Current ratings are for each axis Add -R for resolver feedback option

Transcription

1 Control Modes Profile Position-Velocity-Torque, Interpolated Position, Homing Camming, Gearing Indexer -AXIS DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS R Command Interface CANopen ASCII and discrete I/O Stepper commands ±0V position/velocity/torque PWM velocity/torque command Master encoder (Gearing/Camming) Communications CANopen DS-0 RS- Accessories External regen resistors Feedback Incremental Encoders Digital quad A/B Analog Sin/Cos Panasonic Incremental A Format Aux. quad A/B encoder / encoder out Absolute Encoders SSI, EnDat, Absolute A, Tamagawa & Panasonic Absolute A Sanyo Denki Absolute A, Biss Resolver (-R option) Brushless Resolver Other Digital Halls Safe Torque Off (STO) SIL, Category, PL d I/O Digital inputs, 7 outputs High-speed, non-isolated outputs I/O Analog, -bit inputs Dimensions: in [mm] 9. [.7] x 5.77 [6.6] x. [58.7] Model Vac Ic Ip ~0 0 0 Current ratings are for each axis Add -R for resolver feedback option DESCRIPTION set new levels of performance, connectivity, and flexibility. CANopen communications 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 (STO) can be employed. Tech Support: sales@copleycontrols.com, Web: Page of

2 GENERAL SPECIFICATIONS Test conditions: Wye connected load: mh line-line. Ambient temperature = 5 C. Power input = 0 Vac, 60 Hz, Ø MODEL -0-0 OUTPUT CURRENT (EACH AXIS) Peak Current 0 () Adc (Arms, sinusoidal) Peak time s Continuous current (Heatsink required) 0 (7) Adc (Arms, sinusoidal) INPUT POWER Mains voltage, phase, frequency 00~0 Vac, ±0%, Ø or Ø, 7~6 Hz Maximum Mains Current, Ø (Note ) 0 Arms Maximum Mains current, Ø (Note ) 5. Arms Vdc Control power 0 to Vdc, 0.5~. Adc (Note ) Required for operation DIGITAL CONTROL Digital Control Loops Current, velocity, position. 00% digital loop control Sampling rate (time) Current loop: 6 khz (6.5 µs), Velocity & position loops: khz (50 µs) Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth Minimum load inductance 00 µh line-line COMMAND INPUTS (NOTE: DIGITAL INPUT FUNCTIONS ARE PROGRAMMABLE) Distributed Control Modes CANopen 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 ( MHz maximum rate) Quad A/B Encoder M line/sec, 8 Mcount/sec (after quadrature) Digital torque & velocity reference PWM, Polarity PWM = 0% - 00%, Polarity = /0 PWM 50% PWM = 50% ±50%, no polarity signal required PWM frequency range khz minimum, 00 khz maximum PWM minimum pulse width 0 ns Indexing Up to sequences can be launched from inputs or ASCII commands. Camming Up to 0 CAM tables can be stored in flash memory ASCII RS-, DTE, 9600~5,00 Baud, -wire, RJ- connector DIGITAL INPUTS Number [IN,] Digital, Schmitt trigger, µs RC filter, Vdc compatible, programmable pull-up/down to 5 Vdc/ground, Vt =.5~.5 Vdc, VT- =.~. Vdc, VH = 0.7~.5 Vdc [IN, ] Digital, Schmitt trigger, µs RC filter, Vdc compatible, pull-up to 5 Vdc Vt =.5~.5 Vdc, VT- =.~. Vdc, VH = 0.7~.5 Vdc [IN~5,~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. Vdc, Vin-HI.7 Vdc, VH = 5 mv typ, DIFF: Vin-LO 00 mvdc, Vin-HI 00 mvdc, VH = 5 mv typ, [IN6~9,6~9] Opto-isolated, single-ended, ±5~0 Vdc compatible, bi-polar, groups of with common return for each group Rated impulse 800 V, Vin-LO 6.0 Vdc, Vin-HI 0.0 Vdc, Input current ±.6 ± Vdc, typical [IN0,0] Motor overtemp signals on feedback connectors,, Schmitt trigger, Vdc compatible 0 µs RC filter,.99k pullup to 5 Vdc, Vt =.5~.5 Vdc, VT- =.~. Vdc, VH = 0.7~.5 Vd SAFE TORQUE OFF (STO) INPUTS Function PWM outputs inactive and current to the motor will not be possible when the STO function is activated Standard Conformance to IEC 6508-, IEC 6508-, IEC , ISO 89- Safety Integrity Level SIL, Category, Performance Level d Inputs two-terminal: STO-,STO--, STO-, STO-- Type Opto-isolators, V compatible, Vin-LO 6.0 Vdc or open, Vin-HI 5.0 Vdc, Input current (typical) STO-:. ma, STO-:. ma Response time ms (IN, IN) from Vin 6.0 Vdc to interruption of energy supplied to motor Reference Complete information and specifications are in the Xenus Plus Dual-Axis STO Manual ANALOG INPUTS Number [AIN~] Differential, ±0 Vdc, 5 kω input impedance, -bit resolution DIGITAL OUTPUTS Number 7 [OUT~5] Opto-isolated solid-state relays, 60 madc max, Vdc tolerant, Rated impulse 800 V, series 0 ohm resistor MOSFET channel connects the (±) outputs, Rds-On = 0Ω 60 madc, max Vout = Vdc Td-ON = 5000 µs 60 ma, Td-OFF = 5000 µs 60 ma, times include rise/fall times [OUT6~7] Motor brake control: opto-isolated, current-sinking with flyback diode to Vdc (J5-~5), Adc max, Rated impulse 800 V Td-ON = 50 µs 0 ma, Td-OFF = 50 µs 00 ma, times include rise/fall times, Programmable for other functions if not used for brake RS- PORT s RxD, TxD, Gnd in 6-position, -contact RJ- style modular connector, non-isolated, common to Ground Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 5,00 baud Protocol Binary and ASCII formats CANOPEN PORTS Format Dual RJ-5 receptacles, 00BASE-TX Protocol CANopen, CAN application layer over CANopen (CoE) STATUS INDICATORS AMP, Bicolor LEDs, status of each axis indicated by color, and blinking or non-blinking condition NETWORK, LED, status of CANopen bus indicated by color and blink codes to ETG 00 S(R) V.0. 5V OUTPUT Number, two on the feedback connectors (J0, J), two on the control connector (J) for the A and B multi-mode ports Ratings (each) ma, thermal and overload protected Tech Support: sales@copleycontrols.com, Web: Page of

