSE- command single-ended Signal Axis A Axis B Pls, Enc A J2-0 J2-5 IN() DIRECTION Dir, Enc B J2- J2-30 Sgnd J2-6,6,22,3,37, IN5(5) DIRECTION- Shld J2- Single-ended CU/CD CU (Count-Up) IN() CU IN5(5) CD CD (Count-Down) QUAD a/b ENCODER SINGLE-ENDED Encoder ph. A IN() Enc. A IN5(5) Enc. B Encoder ph. B differential CU/CD CU (Count-Up) IN2(2) PULSE IN3(3) PULSE- CD (Count-Down) IN() DIRECTION IN5(5) DIRECTION- QUAD a/b ENCODER DIFFERENTIAL Encoder ph. A Encoder ph. B IN2(2) IN3(3) IN() IN5(5) Enc. A Enc. /A Enc B Enc /B command differential Signal Axis A Axis B Pls, Enc A J2-8 J2-3 /Pls, Enc /A J2-9 J2- Dir, Enc B J2-0 J2-5 /Dir, Enc /B J2- J2-30 Sgnd J2-6,6,22,3,37, Shld J2- 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 differential PWM & Direction Duty = 0~00% IN() IN5(5) Current or Velocity Polarity or Direction Duty = 0-00% IN2(2) IN3(3) IN() IN5(5) PWM PWM- Direction Direction- command single-ended Signal Axis A Axis B PWM J2-0 J2-5 Dir J2- J2-30 Sgnd J2-6,6,22,3,37, Shld J2- Single-ended 50% PWM Duty = 50% ±50% <no connection> IN() IN5(5) Current or Velocity No function differential 50% PWM Duty = 50% ±50% IN2(2) IN3(3) Curr/Vel Curr/Vel- command differential Signal Axis A Axis B PWM J2-8 J2-3 /PWM J2-9 J2- Dir J2-0 J2-5 <no connection> IN() IN5(5) No Function /Dir J2- J2-30 Sgnd J2-6,6,22,3,37, Shld J2- Tech Support: sales@copleycontrols.com, Web: Page 8 of 36

9 Multi-mode encoder port as an input input types POSITION COMMAND INPUTS: DIFFERENTIAL Pulse & Direction CW & CCW (Clockwise & Counter-Clockwise) Encoder Quad A & B Camming Encoder A & B input MAX3097 command input multi-port Signal Axis A Axis B Pls, Enc A J2-36 J2-2 /Pls, Enc /A J2-2 J2-27 Dir, Enc B J2-35 J2- /Dir, Enc /B J2-20 J2-26 A/B/X signals from digital encoder MAX3032 Input/Output Select Enc X J2-3 J2-0 Enc /X J2-9 J2-25 Sgnd J2-6,6,22,3,37, Shld J2- CURRENT or VELOCITY COMMAND INPUTS: DIFFERENTIAL Current or Velocity & Direction Current or Velocity () & Current or Velocity (-) MAX3097 J2 Multi-Port Frame Ground A /A Enc. A Pulse/Dir or CU/CD differential commands MAX3032 Input/Output Select B /B Incremental Encoder Enc. B X /X Enc. X SECONDARY FEEDBACK: INCREMENTAL Quad A/B/X incremental encoder Quad A/B emulated encoder from sin/cos encoder Enc. X MAX3097 Enc. X A/B/X signals from digital encoder Input/Output Select S /S Absolute Encoder Enc. S MAX3032 Enc. S 500 ma SECONDARY FEEDBACK: ABSOLUTE S channel: Absolute A encoders (2-wire) The S channel first sends a Clock signal and then receives Data from the encoder in half-duplex mode. S & X channels: SSI, BiSS, EnDat encoders (-wire) The X channel sends the Clock signal to the encoder, which initiates data transmission from the encoder on the S-channel in full-duplex mode 2-Wire digital absolute encoder signals S S Input/Output Select MAX3032 S X -Wire digital absolute encoder signals MAX3362 Input Select Output Select MAX3362 Signal Ground emulated quad a/b/x multi-port Signal Axis A Axis B Enc A J2-36 J2-2 Enc /A J2-2 J2-27 Enc B J2-35 J2- Enc /B J2-20 J2-26 Enc X J2-3 J2-0 Enc /X J2-9 J2-25 Sgnd J2-6,6,22,3,37, Shld J2- Tech Support: sales@copleycontrols.com, Web: Page 9 of 36

