digital servo drive for brush & brushless motors · p/n 16-01436 rev 01 page 1 of 28 xenus roh...
TRANSCRIPT
Model Ic Ip Vac
XPC-230-09 3 9 100~240
XPC-230-12 6 12 100~240
XPC-230-15 7.5 15 100~240
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 1 of 28
RoHSXenus PLUSCompact CANopen XPC
dIgItal serVo drIVe for brush & brushless Motors
CoNtRol MoDeS• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing• Indexer,Point-to-Point,PVT• Camming,GearingCommandInTerfaCe• Canopen • aSCIIanddiscreteI/o • Steppercommands • ±10Vposition/velocity/torque • PWmvelocity/torquecommand • masterencoder(Gearing/Camming)CommunICaTIonS• Canopen• rS-232feedbaCkIncremental• digitalquada/bencoder• analogsin/cosencoder• PanasonicIncrementala• aux.encoder/encoderoutabsolute• SSI• endat2.1&2.2• absolutea• Tamagawaabsolutea• Panasonicabsoluteaformat• Sanyodenkiabsolutea• biSS(b&C)other • digitalHallsI/odIGITal• 6High-speedinputs • 1motorover-tempinput• 4opto-isolatedinputs• 1High-speedoutput• 3opto-isolatedoutputs• 1opto-isolatedmotorbrakeoutputI/oanaloG• 1referenceinput,12-bitSafeTorqueoff(STo)• SIl3,Category3,Pld
dImenSIonS:In[mm]• 7.54x4.55x2.13[191.4x115.6x54.1]
deSCrIPTIonXPC sets new levels of performance, connectivity, andflexibility.CANopen communicationprovidesawidelyusedcost-effective industrial bus. a wide range of absoluteencodersaresupported.
Highresolutiona/dconvertersensureoptimalcurrentloopperformance.bothisolatedandhigh-speednon-isolatedI/oareprovided.forsafetycriticalapplications,redundantpowerstageenableinputscanbeemployed.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 2 of 28
RoHSXenus PLUSCompact CANopen XPC
Testconditions:Wyeconnectedload:2mHline-line.ambienttemperature=25°C.Powerinput=230Vac,60Hz,1Ø
MoDel XPC-230-09 XPC-230-12 XPC-230-15oUtPUt CURReNt
PeakCurrent 9(6.4) 12(8.5) 15(10.6) adc(arms,sinusoidal) Peaktime 1 1 1 s Continuouscurrent 3(2.12) 6(4.24) 7.5(5.3) adc(arms,sinusoidal)
InPuTPoWer mainsvoltage,phase,frequency 100~240 100~240 100~240 Vac,±10%,1Øor3Ø,47~63Hz maximummainsCurrent,(Note 2) 4.7 9.4 11.8 arms1Ø 2.6 5.2 6.5 arms3Ø +24VdcControlpower +20~32Vdcrequiredforoperation(note3_ 7.5W(Typ,noloadon+5Voutputs),≤18W,(max,both+5Voutputs@500ma)
dIGITalConTrol digitalControlloops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth minimumloadinductance 200µHline-line resolution 12-bitcaptureofu&Vphasecurrents
CommandInPuTS Canopen ProfilePosition-Velocity-Torque,Interpolatedposition,Homing Stand-alone mode analogtorque,velocity,positionreference ±10Vdc,12bitresolution dedicateddifferentialanaloginput digitalpositionreference Pulse/direction,CW/CCW Steppercommands(4mHzmaximumrate) quada/bencoder 2mline/sec,8mcount/sec(afterquadrature) digitaltorque&velocityreference PWm,Polarity PWm=0%-100%,Polarity=1/0 PWm50% PWm=50%±50%,nopolaritysignalrequired PWmfrequencyrange 1kHzminimum,100kHzmaximum PWmminimumpulsewidth 220ns Indexing upto32sequencescanbelaunchedfrominputsoraSCIIcommands. Camming upto10Camtablescanbestoredinflashmemory aSCII rS-232,9600~115,200baud,3-wire,rJ-11connector
dIGITalInPuTS [In1,2] digital,Schmitttrigger,1.5µsrCfilter,24Vdccompatible,15kΩprogrammablepull-up/downsto+5Vdc/ground, Vt+≥3.15Vdc,VT-≤1.13Vdc [In3,4,5,6] Programmableas4single-endedor2differentialpairs,100nsrCfilter,5Vdctypical,12Vdcmax 10kΩprogrammablepull-up/downperinputto+5Vdc/ground, Se:Vin-lo≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,dIff:Vin-lo≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp, [In7,8,9,10] opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,withcommonreturnto+24Vorground ratedimpulse≥800V,Vin-lo≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6ma@±24Vdc,typical maximumworkingvoltagewithrespecttosignalground:32Vdc [In11] motorovertempsignalonfeedbackconnector,Schmitttrigger,24Vdccompatible 330µsrCfilter,4.99kpullupto+5Vdc,Vt+≥3.15Vdc,VT-≤1.13Vdc Programmableforotherfunctionsifnotusedformotemp
analoGInPuT [aIn±] differential,±10Vdc,5.06kΩinputimpedance,12-bitresolution
SafeTorqueoff(STo)function PWmoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTofunctionisasserted Standard designedtoIeC-61508-1,IeC-61508-2,IeC-61800-5-2,ISo-13849-1 SafetyIntegritylevel SIl3,Category3,Performanceleveld Inputs 2two-terminal:STo-In1+,STo-In1-,STo-In2+,STo-In2- Type opto-isolators,24Vcompatible,Vin-lo≤6.0Vdcoropen,Vin-HI≥15.0Vdc, Inputcurrent(typical)STo-In1:9.0ma,STo-In2:4.5ma responsetime 2msfromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Reference Xenus Plus Compact STO Manual
RS-232 PoRt Signals rxd,Txd,Gndin6-position,4-contactrJ-11stylemodularconnector,non-isolated mode full-duplex,dTeserialcommunicationportfordrivesetupandcontrol,9,600to115,200baud Protocol binaryandaSCIIformats
dIGITalouTPuTS [ouT1~3] opto-isolatedSSr,two-terminal,300mamax,24Vtolerant,series1Ωresistor,36VZenerflybackdiode ratedimpulse≥800V [ouT4] High-speedCmoSbuffer,+5Vmax,±8mainto560Ω(minimum) [ouT5] motorbrakecontrol:opto-isolated,current-sinkingwithflybackdiodeto+24Vdc,1adcmax
CAN PoRtS format dualrJ-45receptacles,isolatedfromsignalground,maxworkingvoltagewithrespecttosignalground:32Vdc Protocol CanopenCia-402
5VouTPuTSnumber 2:+5Vout1onthefeedbackconnector(J5),+5Vout2onthecontrolconnector(J6)forthemulti-modeencoder ratings +5Vdc@500maeachoutput,1000matotalforbothoutputs,thermalandoverloadprotected
noTeS:1.brakeoutputisprogrammableasmotorbrake,orasgeneralpurposedigitaloutput2.Theactualmainscurrentisdependentonthemainsvoltage,andmotorloadandoperatingconditions.ThemaximummainsCurrentsshownaboveoccurwhenthedriveisoperatingfromthemaximuminputvoltageandisproducingtheratedpeakandcontinuousoutputcurrentsatthemaximumoutputvoltage.