3 NOTES:. Heatsinking and/or forced-air cooling is required for continuous output power rating. Order -0-0 with -H option for factory-installed heatsink, or order -HK for user-installed kit.. The actual mains current is dependent on the mains voltage, number of phases, and motor load and operating conditions. The Maximum Mains Currents shown occur when the drive is operating from the maximum input voltage and is producing the rated continuous output current at the maximum output voltage from both axes.. With no encoders connected the minimum current requirement for the V supply is 500 ma With four encoders operating at the maximum 500 ma rating of the four supplies the current requirement is ~. Adc 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 PROTECTIONS HV Overvoltage HV > 00 Vdc ± Vdc Drive PWM outputs turn off until HV is less than overvoltage HV Undervoltage HV < 60 Vdc ± Vdc Drive PWM outputs turn off until HV is greater than undervoltage AC Mains Loss Loss of mains power between L & L is detected Drive over temperature IGBT > 80 C C, -0 C Drive PWM outputs turn off until IGBT temperature is below threshold Short circuits Motors: Output to output, output to ground, output to HV, internal PWM bridge faults Regen: Regen to ground, Regen- to HV I 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 AC power loss Interruption of mains power can be detected V power input reversal No damage to the drive if the V power connections are reversed MECHANICAL & ENVIRONMENTAL Size 9. [.7] x 5.77 [6.6] x. [58.7] in[mm] Weight. lb [. kg] for drive without heatsink.6 lb [.65 kg] for -HK heatsink Ambient temperature 0 to 0 C operating, -0 to 85 C storage Humidity 0% to 95%, non-condensing Contaminants Pollution degree Vibration g peak, 0~500 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 Approvals UL and cul recognized component to UL (file no. E68959) TÜV SÜD Functional Safety to IEC 6508 and ISO 89 (pending) Functional Safety IEC 6508-, IEC 6508-, EN (ISO ) 89-, EN (ISO) 89-, IEC (see The Xenus Plus Dual-Axis STO Manual for further detail) Electrical Safety Directive 006/95/EC Low Voltage: IEC :007 UL EMC Directive 00/08/EC EMC: IEC 6800-:00A:0 IEC 66--:008 Hazardous Substances Lead-free and compliant Tech Support: sales@copleycontrols.com, Web: Page of

4 FEEDBACK SPECIFICATIONS Xenus PLUS -Axis CANopen FEEDBACK (ENCODER VERSION ONLY) Incremental: Digital Incremental Encoder Quadrature signals, (A, /A, B, /B, X, /X), differential (X, /X Index signals not required) 5 MHz maximum line frequency (0 M counts/sec) MAX097 differential line receiver with Ω terminating resistor between complementary inputs Analog Incremental Encoder Sin/cos format (sin, sin-, cos, cos-), differential, Vpeak-peak, ServoTube motor compatible, BW > 00 khz, Ω terminating resistor between complementary inputs Analog Index signal Differential, Ω terminating resistor between complementary inputs, Vpeak-peak zero-crossing detect Absolute: SSI Clock (X, /X), Data (S, /S) signals, -wire, clock output from, 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 SD, SD- (S, /S) signals,.5 or MHz, -wire half-duplex communication position feedback: -bit resolution per rev, 6 bit revolution counter (9 bit absolute position data) status data for encoder operating conditions and errors BiSS (B&C) MA, MA- (X, /X), SL, SL- (S, /S) signals, -wire, clock output from, data returned from encoder DIGITAL HALLS Type Inputs MULTI-MODE ENCODER PORT As Input As Emulated Output Digital, single-ended, 0 electrical phase difference between U-V-W signals, Schmitt trigger, µs RC filter, Vdc compatible, programmable pull-up/down to 5 Vdc/ground, Vt =.5~.5 Vdc, VT- =.~. Vdc, VH = 0.7~.5 Vdc 0 kω pullups to 5 Vdc, µs RC filter to Schmitt trigger inverters Digital quadrature encoder (A, /A, B, /B, X, /X), Ω terminating resistors 8 M-counts/sec, post-quadrature (.5 M-lines/sec) Digital absolute encoder (Clk, /Clk, Dat, /Dat) half or full-duplex operation, Ω terminating resistors Quadrature encoder emulation with programmable resolution to 096 lines (65,56 counts) per rev from analog sin/cos encoders or resolvers. A, /A, B, /B, X, /X, from MAX0 differential line driver Digital encoder feedback signals from primary digital encoder are buffered by MAX0 line driver As Buffered Output RESOLVER (-R OPTION) Type Brushless, single-speed, : to : programmable transformation ratio Resolution bits (equivalent to a 096 line quadrature encoder) Reference frequency 8.0 khz Reference voltage.8 Vrms, auto-adjustable by the drive to maximize feedback Reference maximum current 00 ma Maximum RPM 0,000 Sin/Cos inputs Differential, 5kΩ ±% differential impedance,.0 Vrms, BW 00 khz Tech Support: sales@copleycontrols.com, Web: Page of

