Xenus R11. RoHS. RUGGEDIZED DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS

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1 Feedback Versions Analog Sin/Cos Quad A/B digital Resolver Control Modes Indexer, Point-to-Point, PVT Camming, Gearing, Position, Velocity, Torque Command Interface CANopen/DeviceNet ASCII and discrete I/O Stepper commands ±0 Vdc position/velocity/torque command PWM velocity/torque command Master encoder (Gearing/Camming) Digital inputs for indexer control Communications CANopen/DeviceNet RS RS- (optional) Feedback Digital Quad A/B encoder Analog sin/cos encoder (-S versions) Resolver (-R versions) Secondary encoder / emulated encoder out Digital Halls I/O - Digital inputs, outputs Regen Internal Dimensions: mm [in] x 90 x [.0 x. x.] Xenus R Model Vac Ic Ip R R R Add -S to part number for Sin/Cos version Add -R for Resolver version description Xenus R is a compact, ruggedized, AC powered servo drive for position, velocity, and torque control of AC brushless and DC brush motors. It operates on a distributed control network, as a stand-alone indexing drive, or with external motion controllers. Indexing mode simplifies operation with PLC s that use outputs to select and launch indexes and inputs to read back drive status. A single serial port on the PLC can send ASCII data to multiple drives to change motion profiles as machine requirements change. DeviceNet capability enables multiple Xenus R drives to be controlled from Allen-Bradley PLC s. CAN bus operation supports Profile Position, Profile Velocity, Profile Torque, Interpolated Position, and Homing. Up to 7 Xenus R drives can operate on a single CAN bus and groups of drives can be linked via the CAN so that they execute motion profiles together. Operation in torque (current), velocity, and position modes with external motion controllers is supported. Input command signals are ±0 Vdc (torque, velocity, position), PWM/Polarity (torque, velocity), or Step/Direction (position). ruggedized standards conformance Ambient Temperature non-operating -0ºC to 8ºC Operating -0ºC to 70ºC Thermal Shock Operating -0ºC to 70ºC in minute Relative Humidity non-operating 9% non-condensing at 0ºC Operating 9% non-condensing at 0ºC Vibration Operating Hz to 00 Hz, up to.8 grms Altitude N non-operating -00 m to,00 m Operating -00 m to,000 m Shock Crash Safety 7 g peak acceleration Operating 0 g peak acceleration MIL-STD specifications MIL-STD-, 70, 80, 7, 99 IEC specifications IEC- 008, 0079 Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

2 Xenus R GENERAL SPECIFICATIONS Test conditions: Load = Wye connected load: mh + Ω line-line. Ambient temperature = C, +HV = HV max MODEL R-0-0 R-0-0 R-0-0 Output Power Peak Current (.) (.) 0 (7.) Adc (Arms, sinusoidal), ±% Peak time Sec Continuous current (0.7) (.) (.) Adc (Arms, sinusoidal), ±% INPUT POWER HV min ~HV max 8 to Vac Ø, 0~0 Hz + Vdc +0 to + 00 madc maximum Logic & control power, required for operation PWM OUTPUTS Type PWM ripple frequency -phase MOSFET inverter, khz center-weighted PWM, space-vector modulation 0 khz regeneration Type Internal MOSFET dissipator Power dissipation 80 W peak, 0 W continuous Cut-In Voltage +HV > 90 Vdc Regen output is on, (optional external) regen resistor is dissipating energy Drop-Out Voltage +HV < 80 Vdc Regen output is off, (optional external) regen resistor not dissipating energy Tolerance ± Vdc For either Cut-In or Drop-Out voltage Hysteresis 0 ±0. Vdc Differential between Cut-In & Drop-Out voltage DIGITAL Control Digital Control Loops Sampling rate (time) Commutation Bandwidth HV Compensation Minimum load inductance Current, velocity, position. 00% digital loop control Dual loop position control using secondary encoder input Current loop: khz (.7 us) Velocity, position loops: khz ( us) Sinusoidal field-oriented control or trapezoidal for brushless motors Current loop:. khz typical, bandwidth will vary with tuning & load inductance Changes in bus voltage do not affect bandwidth 00 µh line-line command inputs CAN CANopen: Profile Position, Interpolated Position, Profile Velocity, Profile Torque, Homing DeviceNet Explicit messaging object supported, UCMM (Unconnected Message Manager) protocol ASCII Single RS- connection passes messages to multiple drives via CAN link drive-drive Digital position reference Step/Direction or CW/CCW Stepper commands (. MHz maximum rate) Quad A/B Encoder 0 Mcount/sec after quadrature ( Mline/sec) Digital torque & velocity PWM/Polarity PWM = 0~00%, Polarity = /0 PWM/0% PWM = 0% ±0%, no polarity signal required PWM frequency range khz minimum, 00 khz maximum PWM minimum pulse width 0 ns Analog torque, velocity, position ±0 Vdc, kω differential input impedance, -bit resolution Indexing Index address, index-start, priority-index start Camming Inputs for master encoder, cam start, cam table address digital inputs Number Type GP, HS HSD Pull-up, pull-down control : programmable, input dedicated to drive Enable function, for motor temperature switch 8 General-purpose (GP), high-speed single-ended (HS), high-speed differential (HSD), motemp (GP) 7HC Schmitt trigger operating from.0 Vdc with RC filter on input, 0 kω to + Vdc or ground (programmable), Vin-LO <. Vdc, Vin-HI >. Vdc +0 Vdc max for HS inputs, + Vdc max for GP inputs. MHz maximum pulse frequency for HS inputs when driven by active (not open-collector) sources Differential, Ω line-line, 00 ns RC filters to RS-/RS-8 line receivers, +0 Vdc max MHz maximum pulse frequency when driven by differential line-drivers GP & HS inputs are divided into three groups with selectable connection of input pull-up/down resistor to + Vdc or ground for each group: [IN,,,], [IN,,7,8], [IN9,0,] digital outputs Number [OUT], [OUT], [OUT] Current-sinking MOSFET with kω pull-up to + Vdc through diode Ratings 0 madc max, +0 Vdc max External flyback diode required if driving inductive loads Brake [OUT] Opto-isolated, current-sinking with flyback diode to + Vdc, Adc max RS- PORT Mode s Protocol Multi-Drop RS- PORT s Mode Protocol Full-duplex, DTE serial communication port for drive setup and control; 9,00 to,00 baud RxD, TxD, Gnd Binary or ASCII formats ASCII communications to multiple Copley drives via a single RS- port: RS- to first Drive_0, then daisy-chain to Drive_~Drive_N via CAN XMT-A, XMT-B, RCV-A, RCV-B, in a -position, -contact RJ- style modular connector Full-duplex, RS- slave, 9,00 to,00 baud Binary and ASCII formats Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

