xen roh s plus canopen xpl - copley controls corp · 2020. 12. 17. · xpl copley controls, 20 dan...

XPL

Model Vac Ic Ip

XPL-230-18 100 - 240 6 18

XPL-230-36 100 - 240 12 36

XPL-230-40 100 - 240 20 40

R

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01437 Rev 00 of 28

RoHSXenus Plus CANopen

Add -R for resolver feedback option

Control Modes• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing • Camming,Gearing • Indexer

CommandInterface• CANopen • ASCIIanddiscreteI/O • Steppercommands • ±10Vposition/velocity/torque(2inputs) • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)

Communications• CANopenDS-402 • RS-232

FeedbackIncremental

Incremental Encoders • DigitalquadA/B Analog Sin/Cos PanasonicIncrementalAFormat • Aux.quadA/Bencoder/encoderout Absolute Encoders • SSI,EnDat,AbsoluteA, Tamagawa&PanasonicAbsoluteA SanyoDenkiAbsoluteA,BiSS(B&C) Resolver (-R option) • BrushlessResolver Other • DigitalHalls

Accessories• Externalregenresistors • Externaledgefilter

SafeTorqueOff(STO)• Twoactiveinputsenablepowerstage • Oneoutputconfirmspowerstagestatus

I/ODigital• 15inputs,6outputs

I/OAnalog• 2,16-bitinputs • 1,12-bitinput • 1,12-bitoutput

Dimensions:in[mm]• 7.92x5.51x2.31in(201.2x139.9x58.7mm)

DIGITALSERVODRIVE FORBRuSH/BRuSHLESSMOTORS

DESCRIPTIONXenus Plussetnewlevelsofperformance,connectivity,andflexibility.CANopencommunicationprovidesawidelyusedcost-effectiveindustrialbus.Awiderangeofabsoluteinterfacesarebuilt-inincludingEnDat,Hiperface,andBiSS.

HighresolutionA/Dconvertersensureoptimalcurrentloopperformance.Bothisolatedandhigh-speednon-isolatedI/Oareprovided.Forsafetycriticalapplications,redundantpowerstageenableinputscanbeemployed.

XPL



GENERALSPECIFICATIONS Testconditions:Wyeconnectedload:2mHline-line.Ambienttemperature=25°C.Powerinput=230Vac,60Hz,1Ø

MODEL XPL-230-18 XPL-230-36 XPL-230-40OuTPuTCuRRENT

PeakCurrent 18(12.7) 36(25.5) 40(28.3) Adc(Arms,sinusoidal) Peaktime 1 1 1 s Continuouscurrent(Note1) 6(4.24) 12(8.5) 20(14.1) Adc(Arms,sinusoidal)INPuTPOWER Mainsvoltage,phase,frequency 100~240 Vac,±10%,1Øor3Ø,47~63Hz MaximumMainsCurrent,1Ø(Note 3) 10.1 20.0 20.0 Arms MaximumMainscurrent,3Ø(Note 3) 6.4 10.4 15.4 Arms +24VdcControlpower +20to+32Vdc,500mAmax RequiredforoperationDIGITALCONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 200µHline-lineCOMMANDINPuTS(NOTE:DIGITALINPuTFuNCTIONSAREPROGRAMMABLE) Distributed Control Modes CANopen Position,Velocity,Torque,Homing,Profile,andInterpolatedprofilemodes Stand-alone mode Analogtorque,velocity,positionreference ±10Vdc,14bitresolution Dedicateddifferentialanaloginput Inputimpedance 74.8kΩ BetweenRef(+),Ref(-) Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) QuadA/BEncoder 2Mline/sec,8Mcount/sec(afterquadrature) Digitaltorque&velocityreference PWM,Polarity PWM=0%-100%,Polarity=1/0 PWM50% PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming upto10CAMtablescanbestoredinflashmemory ASCII RS-232,9600~115,200Baud,3-wire,RJ-11connectorDIGITALINPuTS Number 15 [IN1,2,15] Non-isolatedSchmitttrigger,1µsRCfilter,24Vdcmax,VT+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH+=0.7~1.5Vdc 10 kΩprogrammableperinputtopull-upto+5Vdcorpull-downtoground [IN3~6] Non-isolatedlinereceiver,100nsRCfilter,+12Vdcmax,programmableas4single-ended,or2differential Single-ended:[IN3,4]or[IN5,6]:Vin-LO<=2.3Vdc,Vin-HI>=2.7Vdc,Vhysteresis=400mVdc Differential:[IN3/4]or[IN5/6]:Vin-LO<=-200mVdc,Vin-HI>=200mVdc,Vhysteresis=±200mVdc [IN7~14] Opto-isolated,±15~30Vdccompatible,bi-polar,2groupsof4withcommonforeachgroup Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typicalANALOGINPuTS Number 3 [AIN1~2] Differential,±10Vdc,5kΩinputimpedance,16-bitresolution [AIN3] Single-ended,motortemperaturesensor,4.99kΩpulled-upto+5Vdc,12-bitresolutionDIGITALOuTPuTS Number 6 [OuT1~2] Current-sinkingMOSFETwith1kΩpullupto+5Vdcthroughdiode 1Adcmax,+40Vdcmax;externalflybackdioderequiredifdrivinginductiveloads [OuT3] High-speedCMOSbuffer,±32mA [OuT4~5] Opto-isolatedDarlingtonswith36VZenerflybackdiodes,20mAmax [OuT6] Motorbrakecontrol:opto-isolated,current-sinkingwithflybackdiodeto+24Vdc,1AdcmaxANALOGOuTPuT Number,Type 1,±5Vdcsingle-ended,12-bitresolutionMuLTI-MODEENCODERPORT AsInput Secondarydigitalquadratureencoder(A,/A,B,/B,X,/X),121Ωterminatingresistors 18M-counts/sec,post-quadrature(4.5M-lines/sec) AsOutput Quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromanalogsin/cosencodersorresolvers.BufferedsignalsfromdigitalquadA/B/Xprimaryencoder A,/A,B,/B,X,/X,fromMAX3032differentiallinedriverRS-232PORT Signals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200baud Protocol BinaryandASCIIformatsCANPORT Signals CANH,CANL,CAN_GNDin8-positiondualRJ-45stylemodularconnector,wiredasperCANCiaDR-303-1,V1.1 Format CANV2.0bphysicallayerforhigh-speedconnectionscompliant Data CANopenDeviceProfileDSP-402 Node-IDselection 16positionrotaryswitchonfrontpanelwith3additionalNode-IDbitsavailableas digitalinputsorprogrammabletoflashmemory(7-bitaddressing,127nodesperCANnetworkSTATuSINDICATORLEDS DriveStatus BicolorLED,drivestatusindicatedbycolor,andblinkingornon-blinkingcondition CANStatus BicolorLED,statusofCANbusindicatedbycolorandblinkcodestoCANIndicatorSpecification303-3NOTES:

1.Heatsinkingand/orforced-aircoolingisrequiredforthecontinuousoutputpowerrating2.Brake[OuT6]isprogrammableasmotorbrake,orasgeneralpurposedigitaloutput3.Theactualmainscurrentisdependentonthemainsvoltage,numberofphases,andmotorloadandoperatingconditions.TheMaximumMainsCurrentsshownaboveoccurwhenthedriveisoperatingfromthemaximuminputvoltageandisproducingtheratedcontinuousoutputcurrentatthemaximumoutputvoltage.

XPL



5VOuTPuT Twoindependent5Vdc@400mAoutputs,thermalandshort-circuitprotectedREGENERATION

Operation Internalsolid-stateswitchdrivesexternalregenresistor(seeOrderingGuidefortypes) Cut-InVoltage +HV>390Vdc Regenoutputison,(optionalexternal)regenresistorisdissipatingenergy Drop-OutVoltage +HV<380Vdc Regenoutputisoff,(optionalexternal)regenresistornotdissipatingenergy Tolerance ±2Vdc ForeitherCut-InorDrop-OutvoltagePROTECTIONS HVOvervoltage +HV>400Vdc DrivePWMoutputsturnoffuntil+HVislessthanovervoltage HVundervoltage +HV<60Vdc DrivePWMoutputsturnoffuntil+HVisgreaterthanundervoltage Driveovertemperature IGBT>80°C±3°C DrivePWMoutputsturnoffuntilIGBTtemperatureisbelowthreshold Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Programmableinputtodisabledrivewhenvoltageisaboveorbelowasetpoint0~5Vdc Feedbackpowerloss Faultoccursiffeedbackisremovedor+5Vis<85%ofnormalMECHANICAL&ENVIRONMENTAL Size 7.92x5.51x2.31in(201.2x139.9x58.7mm) Weight 3.0lb(1.36kg)fordrivewithoutheatsink 3.1lb(1.40kg)forXPL-HSheatsink,1.86lb(0.84kg)forXPL-HLheatsink Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage Humidity 0%to95%,non-condensing Contaminants Pollutiondegree2 Vibration 2gpeak,10~500Hz(sine),IEC60068-2-6 Shock 10g,10ms,half-sinepulse,IEC60068-2-27 Environment IEC68-2:1990 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput

AGENCySTANDARDSCONFORMANCEIn accordance with EC Directive 2004/108/EC (EMC Directive) EN55011:2007 CISPR11:2003/A2:2006

Industrial,Scientific,andMedical(ISM)RadioFrequencyEquipment– ElectromagneticDisturbanceCharacteristics–LimitsandMethodsofMeasurement Group1,ClassA

