Copley Controls XM2-230-20, Instruction

Page: 8 / 34

Signal Axis A Axis B
Pls, enc A J12-10 J12-15
Dir, enc B J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Signal Axis A Axis B
Pls, enc A J12-8 J12-13
/Pls, enc /A J12-9 J12-14
Dir, enc B J12-10 J12-15
/Dir, enc /B J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Signal Axis A Axis B
PWM J12-10 J12-15
Dir J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Signal Axis A Axis B
PWM J12-8 J12-13
/PWM J12-9 J12-14
Dir J12-10 J12-15
/Dir J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Duty = 0 - 100%
PWM+
PWM-
Di
Direction-
IN2(12)
IN3(13)
IN4(14)
IN5(15)
Curr/Vel+
Curr/Vel-
Duty = 50% ±50%
No
Function
<no connection>
IN2(12)
IN3(13)
IN4(14)
IN5(15)
Pulse
Direction
IN4(14)
IN5(15)
PULSE+
PULSE-
DIRECTION-
DI
IN2(12)
IN3(13)
IN4(14)
IN5(15)
PULSE+
PULSE-
DI
DIRECTION-
CD (Count-Down)
CU (Count-Up)
IN2(12)
IN3(13)
IN4(14)
IN5(15)
CU
CD
IN4(14)
IN5(15)
CU (Count-Up)
CD (Count-Down)
Enc. A
Enc. B
IN4(14)
IN5(15)
Encoder ph. B
Encoder ph. A
Enc. A
Enc. /A
Enc B
Enc /B
Encoder ph. B
Encoder ph. A
IN2(12)
IN3(13)
IN4(14)
IN5(15)
Duty = 0~100%
Current or
Velocity
Polarity or
Direction
IN4(14)
IN5(15)
Current or
Velocity
No function
IN4(14)
IN5(15)
Duty = 50% ±50%
<no connection>
RoHS
Xenus
PLUS
2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419 Rev A Page 8 of 34
COMMAND SINGlE-ENDED
CoMMAnD DiFFeRentiAl
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.
SINGlE-ENDED PUlSE & DIRECTION
SINGlE-ENDED CU/CD
QUAD A/B ENCODER SINGlE-ENDED
DiFFeRentiAl CU/CD
DIFFERENTIAl PUlSE & DIRECTION
qUAD A/B enCoDeR DiFFeRentiAl
COMMAND SINGlE-ENDED
CoMMAnD DiFFeRentiAl
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
dIgItal coMMand Inputs: In2, In3, In4, In5, In12, In13, In14, In15