general specIfIcatIons
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 3 of 28
RoHSXenus PLUSCompact CANopen XPC
STaTuSIndICaTorS driveStatus bicolorled,drivestatusindicatedbycolor,andblinkingornon-blinkingcondition neTStatus run/errleds,statusofCanopenbusindicatedbycolorandblinkcodestoCanIndicatorSpecification303-3
reGeneraTIon operation Solidstateswitchdrives60Ωinternalregenresistor busCapacitance 940µf ContinuousPowerCapability 20W Cut-InVoltage +HV>390Vdc±2Vdc regenoutputison,regenresistorisdissipatingenergy drop-outVoltage +HV<380Vdc±2Vdc regenoutputisoff,regenresistornotdissipatingenergy
ProTeCTIonS aCmainsloss lossofmainspowerbetweenl1&l2isdetected HVovervoltage +HV>400Vdc drivePWmoutputsturnoffuntil+HVislessthan400Vdc HVundervoltage +HV<60Vdc drivePWmoutputsturnoffuntil+HVisgreaterthan60Vdc driveovertemperature IGbT>85°C±3°C drivePWmoutputsturnoffuntilIGbTtemperatureisbelow85ºC Shortcircuits motor:outputtooutput,outputtoground,outputtoHV,internalPWmbridgefaults regen:regen+toground,regen-toHV I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime motorovertemperature [In11]inputprogrammabletodisabledrivewhenmotorsensorresistanceincreases feedbackloss Programmabletodetectlossofaorbencoderchannels,orlossofaorborXchannels CommandSignalloss Canopenmasterstopscyclicalupdates,networkcableisunplugged Programmableasalatchingfault 24VreversedPolarity reversingthe+24Vconnections(J3-4&J3-1)willnotdamagethedrive
meCHanICal&enVIronmenTal Size 7.54x4.55x2.13[191.4x115.6x54.1] Weight 2.2lb[1.0kg] ambienttemperature 0to+45°Coperating,-40to+85°Cstorage altitude ≤2000m(6560ft) Humidity 0%to95%,non-condensing Contaminants Pollutiondegree2 Vibration 2gpeak,10~500Hz(sine),IeC60068-2-6 Shock 10g,10ms,half-sinepulse,IeC60068-2-27 Cooling Internalfanallowsoperationatratedcontinuouscurrentto45Cambient
aGenCySTandardSConformanCeStandards and Directives Functional Safety IeC61508-1:2010,IeC61508-2:2010,IeC61508-3:2010,IeC61508-4:2010(SIl3) directive2006/42/eC(machinery) ISo13849-1/Cor.1:2009(Cat3,Pld) IeC61800-5-2:2007(SIl3) Reference: Xenus Plus Compact STO Manual
Product Safety directive2006/95/eC(lowVoltage) IeC61800-5-1:2007
EMC directive2004/108/eC(emC) IeC61800-3:2004/a1:2011
Restriction of the Use of Certain Hazardous Substances (RoHS) directive2011/65/eu(roHSII)
Approvals UL and cUL recognized component to: Ul 61800-5-1, 1st ed. UL Functional Safety Certification to: IeC61508-1:2010,IeC61508-2:2010,IeC61508-3:2010,IeC61508-4:2010(SIl3) ISo13849-1/Cor.1:2009(Cat3,Pld)
general specIfIcatIons
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 4 of 28
RoHSXenus PLUSCompact CANopen XPC
general specIfIcatIons
feedbaCkIncremental: digitalIncrementalencoder quadraturesignals,(a,/a,b,/b,X,/X),differential(X,/XIndexsignalsnotrequired) 5mHzmaximumlinefrequency(20mcounts/sec),maX3097differentiallinereceiver 121Ωterminatorsbetweena&/a,b&/binputs,130ΩbetweenX&/Xinput analogIncrementalencoder Sin/cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%,ServoTubemotorcompatible bW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 12-bitresolution,bW>300kHz,withzero-crossingdetection Absolute: SSI Clock(X,/X),data(S,/S)signals,4-wire,ClockisoutputfromXPC,dataisinputfromencoder 130ΩterminatorbetweenX&/Xoutputs,221ΩbetweenS&/Sinputs 1kΩpull-upsto+5VdconX&S,1kΩpull-downstoSgndon/X&/S endaT Clock(X,/X),data(S,/S),Sin/Cos(Sin+,Sin-,Cos+,Cos-)signals absolutea,Tamagawaabsolutea,Panasonicabsoluteaformat,Sanyodenkiabsolutea Sd+,Sd-(S,/S)signals,2.5or4mHz,2-wirehalf-duplexcommunication Positionfeedback:13-bitresolutionperrev,16bitrevolutioncounter(29bitabsolutepositiondata) Statusdataforencoderoperatingconditionsanderrors biSS(b&C) ma+,ma-(X,/X),Sl+,Sl-(S,/S)signals,4-wire,ClockoutputfromXPC,dataisinputfromencoder X&SchannelsforabsoluteencodersuseISl3178bi-directionallinedriver/receivers
HallSDigital: u,V,W:Single-ended,120°electricalphasedifferencebetweenu-V-Wsignals, Schmitttrigger,1µsrCfilter,24Vdccompatible,10kΩpull-upto+5Vdc Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc
Analog: u&V: Sin/cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%,ServoTubemotorcompatible bW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 12-bitresolution,bW>300kHz,withzero-crossingdetection
mulTI-modeenCoderPorT asInput SeedigitalIncrementalencoderaboveforelectricaldataona,b,&Xchannels,or absoluteencodersusingXorSchannels.noterminatorsona&bchannels,X&Schannelsasshownabove asemulatedoutput quadraturea/bencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromanalogsin/cosencodersorabsoluteencoders.a/boutputsuseISl3178linedrivers. a,/a,b,/b,outputsfromISl3178differentiallinedriver,X,/X,S,/SoutputsfromISl3178driver asbufferedoutput digitala/b/XencodersignalsfromprimarydigitalencoderarebufferedbyISl3178linedrivers,5mHzmax
5VouTPuTSnumber 2:+5Vout1onthefeedbackconnector(J5),+5Vout2onthecontrolconnector(J6)forthemulti-modeencoder ratings +5Vdc@500maeachoutput,1000matotalforbothoutputs,thermalandoverloadprotected
S1 S2
HeX DeC
0 0 0
1 16 1
2 32 2
3 48 3
4 64 4
5 80 5
6 96 6
7 112 7
8
Not Used for
CAN Addr
8
9 9
A 10
b 11
C 12
D 13
e 14
f 15
S2
S1
X1X10DEVICE ID
CAN Status LED
J7
6
9
1
5
D-Sub 9F
3 3
2 2
18
CAN_L
CAN_GND
CAN_H
CAN_L
RJ-45
CAN_GND
CAN_H7 1
J7
Pin 8Pin 1
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 5 of 28
RoHSXenus PLUSCompact CANopen XPC
can network node-Id (address)
canopen coMMunIcatIonsXenususestheCanphysicallayersignalsCan_H,Can_l,andCan_Gndforconnection,andCanopenprotocolforcommunication.beforeinstallingthedriveinaCansystem,itmustbeassignedaCanaddress.amaximumof127CannodesareallowedonasingleCanbus.Therotaryswitchonthefrontpanelcontrolsthefourlowerbitsoftheseven-bitCanaddress.Whenthenumberofnodesonabusislessthansixteen,theCanaddresscanbesetusingonlytheswitch.address0isreservedfortheCanbusmaster.for installationswith sixteen ormoreCannodes on a networkCme2 can be used to configureXenus to use the rotary switch,orcombinationsofdigital inputsandprogrammedoffset inflashmemorytoconfigurethedrivewithahigherCannodeaddress. for more information on Canopen communications, download the Canopen manual from the Copley web-site: http://www.copleycontrols.com/motion/downloads/pdf/CanopenProgrammersmanual.pdf
note:red&greenledon-timesdonotoverlap. ledcolormaybered,green,off,orflashingofeithercolor.
CAN StAtUS leD
CANoPeN CoNNeCtoRSdualrJ-45connectorsthatacceptstandardethernetcablesareprovidedforCanbusconnectivity.Pinsarewired-through so that drives can be daisy-chained and controlledwith a single connectionto the user’s Can interface. a Can terminatorshould be placed in the last drive in the chain. TheXP2-nkconnectorkitprovidesad-SubadapterthatplugsintoaCancontrollerandhasanrJ-45socketthatacceptstheethernetcable.
XP2-nkCanConneCTorkITThe kit contains the XP2-CV adapter that converts the Can interfaced-Sub9mconnectortoanrJ-45ethernetcablesocket,plusa10ft(3m)cableandterminator.bothconnectorpin-outsconformtotheCiadr-303-1specification.
J7CanConneCTIonS
Note: Red & green led on-times do not overlap. LED color may be red, green, off, or flashing of either color.
neT(CanSTaTuS)ledabi-colorledgivesthestateoftheCanconnectioninaccordancewiththeCan-Ciaspecification303,part 3.Thegreen(run)ledshowsthestateoftheCanopenstatemachine.Thered(err)ledshowstheoccurrenceoferrors(sync,guard,orheartbeat)andoftheCanbusphysicallayer.duringaresetcondition,thegreenledwillbeoff. Inoperation,thered&greencolorswillalternatewiththenumberofblinksoron/offconditionshowninthetabletotheright.