10 general purpose inputs PLUS HS Inputs [IN~2] 2 Vdc max [IN] [IN2] [IN5] Vmax ±0 2V 2V ±2V 5.0 V A 7HC 00p Input R R2 C Vm *IN J2-7 5k 00p 2 *IN2 J2-8 *IN3 J2-9 k 00p 2 *IN J2-0 *IN5 J2- IN6 J9-2 IN7 J9-3 IN8 J9- Opto ±2 IN9 J9-5 ICOM J9-6 IN0 J0-7.99k 33n 2 IN2 J0-2 5k 00p Input R R2 C Vm *IN J2-2 5k 00p 2 *IN2 J2-3 *IN3 J2- k 00p 2 *IN J2-5 *IN5 J2-30 IN6 J9-7 IN7 J9-8 IN8 J9-9 Opto ±2 IN9 J9-8 ICOM2 J9-7 IN20 J-7.99k 33n 2 IN22 J-2 5k 00p * programmable pull up/down The input resistor of these inputs is programmable to pull-up to or pull-down to 0V. Pull-up is the default and works with current-sinking outputs from a controller. Pull-down works with current-sourcing outputs, typically PLC s that drive grounded loads. Six of the inputs have individually settable PU/PD. The other four have PU/PD control for pairs of inputs. PullUp = 5V PullDown = 0V inputs with programmable pull up/down Input PU/PD Input PU/PD IN J2-7 IN J2-2 5 IN2 J2-8 2 IN2 J2-3 6 IN3 J2-9 3 IN3 J2-7 IN J2-0 IN J2-5 8 IN5 J2- IN5 J2-30 7HC [INx] 00p Single-ended/Differential digital INPUTS [IN2~5,2~5] These inputs have all the programmable functions of the GP inputs plus these additional functions which can be configured as single-ended (SE) or differential (DIFF): PWM 50%, PWM & Direction for Velocity or Current modes Pulse/Direction, CU/CD, or A/B Quad encoder inputs for Position or Camming modes [in2~5,2~5] Signals S.E. Diff S.E. Diff Input Input Input Input IN2 IN2 J2-8 IN2 IN2 J2-3 IN3 IN2- J2-9 IN3 IN2- J2- IN IN J2-0 IN IN J2-5 IN5 IN- J2- IN5 IN- J2-30 single-ended differential 2 Vdc max 2 Vdc max 2V J2 Control 2V J2 Control k MAX3096 k MAX3096 [IN2,,2,] [IN2,,2,] 00 pf 00 pf 2.5V k k [IN3,5,3,5] 00 pf MAX3096 [IN3,5,3,5] 00 pf PLC outputs are frequently current-sourcing from 2V for driving grounded loads. PC based digital controllers commonly use NPN or current-sinking outputs. Set the Xenus inputs to pull-down to ground for current-sourcing connections, and to pull-up to 5V for current-sinking connections. Tech Support: sales@copleycontrols.com, Web: Page 0 of 36

11 PLUS opto-isolated inputs: IN6, IN7, IN8, IN9, IN6, IN7, IN8, IN9 These inputs have all the programmable functions of the GP inputs plus opto-isolation. There are two groups of four inputs, each with a common terminal. Grounding the common terminal configures the inputs to work with current-sourcing outputs from controllers like PLC s. When the common terminal is connected to 2V, the inputs will be activated by current-sinking devices such as NPN transistors or N-channel MOSFETs. The minimum ON threshold of the inputs is ±5 Vdc. In the graphics below, 2V is for connections to current-sourcing outputs and GND is for current-sinking outputs on the control system [IN6~9] [IN6~9] ±30 Vdc max ±30 Vdc max 2V GND J9 2V GND J9 2V [COMM] 6 2V [COMM2] 7 [IN6].7k [IN6].7k 2.99k 5.V 7.99k 5.V [IN7].7k 2V [IN7].7k 3.99k 5.V ±2 ±0% Vdc max 8.99k 5.V.7k [IN8].99k 5.V.7k [IN8] 9.99k 5.V [IN9].7k [IN9].7k 2V 5.99k 5.V 2V 8.99k 5.V These inputs work with current-sourcing OR current-sinking connections. Connect the COMM to controller ground/common for current-sourcing connections and to 2V for currentsinking connections. The 2V power shown in these connection diagrams does not have to be connected to the logic power supply for the drive, and is commonly provided in the control system to power relays and other devices. [in6~9,6~9] Signals Signal s Signal s IN6 J9-2 IN6 J9-7 IN7 J9-3 IN7 J9-8 IN8 J9- IN8 J9-9 IN9 J9-5 IN9 J9-8 COMM J9-6 COMM2 J9-7 Tech Support: sales@copleycontrols.com, Web: Page of 36

12 analog inputs The analog inputs have a ±0 Vdc range at -bit resolution As reference inputs they can take position/velocity/torque commands from a controller. If not used as command inputs, they can be used as general-purpose analog inputs. [AIN A,B] D/A J2 [AIN A,B] Signals Signal Axis A Axis B AIN() J2-3 J2-5 ±0V F.G. 3 2 Frame Ground AIN AIN- - Vref AIN(-) J2-2 J2- Sgnd J2-6,6,22,3,37, Shield J2- ±0V 5 AIN2 AIN2- -.5V Vref 6 Sgnd.5V isolated general purpose outputs out~5 Digital, opto-isolated SSR, 2-terminal Flyback diode for inductive loads 2V Compatible Programmable functions [out~5] Signals SSR [OUTn] J9 80Ω min* 300mA max Signal s Signal s [OUT] J9-9 [OUT-] J9-0 [OUT2] J9-20 [OUT2-] J9-36V Vdc [OUT3] J9-2 [OUT3-] J9-2 [OUT] J9-22 [OUT-] J9-3 [OUTn-] * at 2 Vdc [OUT5] J9-23 [OUT5-] J9- HI/LO definitions: [OUT~5] Input State Condition HI Output transistor is ON, current flows OUT~5 LO Output transistor is OFF, no current flows ±30Vmax ±2V typical 2V 30 Vdc max Zener clamping diodes across outputs allow driving of resistive-inductive (R-L) loads without external flyback diodes. Tech Support: sales@copleycontrols.com, Web: Page 2 of 36