EN61000-6-1:2007 ElectromagneticCompatibility(EMC)–Part6-1:GenericStandards– Immunityforresidential,CommercialandLight-industrialEnvironments

In accordance with EC Directive 2006/95/EC (Low Voltage Directive) IEC61010-1:2001 SafetyRequirementsforElectricalEquipmentforMeasurement,ControlandLaboratoryuseUnderwriters Laboratory Standards uL61010-1,2ndEd.:2004 SafetyRequirementsforElectricalEquipmentforMeasurement,ControlandLaboratoryuse UL File Number E249894

DIGITALQuADA/BENCODER Type Quadrature,differentiallinedriveroutputs Signals A,/A,B,/B,(X,/X,indexsignalsoptional) RS-422/RS-485linereceiverswithfaultdetectionforopen/shortedinputs,orlowsignalamplitude Frequency 5MHzlinefrequency,20MHzquadraturecountfrequencyANALOGENCODER Type Sin/cos/index,differentiallinedriveroutputs,0.5Vpeak-peak(1.0Vpeak-peakdifferential) centeredabout2.5Vdctypical.Common-modevoltage0.25to3.75Vdc Signals Sin(+),sin(-),cos(+),cos(-),index(+),index(-) Frequency 230kHzmaximumline(cycle)frequency Interpolation 10bits/cycle(1024counts/cycle)DIGITALHALLS Type Digital,single-ended,120°electricalphasedifference Signals u,V,W Inputs 10kΩpullupsto+5Vdc,1µsRCfiltertoSchmitttriggerinvertersMuLTI-MODEENCODERPORT AsInput Secondarydigitalquadratureencoder(A,/A,B,/B,X,/X),121Ωterminatingresistors 18M-counts/sec,post-quadrature(4.5M-lines/sec) AsEmulatedOutput Quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromanalogsin/cosencodersorresolvers. A,/A,B,/B,X,/X,fromMAX3032differentiallinedriver AsBufferedOutput DigitalencoderfeedbacksignalsfromprimarydigitalencoderarebufferedbyMAX3032linedriverRESOLVER(-ROPTION) Type Brushless,single-speed,1:1to2:1programmabletransformationratio Resolution 14bits(equivalenttoa4096linequadratureencoder) Referencefrequency 8.0kHz Referencevoltage 2.8Vrms,auto-adjustablebythedrivetomaximizefeedback Referencemaximumcurrent 100mA MaximumRPM 10,000+ENCODERPOWERSuPPLIES Number 2 Ratings +5Vdc@400mAfrom+5VOut1onJ8-20and+5VOut2onJ10-6,J10-17 Protection Thermalandshort-circuitstoground Encoderpowerdevelopedfrom+24VdcsopositioninformationisnotlostwhenACmainspowerisremoved

FEEDBACkSPECIFICATIONS

XPL

16-01437DocumentRevisionHistory

Revision Date Remarks

00 March16,2017 Initialreleasedversion

139.885.51

2.31 58.67

5.72 145.35

1.00 25.40

4.83.19

7.92 201.17

191.527.54

19.18.76.31 7.92

32.691.29

5.12

6.12

130.07

191.527.54

201.177.92

4.83.19

TYP.094 2.37

76.203.00

R

.24.190 4.83

CAN



SAFETORQuEOFF(STO) Inputs 2two-terminal:[STO-1+],[STO-1-],[STO-2+],[STO-2-] Type Opto-isolators,24Vcompatible Output 1two-terminal:[LED+],[LED-] 24Vcompatible

Note!Whenyouseethismarker,it’sforhottipsorbestpracticesthatwillhelpyougetthebestresultswhenusingCopleyControlsproducts.

DIMENSIONS Inches(mm)

ChassisGrounding: ForCEcomplianceandmachinesafetyanelectricallyconductivegroundingtabisprovided.Thisconnectstotheheatplateandtoframeground.

Chassis grounding

tab

SPECIFICATIONS(CONT’D)

XPL

S1 S2

HEX DEC

0 0 0

1 16 1

2 32 2

3 48 3

4 64 4

5 80 5

6 96 6

7 112 7

8

Not Used for

CAN Addr

8

9 9

A 10

B 11

C 12

D 13

E 14

F 15

6

9

1

5

D-Sub 9F

3 3

2 2

18

CAN_L

CAN_GND

CAN_H

CAN_L

RJ-45

CAN_GND

CAN_H7 1

J7

Pin 8Pin 1

S2

S1

X1X10DEVICE ID



CANOPENCOMMuNICATIONXenususestheCANphysicallayersignalsCAN_H,CAN_L,andCAN_GNDforconnection,andCANopenprotocolforcommunication.BeforeinstallingthedriveinaCANsystem,itmustbeassignedaCANaddress.Amaximumof127CANnodesareallowedonasingleCANbus.Therotaryswitchonthefrontpanelcontrolsthefourlowerbitsoftheseven-bitCANaddress.Whenthenumberofnodesonabusislessthansixteen,theCANaddresscanbesetusingonlytheswitch.For installationswith sixteen ormoreCANnodes on a networkCME2 can be used to configureXenus to use the rotary switch,orcombinationsofdigital inputsandprogrammedoffset inflashmemorytoconfigurethedrivewithahigherCANnodeaddress. For more information on CANopen communications, download the CANopen Manual from the Copley web-site: http://www.copleycontrols.com/motion/downloads/pdf/CANopenProgrammersManual.pdf

CANOPENBasedontheCANV2.0bphysicallayer,arobust,two-wirecommunicationbusoriginallydesignedforautomotiveusewherelow-costandnoise-immunityareessential,CANopenaddssupportformotion-controldevicesandcommandsynchronization.Theresultisahighlyeffectivecombinationofdata-rateandlowcostformulti-axismotioncontrolsystems.Devicesynchronizationenablesmultipleaxestocoordinatemovesasiftheyweredrivenfromasinglecontrolcard.

Note: Red & green led on-times do not overlap. LED color may be red, green, off, or flashing of either color.

NET(CANSTATuS)LEDAbi-colorLEDgivesthestateoftheCANconnectioninaccordancewiththeCAN-CiAspecification303,part3.Thegreen(RuN)LEDshowsthestateoftheCANopenstatemachine.Thered(ERR)LEDshowstheoccurrenceoferrors(sync,guard,orheartbeat)andoftheCANbusphysicallayer.Duringaresetcondition,thegreenLEDwillbeoff. Inoperation,thered&greencolorswillalternatewiththenumberofblinksoron/offconditionshowninthetabletotheright.

CANOPENCONNECTORSDualRJ-45connectorsthatacceptstandardEthernetcablesareprovidedforCANbusconnectivity.Pinsarewired-throughsothatdrivescanbedaisy-chainedandcontrolledwithasingleconnectiontotheuser’sCANinterface.ACANterminatorshouldbeplacedinthelastdriveinthechain. TheXPL-NkconnectorkitprovidesaD-SubadapterthatplugsintoaCANcontrollerandhasanRJ-45socketthatacceptstheEthernetcable.

XPL-NkCANCONNECTORkITThekitcontainstheXPL-CVadapterthatconvertstheCANinterfaceD-Sub9Mconnector toanRJ-45Ethernetcablesocket,plusa10ft(3m)cableandterminator.Bothconnectorpin-outsconformtotheCiADR-303-1specification.

J7CANCONNECTIONS

CANNETWORkNODE-ID(ADDRESS)InanCANopennetwork,nodesareassignedaddresses1~127.Address0isreservedfortheCANbusmaster.IntheXPL,thenodeaddressisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.Thesecansettheaddressofthedrivefrom0x01~0x7F(1~127decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.

Node-ID(Address)Switches

CME2->Amplifier->NetworkConfiguration

TofindtheNode-IDgiventheswitchsettings: Node-ID=(S1*16)+S2 Example:S1=5,S2=B S1value=(5*16)=80,S2value=Hex(B)=11, Node-ID=80+11=91

Tofindtheswitchsettingsforagivenaddress:S1=Theintegerpartof(Node-ID/16) S2=Hex(Node-ID-(S1*16)) Example:Node-ID=91 S1=91/16=5.69,integerpart=5,(5*16)=80 S2=Hex(91-80)=11=0xB

XPL

PIN SIGNAL

2 RxD

3,4 Gnd

5 Txd

6

9

1

5

3 2TxD RxD

RJ-11on

ServoDrive

RJ-11 cable6P6CStraight-wired

5 3Gnd Gnd

RxD TxD2 5

D-Sub 9F

Dsub-9Fto RJ11Adapter

16

CANopenRS-232

CANopen

CAN Addr 0CAN Master CAN Node CAN Node

CAN Addr 1 CAN Addr n

16


Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 TechSupport:E-mail:[email protected],Web:http://www.copleycontrols.com of 28

COMMuNICATIONS

RS-232MuLTI-DROPTheRS-232specificationmakesnoallowanceformorethantwodevicesonaserial link.But,multipleXenusdrivescancommunicateoverasingleRS-232portbydaisy-chainingamasterdrive tootherdrivesusingCANcables. In theCANprotocol, address 0 is reserved for the CANmaster andthereafterallothernodesonaCANnetworkmusthaveunique,non-zeroaddresses.WhentheXenusCANaddressissetto0,itactsasaCANmaster,convertingtheRS-232dataintoCANmessagesandpassingitalongtotheotherdriveswhichactasCANnodes.