3 Xenus R CAN PORT Format Data s Isolation Address selection motor connections Power Commutation Feedback Brake Overtemp sensor MULTI-Mode encoder port As Secondary Encoder Input As Emulated Encoder Output As Buffered Encoder Output LED indicators Drive Status CAN Status CAN V.0b physical layer for high-speed connections compliant CANopen Device Profile DSP-0 CANH, CANL, Gnd CAN interface circuit and + Vdc supply are optically isolated from drive circuits Selectable by logic inputs or programmable in flash memory U-V-W phases for brushless, U-V for brush motors Digital Halls, or sin/cos feedback from ServoTube motors Digital quadrature A/B/(X) encoders; differential inputs Analog sin/cos encoders, Vpeak-peak, differential inputs with W terminating resistor Digital output, isolated, Adc, +0 Vdc max, programmable, with flyback diode to + Vdc Digital input, non-isolated,.99 kω pull-up to + Vdc, programmable Digital quadrature encoder (A, /A, B, /B, X, /X), 0 M counts/sec, post-quadrature ( M lines/sec) Quadrature encoder emulation with programmable resolution to 09 lines (, counts) per rev from analog sin/cos encoders. 8 M counts/sec, post-quadrature (. M lines/sec) Buffered signals from digital quad A/B/X primary encoder. 0 M counts/sec, post-quadrature ( M lines/sec) A, /A, B, /B, X, /X, signals from LS differential line driver Bicolor LED, drive status indicated by color, and blinking or non-blinking condition Bicolor LED, status of CAN bus indicated by color and blink codes to CAN Indicator Specification 0- protections HV Overvoltage +HV > 00 Vdc Drive PWM outputs disabled HV Undervoltage +HV < 0 Vdc Drive PWM outputs disabled Drive over temperature Heatplate > 80 C ± C Drive PWM outputs disabled Short circuits Output to output, output to ground, internal PWM bridge faults IT Current limiting Programmable: Current foldback to continuous limit when IT threshold is exceeded Motor over temperature Drive PWM outputs disabled when [IN] changes state (programmable) Feedback power loss Fault occurs if feedback + Vdc output is < 8% of nominal value MECHANICAL & ENVIRONMENTAL Size Weight Ambient Temperature Range -0 ºC to +70 C Ambient Temperature Storage -0 ºC to +8 C Contaminants Pollution degree Environment IEC8-:990 x 89 x [.0 x. x.] mm [in] 0.7 lb (0.0 kg) agency standards conformance EN 0 : 998 CISPR (997) Edition /Amendment : Limits and Methods of Measurement of Radio Disturbance Characteristics of Industrial, Scientific, and Medical (ISM) Radio Frequency Equipment EN : 00 Electromagnetic Compatibility Generic Immunity Requirements Following the provisions of EC Directive 89//EEC: EN 00- nd Ed.: 00 Safety Requirements for Electrical Equipment for Measurement, Control, and Laboratory use Following the provisions of EC Directive 00/9/EC UL 08C rd Ed.: 00 UL Standard for Safety for Power Conversion Equipment Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

4 feedback specifications Xenus R encoders Digital Encoder Type s Frequency Analog Encoder (-S versions) Type s Frequency Interpolation Digital Halls Type s Frequency ENCODER Power Supply Power Supply Protection Quadrature, differential line driver outputs A, /A, B, /B, (X, /X, index signals optional) MHz line frequency, 0 MHz quadrature count frequency Sin/cos, differential line driver outputs,.0 Vpeak-peak differential centered about. Vdc typical. Common-mode voltage 0. to.7 Vdc Sin(+), sin(-), cos(+), cos(-) 0 khz maximum line (cycle) frequency 0 bits/cycle (0 counts/cycle) Digital, single-ended, 0 electrical phase difference U, V, W Consult factory for speeds >0,000 RPM + 00 ma to power encoders & Halls Current-limited to 70 Vdc if overloaded Encoder power developed from + Vdc so position information is not lost when AC mains power is removed RESOLVER (-R versions) Resolver Type Brushless, single-speed, : to : programmable transformation ratio Resolution bits (equivalent to a 09 line quadrature encoder) Reference frequency 7. khz Reference voltage.8 Vrms, auto-adjustable by the drive to maximize feedback Reference maximum current 00 ma Maximum RPM 0,000+ Encoder Emulation Resolution Programmable to,8 counts/rev (09 line encoder equivalent) Buffered encoder outputs C differential line driver Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

5 dimensions Xenus R. [.7].90 [.].7 [.0].7 [.8]. [.9]. [.8] Notes. Dimensions shown in inches [mm].. Use external tooth lockwashers between mounting screw head and drive chassis for safety and CE compliance. Recommended screws are #- (M.) torqued to 8~0 lb in (0.79~.0 N m)..0 [.8].70 [.]. [.9].89 [88.] Weights: Drive: 0.7 lb (0.0 kg) Heatsink: 0. lb (0. kg).8 [8.9].7 [.].87 [.7].08 [.98]. [.98].0 [.].0 [.].7 [0.] Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

