xenus pluscompact etercat xecmar 03, 2020 · communications • ethercat • rs-232 feedback...

Model Ic Ip Vac

XEC-230-09 3 9 100~240

XEC-230-12 6 12 100~240

XEC-230-15 7.5 15 100~240

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01435 Rev 04 of 30

Xenus PLUSCompact EtherCAT XEC

DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS

CONTROL MODES• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing• Indexer,Point-to-Point,PVT• Camming,Gearing• Position, Velocity, TorqueCOMMANDINTERFACE• CANopen application protocol over EtherCAT (CoE) • ASCIIanddiscreteI/O • Steppercommands • ±10V position/velocity/torque • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)COMMUNICATIONS• EtherCAT• RS-232FEEDBACKIncremental• Digital quad A/B encoder• Analog sin/cos encoder• PanasonicIncrementalA• Aux. encoder / encoder out Absolute• SSI• EnDat 2.1 & 2.2• Absolute A• TamagawaAbsoluteA• PanasonicAbsoluteAFormat• Sanyo Denki Absolute A• BiSS (B&C)Other • DigitalHalls • Resolver (-R option)I/ODIGITAL• 6High-speedinputs • 1Motorover-tempinput• 4 Opto-isolated inputs• 1High-speedoutput• 3 Opto-isolated outputs• 1Opto-isolatedmotorbrakeoutputI/OANALOG• 1 Reference input, 12-bitSAFE TORQUE OFF (STO)• SIL3,Category3,PLd

DIMENSIONS:IN[MM]• 7.54x4.55x2.13[191.4x115.6x54.1]

DESCRIPTIONXEC sets new levels of performance, connectivity, andflexibility.CANopen application protocol over EtherCAT (CoE) communicationprovidesawidelyusedcost-effectiveindustrialbus.Awiderangeofabsoluteencodersaresupported.

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

Add-Rtothepartnumberforresolverfeedback



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

MODEL XEC-230-09 XEC-230-12 XEC-230-15OUTPUT CURRENT

PeakCurrent 9(6.4) 12(8.5) 15(10.6) Adc(Arms,sinusoidal) Peaktime 1 1 1 s Continuouscurrent 3(2.12) 6(4.24) 7.5(5.3) Adc(Arms,sinusoidal) Efficiency >97%@230Vacandratedcontinuouscurrent

INPUTPOWER Mainsvoltage,phase,frequency 100~240 100~240 100~240 Vac,±10%,1Øor3Ø,47~63Hz MaximumMainsCurrent,(Note 2) 4.7 9.4 11.8 Arms1Ø 2.6 5.2 6.5 Arms3Ø InrushCurrent 15Apeak@120VAC,35Apeak@240VAC +24VdcControlpower +20~32VdcRequiredforoperation(Note3) 7.5W(Typ,noloadon+5Voutputs),≤18W,(Max,both+5Voutputs@500mA)

DIGITALCONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 200µHline-line Resolution 12-bit capture of U & V phase currents

COMMANDINPUTS CANopen application protocol over EtherCAT Cyclic synchronous Position-Velocity-Torque, ProfilePosition-Velocity-Torque,Interpolatedposition,Homing Stand-alone mode Analog torque, velocity, position reference ±10 Vdc, 12 bit resolution Dedicated differential analog input Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(4MHzmaximumrate) Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature) 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-11connector

DIGITALINPUTS [IN1,2] Digital,Schmitttrigger,1.5µsRCfilter,24Vdccompatible,15kΩprogrammablepull-up/downsto+5Vdc/ground, Vt+≥3.15Vdc,VT-≤1.13Vdc [IN3,4,5,6] Programmableas4single-endedor2differentialpairs,100nsRCfilter,5Vdctypical,12Vdcmax 10 kΩprogrammablepull-up/downperinputto+5Vdc/ground, SE:Vin-LO≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,DIFF:Vin-LO≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp, [IN7,8,9,10] Opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,withcommonreturnto+24Vorground Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typical Maximumworkingvoltagewithrespecttosignalground:32Vdc [IN11] Motorovertempsignalonfeedbackconnector,Schmitttrigger,24Vdccompatible 330µsRCfilter,4.99kpullupto+5Vdc,Vt+≥3.15Vdc,VT-≤1.13Vdc ProgrammableforotherfunctionsifnotusedforMotemp

