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Xenus XSL User Guide 

 

Operational Theory 

Copley Controls Corp. 

31 

2.6.3: Architecture 

As shown below, in a CANopen motion control system, control loops are closed on the individual 
amplifiers, not across the network. A master application coordinates multiple devices, using the 
network to transmit commands and receive status information. Each device can transmit to the 
master or any other device on the network. CANopen provides the protocol for mapping device 
and master internal commands to messages that can be shared across the network. 

C

A

N

po

rt

C

A

N

op

en

Softw are Application

Master Controller

C

A

N

po

rt

C

A

N

op

en

Xenus

Amplifier

I/O

C

A

N

po

rt

C

A

N

op

en

Other

CANopen

Device

Status

Local Control

Motor

Sensor

Feedback

Local Control

Motor

Sensor

Feedback

C

A

N

po

rt

C

A

N

op

en

Xenus

Amplifier

I/O

Control

C

A

N

N

et

w

or

k

2.6.4: CAN Addressing 

A CANopen network can support up to 127 nodes. Each node must have a unique and valid 
seven-bit address (Node ID) in the range of 1-127. (Address 0 is reserved and should only be 
used when the amplifier is serving as a CME 2 serial port multi-drop gateway.) 
There are several basic methods for setting the CAN address, as described below. These method 
can be used in any combination, producing a CAN address equal to the sum of the settings. 

Addressing Method 

Description 

Use switch 

If the address number <= 15, CAN address can be set using the CAN ADDR switch only. 

Use inputs 

Use the amplifier’s programmable digital inputs (user selects how many (1-7) and which 
inputs are used). 

Use programmed value  

Program address into flash only.  

For more information on CAN addressing, see 

CAN Interface (p. 104)

.

For more information on CAN communications, see 

Communication (p. 41)

.

For more information on CANopen operations, see the following Copley Controls documents: 

•

CANopen Programmer’s Manual

 

•

CML Reference Manual 

•

Copley Motion Objects Programmer’s Guide

 

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Содержание Xenus XSL

Страница 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Страница 2: ...Xenus XSL User Guide P N 95 00286 000 Revision 7 June 2008 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 3: ...Xenus XSL User Guide This page for notes Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 4: ...ital Inputs to Connect Limit Switches 32 2 7 2 Diagram Sample Placement of Limit Switches 32 2 7 3 How the Amplifier Responds to Limit Switch Activation 32 2 7 4 Using Custom Output to Signal Limit Sw...

Страница 5: ...tructions 60 4 1 1 Electrical Codes and Warnings 60 4 1 2 Grounding Considerations 60 4 1 3 Connector Locations 61 4 2 AC Mains J1 62 4 3 Motor J2 63 4 4 Regen Resistor J3 Optional 64 4 5 Logic Supply...

Страница 6: ...agram 124 6 1 5 CAN Information and Status Bar 125 6 1 6 Choosing an Amplifier from a List of Amplifiers 125 6 1 7 Renaming an Amplifier 125 6 2 Manage Amplifier and Motor Data 126 6 2 1 Memory 126 6...

Страница 7: ...ermal Considerations 169 D 1 Operating Temperature and Cooling Configurations 170 D 1 2 Heatsink and Fan Configurations 171 D 2 Heatsink Mounting Instructions 172 E Xenus Filter 173 E 1 Overview 174 E...

Страница 8: ...3 Feedback XSL FC 10 197 H 5 Regen Resistor Specifications 198 H 5 1 XTL RA 03 XTL RA 04 Specifications 198 H 5 2 XTL RA 03 XTL RA 04 Dimensions 198 H 5 3 XSL RA 01 02 Discontinued Specifications 199...

Страница 9: ...Corporation welcomes your comments on this manual See http www copleycontrols com for contact information Copyrights No part of this document may be reproduced in any form or by any means electronic o...

Страница 10: ...ailure to heed this warning can cause equipment damage injury or death Using CME 2 or serial commands may affect or suspend CAN operations DANGER When operating the amplifier as a CAN node the use of...

Страница 11: ...ltiplier See Position Mode and Position Loop p 24 Over Current fault See Fault Descriptions p 37 RS 232 multi drop serial control See Connecting for Serial Control p 183 New CAN addressing interface S...

Страница 12: ...UCTION This chapter provides an overview of Copley Controls Xenus amplifier Contents include Title Page 1 1 Amplifier 12 1 2 CME 2 13 1 3 CMO CML 13 Artisan Technology Group Quality Instrumentation Gu...

Страница 13: ...ication over a CAN network to perform torque velocity and position profiling interpolated motion and homing operations Multiple drives can be tightly synchronized for high performance coordinated moti...

Страница 14: ...eliminated Motor data can be saved as ccm files Amplifier data is saved as ccx files that contain all amplifier settings plus motor data This makes it possible to quickly set up amplifiers by copying...

Страница 15: ...Introduction Xenus XSL User Guide 14 Copley Controls Corp Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 16: ...equency 18 2 3 Commutation Modes 18 2 4 Feedback 18 2 5 Operating Modes 19 2 6 CANopen Operation 30 2 7 Limit Switches 32 2 8 Brake Operation 33 2 9 Status Indicators 34 2 10 Protection 36 2 11 Positi...

Страница 17: ...olated Deriving internal operating voltages from a separate source enables the amplifier to stay on line when the mains have been disconnected for emergency stop or operator intervention conditions Th...

Страница 18: ...R 5 Vdc DC BUSS DC BUSS L2 AMPLIFIER CHASSIS CONTROL SYSTEM ENABLE IN1 SIGNAL GND SIGNAL GND SHIELD J8 J7 J1 J2 FRAME SAFETY GROUND CONTROL SIGNAL GROUND REGEN REGEN SHIELD BRAKE 24 Vdc 24 Vdc GROUND...

