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Copley Controls Xenus PLUS, Руководство пользователя

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Copley Controls Xenus PLUS Скачать руководство пользователя страница 25

PIN

SIGNAL

PIN

SIGNAL

PIN

SIGNAL

1

Frame Gnd

16

Signal Gnd

31

Signal Gnd

2

[AIN1-]

17

A +5Vdc Out3

32

A +5Vdc Out3

3

[AIN1+]

18

A-MultiEnc /S

33

A-MultiEnc S

4

[AIN2-]

19

A-MultiEnc /X

34

A-MultiEnc X

5

[AIN2+]

20

A-MultiEnc /B

35

A-MultiEnc B

6

Signal Gnd

21

A-MultiEnc /A

36

A-MultiEnc A

7

[IN1]

22

Signal Gnd

37

Signal Gnd

8

[IN2] Diff1(+)

23

B +5Vdc Out4

38

B +5Vdc Out4

9

[IN3] Diff1(-)

24

B-MultiEnc /S

39

B-MultiEnc S

10

[IN4] Diff2(+)

25

B-MultiEnc /X

40

B-MultiEnc X

11

[IN5] Diff2(-)

26

B-MultiEnc /B

41

B-MultiEnc B

12

[IN11]

27

B-MultiEnc /A

42

B-MultiEnc A

13

[IN12] Diff3(+)

28

N/C

43

N/C

14

[IN13] Diff3(-)

29

N/C

44

Signal Gnd

15

[IN14] Diff4(+)

30

[IN15] Diff4(-)

PIN

SIGNAL

PIN

SIGNAL

PIN

SIGNAL

9

[IN18] S3_C (Note 1)

18

[IN19] S4_C (Note 1)

26

n.c.

8

[IN17] S2_C (Note 1)

17

n.c. (Note 3)

25

S4_RTN (Note 1)

7

[IN16] S1_C (Note 1)

16

S4_A (Note 1)

24

S3_RTN (Note 1)

6

COM1 [IN6~9]

15

S3_A (Note 1)

23

S2_RTN (Note 1)

5

[IN9] GPI

14

S2_A (Note 1)

22

S1_RTN (Note 1)

4

[IN8] GPI

13

S1_A (Note 1)

21

[OUT3+] GPI

3

[IN7] GPI

12

[OUT3-] GPI

20

[OUT2+] GPI

2

[IN6] GPI

11

[OUT2-] GPI

19

[OUT1+] GPI

1

Frame Ground

10

[OUT1-] GPI

PIN

SIGNAL

PIN

SIGNAL

PIN

SIGNAL

1

Frame Gnd

10

Rslvr Abs B (Note 2)

19

Rslvr Inc B

2

n.c. (Note 3)

11

Rslvr Abs C (Note 2)

20

Rslvr Inc C

3

n.c.

12

n.c.

21

n.c.

4

n.c.

13

n.c.

22

n.c.

5

Signal Gnd

14

n.c.

23

Rslvr Ref(+)

6

n.c.

15

n.c.

24

n.c.

7

[IN10(20)] A(B) Motemp

16

Signal Gnd

25

Signal Gnd

8

n.c.

17

A(B) +5VOut1(2)

26

Signal Gnd

9

Rslvr Abs A (Note 2)

18

Rslvr Inc A

J8

J9

MOT A

MOT B

J10

FDBK A

FDBK B

J11

S2

S1

J7

J1

J2

J3

J4

J5

J6

SAFETY

1

6

9

5

BRK A

BRK B

RTN

W

V

U

+24

+24

W

V

U

RGN+

RGN-

L3

L2

L1

I/O

A

AMP

B

L /A

L /A

RUN

ERR

J12

SIGNAL

1

16

31

30

44

15

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 25 of 32

RoHS

Xenus 

PLUS

 

2-Axis

 

EtherCAT

800-1782

NSK VR Abs/Inc Resolver

J11

J10

J9

J10(J11) FEEDBACK A(B)

J10(J11) CABLE CONNECTOR:

High-Density D-Sub male, 26 Position

Notes:

 

1) These signals are dedicated to NSK motor limit switches

 

2) These signals only used with JSG motor

 

3) n.c. = No connection

J12 CABLE CONNECTOR:

High-Density D-Sub male, 44 Position

J12 CONTROL SIGNALS (MOUNTED ON END OF UNIT, SEE PAGE 31)

J9 CABLE CONNECTOR:

High-Density D-Sub female, 26 Position

J9 ISOLATED CONTROL WITH ROBOT LIMIT SWITCH CONNECTIONS

J7

J8

IN

OUT

Содержание Xenus PLUS

Страница 1: ...SSB Motor Incremental Resolver NSK JSG Motor Incremental Absolute Resolver Safe Torque Off STO SIL 3 Category 3 PL d I O Digital 20 inputs 5 outputs IN16 19 dedicated to NSK robot limit switches I O A...

Страница 2: ...dc VH 45 mV typ IN6 9 Opto isolated single ended 15 30 Vdc compatible bi polar group of 4 with common return Rated impulse 800 V Vin LO 6 0 Vdc Vin HI 10 0 Vdc Input current 3 6 mA 24 Vdc typical IN16...

Страница 3: ...off until IGBT temperature is below threshold Short circuits Motors Output to output output to ground output to HV internal PWM bridge faults Regen Regen to ground Regen to HV I2 T Current limiting Pr...

Страница 4: ...oad 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 4 of 32 RoHS Xenus PLUS 2 Axis EtherCAT 800 1782 THIS PAGE L...

Страница 5: ...signed addresses based on their position in the bus But when the device must have a positive identification that is independent of cabling a Station Alias is needed In the 800 1782 this is provided by...

Страница 6: ...00 enter this line from a terminal s r0x90 115200 enter Then change the Baud rate in the computer controller to the new number and communicate at that rate Additional information can be found in the A...

Страница 7: ...ontrol the on off state of the PWM outputs SAFE TORQUE OFF STO STO BYPASS MUTING In order for the PWM outputs of the 800 1782 to be activated current must be flowing through all of the opto couplers t...

Страница 8: ...l Curr Vel Duty 50 50 No Function no connection IN2 12 IN3 13 IN4 14 IN5 15 PULSE PULSE DIRECTION DIRECTION CD Count Down CU Count Up IN2 12 IN3 13 IN4 14 IN5 15 CU CD IN4 14 IN5 15 CU Count Up CD Cou...

Страница 9: ...quad A B X signals with programmable resolution These signals can then be fed back to an external motion controller that closes the position or velocity loops As an input the port can take quad A B s...

Страница 10: ...tp www copleycontrols com Page 10 of 32 RoHS Xenus PLUS 2 Axis EtherCAT 800 1782 SINGLE ENDED DIFFERENTIAL DIGITAL INPUTS IN2 5 12 15 These inputs have all the programmable functions of the GP inputs...

Страница 11: ...e analog inputs OPTO ISOLATED DIGITAL INPUTS GENERAL PURPOSE These inputs have all the programmable functions of the GP inputs plus opto isolation There are four inputs with a common terminal Groundin...

Страница 12: ...1k 1k 1k 1k 7 604 IN17 8 604 IN18 9 604 IN19 18 22 23 15 24 16 25 4X 453 6VISO ISOGND Note 6VISO and ISOGND are from an internally generated non regulated and isolated power supply 13 14 Copley Contr...

Страница 13: ...CAT 800 1782 OUTPUTS OPTO ISOLATED OUTPUTS OUT1 3 30 Vdc max 24V typical Zener clamping diodes across outputs allow driving of resistive inductive R L loads without external flyback diodes BRAKE OUTPU...

Страница 14: ...pleycontrols com Web http www copleycontrols com Page 14 of 32 RoHS Xenus PLUS 2 Axis EtherCAT 800 1782 RESOLVER SIGNALS AND PINS JSG MOTOR FEEDBACK CONNECTIONS JSG MOTOR INCREMENTAL ABSOLUTE VR RESOL...

Страница 15: ...copleycontrols com Web http www copleycontrols com Page 15 of 32 RoHS Xenus PLUS 2 Axis EtherCAT 800 1782 JSG MOTOR PHASE CONNECTIONS The drive output is a three phase PWM inverter that converts the D...

Страница 16: ...NSK VR Incremental Resolver 2 13 1 6 11 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...