ANALOGINPUT [AIN±] Differential,±10Vdc,5.06kΩinputimpedance,12-bitresolution

SAFE TORQUE OFF (STO)Function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted Standard DesignedtoIEC-61508-1,IEC-61508-2,IEC-61800-5-2,ISO-13849-1 SafetyIntegrityLevel SIL3,Category3,Performanceleveld Inputs 2two-terminal:STO-IN1+,STO-IN1-,STO-IN2+,STO-IN2- Type Opto-isolators,24Vcompatible,Vin-LO≤6.0Vdcoropen,Vin-HI≥15.0Vdc, Inputcurrent(typical)STO-IN1:9.0mA,STO-IN2:4.5mA Responsetime 2msfromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Reference Xenus Plus Compact STO Manual

RS-232 PORT Signals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector,non-isolated Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200baud Protocol BinaryandASCIIformats

DIGITALOUTPUTS [OUT1~3] Opto-isolatedSSR,two-terminal,300mAmax,24Vtolerant,series1Ωresistor,36VZenerflybackdiode Ratedimpulse≥800V [OUT4] High-speedCMOSbuffer,+5Vmax,±8mAinto560Ω(minimum) [OUT5] Motorbrakecontrol:opto-isolated,current-sinkingwithflybackdiodeto+24Vdc,1Adcmax

ETHERCATPORTS Format DualRJ-45receptacles,100BASE-TX,isolatedfromsignalground,maxworkingvoltagewithrespecttosignalground:32Vdc Protocol EtherCAT, CAN application protocol over EtherCAT (CoE)

5V OUTPUTSNumber 2:+5Vout1onthefeedbackconnector(J5),+5Vout2onthecontrolconnector(J6)forthemulti-modeencoder Ratings +5Vdc@500mAeachoutput,1000mAtotalforbothoutputs,thermalandoverloadprotected

NOTES:1.Brakeoutput[OUT5]isprogrammableasmotorbrake,orasgeneralpurposedigitaloutput.2.Theactualmainscurrentisdependentonthemainsvoltage,andmotorloadandoperatingconditions.TheMaximumMainsCurrentsshownaboveoccurwhenthedriveisoperatingfromthemaximuminputvoltageandisproducingtheratedpeakandcontinuousoutputcurrentsatthemaximumoutputvoltage.

3.WhenSTOfeatureisused,the24VpowersupplymustbeaSELVorPELVtypewiththemaximumoutputvoltagelimitedto60Vdcorlower.

GENERAL SPECIFICATIONS



STATUSINDICATORS Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition NETStatus RUN/ERRLEDs,statusofEtherCATbusindicatedbycolorandblinkcodestoCANIndicatorSpecification303-3

REGENERATION Operation Solidstateswitchdrives60Ω internal regen resistor BusCapacitance 940µF ContinuousPowerCapability 20W Cut-InVoltage +HV>390Vdc±2Vdc Regenoutputison,regenresistorisdissipatingenergy Drop-OutVoltage +HV<380Vdc±2Vdc Regenoutputisoff,regenresistornotdissipatingenergy

