Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01
Page 2 of 28
RoHS
Xenus
PLUS
Compact
CANopen
XPC
Test conditions: Wye connected load: 2 mH line-line. ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1 Ø
MoDel
XPC-230-09
XPC-230-12
XPC-230-15
oUtPUt CURReNt
Peak Current
9 (6.4)
12 (8.5)
15 (10.6)
adc (arms, sinusoidal)
Peak time
1
1
1
s
Continuous current
3 (2.12)
6 (4.24)
7.5 (5.3)
adc (arms, sinusoidal)
InPuT PoWer
mains voltage, phase, frequency
100~240
100~240
100~240
Vac, ±10%, 1Ø or 3Ø, 47~63 Hz
maximum mains Current, (
Note 2
)
4.7
9.4
11.8
arms 1Ø
2.6
5.2
6.5
arms 3Ø
+24 Vdc Control power
+20~32 Vdc required for operation (note 3_
7.5 W (Typ, no load on +5V outputs), ≤ 18 W, (max, both +5V outputs @ 500 ma)
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
resolution
12-bit capture of u & V phase currents
Command InPuTS
Canopen
Profile Position-Velocity-Torque, Interpolated position, Homing
Stand-alone mode
analog torque, velocity, position reference
±10 Vdc, 12 bit resolution
dedicated differential analog input
digital position reference
Pulse/direction, CW/CCW
Stepper commands (4 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
[In1,2]
digital, Schmitt trigger, 1.5 µs rC filter, 24 Vdc compatible, 15 k
Ω
programmable pull-up/downs to +5 Vdc/ground,
Vt+ ≥ 3.15 Vdc, VT- ≤ 1.13 Vdc
[In3,4,5,6]
Programmable as 4 single-ended or 2 differential pairs, 100 ns rC filter, 5 Vdc typical, 12 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,
[In7,8,9,10]
opto-isolated, single-ended, ±15~30 Vdc compatible, bi-polar, with common return to +24V or ground
rated impulse ≥ 800 V, Vin-lo ≤ 6.0 Vdc, Vin-HI ≥ 10.0 Vdc, Input current ±3.6 ma @ ±24 Vdc, typical
maximum working voltage with respect to signal ground: 32 Vdc
[In11]
motor overtemp signal on feedback connector, Schmitt trigger, 24 Vdc compatible
330 µs rC filter, 4.99k pullup to +5 Vdc, Vt+ ≥ 3.15 Vdc, VT- ≤ 1.13 Vdc
Programmable for other functions if not used for motemp
analoG InPuT
[aIn±]
differential, ±10 Vdc, 5.06 k
Ω
input impedance, 12-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
Xenus Plus Compact STO Manual
RS-232 PoRt
Signals
rxd, Txd, Gnd in 6-position, 4-contact rJ-11 style modular connector, non-isolated
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
[ouT1~3]
opto-isolated SSr, two-terminal, 300 ma max, 24 V tolerant, series 1 Ω resistor, 36 V Zener flyback diode
rated impulse ≥ 800 V
[ouT4]
High-speed CmoS buffer, +5V max, ±8 ma into 560 Ω (minimum)
[ouT5]
motor brake control: opto-isolated, current-sinking with flyback diode to +24 Vdc, 1 adc max
CAN PoRtS
format
dual rJ-45 receptacles, isolated from signal ground, max working voltage with respect to signal ground: 32 Vdc
Protocol
Canopen Cia-402
5V ouTPuTS
number
2: +5Vout1 on the feedback connector (J5), +5Vout2 on the control connector (J6) for the multi-mode encoder
ratings
+5 Vdc @ 500 ma each output, 1000 ma total for both outputs, thermal and overload protected
noTeS:
1. brake output is programmable as motor brake, or as general purpose digital output
2. The actual mains current is dependent on the mains voltage, and motor load and operating conditions. The maximum mains Currents shown above occur when the
drive is operating from the maximum input voltage and is producing the rated peak and continuous output currents at the maximum output voltage.
general specIfIcatIons