6 COMMUNICATIONS Xenus R CME SOFTWARE Drive setup is fast and easy using CME software. All of the operations needed to configure the drive are accessible through this powerful and intuitive program. Auto-phasing of brushless motor Hall sensors and phase wires eliminates wire and try. Connections are made once and CME does the rest thereafter. Encoder wire swapping to establish the direction of positive motion is eliminated. Motor data can be saved as.ccm files. Drive data is saved as.ccx files that contain all drive settings plus motor data. This eases system management as files can be cross-referenced to drives. Once a drive configuration has been completed systems can be replicated easily with the same setup and performance. When operating as a stand-alone drive that takes command inputs from an external controller, CME is used for configuration. When operated as a CAN node, CME is used for programming before and after installation in a CAN network. Xenus R can also be controlled via CME while it is in place as a CAN node. During this process, drive operation as a CAN node is suspended. When adjustments are complete, CME relinquishes control of the drive and returns it to the CAN node state. RS- Xenus R is DTE device configured via a three-wire, full-duplex RS- port operating from 9,00 to,00 Baud, with 8 data-bits, no parity, and one stop-bit. The RS- specification makes no allowance for more than two devices on a serial link. But, multiple Xenus R drives can communicate over a single RS- port by daisy-chaining a master drive to other drives using CAN cables. In the CAN protocol, address 0 is reserved for the CAN master and thereafter all other nodes on a CAN network must have unique, non-zero addresses. When the Xenus R CAN address is set to 0, it acts as a CAN master, converting the RS- data into CAN messages and passing it along to the other drives which act as CAN nodes, each having a unique non-zero CAN address. CAN Xenus R uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication. The default address is 0 which is produced by [IN~8] programmed to pull-down to ground, and a flash address of 0. Before installing the drive in a CAN system, it must be assigned a non-zero CAN address. A maximum of 7 CAN nodes are allowed on a single CAN bus. For installations with sixteen or more CAN nodes on a network CME can be used to configure Xenus R to use a combination of digital inputs and programmed offset in flash memory to configure the drive with a CAN node address. 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. Additional information can be found in the ASCII Programmers Guide on the Copley website: RS- (optional) The drive is configured for full-duplex operation as a RS- slave. Because RS- allows only one driver per signal-pair, it is possible to have other RS- receive-only nodes connected to the cable from the Master s transmit port. The data protocol is the same as that of the RS- port. The RS- Cable Kit has a modular cable that plugs into the drive s serial connector (RJ- jack) and connects to an adapter that has a D-Sub 9-pin female connector for connection to the RS- master. J7 RxD RJ- (DTE) TxD RS- Connections J7 signals RS- Master RS- Adapter XSJ Slave ISL808 A TxD B Twisted-pair Shielded Cable 8 Modular Cable with RJ- Plugs A B A RxD RD A(-) RD B(+) TD A(-) 9 8 A B Y RxD A RxD B 7 B TxD TD B(+) 7 Z TxD D-Sub 9F RJ- Jack XSJ J7 RJ- Jack Generic RS- Receive-only Slave A B RxD Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

7 Xenus R DRIVE status LED A single bi-color LED gives the state of the drive by changing color, and either blinking or remaining solid. The possible color and blink combinations are: 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/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 drive is Reset CAN status LED Drive Fault conditions: Over or under-voltage Motor over-temperature Encoder + Vdc fault Short-circuits from output to output Short-circuits from output to ground Internal short circuits Drive over-temperature Faults are programmable to be either transient or latching Note: Red & green led on-times do not overlap. LED color may be red, green, off, or flashing of either color. COMMAND INPUTS ANALOG TORQUE, VELOCITY, POSITION A single ±0 Vdc differential input connects to controllers that use PID or similar compensators, and output a current or velocity command to the drive. Drive output current or velocity vs. reference input voltage is programmable. In position-mode, the analog command is converted to a digital position reference based on a programmable ratio of encoder counts vs. input volts. When this is greater than the deadband, which is programmable down to 0 V, it is passed through velocity, acceleration, and deceleration limiters after which it becomes the input to the position loop. Ref(+) Ref(-) 7.k.k 7.k - + k k + -.V DIGITAL TORQUE, VELOCITY Digital torque or velocity commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs. Differential inputs have W lineterminators. Single-ended PWM & Direction Single-ended 0% PWM Duty = 0~00% [IN9] [IN0] Current or Velocity Polarity or Direction Duty = 0% ±0% [IN9] [IN0] <no connection> Current or Velocity No function differential PWM & Direction differential 0% PWM Duty = 0-00% [IN+] [IN-] PWM Duty = 0% ±0% [IN+] [IN-] Current or Velocity [IN+] [IN-] Direction Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 7 of

8 COMMAND INPUTS (CONT D) Xenus R DIGITAL position Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs. Differential inputs have W line-terminators. Single-ended pulse & Direction differential pulse & Direction [IN9] [IN0] Pulse Direction [IN+] [IN-] PULSE [IN+] [IN-] DIRECTION Single-ended CU/CD differential CU/CD CU (Count-Up) [IN9] [IN0] CU CD CU (Count-Up) [IN+] [IN-] PULSE CD (Count-Down) CD (Count-Down) [IN+] [IN-] DIRECTION QUAD a/b ENCODER SINGLE-ENDED QUAD a/b ENCODER DIFFERENTIAL Encoder ph. A [IN0] Enc. A Encoder ph. A [IN+] [IN9] Enc. B [IN-] Enc A Encoder ph. B Encoder ph. B [IN+] [IN-] Enc. B Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 8 of