5 CANOPEN CONNECTORS Dual RJ-5 connectors that accept standard Ethernet cables are provided for CAN bus connectivity. s are wired-through so that drives can be daisy-chained and controlled with a single connection to the user s CAN interface. A CAN terminator should be placed in the last drive in the chain. The XTL-NK connector kit provides a D-Sub adapter that plugs into a CAN controller and has an RJ-5 socket that accepts the Ethernet cable. CANOPEN Based on the CAN V.0b physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost and noise-immunity are essential, CANopen adds support for motion-control devices and command synchronization. The result is a highly effective combination of data-rate and low cost for multi-axis motion control systems. Device synchronization enables multiple axes to coordinate moves as if they were driven from a single control card. CANOPEN COMMUNICATION Xenus uses the CAN physical layer signals CAN_H, CAN_L, and CAN_GND for connection, and CANopen protocol for communication. The CAN bus signals are optically isolated from all of the drive circuits. Before installing the drive in a CAN system, it must be assigned a CAN address. A maximum of 7 CAN nodes are allowed on a single CAN bus. The rotary switches on the front panel control the bits of the seven-bit CAN address. For more information on CANopen communications, download the CANopen Manual from the Copley web-site: -NK CAN CONNECTOR KIT The kit contains the -CV adapter that converts the CAN interface D-Sub 9M connector to an RJ-5 Ethernet cable socket, plus a 0 ft ( m) cable and terminator. Both connector pin-outs conform to the CiA DR-0- specification. 6 8 J J5 8 J7 CAN CONNECTIONS 9 5 D-Sub 9F CAN_L CAN_GND CAN_H 7 RJ-5 CAN_L CAN_GND CAN_H CAN NETWORK NODE ADDRESS In an CANopen network, nodes are assigned addresses ~7. Address 0 is reserved for the CAN bus master. In the, the node address is provided by two 6-position rotary switches with hexadecimal encoding. These can set the address of the drive from 0x0~0x7F (~7 decimal). The chart shows the decimal values of the hex settings of each switch. S S X6 X CME -> Amplifier -> Network Configuration CANopen Address Switches To find the address given the switch settings: Node Address = (S * 6) S Example: S = 5, S = B S value = (5*6) = 80, S value = Hex(B) =, Address = 80 = 9 To find the switch settings for a given address: S = The integer part of (Address / 6) S = Hex (Address - (S * 6) ) Example: Address = 9 S = 9/6 = 5.69, integer part = 5, (5*6) = 80 S = Hex (9-80) = = 0xB S S HEX DEC A Not 0 B Used C for CAN D Addr E F 5 Tech Support: sales@copleycontrols.com, Web: Page 5 of

6 COMMUNICATIONS AMP LEDS Bi-color LEDs on J7 give the state of each axis of the Xenus drive. Colors do not alternate, and can be solid ON or blinking: Green/Solid = Drive OK and enabled. Will run in response to reference inputs or CANopen commands. Green/Slow-Blinking = Drive OK but NOT-enabled. Will run when enabled. Green/Blink-twice = Drive OK but STO function is active (pause after double-blink) Green/Fast-Blinking = Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch. Red/Solid = Transient fault condition. Drive will resume operation when fault is removed. Red/Blinking = Latching fault. Operation will not resume until fault is cleared or drive is Reset. The Axis A & B LEDs are shown in green to identify their locations, but can take on any of the colors described above. Axis A Axis B J7 RS- COMMUNICATIONS is configured via a three-wire, full-duplex DTE RS- port that operates from 9600 to 5,00 Baud, 8 bits, no parity, and one stop bit. format is full-duplex, -wire, DTE using RxD, TxD, and Gnd. Connections to the RS- port are through J7, an RJ- connector. The Serial Cable Kit (SER-CK) contains a modular cable, and an adapter that connects to a 9-pin, Sub-D serial port connector (COM, COM, etc.) on PC s and compatibles. After power-on or a reset, the Baud rate will be 9,600. After connecting at that rate, the Baud rate can be programmed to a 5,00 (max) and will remain at that rate until power-on or reset. Sending an ASCII Break character will reset the Baud rate to 9,600. SER-CK SERIAL CABLE KIT The SER-CK provides connectivity between a D-Sub 9 male connector and the RJ- connector on the. It includes an adapter that plugs into the COM (or other) port of a PC and uses common modular cable to connect to the. The connections are shown in the diagram below D-Sub 9F RxD TxD Gnd Dsub-9F to RJ Adapter 5 5 RJ- cable 6P6C Straight-wired TxD RxD Gnd 6 RJ- on Servo Drive J7: RS- PORT RJ- receptacle, 6 position, contact PIN SIGNAL RxD, Gnd 5 Txd Don t forget to order a Serial Cable Kit SER-CK when placing your order for an! ASCII COMMUNICATIONS The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet, Stepnet, and Xenus series amplifiers over an RS- serial connection. For instance, after basic amplifier configuration values have been programmed using CME, 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 5,00 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 (9,00, 57,600, 5,00). ASCII parameter 0x90 holds the Baud rate data. To set the rate to 5,00 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