13 isolated brake outputs Brake outputs Opto-isolated Flyback diodes for inductive loads 2V Compatible Connection for external 2V power supply Programmable functions specifications Output Data Notes * There should be only one conductor in each position of the J5 connector. If brakes are to be wired directly to J5 for their 2V power, use a double wire ferrule for J5-. Information for ferrules can be found on page 27. J * Axis A Brake Voltage Range Max 30 Vdc Output Current Ids.0 Adc 3 A Brk HI/LO definitions: outputs Input State Condition BRK-A,B OUT6,7 HI LO Output transistor is OFF Brake is un-powered and locks motor Motor cannot move Brake state is Active Output transistor is ON Brake is powered, releasing motor Motor is free to move Brake state is NOT-Active CME2 Default Setting for Brake Outputs [OUT6,7] is Brake - Active HI Active = Brake is holding motor shaft (i.e. the Brake is Active) Motor cannot move No current flows in coil of brake CME2 I/O Line States shows Output 6 or 7 as HI BRK Output voltage is HI (2V), MOSFET is OFF Servo drive output current is zero Servo drive is disabled, PWM outputs are off Inactive = Brake is not holding motor shaft (i.e. the Brake is Inactive) Motor can move Current flows in coil of brake CME2 I/O Line States shows Output 6 or 7 as LO BRK output voltage is LO (~0V), MOSFET is ON Servo drive is enabled, PWM outputs are on Servo drive output current is flowing i connections Signal 5 2V 2V 2 B Brk 2V RTN 3 A Brk [OUT6] 2 B Brk [OUT7] 2V Return Axis B Brake 0 2V The brake circuits are optically isolated from all drive circuits and frame ground. J2 Control J7 Serial J Power J3 Mot A Frame Gnd HV Com Signal Gnd Signal Gnd Signal Gnd Signal Gnd Signal Gnd Signal Gnd Frame Gnd Signal Gnd Signal Gnd J Mot B J9 I/O Heatplate/chassis i J5 Brake Brk 2V Input Brk 2V Output Brake A Brake B 2V Return 0 2V This diagram shows the connections to the drive that share a common ground in the driver. If the brake 2V power supply is separate from the DC supply powering the drive, it is important that it connects to an earth or common grounding point with the HV power supply. Earthing connections for power supplies should be as close as possible to elimimate potential differences between power supply 0V terminals. Tech Support: sales@copleycontrols.com, Web: Page 3 of 36

14 motor connections: encoder & resolver 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. quad a/b ENCODER with fault protection Encoders with differential line-driver outputs are required (single-ended encoders are not supported) and provide incremental position feedback via the A/B signals and the optional index signal (X) gives a once per revolution position mark. The MAX3097 receiver has differential inputs with fault protections for the following conditions: Short-circuits line-line: Open-circuit condition: Low differential voltage detection: ±5kV ESD protection: Extended common-mode range: This produces a near-zero voltage between A & /A which is below the differential fault threshold. The 2W 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. This is possible with very long cable runs and a fault will occur if the differential input voltage is < 200mV. The 3097E has protection against high-voltage discharges using the Human Body Model. A fault occurs if the input common-mode voltage is outside of the range of -0V to 3.2V connections with a/b/x encoder Encoder J0, J FG Frame Ground A A B Z 0V 2 Enc. A /A B 2 Enc. B /B X k 30 Enc. Index /X k 500 ma Signal Ground A/B/X Signals Signal J0,J Enc A 3 Enc /A 2 Enc B Enc /B 0 Enc X 9 Enc /X 8 6 Sgnd 5 Shld connections with no index signal Encoder FG A B X Z /X J0, J Frame Ground A 2 /A B 2 /B ma Enc. A Enc. B k Enc. Index k 0V Signal Ground shielded cable connections Double-shielded cable is recommended for resolvers and analog sin/cos encoders. The outer shield connects to the motor and drive frames. The inner shield(s) should only connect to the Signal Ground at the drive. The inner shields shown here are for individually shielded twisted-pair cables. If the inner shield is a single one, it connects to Signal Ground at the drive. The inner shield should have no connection at the motor, or the the outer shield. Double-shielding is used less frequently for digital encoders, but the connections are shown here and on following pages for completeness. ANALOG sin/cos incremental ENCODER The sin/cos/idx inputs are differential with 2 Ω terminating resistors and accept Vp-p signals in the format used by incremental encoders with analog outputs, or with ServoTube motors. Encoder J0, J sin/cos Signals RESOLVER (-R models) Resolver set up, motor phasing, and other commissioning adjustments are made with CME 2 software. There are no hardware adjustments. Resolver J0, J resolver Signals FG sin cos indx 0V Frame Ground Sin() - 2 Sin(-) Cos() - 2 Cos(-) k Idx() 2 Idx(-) 500 ma Signal Ground Sin Cos Indx k Signal J0,J Sin() 9 Sin(-) 8 Cos() 2 Cos(-) 20 Idx() 23 Idx(-) 22 7 Sgnd 6 Shld S3 R2 Sin Ref FG S S2 Cos S R Frame Ground Sin() S3 Sin(-) S R/D Conversion Cos() S2 Cos(-) S Ref() R Ref(-) R2 Signal Ground Signal J0,J Sin() S3 9 Sin(-) S 8 Cos() S2 2 Cos(-) S 20 Ref() R 23 Ref(-) R Sgnd 6 Shld Tech Support: sales@copleycontrols.com, Web: Page of 36