Страница 19: ...er provides traditional six step commutation When driving a DC brush motor the amplifier operates as a traditional H Bridge amplifier 2 4 Feedback 2 4 1 Encoder and Resolver Support The Xenus amplifie...

Страница 20: ...internal current commands Basic Attributes of All Control Loops These loops and servo control loops in general share several common attributes Loop Attribute Description Command input Every loop is gi...

Страница 21: ...for use in applications where there is a constant force applied to or required of the servomotor and the system must control this force Typical applications would be a vertical axis holding against gr...

Страница 22: ...or is multiplied by this value Integral gain reduces the current error to zero over time It controls the DC accuracy of the loop or the flatness of the top of a square wave signal The error integral i...

Страница 23: ...amplifier s internal function generator In position mode the velocity command is generated by the position loop Velocity Loop Limits The velocity command is limited based on the following set of para...

Страница 24: ...s Scalar feature increases the resolution of the units used to express Vp and Vi providing more precise tuning This feature is used when tuning results in non scaled Vp or Vi values of 64 or less Such...

Страница 25: ...et Position Velocity Command Trajectory Generator Position Loop Feedback Limits Max velocity Max accel Max decel Abort decel Position Proportional Gain Pp Velocity Feed Forw ard Vff Acceleration Feed...

Страница 26: ...olled by a variety of external sources analog voltage or digital inputs CAN network or over an RS 232 serial connection using ASCII commands The amplifier can also function as a stand alone motion con...

Страница 27: ...10 Vdc velocity command that had to control 1000 rpm CCW to 1000 rpm CW Scale would be set to 2000 rpm for a 10 Vdc input and Offset set to 5V After this a 0 Vdc input command would be interpreted as...

Страница 28: ...t Amplifier Output 50 Duty Cycle The command can be inverted so that increased duty cycle commands negative output and vice versa 100 Duty Cycle Format Two Wire One input takes a PWM waveform of fixed...

Страница 29: ...en using digital or analog command inputs the trajectory generator can be disabled by setting the Max Accel limit to zero Note that when using the CAN bus serial bus or CVM Control Program setting Max...

Страница 30: ...ring Quadrature Format In quadrature format A B quadrature commands from a master encoder via two inputs provide velocity and direction commands as shown below B Input Velocity Command A Input The rat...

Страница 31: ...the amplifier is programmed with a velocity a direction and acceleration and deceleration rates When the amplifier is enabled the motor accelerates to the set velocity and continues at that speed Whe...

Страница 32: ...Each node must have a unique and valid seven bit address Node ID in the range of 1 127 Address 0 is reserved and should only be used when the amplifier is serving as a CME 2 serial port multi drop gat...

Страница 33: ...fier Response to Active Positive or Negative Limit Switch Current Velocity Amplifier prohibits travel in positive or negative direction Travel in the opposite direction is still allowed Amplifier stat...

Страница 34: ...p Sequences Disabling the amplifier by a hardware or software command starts the following sequence of events The motor begins to decelerate at Abort Deceleration rate in position mode or Fast Stop Ra...

Страница 35: ...CAN Xenus REGEN FDBCK 24V BRAKE RTN 2 9 2 Amplifier Status Indicator Operation Amplifier status indicator color blink codes are described below Color Blink Code Meaning Not illuminated No 24 Vdc power...

Страница 36: ...peration Indicator State Diagram Blinking green Pre operational 200 ms off 200 ms green Steady green Operational off green Single flash green Stopped green 200 ms off 1 second Physical Bus Status Sing...

Страница 37: ...DANGER After the cause of a non latched fault is corrected the amplifier re enables the PWM output stage without operator intervention In this case motion may re start unexpectedly Configure faults a...

Страница 38: ...the internal 5 Vdc supply used to power the feedback Resolver or analog encoder not connected or levels out of tolerance Encoder power returns to specified voltage range Feedback signals stay within...

Страница 39: ...hen the position error reaches the programmed fault threshold the amplifier immediately faults The following error fault can be disabled For detailed information see Following Error Fault Details p 39...

Страница 40: ...ing Error Fault The clearing of a non latched following error depends on the amplifier s mode of operation Issuing a new trajectory command over the CAN or serial bus will clear the fault and return t...

Страница 41: ...velocity When the position or velocity error exceeds the programmed tracking window value a status word bit is set The bit is not reset until the error remains within the tracking window for the progr...

Страница 42: ...terface or by the digital inputs CAN interface When operating as a CAN node the amplifier takes command inputs over a CANopen network CAN communications are described in the next section 2 12 2 CME 2...

Страница 43: ...ription AMP Enable LO Enables with clear faults When the input is low amplifier enables PWM output stage Amplifier clears faults on the low to high transition of the input When input is high the ampli...

Страница 44: ...nput is high motion stops but the amplifier remains enabled Any position or velocity commands received while the input is active are ignored In position mode upon activation of the input the motor wil...

Страница 45: ...true output state The general purpose outputs require an external fly back diode to be installed across any inductive loads such as relays that are connected to them The brake output OUT4 is describe...

Страница 46: ...ched faults DANGER Associating a fault with a latched custom configured output does not latch the fault itself After the cause of a non latched fault is corrected the amplifier re enables without oper...

Страница 47: ...set as described in Velocity Loop Limits p 22 Velocity Outside of Tracking Window Difference between target and actual velocity has exceeded the window See Tracking Window Details p 40 Position Outsi...