InanCanopennetwork,nodesareassignedaddresses1~127.address0isreservedfortheCanbusmaster.IntheXPC,thenodeaddressisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.Thesecansettheaddressofthedrivefrom0x01~0x7f(1~127decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.
node-Id(address)Switches
Cme2->amplifier->networkConfiguration
Tofindthenode-Idgiventheswitchsettings: node-Id=(S1*16)+S2 example:S1=5,S2=b S1value=(5*16)=80,S2value=Hex(b)=11, node-Id=80+11=91
Tofindtheswitchsettingsforagivenaddress:S1=Theintegerpartof(node-Id/16) S2=Hex(node-Id-(S1*16)) example:node-Id=91 S1=91/16=5.69,integerpart=5,(5*16)=80 S2=Hex(91-80)=11=0xb
b5
5b91
CanopenSettings
PIn SIGnal
2 rxd
3,4 Gnd
5 Txd6
9
1
5
3 2TxD RxD
RJ-11on
ServoDrive
RJ-11 cable6P6CStraight-wired
5 3Gnd Gnd
RxD TxD2 5
D-Sub 9F
Dsub-9Fto RJ11Adapter
16
RxD TxD
1 2 3 4 5 6
RJ-11(DTE)
CANopenRS-232
CANopen
CAN Addr 0CAN Master CAN Node CAN Node
CAN Addr 1 CAN Addr n
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 6 of 28
RoHSXenus PLUSCompact CANopen XPC
J8:rS-232PorTrJ-11receptacle, 6position,4contact
rS-232CommunICaTIonSXPCisconfiguredviaathree-wire,full-duplexdTerS-232portthatoperatesfrom9600to115,200baud,8bits,noparity,andonestopbit. Signalformatisfull-duplex,3-wire,dTeusingrxd,Txd,andGnd.ConnectionstotheXPCrS-232portarethroughJ8,anrJ-11connector. the XPC SerialCablekit(Ser-Ck)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-dserialportconnector (Com1,Com2,etc.)onPC’sandcompatibles.
Ser-CkSerIalCablekITTheSer-Ckprovidesconnectivitybetweenad-Sub9maleconnectorandtherJ-11connectorontheXPC.ItincludesanadapterthatplugsintotheCom1(orother)portofaPCandusescommonmodularcabletoconnecttotheXPC.Theconnectionsareshowninthediagrambelow.
don’tforgettoorderaSerialCablekitSer-CkwhenplacingyourorderforanXPC!
coMMunIcatIons: rs-232 serIal
ascII coMMunIcatIon protocol
rS-232mulTI-droPTherS-232specificationmakesnoallowanceformorethantwodevicesonaseriallink.but,multipleXPCdrivescancommunicateoverasinglerS-232portbydaisy-chainingamasterdrivetootherdrivesusingCancables.IntheCanprotocol,address0isreservedfortheCanmasterandthereafterallothernodesonaCannetworkmusthaveunique,non-zeroaddresses.WhentheXPCCanaddressissetto0,itactsasaCanmaster,convertingtherS-232dataintoCanmessagesandpassingitalongtotheotherdriveswhichactas CAN nodes.
aSCIICommunICaTIonSTheCopleyaSCIIInterfaceisasetofaSCIIformatcommandsthatcanbeusedtooperateandmonitorCopleyControlsaccelnet,Stepnet,andXenusseriesamplifiersoveranrS-232serialconnection.forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammedusingCme2,acontrolprogramcanusetheaSCIIInterfaceto:•enabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.additionalinformationcanbefoundintheaSCIIProgrammersGuideontheCopleywebsite:http://www.copleycontrols.com/motion/pdf/aSCII_ProgrammersGuide.pdf
forSerial-multi-dropyou’llneedanSerialCablekitSer-CkplusCanopennetworkcablestoconnectthedrivesasshown. TheXP2-nC-01andXP2-nC-10are1ft(0.3m)and10ft(3m)cablesthatwilldothejob.
PIn SIGnal PIn SIGnal
1 frameGnd 6 STo-1(+)
2 STo-1(+) 7 STo-1(-)
3 STo-1(-) 8 STo-PWr
4 STo-2(+) 9 STo-Gnd
5 STo-2(-)
DANGER
Refer to the Xenus Plus Compact STO Manual
TheinformationprovidedintheXenusPlusdual-axisSTousermanualmustbeconsideredforanyapplicationusingtheXPCdriveSTofeature.Failure to heed this warning can cause equipment damage, injury, or death.
+HV
PWMOutputs
*
Channel 1
Frame Ground
STO-Bypass (6.5 mA)
STO-Gnd (Sgnd)
J4
STO-IN1+
STO-IN2+Channel 2
FPGAUVW PWM
Channel 3
STO-IN2-
STO-IN1-
STO-IN1+
STO-IN1-
2
3
1
4
5
6
7
8
9
EN
GateDrivers
FPGAPWM
Enable
16
95
Bypass Plug ConnectionsJumper pins:2-4, 3-5, 6-8, 7-9 *
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 7 of 28
RoHSXenus PLUSCompact CANopen XPC
16
95
SAFE
TY
Sto CoNNeCtoR
J4SIGnalS
safe torque off (sto)deSCrIPTIonTheXPCprovidestheSafeTorqueoff(STo)functionasdefinedinIeC61800-5-2.Threeopto-couplersareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWmoutputsfrombeingoperatedbythedigitalcontrolcore.Thisprovidesapositiveoffcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareactivated(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWmoutputs.
Current must flow through all of the
opto-couplers before the drive can be
enabled
STobyPaSS(muTInG)InorderforthePWmoutputsofthedrivetobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtothe STo-1andSTo-2terminalsofJ4,andthedrivemustbeinanenabledstate.Whentheopto-couplersareoff,thedriveisinaSafeTorqueoff(STo)stateandthePWmoutputscannotbeactivatedbythecontrolcoretodriveamotor.Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTofeatureisoverriddenandcontroloftheoutputPWmstageisundercontrolofthedigitalcontrolcore. If not using the STO feature, these connections must be made in order for the drive to be enabled.
STobyPaSSConneCTIonS
InSTallaTIon
*STobypassconnectionsonthe XPC and
XenusXel/XPlmodelsaredifferent.Ifbothdrivesare
installedinthesamecabinet,thediodeshouldbewiredas
showntopreventdamagethatcouldoccuriftheSTobypassconnectorsareinstalledonthewrongdrive.Thediodeisnot
requiredforSTobypassontheXPCandcanbereplacedbyawirebetweenpins7and9.
dIfferenTIal:In3,4,5,6
Signal J6Pins
[In3]Pls,Cu,enca 9
[In4]/Pls,/Cu,enc/a 10
[In5]dir,Cd,encb 11
[In6]/dir,/Cd,enc/b 12
SignalGround 6,16,22,31, 37,44
frameGround 1
SInGle-ended:In5,6
Signal J6Pins
[In5]Pls,Cu,enca 11
[In6]dir,Cd,encb 12
SignalGround 6,16,22,31, 37,44
frameGround 1
dIfferenTIal:In3,4,5,6
Signal J6Pins
[In3]Curr-Vel± 9
[In4]/Curr-Vel± 10
[In5]Pol-dir 11
[In6]/Pol-dir 12
SignalGround 6,16,22,31, 37,44
frameGround 1
SInGle-ended:In5,6
Signal J6Pins
[In5]Curr-Vel± 11
[In6]Pol-dir 12
Sgnd 6,16,22,31, 37,44
frameGround 1
PULSE
/PULSE
DIRECTION
/DIRECTION
[IN3]
[IN4]
[IN5]
[IN6]
CD (Count-Down)
CU (Count-Up)[IN3]
[IN4]
[IN5]
[IN6]
CU (CW)
/CU (CW)
CD (CCW)
/CD (CCW)
Enc. A
Enc B
/Enc. A
/Enc B
Encoder ph. B
Encoder ph. A [IN3]
[IN4]
[IN5]
[IN6]
CU (CW)
CD (CCW)
[IN5]
[IN6]
Enc. A
Enc. B
Enc. Ph. A
Enc. Ph. B
[IN5]
[IN6]
Pulse
Direction
[IN5]
[IN6]
Curr-Vel
Pol-Dir
[IN5]
[IN6]
Duty = 50% ±50%
<no connection>
Curr-Vel±
<not used>
[IN5]
[IN6]
Duty = 0 - 100% Curr-Vel
Pol-Dir
/Curr-Vel
/Pol-Dir
[IN5]
[IN6]
[IN3]
[IN4]
[IN5]
[IN6]
[IN3]
[IN4]/Curr-Vel
Curr-Vel
NoFunction
Duty = 50% ±50%
<no connection>
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 8 of 28
RoHSXenus PLUSCompact CANopen XPC
PoSITIonCommandInPuTSdigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.
fordifferentialcommands,thea&bchannelsofthemulti-modeencoderportsmaybeused.