15 motor connections: absolute encoders Ssi absolute Encoder The SSI (Synchronous Serial Interface) is an interface used to connect an absolute position encoder to a motion controller or control system. The XEL drive provides a train of clock signals in differential format to the encoder which initiates the transmission of the position data on the subsequent 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 two signals: SCLK and SDATA. 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. Encoder FG J0, J Frame Ground BiSS absolute Encoder BiSS is an - Open Source - digital interface for sensors and actuators. BiSS refers to principles of well known industrial standards for Serial Synchronous Interfaces like SSI, AS-Interface and Interbus with additional options. Serial Synchronous Data Communication Cyclic at high speed 2 unidirectional lines Clock and Data line delay compensation for high speed data transfer Request for data generation at slaves Safety capable: CRC, Errors, Warnings bus capability incl. actuators bidirectional biss B-protocol: Mode choice at each cycle start biss C-protocol: Continuous mode Clk Clk /Clk 30 A B Clk SSI,BiSS Signals BiSS Encoder J0, J Data Dat /Dat 22 A B Data Signal J0,J Clk 9 /Clk 8 Data 5 /Data FG Master Slave Frame Ground MA 30 MA- SL Clk 0V 500 ma Signal Ground 6,7 Sgnd 5,6 Shld SL- 22 Data V 500 ma V- Signal Ground endat absolute Encoder The EnDat interface is a Heidenhain interface that is similar to SSI in the use of clock and data signals, but which also supports analog sin/cos channels from the same encoder. The number of position data bits is programmable as is the use of sin/cos channels. Use of sin/cos incremental signals is optional in the EnDat specification. Encoder Clk Data sin cos FG 0V J0, J Frame Ground Clk /Clk Dat /Dat Sin() Sin(-) Cos() Cos(-) 30 A 22 B 2 2 A B 500 ma Signal Ground - - Clk Data Sin Cos endat Signals Signal J0,J Clk 9 /Clk 8 Data 5 /Data Sin() 9 Sin(-) 8 Cos() 2 Cos(-) 20 6,7 Sgnd 5,6 Shld Absolute-a Encoder The Absolute A interface is a serial, half-duplex type that is electrically the same as RS-85 SD D-R Cmd MAX3362B Absolute-A Encoder 5V.2k SD 220 SD-.2k V V- half-duplex encoders Absolute-A Tamagawa Absolute-A Panasonic Absolute A Format Sanyo Denki Absolute-A 0V J0, J Frame Ground Dat /Dat 500 ma Signal Ground Signal J0,J Data 5 /Data 6,7 Sgnd 5,6 Shld Cmd D-R SD absolute-a Signals Tech Support: sales@copleycontrols.com, Web: Page 5 of 36

16 motor connections: motor, Halls, overtemp 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 (J3,J-) for best results. MOTOR Signals J3,J Signal Mot U Mot V 3 Mot W 2 Shield HV 0V PWM J3,J F.G. W V U Motor 3 ph. Grounding tab 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 amplifier has switched to sinusoidal commutation. hall Signals Signal J0,J Hall U 2 Hall V 3 Hall W 6,7 Sgnd 5,6 25,26 Halls Hall A Hall B J0,J Hall U Hall V 0K 0K 00p 0K 0K 00p Hall C Hall W 0K 0K 00p 500 ma 0V Signal Ground motemp Signals Signal Motemp A J0-7 Motemp B J-7 Sgnd Property J0,J -5,6,25,26 Resistance in the temperature range 20 C to 70 C Resistance at 85 C Resistance at 95 C Resistance at 05 C 30Vmax 2V typical 2V Ohms 60~ motor over temp input The.99k pull-up resistor works with PTC (positive temperature coefficient) thermistors that conform to BS 999:Part :987 (table below), or switches that open/close indicating a motor over-temperature condition. The active level is programmable. J0,J.99k Motemp Thermistor, Posistor, or switch Signal Gnd 33n Tech Support: sales@copleycontrols.com, Web: Page 6 of 36

17 multi-mode encoder port PLUS The multi-mode port can operate as primary or secondary feedback from digital quad A/B/X or absolute encoders. feedback from 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. A/B/X signals from digital encoder MAX3097 MAX3032 Input/Output Select emulated quad a/b/x multi-port Signal Axis A Axis B Enc A J2-36 J2-2 Enc /A J2-2 J2-27 Enc B J2-35 J2- Enc /B J2-20 J2-26 Enc X J2-3 J2-0 Enc /X J2-9 J2-25 feedback from absolute encoders Digital absolute encoder feedback as motor or load encoder can come from absolute encoders, too. Analog sin/cos and index signals are not supported by the multi-port. The graphic to the right shows half-duplex format but both full and half-duplex operation are supported by the multi-port (see below) Data & Clk signals from absolute encoder - MAX3097 MAX3032 Input/Output Select 32,7 J2-38,23 Sgnd J2-3,6 J2-37,22 Shld J2- absolute encoder, full-duplex mode Full-duplex Absolute encoder FG J2 Frame Ground full-duplex signals Master Slave V V- MA 30 Clk MA- k SL 22 SL- k 500 ma Signal Ground Data full-duplex encoders SSI EnDat BiSS half-duplex encoders Absolute-A Tamagawa Absolute-A Panasonic Absolute-A Format Sanyo Denki Absolute-A Signal Axis A Axis B Clk, MA J2-3 J2-0 /Clk, MA- J2-9 J2-25 Dat, SL J2-33 J2-39 /Dat, SL- J2-8 J2-2 J2-32,7 J2-38,23 Sgnd J2-3,6 J2-37,22 Shld J2- absolute encoder, half-duplex mode SD D-R Half-duplex Absolute encoder 5V.2k 220 SD-.2k SD J2 Frame Ground Dat /Dat Cmd D-R half-duplex signals Signal Axis A Axis B Dat J2-33 J2-39 /Dat J2-8 J2-2 J2-32,7 J2-38,23 Cmd V 500 ma SD Sgnd J2-3,6 J2-37,22 Shld J2- MAX3362B V- 0V Signal Ground Tech Support: sales@copleycontrols.com, Web: Page 7 of 36