Страница 48: ...an external resistor known as a regen resistor when the voltage rises too high 2 15 3 Regen Circuit Components The amplifier provides an internal transistor that is used in combination with an externa...

Страница 49: ...Operational Theory Xenus XSL User Guide 48 Copley Controls Corp Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 50: ...Digital Outputs 52 3 10 Brake Output 53 3 11 Encoder Power Supply Output 53 3 12 Primary and Secondary Encoder Inputs 53 3 13 Analog Encoder Inputs 53 3 14 Hall Switch Inputs 54 3 15 Resolver Interfa...

Страница 51: ...m 3 3 Power Output Model XSL 230 18 XSL 230 18 R XSL 230 36 XSL 230 36 R XSL 230 40 XSL 230 40 R Peak Current 18 Adc 12 7 Arms 36 Adc 25 5 Arms 40 Adc 28 3 Arms Peak Current Time 1 Second Continuous C...

Страница 52: ...XSL 230 18 R XSL 230 36 XSL 230 36 R XSL 230 40 XSL 230 40 R Continuous Power 2 kW 4 kW Peak Power 5 kW 10 kW Minimum Resistance 30 15 Minimum Resistor Wattage 25 W 50 W Turn On Voltage 390 Vdc Turn O...

Страница 53: ...ll up or pull down to internal 5 Vdc Input Voltage Range General Purpose High speed 0 V 28 Vdc 0 V 12 Vdc Logic Low Input Voltage 1 35 Vdc Logic High Input Voltage 3 65 Vdc Scan Time 333 Sec RC Filter...

Страница 54: ...ltage Range 7 Vdc Differential Input Threshold 0 2 Vdc Differential Input Impedance 121 Maximum Frequency 5 MHz Line 20 Mcount sec Function Incremental or analog encoder or resolver required for sinus...

Страница 55: ...o maximize feedback Reference Max Current 100 mA Max RPM 10 000 Function Incremental or analog encoder or resolver required for sinusoidal commutation and position or velocity modes of operation Type...

Страница 56: ...d Position PVT and Homing Node Address Selection 16 position rotary switch on front panel OR programmable digital inputs OR stored in flash memory OR combination of above Bus Termination External 121...

Страница 57: ...Considerations p 169 3 23 Mechanical and Environmental Size 7 55 in 191 8 mm X 5 57 in 141 5 mm X 2 57 in 65 3 mm Weight Without Heat Sink With Heat Sink XSL HL With Heat Sink XSL HS 3 0 lb 1 36 kg 4...

Страница 58: ...Xenus XSL User Guide Specifications Copley Controls Corp 57 3 24 Dimensions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 59: ...Specifications Xenus XSL User Guide 58 Copley Controls Corp Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 60: ...tle Page 4 1 General Wiring Instructions 60 4 2 AC Mains J1 62 4 3 Motor J2 63 4 4 Regen Resistor J3 Optional 64 4 5 Logic Supply Brake J4 65 4 6 RS 232 Serial Communications J5 66 4 7 CAN Bus J6 67 C...

Страница 61: ...or disconnecting of cables while the amplifier has 24Vdc and or mains power applied is not recommended Failure to heed this warning may cause equipment damage 4 1 2 Grounding Considerations Primary G...

Страница 62: ...nd must be connected to the control system signal ground The amplifier signal ground is not connected to earth ground internal to the amplifier Therefore the control system signal ground can be connec...

Страница 63: ...endation Recommended fuse type Class CC 600 Vac rated Ferraz Shawmut ATDR Littelfuse CCMR Bussman LP CC or equivalent AC Mains Wiring Diagram Single Phase Amplifier L1 L2 Fuses L1 Line L2 Neut Earth G...

Страница 64: ...tor and tool are included in connector kit XSL CK or XSL CA Pin Description Pin Signal Function 1 Ground Motor frame ground and cable shield 2 W Phase W output of amplifier 3 V Phase V output of ampli...

Страница 65: ...Function 1 Regen DC Bus to one side of regen resistor 2 N C No connection 3 Regen Collector of regen transistor to one side of regen resistor 4 N C No connection 5 Ground Enclosure ground and cable sh...

Страница 66: ...Wire Insertion Extraction Tool Wago 231 131 Standard connector and tool are included in connector kit XSL CK or XSL CA Pin Description Pin Signal Function 1 RTN 24 Vdc return 2 Brake Return or low si...

Страница 67: ...le connector is shown below 1 2 3 4 5 6 Pin Description Pin Signal Function 1 N C No connection 2 RxD Receive data input from computer 3 Signal ground Power supply ground 4 Signal ground Power supply...

Страница 68: ...Ground 0 V V 4 No connection 5 Pass though to second connector no internal connection 6 CAN_SHLD Pass though to second connector no internal connection 7 CAN_Gnd Ground 0 V V 8 CAN V Pass through to s...

Страница 69: ...C style Plug assembly Molex 52316 2611 Boot cover Molex 52370 2610 28 AWG Back shell 3M 10326 52F0 008 standard Molex 54331 0261 rugged Standard solder style connector included in Connector Kit PN XSL...

Страница 70: ...ndant Dedicated Inputs p 70 High Group 4 12 IN11 Programmable Standard Group 4 13 OUT1 14 OUT2 15 OUT3 General purpose programmable outputs 16 Encoder A 17 Encoder A 18 Encoder B 19 Encoder B 20 Encod...

Страница 71: ...Direction IN10 Direction Input IN9 Count Up Position Up Down IN10 Count Down IN9 Channel A Position Quadrature IN10 Channel B Digital Inputs Wiring Diagram Amplifier J7 9 J7 10 J7 11 J7 12 J7 26 J7 2...