J6:RS-232PORTRJ-11receptacle, 6 position, 4 contact

RS-232COMMuNICATIONSXPLisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheXPLRS-232portarethroughJ7,anRJ-11connector.TheXPL SerialCablekit(SER-Ck)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector(COM1,COM2,etc.)onPC’sandcompatibles.

SER-CkSERIALCABLEkITTheSER-CkprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorontheXPL.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheXPL.Theconnectionsareshowninthediagrambelow.

Don’tforgettoorderaSerialCablekitSER-CkwhenplacingyourorderforanXPL!

ForSerial-multi-dropyou’llneedanSerialCablekitSER-CkplusCANopennetworkcablestoconnectthedrivesasshown. TheXPL-NC-01andXPL-NC-10are1ft(0.3m)and10ft(3m)cablesthatwilldothejob.

STAT

NET

STATLED(ONJ6)Abi-colorLEDgivesthestateoftheXenusPlusdrive. Colorsdonotalternate,andcanbesolidONorblinking:Green/Solid = DriveOkandenabled.Willruninresponsetoreferenceinputs orEtherCATcommands. Green/Slow-Blinking = DriveOkbutNOT-enabled.Willrunwhenenabled. Green/Fast-Blinking = PositiveorNegativelimitswitchactive. Drivewillonlymoveindirectionnotinhibitedbylimitswitch. Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhen faultisremoved. Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset.DriveFaultconditions: • Overorunder-voltage • Motorover-temperature • Encoder+5Vdcfault • Driveover-temperature • Short-circuitsfromoutputtooutput • Short-circuitsfromoutputtoground • Internalshortcircuits Faultsareprogrammabletobeeithertransientorlatching

ASCIICOMMuNICATIONSTheCopleyASCIIInterfaceisasetofASCIIformatcommandsthatcanbeusedtooperateandmonitorCopleyControlsAccelnet,Stepnet,andXenusseriesamplifiersoveranRS-232serialconnection.Forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammedusingCME2,acontrolprogramcanusetheASCIIInterfaceto:•EnabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.TheBaudratedefaultsto9,600afterpower-onorresetandisprogrammableupto115,200thereafter.SendingabreakcharacterwillresettheBaudrateto9,600.

AdditionalinformationcanbefoundintheASCIIProgrammersGuideontheCopleywebsite:http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf

XPL

PIN SIGNAL PIN SIGNAL

1 FrameGnd 6 STO-LED(+)

2 STO-1(+) 7 STO-LED(-)

3 STO-1(-) 8 24VdcCommon

4 STO-2(+) 9 +24VdcOutput

5 STO-2(-)

TheseconnectionsMuSTbemadetoenabletheXenus.

Frame Ground

J5

4.99k

5.1V

+HV

High Side PWM

Low Side PWM MotorOuputs

4.99k

4.99k

5.1V

STO-1

ENH

STO-2

ENL

DIAG-ON

36V

10+V

4.99k

STO-LED(+)

STO-2(-)

STO-1(+)

Channel 1

Channel 2

Xenus PlusSTOMuting

Connections

STO-1(-)

STO-2(+)

STO-LED(-)

2

3

1

4

5

6

7

+24V OutputFrom 24V input on J4-39

Signal ground8

16

95

2-93-45-8



DESCRIPTIONTheXPLhasasafetyfeaturethatisdesignedtoprovidetheSafeTorqueOff(STO)functionasdefinedinIEC61800-5-2.Twoopto-couplersareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperatedbythedigitalcontrolcore.ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareactivated(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.

SAFETORQuEOFF(STO)

FuNCTIONALDIAGRAMInorderforthePWMoutputsoftheXenusPlustobeactivated,currentmustbeflowingthroughbothopto-couplersthatareconnectedtotheSTO-1andSTO-2terminalsofJ5,andthedrivemustbeinanENABLEDstate.TheLEDoutputsonJ5connectanopto-couplertoanexternalLEDandwillconductcurrentthroughtheLEDtolightitwheneverthePWMoutputscanbeactivated,orthedriveisinadiagnosticstate.WhentheLEDopto-couplerisOFF,thedriveisinaSafestateandthePWMoutputscannotbeactivatedtodriveamotor.

STOMuTINGThediagrambelowshowsconnectionsthatwillenergizebothSTO-1andSTO-2opto-couplers. WhenthisisdonetheSTOfeatureis“muted”andcontroloftheoutputPWMstageisundercontrolofthedigitalcontrolcore. IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderfortheXenustobeenabled.

STOCONNECTORMuTINGCONNECTIONS

FuNCTIONALDIAGRAM

J5SIGNALS

XPL

Pulse

Direction

[IN5]

[IN6]

CU

CD

[IN5]

[IN6]

CU (Count-Up)

CD (Count-Down)

Enc. A

Enc. B

IN4(14)

IN5(15)

Encoder ph. B

Encoder ph. A

PULSE

DIRECTION

[IN3+]

[IN4-]

[IN5+]

[IN6-]

CD (Count-Down)

CU (Count-Up)

PULSE

DIRECTION

[IN3+]

[IN4-]

[IN5+]

[IN6-]

Enc. B

Enc A

[IN5+]

[IN6-]

Encoder ph. A

[IN3+]

[IN4-]

Encoder ph. B

Duty = 0~100% Current orVelocity

Polarity orDirection

[IN5]

[IN6]

Current orVelocity

No function

[IN5]

[IN6]

Duty = 50% ±50%

<no connection>

Duty = 0 - 100%PWM

Direction

[IN3+]

[IN4-]

[IN5+]

[IN6-]

Current orVelocity

[IN3+]

[IN4-]

Duty = 50% ±50%

NoFunction<no connection>

[IN5+]

[IN6-]



COMMANDINPuTSDIGITALPOSITIONDigitalpositioncommandscanbeineithersingle-endedordifferentialformat.Single-endedsignalsshouldbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.Differentialinputshave121Ωline-terminators.

DIGITALTORQuE,VELOCITyDigitaltorqueorvelocitycommandscanbeineithersingle-endedordifferentialformat.Single-endedsignalsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.

SINGLE-ENDEDPWM&DIRECTION

SINGLE-ENDED50%PWM DIFFERENTIAL50%PWM

DIFFERENTIALPWM&DIRECTION

SINGLE-ENDEDPuLSE&DIRECTION

SINGLE-ENDEDCu/CD

QuADA/BENCODERSINGLE-ENDED

DIFFERENTIALCu/CD

DIFFERENTIALPuLSE&DIRECTION

QuADA/BENCODERDIFFERENTIAL

XPL

SecondaryEncoder Input

Input/OutputSelect

Quad A/B/X primaryencoder

MAX3032

MAX3097

Buffered A/B/X signalsfrom primary encoder


Input/OutputSelect

MAX3362

MAX3097

Emulated Quad A/Bsignals from analog Sin/Cos encoder

Emulated A/B signals

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

Pulse/Dir or CU/CD differential commands



Thisportconsistsofthreedifferentialinput/outputchannelsthattaketheirfunctionsfromtheBasicSetupofthedrive.WithquadA/Bencoderfeedback,theportworksasanoutput,bufferingthesignalsfromtheencoder.Withresolverorsin/cosencoderversions,thefeedbackisconvertedto“emulated”quadA/B/Xsignalswithprogrammableresolution.Thesesignalscanthenbefedbacktoanexternalmotioncontrollerthatclosesthepositionorvelocityloops.Asaninput,theportcantakequadA/Bsignalstoproduceadual-looppositioncontrolsystemorusethesignalsasmaster-encodercommandsincammingmode.Inaddition,theportcantakesteppercommandsignals(Cu/CDorPulse/Direction)indifferentialformat.

ASBuFFEREDOuTPuTSFROMADIGITALQuADRATuRE PRIMARyENCODERWhenusingadigitalquadrature feedbackencoder, theA/B/Xsignalsdrivethemulti-modeportoutputbuffersdirectly.ThisisusefulinsystemsthatuseexternalcontrollersthatalsoneedthemotorfeedbackencodersignalsbecausethesenowcomefromJ8,theControlconnector.Inadditiontoeliminating“y”cablingwherethemotorfeedbackcablehastosplittoconnecttobothcontrollerandmotor,thebufferedoutputsreduceloadingonthefeedbackcablethatcouldoccurifthemotorencoderhadtodrivetwodifferentialinputsinparallel,eachwithit’sown121ohmterminatingresistor.

ASEMuLATEDQuADA/B/XENCODEROuTPuTSFROMAN ANALOGSIN/COSFEEDBACkENCODERAnalog sin/cos signals are interpolated in the drive with programmableresolution.Theincrementalpositiondataisthenconvertedbackintodigitalquadrature formatwhichdrives themulti-modeportoutputbuffers.Someanalogencodersalsoproduceadigitalindexpulsewhichisconnecteddirectlytotheport’soutputbuffer.TheresultisdigitalquadratureA/B/Xsignalsthatcanbeusedasfeedbacktoanexternalcontrolsystem.

ASAMASTERORCAMMINGENCODERINPuTFROMA DIGITALQuADRATuREENCODERWhen operating in positionmode themulti-mode port can accept digitalcommandsignalsfromexternalencoders.Thesecanbeusedtodrivecamtables, or asmaster-encoder signals when operating in amaster/slaveconfiguration.

ASDIGITALCOMMANDINPuTSINPuLSE/DIRECTION,PuLSE-uP/PuLSE-DOWN,OR DIGITALQuADRATuREENCODERFORMATThemulti-modeportcanalsobeusedwhendigitalcommandsignalsareinadifferentialformat.Thesearethesignalsthattypicallygotosingle-endedinputs.But,athigherfrequenciesthesearelikelytobedifferentialsignalsinwhichcasethemulti-modeportcanbeused.