18 multi-mode encoder port: command inputs as a master or camming encoder input from a digital quadrature encoder MAX3097 MAX3097 When operating in position mode the multimode 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. A/B/X signals from digital encoder MAX3032 Input/Output Select Pulse/Dir or CU/CD differential commands MAX3032 Input/Output Select Command inputs Multi-port Signal Axis A Axis B 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 single-ended inputs. But, at higher frequencies these are likely to be differential signals in which case the multi-mode port can be used. Enc A Pulse CW J2-36 J2-2 Enc /A /Pulse /CW J2-2 J2-27 Enc B Dir CCW J2-35 J2- Enc /B /Dir /CCW J2-20 J2-26 Enc X J2-3 J2-0 Enc /X J2-9 J ,7 J2-38,23 Sgnd J2-3,6 J2-37,22 Frame Gnd J2- multi-mode encoder port: feedback outputs as buffered outputs from a digital quadrature primary 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 J2, 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 2 ohm terminating resistor. Buffered A/B/X signals from primary encoder Secondary Encoder Input MAX3097 MAX3032 Input/Output Select Quad A/B/X primary encoder buffered outputs multi-port Signal Axis A Axis B Enc A J2-36 J2-2 Enc /A J2-2 J2-27 Enc B J2-35 J2- Enc /B J2-20 J2-26 Enc X J2-3 J2-0 Enc /X J2-9 J ,7 J2-38,23 AS emulated quad a/b encoder outputs from an analog sin/cos feedback encoder Secondary Encoder Input MAX3097 Sgnd J2-3,6 J2-37,22 F.G. J2- 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 signals that can be used as feedback to an external control system. Emulated A/B signals MAX3032 Input/Output Select Emulated Quad A/B signals from analog Sin/Cos encoder or resolver Tech Support: sales@copleycontrols.com, Web: Page 8 of 36

19 PLUS cme2 & axis a i/o connections CMe2 screen for inputs [IN~in0] input data [IN] [IN6~9] Input R R2 C PullUp = 5V PullDown = 0V 2V GND J9 IN J2-7 5k 00p IN2 J2-8 IN3 J2-9 k 00p IN J2-0 IN5 J2- IN6 J0-2 30Vmax 2V typical 2V [INx] [IN2~5] 7HC 00p 2V [COMM] [IN6] [IN7].99k 5.V.99k 5.V.7k.7k IN7 J0-3 Vmax 2V J2 Control IN8 J0- IN9 J0-5 ICOM J0-6 Opto k [IN2,,2,] 00 pf MAX3096 [IN8].99k 5.V.7k IN0 J-7.99k 33n IN2 J-2 5k 00p k 2.5V 2V 5 [IN9].99k 5.V.7k HI/LO definitions: inputs [IN3,5,3,5] 00 pf MAX3096 Input State Condition IN,0,2 IN2~5 HI LO HI LO Vin >= 2.5 Vdc Vin <=.3 Vdc Vin > 2.5 Vdc Vin < 2.5 Vdc inputs with programmable pull up/down Input PU/PD [IN0].99k 7HC2G [IN2] 7HC IN6~9 HI LO Input diode ON Input diode OFF IN J2-7 IN2 J2-8 2 [INx] 33n [INx] 00p IN6~9 are optically isolated and work from positive or negative input voltages. When voltage is applied to an input and current flows through the input diode of the opto-coupler the diode condition is ON. When no voltage is applied to an input and no current flows through the input diode it is OFF. IN3 J2-9 3 IN J2-0 IN5 J2- Tech Support: sales@copleycontrols.com, Web: Page 9 of 36

20 PLUS cme2 & axis B i/o connections CMe2 screen for inputs [IN~in20] input data [IN] [IN6~9] Input R R2 C PullUp = 5V PullDown = 0V 2V GND J9 IN J2-2 5k 00p IN2 J2-3 IN3 J2- k 00p IN J2-5 [INx] 7HC 00p 2V [COMM2] 7 7 [IN6].99k 5.V.7k IN5 J2-30 IN6 J9-7 IN7 J9-8 IN8 J9-9 IN9 J9-8 Opto 30Vmax 2V typical 2V Vmax [IN2~5] 2V J2 Control k [IN2,,2,] MAX [IN7].99k 5.V [IN8].99k 5.V.7k.7k ICOM2 J pf IN20 J-7.99k 33n IN22 J-2 5k 00p k 2.5V 2V 8 [IN9].99k 5.V.7k HI/LO definitions: inputs Input State Condition [IN3,5,3,5] 00 pf MAX3096 IN,20,22 IN2~5 IN6~9 HI LO HI LO HI LO Vin >= 2.5 Vdc Vin <=.3 Vdc Vin > 2.5 Vdc Vin < 2.5 Vdc Input diode ON Input diode OFF inputs with programmable pull up/down Input PU/PD IN J2-2 5 IN2 J2-3 6 [IN20] [INx].99k 7HC2G 33n [IN22] [INx] 7HC 00p IN6~9 are optically isolated and work from positive or negative input voltages. When voltage is applied to an input and current flows through the input diode of the opto-coupler the diode condition is ON. When no voltage is applied to an input and no current flows through the input diode it is OFF. IN3 J2-7 IN J2-5 IN5 J2v-30 8 Tech Support: sales@copleycontrols.com, Web: Page 20 of 36