SInGle-endedPWm&dIreCTIon
SInGle-ended50%PWm
SInGle-endedPulSe&dIreCTIon
SInGle-endedCu/Cd
quada/benCoderSInGle-ended
dIfferenTIalCu/Cd
dIfferenTIalPulSe&dIreCTIon
quada/benCoderdIfferenTIal
dIfferenTIal50%PWm
dIfferenTIalPWm&dIreCTIon
dIgItal coMMand Inputs: posItIon
dIgItal coMMand Inputs: VelocIty, torqueSingle-endeddigitaltorqueorvelocitycommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.
fordifferentialcommands,thea&bchannelsofthemulti-modeencoderportsmaybeused.
SIGnalS&PInS
Signal J6
Pulse,CW,encodera 36
/Pulse,/CW,encoder/a 21
direction,CCW,encoderb 35
/direction,/CCW,encoder/b 20
quadencX,absoluteClock 34
quadenc/X,/absoluteClock 19
encS,absolute(Clock)data 33
enc/S,/absolute(Clock)data 18
SignalGround6, 16, 22, 31, 37, 44
frameGround 1
+5V output @ 500 mA
Signal Ground
Enc. B
Enc. X
Enc. X
Enc. X
Enc. S
Enc. S
B
X
/X
/S
Enc. A
Incremental Encoder
Absolute Encoder
J6 Control
Frame Ground
A
S
/B
/A
Input/OutputSelect
MAX3097
MAX3032
A/B/X signals fromdigital encoder
Input/OutputSelect
MAX3097
MAX3032
A/B/X signals fromdigital encoder
Input/OutputSelect
MAX3097
MAX3032
Pulse/Dir or CU/CD differential commands
InputSelect
OutputSelect
MAX3362
MAX3362
X
S
4-Wire digital absolute encoder signals
Input/OutputSelect
MAX3362
S
S
2-Wire digital absolute encoder signals
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 9 of 28
RoHSXenus PLUSCompact CANopen XPC
MultI-Mode encoder port as an Input
PoSITIonCommandInPuTS:dIfferenTIal•Pulse&direction•CW&CCW(Clockwise&Counter-Clockwise)•encoderquada&b•Cammingencodera&binput
CURReNt orVeloCITyCommandInPuTS:dIfferenTIal•CurrentorVelocity&direction•CurrentorVelocity(+)&CurrentorVelocity(-)
SeCondaryfeedbaCk:InCremenTal•quada/b/Xincrementalencoder
SeCondaryfeedbaCk:abSoluTe•Schannel:absoluteaencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesdatafromtheencoderinhalf-duplexmode.
•S&Xchannels:SSI,biSS,endatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder, whichinitiatesdatatransmissionfromtheencoder ontheS-channelinfull-duplexmode
Input types
SIGnalS&PInS
Signal J6
encodera 36
encoder/a 21
encoderb 35
encoder/b 20
encoderX 34
encoder/X 19
encoderS 33
encoder/S 18
SignalGround 6, 16, 22, 31, 37, 44
frameGround 1
SecondaryEncoder Input
Input/OutputSelect
Quad A/B/X primaryencoder
MAX3032
MAX3097
Buffered A/B/X signalsfrom primary encoder
SecondaryEncoder Input
Input/OutputSelect
MAX3362
MAX3097
Emulated Quad A/Bsignals from analog Sin/Cos encoder
Emulated A/B signals
Enc. B
Enc. X
B
/B
X
/X
Enc. A
Incremental Encoder
J6 Control
Frame Ground
A
/A
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 10 of 28
RoHSXenus PLUSCompact CANopen XPC
MultI-Mode port as an output
output types
bufferedfeedbaCkouTPuTS:dIfferenTIal•encoderquada,b,Xchannels•directhardwareconnectionbetweenquada/b/X encoderfeedbackanddifferentiallinedriversfora/b/Xoutputs
emulaTedfeedbaCkouTPuTS:dIfferenTIalfirmwareproducesemulatedquada/bsignalsfromfeedback datafromthefollowingdevices:•absoluteencoders•analogSin/Cosincrementalencoders
name Notes
analog:referencefilter disabled
Vloop:Inputfilter disabled
Vloop:outputfilter1 lowPass,butterworth, 2-pole,200Hz
Vloop:outputfilter2 disabled
Vloop:outputfilter3 disabled
Iloop:Inputfilter1 disabled
Iloop:Inputfilter2 disabled
InputShaping disabled
option Notes
Method SetCurrentPositionasHome
name Notes
oUt1Isolated notConfiguredoUt2
oUt3
oUt4 HSoutput notConfigured
oUt5 brakeactive-HI
active Notes
√ ShortCircuit
√ ampoverTemperature
√ motoroverTemp
overVoltage
underVoltage
√ feedbackerror
motorPhasingerror
√ followingerror
CommandInputfault
motorWiringdisconnected
SToactive
oPTIonalfaulTS
overCurrent(latched)
name Configuration PU/PD
In1 enable-lo,Clearfaults
+5V/Gnd
In2
notConfigured
In3
In4
In5
In6
In7
opto notConfigured
In8
In9
In10
In11 motemp +5VPu
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 11 of 28
RoHSXenus PLUSCompact CANopen XPC
cMe2 defaults
ThesetablesshowtheCme2defaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.
SPeCIfICaTIonS
Input Data Notes
InputVoltages
HI VT+=2.5~3.5Vdc
lo VT-=1.3~2.2Vdc
VH1 VH=±0.7~1.5Vdc
max +30Vdc
min 0Vdc
Pull-up/down R1 15kΩ
lowpassfilterR2 15kΩ
C1 100pf
InputCurrent24V 1.3madc
0V -0.33madc
Timeconstant RC2 1.5µs
ConneCTIonS
Input Pin
In1 J6-7
In2 J6-8
Sgnd J6-6,16,22,31,37,44
SPeCIfICaTIonS
Input Data Notes
InputVoltages Single-ended
HI Vin≥2.7Vdc
lo Vin≤2.3Vdc
VH1 45mVdctyp
InputVoltages differential3
HI Vdiff≥+200mVdc
lo Vdiff≤-200mVdc
VH ±45mVdctyp
Commonmode Vcm 0to+12Vdc
Pull-up/down R1 10kΩ
lowpassfilterR2 1kΩ
C1 100pf
Timeconstant RC2 100 ns
ConneCTIonS
S.e. dIff Pin
In3 In3+ J6-9
In4 In4- J6-10
In5 In5+ J6-11
In6 In6- J6-12
Sgnd J6-6,16,22,31,37,44
C1
R2R1
74HC2G14
PullUp = +5VPullDown = 0V
[IN1,2]
+5V
FEEDBACK CONNECTOR
12V max+
C1
C1
2.5V
MAX3096
MAX3096
[IN3,5]
J6 Control
[IN4,6]
R1
R1
+5V
R2
R2
++5V
[IN3,5]
J6 Control
[IN4,6]
+5V
+5V
C1
R1R2
C1
R1R2
MAX3096
12V max+
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 12 of 28
RoHSXenus PLUSCompact CANopen XPC
sIngle-ended/dIfferentIal Inputs: In3, In4, In5, In6
hIgh speed Inputs: In1, In2
• digital,non-isolated,high-speed• Progammablepull-up/pull-down• 24VCompatible• Programmablefunctions
notes:1)VHishysteresisvoltage (VT+)-(VT-)
2)Ther2*C2timeconstantapplieswheninputisdrivenbyactiveHI/lodevices
• digital,non-isolated,high-speed• Progammablepull-up/pull-down• 12VCompatible• Single-endedordifferential• Programmablefunctions
notes:1)VHishysteresisvoltage In2-In3orIn12-In13
2)Ther2*C2timeconstantapplieswheninputisdrivenbyactiveHI/lodevices)
3)Vdiff=aInn(+)-aInn(-) n=1foraxisa,2foraxisb
SInGle-ended
dIfferenTIal
SPeCIfICaTIonS
Input Data Notes
InputVoltages
HI Vin≥3.5Vdc
lo Vin≤0.7Vdc
max +24Vdc
min 0Vdc
Pull-up R1 4.99kΩ
InputCurrent24V 5.7madc
0V -1.0madc
lowpassfilterR2 10kΩ
C1 33nf
Timeconstant te 330µs*bS4999:Part111:1987
Property ohms
resistanceinthetemperaturerange20°Cto+70°C 60~750
resistanceat85°C ≤1650
resistanceat95°C ≥3990
resistanceat105°C ≥12000
ConneCTIonS
Input Pin
In11 J5-7
Sgnd J5-5,16,25,26
ConneCTIonS
Signal J6Pin
In7 13
In8 14
In9 15
In10 30
ICom 28
SPeCIfICaTIonS
Input Data Notes
InputVoltages
HI Vin≥±10.0Vdc*
lo Vin≤±6Vdc*
max ±30Vdc*
InputCurrent±24V ±3.6madc
0V 0madc
+5V
[IN11]
Thermistor,Posistor,
or switch Signal Gnd
R1
R2
C1
J5
J6
4.99k 4.7V
[IN7] 4.7k
4.7k
4.7k
4.7k
[INCOM]
4.99k 4.7V
[IN8]
4.99k 4.7V
[IN9]
4.99k 4.7V
[IN10]
+24V
24V GND
+
24V
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 13 of 28
RoHSXenus PLUSCompact CANopen XPC
• digital,non-isolated• motorovertempinput• 24VCompatible• Programmablefunctions
• digital,opto-isolated• agroupoffour,withacommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions
moToroVerTemPInPuTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtobS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.