MuLTI-MODEENCODERPORT

ASCOMMANDINPuTS

ASANOuTPuTFORFEEDBACkSIGNALSTOANEXTERNALCONTROLLER

XPL

12V+

100 pF

MAX3096

MAX3096

10k

[IN3]

100 pF

1k

[IN4]

+5V

100 pF

10k

[IN5]

100 pF[IN6]

+5V

10k

61k

+5V

1k

1k

+5V

10k

7

8

10

J8 Control

+

12V+

100 pF

2.5V

MAX3096

MAX3096

MAX3096

MAX3096

[IN3]

J8 Control

100 pF

1k

[IN4]

10k

100 pF

10k

[IN5]

100 pF[IN6]

+5V

10k

+5V

1k

+

10k

+5V

1k

2.5V

1k

+5V

6

7

8

10

100p

10k

10k 74HC14[IN1]

[IN2][IN15]

A

+5.0 V



INPuTS

DIGITALINPuTS[IN3~6]TheseinputshavealltheprogrammablefunctionsoftheGPinputsplustheseadditionalfunctionson[IN8]&[IN9]whichcanbeconfiguredassingle-ended or differential:

• PWM50%,PWM&DirectionforVelocityorCurrentmodes• Pulse/Direction,Cu/CD,orA/BQuadencoderinputsforPositionorCammingmodes

DIFFERENTIALSINGLE-ENDED12Vdcmax 12Vdcmax

NON-ISOLATEDDIGITALINPuTSInputs[IN1,2,15]are24Vtolerant Thesearehigh-speedtypeswithpull-upresistorsto+5Vdcand1µsRCfilterswhendrivenbyactivesources.Theactivelevelisprogrammableoneachinput.Input[IN1]isdedicatedtothedriveenablefunction.Theremaininginputs[IN2~IN15]haveprogrammablefunctions.

HSInputs[IN1,2,15]24Vdcmax

PLCoutputsarefrequentlycurrent-sourcingfrom24Vfordrivinggroundedloads.PCbaseddigitalcontrollerscommonlyuseNPNorcurrent-sinkingoutputs.SettheXenusinputstopull-downtogroundforcurrent-sourcingconnections,andtopull-upto5Vforcurrent-sinkingconnections.

XPL

J9

+24V

24V GND

4.99k 5.1V

[IN7] 4.7k

4.7k

4.7k

4.7k

[COMM_A]2

3

4.99k 5.1V

[IN8]

4

4.99k 5.1V

[IN9]

5

4.99k 5.1V

[IN10]

6+

24V

J9

+24V

24V GND

4.99k 5.1V

[IN11] 4.7k

4.7k

4.7k

4.7k

[COMM_B]7

8

4.99k 5.1V

[IN12]

9

4.99k 5.1V

[IN13]

10

4.99k 5.1V

[IN14]

11+

24V

2

3

15

1

+

1.5V

5.36k

Frame Ground

AIN1+

AIN2+

AIN1-

AIN2-

Vref

J8D/A

F.G.

±10V

Sgnd

-

11

12

19

+

1.5V

5.36k Vref

Sgnd

-



ANALOGINPuTSTwo differential analog inputs with ±10 Vdc range haveprogrammable functions.Asa reference input [AIN1]cantakeposition/velocity/torquecommands fromacontroller.Asecondinput[AIN2]isprogrammableforotherfunctions.Theratioofdriveoutputcurrentorvelocityvs. referenceinputvoltageisprogrammable.

OPTO-ISOLATEDDIGITALINPuTSTheseinputshavealltheprogrammablefunctionsoftheGPinputsplusopto-isolation.Therearetwogroupsoffourinputs,eachwithits’owncommonterminal.Groundingthecommonterminalconfigurestheinputstoworkwithcurrent-sourcingoutputsfromcontrollerslikePLC’s.Whenthecommonterminalisconnectedto+24V,thentheinputswillbeactivatedbycurrent-sinkingdevicessuchasNPNtransistorsorN-channelMOSFETs.TheminimumONthresholdoftheinputsis±15Vdc.

[IN11~14][IN7~10]±30Vdcmax ±30Vdcmax

Inputs[7~14]workwithcurrent-sourcingORcurrent-sinkingconnections.ConnecttheCOMMtocontrollerground/commonforcurrent-sourcingconnectionsandto15~24Vfromthecontrollerforcurrent-sinkingconnections.

XPL

100mA

100mA

+30V max

+

R-L

R-L

16

17

15

+5V

+5V

[OUT1]

Sgnd

[OUT2]

J8

J9

[OUT4+]

[OUT4-]

+20mA

30V maxR-L

+20mA

30V maxR-L

14

15

[OUT5+]12

13[OUT5-]

J8

NC7SZ125

+5V

18

15

[OUT3]

Sgnd±32mA

R

1009

15

J8

+

J4

3+24V

Brk

0V

2

1

24V

BRK



DIGITALOuTPuTS[OuT1],[OuT2]Theseareopen-drainMOSFETswith1kΩpull-upresistorsinserieswithadiodeto+5Vdc.Theycansinkupto1Adcfromexternalloadsoperatingfrompowersuppliesto+30Vdc.Theoutputfunctionsareprogrammable.Theactivestateoftheoutputsisprogrammabletobeonoroff.Whendrivinginductiveloadssuchasarelay,anexternalfly-backdiodeisrequired.TheinternaldiodeintheoutputisfordrivingPLCinputsthatareopto-isolatedand connected to+24 Vdc. The diode prevents conduction from+24 Vdcthroughthe1kΩresistorto+5Vdcinthedrive.ThiscouldturnthePLCinputon,givingafalseindicationofthedriveoutputstate.

OuTPuTS

ANALOGOuTPuTTheanalogoutputisprogrammableandhasanoutputvoltagerangeof±5Vdc. Anop-ampbufferstheoutputofa12-bitD/Aconverter.

HIGHSPEEDOuTPuT[OuT3]5VCMOS

OPTO-ISOLATEDOuTPuTS[OuT4,5]30Vdcmax Zenerclampingdiodesacrossoutputsallowdrivingofresistive-inductive(R-L)loadswithoutexternalflybackdiodes.

BRAkEOuTPuT[OuT6]Thisoutputisanopen-drainMOSFETwithaninternalflyback diode connected to the+24 Vdc input. Itcansinkupto1Afromamotorbrakeconnectedtothe+24Vdc supply. The operation of the brake isprogrammablewithCME 2.Itcanalsobeprogrammedasageneral-purposedigitaloutput.

XPL

+5V output @ 400 mA

Signal Ground

21

20

17

5

19Sin(+)

Sin(-)

Cos(+)

Cos(-)

Inx(+)

Inx(-)

18

1

-

+

-

+

10k

121

J10

10k

121

Encoder

FG

sin

cos

+5V

0V

23

22

-

+10k

121indx

Frame Ground

10k

Sin

Cos

Indx

10k

10k

Encoder

FG Frame Ground

J10

MAX3097

Enc. A121A13

12

1

MAX3097

Enc. B121B11

10

MAX3097

Enc. Index121Z9

8/X

X

/B

B

/A

A

+5V

0V

+5V output @ 400 mA

Signal Ground

6

5

Resolver

FG Frame Ground

J10

Sin(+)

Sin(-)

Cos(-)

Cos(+)

Ref(+)

Ref(-)

21

20

19

18

1

23

22

R/DConversionSinS3 S1

S2

S4

R1R2

Cos

Ref

MAX3097

MAX3097

MAX3097

Enc. A

Enc. B

Enc. Index

A

/A

B

/B

X

/X

EncoderXenus Plus

121

121

121

FG Frame Ground

J10

A

B

+5V

0V

+5V Out2 @ 400 mA

Signal Ground

13

12

1

11

10

9

8

16

17 6

5 25 26



QuADA/BENCODERWITHFAuLTPROTECTIONEncoderswithdifferentialline-driveroutputsprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweenA&/Awhichisbelowthedifferentialfaultthreshold.Open-circuit condition: The121Ωterminatorresistorwillpulltheinputstogetherifeitherside(orboth)isopen.

Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.Low differential voltage detection: Thisispossiblewithverylongcablerunsandafaultwilloccurifthedifferentialinputvoltageis<200mV.±15kV ESD protection: The3097Ehasprotectionagainsthigh-voltagedischargesusingtheHumanBodyModel.Extended common-mode range: Afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V

ANALOGSIN/COSINCREMENTALENCODERThe sin/cos/index inputs are differential with 121 Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTubemotors.

RESOLVER(-RMODELS)Connections to the resolver should bemadewithshielded cable that uses three twisted-pairs.Onceconnected,resolversetup,motorphasing,andothercommissioning adjustments aremadewith CME2software.Therearenohardwareadjustments.

CONNECTIONSWITHA/B/XENCODER CONNECTIONSWITHNOINDEXSIGNAL

MOTORCONNECTIONSMotorconnectionsareofthreetypes:phase,feedback,andthermalsensor.Thephaseconnectionscarrythedriveoutputcurrentsthatdrivethemotortoproducemotion.Athermalsensorthatindicatesmotorovertemperatureisusedtoshutdownthedrivetoprotectthemotor.FeedbackcanbedigitalquadA/Bencoder,analogsin/cosencoder,resolverordigitalHalls,dependingontheversionofthedrive.