Страница 72: ...ode required for inductive loads Secondary Encoder Interface Diagram J7 18 Amplifier Typical Circuit J7 Motion Controller or Position Encoder A A B B X X Frame Gnd J7 16 J7 17 J7 19 J7 20 J7 21 J7 1 5...

Страница 73: ...style Plug assembly Molex 52316 2011 Boot cover Molex 52370 2010 28 AWG Back shell 3M 10320 52F0 008 standard Molex 54331 0201 rugged Standard solder style connector included in Connector Kit PN XSL...

Страница 74: ...U 12 Digital Hall V OR Resolver R1 Output 13 Digital Hall W OR Resolver R2 Output Standard Xenus Motor Hall switch inputs Resolver Xenus Resolver outputs 14 Digital Input IN5 Motor over temperature s...

Страница 75: ...r Case Ground 5 Vdc Typical Circuit To Encoder Output 5 V 400 mA 2 2 K 1 K 22 p 22 p 121 1 K A B X Index B A A B X Gnd Hall Switch Wiring Diagram J8 11 J8 12 J8 13 J8 1 J8 3 J8 10 Typical Circuit 5 V...

Страница 76: ...ring Diagram J8 12 J8 13 J8 18 J8 19 J8 1 Frame Gnd Resolver Case Ground REF REF COS COS R1 R2 S2 S4 Amplifier J8 J8 16 J8 17 SIN SIN S3 S1 Motor Over Temperature Wiring Diagram 10 K 4 99 K pull up pu...

Страница 77: ...Wiring Xenus XSL User Guide 76 Copley Controls Corp Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 78: ...ier Configuration 93 5 8 1 Digital Inputs 93 5 8 2 Standard Digital Outputs 95 5 8 3 Custom Digital Outputs 96 5 8 4 Save Input Output Changes 96 5 8 5 Fault Latching 97 5 8 6 Regen Resistor 98 5 9 Co...

Страница 79: ...with power OFF DANGER Do not make connections to motor or drive with power applied Failure to heed this warning can cause equipment damage injury or death Spinning motor with power off may damage ampl...

Страница 80: ...on CME 2 5 2 2 4 When prompted save the CME2 zip file to the folder chosen or created in Step 5 2 2 1 The folder should now contain a file named CME2 zip 5 2 2 5 Extract the contents of the zip file...

Страница 81: ...not been selected the Select Devices screen appears 5 2 4 2 If the CME 2 Main screen appears instead of Select Devices choose Tools Communications Wizard 5 2 4 3 From the Available Devices list on th...

Страница 82: ...the Selected Devices list 2 Choose a Baud Rate for that port 3 Repeat for each selected port 5 2 4 6 Click Next to save the choices and open the Serial Ports Settings Review screen or click Cancel to...

Страница 83: ...6 J1 L1 L2 L3 Earth line power power OFF 5 3 1 3 Secure the motor 1 Make sure motor is securely fastened 2 Make sure that no load is connected to the motor 5 3 1 4 Apply 24 Vdc to the amplifier s J4 c...

Страница 84: ...dware disable and may be used to disable the amplifier 5 3 2 1 Verify CME 2 installation and serial port configuration 5 3 2 2 Start CME 2 by double clicking the CME 2 shortcut icon on the Windows des...

Страница 85: ...n Modes p 18 Halls Type Select Hall type None Digital Analog used with Copley Controls ServoTube motors Hall Phase Correction If checked will enable error checking between Hall switches and encoder ba...

Страница 86: ...remental Incremental encoder on J7 Analog Analog encoder on J8 Low Frequency Analog Copley ServoTube motor on J8 Resolver Resolver version only Resolver on J7 Position Encoder Select type and source o...

Страница 87: ...Data folder in the CME 2 installation folder 4 The default installation folder is C Program Files Copley Motion CME 2 MotorData 5 Extract the contents of the zip file to the same location 6 The folder...

Страница 88: ...d by torque constant motor s peak current limit Range 0 001 to 1 000 Nm Default 0 0001 Nm Continuous Torque The continuous torque that the motor can produce Used with the torque constant to calculate...

Страница 89: ...e The continuous force that the motor can produce Used with the force constant to calculate continuous current Range 0 00001 to 1 000 N Default 0 00001 N Velocity Limit Maximum speed of the motor Used...

Страница 90: ...k channel J8 or both It can also operate in certain modes without encoders or resolvers A dual feedback setup is shown below The amplifier receives feedback from an incremental motor encoder through t...

Страница 91: ...coder turns to position encoder turns 5 6 2 4 If using a brake then proceed to Brake Stop Optional p 91 Else proceed to Calculate p 92 5 6 3 Linear Motor Feedback Setup Options 5 6 3 1 Click the Feedb...

Страница 92: ...p 33 5 7 2 Procedure 5 7 2 1 Click the Brake Stop tab 5 7 2 2 Enter the following options Option Description Brake Stop Delay Time Range of accepted values 0 to 10 000 mSec Brake Activation Velocity R...

Страница 93: ...nd Torque or Force Constant Correct them if needed If the Motor Feedback values were correct but the peak current limit continuous current limit or velocity loop velocity limit values are not optimal...

Страница 94: ...tes input is used as a CAN address bit 5 8 1 2 Enter the following options Option Description Pull up 5 V Internally pulls the group of inputs up to internal 5 V Pull down Internally pulls the group o...

Страница 95: ...bits A high input will inhibit motion in positive direction POS Limit LO Inhibits A low input will inhibit motion in positive direction Reset on LO HI Transition A low to high transition of the input...

