Copley Controls Xenus PLUS Compact CANopen Series, Руководство пользователя

Страница: 8 / 28

dIfferenTIal: In3,4,5,6
Signal J6 Pins
[In3] Pls, Cu, enc a 9
[In4] /Pls, /Cu, enc /a 10
[In5] dir, Cd, enc b 11
[In6] /dir, /Cd, enc /b 12
Signal Ground
6,16,22,31,
37,44
frame Ground 1
SInGle-ended: In5, 6
Signal J6 Pins
[In5] Pls, Cu, enc a 11
[In6] dir, Cd, enc b 12
Signal Ground
6,16,22,31,
37,44
frame Ground 1
dIfferenTIal: In3,4,5,6
Signal J6 Pins
[In3] Curr-Vel± 9
[In4] / Curr-Vel± 10
[In5] Pol-dir 11
[In6] /Pol-dir 12
Signal Ground
6,16,22,31,
37,44
frame Ground
1
SInGle-ended: In5,6
Signal J6 Pins
[In5] Curr-Vel± 11
[In6] Pol-dir 12
Sgnd
6,16,22,31,
37,44
frame Ground 1
PULSE
/PULSE
DIRECTION
/DIRECTION
[IN3]
[IN4]
[IN5]
[IN6]
CD (Count-Down)
CU (Count-Up)
[IN3]
[IN4]
[IN5]
[IN6]
CU (CW)
/CU (CW)
CD (CCW)
/CD (CCW)
Enc. A
Enc B
/Enc. A
/Enc B
Encoder ph. B
Encoder ph. A
[IN3]
[IN4]
[IN5]
[IN6]
CU (CW)
CD (CCW)
[IN5]
[IN6]
Enc. A
Enc. B
Enc. Ph. A
Enc. Ph. B
[IN5]
[IN6]
Pulse
Direction
[IN5]
[IN6]
Curr-Vel
Pol-Dir
[IN5]
[IN6]
Duty = 50% ±50%
<no connection>
Curr-Vel±
<not used>
[IN5]
[IN6]
Duty = 0 - 100%
Curr-Vel
Pol-Dir
/Curr-Vel
/Pol-Dir
[IN5]
[IN6]
[IN3]
[IN4]
[IN5]
[IN6]
[IN3]
[IN4]
/Curr-Vel
Curr-Vel
No
Function
Duty = 50% ±50%
<no connection>
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 8 of 28
RoHS
Xenus
PLUS Compact
CANopen
XPC
PoSITIon Command InPuTS
digital position commands must be sourced from devices with active pull-
up and pull-down to take advantage of the high-speed inputs.
for differential commands, the a & b channels of the multi-mode encoder
ports may be used.
SInGle-ended PWm & dIreCTIon
SInGle-ended 50% PWm
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
dIfferenTIal 50% PWm
dIfferenTIal PWm & dIreCTIon
dIgItal coMMand Inputs: posItIon
dIgItal coMMand Inputs: VelocIty, torque
Single-ended digital torque or velocity commands must be sourced from
devices with active pull-up and pull-down to take advantage of the high-
speed inputs.
for differential commands, the a & b channels of the multi-mode encoder
ports may be used.