PROTECTIONS ACMainsLoss LossofmainspowerbetweenL1&L2isdetected HVOvervoltage +HV>400Vdc DrivePWMoutputsturnoffuntil+HVislessthan400Vdc HVUndervoltage +HV<60Vdc DrivePWMoutputsturnoffuntil+HVisgreaterthan60Vdc Driveovertemperature IGBT>80°C±3°C DrivePWMoutputsturnoffuntilIGBTtemperatureisbelow80ºC Shortcircuits Motor:Outputtooutput,outputtoground,outputtoHV,internalPWMbridgefaults Regen:Regen+toground,Regen-toHV I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature [IN11]inputprogrammabletodisabledrivewhenmotorsensorresistanceincreases Feedbackloss ProgrammabletodetectlossofAORBencoderchannels,orlossofAORBORXchannels CommandSignalLoss EtherCATmasterstopscyclicalupdates,networkcableisunplugged Programmableasalatchingfault 24VReversedPolarity Reversingthe+24Vconnections(J3-4&J3-1)willnotdamagethedrive

MECHANICAL&ENVIRONMENTAL Size 7.54x4.55x2.13[191.4x115.6x54.1] Weight 2.2lb[1.0kg] Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage Altitude ≤2000m(6560ft) Humidity 0%to95%,non-condensing Contaminants Pollutiondegree2 Vibration 2 gpeak,10~500Hz(sine),IEC60068-2-6 Shock 10 g,10ms,half-sinepulse,IEC60068-2-27 Cooling Internalfanallowsoperationatratedcontinuouscurrentto45Cambient

AGENCYSTANDARDSCONFORMANCEStandards and Directives Functional Safety IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) Directive 2006/42/EC (Machinery) ISO13849-1:2015(Cat3,PLd) IEC61800-5-2:2007(SIL3) Reference: Xenus Plus Compact STO Manual (16-01553)

Product Safety Directive2014/35/EU(LowVoltage) IEC61800-5-1:2007

EMC Directive 2014/30/EU (EMC) IEC61800-3:2004/A1:2011

Restriction of the Use of Certain Hazardous Substances (RoHS) Directive2011/65/EU(RoHSII)

Voltage Sag Immunity SEMIF47-0706

Approvals UL and cUL recognized component to: UL 61800-5-1, 1st Ed. UL Functional Safety Certification to: IEC61508-1:2010,IEC61508-2:2010(SIL3) ISO13849-1:2015,IEC61800-5-2:2007,UL61800-5-2:2012(Cat3,PLd)





FEEDBACKIncremental: DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec),MAX3097differentiallinereceiver 121ΩterminatorsbetweenA&/A,B&/Binputs,130ΩbetweenX&/Xinput AnalogIncrementalEncoder Sin/cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%,ServoTubemotorcompatible BW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 12-bitresolution,BW>300kHz,withzero-crossingdetection Absolute: SSI Clock(X,/X),Data(S,/S)signals,4-wire,ClockisoutputfromXEC,Dataisinputfromencoder 130ΩterminatoRbetweenX&/Xoutputs,221ΩbetweenS&/Sinputs 1kΩpull-upsto+5VdconX&S,1kΩpull-downstoSgndon/X&/S EnDAT Clock (X, /X), Data (S, /S), Sin/Cos (Sin+, Sin-, Cos+, Cos-) signals AbsoluteA,TamagawaAbsoluteA,PanasonicAbsoluteAFormat,SanyoDenkiAbsoluteA SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplexcommunication Position feedback: 13-bit resolution per rev, 16 bit revolution counter (29 bit absolute position data) Status data for encoder operating conditions and errors BiSS(B&C) MA+,MA-(X,/X),SL+,SL-(S,/S)signals,4-wire,ClockoutputfromXEC,Dataisinputfromencoder X&SchannelsforabsoluteencodersuseISL3178bi-directionallinedriver/receivers

RESOLVER(-ROPTION) Type Brushless,single-speed,1:1to2:1programmabletransformationratio Resolution 14 bits (equivalent to a 4096 line quadrature encoder) Referencefrequency 8.0kHz Referencevoltage 2.8Vrms,auto-adjustablebythedrivetomaximizefeedback Referencemaximumcurrent 100mA MaximumRPM 10,000+