XPL

Encoder

121

121

Clk

/Clk

Dat

/Dat

FG Frame Ground

J10

Clk

DataMAX3362B

MAX3362B

Data

Clk

+5V

0V

+5V output @ 400 mA

A

A

B

B

Signal Ground

9

8

1

15

14

6

5

BiSSEncoder

Xenus

121

121

MA+

MA-

SL+

SL-

FG Frame Ground

J10

Clk

DataMAX3362B

MAX3362B

Master

Slave

V+

V-

+5V output @ 400 mA

Signal Ground

9

8

1

15

14

6

5

-

+

-

+

A

B

A

B

EncoderXenus Plus

121

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Dat

/Dat

Clk

/Clk121

FG Frame Ground

J10

Clk

DataMAX3362B

MAX3362B

Data

Clk9

8

1

15

14

+5V

0V

+5V output @ 400 mA

Signal Ground

6

21

20

10k

10k

121 Sin

Cos

10k

10k

121

sin

cos

19

18

5

Nikon-AEncoder

Xenus

121

1.2k

1.2k

220

5V

SD+

SD-

0V

+5V

J10

1

15

14

V+

V-

5V output

Signal Ground

6

5

Cmd

D-R

SD

MAX3362B

Cmd

D-R

SD

MAX3362B



SSIABSOLuTEENCODERTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheXPLdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequentclockpulses.Thepollingoftheencoderdataoccursatthecurrentloopfrequency(16kHz).Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLkandSDATA.Dataissentin8bitbytes,LSBfirst.TheSCLksignal isonlyactiveduringtransfers.DataisclockedoutonthefallingedgeandclockinontherisingedgeoftheMaster.

ENDATABSOLuTEENCODERTheEnDatinterfaceisaHeidSTO-1aininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogsin/coschannelsfromthesameencoder.Thenumberofpositiondatabitsisprogrammableasistheuseofsin/coschannels.useofsin/cosincrementalsignalsisoptionalintheEnDatspecification.

BiSSABSOLuTEENCODERBiSSisan-OpenSource-digitalinterfaceforsensorsandactuators.BiSSrefers toprinciplesofwellknown industrialstandards forSerialSynchronous Interfaces like SSI, AS-Interface® and Interbus®withadditionaloptions. SerialSynchronousDataCommunication Cyclicathighspeed 2unidirectionallinesClockandData Linedelaycompensationforhighspeeddatatransfer Requestfordatagenerationatslaves Safetycapable:CRC,Errors,Warnings Buscapabilityincl.actuators Bidirectional BiSSB-protocol:Modechoiceateachcyclestart BiSSC-protocol:Continuousmode

NIkON-AABSOLuTEENCODERTheNikonAinterfaceisaserial,half-duplextypethatiselectricallythesameasRS-485

MOTORCONNECTIONS(CONT’D)

XPL

Halls

+5V output @ 400 mA

* Signal Ground

+5V

0V

6

5

10K

100p

10KHall U+5V

J10

2

100p

10K

10KHall V

+5V

3

100p

10K

10KHall W

+5V

4

Hall A

Hall B

Hall C

* Alternate Sgnd connections on J10 are pins 16, 25, 26

J2

1F.G.PWM

+HV

0V

+

W

V

U

2

3

4

Motor3 ph.

7

5 16 25 26

+5V

Motemp[AIN3]

Thermistor,Posistor,

or switch

Signal Gnd

4.99k

100k

150k

100n

J10




MOTORPHASECONNECTIONSThedriveoutputisathree-phasePWMinverterthatconvertstheDCbussvoltage(+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimizePWMnoisecouplingintoothercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J2-1)forbestresults.

DIGITALHALLSIGNALSHallsignalsaresingle-endedsignals thatprovideabsolute feedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(u,V,&W)andtheymaybesourcedbymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc.Theytypicallyoperateatmuchlowerfrequenciesthanthemotorencodersignals,andareusedforcommutation-initializationafterstartup,andforcheckingthemotorphasingaftertheamplifierhasswitchedtosinusoidalcommutation.

MOTORTEMPERATuRESENSORAnalog input [AIN3] Motemp, is for use with a motorovertemperature switch or sensor. The input voltage goesthroughalow-passfiltertoa12-bitA/Dconverter.Theactivelevelof the input,Vset, isprogrammablegenerateanover-temperaturefaultiftheinputvoltageis<Vset,or>Vset.

XPL


Input/OutputSelect

Quad A/B/X primaryencoder

MAX3032

MAX3097

Buffered A/B/X signalsfrom primary encoder


Input/OutputSelect

MAX3362

MAX3097

Emulated Quad A/Bsignals from analog Sin/Cos encoder

Emulated A/B signals

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

Pulse/Dir or CU/CD differential commands




MuLTI-MODEENCODERPORTThisportconsistsofthreedifferentialinput/outputchannelsthattaketheirfunctionsfromtheBasicSetupofthedrive.WithquadA/Bencoderfeedback,theportworksasanoutput,bufferingthesignalsfromtheencoder.Withresolverorsin/cosencoderversions,thefeedbackisconvertedto“emulated”quadA/B/Xsignalswithprogrammableresolution.Thesesignalscanthenbefedbacktoanexternalmotioncontrollerthatclosesthepositionorvelocityloops.Asaninput,theportcantakequadA/Bsignalstoproduceadual-looppositioncontrolsystemorusethesignalsasmaster-encodercommandsincammingmode.Inaddition,theportcantakesteppercommandsignals(Cu/CDorPulse/Direction)indifferentialformat.

ASBuFFEREDOuTPuTSFROMADIGITALQuADRATuRE PRIMARyENCODERWhenusingadigitalquadrature feedbackencoder, theA/B/Xsignalsdrivethemulti-modeportoutputbuffersdirectly.ThisisusefulinsystemsthatuseexternalcontrollersthatalsoneedthemotorfeedbackencodersignalsbecausethesenowcomefromJ8,theControlconnector.Inadditiontoeliminating“y”cablingwherethemotorfeedbackcablehastosplittoconnecttobothcontrollerandmotor,thebufferedoutputsreduceloadingonthefeedbackcablethatcouldoccurifthemotorencoderhadtodrivetwodifferentialinputsinparallel,eachwithit’sown121ohmterminatingresistor.

ASEMuLATEDQuADA/B/XENCODEROuTPuTSFROMAN ANALOGSIN/COSFEEDBACkENCODERAnalog sin/cos signals are interpolated in the drive with programmableresolution.Theincrementalpositiondataisthenconvertedbackintodigitalquadrature formatwhichdrives themulti-modeportoutputbuffers.Someanalogencodersalsoproduceadigitalindexpulsewhichisconnecteddirectlytotheport’soutputbuffer.TheresultisdigitalquadratureA/B/Xsignalsthatcanbeusedasfeedbacktoanexternalcontrolsystem.

ASAMASTERORCAMMINGENCODERINPuTFROMA DIGITALQuADRATuREENCODERWhen operating in positionmode themulti-mode port can accept digitalcommandsignalsfromexternalencoders.Thesecanbeusedtodrivecamtables, or asmaster-encoder signals when operating in amaster/slaveconfiguration.

ASDIGITALCOMMANDINPuTSINPuLSE/DIRECTION,PuLSE-uP/PuLSE-DOWN,OR DIGITALQuADRATuREENCODERFORMATThemulti-modeportcanalsobeusedwhendigitalcommandsignalsareinadifferentialformat.Thesearethesignalsthattypicallygotosingle-endedinputs.But,athigherfrequenciesthesearelikelytobedifferentialsignalsinwhichcasethemulti-modeportcanbeused.

XPL

S

/S 13

14

15 [OUT4-] GPI

J9

4

3

2

8

7

1

6

5

F.G.

[IN8] GPI

[COMM_A]

[IN7] GPI

[COMM_B]

[IN10] GPI

[IN9] GPI

12

11

10

9

14

13

[IN12] GPI

[OUT5+] GPI

[IN13] GPI

[IN14] GPI

[OUT4+] GPI

[OUT5-] GPI

[IN11] GPI

Multi-ModeEncoder

Port

Frame Ground

A

/A

B

/B

X

/X

FrameGnd

Outputs BufferedQuad A/B fromEncoder

Sgnd 25

24

+5V Out2

6

A

B

/B

X

/X

/A

21

22

23

26

24

25

1

8

9

10

11

12

1

13

Hall W 4

Hall V 3

Hall U 2

5

26

Signal Ground

Signal Ground

Signal Ground

16

+5V Out2 17

DIGITALENCODER

DIGITALHALLS

/A

A

/B

B

/X

Vcc

0V

FLT

X

+5V Out1

Signal Ground

Ain1(-)

Ain1(+)±10 VdcAnalog

Reference

AC MAINS:100 to 240 Vac1Ø or 3Ø47 to 63 Hz

L3

L2

L1

Fuse

1

H

NLIN

EFI

LTER

BRUSHLESSMOTOR

DANGER: HIGH VOLTAGECIRCUITS ON J1, J2, & J3ARE CONNECTED TOMAINS POWER

* Fuse

* Fuse

Earth

* Fuse

* Fuse

* Optional

J3REGEN+

REGEN-

Frame Ground

U

V

W

1

4

5

2

3

4

3

2

1

Mot U

Mot V

Mot W

Frame Ground

J4

J1

J2

J8

+24V

BRAKE

RTN

Signal Ground

Aout

[OUT2]

[OUT1]

[OUT3] HS

L3

L2

L1

BRAKE

Required forDrive Operation

Control Power Supply

+24 Vdc0.5 Adc

7

12

11

2

3

1

15

10

8

9

17

16

18

Frame Grounding Tab

[IN1] Enable

[IN4] HS

[IN2] GP

[IN3] HS

Ain2(-)

Ain2(+)

[IN6] HS

[IN5] HS

6

5

4

J1020

19

2

3

4

3

2

1

+

-

Motemp [AIN3]

TEMPSENSOR7

[IN15]



Quad A/B EncoderMOTORCONNECTIONS(CONT’D)

(NOTE1)

(NOTE1)

NOTES:1) +5VOut1andOut2areindependentpowersuppliesandeachisratedfor400mA2) LinefilterisrequiredforCE3)ActivesignalsinMulti-Modeportdependondriveconfiguration.Allareshownforcompleteness.