7 SAFE TORQUE OFF (STO) DESCRIPTION The 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 drive s 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 to be activated, current must be flowing through all of the opto-couplers that are connected to the STO- and STO- 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 to be enabled. STO BYPASS CONNECTIONS Bypass Plug Connections Jumper pins: -, -5, 6-8, 7-9 * Xenus Plus Dual-Axis V_in PWM s J6 EN Voltage Regulator VI Buffer Current must flow through all of the opto-couplers before the can be enabled STO-() STO-(-) VI Upper IGBT Gate Drive HV * STO bypass connections on the 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 and can be replaced by a wire between pins 7 and STO-() STO-(-) STO-() VI Lower IGBT Gate Drive PWM Outputs * 7 8 STO-(-) STO-PWR (6.5 ma) 9 STO-GND (Sgnd) Frame Ground * XE and XEL-XPL STO bypass connections are different. The diode shown should be used if XE and XEL-XPL drives are used on the same equipment. Otherwise, the diode may be replaced by a jumper. XE STO bypass connectors are not compatible with XEL-XPL drives. SAFETY CONNECTOR J6 SAFETY J6 SIGNALS PIN SIGNAL PIN SIGNAL Frame Gnd 6 STO-() STO-() 7 STO-(-) STO-(-) 8 STO-PWR STO-() 9 STO-Gnd 5 STO-(-) Tech Support: sales@copleycontrols.com, Web: Page 7 of

8 COMMAND INPUTS 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 Ω line-terminators. SINGLE-ENDED PULSE & DIRECTION DIFFERENTIAL PULSE & DIRECTION IN() Pulse IN5(5) Direction 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) CD (Count-Down) IN() IN() IN() IN5(5) IN() IN() IN() IN5(5) PULSE PULSE- DIRECTION DIRECTION- PULSE PULSE- DIRECTION DIRECTION- QUAD A/B ENCODER DIFFERENTIAL Encoder ph. A Encoder ph. B IN() IN() IN() IN5(5) Enc. A Enc. /A Enc B Enc /B COMMAND SINGLE-ENDED Axis A Axis B Pls, Enc A 0 5 Dir, Enc B 0 Sgnd 6,6,,,7, Shld COMMAND DIFFERENTIAL Axis A Axis B Pls, Enc A 8 /Pls, Enc /A 9 Dir, Enc B 0 5 /Dir, Enc /B 0 Sgnd 6,6,,,7, Shld 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% IN() IN() IN() IN5(5) PWM PWM- Direction Direction- COMMAND SINGLE-ENDED Axis A Axis B PWM 0 5 Dir 0 Sgnd 6,6,,,7, Shld SINGLE-ENDED 50% PWM Duty = 50% ±50% <no connection> IN() IN5(5) Current or Velocity No function DIFFERENTIAL 50% PWM Duty = 50% ±50% IN() IN() Curr/Vel Curr/Vel- COMMAND DIFFERENTIAL Axis A Axis B PWM 8 /PWM 9 Dir 0 5 <no connection> IN() IN5(5) No Function /Dir 0 Sgnd 6,6,,,7, Shld Tech Support: sales@copleycontrols.com, Web: Page 8 of

9 MULTI-MODE ENCODER PORT This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive. With quad A/B encoder feedback on the motor, the port works as an output, buffering the signals from the motor encoder. With resolver or sin/cos encoder versions, the feedback is converted to emulated quad A/B/X 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 commands in camming mode. In addition, the port can take stepper command signals (CU/CD or Pulse/Direction) in differential format. AS COMMAND INPUTS AS DIGITAL COMMAND INPUTS IN PULSE/DIREC- TION, 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. Pulse/Dir or CU/CD differential commands MAX097 MAX0 Input/Output Select COMMAND INPUT MULTI-PORT Axis A Axis B Pls, Enc A 6 /Pls, Enc /A 7 Dir, Enc B 5 /Dir, Enc /B 0 6 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. A/B/X signals from digital encoder MAX097 MAX0 Input/Output Select Enc X 0 Enc /X 9 5 Sgnd 6,6,,,7, Shld AS AN OUTPUT FOR FEEDBACK SIGNALS TO AN EXTERNAL CONTROLLER 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 J8, 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. Buffered A/B/X signals from primary encoder Secondary Encoder Input MAX097 MAX0 Input/Output Select Quad A/B/X primary encoder EMULATED QUAD A/B/X MULTI-PORT Axis A Axis B Enc A 6 Enc /A 7 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. Emulated A/B/X signals Secondary Encoder Input MAX097 MAX0 Input/Output Select Emulated Quad A/B signals from analog Sin/Cos encoder or resolver Enc B 5 Enc /B 0 6 Enc X 0 Enc /X 9 5 Sgnd 7 Shld Tech Support: sales@copleycontrols.com, Web: Page 9 of