*VdcreferencedtoIComterminals.
* rC time constant applieswhen input is driven byactivehigh/lowdevice
Motor oVerteMp Input: In11
opto-Isolated Inputs: In7, In8, In9, In10
SPeCIfICaTIonS
Spec Data Notes
InputVoltage Vref ±10Vdc
Inputresistance rin 5.05kΩ
HI/lodefInITIonS:ouTPuTS
Input State Condition
oUt1~3HI outputSSrison,currentflows
lo outputSSrisoff,nocurrentflows
ConneCTIonS
Signal (+) (-)
oUt1 J6-42 J6-27
oUt2 J6-41 J6-26
oUt3 J6-40 J6-25
SPeCIfICaTIonS
output Data Notes
onVoltage ouT(+)-ouT(-) Vdc 0.85V@300madc
outputCurrent Iout 300madcmax
ConneCTIonS
Signal Pins
aIn(+) J6-3
aIn(-) J6-2
Sgnd J6-6,16,22,31,37,44
+
1.5V
Shield (Frame Gnd)
AIN(+)
AIN(-)Vref
J6D/A
F.G.
±10V
Sgnd
-
[OUTn-]
300mAmax
* at 24 Vdc
Vdc
J6
[OUTn+]
1
80Ωmin*
36V
SSR
+
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 14 of 28
RoHSXenus PLUSCompact CANopen XPC
analog Input: aIn1
asareferenceinputittakesposition/velocity/torquecommandsfromacontroller.Ifnotusedasacommandinput,itcanbeusedasgeneral-purposeanaloginput.
• ±10Vdc,differential• 12-bitresolution• Programmablefunctions
opto-Isolated outputs: out1, out2, out3
• digital,opto-isolated• moSfeToutputSSr,2-terminal• flybackdiodeforinductiveloads• 24VCompatible• Programmablefunctions
HI/lodefInITIonS:ouTPuTS
Input State Condition
brake [ouT5]
HI
outputtransistorisoff brakeisun-poweredandlocksmotor motorcannotmove brakestateisactive
lo
outputtransistorison brakeispowered,releasingmotor motorisfreetomove brakestateisnoT-active
SPeCIfICaTIonS
output Data Notes
Voltagerange max +30Vdc
outputCurrent Ids 1.0adc
SPeCIfICaTIonS
outputHI Data Notes
VoutHI Voh 4.4Vdc
IoutHI Ioh -8.0madc
Voutlo Vol 0.40Vdc
Ioutlo Iol 8.0madc
J3ConneCTIonS
Pin Signal
4 brk24VInput
3 brk24Voutput
2 brake[ouT5]
1 24Vreturn
J3
Brake [OUT5]
4
3
24V
Brk 24V Input
Brk 24V Output
24V Return
2
1
i
+0
J6+5 Vdc
[OUT4] ±8 mA
RSgnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 15 of 28
RoHSXenus PLUSCompact CANopen XPC
• brakeoutput• opto-isolated• flybackdiodeforinductiveload• 24VCompatible• Connectionforexternal24Vpowersupply• Programmablefunctions
• CmoSbuffer• 74aHCT1G125• Programmablefunctions
Cme2defaultSettingforbrakeoutput[ouT5]is“brake-activeHI” active =brakeisholdingmotorshaft(i.e.theBrake is Active) motorcannotmove nocurrentflowsincoilofbrake Cme2I/olineStatesshowsoutput4asHI brkoutputvoltageisHI(24V),moSfeTisoff Servodriveoutputcurrentiszero Servodriveisdisabled,PWmoutputsareoff Inactive=brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) motorcanmove Currentflowsincoilofbrake Cme2I/olineStatesshowsoutput5aslo brkoutputvoltageislo(~0V),moSfeTison Servodriveisenabled,PWmoutputsareon Servodriveoutputcurrentisflowing
Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.
opto-Isolated Motor brake output: out5
hIgh-speed output: out4
Signal J5Pins
enca 13
enc/a 12
encb 11
enc/b 10
encX 9
enc/X 8
+5V 6, 17
Sgnd 5, 16, 25, 26
f.G. 1
Signal J5Pins
Sin(+) 19
Sin(-) 18
Cos(+) 21
Cos(-) 20
X 9
/X 8
+5V 6, 17
Sgnd 5, 16, 25, 26
f.G. 1
1k+5V
1k
Encoder J5
FG Frame Ground
Enc. A121A
Enc. B121B
Enc. Index130X/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
1k+5V
1k
+5V Out @ 500 mA
Signal Ground
Sin(+)
Sin(-)
Cos(+)
Cos(-)
X
/X
-
+
-
+
10k
121
J5
10k
121
Encoder
FG
sin
cos
+5V
0V
indx
Frame Ground
10k
Sin
Cos
10k
Enc. Index130
Enc. A
Enc. B
Enc. Index
A
/A
B
/B
X
/X
Encoder
121
121
121
FG Frame Ground
A
B
+5V
0V
+5V Out @ 500 mA
Signal Ground
J5
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 16 of 28
RoHSXenus PLUSCompact CANopen XPC
feedback connectIons
quad a/b encoder wIth fault protectIonencoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviathea/bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.ThemaX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweena&/awhichisbelowthe
differentialfaultthreshold.Open-circuit condition: the 121Ωterminatorresistorwillpulltheinputstogetherifeitherside(orboth)isopen.
Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.Low differential voltage detection: Thisispossiblewithverylongcablerunsandafaultwilloccurifthe
differentialinputvoltageis<200mV.±15kV ESD protection: The3097ehasprotectionagainsthigh-voltagedischargesusingtheHumanbodymodel.Extended common-mode range: afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V
analog sIn/cos IncreMental encoderThesin/cosinputsareanalogdifferentialwith121Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTube motors.Theindexinputisdigital,differential.
quad encoder wIth Index quad encoder wIth no Index
sIn/cos sIgnals
a/b/x sIgnals
Sgnd=SignalGround f.G.=frameGnd
Sgnd=SignalGround f.G.=frameGnd
Signal J5Pins
Clk 9
/Clk 8
Data 15
/Data 14
Sin(+) 19
Sin(-) 18
Cos(+) 21
Cos(-) 20
+5V 6, 17
Sgnd 5, 16, 25, 26
f.G. 1
Signal J5Pins
Data 15
/Data 14
+5V 6, 17
Sgnd 5, 16, 25, 26
f.G. 1
SSI biSS J5Pins
Clk MA+ 9
/Clk MA- 8
Data Sl+ 15
/Data Sl- 14
+5V 6, 17
SignalGround 5, 16, 25, 26
frameGnd 1
1k+5V
1k 1k+5V
1k
BiSSEncoder
221
130
MA+
MA-
SL+
SL-
FGFrame Ground
J5
Clk
Data
Master
Slave
V+
V-
+5V Out @ 500 mA
Signal Ground
1k+5V
1k 1k+5V
1k
Encoder
221
130
Clk
/Clk
Dat
/Dat
FGFrame Ground
J5
Clk
DataData
Clk
+5V
0V
+5V Out @ 500 mA
A
A
B
B
Signal Ground
-
+
-
+
A
B
A
B
1k+5V
1k 1k+5V
1k
Encoder
221
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Dat
/Dat
Clk
/Clk130
FGFrame Ground
J5
Clk
DataData
Clk
+5V
0V
+5V Out @ 500 mA
Signal Ground
10k
10k
121 Sin
Cos
10k
10k
121
sin
cos
Absolute-AEncoder
221
1.2k
1.2k
220
5V
SD+
SD-
J5
Battery
Dat
/DatCmd
D-R
SDCmd
D-R
SD
MAX3362B0V
+5VV+
V-
+5V Out@ 500 mA
Signal Ground
Batt+
Batt-
+
-
1k
1k
5V
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 17 of 28
RoHSXenus PLUSCompact CANopen XPC
feedback connectIons
ssI absolute encoderTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheXPCdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequentclockpulses.Thepollingoftheencoderdataoccursatthecurrentloopfrequency(16kHz).Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SClkandSdaTa.dataissentin8bitbytes,lSbfirst.TheSClksignalisonlyactiveduringtransfers.dataisclockedoutonthefallingedgeandclockinontherisingedgeofthe Master.