=Shieldedcablesrequired forCEcompliance

XPL

S

/S 13

14

15 [OUT4-] GPI

J9

4

3

2

8

7

1

6

5

F.G.

[IN8] GPI

[COMM_A]

[IN7] GPI

[COMM_B]

[IN10] GPI

[IN9] GPI

12

11

10

9

14

13

[IN12] GPI

[OUT5+] GPI

[IN13] GPI

[IN14] GPI

[OUT4+] GPI

[OUT5-] GPI

[IN11] GPI

Multi-ModeEncoder

Port

Frame Ground

A

/A

B

/B

X

/X

FrameGnd

Outputs EmulatedQuad A/B fromAnalog Encoder

Sgnd 25

24

+5V Out2 6

Sin(+)

Cos(+)

Cos(-)

Inx(+)

Inx(-)

Sin(-)

21

22

23

26

24

25

1

22

23

20

21

18

1

19

Hall W 4

Hall V 3

Hall U 2

Signal Ground 5

Signal Ground 16

Signal Ground 26

+5V Out2 17

Sin / CosENCODER

DIGITALHALLS

Sin(-)

Sin(+)

Cos(-)

Cos(+)

Index(-)

Vcc

0V

FLT

Index(+)

+5V Out1

Signal Ground

Ain1(-)


Reference

7Motemp

[AIN3]

TEMPSENSOR


L3

L2

L1

Fuse

1

H

NLIN

EFI

LTER

BRUSHLESSMOTOR


* Fuse

* Fuse

Earth

* Fuse

* Fuse

* Optional

J3REGEN+

REGEN-

Frame Ground

U

V

W

1

4

5

2

3

4

3

2

1

Mot U

Mot V

Mot W

Frame Ground

J4

J1

J2

J8

+24V

BRAKE

RTN

Signal Ground

Aout

[OUT2]

[OUT1]

[OUT3] HS

L3

L2

L1

BRAKE



+24 Vdc0.5 Adc

7

12

11

2

3

1

15

10

8

9

17

16

18

Frame Grounding Tab

[IN1] Enable

[IN4] HS

[IN2] GP

[IN3] HS

Ain2(-)

Ain2(+)

[IN6] HS

[IN5] HS

6

5

4

J1020

19

2

3

4

3

2

1

+

-

[IN15]



Sin/Cos EncoderMOTORCONNECTIONS(CONT’D)

(NOTE1)

(NOTE1)



XPL

15 [OUT4-] GPI

J9

4

3

2

8

7

1

6

5

F.G.

[IN8] GPI

[COMM_A]

[IN7] GPI

[COMM_B]

[IN10] GPI

[IN9] GPI

12

11

10

9

14

13

[IN12] GPI

[OUT5+] GPI

[IN13] GPI

[IN14] GPI

[OUT4+] GPI

[OUT5-] GPI

[IN11] GPI

Multi-ModeEncoder

Port

Frame Ground

A

/A

B

/B

X

/X

S

/S

FrameGnd

Outputs EmulatedQuad A/B fromResolver

Sgnd 25

24

+5V Out2 6

Sin(+)

Cos(+)

Cos(-)

Ref(+)

Ref(-)

Sin(-)

21

22

23

26

24

25

1

22

23

20

21

18

1

19

Hall W 4

Hall V 3

Hall U 2

Signal Ground 16

Signal Ground 26

Signal Ground 5

+5V Out2 17

Resolver

S1 Sin(-)

S3 Sin(+)

S4 Cos(-)

S2 Cos(+)

R2 Ref(-)

R1 Ref(+)

+5V Out1

Signal Ground

Ain1(-)


Reference

7Motemp

[AIN3]

TEMPSENSOR


L3

L2

L1

Fuse

1

H

NLIN

EFI

LTER

BRUSHLESSMOTOR


* Fuse

* Fuse

Earth

* Fuse

* Fuse

* Optional

J3REGEN+

REGEN-

Frame Ground

U

V

W

1

4

5

2

3

4

3

2

1

Mot U

Mot V

Mot W

Frame Ground

J4

J1

J2

J8

+24V

BRAKE

RTN

Signal Ground

Aout

[OUT2]

[OUT1]

[OUT3] HS

L3

L2

L1

BRAKE



+24 Vdc0.5 Adc

7

12

11

2

3

1

15

10

8

9

17

16

18

Frame Grounding Tab

[IN1] Enable

[IN4] HS

[IN2] GP

[IN3] HS

Ain2(-)

Ain2(+)

[IN6] HS

[IN5] HS

6

5

4

J1020

19

2

3

4

3

2

1

+

-

[IN15]

13

14



ResolverMOTORCONNECTIONS(CONT’D)

(NOTE1)

(NOTE1)



XPL

Signal Pin

+24VdcControlPower 3

BrakeOutput[OuT6] 2

0V(+24VdcReturn) 1

Signal Pin

Motor Phase U 4

Motor Phase V 3

Motor Phase W 2

Cable Shield 1

Signal Pin

Mains Input L3 4

Protective Ground 3

Mains Input L2 2

Mains Input L1 1

Signal Pin

Regen Resistor 1

No Connection 2

Regen Resistor 3

No Connection 4

Cable Shield 5



Quad A/B & Sin/Cos Encoder

J1MAINSCONNECTIONS

J2MOTOROuTPuTS

J3REGENRESISTOR

J4+24VDC&BRAkE

J1CABLECONNECTOR:Wago:51118287or721-204/026-045/RN01-0000 Euro-style7,5mmpluggablefemaleterminalblock withprecedinggroundreceptacle

Cable:AWG12,600Vrecommended forXPL-230-36-RandXPL-230-40-Rmodels, AWG14,600VforXPL-230-18-R ShieldedcablerequiredforCEcompliance

J2CABLECONNECTOR:Wago:51118008or721-104/026-047/RN01-0000 Euro-style5,0mmpluggablefemaleterminalblock


J3CABLECONNECTOR:Wago:51111279or721-605/000-044/RN01-0000 Euro-style5,0mmpluggablemaleterminalblock


WARNING: Hazardous voltages exist on connections to J1, J2, & J3 when power is applied, and for up to 30 seconds after power is removed.

WIREINSERTION/EXTRACTIONTOOL:usedonJ1,J2,J3,&J4 Wago231-131 ISOLATEDCIRCuIT

ISOLATEDCIRCuIT

J4CABLECONNECTOR:Wago:51117974or721-103/026-047/RN01-0000 Euro-style5,0mmpluggableterminalblock

NOTE:ANEXTERNAL +24VDCPOWERSuPPLy ISREQuIREDFOROPERATION

J2

J3

J4

J5

J1

XPL

PIN SIGNAL PIN SIGNAL PIN SIGNAL

1 FrameGnd 6 [IN10]GPI 11 [IN14]GPI

2 [COMM_A] 7 [COMM_B] 12 [OuT5+]GPI

3 [IN7]GPI 8 [IN11]GPI 13 [OuT5-]GPI

4 [IN8]GPI 9 [IN12]GPI 14 [OuT4+]GPI



1 FrameGnd 10 Enc/B1 19 Sin1(+)

2 Hallu 11 EncB1 20 Cos1(-)

3 HallV 12 Enc/A1 21 Cos1(+)

4 HallW 13 EncA1 22 Index1(-)

5 SignalGnd 14 Enc/S1 23 Index1(+)

6 +5VdcOut 15 EncS1 24 [IN15]

7 [AIN3]Motemp 16 SignalGnd 25 SignalGnd

8 Enc/X1 17 +5VdcOut 26 SignalGnd

9 EncX1 18 Sin1(-)


9 [AOuT] 18 [OuT3]HS PIN SIGNAL

8 [IN5]HS 17 [OuT2] 26 MultiEncA2

7 [IN4]HS 16 [OuT1] 25 MultiEnc/A2

6 [IN3]HS 15 SignalGnd 24 MultiEncB2

5 [IN2]GP 14 MultiEncS2 23 MultiEnc/B2

4 [IN1]GP 13 MultiEnc/S2 22 MultiEncX2

3 [AIN1-] 12 [AIN2-] 21 MultiEnc/X2

2 [AIN1+] 11 [AIN2+] 20 +5VdcOut

1 FrameGnd 10 [IN6]HS 19 SignalGnd



2 STO-1(+) 7 STO-LED(-)



5 STO-2(-)



Quad A/B & Sin/Cos Encoder

J9SECONDARyI/OCONNECTOR

J5SAFETyDISABLE

J10FEEDBACk

J10

J6

J7

J8

J9

J8CABLECONNECTOR:High-Density D-Subfemale, 26 Position

J9CABLECONNECTOR:High-Density D-Submale, 15 Position


J5CABLECONNECTOR:D-Submale, 9 Position

J8CONTROLSIGNALS

XPL

Signal Pin

+24VdcControlPower 3

BrakeOutput[OuT6] 2

0V(+24VdcReturn) 1

Signal Pin

Motor Phase U 4

Motor Phase V 3

Motor Phase W 2

Cable Shield 1

Signal Pin

Mains Input L3 4

Protective Ground 3

Mains Input L2 2

Mains Input L1 1

Signal Pin

Regen Resistor 1

No Connection 2

Regen Resistor 3

No Connection 4

Cable Shield 5



Resolver

J1MAINSCONNECTIONS

J2MOTOROuTPuTS

J3REGENRESISTOR

J4+24VDC&BRAkE

J1CABLECONNECTOR:Wago:51118287or721-204/026-045/RN01-0000 Euro-style7,5mmpluggablefemaleterminalblock withprecedinggroundreceptacle


J2CABLECONNECTOR:Wago:51118008or721-104/026-047/RN01-0000 Euro-style5,0mmpluggablefemaleterminalblock


J3CABLECONNECTOR:Wago:51111279or721-605/000-044/RN01-0000 Euro-style5,0mmpluggablemaleterminalblock


WARNING: Hazardous voltages exist on connections to J1, J2, & J3 when power is applied, and for up to 30 seconds after power is removed.