Страница 96: ...is detected Faults p 36 Brake Active High Output goes high to activate the brake Brake Active Low Output goes low to activate the brake Brake Operation p 33 PWM Sync Output OUT1 only The PWM synchron...

Страница 97: ...the output 5 8 3 4 To optionally latch the selected events select Latch Output For more information on latching see Non Latched and Latched Custom Outputs p 45 5 8 3 5 Click OK to save changes to vola...

Страница 98: ...pectedly Configure faults as latched unless a specific situation calls for non latched behavior When using non latched faults be sure to safeguard against unexpected motion Failure to heed this warnin...

Страница 99: ...n resistors supplied by Copley Controls Custom Resistor User supplied resistor See Regen Resistor Sizing and Configuration p 153 5 8 6 3 Click OK to save regen settings to flash memory and close the R...

Страница 100: ...Position mode position change counts or mm produced by 10 Vdc of input Range 0 to 1 000 000 000 counts Default 1 Revolution of a rotary motor or 1 pole pair distance for a linear motor For more inform...

Страница 101: ...the load inertia and peak current Min 0 Default 0 5 x velocity loop Accel Limit value Max Decel Maximum trajectory deceleration Max value may depend upon the load inertia and peak current Min 0 Defaul...

Страница 102: ...100 duty cycle Range 0 to 100 000 rpm mm sec Default Maximum Velocity value PWM Input Type One wire 50 or two wire 100 with direction Options Invert PWM input Inverts the PWM logic Allow 100 output O...

Страница 103: ...and another takes each pulse as a negative step command Quadrature A B quadrature commands from a master encoder via two inputs provide velocity and direction commands Increment position on Rising Edg...

Страница 104: ...k current Min 0 Default 0 5 x velocity loop Accel Limit value Max Decel Maximum trajectory deceleration Max value may depend upon the load inertia and peak current Min 0 Default 0 5 x velocity loop Ac...

Страница 105: ...ress sources Switch Inputs and Programmed Value The address is the sum of the values from these sources 5 9 4 5 For each source selected perform the additional steps described below Source Steps Comme...

Страница 106: ...amage injury or death Notes Do not connect a load to the motor before performing Auto Phase procedure Always connect the motor using the same configuration Wire properly and consistently Connections a...

Страница 107: ...wer 5 10 2 3 Click Auto Phase to open the Auto Phase Motor Direction Setup screen 5 10 2 4 Move the motor in the direction you wish to be considered positive The Actual Position value on the screen sh...

Страница 108: ...rent loop oscillation evidenced by an audible high frequency squeal during auto phasing 5 10 2 8 For a R version of Xenus with a resolver skip to 5 10 2 11 5 10 2 9 For a standard version Xenus click...

Страница 109: ...the screen and save values to flash memory OR to close the screen without saving changes click Cancel 5 10 2 14 If the Auto Phase algorithm does not produce desired results try adjusting the Auto Pha...

Страница 110: ...Setup If motor direction setup step failed 5 10 4 1 Check Encoder or resolver power and signals 5 10 4 2 Verify that the encoder is differential Contact factory if encoder is single ended 5 10 4 3 Che...

Страница 111: ...options as needed Options Description Peak Current Limit Used to limit the peak phase current to the motor Max value depends upon the amplifier model Min value continuous limit I 2 T Time Limit Sets...

Страница 112: ...ions Function Generator Tab Excitation Square Wave Amplitude 10 of continuous current setting Frequency 100 Hz Settings Tab Channel 1 Commanded current green Channel 2 Actual current white 5 11 2 4 Ve...

Страница 113: ...obtained 5 11 2 7 Press Stop to stop the function generator 5 11 2 8 On the Main screen click Save to Flash 5 11 2 9 If the amplifier is to be operated in current mode skip the velocity and position l...

Страница 114: ...ply in position mode Deceleration Limit Maximum deceleration rate Max value may depend upon load inertia peak current Min value 1 Does not apply in position mode Tracking Window Tracking Time See Trac...

Страница 115: ...elocity value Frequency 5 Hz Settings Tab Channel 1 Limited velocity green Channel 2 Actual velocity white 5 12 2 4 Verify that the Amplitude value is not excessive for the motor 5 12 2 5 Click Start...

Страница 116: ...ssed to the velocity loop In dual encoder systems the multiplier s initial value is calculated based on the ratio of motor encoder turns to position encoder turns See Rotary Motor Feedback Setup Optio...

Страница 117: ...lect the Profile tab 3 On the Settings tab make sure that Auto Setup is checked Auto Setup automatically sets the following options Profile Tab Move Relative Type Trap Distance 2000 counts Reverse and...

Страница 118: ...profile Often a velocity feed forward Vff value of 16384 100 provides best results 1 Click in the Vff field and adjust the value 2 Click Start after each adjustment to test the new value on a new pro...

Страница 119: ...um Acceleration Deceleration Maximum acceleration deceleration of the profile The deceleration is set to be the same as acceleration Maximum Jerk The value of jerk set during the calculate procedure p...

Страница 120: ...om connector J1 5 14 2 3 Attach load 5 14 2 4 Reconnect AC power to connector J1 5 14 2 5 Re tune velocity and position loops if applicable 5 14 2 6 On the Main screen click Save to Flash 5 14 2 7 On...

Страница 121: ...Quick Setup with CME 2 Xenus XSL User Guide 120 Copley Controls Corp Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 122: ...6 4 4 Control Functions 133 6 4 5 Jog Mode 133 6 5 Scope Tool 134 6 5 1 Scope Tool Overview 134 6 5 2 Function Generator and Profile Tabs 135 6 5 3 Scope Settings 136 6 5 4 Scope Tool Controls 139 6...

Страница 123: ...ol Panel p 131 Auto Phase Opens Auto Phase tool Auto Phase p 105 Scope Opens Scope Scope Tool p 134 Error Log Opens Error Log Error Log p 142 Amplifier Properties Displays basic amplifier properties S...

Страница 124: ...mmunications Wizard Starts sequence of prompts to set up serial port Serial Port Setup p 80 Communications Log Opens Communications Log Communications Log p 143 Download Firmware Starts sequence of pr...

Страница 125: ...ton not present when amplifier programmed to use CVM Control Program for Control Loop Input Otherwise the button will be labeled with one of the following CAN Configuration Digital Position Inputs Fun...

Страница 126: ...an amplifier CME 2 automatically attempts to connect to the amplifier on that port on CME 2 startup If as shown at center below multiple PC serial ports have been set up for communications with multip...

Страница 127: ...licks the appropriate Save to Flash button or closes the screen Flash and Volatile Includes all user entered data represented on other screens such as gains limits and I O faults and regen settings In...

Страница 128: ...data management tools at the bottom of the Motor Feedback screen shown below affect only user entered data that is represented on the Motor Feedback screen Motor Feedback Data Management Tools The mot...

Страница 129: ...S 232 Serial Communications J5 p 66 6 2 4 2 Start CME 2 by double clicking the CME 2 shortcut icon on the Windows desktop 6 2 4 3 On the Main screen click Restore amplifier data from disk 6 2 4 4 When...

Страница 130: ...to the Firmware Image folder in the CME 2 installation folder The default installation folder is C Program Files Copley Motion CME 2 FirmwareImage The folder should now contain a file named Xenus_Fir...

Страница 131: ...eck marks to select whether to save to disk flash both or neither 2 Click OK to save data and continue to select a firmware image or click Cancel to continue without saving data 3 If Save Data to Disk...

Страница 132: ...put s Red indicates one or more enable inputs are inactive Software Enable State of the software enable Red indicates the amplifier is disabled by software POS Limit State of the positive limit switch...

Страница 133: ...variable from the list Disabled disables the display Other options represent the following amplifier values Actual Current Commanded Current Limited Position Actual Velocity Commanded Velocity Analog...

Страница 134: ...following mode specific options Mode Option Description Torque Current applied to the motor Limited by current loop Continuous Current Warning Unloaded motors may depending on torque setting ramp up i...

Страница 135: ...ures for performing basic activities with the scope To Run a Function Generator Move 1 Click on the Function Generator tab 2 As required adjust Function Generator settings scope tool settings gains li...

Страница 136: ...d Selected Control Loop Excitations Available Current Sine Wave Square Wave Step Forward Step Forward and Reverse and Impulse Velocity Sine Wave Square Wave Step Forward Step Forward and Reverse Posit...

Страница 137: ...ble The categories and variables are listed below Category Trace Variable Category Trace Variable Disabled Channel disabled no associated variable Position Commanded Position Limited Position Actual P...

Страница 138: ...acement of the trigger event on the screen Value is not configurable for Immediate Function Generator or Move Start trigger types Left for optimal viewing of events following the trigger Middle for op...

Страница 139: ...Auto Scale and Zoom The Scope automatically scales the display axes to optimally display all channels To zoom in one area of a trace hold the left mouse button and drag a box around the area of intere...

Страница 140: ...epresented on these tabs can also be accessed through the screens used to configure the control loops and the digital position input Changing a value in the Scope tool automatically updates the value...

Страница 141: ...mode the Position Params tab can be used to set position loop parameters Set Zero Position sets the amplifier s actual position count to zero For more information on the other settings see Position a...

Страница 142: ...lation folder For instance c Program Files Copley Motion CME 2 ScopeData To save trace data 1 Generate the trace you wish to save 2 In the Oscilloscope window click the Save to Disk icon When prompted...

Страница 143: ...tents of this tab are not refreshed automatically as new events occur The contents are refreshed only when the tab is displayed or when Refresh is clicked Frequency Type description and frequency of e...

Страница 144: ...the exception of status messages are recorded in the log Enable Event Status Logging When checked status messages are included in the log Filter Get Variable Cmds When checked Get Variable commands ar...

Страница 145: ...Virtual Amplifier screen b a b 6 7 2 3 To open a virtual amplifier from an existing amplifier file skip to Step 6 7 2 4 now To create a new virtual amplifier file based on a virtual amplifier template...

Страница 146: ...o control the current vector rotation command the motor forward or reverse using the buttons shown here NOTE Some motors have bearings stiction so helping the motor with mechanical force is acceptable...

Страница 147: ...ccurs when the needle is between indicators 30 degrees as shown below 2 If the needle and Hall states do not track properly use the Hall Wiring list box shown below to swap the amplifier s Hall wire c...

Страница 148: ...ate of vector rotation then reduce the Increment Rate or increase the Current 6 8 3 6 Verify that Fwd moves motor forward If not toggle Motor Invert Output setting 6 8 3 7 Verify actual position count...

Страница 149: ...mutation mode the encoder is highly suspect 1 Verify the differential encoder signals 2 Verify proper twisted shielded cable with good grounding 3 Disable the amplifier and move the motor manually to...

Страница 150: ...wing steps in Quick Setup with CME 2 p 77 have been performed Prerequisites Basic Setup Motor Setup Amplifier Configuration Command Input Auto Phase 6 9 2 2 Click Current Loop to open the Current Loop...