biss absolute encoderbiSSisan-openSource-digitalinterfaceforsensorsandactuators.biSSreferstoprinciplesofwellknownindustrialstandardsforSerialSynchronousInterfaceslikeSSI,aS-Interface®andInterbus®withadditionaloptions. SerialSynchronousdataCommunication Cyclicathighspeed 2unidirectionallinesClockanddata linedelaycompensationforhighspeeddatatransfer requestfordatagenerationatslaves Safetycapable:CrC,errors,Warnings buscapabilityincl.actuators bidirectional biSSb-protocol:modechoiceateachcyclestart biSSC-protocol:Continuousmode
endat absolute encoderTheendatinterfaceisaHeidenhaininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogsin/coschannelsfromthesameencoder.Thenumberofpositiondatabitsisprogrammableasistheuseofsin/coschannels.useofsin/cosincrementalsignalsisoptionalintheendatspecification.
absolute-a encoderTheabsoluteainterfaceisaserial,half-duplextypethatiselectricallythesameasrS-485.notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.
endat sIgnals
absolute-a sIgnals
Note: Single (outer) shields should be connected at both ends (motor and drive frame grounds). Inner shields should only be connected to Signal Ground on the drive.
ssI,biss sIgnals
Sgnd=SignalGround f.G.=frameGnd
Sgnd=SignalGround f.G.=frameGnd
• absolutea• Tamagawaabsolutea• Panasonicabsoluteaformat• Sanyodenkiabsolutea
Signal J2Pin
Mot U 4
motV 3
motW 2
frameGnd 1
Signal J5Pins
Hallu 2
HallV 3
HallW 4
+5V 6, 17
Sgnd 5, 16, 25, 26
frameGnd 1
hall sIgnals
Motor sIgnals
J2
F.G.PWM
+HV
0V
+
W
V
U
Motor3 ph.
Halls
+5V Out @ 500 mA
Signal Ground
+5V
0V
10K
100p
10KHall U+5V
J5
100p
10K
10KHall V+5V
100p
10K
10KHall W
+5V
Hall A
Hall B
Hall C
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 18 of 28
RoHSXenus PLUSCompact CANopen XPC
Motor connectIons
Motor phase connectIonsThe drive output is a three-phase PWminverter that converts thedC buss voltage(+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.motorcablingshouldusetwisted,shieldedconductorsforCecompliance,andtominimize PWmnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J6-1)forbestresults.
dIgItal hall sIgnalsHall signals are single-ended signals thatprovideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(u, V, &W) and theymay be sourced bymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc. They typically operate atmuch lowerfrequenciesthanthemotorencodersignals,and are used for commutation-initializationafter startup, and for checking themotorphasing after the amplifier has switched tosinusoidalcommutation.
16
3
2
1
Frame Gnd
5 25
26
17
8
9
10
11
12
1
13
Hall W 4
Hall V 3
Hall U 2
J5 6+5V Out
7
Signal Gnd
Signal Gnd
Motemp
BRUSHLESSMOTOR
U
V
U(+)
V(-)
W
BRUSHMOTOR
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J2
J3Brake
24V Return
4
Brk 24V Output
Brk 24V Input +
0V24 Vdc
Brk
Xenus Plus Compact
ENCODER
DIGITALHALLS
TEMPSENSOR
DIGITAL
/A
A
/B
B
/X
Vcc
0V
X
/A
A
/B
B
/X
X
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 19 of 28
RoHSXenus PLUSCompact CANopen XPC
Theconnectionsshownmaynotbeusedinallinstallations
Motor connectIons: dIgItal quad a/b encoders
noTeS:1) CesymbolsindicateconnectionsrequiredforCecompliance.2) WhenSTofeatureisused,the24VpowersupplymustbeSelVorPelVwithoutput
voltagelimitedto60Vdc.
16
3
2
1
Frame Gnd
5 25
26
17
8
9
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
J5 6+5V Out
7
Signal Gnd
Signal Gnd
Motemp
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J2
J3Brake
24V Return
4
Brk 24V Output
Brk 24V Input +
0V24 Vdc
Brk
ENCODER
DIGITALHALLS
DIGITALINDEX
Vcc
0V
TEMPSENSOR
ANALOGSIN/COS
Sin-
Sin+
Cos-
Cos+
Ndx-
Ndx+
Enc Sin(-)
Enc Sin(+)
Enc Cos(-)
Enc Cos(+)
Enc Index(-)
Enc Index(+)
BRUSHLESS
U
V
WMOTOR
U(+)
V(-)BRUSHMOTOR
Xenus Plus Compact
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 20 of 28
RoHSXenus PLUSCompact CANopen XPC
Motor connectIons: analog sIn/cos IncreMental encoders
Theconnectionsshownmaynotbeusedinallinstallations
noTeS:1) CesymbolsindicateconnectionsrequiredforCecompliance.2) WhenSTofeatureisused,the24VpowersupplymustbeSelVorPelVwithoutput
voltagelimitedto60Vdc.
Signal Pin
+24VInput 4
+24Vtobrakes 3
brake 2
+24Vreturn 1
Signal Pin
Motor Phase U 4
motorPhaseV 3
motorPhaseW 2
frameGround 1
Signal Pin
mainsInputl3 5
frameGround 4
PeGround 3
mainsInputl2 2
mainsInputl1 1
PIn SIGnal PIn SIGnal
1 frameGnd 6 STo-In1(+)
2 STo-In1(+) 7 STo-In1(-)
3 STo-In1(-) 8 STo-mute
4 STo-In2(+) 9 STo-Gnd
5 STo-In1(-)
J1
J3
J4
J5
J6
FE
ED
BA
CK
C
ON
TR
OL
+24
+24
BRK
24V RTN
SA
FE
TY
L1L2
L3U
VW
BR
AK
EM
OT
OR
P
OW
ER
XenusPlus
5 min
x10x1
DE
VIC
E ID
S1
S2
NE
TW
OR
KE
RR
L/AR
UN
L/A
RS
-232A
BA
MPJ8
J7
OU
TIN
J2
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 21 of 28
RoHSXenus PLUSCompact CANopen XPC
J1maInSConneCTIonS
J2moTorouTPuT
J3+24VdC&brake
WARNING: Hazardous voltages exist on connections to J1, & J2 when power is
applied, and for up to 4 minutes after power is removed.
ISolaTedCIrCuIT
J4SafeTy(STo)
connectors & sIgnals
PIn SIGnal
1 n.c.
2 rxd
3 Gnd
4 Gnd
5 Txd
5 n.c.
PIn SIGnal PIn SIGnal PIn SIGnal
1 frameGnd 10 enc/b 19 Sin1(+)S3
2 Hallu 11 encb 20 Cos1(-)S4
3 HallV 12 enc/a 21 Cos1(+)S2
4 HallW 13 enca 22 n/c
5 SignalGnd 14 enc/S 23 n/c
6 +5Vout1 15 encS 24 n/c
7 motempIn11 16 SignalGnd 25 SignalGnd
8 enc/X 17 +5Vout1 26 SignalGnd
9 encX 18 Sin1(-)S1
PIn SIGnal PIn SIGnal PIn SIGnal
1 frameGnd 16 SignalGnd 31 SignalGnd
2 ref1(-) 17 +5Vout2 32 +5Vout2
3 ref1(+) 18 multienc/S 33 multiencS
4 n/c 19 multienc/X 34 multiencX
5 n/c 20 multienc/b 35 multiencb
6 SignalGnd 21 multienc/a 36 multienca
7 [In1]GP 22 SignalGnd 37 SignalGnd
8 [In2]GP 23 [ouT4]HS 38 n/c
9 [In3]HS 24 n/c 39 n/c
10 [In4]HS 25 [ouT3-]ISo 40 [ouT3+]ISo
11 [In5]HS 26 [ouT2-]ISo 41 [ouT2+]ISo
12 [In6]HS 27 [ouT1-]ISo 42 [ouT1+]ISo
13 [In7]ISo 28 [InCom]ISo 43 n/c
14 [In8]ISo 29 n.c. 44 Sgnd
15 [In9]ISo 30 [In10]ISo
J1
J3
J4
J5
J6
FE
ED
BA
CK
C
ON
TR
OL
+24
+24
BRK
24V RTN
SA
FE
TY
L1L2
L3U
VW
BR
AK
EM
OT
OR
P
OW
ER
XenusPlus
5 min
x10x1
DE
VIC
E ID
S1
S2
NE
TW
OR
KE
RR
L/AR
UN
L/A
RS
-232A
BA
MPJ8
J7
OU
TIN
J2
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 22 of 28
RoHSXenus PLUSCompact CANopen XPC
J8rS-232PorT
J8rS-232noTe1.J8signalsarereferencedtoSignalGnd.