10 Xenus PLUS -Axis CANopen PROGRAMMABLE DIGITAL INPUTS Use this chart shows as a quick reference to the inputs and their characteristic R/C combinations. [IN~] SIGNALS Input R R C Input R R C *IN J-7 0k 0k 00p *IN J- 0k 0k 00p [INx] R 5 R Vmax V *IN J-8 *IN J- *IN J-9 *IN J- 0k k 00p *IN J-0 *IN J-5 *IN5 J- *IN5 J-0 0k k 00p C * 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 IN6 J9- IN6 J9-7 IN7 J9- IN7 J9-8 IN8 J9- Opto IN8 J9-9 Opto IN9 J9-5 IN9 J9-8 ICOM J9-6 ICOM J9-7 IN0 J0-7.99k 0k n IN0 J-7.99k 0k n IN J0-0k 0k 00p IN J- 0k 0k 00p INPUTS WITH PROGRAMMABLE PULL UP/DOWN Input PU/PD Input PU/PD [INx] 0k 0k 7HC IN J-7 IN J- 5 IN J-8 IN J- 6 IN J-9 IN J- 7 00p IN J-0 IN J-5 IN5 J- IN5 J-0 8 SINGLE-ENDED/DIFFERENTIAL DIGITAL INPUTS [IN~5,~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 [IN~5,~5] SIGNALS S.E. Diff S.E. Diff Input Input Input Input IN IN J-8 IN IN J- IN IN- J-9 IN IN- J- IN IN J-0 IN IN J-5 IN5 IN- J- IN5 IN- J-0 SINGLE-ENDED DIFFERENTIAL Vdc max Vdc max V J Control V J Control 0k k MAX096 0k k MAX096 [IN,,,] 00 pf [IN,,,] 00 pf.5v 0k k 0k k [IN,5,,5] 00 pf MAX096 [IN,5,,5] 00 pf PLC outputs are frequently current-sourcing from V 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

11 Xenus PLUS -Axis CANopen OPTO-ISOLATED DIGITAL INPUTS These inputs have all the programmable functions of the GP inputs plus opto-isolation. There are two groups of four inputs, each with its own 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 V, then 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. [IN6~9] ±0 Vdc max IN THE GRAPHICS BELOW, V IS FOR CONNECTIONS TO CURRENT-SOURCING OUTPUTS AND GND IS FOR CURRENT-SINKING OUTPUTS ON THE CONTROL SYSTEM [IN6~9] ±0 Vdc max V GND J9 V GND J9 V [COMM] 6 V [COMM] 7 [IN6].7k [IN6].7k.99k 5.V 7.99k 5.V.7k [IN7].99k 5.V ±0Vmax ±V typical V.7k [IN7] 8.99k 5.V.7k [IN8].99k 5.V.7k [IN8] 9.99k 5.V [IN9].7k [IN9].7k V 5.99k 5.V V 8.99k 5.V [IN6~9,6~9] SIGNALS s s These inputs work with current-sourcing OR current-sinking connections. Connect the COMM to controller ground/common for current-sourcing connections and to 5~V from the controller for current-sinking connections. IN6 J9- IN6 J9-7 IN7 J9- IN7 J9-8 IN8 J9- IN8 J9-9 IN9 J9-5 IN9 J9-8 COMM J9-6 COMM J9-7 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] SIGNALS Axis A J s Axis B [AIN A,B] D/A F.G. ±0V J Frame Ground AIN - AIN() 5 AIN- Vref AIN(-) Sgnd 6,6,,,7, Shield ±0V 5 6 AIN AIN- Sgnd -.5V Vref.5V Tech Support: sales@copleycontrols.com, Web: Page of

12 OUTPUTS OPTO-ISOLATED OUTPUTS [OUT~5] 0 Vdc max Zener clamping diodes across outputs allow driving of resistive-inductive (R-L) loads without external flyback diodes. [OUT~5] SIGNALS s s [OUT] J9-9 [OUT-] J9-0 [OUT] J9-0 [OUT-] J9- [OUT] J9- [OUT-] J9- ASSR-8 Turnoff Circuit [OUTn] 0 J9 00Ω min* 60mA max [OUT] J9- [OUT-] J9-6V Vdc [OUT5] J9- [OUT5-] J9- HI/LO DEFINITIONS: [OUT~5] [OUTn-] * at Vdc Input State Condition HI Output transistor is ON, current flows OUT~5 LO Output transistor is OFF, no current flows ±0Vmax ±V typical V BRAKE OUTPUTS [OUT6,7] These outputs are open-drain MOSFETs 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. [OUT6~7] BRAKE SIGNALS s BRK-A [OUT6] J5- BRK-B [OUT7] J5- BRK-V J5- HI/LO DEFINITIONS: [OUT6~7] BRAKE Input State Condition BRK-A,B OUT6,7 HI LO 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 CME 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 CME I/O Line States shows Output 6 or 7 as HI BRK Output voltage is HI (V), 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 CME 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 V BRK-V BRK-A,B RTN J5 5, BRK V Tech Support: sales@copleycontrols.com, Web: Page of

13 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. 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 MAX097 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 Ω 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 < 00mV. The 097E 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.v CONNECTIONS WITH A/B/X ENCODER CONNECTIONS WITH NO INDEX SIGNAL Encoder J0,J Encoder J0,J A B Z FG A Frame Ground /A B /B X /X Enc. A Enc. B Enc. Index A/B/X SIGNALS J0,J Enc A Enc /A Enc B Enc /B 0 Enc X 9 Enc /X 8 FG Frame Ground Z Enc. Index 6 /X 00 ma Sgnd 5 0V Ground 00 ma Shld 0V 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 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 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. A B A /A B /B X Enc. A Enc. B ANALOG SIN/COS INCREMENTAL ENCODER The sin/cos/idx 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. 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. Encoder FG sin cos indx J0,J Frame Ground Sin() 0k - Sin(-) 0k 0k Cos() - Cos(-) 0k Idx() 0k - Idx(-) 0k 00 ma Sin Cos Indx SIN/COS SIGNALS J0,J Sin() 9 Sin(-) 8 Cos() Cos(-) 0 Idx() Idx(-) 7 Sgnd 6 Shld S R Resolver FG Sin S S Cos S Ref R J0,J Frame Ground Sin() S Sin(-) S R/D Conversion Cos() S Cos(-) S Ref() R Ref(-) R Ground RESOLVER SIGNALS J0,J Sin() S 9 Sin(-) S 8 Cos() S Cos(-) S 0 Ref() R Ref(-) R 7 Sgnd 6 Shld 0V Ground Tech Support: sales@copleycontrols.com, Web: Page of