21 cme2 & outputs ~ connections output connections CMe2 screen for outputs [out~] output data [out~] Signals Signal s Signal s [OUT~] SSR [OUTn] J9 80Ω min* 300mA max [OUT] J9-9 [OUT-] J9-0 [OUT2] J9-20 [OUT2-] J9- [OUT3] J9-2 [OUT3-] J9-2 36V Vdc [OUT] J9-22 [OUT-] J9-3 [OUTn-] * at 2 Vdc HI/LO definitions: outputs Input State Condition OUT~ HI LO Output transistor is ON, current flows Output transistor is OFF, no current flow Tech Support: sales@copleycontrols.com, Web: Page 2 of 36

22 cme2 & outputs 5~7 connections CMe2 screen for outputs [out5~7] output data [out5] Signals Signal s [OUT5] J9-23 [OUT5-] J9-30Vmax 2V typical 2V [OUT5] SSR [OUTn] J9 80Ω min* 300mA max 36V Vdc [OUTn-] * at 2 Vdc HI/LO definitions: outputs Input State Condition OUT5 BRK-A,B OUT6,7 HI LO HI LO Output transistor is ON, current flows Output transistor is OFF, no current flows Output transistor is OFF Brake is un-powered and locks motor shaft Motor cannot move Brake state is Active Output transistor is ON Brake is powered, releasing motor shaft Motor is free to move Brake state is NOT-Active * There should be only one conductor in each position of the J5 connector. If brakes are to be wired directly to J5 for their 2V power, use a double wire ferrule for J5-. Information for ferrules can be found on page 30. J * Axis A Brake * CME2 Default Setting for Brake Outputs [OUT6,7] is Brake - Active HI Active = Brake is holding motor shaft (i.e. the Brake is Active) Motor cannot move No current flows in coil of brake CME2 I/O Line States shows Output 6 or 7 as HI BRK Output voltage is HI (2V), MOSFET is OFF Servo drive output current is zero Servo drive is disabled, PWM outputs are off Inactive = Brake is not holding motor shaft (i.e. the Brake is Inactive) Motor can move Current flows in coil of brake CME2 I/O Line States shows Output 6 or 7 as LO BRK output voltage is LO (~0V), MOSFET is ON Servo drive is enabled, PWM outputs are on Servo drive output current is flowing [BRK-A,B] [OUT6~7] Signal s Brake A J5-3 Brake B J5-2 i 2 A Brk B Brk 2V RTN Axis B Brake 0 2V Tech Support: sales@copleycontrols.com, Web: Page 22 of 36

23 motor connections for digital incremental encoders The connections shown may not be used in all installations Xenus Plus 2-Axis Shield Enc A 3 A Enc /A 2 /A Enc B Enc /B 0 B /B DIGITAL ENCODER Enc X 9 X J0 J Enc /X Out Sgnd [IN2,22] /X Vcc 0V FLT Hall U 2 Hall V 3 Hall W DIGITAL HALLS Signal Gnd Motemp 5 7 TEMP SENSOR 2V 5 2V J5 Brake A Brake B 3 2 Axis A Brake Axis B Brake 2 Vdc Gnd - J3 J Mot U Mot V Mot W 3 2 U V W BRUSHLESS MOTOR U() V(-) BRUSH MOTOR Shield Grounding tab Notes: ) Out on J0 & J are independent power supplies and each is rated for 500 ma 2) CE symbols indicate connections required for CE compliance. Tech Support: sales@copleycontrols.com, Web: Page 23 of 36

24 motor connections for analog incremental encoders The connections shown may not be used in all installations Xenus Plus 2-Axis Shield Enc Sin() 9 Sin Enc Sin(-) 8 Sin- Enc Cos() Enc Cos(-) 2 20 Cos Cos- ANALOG ENCODER Enc Index() 23 Ndx J0 J Enc Index(-) Out Sgnd [IN2,22] Ndx- Vcc 0V FLT Hall U 2 Hall V 3 Hall W DIGITAL HALLS Signal Gnd Motemp 5 7 TEMP SENSOR 2V 5 2V J5 Brake A Brake B 3 2 Axis A Brake Axis B Brake 2 Vdc Gnd - J3 J Mot U Mot V Mot W 3 2 U V W BRUSHLESS MOTOR U() V(-) BRUSH MOTOR Shield Grounding tab Notes: ) Out on J0 & J are independent power supplies and each is rated for 500 ma 2) CE symbols indicate connections required for CE compliance. Tech Support: sales@copleycontrols.com, Web: Page 2 of 36

25 motor connections for resolvers The connections shown may not be used in all installations Xenus Plus 2-Axis Shield Rlvr Sin() 9 Sin S3 Rlvr Sin(-) 8 Sin- S Rlvr Cos() Rlvr Cos(-) 2 20 Cos S2 Cos- S RESOLVER Rlvr Ref() 23 Ref R J0 J Rlvr Ref(-) Out 22 6 Ref- R2 Sgnd 25 [IN2,22] 2 Hall U 2 Hall V 3 Hall W Signal Gnd Motemp 5 TEMP SENSOR 7 2V 5 2V J5 Brake A Brake B 3 2 Axis A Brake Axis B Brake 2 Vdc Gnd - J3 J Mot U Mot V Mot W 3 2 U V W BRUSHLESS MOTOR U() V(-) BRUSH MOTOR Shield Grounding tab Notes: ) Out on J0 & J are independent power supplies and each is rated for 500 ma 2) CE symbols indicate connections required for CE compliance. Tech Support: sales@copleycontrols.com, Web: Page 25 of 36