J8CableConneCTor:rJ-11style,male,6positionCable:6-conductormodulartype,straight-through
notes:1)Thetotalcurrentdrawnfrom+5Vout1onJ5cannotexceed500ma.2)Thetotalcurrentdrawnfrom+5Vout2onJ6cannotexceed500ma.
rJ-11receptacle, 6position,4contact
J5feedbaCk
J6ConTrol&I/o
connectors & sIgnals
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 23 of 28
RoHSXenus PLUSCompact CANopen XPC
aWG mm2 Color Mfgr PNUM A b C D e Sl
14 2.5 blue Wago 216-206 15.0(0.59) 8.0(0.31) 2.05(.08) 4.2(0.17) 4.8(0.19) 10(0.39)
16 1.5 black Wago 216-204 14.0(0.59 8.0(0.31) 1.7(.07) 3.5(0.14) 4.0(0.16) 10(0.39)
18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.055) 3.0(.12) 3.5(.14) 8(.31)
20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.047) 2.8(.11) 3.3(.13) 8(.31)
22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.039) 2.6(.10) 3.1(.12) 7.5(.30)
aWG mm2 Color Mfgr PNUM A b C D e Sl
18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.06) 3.0(.12) 3.5(.14) 8(.31)
20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.05) 2.8(.11) 3.3(.13) 8(.31)
22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.04) 2.6(.10) 3.1(.12) 7.5(.30)
aWG mm2 Color Mfgr PNUM A b C D e Sl
2x18 2x1.0 Red altech 2776.0 15.4(.61) 8.2[.32] 2.4(.09) 3.2(.13) 5.8(.23) 11.0(.43)
2x18 2x1.0 Gray altech 2775.0 14.6(.57) 8.2(.32) 2.0(.08) 3.0(.12) 5.5(.22) 11.0(.43)
2x20 2x0.75 White altech 2794.0 14.6(.57) 8.2(.32) 1.7(.07) 3.0(.12) 5.0(.20) 11.0(.43)
2x20 2x0.75 Gray te 966144-2 15.0(.59) 8.0(.31) 1.70(.07) 2.8(.11) 5.0(.20) 10(.39)
2x22 2x0.50 White te 966144-1 15.0(.59) 8.0(.31) 1.40(.06) 2.5(.10) 4.7(.19) 10(.39)
A
B
C D E
A
B
C D E
A
B
C D
E
wIrIng
J3
ferruleParTnumberS:doubleWIreInSulaTed
ferruleParTnumberS:SInGleWIreInSulaTed
24V&brake:J3
aCPoWer,andmoTorouTPuT:J1,J2tool
J1 J2
WagomCS-mIdIClassic:231-305/107-000,5-pole(J1),231-304/107-000,4-pole(J2), femaleconnectors;withscrewflange;pinspacing5.08mm/0.2in
Conductorcapacity barestranded: aWG28~14[0.08~2.5mm2] Insulatedferrule: aWG24~16[0.25~1.5mm2] Strippinglength: 8~9mm operatingTool: WagomCS-mIdIClassic:231-291
ferruleParTnumberS:SInGleWIreInSulaTed
NoteSPnum=PartnumberSl=Strippinglengthdimensions:mm(in)
tool
SInGleWIre doubleWIre
WagomCS-mInI:734-104/107-000,femaleconnector;withscrewflange, 4-pole;pinspacing3.5mm/0.138inConductorcapacity barestranded: aWG28~16[0.08~1.5mm2] Insulatedferrule: aWG24~16[0.25~1.5mm2] Strippinglength: 0.24~0.28in[6~7mm] operatingtool: WagomCS-mInI:734-191
deVIce structure & IsolatIon
~
~ -
+
~+
U
V
W
J2DC BUS(+)
DC BUS(-)
940 µF
Regen
L1
MAINSL3
L2
FEEDBACKPOWER &DECODING
+5 Vdc
ENABLE [IN1]
SIGNAL GND
CONTROLSIGNALGROUND
CONTROL
RS-232
SYSTEM
J6
J7
J8
3
1
2 BRAKE
CANopenNetwork
PE GROUND
PWMINVERTER MOTOR
CASE
NETWORK
CANXCVR
+24V
24VPOWER
+
-
BRAKE
24V Return
STO_GND
STO_24V
DC/DCCONVERTER
STOCONTROL
CONTROLCORE
RS-232Interface
4
J3
J5
J1
J4
Cable shield grounding socket
FEEDBACK
ENCODER,HALLS,
RESOLVER
reGeneraTIonThechartbelowshowstheenergyabsorptioninW·s foraXPCdriveoperatingatsometypical mains voltages. When the loadmechanical energy is greater than thesevaluesanexternalregenresistorisavailableasanaccessory.
0
10
20
30
40
50
60
70
90 100
110
120
130
140
150
160
170
180
190
200
210
220
230
240
250
260
270
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 24 of 28
RoHSXenus PLUSCompact CANopen XPC
drIVePoWerSourCeSTherearefourisolationzonesintheXPC:1. +24V,brake,&STo2. Controlcircuits,rS-232&Cancomms3. High-voltage,regen,&PWmoutputs4. Canopencommunicaionseachoftheseisisolatedfromtheothersandallareisolatedfromthechassis.+24VdC,brake,&SToTheprimarysideof thedC/dCconverteroperates directly from the external +24Vdcsupplyandisisolatedfromotherdrivepowersections.Secondarywindingsprovidepower foreach isolationzone.Thebrakeoutput [ouT6] operates in this sectionand is referenced to the+24Vdc return(0V).Itsinkscurrentfromanexternalloadconnectedtotheexternal+24Vdcpowersource.TheSTocircuitsalsooperatefromthe24VpowerandtheSTo-24Vsuppliescurrentforde-activating(muting)theSTofunctionwhenitisnotused.SIGnalandrS-232CIrCuITSThesignalpowersectionsuppliespowerforthecontrolcircuitsaswellastherS-232communications. motor feedback signalssuch as Halls, encoder, and temperaturesensor operate in this section. all signalcircuits are referenced to Signal Ground.Thisgroundshouldconnecttothecontrolsystemcircuitgroundorcommonsothatdrive and controller inputs and outputvoltage levels work properly with eachother.
HIGHVolTaGe,reGen,&PWmmains power drives the high-voltagesection.Itisrectifiedandcapacitor-filteredtoproduceinternaldCbuswhichthePWmstage converts into voltages that driveeither threephasebrushlessordCbrushmotors.aninternalsolid-stateswitchandpowerresistorprovidesdissipationduringregeneration.allthecircuitsinthissectionare“hot”,thatis,theyconnectdirectlytothemainsandmustbeconsideredhigh-voltagesand a shock hazard requiring properinsulationtechniquesduringinstallation.CanneTWorkThenetworkconnectionsintheCannetworkreceptacle are optically isolated from theotherdrivecircuits.