Страница 151: ...oach that would be used by a trained technician as described below 1 Sets Cp and Ci to zero and then adjusts Cp and Ci for optimal values 2 Uses a frequency sweep to determine the small signal current...

Страница 152: ...edium values selected by default are appropriate for most applications 2 Optionally choose how to save Save Cp and Ci to Flash or Keep Cp and Ci in RAM only 3 Click OK to save the values as chosen and...

Страница 153: ...so used when moving to an offset position Slow Velocity The velocity used to find a switch edge index pulse or hard stop Accel Decel The acceleration and deceleration rate used during homing Offset Th...

Страница 154: ...the optimal resistor characteristics would be for a given application For an overview of regeneration and regen resistors see Regen Resistor Theory p 47 The contents of this chapter include Title Pag...

Страница 155: ...f the motor windings A 1 1 2 For rotary motor applications gather this additional information 1 Load inertia seen by the motor 2 Inertia of the motor A 1 1 3 For linear motor applications gather this...

Страница 156: ...ated by the Motor Calculate the amount of energy dissipated by the motor due to current flow though the motor winding resistance using the following formulas Pmotor 3 4 Rwinding F Kt 2 Where Pmotor Po...

Страница 157: ...tor in joules Ereturned Energy delivered back to the amplifier from the motor in joules Eamp Energy that the amplifier will absorb in joules A 1 8 Calculate Pulse Power of Each Deceleration that Excee...

Страница 158: ...ak and continuous currents as well as the peak current time must be taken into consideration for proper fuse selection The duration of the peak current is the deceleration time Tdecel associated with...

Страница 159: ...t Damage to the external regen resistor may result from incorrect values entered Damage to the amplifier may result if an incorrect resistance value is entered Failure to heed this warning can cause e...

Страница 160: ...thin the range described Click Next for Step 4 A 2 2 6 Click Next for Step 5 A 2 2 7 Review the configuration A 2 2 8 Click Finish to save the configuration to volatile and flash memory and close the...

Страница 161: ...Regen Resistor Sizing and Configuration Xenus XSL User Guide 160 Copley Controls Corp This page for notes Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 162: ...maximum amount of time that the peak current can be applied to the motor before it must be reduced to the continuous limit or generate a fault This chapter describes the algorithm used to implement th...

Страница 163: ...the output current Sampling Frequency The value of the I2 T Accumulator Variable is incrementally increased for output currents greater than the Continuous Current Limit and is incrementally decreased...

Страница 164: ...s best understood through an example For this example a motor with the following characteristics is used Peak Current Limit 12 A I2 T Time Limit 1 S Continuous Current Limit 6 A From this information...

Страница 165: ...ws that the actual output current follows the commanded current Note that the current is higher than the continuous current limit setting of 6 A Under this condition the I2 T Accumulator Variable begi...

Страница 166: ...nt Because the actual current is less than the continuous current the I 2 T Accumulator Variable value begins to fall incrementally The I 2 T Accumulator Variable value continues to fall until at appr...

Страница 167: ...I 2 T Time Limit Algorithm Xenus XSL User Guide 166 Copley Controls Corp This page for notes Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 168: ...f high frequency resonance Low Pass 2 Pole Butterworth The Butterworth filter is a maximally flat low pass filter This second order two pole filter has a damping ratio of 0 707 and produces no peaking...

Страница 169: ...Velocity Loop Filters Xenus XSL User Guide 168 Copley Controls Corp This page for notes Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 170: ...cteristics heatsink options and heatsink mounting instructions Contents include D 1 Operating Temperature and Cooling Configurations 170 D 1 2 Heatsink and Fan Configurations 171 D 2 Heatsink Mounting...

Страница 171: ...30 36 XSL 230 36 R Mains 120 Vac Mains 240 Vac Continuous Output Current Adc No Heatsink Standard Heatsink Low Profile Heatsink w fan Low Profile Heatsink or no Heatsink w fan Standard Heatsink w fan...

Страница 172: ...No Fan With Fan 4 25 in Fan Low Profile Heatsink No Fan With Fan 4 25 in Fan Standard Heatsink No Fan With Fan 4 25 in Fan Select a 4 25 inch square fan that supplies forced air at a minimum rate of...

Страница 173: ...D 2 2 Place the phase change material on the amplifier taking care to center the phase change material holes over the heatsink mounting holes D 2 3 Mount the heatsink onto the amplifier taking care t...

Страница 174: ...this chapter include Title Page E 1 Overview 174 E 2 XSL FA 01 Edge Filter Specifications 175 E 3 Thermal Considerations 175 E 4 XSL FA 01 Edge Filter Dimensions 176 E 5 XSL FA 01 Edge Filter Wiring 1...

Страница 175: ...actor of 3 substantially reducing noise in the system Copley Controls amplifiers typically have a 150 ns rise time high frequency component in the MHz range Thus the edge filter can increase rise time...

Страница 176: ...ates below maximum temperature values and thus requires no cooling fan When used with XSL 40 amplifiers running continuous currents greater than 12 Adc the XSL FA 01 should be cooled with an external...

Страница 177: ...176 Copley Controls Corp E 4 XSL FA 01 Edge Filter Dimensions The following diagram shows the mounting dimensions of the XSL FA 01 Edge Filter Artisan Technology Group Quality Instrumentation Guarante...

Страница 178: ...can cause equipment damage injury or death Risk of electric shock DANGER High voltage circuits on Xenus J1 J2 and J3 and on Filter J1 and J2 are connected to mains power Failure to heed this warning...