14 MOTOR CONNECTIONS (CONT D) Xenus PLUS -Axis CANopen 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 Clk Data FG 0V J0,J Frame Ground Clk /Clk Dat /Dat A B 00 ma Ground A B Clk Data SSI,BiSS SIGNALS J0,J Clk 9 /Clk 8 Data 5 /Data 6,7 Sgnd 5,6 Shld BiSS ABSOLUTE ENCODER BiSS is an - Open Source - digital interface for sensors and actuators. BiSS refers to principles of well known industrial standards for Serial Synchronous Interfaces like SSI, AS-Interface and Interbus with additional options. Serial Synchronous Data Communication Cyclic at high speed unidirectional lines Clock and Data Line delay compensation for high speed data transfer 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 BiSS Encoder FG Master Slave J0,J Frame Ground MA SL MA- SL- Clk Data 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. V V- 00 ma Ground Encoder FG Clk Data sin J0,J Frame Ground Clk A /Clk B Dat A /Dat B Sin() Sin(-) 0k 0k - Clk Data Sin ENDAT SIGNALS J0,J Clk 9 /Clk 8 Data 5 /Data Sin() 9 Sin(-) 8 Cos() Cos(-) 0 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 Absolute-A Encoder 5V.k SD 0 SD-.k V J0,J Frame Ground Dat /Dat 00 ma Cmd D-R SD cos Cos() Cos(-) 0k 0k - Cos 6,7 Sgnd 5,6 Shld MAX6B V- 0V Ground ABSOLUTE-A SIGNALS 0V 00 ma Ground J0,J Data 5 /Data 6,7 Sgnd 5,6 Shld Tech Support: sales@copleycontrols.com, Web: Page of

15 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,J-) for best results. MOTOR SIGNALS J,J Mot U Mot V Mot W Shield HV 0V PWM J,J F.G. W V U Grounding tab Motor ph. 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. J0,J HALL SIGNALS J0,J Hall U Hall V Hall W 6,7 Sgnd 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. 5,6 5,6 Halls Hall A Hall B Hall C 0V J0,J 0K Hall U 0K 00p 0K Hall V 0K 00p 0K Hall W 0K 00p 00 ma Ground Motemp.99k 0k Thermistor, Posistor, or switch Gnd n MOTEMP SIGNALS Motemp A J0-7 Motemp B J-7 Sgnd J0,J -5,6,5,6 0Vmax V typical V Property Resistance in the temperature range 0 C to 70 C Resistance at 85 C Resistance at 95 C Resistance at 05 C Ohms 60~ Tech Support: sales@copleycontrols.com, Web: Page 5 of

16 MOTOR CONNECTIONS (CONT D) Xenus PLUS -Axis CANopen MULTI-MODE ENCODER PORT 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 MAX097 MAX0 Input/Output Select EMULATED QUAD A/B/X MULTI-PORT J Axis A Axis B Enc A 6 Enc /A 7 Enc B 5 Enc /B 0 6 Enc X 0 Enc /X 9 5 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 - MAX097 MAX0 Input/Output Select Sgnd 7 Shld ABSOLUTE ENCODER, FULL-DUPLEX MODE Full-duplex Absolute encoder FG Master Slave V J Frame Ground MA MA- SL SL- 00 ma Clk Data FULL-DUPLEX ENCODERS SSI BiSS EnDat HALF-DUPLEX ENCODERS Absolute-A Sanyo Denki Absolute-A Tamagawa Absolute-A FULL-DUPLEX SIGNALS J Axis A Axis B Clk 0 /Clk 9 5 Dat 9 /Dat 8 Sgnd 7 Shld V- Ground ABSOLUTE ENCODER, HALF-DUPLEX MODE SD D-R Half-duplex Absolute encoder 5V.k 0 SD-.k SD J Frame Ground Dat /Dat Cmd D-R HALF-DUPLEX SIGNALS J Axis A Axis B Dat 9 /Dat 8 Sgnd 7 Shld Cmd V 00 ma SD MAX6B V- 0V Ground Tech Support: sales@copleycontrols.com, Web: Page 6 of

17 MOTOR CONNECTIONS FOR INCREMENTAL DIGITAL ENCODERS The connections shown may not be used in all installations XE Shield Enc A Enc /A A /A Enc B Enc /B 0 B /B DIGITAL ENCODER Enc X 9 X J0 J Enc /X Out Sgnd [IN,] /X Vcc 0V FLT Hall U Hall V Hall W DIGITAL HALLS Gnd Motemp 5 7 TEMP SENSOR V 5 V J5 Brake A Brake B Axis A Brake Axis B Brake Vdc Gnd - J J Mot U Mot V Mot W * Fuse * Fuse U V W BRUSHLESS MOTOR Shield Grounding tab NOTES: ) Out on J0 & J are independent power supplies and each is rated for 00 ma ) CE symbols indicate connections required for CE compliance. Tech Support: sales@copleycontrols.com, Web: Page 7 of