9 Xenus R multi-mode ENCODER PORT This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive. On drives with quad A/B encoder feedback, the port works as an output buffering the signals from the encoder. With resolver or sin/ cos encoder versions, the feedback is converted to quad A/B signals with programmable resolution. These signals can then be fed back to an external motion controller that closes the position or velocity loops. As an input, the port can take quad A/B signals to produce a dual-loop position control system or use the signals as master-encoder feedback in camming mode. In addition, the port can take stepper command signals (CU/CD or Pulse/Direction) in differential format. as buffered outputs from a digital quadrature feedback encoder When using a digital quadrature feedback encoder, the A/B/X signals drive the multi-mode port output buffers directly. This is useful in systems that use external controllers that also need the motor feedback encoder signals because these now come from J7, the Control connector. In addition to eliminating Y cabling where the motor feedback cable has to split to connect to both controller and motor, the buffered outputs reduce loading on the feedback cable that could occur if the motor encoder had to drive two differential inputs in parallel, each with it s own ohm terminating resistor. +V.k k k pf pf Secondary Encoder Input CS CS Input/Output Select Quad A/B Feedback Encoder as emulated quad a/b/x encoder outputs from an analog sin/cos feedback encoder or resolver Analog sin/cos or resolver 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. Resolver signals are interpolated with programmable resolution up to -bits per revolution (single-speed resolver). +V.k k k pf pf Secondary Encoder Input CS CS Input/Output Select Emulated Quad A/B signals from analog Sin/Cos encoder or resolver 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..k +V k pf Secondary Encoder Input CS as digital command inputs in pulse/direction, pulse-up/pulse-down, or digital quadrature encoder format The multi-mode port can also be used when digital command signals are in a differential format. These are the signals that typically go to [IN9] and [IN0] when they are single-ended. But, at higher frequencies these are likely to be differential signals in which case the multi-mode port can be used. k pf CS Input/Output Select Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 9 of

10 Xenus R digital INPUTS There are fourteen digital inputs, thirteen of which have programmable functions. Input [IN] is dedicated to the drive Enable function. This is done to prevent accidental programming of the input in such a way that the controller could not shut it down. Two types of RC filters are used: GP (general purpose) and HS (high speed). Input functions such as Pulse/Dir, CW/CCW, Quad A/B are wired to inputs having the HS filters, and inputs with the GP filters are used for general purpose logic functions, limit switches, and the motor temperature sensor. Programmable functions of the digital inputs are: Amplifier Enable PWM Sync Input Positive Limit switch CAN address Negative Limit switch PWM/Polarity or PWM 0% commands Drive Reset for current/velocity control Motor over-temperature Pulse/Direction or CW/CCW stepper pulses, Home switch or quad A/B encoder signals for Motion Abort position control and camming Reference input attenuation select (zero or divide by eight) +V +V +V Vdc max Vdc max Vdc max 0k [IN] * [IN] [IN] [IN] 0k nf * Not programmable 7HC [IN] [IN] [IN7] [IN8] 0k 0k nf 7HC [IN] Motemp.99k 0k.nF 7HC HS (high speed) digital INPUTS These are single-ended inputs with all the programmable functions of the GP inputs plus these additional functions on [IN9] & [IN0]: Position or Camming modes: Pulse/Direction, CU/CD, or A/B Quad encoder inputs Velocity or Current modes: PWM 0%, PWM & Direction PWM Sync 0 Vdc max [IN9] [IN0] [IN] HS Inputs +V 0k k 00 pf 7HC +V HSD (high speed differential) digital INPUTS These are differential inputs with programmable functions. Pulse/Direction, CU/CD, or A/B Quad encoder inputs Home switch Camming: Single-ended master encoder Cam-table start input 0 Vdc max [IN+] [IN-] [IN+] 0 k OR k [IN-] Line-receiver DIGITAL OUTPUTS The digital outputs are open-drain MOSFETs with kω pull-up resistors in series with a diode to + Vdc. They can sink up to 0 madc from external loads operating from power supplies to +0 Vdc. The output functions are programmable. The active state of the outputs is programmable to be on or off. When driving inductive loads such as a relay, an external fly-back diode is required. The internal diode in the output is for driving PLC inputs that are opto-isolated and connected to + Vdc. The diode prevents conduction from + Vdc through the kω resistor to + Vdc in the drive. This could turn the PLC input on, giving a false indication of the drive output state. 00 pf k +V [OUT] [OUT] [OUT] motor brake OUTPUT This is an optically isolated output with a higher current rating for driving motor brakes. It can sink Adc and has a flyback diode that is connected to the AuxHV input (+ Vdc). Brake timing and function is programmable. Vdc Brake V Return Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 0 of

11 output voltage limits Xenus R The R rectifies the AC mains power to produce an internal DC supply (HV). The rectified mains power is stored temporarily in a capacitor. As the load power increases, energy is drawn from the capacitor, discharging it until re-charged by the next cycle of the mains. Because the capacitor is only charged for a brief time at X the line frequency, the voltage will decrease between these charges producing ripple on the DC supply. As the motor voltage increases (a combination of BEMF (Back ElectroMotive Force) and voltage-drop across the motor s resistance) it eventually hits the bottom of the ripple voltage waveform on the DC supply. This is called clipping as the output voltage can no longer increase to control motor current. The graph below shows the clipping voltages for the R when operated at some common mains voltages over the range of output currents. In order to avoid clipping, select a motor winding to provide some headroom between the clipping voltage and the expected terminal voltage to allow for low-line conditions on the mains, resistance changes in the motor due to heating, etc. DC Supply Voltage at Low Output Current and Power DC Supply Voltage at High Output Current and Power Clipping Voltage Clipping Voltage EXAMPLE Assume 8 Adc is required to accelerate a linear motor to. m/s. Motor resistance is W and BEMF constant is V/m/s. The motor is brushless driven with sinusoidal commutation: ) Find I*R voltage drop: 8 Adc * W * 0.7 = 7 Vdc. The 0.7 factor converts the line-line resistance of the motor to the effective resistance when commutating sinusoidally. ) Find BEMF at. m/s: V/m/s *. m/s = 90 Vdc ) Find motor terminal voltage: I*R + BEMF = = Vdc ) The dotted lines on the graph to the right show the clipping voltages at 8 Adc. Operation at 0 Vac would give about 8 V of headroom. But, at 00 Vac, either the motor velocity or accelerating current would have to be reduced to avoid clipping. Finally, note that the motor resistance will increase 9% if it heats from C to 00C. That would change the required terminal voltage to 8 Vdc. In general, allow 0~0% headroom between motor terminal voltage demand and the clipping voltage. Using the oscilloscope in CME software, the bus voltage and motor terminal voltage can be displayed for a final determination of the headroom in the working machine. Clipping Voltage vs. Output Current Clipping Voltage (Vdc) Vac 0 00 Vac Vac Vac Output Current (Adc) Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