26 motor connections for digital & analog incremental & absolute encoders WARNING: Hazardous voltages exist on connections to J, J2, J3 & J when power is applied, and for up to 5 minutes after power is removed. ISOLATED CIRCUIT J Mains Connections Signal Mains Input L3 5 Frame Ground PE Ground 3 Mains Input L2 2 Mains Input L J2 Regen Resistor Signal Regen 3 Regen - 2 Frame Ground J3 &J Motor Outputs Signal Motor Phase U Motor Phase V 3 Motor Phase W 2 Frame Ground J5 2 VDC & Brake Signal 2V Input 5 2V to Brakes A Brake 3 B Brake 2 2V Return J POWER J2 REGEN J3 MOTOR A J MOTOR B J5 BRAKE L3 L2 L min H L U V W U V W 2 2 A BRK B BRK 2V RTN J5 STO Signal Signal Frame Gnd 6 STO-IN() 2 STO-IN() 7 STO-IN(-) 3 STO-IN(-) 8 STO-Mute STO-IN2() 9 STO-Gnd 5 STO-IN(-) J6 SAFETY Tech Support: sales@copleycontrols.com, Web: Page 26 of 36

27 motor connections for digital & analog incremental & absolute encoders J2 Control (on end PAnel) Signal Signal Signal n N S S2 J9 ISOLATED I/O FEEDBACK A FEEDBACK B J0 J AMP NETWORK A B L/A RUN L/A ERR DEVICE ID X0 X J7 J8 Xenus Plus Frame Gnd 6 Signal Gnd 3 Signal Gnd 2 Ref(-) 7 5V Out3 32 5V Out3 3 Ref() 8 A-MultiEnc /S 33 A-MultiEnc S Ref2(-) 9 A-MultiEnc /X 3 A-MultiEnc X 5 Ref2() 20 A-MultiEnc /B 35 A-MultiEnc B 6 Signal Gnd 2 A-MultiEnc /A 36 A-MultiEnc A 7 [IN] GP 22 Signal Gnd 37 Signal Gnd 8 [IN2] GP 23 5V Out 38 5V Out 9 [IN3] GP 2 B-MultiEnc /S 39 B-MultiEnc S 0 [IN] GP 25 B-MultiEnc /X 0 B-MultiEnc X [IN5] HS 26 B-MultiEnc /B B-MultiEnc B 2 [IN] HS 27 B-MultiEnc /A 2 B-MultiEnc A 3 [IN2] HS 28 n.c. 3 n.c. [IN3] HS 29 n.c. Signal Gnd 5 [IN] HS 30 [IN5] J9 isolated I/O Signal Signal Signal 9 [IN8] GPI 8 [IN9] GPI 26 n.c. 8 [IN7] GPI 7 [IN6~9] COMM 25 n.c. 7 [IN6] GPI 6 n.c. 2 n.c. 6 [IN6~9] COMM 5 n.c. 23 [OUT5] 5 [IN9] GPI [OUT5-] 22 [OUT] [IN8] GPI 3 [OUT-] 2 [OUT3] 3 [IN7] GPI 2 [OUT3-] 20 [OUT2] 2 [IN6] GPI [OUT2-] 9 [OUT] Frame Ground 0 [OUT-] J0, J feedback Signal Signal Signal Frame Gnd 0 Enc /B 9 Sin() 2 Hall U Enc B 20 Cos(-) 3 Hall V 2 Enc /A 2 Cos() Hall W 3 Enc A 22 Indx(-) 5 Signal Gnd Enc /S 23 Indx() 6 Out(2) 5 Enc S 2 IN2(22) 7 Motemp IN0(20) 6 Signal Gnd 25 Signal Gnd 8 Enc /X 7 Out(2) 26 Signal Gnd 9 Enc X 8 Sin(-) Note: Signals unique to axis A or axis B are shown as Xxx A(B) All other signals are common to both axes A & B Tech Support: sales@copleycontrols.com, Web: Page 27 of 36

28 motor connections for resolvers WARNING: Hazardous voltages exist on connections to J, J2, J3 & J when power is applied, and for up to minutes after power is removed. ISOLATED CIRCUIT J Mains Connections Signal Mains Input L3 5 Frame Ground PE Ground 3 Mains Input L2 2 Mains Input L J2 Regen Resistor Signal Regen 3 Regen - 2 Frame Ground J3 &J Motor Outputs Signal Motor Phase U Motor Phase V 3 Motor Phase W 2 Frame Ground J5 2 VDC & Brake Signal 2V Input 5 2V to Brakes A Brake 3 B Brake 2 2V Return J POWER J2 REGEN J3 MOTOR A J MOTOR B J5 BRAKE L3 L2 L min H L U V W U V W 2 2 A BRK B BRK 2V RTN J5 STO Signal Signal Frame Gnd 6 STO-IN() 2 STO-IN() 7 STO-IN(-) 3 STO-IN(-) 8 STO-Mute STO-IN2() 9 STO-Gnd 5 STO-IN(-) J6 SAFETY Tech Support: sales@copleycontrols.com, Web: Page 28 of 36