GroundInGa grounding system has three primaryfunctions: safety, voltage-reference, andshielding. as a safetymeasure, the Pe(Protectiveearth)groundatJ1-3willcarryfault-currents fromthemains in thecaseof an internal failure or short-circuit ofelectronic components.Wiring to this istypicallydonewiththegreenconductorwithyellow stripe using the same gaugewireasthatusedforthemains.Thiswireisa‘bonding’conductorthatshouldconnecttoanearthedgroundpointandmustnotpassthrough any circuit interrupting devices. All of the circuits on J1, and J2 are mains-connected and must never be grounded. TheframegroundterminalsatJ1-3,J1-4,J2-1, J4-1, J5-1, and J6-1 all connect to
thedrivechassisandareisolatedfromalldriveinternalcircuits.Signal grounding references the drivecontrol circuits to those of the controlsystem.Thesecontrols circuits typicallyhavetheirownearthconnectionatsomepoint. To eliminate ground-loops it isrecommendedthatthedrivesignalgroundbeconnectedtothecontrolsystemcircuitground.Whenthisisdonethedrivesignalvoltageswillbereferencedtothesame0Vlevelasthecircuitsinthecontrolsystem.Smallcurrentsflowbetweencontrolleranddrivewhen inputsandoutputs interact.Thesignalground is thepath for thesecurrentstoreturntotheirpowersourcesinbothcontrolleranddrive.ShieldsoncablesreduceemissionsfromthedriveforCecomplianceandprotectinternal circuits from interference dueto external sources of electrical noise.because of their smaller wire gauge,these should not be used as part of asafety-ground system.motor cases canbesafety-groundedeitherat themotor,byearthingtheframe,orbyagroundingconductorinthemotorcablethatconnectstoJ2-1.Thiscableshouldbeofthesamegaugeastheothermotorphasecables.
maxenergy 248W·s(J)
resistance 60 Ω
Power,continuous 20W
Power,peak 2500W
Time 100ms
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 25 of 28
RoHSXenus PLUSCompact CANopen XPC
Vac E100 62120 58200 34240 17
Velocity
BusVdc
HVdc
390
Off
Active
RegenResistor
Absorption
Decel time
Regen time
Velocity
BusVoltage
RegenActive Regen
Dwell Time
RegenCycle Time
regeneratIon
Thedrivehasaninternalregenresistorwhichcanhandleregenerativeenergythatexceedstheabsorptioncapacityoftheinternalbuscapacitance.Theinternalregenresistorwillbeswitchedonwhentheenergyshowninthetablehasbeenabsorbedandthebusvoltagedrivenupto390Vdcatwhichpointtheinternalregenresistorwillbeswitchedtoabsorbthekineticenergyof the load.
abSorPTIon
InTernalreGenreSISTor
CalCulaTInGTHereGenrePeTITIonfrequenCy
Step2:Subtracttheabsorptionatyourmainsvoltagetogettheenergythatmust
bedissipatedintheregenresistor.use240Vac:
75J-17J=58J
Step3:dividetheregenenergybythecontinuouspowerratingof20Watts
togetthedwelltimethatcandissipatetheregenenergyintheresistor:
dwellTime=58Joules=2.9sec
20Watts Seconds;Joules,Watts
Step4:findthetotalregencycletimebyaddingthedecelerationtime
tothedwelltime:
decelTime=1.25sec
dwellTime=2.90sec
CycleTime=4.15sec
Step1:findtheenergyofmotionforarotatingload,forthisexampleletitbe
75Joules:
E=J*rPm2 =75J
182
Joules;kg·m2, RPM
Joules;Joules
absorptionistheenergythatcanbetransferredtothe940ufinternalcapacitanceduringdeceleration.ThistableshowstheenergyabsorptioninW·sforadriveoperatingatsometypicalmainsvoltages.Ifthedecelerationenergyislessthantheabsorptioncapacityofthedrive,thentheregenerationresistorwillnotbeswitched-onbecausethebusvoltagewillnotriseenoughtohittheover-voltagelevelthatwoulddisablethePWmoutputs.
Terms:
E energy Joules,Watt·seconds
J rotarymomentofInertia kg·m2
P Power Watts
See Note 2
1.01 25.6
4.8.19
1.00 25.4
End View
Fan Air-Flow
End View
4.14 105.1
2.13 54.1
.20 5.2
13.3.53
7.13 181.1
7.54 191.4
4.55 115.6
4.72 119.8
4.8.19
5 m
ind
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 26 of 28
RoHSXenus PLUSCompact CANopen XPC
dIMensIons [In/MM]
notes:1)recommendedscrewsformountingslots:#8-32orm4externaltoothSemS2)Cableshieldgroundingsocket:#8-32externaltoothSemS
J2 J2 J2 J2
J1
J3
J4
J5
J6
FEEDBA
CK
CO
NTRO
L
+24
+24
BRK
24V RTN
SAFETY
L1L2
L3U
VW
BRAKE
MO
TOR
POW
ER
Xenus Plus
5 min
x10x1
DEVIC
E ID
S1
S2
NETW
ORK
ERRL/A
RUN
L/A
RS-232A
BA
MPJ8
J7O
UT
IN
J2
J1
J3
J4
J5
J6
FEEDBA
CK
CO
NTRO
L
+24
+24
BRK
24V RTN
SAFETY
L1L2
L3U
VW
BRAKE
MO
TOR
POW
ER
Xenus Plus
5 min
x10x1
DEVIC
E ID
S1
S2
NETW
ORK
ERRL/A
RUN
L/A
RS-232A
BA
MPJ8
J7
OU
TIN
J2
J1
J3
J4
J5
J6
FEEDBA
CK
CO
NTRO
L
+24
+24
BRK
24V RTN
SAFETY
L1L2
L3U
VW
BRAKE
MO
TOR
POW
ER
Xenus Plus
5 min
x10x1
DEVIC
E ID
S1
S2
NETW
ORK
ERRL/A
RUN
L/A
RS-232A
BA
MPJ8
J7
OU
TIN
J2
J1
J3
J4
J5
J6
FEEDBA
CK
CO
NTRO
L
+24
+24
BRK
24V RTN
SAFETY
L1L2
L3U
VW
BRAKE
MO
TOR
POW
ER
Xenus Plus
5 min
x10x1
DEVIC
E ID
S1
S2
NETW
ORK
ERRL/A
RUN
L/A
RS-232A
BA
MPJ8
J7
OU
TIN
J2
1.5 [38]
1.0 [25]
1.0 [25] 1.0 [25]
Minimum Clearancein[mm]
Minimum Clearancein[mm]
Minimum Spacingin[mm]
Fan Air-Flow
Fan Air-Flow
Fan Air-Flow
Fan Air-Flow
0.75 [19]
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 27 of 28
RoHSXenus PLUSCompact CANopen XPC
InstallatIon
Thegraphicbelowshowstherecommendedmountingformultipledrives. Theclearancesshowsareminimums.
XPC-230-09 XPC Servodrive,3/9adc
XPC-230-12 XPC Servodrive,6/12adc
XPC-230-15 XPC Servodrive,7.5/15adc
qty ref name description Manufacturer p/n
xpc-ckConnectorkit
1J1 aCPwr
Plug,5position,5.08mm,female Wago:231-305/107-000(note1)
1 Strainrelief,snap-on,5.08mm,5position,orange Wago:232-635
1J2 Motor
Plug,4position,5.08mm,female Wago:231-304/107-000(note1)
1 Strainrelief,snap-on,5.08mm,4position,orange Wabo:232-634
1 J1,J2 tool Tool,wireinsertion&extraction,231series Wago:231-159
1J3 brake
Plug,4position,3.5mm,female Wago:734-104/107-000(note1)
1 Strainrelief,snap-on,3.5mm,5position,grey Wago:734-604
1 J5 tool Tool,wireinsertion&extraction,734series Wago:734-231
1
J4 Note 2 Safety
Connector,db-9m,9-position,standard,male Te/amP: 205204-4
9 amPlImITeHd-20Crimp-Snapcontacts,24-20aWG,auflash Te/amP:66506-9
1 metalbackshell,db-9,roHS 3m:3357-9209
4 Jumper,withpinscrimpedonbothends Copley:10-75177-01
1J5 feed-
backConnector,high-densitydb-26m,26position,male,soldercup norcomp: 180-026-103l001
1 metalbackshell,db-15,roHS 3m:3357-9215
1J6 Control
Connector,high-densitydb-44m,44position,male,soldercup norcomp: 180-044-103l001
1 metalbackshell,db-25,roHS 3m:3357-9225
XPC-NC-10 1J7 network
Cannetworkcable,10ft(3m)
XPC-NC-01 1 Cannetworkcable,1ft(0.3m)
Ser-Ck 1 J8 RS-232 SerialCablekit
note1:forroHScompliance,append“/rn01-0000”totheWagopartnumberslistedabove
note2:Insertion/extractiontoolforJ6contactsisamP/Tyco91067-2(notincludedinXPC-Ck)
16-01436documentrevisionHistory
revision Date remarks
00 april8,2016 Initialreleasedversion
01 october2,2016 Shutdowntemperaturechangedto85C
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 28 of 28
RoHSXenus PLUSCompact CANopen XPC
note:Specificationssubjecttochangewithoutnotice
orderInGGuIde
example:orderoneXenus Plus Compactdrive,6/12awithconnectorkit,andserialcablekit:qty Item remarks 1 XPC-230-12 Xenus Plus Compactservodrive 1 XPC-Ck Connectorkit 1 Ser-Ck SerialCablekit
aCCeSSorIeS
orderIng InforMatIon