Copley Controls Xenus Plus XEL Series, Руководство пользователя

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Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 2 of 28
Xenus Plus
EtherCAT
RoHS
XEL
GENERAL SPECIFICATIONS
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1 Ø
MoDEL
XEL-230-18 XEL-230-36 XEL-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%, 1Ø or 3Ø, 47~63 Hz
Maximum Mains Current, 1Ø (
note 3
) 10.1 20.0 20.0 Arms
Maximum Mains current, 3Ø (
note 3
) 6.4 10.4 15.4 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 r ate (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
Distributed Control Mode
CAn
application layer over EtherCAT (CoE) Cyclic Synchronous Position-Velocity-Torque, Profile Position-Velocity-Torque,
interpolated Position, Homing
Stand-alone mode
Analog torque, velocity, position reference ±10 Vdc, 16-bit resolution Dedicated differential analog input
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 programs can be launched from inputs or ASCii commands.
Camming Up to 10 CAM tables can be stored in flash memory
DIGITAL INPUTS
number 14
[IN1,2,15] Non-isolated Schmitt trigger, 1 µs RC filter, 24 Vdc max, Vin-HI >= 3.15 Vdc, Vin-LO <= 1.13 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
Differential: [IN3/4] or [IN5/6]: Vin-LO <= -200 mVdc, Vin-HI >= 200 mVdc
[IN7~14] Digital, opto-isolated, single-ended, ±15~30 Vdc compatible, bi-polar, 2 groups of 4 with common return for each group
Rated impulse ≥ 800 V, Vin-LO ≤ 6.0 Vdc, Vin-HI ≥ 10.0 Vdc, Input current ±3.6 mA @ ±24 Vdc, typical
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, 1 Adc max, current-sinking with flyback diode to +24 Vdc (J4-3)
ANALOG OUTPUT
Number, type 1, ±5 Vdc single-ended, 12-bit resolution
MULTi-MoDE EnCoDER PoRT
As Input Secondary digital quadrature encoder (A, /A, B, /B, X, /X), no terminating resistors
18 M-counts/sec, post-quadrature (4.5 M-lines/sec)
RS-422/RS-485 line receiver with fault detection for open/shorted inputs, or low signal amplitude
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
ETHERCAT PoRTS
Format Dual RJ-45 receptacles, 100BASE-TX
Protocol EtherCAT, CAn application layer over EtherCAT (CoE)
STATUS inDiCAToRS
Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
NET Status Bicolor LED, status of EtherCAT bus indicated by color and blink codes to CAN Indicator Specification 303-3
5V OUTPUT
Two independent 5 Vdc @ 400 mA outputs, thermal and short-circuit protected
noTES:
1. Heatsinking and/or forced-air cooling is required for the continuous output power rating
2. Brake[oUT6] is programmable as motor brake, or as general purpose digital output
3. The actual mains current is dependent on the mains voltage, number of phases, 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 continuous output current at the maximum output voltage.