12 Copley Controls Corp. drive connections quad a/b version Xenus R Frame Gnd Multi Enc A Multi Enc /A Multi Enc B Multi Enc /B Multi Enc X Multi Enc /X Ref (+) Ref (-) Gnd [IN] Enable [IN] [IN] [IN] [IN] [IN] [IN7] J Mot Enc A Mot Enc /A Mot Enc B Mot Enc /B Mot Enc X Mot Enc /X Hall U Hall V Hall W Gnd J 9 Motemp 0 No Connection V Out 7 No Connection A /A B /B X /X U V W DIGITAL ENCODER HALLS + & Gnd for Encoder + Hall [IN8] No Connection 7 [IN9] [IN0] [IN] No Connection Gnd 9 8 [IN+] [IN-] [IN+] J +V Brake +V Ret BRAKE V DC + Vdc is required for operation 0 0 [IN-] [OUT] [OUT] [OUT] +V Out Frame Gnd J Motor U Motor V Motor W * Fuse * Fuse U V W * Motor fuses are optional BLDC MOTOR + - BRUSH MOTOR CAN Pwr CANH CANL CAN Gnd J Frame Gnd CAN port is isolated Frame Gnd J L Frame Gnd L Heatplate LINE FILTER Earth Fuse Fuse AC Mains 00~0 VAC Ø 7~ Hz Notes. The functions of input signals on J-,,,,7,8-9,8,9,0,,,-, and are programmable.. The function of [IN] on J-7 is always Drive Enable and is not programmable. The active level of [IN] is programmable, and resetting the drive or clearing faults with `changes on the enable input is programmable.. Pins J-0, J-, and J-7 connect to the same + 0 madc power source. Total current drawn from all pins cannot exceed 0 madc. Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

13 Copley Controls Corp. CONNECTORS & SIGNALS quad a/b version Xenus R J Power J Motor Pin L Frame Ground L J Cable Connector: Euro-style,0 mm pluggable male terminal block: Wago: 7-0/0-07/RN Insert/extract lever: Wago: - Pin Frame Ground Motor W Motor V Motor U J Motor Cable Connector: Euro-style,0 mm pluggable male terminal block: Wago: 7-0/0-07/RN Insert/extract lever: Wago: - J Brake, V Power Pin Brake V Return +Vdc +Vdc Frame Gnd Frame Gnd J AuxHV/Brake Cable Connector: -position poke/crimp Housing: Molex Contact: Molex Crimping tool: Molex Contact extractor: Molex J CAN Pin Frame Ground 0 Frame Ground Ground 9 Ground CANL 8 CANL CANH 7 CANH CAN Power CAN Power J CAN circuits are optically-isolated from drive circuits J CAN Cable Connector: 0-position poke/crimp Housing: Samtec IPD--D Contacts(0): Samtec CC79L-0-0-F Crimping tool: Samtec CAT-HT Contact Extractor: Samtec CAT-EX-79-0 J J J J J J7 J7 RS- Pin No Connect TxD Output Ground Ground RxD Input No Connect J Pin Analog Ref (-) Analog Ref (+) Enable Input [IN] 7 Ground GP Input [IN] 8 GP Input [IN] GP Input [IN] 9 GP Input [IN] GP Input [IN7] 0 GP Input [IN] GP Input [IN9] GP Input [IN8] GP Input [IN] 7 GP Input [IN0] HS Input [IN+] 8 HS Input [IN-] HS Input [IN-] 9 HS Input [IN+] GP Output [OUT] 0 GP Output [OUT] GP Output [OUT] Ground Multi-Mode Encoder A 7 Multi-Mode Encoder /A Multi-Mode Encoder B 8 Multi-Mode Encoder /B Multi-Mode Encoder X 9 Multi-Mode Encoder /X + Vdc Output 0 Frame Ground J Control Cable Connector: 0-position poke/crimp Housing: Samtec IPD--D Contacts(0): Samtec CC79L-0-0-F Crimping tool: Samtec CAT-HT Contact Extractor: Samtec CAT-EX-79-0 J Feedback Pin No Connection No Connection No Connection No Connection + Vdc Output Ground Encoder /A Encoder A Encoder /B Encoder B Encoder /X Encoder X + Vdc Output 7 7 Ground Hall U 8 8 Hall V Ground 9 9 Hall W Motemp [IN] 0 0 Frame Ground J Feedback Cable Connector: 0-position poke/crimp Housing: Samtec IPD-0-D Contacts(0): Samtec CC79L-0-0-F Crimping tool: Samtec CAT-HT Contact Extractor: Samtec CAT-EX-79-0 J7 RS- Cable Connector: RJ- Modular type -position, used Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

14 Copley Controls Corp. drive connections -S Version (Sin/Cos) Xenus R Frame Gnd Multi Enc A Multi Enc /A Multi Enc B Multi Enc /B Multi Enc X Multi Enc /X Ref (+) Ref (-) Gnd [IN] Enable [IN] [IN] [IN] [IN] [IN] [IN7] [IN8] J Mot Enc A Mot Enc /A Mot Enc B Mot Enc /B Mot Enc X Mot Enc /X Hall W Gnd J Hall U Hall V 9 Motemp 0 Sin(+) Sin(-) Cos(-) V Out 7 A /A B /B X /X U V W DIGITAL ENCODER HALLS + & Gnd for Encoder + Hall SIN/COS ENCODER 7 [IN9] [IN0] [IN] Cos(-) Gnd 9 8 [IN+] [IN-] [IN+] J +V Brake +V Ret BRAKE +V DC + Vdc is required for operation 0 0 [IN-] [OUT] [OUT] [OUT] +V Out Frame Gnd J Motor U Motor V Motor W * Fuse * Fuse U V W * Motor fuses are optional BLDC MOTOR + - BRUSH MOTOR CAN Pwr CANH CANL CAN Gnd J Frame Gnd CAN port is isolated Frame Gnd J L Frame Gnd L Heatplate LINE FILTER Earth Fuse Fuse AC Mains 00~0 VAC Ø 7~ Hz Notes. The functions of input signals on J-,,,,7,8-9,8,9,0,,,-, and are programmable.. The function of [IN] on J-7 is always Drive Enable and is not programmable. The active level of [IN] is programmable, and resetting the drive or clearing faults with changes on the enable input is programmable.. Pins J-0, J-, and J-7 connect to the same + 0 madc power source. Total current drawn from all pins cannot exceed 0 madc. Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