HALLSDigital: U,V,W:Single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1µsRCfilter,24Vdccompatible,10kΩpull-upto+5Vdc Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc

Analog: U & V: Sin/cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%,ServoTubemotorcompatible BW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 12-bitresolution,BW>300kHz,withzero-crossingdetection

MULTI-MODEENCODERPORT AsInput SeeDigitalIncrementalEncoderaboveforelectricaldataonA,B,&Xchannels,or AbsoluteencodersusingXorSchannels.NoterminatorsonA&Bchannels,X&Schannelsasshownabove AsEmulatedOutput QuadratureA/Bencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromanalogsin/cosencodersorabsoluteencoders.A/BoutputsuseISL3178linedrivers. A,/A,B,/B,outputsfromISL3178differentiallinedriver,X,/X,S,/SoutputsfromISL3178driver AsBufferedOutput DigitalA/B/XencodersignalsfromprimarydigitalencoderarebufferedbyISL3178linedrivers,5MHzmax

5V OUTPUTSNumber 2:+5Vout1onthefeedbackconnector(J5),+5Vout2onthecontrolconnector(J6)forthemulti-modeencoder Ratings +5Vdc@500mAeachoutput,1000mAtotalforbothoutputs,thermalandoverloadprotected

Set x10 x1 Set x10 x1

Hex Dec Hex Dec

0 0 0 8 128 8

1 16 1 9 144 9

2 32 2 A 160 10

3 48 3 B 176 11

4 64 4 C 192 12

5 80 5 D 208 13

6 96 6 E 224 14

7 112 7 F 240 15

PIN SIGNAL

1 TX+

2 TX-

3 RX+

6 RX-

S2

S1

X1X10DEVICE ID

J8AMP

J9

J7

ERRIN

OUTRUNL/A

L/A



J7:EtherCAT PORTSRJ-45receptacles, 8 position, 4 contact

ETHERCATCONNECTIONSDualRJ-45socketsacceptstandardEthernetcables.TheINportconnectstoamaster,ortotheOUTportofadevicethatis‘upstream’,betweentheXECandthemaster.TheOUTportconnectsto‘downstream’nodes.IftheXECisthelastnodeonanet-work,onlytheINportisused.NoterminatorisrequiredontheOUTport.

ETHERCATLEDS(ONRJ-45CONNECTORS)L/A AgreenLEDindicatesthestateoftheEtherCATnetwork:

LED Link Activity Condition ON Yes No PortOpen Flickering Yes Yes PortOpenwithactivity Off No (N/A) Port Closed

RUN Green:ShowsthestateoftheESM(EtherCATStateMachine) Off = Init Blinking = Pre-operational Single-flash= Safe-operational On = Operational

ERR Red:Showserrorssuchaswatchdogtimeoutsandunsolicited state changes in the XEC due to local errors. Off = EtherCATcommunicationsareworkingcorrectly Blinking = Invalidconfiguration,generalconfigurationerror SingleFlash= Localerror,slavehaschangedEtherCATstateautonomously DoubleFlash= PDOorEtherCATwatchdogtimeout, oranapplicationwatchdogtimeouthasoccurred

The AMP bi-color LED gives the state of the drive. Colors do not alternate, and can be solid ON or blinking. Whenmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed. Whenthatconditionisclearedthenextonebelowwillshown.

