Copley Controls XM2-230-20, Instruction

Page: 2 / 34

RoHS
Xenus
PLUS
2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 2 of 34
general specIfIcatIons
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 40° C
MoDel
XM2-230-20
oUtPUt CURRent ( Each Axis ) 0~40 C Ambient
Peak Current 20 (14) Adc (Arms, sinusoidal)
Peak time 1 s
Continuous current 10 (7) Adc (Arms, sinusoidal)
INPUT POWER
Mains voltage, frequency 100~240 Vac, 50/60 Hz
Mains current 18 Arms, 1 Ø
14 Arms, 3 Ø
Inrush current 20 Apeak @ 120 Vac, 40 Apeak @ 240 Vac, 40 ms All models
Control power +24 Vdc, ±10% Required for operation
10 W (Typ, no load on e5V outputs), ≤ 28 W, (Max, all four e5V @ 500 mA)
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
MACRo Velocity, torque
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, 9600~115,200 Baud, 3-wire, RJ-12 connector
DIGITAl INPUTS
number 22
[IN1,11] Digital, Schmitt trigger, 1.5 µs RC filter, 24 Vdc compatible, 15k
Ω
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
[IN21, 22] Same specs as IN1 & IN11, but with fixed 15 k
Ω
pull-up to +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,
[IN6~9,16~19] Opto-isolated, single-ended, ±15~30 Vdc compatible, bi-polar, 2 groups of 4 with common return for each group
Rated impulse ≥ 800 V, Vin-lO ≤ 6.0 Vdc, Vin-HI ≥ 10.0 Vdc, Input current ±3.6 mA @ ±24 Vdc, typical
[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
ANAlOG INPUTS
number 2
[AIN1~2] Differential, ±10 Vdc, 5 k Ω input impedance, 14-bit resolution
SAFe toRqUe oFF (Sto)
Function PWM outputs are inactive and current to the motor will not be possible when the STO function is asserted
Standard Designed 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-in1-, Sto-in2+, Sto-in2-
Type Opto-isolators, 24V compatible, Vin-lO ≤ 6.0 Vdc or open, Vin-HI ≥ 15.0 Vdc,
Input current (typical) STO-IN1: 9.0 mA, STO-IN2: 4.5 mA
Response time 2 ms from Vin ≤6.0 Vdc to interruption of energy supplied to motor
Reference Complete information and specifications are in the Xenus Plus 2-Axis STO Manual
RS-232 PoRt
Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 baud
Protocol Binary and ASCii formats
DIGITAl OUTPUTS
Number 7
[OUT1~5] Opto-isolated SSR, two-terminal, 300 mA max, 24 V tolerant, Rated impulse ≥ 800 V, series 20 Ω resistor
[OUT6~7] Motor brake control: opto-isolated, current-sinking with flyback diode to +24 Vdc, 1 Adc max
etHeRCAt PoRtS
Format Dual RJ-45 receptacles, 100BASE-TX
Protocol etherCAt, CAn application layer over etherCAt (Coe)
StAtUS inDiCAtoR leDS
Drive Status Bicolor lED, drive status indicated by color, and blinking or non-blinking condition
CAN Status Bicolor lED, status of CAN bus indicated by color and blink codes to CAN Indicator Specification 303-3
5V OUTPUT
Number 4, two on the feedback connectors (J10, J11), two on the control connector (J12) for the A and B multi-mode ports
Ratings +5 Vdc @ 500 mA, thermal and overload protected, each output. 2000 mA total for all four outputs