WIREINSERTION/EXTRACTIONTOOL:usedonJ1,J2,J3,&J4 Wago231-131 ISOLATEDCIRCuIT

ISOLATEDCIRCuIT

J4CABLECONNECTOR:Wago:51117974or721-103/026-047/RN01-0000 Euro-style5,0mmpluggableterminalblock

NOTE:ANEXTERNAL +24VDCPOWERSuPPLy ISREQuIREDFOROPERATION

J1

J2

J3

J4

J5

XPL



2 STO-1(+) 7 STO-LED(-)



5 STO-2(-)


1 FrameGnd 6 [IN10]GPI 11 [IN14]GPI

2 [COMM_A] 7 [COMM_B] 12 [OuT5+]GPI


4 [IN8]GPI 9 [IN12]GPI 14 [OuT4+]GPI



1 FrameGnd 10 Enc/B1 19 Sin1(+)S3

2 Hallu 11 EncB1 20 Cos1(-)S4

3 HallV 12 Enc/A1 21 Cos1(+)S2

4 HallW 13 EncA1 22 Ref(-)R2

5 SignalGnd 14 Enc/S1 23 Ref(+)R1

6 +5VdcOut 15 EncS1 24 [IN15]

7 [AIN3]Motemp 16 SignalGnd 25 SignalGnd

8 Enc/X1 17 +5VdcOut 26 SignalGnd

9 EncX1 18 Sin1(-)S1


9 [AOuT] 18 [OuT3]HS PIN SIGNAL

8 [IN5]HS 17 [OuT2] 26 MultiEncA2

7 [IN4]HS 16 [OuT1] 25 MultiEnc/A2

6 [IN3]HS 15 SignalGnd 24 MultiEncB2

5 [IN2]GP 14 MultiEncS2 23 MultiEnc/B2

4 [IN1]GP 13 MultiEnc/S2 22 MultiEncX2

3 [AIN1-] 12 [AIN2-] 21 MultiEnc/X2

2 [AIN1+] 11 [AIN2+] 20 +5VdcOut

1 FrameGnd 10 [IN6]HS 19 SignalGnd



Resolver

J9SECONDARyI/OCONNECTOR

J5SAFETy

J10FEEDBACk

J8CABLECONNECTOR:High-Density D-Subfemale, 26 Position



J5CABLECONNECTOR:D-Submale, 9 Position

J10

J6

J7

J8

J9

J8CONTROLSIGNALS

XPL

~

~ -

+

~+

REGEN(-) REGEN(+)

SHIELD

U

V

W

J2

DC BUS(+)

DC BUS(-)

J3

2350 µFL1

MAINSL3

L2J1

PWMSTAGE

POWERCONTROL

ISOLATION BARRIER

SHIELD

FEEDBACKPOWER &DECODING

J10

CONTROLLOGIC

+5 Vdc

ENABLE [IN1]

SIGNAL GND

CONTROLSIGNALGROUND

CONTROLSYSTEM

J8

GROUND+24 Vdc

+24VDC BRAKE

+24 VdcJ4

RTNCntrl

BRAKE

DC/DCConverter

&

POWER

LOGIC

SIGNAL

DC/DC

(SAFETY GROUND)

PWMINVERTER

MOTOR

FEEDBACK

CASE

FRAME GROUND

FRAME GROUND

20

40

60

80

100

120

140

160

260240220200180160140120100

Energy Absorption vs.Mains Voltage

Mains Voltage (Vac)

Ener

gy

Abso

rption (

W·s

)



GROuNDINGA grounding system has three primaryfunctions: safety, voltage-reference, andshielding.Asasafetymeasure,theprimarygroundatJ1-3willcarryfault-currentsfromthemainsinthecaseofaninternalfailureor short-circuit of electronic components.Wiring to this is typically donewith thegreenconductorwithyellowstripeusingthesamegaugewireasthatusedforthemains.ThepinonthedriveatJ1-3islongerthantheotherpinsonJ1givingitafirst-make,last-breakactionsothatthedrivechassisisneverungroundedwhenthemainspowerisconnected.Thiswireisa‘bonding’conductorthatshouldconnecttoanearthedgroundpointandmustnotpassthroughanycircuitinterruptingdevices.

All of the circuits on J1, J2, and J3 are mains-connected and must never be grounded.ThegroundterminalsatJ1-3,J2-1,andJ3-5allconnecttothedrivechassisandareisolatedfromalldriveinternalcircuits.Signal grounding references the drivecontrol circuits to those of the controlsystem. These controls circuits typicallyhave theirownearthconnectionat somepoint. To eliminate ground-loops it isrecommendedthatthedrivesignalgroundbeconnectedtothecontrolsystemcircuitground.Whenthisisdonethedrivesignalvoltageswillbereferencedtothesame0Vlevelasthecircuitsinthecontrolsystem.Smallcurrentsflowbetweencontrolleranddrivewheninputsandoutputsinteract.Thesignalgroundisthepathforthesecurrentsto return to their power sources in bothcontrolleranddrive.ShieldsoncablesreduceemissionsfromthedriveforCEcomplianceandprotectinternalcircuits from interferencedue to externalsourcesofelectricalnoise.Becauseoftheirsmallerwire gauge, these should not beused as part of a safety-ground system.Motorcasescanbesafety-groundedeitheratthemotor,byearthingtheframe,orbyagroundingconductorinthemotorcablethat connects to J2-1. This cable shouldbeofthesamegaugeastheothermotorphasecables.For CE compliance and operator safety,the drive heatplate should be earthed tothe equipment frame. An unplated tab isprovidedontheheatplate(neartoJ1)forthisconnection.

DRIVEPOWERSOuRCESAn external +24 Vdc power supply isrequired, and powers an internal DC/DCconverterthatsuppliesall thecontrolvoltages for drive operation. use of anexternalsupplyenablesCANcommunicationwiththedrivewhenthemainspowerhasbeenremoved.Power distribution inXPL is divided into threesections:+24Vdc,signal,andhigh-voltage.Eachisisolatedfromtheotherandallareisolatedfromthechassis.

EXTERNAL+24VDCTheprimarysideof theDC/DCconverteroperates directly from the external +24Vdcsupplyandisisolatedfromotherdrivepowersections.TheBrakeoutput[OuT6]operatesinthissectionandisreferencedtothe+24Vdcreturn(0V).Itsinkscurrentfrom an external load connected to theexternal+24Vdcpowersource.

INTERNALSIGNALPOWERThesignalpowersectionsuppliespowerforthecontrolcircuitsaswellaslogicinputsandoutputs.MotorfeedbacksignalssuchasHalls,encoder,andtemperaturesensoroperatefromthispowersource.Allsignalcircuitsarereferencedtosignalground.Thisgroundshouldconnecttothecontrolsystemcircuitgroundorcommonsothatdriveandcontrollerinputsandoutputvoltagelevelsworkproperlywitheachother.

MAINSPOWERMains power drives the high-voltagesection.Itisrectifiedandcapacitor-filteredto produce +HV which the PWM stageconverts into voltages that drive eitherthreephasebrushlessorDCbrushmotors.An internal solid-state switch togetherwith an external power resistor providesdissipation during regenerationwhen themechanicalenergyofthemotorisconvertedback into electrical energy thatmust bedissipated before it charges the internalcapacitorstoanovervoltagecondition.Allthe circuits in this sectionare “hot”, thatis,theyconnectdirectlytothemainsandmust be considered high-voltages and ashock hazard requiring proper insulationtechniquesduringinstallation.

REGENERATIONThechartbelowshowstheenergyabsorptioninW·sforaXenus Plus drive operating at sometypicalmainsvoltages.Whentheloadmechanical energy is greater than thesevaluesanexternalregenresistorisavailableasanaccessory.