15 Copley Controls Corp. CONNECTORS & SIGNALS -S Version (Sin/Cos) Xenus R J Power J Motor Pin L Frame Ground L J Cable Connector: Euro-style,0 mm pluggable male terminal block: Wago: 7-0/0-07/RN Insert/extract lever: Wago: - Pin Frame Ground Motor W Motor V Motor U J Motor Cable Connector: Euro-style,0 mm pluggable male terminal block: Wago: 7-0/0-07/RN Insert/extract lever: Wago: - J Brake, V Power Pin Brake V Return +Vdc +Vdc Frame Gnd Frame Gnd J AuxHV/Brake Cable Connector: -position poke/crimp Housing: Molex Contact: Molex Crimping tool: Molex Contact extractor: Molex J CAN Pin Frame Ground 0 Frame Ground Ground 9 Ground CANL 8 CANL CANH 7 CANH CAN Power CAN Power J CAN circuits are optically-isolated from drive circuits J CAN Cable Connector: 0-position poke/crimp Housing: Samtec IPD--D Contacts(0): Samtec CC79L-0-0-F Crimping tool: Samtec CAT-HT Contact Extractor: Samtec CAT-EX-79-0 J J J J J J7 J7 RS- Pin No Connect TxD Output Ground Ground RxD Input No Connect J Pin Analog Ref (-) Analog Ref (+) Enable Input [IN] 7 Ground GP Input [IN] 8 GP Input [IN] GP Input [IN] 9 GP Input [IN] GP Input [IN7] 0 GP Input [IN] GP Input [IN9] GP Input [IN8] GP Input [IN] 7 GP Input [IN0] HS Input [IN+] 8 HS Input [IN-] HS Input [IN-] 9 HS Input [IN+] GP Output [OUT] 0 GP Output [OUT] GP Output [OUT] Ground Multi-Mode Encoder A 7 Multi-Mode Encoder /A Multi-Mode Encoder B 8 Multi-Mode Encoder /B Multi-Mode Encoder X 9 Multi-Mode Encoder /X + Vdc Output 0 Frame Ground J Control Cable Connector: 0-position poke/crimp Housing: Samtec IPD--D Contacts(0): Samtec CC79L-0-0-F Crimping tool: Samtec CAT-HT Contact Extractor: Samtec CAT-EX-79-0 J Feedback Pin Sin(-) Sin(+) Cos(-) Cos(+ ) + Vdc Output Ground Encoder /A Encoder A Encoder /B Encoder B Encoder /X Encoder X + Vdc Output 7 7 Ground Hall U 8 8 Hall V Ground 9 9 Hall W Motemp [IN] 0 0 Frame Ground J Feedback Cable Connector: 0-position poke/crimp Housing: Samtec IPD-0-D Contacts(0): Samtec CC79L-0-0-F Crimping tool: Samtec CAT-HT Contact Extractor: Samtec CAT-EX-79-0 J7 RS- Cable Connector: RJ- Modular type -position, used Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

16 Copley Controls Corp. drive connections -R Version (resolver) Xenus R Frame Gnd Multi Enc A Multi Enc /A Multi Enc B Multi Enc /B Multi Enc X Multi Enc /X Ref (+) Ref (-) J Gnd [IN] Enable Frame Ground 0 Frame Ground Frame Ground Frame Ground Ref(+) Ref(-) Sin(+) Sin(-) Cos(+) Cos(-) R R S S S S RESOLVER 8 [IN] [IN] J 9 [IN] [IN] Gnd 9 [IN] 0 [IN7] [IN8] [IN9] Motemp [IN] 9 0 Motor overtemperature switch 7 [IN0] [IN] 9 8 [IN+] [IN-] [IN+] J +V Brake +V Ret BRAKE +V DC + Vdc is required for operation 0 0 [IN-] [OUT] [OUT] [OUT] +V Out Frame Gnd J Motor U Motor V Motor W * Fuse * Fuse U V W * Optional BLDC MOTOR + - BRUSH MOTOR CAN Pwr CANH CANL CAN Gnd J Frame Gnd CAN port is isolated Frame Gnd J L Frame Gnd L Heatplate LINE FILTER Earth Fuse Fuse AC Mains 00~0 VAC Ø 7~ Hz Notes. The functions of input signals on J-,,,,7,8-9,8,9,0,,,-, and are programmable.. The function of [IN] on J-7 is always Drive Enable and is not programmable. The active level of [IN] is programmable, and resetting the drive or clearing faults with changes on the enable input is programmable. Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