29 motor connections for resolvers n N S S2 J9 ISOLATED I/O FEEDBACK A FEEDBACK B J0 J AMP NETWORK A B L/A RUN L/A ERR DEVICE ID X0 X J7 J8 Xenus Plus J2 Control (on end PAnel) Signal Signal Signal Frame Gnd 6 Signal Gnd 3 Signal Gnd 2 Ref(-) 7 5V Out3 32 5V Out3 3 Ref() 8 A-MultiEnc /S 33 A-MultiEnc S Ref2(-) 9 A-MultiEnc /X 3 A-MultiEnc X 5 Ref2() 20 A-MultiEnc /B 35 A-MultiEnc B 6 Signal Gnd 2 A-MultiEnc /A 36 A-MultiEnc A 7 [IN] GP 22 Signal Gnd 37 Signal Gnd 8 [IN2] GP 23 5V Out 38 5V Out 9 [IN3] GP 2 B-MultiEnc /S 39 B-MultiEnc S 0 [IN] GP 25 B-MultiEnc /X 0 B-MultiEnc X [IN5] HS 26 B-MultiEnc /B B-MultiEnc B 2 [IN] HS 27 B-MultiEnc /A 2 B-MultiEnc A 3 [IN2] HS 28 n.c. 3 n.c. [IN3] HS 29 n.c. Signal Gnd 5 [IN] HS 30 [IN5] J9 isolated I/O Signal Signal Signal 9 [IN8] GPI 8 [IN9] GPI 26 n.c. 8 [IN7] GPI 7 [IN6~9] COMM 25 n.c. 7 [IN6] GPI 6 n.c. 2 n.c. 6 [IN6~9] COMM 5 n.c. 23 [OUT5] 5 [IN9] GPI [OUT5-] 22 [OUT] [IN8] GPI 3 [OUT-] 2 [OUT3] 3 [IN7] GPI 2 [OUT3-] 20 [OUT2] 2 [IN6] GPI [OUT2-] 9 [OUT] Frame Ground 0 [OUT-] J0, J feedback Signal Signal Signal Frame Gnd 0 Enc /B 9 Sin() S3 2 Hall U Enc B 20 Cos(-) S 3 Hall V 2 Enc /A 2 Cos() S2 Hall W 3 Enc A 22 Ref(-) R2 5 Signal Gnd Enc /S 23 Ref() R 6 Out(2) 5 Enc S 2 IN2(22) 7 Motemp IN0(20) 6 Signal Gnd 25 Signal Gnd 8 Enc /X 7 Out(2) 26 Signal Gnd 9 Enc X 8 Sin(-) S Note: Signals unique to axis A or axis B are shown as Xxx A(B) All other signals are common to both axes A & B Tech Support: sales@copleycontrols.com, Web: Page 29 of 36

30 wiring PLUS AC power, regen, and Motor outputs: J~J Wago MCS-MIDI Classic: / (J) / (J2), 23-30/ (J3, J), female connector; with screw flange; 3-pole; pin spacing 5.08 mm / 0.2 in Conductor capacity Bare stranded: AWG 28~ [0.08~2.5 mm2] Insulated ferrule: AWG 2~6 [0.25~.5 mm2] Stripping length: 8~9 mm Operating Tool: Wago MCS-MIDI Classic: J J2 J3, J Tool ferrule part numbers: single wire insulated AWG mm 2 Color Mfgr PNUM A B C D E SL 2.5 Blue Wago (0.59) 8.0 (0.3) 2.05 (.08).2 (0.7).8 (0.9) 0 (0.39) 6.5 Black Wago ( (0.3).7 (.07) 3.5 (0.).0 (0.6) 0 (0.39) 8.0 Red Wago (.7) 6.0 (.2). (.055) 3.0 (.2) 3.5 (.) 8 (.3) Gray Wago (.7) 6.0 (.2).2 (.07) 2.8 (.) 3.3 (.3) 8 (.3) White Wago (.7) 6.0 (.2).0 (.039) 2.6 (.0) 3. (.2) 7.5 (.30) notes PNUM = Part Number SL = Stripping length Dimensions: mm (in) C D E B A 2V & brake: J5 Wago MCS-MINI: 73-05/07-000, female connector; with screw flange, 5-pole; pin spacing 3.5 mm / 0.38 in Conductor capacity Bare stranded: AWG 28~6 [0.08~.5 mm2] Insulated ferrule: AWG 2~6 [0.25~.5 mm2] Stripping length: 0.2~0.28 in[6~7 mm] Operating tool: Wago MCS-MINI: 73-9 J5 Tool ferrule part numbers: single wire insulated AWG mm 2 Color Mfgr PNUM A B C D E SL 8.0 Red Wago (.7) 6.0 (.2). (.06) 3.0 (.2) 3.5 (.) 8 (.3) Gray Wago (.7) 6.0 (.2).2 (.05) 2.8 (.) 3.3 (.3) 8 (.3) White Wago (.7) 6.0 (.2).0 (.0) 2.6 (.0) 3. (.2) 7.5 (.30) ferrule part numbers: double wire insulated AWG mm 2 Color Mfgr PNUM A B C D E SL 2 x 8 2 x.0 Red Altech (.6) 8.2 [.32] 2. (.09) 3.2 (.3) 5.8 (.23).0 (.3) 2 x 8 2 x.0 Gray Altech (.57) 8.2 (.32) 2.0 (.08) 3.0 (.2) 5.5 (.22).0 (.3) 2 x 20 2 x 0.75 White Altech (.57) 8.2 (.32).7 (.07) 3.0 (.2) 5.0 (.20).0 (.3) 2 x 20 2 x 0.75 Gray TE (.59) 8.0 (.3).70 (.07) 2.8 (.) 5.0 (.20) 0 (.39) 2 x 22 2 x 0.50 White TE (.59) 8.0 (.3).0 (.06) 2.5 (.0).7 (.9) 0 (.39) SINGLE WIRE DOUBLE WIRE E C D E C D B B A A Tech Support: sales@copleycontrols.com, Web: Page 30 of 36