Страница 179: ...Xenus J2 Edge Filter J2 connects to the motor J2 J1 U V W U V W FROM AMPLIFIER TO MOTOR CNTRL J4 J3 J2 J1 STATUS RS232 CAN ADDR J5 S1 J6 J7 J8 FDBCK 24V BRAKE RTN REGEN U V W L1 L2 L3 CAN Xenus REGEN...

Страница 180: ...sis ground and cable shield 2 Phase W Phase W input from amplifier 3 Phase V Phase V input from amplifier use for DC motor connection 4 Phase U Phase U input from amplifier use for DC motor connection...

Страница 181: ...s Motor Case Ground J2 2 J2 1 J2 3 J2 4 Filter J2 2 J2 1 J2 3 J2 4 J1 4 J1 3 J1 2 J1 1 J1 5 E 5 7 Diagram Edge Filter Wiring with Brush Motor U V Brush Motor Case Ground Amplifier J2 2 J2 1 J2 3 J2 4...

Страница 182: ...01 Xenus Edge Filter Connector Kit Model Qty Ref Description Mfr Model No 1 J1 Plug 5 position 5 0 mm female Wago 721 105 026 047 1 J2 Plug 4 position 5 0 mm female Wago 721 104 026 047 XSL FK 2 Inser...

Страница 183: ...Xenus Filter Xenus XSL User Guide 182 Copley Controls Corp Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 184: ...ONNECTING FOR SERIAL CONTROL This chapter describes how to connect one or more amplifiers for control via the RS 232 bus on one of the amplifiers Artisan Technology Group Quality Instrumentation Guara...

Страница 185: ...o after power up the amplifier must be reset or power cycled to make the new address setting take effect PC PLC or HMI for ASCII Control Serial COM port for RS 232 9pin D sub RJ11 Copley Amplifier wit...

Страница 186: ...d to return to the proper location in Quick Setup with CME 2 The return point is Current Loop p 110 Contents of this chapter include G 1 ServoTube Setup and Configuration 186 G 1 1 ServoTube Basic Set...

Страница 187: ...G 1 1 1 Click the Basic Setup button to display the Basic Setup screen G 1 1 2 Click ServoTube Setup G 1 1 3 Click Yes The software automatically sets motor and feedback options appropriate for the Se...

Страница 188: ...the Manufacturer field choose Copley Motion Systems from the pull down list G 1 2 3 In the Series field choose STA or STB to match the ServoTube motor G 1 2 4 In the Model field choose the model numb...

Страница 189: ...ut screen G 1 4 2 Verify that the inputs group containing IN5 is pulled up to internal 5 V and the IN5 function is set to Motor Temp HI Disables If the motor temperature sensor is wired to IN5 and the...

Страница 190: ...Enable Input is not activated G 2 1 2 Apply power G 2 1 3 Click Auto Phase to open the Auto Phase Motor Direction Setup screen G 2 1 4 Move the motor in the direction you wish to be considered positi...

Страница 191: ...the Analog Hall wiring setup The message area displays the messages Microstepping Test Complete Motor has been properly phased During microstepping a current vector is applied to the motor windings a...

Страница 192: ...up step failed Check feedback power and sin cos signals Check shielding for proper grounding Trouble Shoot Motor Wiring Setup If motor wiring setup step failed Verify that amplifier is disabled Check...

Страница 193: ...6 Verify that pressing forward button moves motor forward If it does not toggle the Motor Invert Output box setting G 2 2 7 Verify actual position count agrees with direction of rotation increasing co...

Страница 194: ...Feedback Cable Color Codes 196 H 4 1 Wire Description Nomenclature 196 H 4 2 Control Cable XSL CC 10 196 H 4 3 Feedback XSL FC 10 197 H 5 Regen Resistor Specifications 198 H 5 1 XTL RA 03 XTL RA 04 S...

Страница 195: ...ry fitted low profile heatsink XSL 230 40 R HS Xenus Servoamplifier 20 40 A with resolver feedback and factory fitted standard heatsink NOTE Heatsink kits may be ordered separately H 2 Accessory Model...

Страница 196: ...Heatsink low profile 1 Heatsink thermal material XSL HL 1 Heatsink hardware mounting kit Heatsink Kit Standard Model Qty Description 1 Heatsink standard 1 Heatsink thermal material XSL HS 1 Heatsink h...

Страница 197: ...et 14 OUT2 Signal Ground 2 Rev A B Tan White Rev C Orange 1b 8b Violet White 15 OUT3 Enable IN1 3 White Brown 2a 9a White Gray 16 Encoder A In Out GP Input IN2 4 Brown White 2b 9b Gray White 17 Encode...

Страница 198: ...t 7 Orange White 4b 9b Gray White 17 Encoder Sin Input Encoder X Input 8 White Yellow 5a 10a Tan Brown 18 Encoder Cos Input Encoder X Input 9 Yellow White 5b 10b Brown Tan 19 Encoder Cos Input Signal...

Страница 199: ...0 kW 1000 ms XSL 230 36 XSL 230 36 R XSL 230 40 XSL 230 40 R High Temperature Risk WARNING Setting Default Continuous Power for a standard Copley regen resistor to a value greater than the default of...

Страница 200: ...e been replaced by models XTL RA 03 and XTL RA 04 Model Resistance Continuous Power Peak Power For Use With XSL RA 01 30 ohms 167 W 5 kW XSL 230 18 XSL 230 18 R XSL RA 02 15 ohms 200 W 10 kW XSL 230 3...

Страница 201: ...00286 000 Revision 7 June 2008 2004 2005 2006 2007 2008 Copley Controls Corporation 20 Dan Road Canton MA 02021 USA All rights reserved Artisan Technology Group Quality Instrumentation Guaranteed 888...

Страница 202: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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