18 MOTOR CONNECTIONS FOR INCREMENTAL ANALOG (SIN/COS) ENCODERS The connections shown may not be used in all installations XE Shield Enc Sin() Enc Sin(-) 9 8 Sin Sin- Enc Cos() Enc Cos(-) 0 Cos Cos- ANALOG ENCODER Enc Index() Ndx J0 J Enc Index(-) Out Sgnd [IN,] 6 5 Ndx- Vcc 0V FLT Hall U Hall V Hall W DIGITAL HALLS Gnd Motemp 5 7 TEMP SENSOR V 5 V J5 Brake A Brake B Axis A Brake Axis B Brake Vdc Gnd - J J Mot U Mot V Mot W * Fuse * Fuse U V W BRUSHLESS MOTOR Shield Grounding tab NOTES: ) Out on J0 & J are independent power supplies and each is rated for 00 ma ) CE symbols indicate connections required for CE compliance. Tech Support: sales@copleycontrols.com, Web: Page 8 of

19 MOTOR CONNECTIONS FOR RESOLVERS The connections shown may not be used in all installations XE Shield Rlvr Sin() Rlvr Sin(-) 9 8 Sin S Sin- S Rlvr Cos() Rlvr Cos(-) 0 Cos S Cos- S RESOLVER Rlvr Ref() Ref R J0 J Rlvr Ref(-) Out 6 Ref- R Sgnd 5 [IN,] Hall U Hall V Hall W Gnd Motemp 5 TEMP SENSOR 7 V 5 V J5 Brake A Brake B Axis A Brake Axis B Brake Vdc Gnd - J J Mot U Mot V Mot W * Fuse * Fuse U V W BRUSHLESS MOTOR Shield Grounding tab NOTES: ) Out on J0 & J are independent power supplies and each is rated for 00 ma ) CE symbols indicate connections required for CE compliance. Tech Support: sales@copleycontrols.com, Web: Page 9 of

20 INPUT CONNECTIONS FOR AXIS A CME SCREEN FOR INPUTS [IN~IN0] Xenus PLUS -Axis CANopen INPUT DATA [IN] [IN6~9] Input R R C PullUp = 5V PullDown = 0V V GND J9 IN J-7 0k 0k 00p IN J-8 IN J-9 0k k 00p IN J-0 [INx] 0k 0k 7HC 00p V [COMM] 6 [IN6].99k 5.V.7k IN5 J- IN6 J0- IN7 J0- IN8 J0- IN9 J0-5 ICOM J0-6 Opto 0Vmax V typical V Vmax [IN~5] V J Control 0k k [IN,,,] 00 pf MAX096.7k [IN7].99k 5.V.7k [IN8].99k 5.V IN0 J-7.99k 0k n IN J- 0k 0k 00p 0k k.5v V.7k [IN9] 5.99k 5.V HI/LO DEFINITIONS: INPUTS [IN,5,,5] 00 pf MAX096 Input State Condition IN,0, IN~5 IN6~9 HI LO HI LO HI LO Vin >=.5 Vdc Vin <=. Vdc Vin >.5 Vdc Vin <.5 Vdc Input diode ON Input diode OFF 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. INPUTS WITH PROGRAMMABLE PULL UP/DOWN Input PU/PD IN J-7 IN J-8 IN J-9 IN J-0 IN5 J- [IN0].99k [INx] 0k 7HCG n [IN] 0k [INx] 0k 7HC 00p Tech Support: sales@copleycontrols.com, Web: Page 0 of

21 INPUT CONNECTIONS FOR AXIS B CME SCREEN FOR INPUTS [IN~IN0] Xenus PLUS -Axis CANopen INPUT DATA [IN] [IN6~9] Input R R C PullUp = 5V PullDown = 0V V GND J9 IN J- 0k 0k 00p IN J- IN J- 0k k 00p IN J-5 IN5 J-0 IN6 J9-7 0Vmax V typical V [INx] 0k [IN~5] 0k 7HC 00p V [COMM] [IN6].99k 5.V [IN7].99k 5.V.7k.7k IN7 J9-8 Vmax V J Control IN8 J9-9 IN9 J9-8 Opto 0k k [IN,,,] MAX096 9 [IN8].99k 5.V.7k ICOM J pf IN0 J-7.99k 0k n IN J- 0k 0k 00p 0k k.5v V 8 [IN9].99k 5.V.7k HI/LO DEFINITIONS: INPUTS Input State Condition [IN,5,,5] 00 pf MAX096 IN,0, IN~5 IN6~9 HI LO HI LO HI LO Vin >=.5 Vdc Vin <=. Vdc Vin >.5 Vdc Vin <.5 Vdc Input diode ON Input diode OFF 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. INPUTS WITH PROGRAMMABLE PULL UP/DOWN Input PU/PD IN J- 5 IN J- 6 IN J- 7 IN J-5 8 IN5 Jv-0 [IN0] [INx].99k 0k 7HCG n [IN] 0k [INx] 0k 7HC 00p Tech Support: sales@copleycontrols.com, Web: Page of

22 OUTPUT CONNECTIONS CME SCREEN FOR OUTPUTS [OUT~] OUTPUT DATA [OUT~] SIGNALS s s [OUT] J9-9 [OUT-] J9-0 [OUT] J9-0 [OUT-] J9- [OUT] J9- [OUT-] J9-0Vmax V typical V [OUT~] ASSR-8 Turnoff Circuit J9 [OUTn] 0 6V 00Ω min* 60mA max Vdc [OUT] J9- [OUT-] J9- [OUTn-] * at 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 of