17 Copley Controls Corp. CONNECTORS & SIGNALS -R Version (resolver) Xenus R J Power J Motor Pin L Frame Ground L J Cable Connector: Euro-style,0 mm pluggable male terminal block: Wago: 7-0/0-07/RN Insert/extract lever: Wago: - Pin Frame Ground Motor W Motor V Motor U J Motor Cable Connector: Euro-style,0 mm pluggable male terminal block: Wago: 7-0/0-07/RN Insert/extract lever: Wago: - J Brake, V Power Pin Brake V Return +Vdc +Vdc Frame Gnd Frame Gnd J AuxHV/Brake Cable Connector: -position poke/crimp Housing: Molex Contact: Molex Crimping tool: Molex Contact extractor: Molex J CAN Pin Frame Ground 0 Frame Ground Ground 9 Ground CANL 8 CANL CANH 7 CANH CAN Power CAN Power J J J J CAN circuits are optically-isolated from drive circuits J CAN Cable Connector: 0-position poke/crimp Housing: Samtec IPD--D Contacts(0): Samtec CC79L-0-0-F Crimping tool: Samtec CAT-HT Contact Extractor: Samtec CAT-EX-79-0 J J J7 J7 RS- Pin No Connect TxD Output Ground Ground RxD Input No Connect J Pin Analog Ref (-) Analog Ref (+) Enable Input [IN] 7 Ground GP Input [IN] 8 GP Input [IN] GP Input [IN] 9 GP Input [IN] GP Input [IN7] 0 GP Input [IN] GP Input [IN9] GP Input [IN8] GP Input [IN] 7 GP Input [IN0] HS Input [IN+] 8 HS Input [IN-] HS Input [IN-] 9 HS Input [IN+] GP Output [OUT] 0 GP Output [OUT] GP Output [OUT] Ground Multi-Mode Encoder A 7 Multi-Mode Encoder /A Multi-Mode Encoder B 8 Multi-Mode Encoder /B Multi-Mode Encoder X 9 Multi-Mode Encoder /X + Vdc Output 0 Frame Ground J Control Cable Connector: 0-position poke/crimp Housing: Samtec IPD--D Contacts(0): Samtec CC79L-0-0-F Crimping tool: Samtec CAT-HT Contact Extractor: Samtec CAT-EX-79-0 J Feedback Pin Frame Ground Frame Ground Output R Ref(-) Ref(+) Output R Ground Ground Frame Ground Frame Ground Input S Sin(-) Sin(+) Input S Ground Ground Frame Ground 7 7 Frame Ground Input S Cos(-) 8 8 Cos(+) Input S Ground 9 9 Ground Motemp [IN] 0 0 Frame Ground J Feedback Cable Connector: 0-position poke/crimp Housing: Samtec IPD-0-D Contacts(0): Samtec CC79L-0-0-F Crimping tool: Samtec CAT-HT Contact Extractor: Samtec CAT-EX-79-0 J7 RS- Cable Connector: RJ- Modular type -position, used Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 7 of

18 cabling for communications Xenus R RS- The Serial Cable Kit (SER-CK) is a complete cable assembly that connects a computer serial port (COM, COM) to the drive. The adapter plugs into a PC s COMM port that supports RS- and accepts a modular cable that connects the adapter to the drive s J7. SER-CK RxD TxD to RS- DTE Sub-D 9-pin J7 RS- Note: Computers & drives are both DTE devices. RxD (Received Data) signals are inputs. TxD (Transmitted Data) signals are outputs. CANopen CAN Sub-D 9-pin XSJ-NK XSJ-CV XSJ-NA-0 XSJ-NT 0 J Drive The connector kit for CAN networking (R-NK) provides the parts to connect to a single drive. To use it, the flying leads must be poked into the R-NT (see table for pins). The R-NT comprises the a plug for drive J and also a W resistor for the CAN bus terminator. The flying leads are left unattached so that the kit can also be used with multiple drives. When this is done, the CAN cables are daisy-chained from drive to drive and the R-NT is only used on the last drive in the chain. The cables used for the daisy-chain are the R-NC-0 or R-NC-0 which have a J connector attached to a cable with flying leads and crimps. R-NK Connections XSJ-NK* D-Sub 9F Pin Wire Color XSJ-CV* XSJ-NA-0* XSJ-NT (see below) CAN_GND 7 White/Green CAN_L Orange CAN_H White/Orange CAN Sub-D 9-pin J Drive Note: D-Sub 9F connections comply with CAN CiA DR-0- Wire Color R-NC-0(-0) Connections Drive J Cable Connector Note: Flying-lead contacts always plug into J connector pins 7, 8, & 9: White/Green -> 9 Orange -> 8 White/Orange -> 7 XSJ-NC-0 XSJ-NC-0 XSJ-NC-0 XSJ-NC-0 0 J Drive Frame Gnd 0 Frame Gnd White Green CAN_GND 9 CAN_GND Orange CAN_L 8 CAN_L White/Orange CAN_H 7 CAN_H CAN_V+ CAN_V+ R-NT Connections Drive J Cable Connector Frame Gnd 0 Frame Gnd XSJ-NT* CAN_GND 9 CAN_GND J Drive n W Terminator Connects 8 CAN_L 7 CAN_H CAN_V+ CAN_V+ Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 8 of

19 CABLInG FOR COMMUnICATIOnS Xenus R FOR BRUSHLESS/BRUSH MOTORS MULTI-DROP RS- The RS- specification does not support multi-drop (multiple device) connections as does RS-8 or CAN. However, it is possible to address multiple CAn-enabled Copley drives from a single RS- port. First, an RS- connection is made between the computer and drive # which must be given a CAn address of 0. Under normal CAn operation, this address is not allowed for CAn nodes. But, in this case, drive # will act as a CAn master and so address 0 is allowed. Next, CAN connections are made between drive #, drive #, and so on in daisy-chain fashion to the last drive. The first and last drives in the chain must have the Ω resistor between the CAN_H and CAN_L signals to act as a line-terminator. Finally, the CAN addresses of the drives downstream from drive # are set to unique numbers, none of which can be 0. When ASCII data is exchanged over the serial port, the commands are now preceded with the node address of the drive. Drive # converts the data into CAn data which is then sent to all of the drives in the chain. It now appears as though all drives in the chain are connected to the single RS- port in the computer and for that reason we refer it as multi-drop RS-. CAnopen Data Drive # CAN Master CAN Address = 0 (Required) SER-CK Serial Data ASCII or Binary format to RS- DTE Sub-D 9-pin XSJ-NC-0 XSJ-NC-0 Drive # CAN Node CAN Address > 0 Rules for Multi-drop RS- Drive # must have CAn address 0 and a Ω terminating resistor CAN address can be saved in flash memory or set by drive digital inputs Drives #~#n must have different non-zero CAn addresses Drive #n (last drive in chain) must have a Ω terminating resistor All drives in the chain are visible from CME when SER-Ck is connected to Drive # XSJ-NC-0 XSJ-NC-0 XSJ-NT Drive #N CAN Node CAN Address > 0 Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 9 of