Страница 17: ...copleycontrols com Web http www copleycontrols com Page 17 of 32 RoHS Xenus PLUS 2 Axis EtherCAT 800 1782 SSB MOTOR PHASES AND TEMP SENSOR CONNECTIONS SSB MOTOR PHASE CONNECTIONS The drive output is a...

Страница 18: ...k 5 1V IN7 3 4 99k 5 1V IN8 4 4 99k 5 1V IN9 5 24V 100p 10k 10k 74HC14 PullUp 5V PullDown 0V INx 5V 33nF 4 99k 10k 74HC14 INx 5V 5V 24V Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090...

Страница 19: ...INPUTS WITH PROGRAMMABLE PULL UP DOWN 12V 100 pF 2 5V MAX3096 MAX3096 IN2 4 12 14 J12 Control 100 pF 1k IN3 5 13 15 10k 5V 1k 10k 5V 100p 10k 10k 74HC14 PullUp 5V PullDown 0V INx 5V 33nF 4 99k 10k 74H...

Страница 20: ...24 Vdc Vdc J9 OUTn 20 400 min 36V ASSR 1218 24V 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 copleycontr...

Страница 21: ...ive output current is zero Servo drive is disabled PWM outputs are off Inactive Brake is not holding motor shaft i e the Brake is Inactive Motor can move Current flows in coil of brake CME2 I O Line S...

Страница 22: ...Gnd 24 Vdc Axis A Brake Axis B Brake 800 1782 C B A C B A Motor 3 ph Note Motor windings A B and C must be connected externally Copley Controls 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781...

Страница 23: ...A F G J3 J4 J5 2 3 1 24V Brake B 4 5 24V Brake A Gnd 24 Vdc Axis A Brake Axis B Brake 800 1782 C B A C B A Motor 3 ph Note Motor windings A B and C must be connected externally Copley Controls 20 Dan...

Страница 24: ...J1 J2 J3 J4 J5 J6 WARNING Hazardous voltages exist on connections to J1 J2 J3 J4 when power is applied and for up to 30 seconds after power is removed ISOLATED CIRCUIT J6 SAFETY STO J6 CABLE CONNECTO...

Страница 25: ...PI PIN SIGNAL PIN SIGNAL PIN SIGNAL 1 Frame Gnd 10 Rslvr Abs B Note 2 19 Rslvr Inc B 2 n c Note 3 11 Rslvr Abs C Note 2 20 Rslvr Inc C 3 n c 12 n c 21 n c 4 n c 13 n c 22 n c 5 Signal Gnd 14 n c 23 Rs...

Страница 26: ...otor 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 opera...

Страница 27: ...Fax 781 828 6547 Tech Support E mail sales copleycontrols com Web http www copleycontrols com Page 27 of 32 RoHS Xenus PLUS 2 Axis EtherCAT 800 1782 POWER REGEN BRAKE CONNECTIONS Notes 1 Shielded cab...

Страница 28: ...rent to earth ground until the safety device fuse or circuit breakers disconnects the drive from the mains This connection ensures that the heatplate of the drive remains at earth potential and elimin...

Страница 29: ...om Web http www copleycontrols com Page 29 of 32 RoHS Xenus PLUS 2 Axis EtherCAT 800 1782 THERMALS Thermal data for convection cooling with no heatsink assumes a vertical mounting of the drive on a th...

Страница 30: ...a heatsink and mounting hardware for field installation of a standard heatsink onto Xenus Plus 800 1782 model servo drive To order an 800 1782 drive with heatsink fitted at the factory add H to the n...

Страница 31: ...N W V U 24 24 W V U RGN RGN L3 L2 L1 I O A AMP B L A L A RUN ERR 5 56 141 2 5 77 146 6 8 94 227 9 24 234 7 8 86 225 0 31 7 9 21 5 2 0 24 6 1 4 76 121 8 86 225 9 24 234 7 2 41 61 1 I O J9 NETWORK Dev I...

Страница 32: ...NC 10 1 J8 EtherCAT network cable 10 ft 3 m XE2 NC 01 1 EtherCAT network cable 1 ft 0 3 m Note 1 For RoHS compliance append RN01 0000 to the Wago part numbers listed above HEATSINK KIT FOR FIELD INSTA...

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