Copley Controls Xenus PLUS Compact CANopen Series, Руководство пользователя

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Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 4 of 28
RoHS
Xenus
PLUS Compact
CANopen
XPC
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
121 Ω terminators between a & /a, b & /b inputs, 130 Ω between X & /X input
analog Incremental encoder Sin/cos format (Sin+, Sin-, Cos+, Cos-), differential, 1 Vpeak-peak ±20%, ServoTube motor compatible
bW > 300 kHz, 121 Ω terminating resistors between Sin+ & Sin-, Cos+ & Cos- inputs
12-bit resolution, bW > 300 kHz, with zero-crossing detection
Absolute:
SSI Clock (X, /X), data (S, /S) signals, 4-wire, Clock is output from XPC, data is input from encoder
130 Ω terminator between X & /X outputs, 221 Ω between S & /S inputs
1 kΩ pull-ups to +5 Vdc on X & S, 1 kΩ pull-downs to Sgnd on /X & /S
endaT Clock (X, /X), data (S, /S), Sin/Cos (Sin+, Sin-, Cos+, Cos-) signals
absolute a, Tamagawa absolute a, Panasonic absolute a format, Sanyo denki absolute a
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 XPC, data is input from encoder
X & S channels for absolute encoders use ISl3178 bi-directional line driver/receivers
HallS
Digital:
u, V, W: Single-ended, 120° electrical phase difference between u-V-W signals,
Schmitt trigger, 1 µs rC filter, 24 Vdc compatible, 10 kΩ pull-up to +5 Vdc
Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc
Analog:
u & V: Sin/cos format (Sin+, Sin-, Cos+, Cos-), differential, 1 Vpeak-peak ±20%, ServoTube motor compatible
bW > 300 kHz, 121 Ω terminating resistors between Sin+ & Sin-, Cos+ & Cos- inputs
12-bit resolution, bW > 300 kHz, with zero-crossing detection
mulTI-mode enCoder PorT
as Input See digital Incremental encoder above for electrical data on a, b, & X channels, or
absolute encoders using X or S channels. no terminators on a & b channels, X & S channels as shown above
as emulated output quadrature a/b encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders or absolute encoders. a/b outputs use ISl3178 line drivers.
a, /a, b, /b, outputs from ISl3178 differential line driver, X, /X, S, /S outputs from ISl3178 driver
as buffered output digital a/b/X encoder signals from primary digital encoder are buffered by ISl3178 line drivers, 5 mHz max
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