RoHS
Xenus
PLUS
2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419
Rev A
Page 4 of 34
note!
When you see this marker, it’s for hot tips or best practices that will
help you get the best results when using Copley Controls products.
general specIfIcatIons
FeeDBACk
Incremental:
Digital Incremental Encoder
Quadrature signals, (A, /A, B, /B, X, /X), differential (X, /X Index signals not required)
5 MHz maximum line frequency (20 M counts/sec)
MAX3097 differential line receiver with 121 Ω terminating resistor between complementary inputs
Analog Incremental Encoder
Sin/cos format (sin+, sin-, cos+, cos-), differential, 1 Vpeak-peak,
ServoTube motor compatible, BW > 300 kHz, 121 Ω terminating resistor between complementary inputs
Analog Index signal
Differential, 121 Ω terminating resistor between complementary inputs, 1 Vpeak-peak zero-crossing detect
Absolute:
SSI
Clock (X, /X), Data (S, /S) signals, 4-wire, clock output from XM2, data returned from encoder
EnDAT
Clock (X, /X), Data (S, /S), sin/cos (sin+, sin-, cos+, cos-) signals
Absolute A, tamagawa Absolute A, Panasonic Absolute A Format
SD+, SD- (S, /S) signals, 2.5 or 4 MHz, 2-wire half-duplex communication
position feedback: 13-bit resolution per rev, 16 bit revolution counter (29 bit absolute position data)
status data for encoder operating conditions and errors
BiSS (B&C)
MA+, MA- (X, /X), Sl+, Sl- (S, /S) signals, 4-wire, clock output from XM2, data returned from encoder
DIGITAl HAllS
Type
Digital, single-ended, 120° electrical phase difference between U-V-W signals,
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
Inputs
10 k
Ω
pullups to +5 Vdc, 1 µs RC filter to Schmitt trigger inverters
MUlti-MoDe enCoDeR PoRt
As input
Digital quadrature encoder (A, /A, B, /B, X, /X), 121
Ω
terminating resistors between A & /A, B & /B inputs
18 M-counts/sec, post-quadrature (4.5 M-lines/sec)
Digital absolute encoder (Clk, /Clk, Dat, /Dat) half or full-duplex operation, 121
Ω
terminating resistors
As Emulated Output
Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders
A, /A, B, /B, outputs from MAX3032 differential line driver, X, /X, S, /S outputs from MAC3362 drivers
As Buffered Output
Digital encoder feedback signals from primary digital encoder are buffered by MAX3032 line driver
ENCODER POWER SUPPlIES
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)
oPtionS
XTl-FA-01 Edge Filter
One used for each motor output. A passive R-l-C filter that reduces capacitive coupling of PWM outputs
to adjacent cabling by lengthening the rise/fall times and providing common-mode filtering of the
PWM outputs. Typically used in systems that have servo drives operating near other cables
carrying low-amplitude sensor or video signals.
Further details on the Xtl-RA-04 can be found in the Xenus Regeneration Guide on the Copley Controls web-site
http://www.copleycontrols.com/Motion/pdf/Xenus_regen_guide-03-04.pdf
Xtl-RA-04 Regen Resistor
Used when the regenerative energy from a moving load is greater than the absorption
capacity of the internal regen resistor. 15
Ω
, 65 W default continuous power, 400 W max continuous power
10 kW peak power, 1000 ms peak power time.
Further details on the Xtl-FA-01 can be found in the XTL-FA-01 Edge Filter for Xenus User Guide on the
Copley Controls web-site:
http://www.copleycontrols.com/Motion/pdf/Xenus-Filter.pdf