XPL

3 TURNSAROUNDTOROID

INDUCTOR

MOTOR

MAINS

REGEN

CONTROLLER

XENUSPlus

FEEDBACK

LINEFILTER

J1

J2

J10J8

J3J424 VPOWERSUPPLY

Uplated tab for heatplate

ground



GROuNDING&SHIELDINGFORCE

keepthechassisgroundingconnectionsshortforbestshieldingperformance

Groundingandshieldingarethemeansofcontrollingtheemissionofradiofrequencyenergyfromthedrivesothat itdoesnotinterferewithotherelectronicequipment.Theuseofshieldedcablestoconnectthedrivetomotorsandfeedbackdevicesisawayofextendingthechassisofthedriveouttothesedevicessothattheconductorscarrying noise generated by the driveare completely enclosed by a conductiveshield.Theprocessbeginsatthemainsconnectorofthedrive,J1.Thegroundterminalherehasacirclearounditindicatingthatthisisthesafetyor“bonding”groundconnection.Thisshouldbeconnectedwithwirethatisthesamegaugeasthatusedforthemains.In thecaseofashort-circuit in thedrivethefunctionofthisgroundconnectionistocarrythefaultcurrenttoearthgrounduntilthesafetydevice(fuseorcircuitbreakers)disconnectsthedrivefromthemains.Thisconnection ensures that the heatplate ofthe drive remains at earth potential andeliminatingashockhazardthatcouldoccurofthechassiswereallowedtofloattothepotentialofthemains.Whilethisconnectionkeepstheheatplateatearthpotentialthehighfrequencynoisegeneratedbyswitchingcircuitsinthedrivecanradiatefromthewireusedforthesafetyground connection. In order to keep thepathbetween theheatplateandearthasshortaspossibleit’salsorecommendedtomountthedrivetotheequipmentpanel.Anunplatedtabontheheatplateisprovidedforthisandwillgroundtheheatplatedirectlyto theequipment frame, further reducingemissions.The heatplate also connects directly totheframegroundterminalsonthemotor,feedback,andregenconnectors.Notethatthegroundsymbolsforthesedonothaveacirclearoundthemwhich indicatesthatthese are for shielding and not not forsafetygrounding.Motorsandtheirfeedbackdevices (which are typically in themotorcase)shouldbegroundedbymountingtoequipment that is grounded as a safetyground.Byconnectingtheshieldsforthesedevicesatthedriveandatthedevice,theconnection is continuous and provides areturnpathforradio-frequencyenergytothedrive.

Notes:1)ShieldedcablesrequiredforCEareshowninthediagramabove.2)LinefilterrequiredforCE3)Ferritecore(MagneticsInc,ZW43615-TC)requiredforshielded

cable to regen resistorwhichmustbeinshieldedenclosure.

XPL

Heatsink

#8-32MountingScrews

DryFilmInterfacePad

XenusPlusDrive

BlueProtectiveSheet (Discard)

ClearProtectiveSheet (Discard)



HEATSINk&FANCONFIGuRATIONS

HEATSINkMOuNTING

Adry-filminterfacepadisusedinplaceofthermalgrease.Thepadisdie-cuttoshapeandhasholesfor theheat sinkmountingscrews.Thereare twoprotectivesheets,blueononesideandclearontheother.Bothmustberemovedwhentheinterfacepadisinstalled.

STEPSTOINSTALL

1.Removetheblueprotectivesheetfromonesideofthepadandplacethepadonthedrive.Makesurethattheholesinthepadalignwiththeholesonthedrive.

2.Removetheclearprotectivesheetfromthepad.3.Mount the heatsink onto the drive taking careto see that the holes in the heatsink, pad, anddrivealllineup.

4.Torquethe#8-32mountingscrewsto16~20lb-in(1.8~2.3N·m).

NOHEATSINk NOFAN

NOHEATSINk WITHFAN

LOW-PROFILEHEATSINk NOFAN

LOWPROFILEHEATSINk WITHFAN

STANDARDHEATSINk NOFAN

STANDARDHEATSINk WITHFAN

NOTE:FANSARENOTINCLuDEDWITHHEATSINkSORHEATSINkkITS

XPL

20

30

40

50

60

2018161412108642

No Heatsink

StandardHeatsink

Low ProfileHeatsink w/fan

Low ProfileHeatsink orno Heatsink w/fan

StandardHeatsink w/fan

1

2

4

5

3

Mains: 120 Vac

Continuous Output Current (Adc)

Am

bie

nt

Tem

per

ature

(°C

)

3

1 2

4

5

20

30

40

50

60

20181614121086442

Mains: 240 Vac



No Heatsink

StandardHeatsink


4

5

1

2

3


Am

bie

nt

Tem

per

ature

(°C

)

1

2

3

4

5

20

30

40

50

60

654321

Mains: 120 Vac

No Heatsink

Low ProfileHeatsink *

* All other heatsink and fan combinations enable operation at 55 °C


Am

bie

nt

Tem

per

ature

(°C

)

1

2

1

2

20

30

40

50

60

654321

1

2

1

2

3 3

No Heatsink

Low ProfileHeatsink *

All other heatsink and fan combinations enable operation at 55 °C

Mains: 240 Vac


Am

bie

nt

Tem

per

ature

(°C

)

20

30

40

50

60

121110987654321

No Heatsink

StandardHeatsink




4

5

1

2

3

Am

bie

nt

Tem

per

ature

(°C

)

Mains: 120 Vac

1

3

4

5

2


20

30

40

50

60

121110987654321

StandardHeatsink




5

1

2

3

4

No Heatsink

Mains: 240 Vac


Am

bie

nt

Tem

per

ature

(°C

) 5

4

1

2

3



XPL-230-18 XPL-230-18

XPL-230-36 XPL-230-36

XPL-230-40 XPL-230-40

Thechartsbelowshowthatmaximumambienttemperaturevs.continuousoutputcurrentfortheXenusPlusmodels.Thecoolingoptionsarenoheatsink,standardheatsink,andlow-profileheatsink.Foreachofthesethedrivecanbeoperatedwithconvectionorforced-aircooling.

MAXIMuMOPERATINGTEMPERATuREVSHEATSINkTyPE&AIRCIRCuLATION

XPL

Connectors&SoftwareforCANopenOperation

XPL-Nk

1

J7

D-Sub9FtoRJ-45Adapter

1 CANbusRJ-45terminator

1 CANbusnetworkcable,10ft(3m)

XPL-CV 1 D-Sub9FtoRJ-45Adapter

XPL-NC-10 1 CANbusNetworkCable,10ft(3m)

XPL-NC-01 1 CANbusNetworkCable,1ft(0.3m)

XPL-NT 1 CANbusNetworkTerminator

CMO CDwithCMOSoftware

CML CDwithCMLSoftware(Note:licensefeerequired)

ORDERINGGuIDEXPL-230-18 XenusPlusServo Drive 6/18 Adc

XPL-230-36 XenusPlusServo Drive 12/36 Adc

XPL-230-40 XenusPlusServo Drive 20/40 Adc

Add“-R”tomodelnumberforresolveroption

Qty Ref DeScRIPtIon ManufactuReRS PaRt nuMbeR

XPL-cK

ConnectorkitwithSolderCup ConnectorsforJ5,J8,J9&J10

1 J1 Plug,4position,7.5mm,female Wago:721-204/026-045(Note1)


1 J3 Plug,5position,5.0mm,male Wago:721-605/000-044(Note1)


4 J1~4 Tool,wireinsertion&extraction(forJ1~4) Wago:231-131

1J5

Connector,D-Sub,9-position,male,soldercup Norcomp:171-009-103L001

1 Backshell,D-Sub,RoHS,metallized,forabove Norcomp:979-009-020R121

1J8

Connector,high-densityD-Sub,26position,female,soldercup Norcomp:180-026-203L001


1J9

Connector,high-densityD-Sub,15position,male,soldercup Norcomp:180-015-103L001


1J10

Connector,high-densityD-Sub,26position,male,soldercup Norcomp:180-026-103L001


SER-Ck J5 RS-232Cablekit

HeatsinkkitsforFieldInstallation(Optional)

XPL-HL Heatsinkkit Low-Profile

1 Heatsink,low-profile

1 Heatsinkthermalmaterial

4 Heatsinkhardware

XPL-HS Heatsinkkit Standard

1 Heatsink,standard

1 Heatsinkthermalmaterial

4 Heatsinkhardware

RegenerationResistors(Optional)

XTL-RA-03 Regenerationresistorassembly(forXPL-230-18),30Ω

XTL-RA-04 Regenerationresistorassembly(forXPL-230-36&XPL-230-40models),15Ω

EdgeFilter(Optional)

XTL-FA-01 Edgefilter

EdgeFilter Connectorkit XTL-Fk

1 Plug,4position,5.0mm,female Wago:721-104/026-047

1 Plug,5position,5.0mm,male Wago:721-605/000-044

2 Tool,wireinsertion&extraction Wago:231-131

Note1:ForRoHScompliance,append“/RN01-0000”totheWagopartnumberslistedabove



Note:Specificationsaresubjecttochangewithoutnotice

ACCESSORIES

Example:OrderoneXenus Plusdrive,resolverversion,6/18Awithsolder-cupconnectorkit,CME 2 CD, serial cablekitandsmallheatsinkfittedatthefactory:

Qty Item Remarks 1 XPL-230-18-R-HS Xenus Plus servo drive 1 XPL-Ck Connectorkit 1 CME2 CME2CD 1 SER-Ck SerialCablekit

Note:Theheatsinkcanbefittedatthefactorybyaddingan“-HS”or“-HL”tothedrivepartnumbertospecifythestandardorlow-profiletype.Forfittingaheatsinktoandriveinthefield,completekitsareavailable(XPL-HSandXPL-HL).Thesekitscontaintheheatsink,mountinghardware,anddry-filminterface.

xen roh s plus canopen xpl - copley controls corp · 2020. 12. 17. · xpl copley controls, 20 dan...

Documents