Copley Controls Corp. Xenus XTL, User Manual

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Copley Controls Corp. 3
TABLE OF CONTENTS
About This Manual ................................................................................................................................................................................ 5
1: Introduction ................................................................................................................................................................................. 9
1.1: Amplifier ............................................................................................................................................................................... 10
1.2: CME 2 .................................................................................................................................................................................. 11
1.3: CMO/CML ............................................................................................................................................................................ 11
2: Operational Theory.................................................................................................................................................................... 13
2.1: Amplifier Internal Power........................................................................................................................................................ 14
2.2: Synchronizing PWM Switching Frequency............................................................................................................................ 16
2.3: Commutation Modes ............................................................................................................................................................ 16
2.4: Feedback.............................................................................................................................................................................. 16
2.5: Operating Modes .................................................................................................................................................................. 17
2.6: CANopen Operation ............................................................................................................................................................. 28
2.7: Limit Switches ...................................................................................................................................................................... 30
2.8: Brake Operation ................................................................................................................................................................... 31
2.9: Status Indicators................................................................................................................................................................... 32
2.10: Protection ........................................................................................................................................................................... 34
2.11: Position and Velocity Errors................................................................................................................................................ 36
2.12: Communication .................................................................................................................................................................. 39
2.13: Inputs ................................................................................................................................................................................. 40
2.14: Outputs............................................................................................................................................................................... 41
2.15: Regen Resistor Theory....................................................................................................................................................... 42
3: Specifications ............................................................................................................................................................................ 43
3.1: Agency Approvals................................................................................................................................................................. 44
3.2: Power Input .......................................................................................................................................................................... 44
3.3: Power Output........................................................................................................................................................................ 44
3.4: Control Loops ....................................................................................................................................................................... 45
3.5: Regen Circuit Output ............................................................................................................................................................ 45
3.6: Digital Command Input ......................................................................................................................................................... 45
3.7: Analog Command Input........................................................................................................................................................ 46
3.8: Digital Inputs......................................................................................................................................................................... 46
3.9: Digital Outputs...................................................................................................................................................................... 46
3.10: Brake Output ...................................................................................................................................................................... 47
3.11: Encoder Power Supply Output............................................................................................................................................ 47
3.12: Primary Encoder Inputs ...................................................................................................................................................... 47
3.13: Analog Encoder Inputs ....................................................................................................................................................... 47
3.14: Hall Switch Inputs ............................................................................................................................................................... 48
3.15: Resolver Interface .............................................................................................................................................................. 48
3.16: Multi-Mode Port .................................................................................................................................................................. 48
3.17: Serial Interface ................................................................................................................................................................... 49
3.18: CAN Interface..................................................................................................................................................................... 49
3.19: Status Indicators................................................................................................................................................................. 49
3.20: Fault Levels ........................................................................................................................................................................ 49
3.21: Power Dissipation............................................................................................................................................................... 50
3.22: Thermal Impedance............................................................................................................................................................ 50
3.23: Mechanical and Environmental........................................................................................................................................... 50
3.24: Dimensions......................................................................................................................................................................... 51
4: Wiring......................................................................................................................................................................................... 53
4.1: General Wiring Instructions .................................................................................................................................................. 54
4.2: AC Mains (J1)....................................................................................................................................................................... 56
4.3: Motor (J2) ............................................................................................................................................................................. 57
4.4: Regen Resistor (J3) (Optional) ............................................................................................................................................. 59
4.5: Logic Supply / Brake (J4)...................................................................................................................................................... 60
4.6: RS-232 Serial Communications (J5)..................................................................................................................................... 61
4.7: CAN Bus (J6) ....................................................................................................................................................................... 62
4.8: Control (J7)........................................................................................................................................................................... 63
4.9: Motor Feedback (J8)............................................................................................................................................................. 67
5: Quick Setup with CME 2 ........................................................................................................................................................... 73
5.1: Warnings .............................................................................................................................................................................. 74
5.2: CME 2 Installation and Serial Port Setup.............................................................................................................................. 75
5.3: Prerequisites ........................................................................................................................................................................ 79
5.4: Basic Setup .......................................................................................................................................................................... 81
5.5: Motor/Feedback Setup ......................................................................................................................................................... 84
5.6: Amplifier Configuration ......................................................................................................................................................... 93
5.7: Command Input.................................................................................................................................................................. 103
5.8: Auto Phase......................................................................................................................................................................... 110
5.9: Current Loop....................................................................................................................................................................... 116
5.10: Velocity Loop.................................................................................................................................................................... 120
5.11: Position Loop.................................................................................................................................................................... 122
5.12: Completion Steps ............................................................................................................................................................. 126
6: Using CME 2 ............................................................................................................................................................................ 127