Xenus Plus User Guide
16-01344 Rev 06
Copley Controls
11
1.1: Xenus Plus Family Overview
Each Xenus Plus servo drive provides 100% digital control of brushless or brush motors in an off-
line powered package. Xenus Plus can operate from single or three-phase mains with a continuous
power output of up to 4 kW.
Xenus Plus comes in six basic models to support three network interface protocols: single axis XEL
and dual axis XE2, which support CANopen over EtherCAT, the single axis XML and dual axis XM2,
which support MACRO, and single axis XPL and dual axis XP2, which support CANopen.
The XE2, XP2, and XM2 models have the Safe Torque Off (STO) function. Two inputs are provided
which, when de-energized, prevent the upper and lower devices in the PWM outputs from being
operated by the digital control core. This provides a positive OFF capability that cannot be overridden
by the control firmware, or associated hardware components. When both inputs are energized, the
control core will be able to control the on/off state of the PWM outputs. The STO feature in these
models was developed in accordance with several functional safety standards and has both SIL and
Category/Performance Level ratings. For more information on STO for the Xenus Plus Dual Axis
models, see the
Xenus Plus Dual-Axis STO Manual
The XEL, XPL, and XML models have the Motor Torque Off (MTO) feature. The MTO circuit in these
models was designed using guidance from IEC 61800-5-2, an international standard that specifies
requirements for motor drive functional safety features including STO. It operates in the same way
as STO but does not have the certifications of STO.
.
Xenus Plus models support a wide range of feedback devices. The standard versions support digital
quadrature encoders, analog Sin/Cos encoders, and EnDat, BiSS, SSI, and Absolute A encoders.
The -R version supports brushless resolvers. The standard and -R versions Multi-port can output
emulated digital quadrature encoder A/B signals from analog encoders or resolvers.
Xenus Plus models can operate in several basic ways:
•
As a traditional motor drive accepting current, velocity or position commands from an external
controller. In current and velocity modes they can accept ±10 Vdc analog, digital 50% PWM
or PWM/polarity inputs. In position mode, inputs can be incremental position commands from
step-motor controllers in Pulse and Direction or Count Up/Count Down format, as well as A/B
quadrature commands from a master-encoder. Pulse-to-position ratio is programmable for
electronic gearing.
•
As a node on a CANopen network. CANopen compliance allows the drive to take instruction
from a master application to perform torque, velocity, and position profiling, interpolated
position, and homing operations. Multiple drives can be tightly synchronized for high
performance coordinated motion.
•
As a node on an EtherCAT or MACRO network.
•
As a stand-alone controller running CVM control programs such as the Indexer 2 Program.
It can also be controlled directly over an RS-232 serial link with simple ASCII format
commands.
Mains input voltage to the drive can range from 100 to 240 Vac, single or three-phase, and 47 to 63
Hz. This allows Xenus Plus the ability to work in the widest possible range of industrial settings.
Several models are available, with peak output current ratings of 18 to 40 Amps:
Summary of Contents for XEL-230-18
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