Copley Controls Xenus PLUS, Manual

Page: 2 / 32

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 2 of 32
RoHS
Xenus
PLUS
2-Axis EtherCAT
800-1782
GENERAL SPECIFICATIONS
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25° C. Power input = 230 Vac, 60 Hz, 1 Ø
MODEL
800-1782
OUTPUT CURRENT (EACH AXIS)
Peak Current 20 (14) Adc (Arms, sinusoidal)
Peak time 1 s
Continuous current (Heatsink required) 10 (7) Adc (Arms, sinusoidal)
INPUT POWER
Mains voltage, phase, frequency 100~240 Vac, ±10%, 1 Ø or 3 Ø, 47~63 Hz
Maximum Mains Current, 1Ø (Note 2, page 3) 20 Arms
Maximum Mains current, 3Ø (Note 2, page 3) 15.4 Arms
+24 Vdc Control power +20 to +32 Vdc, 0.5~1.1 Adc (Note 3, page 3) Required for operation
DIGITAL CONTROL
Digital Control Loops Current, velocity, position. 100% digital loop control
Sampling r ate (time) Current loop: 16 kHz (62.5 µs), Velocity & position loops: 4 kHz (250 µs)
Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth
Minimum load inductance 200 µH line-line
COMMAND INPUTS (NOTE: DIGITAL INPUT FUNCTIONS ARE PROGRAMMABLE)
Distributed Control Modes
CAN application layer over EtherCAT (CoE) Cyclic Synchronous Position-Velocity-Torque, Profile Position-Velocity-Torque,
Interpolated Position, Homing
Stand-alone mode
Analog torque, velocity, position reference ±10 Vdc, 14 bit resolution Dedicated differential analog input
Digital position reference Pulse/Direction, CW/CCW Stepper commands (2 MHz maximum rate)
Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature)
Digital torque & velocity reference PWM , Polarity PWM = 0% - 100%, Polarity = 1/0
PWM 50% PWM = 50% ±50%, no polarity signal required
PWM frequency range 1 kHz minimum, 100 kHz maximum
PWM minimum pulse width 220 ns
Indexing Up to 32 sequences can be launched from inputs or ASCII commands.
Camming Up to 10 CAM tables can be stored in flash memory
ASCII RS-232, DTE, 9600~115,200 Baud, 3-wire, RJ-12 connector
DIGITAL INPUTS
Number 20
[IN1,11] Digital, Schmitt trigger, 1 µs RC filter, 24 Vdc compatible, programmable pull-up/down to +5 Vdc/ground,
Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc
[IN2~5,12~15] Programmable as single-ended or differential pairs, 100 ns RC filter, 5 Vdc max,
10 k Ω programmable pull-up/down per input to +5 Vdc/ground,
SE: Vin-LO ≤ 2.3 Vdc, Vin-HI ≥ 2.7 Vdc, VH = 45 mV typ, DIFF: Vin-LO ≤ 200 mVdc, Vin-HI ≥ 200 mVdc, VH = 45 mV typ,
[IN6~9] Opto-isolated, single-ended, ±15~30 Vdc compatible, bi-polar, group of 4 with common return
Rated impulse ≥ 800 V, Vin-LO ≤ 6.0 Vdc, Vin-HI ≥ 10.0 Vdc, Input current ±3.6 mA @ ±24 Vdc, typical
[IN16~19] Dedicated function for NSK motor limit switches. Internal 6V power with current-limiting resistors.
[IN10,20] Motor overtemp signals on feedback connectors, Schmitt trigger, 24 Vdc compatible,
330 µs RC filter, 4.99k pullup to +5 Vdc, Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc
SAFE TORQUE OFF (STO) INPUTS
Function PWM outputs inactive and current to the motor will not be possible when the STO function is activated
Standard Conformance to IEC 61508-1, IEC 61508-2, IEC 61800-5-2, ISO 13849-1
Safety Integrity Level SIL 3, Category 3, Performance Level d
Inputs 2 two-terminal: ,STO_IN1-, , STO_IN2-
Type Opto-isolators, 24V compatible, Vin-LO ≤ 6.0 Vdc or open, Vin-HI ≥ 15.0 Vdc,
Input current (typical) STO_IN1: 11.2 mA, STO_IN2: 11.2 mA
Response time 2 ms (IN1, IN2) from Vin ≤6.0 Vdc to interruption of energy supplied to motor
Reference Complete information and specifications are in the Xenus Plus Dual-Axis STO Manual
ANALOG INPUTS
Number 2
[AIN1~2] Differential, ±10 Vdc, 5 k Ω input impedance, 14-bit resolution
DIGITAL OUTPUTS
Number 5
[OUT1~3] Opto-isolated solid-state relays, 60 mAdc max, 24 Vdc tolerant, Rated impulse ≥ 800 V, series 20 ohm resistor
MOSFET channel connects the (±) outputs, Rds-On = 10 Ω max @ 60 mAdc, max Vout = 32 Vdc
Td-ON = 5000 µs max @ 60 mA, Td-OFF = 5000 µs max @ 60 mA, times include rise/fall times
[OUT6~7] Motor brake control: opto-isolated, current-sinking with flyback diode to +24 Vdc (J5-4~5), 1 Adc max, Rated impulse ≥ 800 V
Td-ON = 250 µs max @ 20 mA, Td-OFF = 250 µs max @ 200 mA, times include rise/fall times,
Programmable for other functions if not used for brake
RS-232 PORT
Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-12 style modular connector, non-isolated, common to Signal Ground
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 baud
Protocol Binary and ASCII formats
ETHERCAT PORTS
Format Dual RJ-45 receptacles, 100BASE-TX
Protocol EtherCAT, CAN application layer over EtherCAT (CoE)
STATUS INDICATORS
AMP Bicolor LED, drive state indicated by color, and blinking or non-blinking condition
RUN Green LED, status of EtherCAT state-machine (ESM)
ERR Red LED, shows errors due to time-outs, unsolicited state changes, or local errors
L/A Green LED, Link/Act, shows the state of the physical link and activity on the link (EtherCAT connection)
RUN, ERR, and L/A LED colors and blink codes conform to ETG.1300 S(R) V1.1.0