~
~
-
+
~
+
REGEN(-)
REGEN(+)
SHIELD
U
V
W
J3, J4
DC BUS(+)
DC BUS(-)
J2
2350 µF
L1
MAINS
L3
L2
J1
PWM
STAGE
POWER
CONTROL
ISOLATION BARRIER
SHIELD
FEEDBACK
POWER &
DECODING
J10, J11
CONTROL
LOGIC
+5 Vdc
ENABLE [IN1]
SIGNAL GND
CONTROL
SIGNAL
GROUND
CONTROL
SYSTEM
J12
GROUND
+24 Vdc
+24
VDC
BRAKES
A, B
+24 Vdc
J5
RTN
Cntrl
BRAKE
DC/DC
Converter
&
POWER
LOGIC
SIGNAL
DC/DC
(SAFETY GROUND)
PWM
INVERTER
MOTOR
FEEDBACK
CASE
FRAME GROUND
FRAME GROUND
(SAFETY GROUND)
FRAME GROUND
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.com
Page 30 of 34
RoHS
Xenus
PLUS
2-Axis CANopen
XP2
Rev 01
GROuNDING
A grounding system has three primary
functions: safety, voltage-reference, and
shielding. As a safety measure, the primary
ground at J1-3 will carry fault-currents from
the mains in the case of an internal failure
or short-circuit of electronic components.
Wiring to this is typically done with the
green conductor with yellow stripe using the
same gauge wire as that used for the mains.
The pin on the drive at J1-3 is longer than
the other pins on J1 giving it a first-make,
last-break action so that the drive chassis is
never ungrounded when the mains power is
connected. This wire is a ‘bonding’ conductor
that should connect to an earthed ground
point and must not pass through any circuit
interrupting devices.
All of the circuits on J1, J2, J3, and J4
are mains-connected and must never be
grounded. The frame ground terminals at
J1-3, J2-3, J3-1, J4-1, J6-1, J9-1, J10-1,
J11-1, and J12-1 all connect to the drive
chassis and are isolated from all drive
internal circuits.
Signal grounding references the drive
control circuits to those of the control
system. These controls circuits typically
have their own earth connection at some
point. To eliminate ground-loops it is
recommended that the drive signal ground
be connected to the control system circuit
ground. When this is done the drive signal
voltages will be referenced to the same 0 V
level as the circuits in the control system.
Small currents flow between controller and
drive when inputs and outputs interact. The
signal ground is the path for these currents
to return to their power sources in both
controller and drive.
Shields on cables reduce emissions from the
drive for CE compliance and protect internal
circuits from interference due to external
sources of electrical noise. Because of their
smaller wire gauge, these should not be
used as part of a safety-ground system.
Motor cases can be safety-grounded either
at the motor, by earthing the frame, or by
grounding conductors in the motor cables
that connect to J3-1 & J4-1. These cables
should be of the same gauge as the other
motor phase cables.
For CE compliance and operator safety,
the drive heatplate should be earthed to
the equipment frame. An unplated tab is
provided on the heatplate (near to J1) for
this connection.
DRIVE POWER SOuRCES
An external +24 Vdc power supply is
required, and powers an internal DC/
DC converter that supplies all the control
voltages for drive operation. Use of
an external supply enables CAnopen
communication with the drive when the
mains power has been removed.
Power distribution in XP2 is divided into
three sections: +24 Vdc, signal, and high-
voltage. Each is isolated from the other and
all are isolated from the chassis.
Ex24 VDC
The primary side of the DC/DC converter
operates directly from the ex24
Vdc supply and is isolated from other drive
power sections. The Brake outputs operate
in this section and are referenced to the +24
Vdc return (0V). They sink current from an
external load connected to the ex24
Vdc power source.
INTERNAl SIGNAl POWER
The signal power section supplies power for
the control circuits as well as logic inputs
and outputs. Motor feedback signals such
as Halls, encoder, and temperature sensor
operate from this power source. All signal
circuits are referenced to signal ground. This
ground should connect to the control system
circuit ground or common so that drive and
controller inputs and output voltage levels
work properly with each other.
MAinS PoWER
Mains power drives the high-voltage
section. it is rectified and capacitor-
filtered to produce +HV which the PWM
stages convert into voltages that drive
either three phase brushless or DC brush
motors. An internal solid-state switch
together with an external power resistor
provides dissipation during regeneration
when the mechanical energy of the motors
is converted back into electrical energy
that must be dissipated before it charges
the internal capacitors to an overvoltage
condition. All the circuits in this section are
“hot”, that is, they connect directly to the
mains and must be considered high-voltages
and a shock hazard requiring proper
insulation techniques during installation.
REGENERATION
The chart below shows the energy
absorption in W·s for a Xenus Plus XP2
drive operating at some typical mains
voltages. When the load mechanical energy
is greater than these values an external
regen resistor is available as an accessory.
The capacitor bank is 2350 uF and the
energy absorption is shared with both axes.
PoWER SECTionS
The graphic below shows the different power sections of the Xenus Plus drive
and the isolation barriers between them. only one motor is shown but all
motor PWM drivers are in the mains-connected section.
0
20
40
60
80
100
120
140
160
180
100 120 140 160 180 200 220 240 260
power & groundIng