1)Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset. 2)Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhen theconditioncausingthefaultisremoved. 3)Green/Double-Blinking = STOcircuitactive,driveoutputsareSafe-Torque-Off 4)Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled. 5)Green/Fast-Blinking = PositiveorNegativelimitswitchactive. Drivewillonlymoveindirectionnotinhibitedbylimitswitch. 7)Green/Solid = DriveOKandenabled.Willruninresponseto referenceinputsorEtherCATcommands.Latching FaultsDefault Optional(programmable) • Shortcircuit(Internalorexternal) • Over-voltage • Driveover-temperature • Under-voltage • Motorover-temperature • MotorPhasingError • FeedbackError • CommandInputLost • FollowingError • MotorWiringDisconnected • STO Active • Over Current (latched)

ETHERCAT COMMUNICATIONS

INDICATORS: DRIVE STATE

EtherCATDeviceIDSwitch Decimalvalues

CME2->Amplifier->NetworkConfigurationEtherCAT DEVICEID(STATIONALIAS)InanEtherCATnetwork,slavesareautomaticallyassignedconsecutiveaddressesbasedontheirpositiononthenetwork.Butwhenthedevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisused.Thisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x00~0xFF(0~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:1)FindthehighestnumberintheX10columnthatislessthan107

andsetX10tothehexvalueinthesamerow: 96<107and112>107,soX10=96=Hex6

2)Subtract96fromthedesiredDeviceIDtogetthedecimalvaluefortheswitchX1andsetittotheHexvalueinthesamerow: X1=(107-96)=11=HexB

3)Result:X10=6,X1=B,Alias=0x6B(107)

PIN SIGNAL

2 RxD

3,4 Gnd*

5 Txd6

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

RxD TxD

1 2 3 4 5 6

RJ-11(DTE)



J8:RS-232PORTRJ-11receptacle, 6 position, 4 contact

RS-232COMMUNICATIONSXECisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit. Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheXECRS-232portarethroughJ8,anRJ-11connector. The XEC SerialCableKit(SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector (COM1,COM2,etc.)onPC’sandcompatibles.

SER-CKSERIALCABLEKITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorontheXEC.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheXEC.Theconnectionsareshowninthediagrambelow.

Don’tforgettoorderaSerialCableKitSER-CKwhenplacing your order for an XEC!

COMMUNICATIONS: RS-232 SERIAL

ASCIICOMMUNICATIONSTheCopleyASCII Interface is a set of ASCII format commands that can be used to operate these drives over anRS-232 serialconnection.Forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammedusingCME2,acontrolprogramcanuse theASCIIInterfaceto:

•EnabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.

TheBaudratedefaultsto9,600afterpower-onorresetandisprogrammableupto115,200thereafter.Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablishedatthis speed, the Baud rate can be changed to a higher rate (19,200, 57,600, 115,200).ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 <enter>Then,changetheBaudrateinthecomputer/controllertothenewnumberandcommunicateatthatrate.

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

ASCII COMMUNICATION PROTOCOL

* Signal ground

PIN SIGNAL PIN SIGNAL

1 FrameGnd 6 STO-1(+)

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

3 STO-1(-) 8 STO-24V

4 STO-2(+) 9 STO-GND

5 STO-2(-)

DANGER

Refer to the Xenus Plus Compact STO Manual (16-01553)

TheinformationprovidedintheXenus Plus Compact STO Manual mustbeconsidered for any application using the XEC drive STO feature.Failure to heed this warning can cause equipment damage, injury, or death.

+HV

PWMOutputs

Channel 1

Frame Ground

STO-Bypass (6.5 mA)

STO-Gnd (Sgnd)

J4

STO-IN1+

STO-IN2+Channel 2

FPGAUVW PWM

Channel 3

STO-IN2-

STO-IN1-

STO-IN1+

STO-IN1-

2

3

1

4

5

6

7

8

9

EN

GateDrivers

FPGAPWM

Enable

16

95

Bypass Plug ConnectionsJumper pins:2-4, 3-5, 6-8, 7-9 *

16

95

SAFE

TY 1

5

6

9



STO CONNECTOR

J4SIGNALS

SAFE TORQUE OFF (STO)DESCRIPTIONTheXECprovidestheSafeTorqueOff(STO)functionasdefinedinIEC61800-5-2.Threeopto-couplersareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperatedbythedigitalcontrolcore.ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareactivated(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.