23 OUTPUT CONNECTIONS CME SCREEN FOR OUTPUTS [OUT5~7] OUTPUT DATA [OUT5~7] SIGNALS [OUT5] s [OUT5] J9- [OUT5-] J9- [OUT6] J5-0Vmax V typical V ASSR-8 Turnoff Circuit [OUTn] 0 J9 00Ω min* 60mA max [OUT7] J5-6V Vdc HI/LO DEFINITIONS: OUTPUTS Input State Condition HI Output transistor is ON, current flows OUT5 LO Output transistor is OFF, no current flows BRK-A,B OUT6,7 HI LO 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 CME 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 CME I/O Line States shows Output 6 or 7 as HI BRK Output voltage is HI (V), 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 CME 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] V BRK-V BRK-A,B RTN J5 s Brake A J5- Brake B J5- [OUTn-] 5, BRK V * at Vdc Tech Support: sales@copleycontrols.com, Web: Page of

24 Quad A/B Encoder WARNING: Hazardous voltages exist on connections to J, J, J & J when power is applied, and for up to 0 seconds after power is removed. J CABLE CONNECTOR: Wago: 7-0/06-05 Euro-style 7,5 mm pluggable female terminal block with preceding ground receptacle Cable: AWG ~, 600 V recommended Shielded cable required for CE compliance J CABLE CONNECTOR: Wago: 7-60/000-0 Euro-style 5,0 mm pluggable male terminal block Cable: AWG, 600 V recommended Shielded cable required for CE compliance J & J CABLE CONNECTOR: Wago: 7-0/06-07 Euro-style 5,0 mm pluggable female terminal block Cable: AWG, 600V Shielded cable required for CE compliance J5 CABLE CONNECTOR: Wago: 7-05/06-07 Euro-style 5.0 mm pluggable female terminal block Cable: AWG 8~ (0.08~.5 mm ) J6 CABLE CONNECTOR: D-Sub male, 9 Position J6 SAFE TORQUE OFF PIN SIGNAL PIN SIGNAL Frame Gnd 6 STO-() STO-() 7 STO-(-) STO-(-) 8 STO_Bypass() STO-() 9 STO_Gnd 5 STO-(-) ISOLATED CIRCUIT J MAINS CONNECTIONS Mains Input L Protective Earth Mains Input L Mains Input L J REGEN RESISTOR Regen Regen - Frame Ground J & J MOTOR OUTPUTS Motor Phase U Motor Phase V Motor Phase W Frame Ground J5 VDC & BRAKE V Input 5 Brake V Output Brake A Brake B V Return J J J J J J5 J6 J J J J5 J6 SAFETY L B L L RGN RGN- U V W U V W A AMP MOT A MOT B BRK A BRK B RTN Tech Support: sales@copleycontrols.com, Web: Page of

25 Quad A/B Encoder J CONTROL SIGNALS (MOUNTED ON END OF UNIT, SEE PAGE 9) PIN SIGNAL PIN SIGNAL PIN SIGNAL L B L L A AMP RGN RGN- J7 L /A L /A RUN ERR S J8 J7 OUT IN J8 Frame Gnd 6 Gnd Gnd [AIN-] 7 A dc Out A dc Out [AIN] 8 A-MultiEnc /S A-MultiEnc S [AIN-] 9 A-MultiEnc /X A-MultiEnc X 5 [AIN] 0 A-MultiEnc /B 5 A-MultiEnc B 6 Gnd A-MultiEnc /A 6 A-MultiEnc A 7 [IN] Gnd 7 Gnd 8 [IN] Diff() B dc Out 8 B dc Out 9 [IN] Diff(-) B-MultiEnc /S 9 B-MultiEnc S 0 [IN] Diff() 5 B-MultiEnc /X 0 B-MultiEnc X [IN5] Diff(-) 6 B-MultiEnc /B B-MultiEnc B SIGNAL J [IN] 7 B-MultiEnc /A B-MultiEnc A U V W U V W MOT A MOT B S J9 I/O J9 [IN] Diff() 8 N/C N/C [IN] Diff(-) 9 N/C Gnd 5 [IN] Diff() 0 [IN5] Diff(-) J9 ISOLATED CONTROL PIN SIGNAL PIN SIGNAL PIN SIGNAL 9 [IN8] GPI 8 [IN9] GPI 6 n.c. 8 [IN7] GPI 7 COM [IN6~9] 5 n.c. J CABLE CONNECTOR: High-Density D-Sub male, Position 7 [IN6] GPI 6 N/C n.c. 6 COM [IN6~9] 5 N/C [OUT5] GPI BRK A BRK B RTN J0 FDBK A J FDBK B J0 J 5 [IN9] GPI [OUT5-] GPI [OUT] GPI [IN8] GPI [OUT-] GPI [OUT] GPI [IN7] GPI [OUT-] GPI 0 [OUT] GPI [IN6] GPI [OUT-] GPI 9 [OUT] GPI Frame Ground 0 [OUT-] GPI J0(J) FEEDBACK A(B) J9 CABLE CONNECTOR: High-Density D-Sub female, 6 Position PIN SIGNAL PIN SIGNAL PIN SIGNAL Frame Gnd 0 A(B) Enc /B 9 A(B) Sin() A(B) Hall U A(B) Enc B 0 A(B) Cos(-) A(B) Hall V A(B) Enc /A A(B) Cos() A(B) Hall W A(B) Enc A A(B) Index(-) TY 5 Gnd A(B) Enc /S A(B) Index() 6 A(B) Out() 5 A(B) Enc S [IN()] 7 [IN0(0)] A(B) Motemp 6 Gnd 5 Gnd 8 A(B) Enc /X 7 A(B) Out() 6 Gnd 9 A(B) Enc X 8 A(B) Sin(-) J0(J) CABLE CONNECTOR: High-Density D-Sub male, 6 Position Tech Support: sales@copleycontrols.com, Web: Page 5 of