20 Xenus R Stand-alone operation Drive takes digital position commands in Pulse/Direction, or CW/CCW format from an external controller or quadrature encoder signals from a master-encoder for electronic gearing. Velocity or torque control can be from ±0 Vdc or digital PWM signals. CME used for setup and configuration. XSJ-CK J Power J J Motor J Aux/Brake J Feedback J CAN to RS- DTE Sub-D 9-pin SER-CK Notes:. The XSJ-CK kit contains connector shells and crimp-contacts for J~J.. Crimp-contacts are not shown. The SER-CK Serial Cable Kit is not part of the XSJ-CK kit. Single-drive setup for CANopen Control Drive operates as a CAN node. All commands are passed on the CAN bus. CME is used for setup and configuration before installation as CAN node. Rules for Single-Drive CANopen Operation Drive CAN address must be > 0 CAN address can be saved in flash memory or set by drive digital inputs Drive must have a W terminating resistor CANopen communications for drive control XSJ-NK SER-CK to RS- DTE Sub-D 9-pin Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page 0 of

21 Xenus R Multiple-drive setup for CANopen Control Rules for Multiple-Drive CANopen Operation All drives must have CAN addresses > 0 and no drives can have the same CAN address CAN address can be saved in flash memory or set by drive digital inputs Drive #N (last drive in chain) must have a W terminating resistor CME can only see the drive to which the SER-CK serial cable is connected The CAN Master must have a W terminating resistor XSJ-NK Drive # CAN Node CAN Address > 0 SER-CK to RS- DTE Sub-D 9-pin XSJ-NC-0 XSJ-NC-0 Drive # CAN Node CAN Address > 0 XSJ-NC-0 XSJ-NC-0 Drive #N CAN Node CAN Address > 0 XSJ-NT Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

22 Xenus R FOR BRUSHLESS/BRUSH MOTORS MOUnTInG AnD COOLInG The ability of the drive to output current at a particular ambient temperature is greatly affected by the way it is mounted and the way that air circulates across the heatplate which is the primary path for heat flow between the internal transistors and the environment. Thermal resistance is a measure of the temperature difference between the transistors and the environment per Watt of power dissipation. The data on this page show the thermal resistance under different mounting and cooling configurations. InFInITE HEATSInk The mounting surface is large enough so that its temperature does not change when absorbing the heat from the drive. Thermal grease is applied to the drive heatplate. Thermal Resistance 0. ºC-W FAn COOLED HEATSInk A fan is mounted close to the heatsink and air velocity is ~00 LFM (~ m/s). Thermal Resistance 0.7 ºC/W FAn COOLED, no HEATSInk Thermal Resistance. ºC/W Forced-air at 00 LFM (Linear Feet/Minute) directed at the heatplate. HEATSInk, COnVECTIOn COOLED A heatsink is mounted to the heatplate and is exposed for convection cooling but is not fan cooled or in contact with a heat sinking surface. Thermal Resistance.7 ºC/W no HEATSInk OR FAn, COnVECTIOn COOLED The heatplate is exposed for convection cooling but is not fan cooled or in contact with a heat sinking surface. Thermal Resistance: Flat:. ºC/W On edge:.0 ºC/S Flat mounting Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

23 Ambient Temperature ( C) Ambient Temperature ( C) Xenus R MAXIMUM ambient temperature VS. output current, MOUNTING, AND COOLING The graphs below show the maximum ambient operating temperature for the drive vs. output current for the Xenus R models at 0 and 0 Vac mains voltages and under different mounting and cooling conditions. Model: R-0-0, R-0-0, R-0-0 Mains: 0 Vac = No HS or fan, convection = With HS, convection = No HS, with fan = With HS, with fan = Infinite heatsink Continuous Output Current (Adc) Model: R-0-0, R-0-0, R-0-0 Mains: 0 Vac = No HS or fan, convection = With HS, convection = No HS, with fan = With HS, with fan = Infinite heatsink Continuous Output Current (Adc) Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of

24 Xenus R MASTER ORDERING GUIDE R-0-0 Xenus R Servo drive / Adc R-0-0 Xenus R Servo drive / Adc R-0-0 Xenus R Servo drive /0 Adc Add -S to model number for Sin/Cos version Add -R to model number for Resolver version accessories Drive Connector Kit R-CK CANopen Connector Kit R-NK Qty Ref DESCRIPTION manufacturer part no. J Plug, position,.0mm, female Wago: 797 or 7-0/0-07/RN J Plug, position,.0 mm, female Wago: 8008 or 7-0/0-07/RN J Connector housing, position Molex: Micro-Fit J Connector housing, 0 position Samtec: Mini-Mate IPD-0-D J Connector housing, 0 position Samtec: Mini-Mate IPD--D J Connector housing, 0 position Samtec: Mini-Mate IPD-0-D J,J,J Contact, female, for AWG ~0 wire Samtec: Mini-Mate CC79L-0-0-F 8 J Contact, female, for AWG ~0 wire Molex: Micro-Fit J,J Wire insertion/extraction tool Wago: - D-Sub 9 position female to RJ- female (R-CV) J RJ- plug to flying leads with crimps (R-NA-0), 0 ft ( m ) CANopen terminator (R-NT) (J plug with resistor) R-NA-0 J CANopen cable assembly: RJ- plug to flying leads with crimps, 0 ft ( m ) R-NC-0 J CANopen cable assembly: drive J plug to flying leads with crimps, 0 ft ( m ) R-NC-0 J CANopen cable assembly: drive J plug to flying leads with crimps, ft (0. m ) R-NT J CANopen network teminator (J plug with resistor) SER-CK J7 Serial Cable Kit: D-Sub 9F to RJ- adapter + ft (.8 m) modular cable for drive J7 R-CV J Cable adapter: D-Sub 9F to RJ- female, for CAN cables CME CME CD (CME ) Heatsink Kit R-HK Heatsink Thermal Material A/R Hardware ordering example Example: Order R-0-0 drive with resolver feedback, heatsink, and associated components: Qty Item Remarks R-0-0-R Xenus R servo drive with resolver feedback R-CK Connector Kit R-HK Heatsink kit SER-CK Serial Cable Kit CME CME CD Note: Specifications subject to change without notice Rev r0_tu 0/09/00 Copley Controls, 0 Dan Road, Canton, MA 00, USA Tel: Fax: Tech Support: sales@copleycontrols.com, Internet: Page of