Current must flow through all of the

opto-couplers before the drive can be

enabled

STOBYPASS(MUTING)InorderforthePWMoutputsofthedrivetobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtothe STO-1andSTO-2terminalsofJ4,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisoverriddenandcontroloftheoutputPWMstageisundercontrol of the digital control core. If not using the STO feature, these connections must be made in order for the drive to be enabled.

STOBYPASSCONNECTIONS

INSTALLATION

*STObypassconnectionsontheXECand XenusXEL/XPLmodelsaredifferent.Ifbothdrivesareinstalledinthesamecabinet,thediodeshouldbewiredasshowntopreventdamagethatcouldoccuriftheSTObypassconnectorsareinstalledonthewrongdrive.

The diode is not required for STO bypass ontheXECandcanbereplacedbyawire

betweenpins7and9.

DIFFERENTIAL:IN3,4,5,6

Signal J6Pins

[IN3]Pls,CU,EncA 9

[IN4]/Pls,/CU,Enc/A 10

[IN5]Dir,CD,EncB 11

[IN6]/Dir,/CD,Enc/B 12

SignalGround 6,16,22,31, 37,44

FrameGround 1

SINGLE-ENDED:IN5,6

Signal J6Pins

[IN5]Pls,CU,EncA 11

[IN6]Dir,CD,EncB 12


FrameGround 1

DIFFERENTIAL:IN3,4,5,6

Signal J6Pins

[IN3]Curr-Vel± 9

[IN4]/Curr-Vel± 10

[IN5]Pol-Dir 11

[IN6]/Pol-Dir 12


FrameGround 1

SINGLE-ENDED:IN5,6

Signal J6Pins

[IN5]Curr-Vel± 11

[IN6]Pol-Dir 12

Sgnd 6,16,22,31, 37,44

FrameGround 1

PULSE

/PULSE

DIRECTION

/DIRECTION

[IN3]

[IN4]

[IN5]

[IN6]

CD (Count-Down)

CU (Count-Up)[IN3]

[IN4]

[IN5]

[IN6]

CU (CW)

/CU (CW)

CD (CCW)

/CD (CCW)

Enc. A

Enc B

/Enc. A

/Enc B

Encoder ph. B

Encoder ph. A [IN3]

[IN4]

[IN5]

[IN6]

CU (CW)

CD (CCW)

[IN5]

[IN6]

Enc. A

Enc. B

Enc. Ph. A

Enc. Ph. B

[IN5]

[IN6]

Pulse

Direction

[IN5]

[IN6]

Curr-Vel

Pol-Dir

[IN5]

[IN6]

Duty = 50% ±50%

<no connection>

Curr-Vel±

<not used>

[IN5]

[IN6]

Duty = 0 - 100% Curr-Vel

Pol-Dir

/Curr-Vel

/Pol-Dir

[IN5]

[IN6]

[IN3]

[IN4]

[IN5]

[IN6]

[IN3]

[IN4]/Curr-Vel

Curr-Vel

NoFunction

Duty = 50% ±50%

<no connection>



POSITIONCOMMANDINPUTSDigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.

Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoderportsmaybeused.

SINGLE-ENDEDPWM&DIRECTION

SINGLE-ENDED50%PWM

SINGLE-ENDEDPULSE&DIRECTION

SINGLE-ENDEDCU/CD

QUADA/BENCODERSINGLE-ENDED

DIFFERENTIALCU/CD

DIFFERENTIALPULSE&DIRECTION

QUADA/BENCODERDIFFERENTIAL

DIFFERENTIAL50%PWM

DIFFERENTIALPWM&DIRECTION

DIGITAL COMMAND INPUTS: POSITION

DIGITAL COMMAND INPUTS: VELOCITY, TORQUESingle-endeddigitaltorqueorvelocitycommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speed inputs.

Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoderportsmaybeused.

SIGNALS&PINS

Signal J6

Pulse, CW, Encoder A 36

/Pulse, /CW, