XPL
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
Fax: 781-828-6547
Tech Support: E-mail: [email protected], Web:
http://www.copleycontrols.co
m
Page 8 of 28
RoHS
Xenus
Plus
CANopen
COMMAND INPUTS
DIGITAL POSITION
Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up
and pull-down to take advantage of the high-speed inputs. Differential inputs have 121
Ω
line-terminators.
DIGITAL TORQUE, VELOCITY
Digital torque or velocity commands can be in either single-ended or differential format. Single-ended signals must be sourced from devices with active
pull-up and pull-down to take advantage of the high-speed inputs.
SINGLE-ENDED PWM & DIRECTION
SINGLE-ENDED 50% PWM
DIFFERENTIAL 50% PWM
DIFFERENTIAL PWM & DIRECTION
SINGLE-ENDED PULSE & DIRECTION
Pulse
Direction
[IN5]
[IN6]
SINGLE-ENDED CU/CD
CU
CD
[IN5]
[IN6]
CU (Count-Up)
CD (Count-Down)
QUAD A/B ENCODER SINGLE-ENDED
Enc. A
Enc. B
[IN5]
[IN6]
Encoder ph. B
Encoder ph. A
DIFFERENTIAL CU/CD
PULSE
DIRECTION
[IN3+]
[IN4-]
[IN5+]
[IN6-]
CD (Count-Down)
CU (Count-Up)
DIFFERENTIAL PULSE & DIRECTION
PULSE
DIRECTION
[IN3+]
[IN4-]
[IN5+]
[IN6-]
QUAD A/B ENCODER DIFFERENTIAL
Enc. B
Enc A
[IN5+]
[IN6-]
Encoder ph. A
[IN3+]
[IN4-]
Encoder ph. B
Duty = 0~100%
Current or
Velocity
Polarity or
Direction
[IN5]
[IN6]
Current or
Velocity
No function
[IN5]
[IN6]
Duty = 50% ±50%
<no connection>
Duty = 0 - 100%
PWM
Direction
[IN3+]
[IN4-]
[IN5+]
[IN6-]
Current or
Velocity
[IN3+]
[IN4-]
Duty = 50% ±50%
No
Function
<no connection>
[IN5+]
[IN6-]
