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
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RoHS
Xenus
Plus
CANopen
GENERAL SPECIFICATIONS
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1 Ø
ModeL
XPL-230-18
XPL-230-36
XPL-230-40
OUTPUT CURRENT
Peak Current
18 (12.7)
36 (25.5)
40 (28.3)
Adc (Arms, sinusoidal)
Peak time
1
1
1
s
Continuous current (Note 1)
6 (4.24)
12 (8.5)
20 (14.1)
Adc (Arms, sinusoidal)
INPUT POWER
Mains voltage, phase, frequency
100~240
Vac, ±10%, 1 Ø or 3 Ø, 47~63 Hz
Mains current
20
Arms
+24 Vdc Control power
+20 to +32 Vdc, 500 mA max
Required for operation
DIGITAL CONTROL
Digital Control Loops
Current, velocity, position. 100% digital loop control
Sampling rate (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
CANopen
Position, Velocity, Torque, Homing, Profile, and Interpolated profile modes
Stand-alone mode
Analog torque, velocity, position reference
±10 Vdc, 16 bit resolution
Dedicated differential analog input
Input impedance
74.8 k
Ω
Between Ref(+), Ref(-)
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-11 connector
DIGITAL INPUTS
Number
15
[IN1,2]
Non-isolated Schmitt trigger, 1 µs RC filter, 24 Vdc max, V
t
+ = 2.5~3.5 Vdc, V
t
- = 1.3~2.2 Vdc, V
H
+ = 0.7~1.5 Vdc
10 k
Ω
programmable per input to pull-up to +5 Vdc or pull-down to ground
[IN3~6]
Non-isolated line receiver, 100 ns RC filter, +12 Vdc max, programmable as 4 single-ended, or 2 differential
Single-ended: [IN3,4] or [IN5,6]: Vin-LO <= 2.3 Vdc, Vin-HI >= 2.7 Vdc, Vhysteresis = 400 mVdc
Differential: [IN3/4] or [IN5/6]: Vin-LO <= -200 mVdc, Vin-HI >= 200 mVdc, Vhysteresis = ±200 mVdc
[IN7~14]
Opto-isolated, ±15~30 Vdc compatible, bi-polar, 2 groups of 4 with common for each group
[IN15]
Encoder fault; same electrical specs as [IN1,2,15] except 10 k
Ω
fixed pull-up to +5 Vdc
ANALOG INPUTS
Number
3
[AIN1~2]
Differential, ±10 Vdc, 5 k
Ω
input impedance, 16-bit resolution
[AIN3]
Single-ended, motor temperature sensor, 4.99 k
Ω
pulled-up to +5 Vdc, 12-bit resolution
DIGITAL OUTPUTS
Number
6
[OUT1~2]
Current-sinking MOSFET with 1 k
Ω
pullup to +5 Vdc through diode
1 Adc max, +40 Vdc max; external flyback diode required if driving inductive loads
[OUT3]
High-speed CMOS buffer, ±32 mA
[OUT4~5]
Opto-isolated Darlingtons with 36V Zener flyback diodes, 20 mA max
[OUT6]
Motor brake control: opto-isolated, current-sinking with flyback diode to +24 Vdc, 1 Adc max
ANALOG OUTPUT
Number
1
Range
±5 Vdc single-ended, 12-bit resolution
MULTI-MODE ENCODER PORT
As Input
Secondary digital quadrature encoder (A, /A, B, /B, X, /X), 121 Ω terminating resistors
18 M-counts/sec, post-quadrature (4.5 M-lines/sec)
As Output
Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders or resolvers. Buffered signals from digital quad A/B/X primary encoder
A, /A, B, /B, X, /X, from MAX3032 differential line driver
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
CAN PORT
Signals
CANH, CANL, Gnd in 8-position dual RJ-45 style modular connector, wired as per CAN Cia DR-303-1, V1.1
Format
CAN V2.0b physical layer for high-speed connections compliant
Data
CANopen Device Profile DSP-402
Address selection
16 position rotary switch on front panel with 3 additional address bits available as
digital inputs or programmable to flash memory (7-bit addressing, 127 nodes per CAN network)
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
NOTES:
1. Heatsinking and/or forced-air cooling is required for continuous output power rating
2. Brake[OUT6] is programmable as motor brake, or as general purpose digital output
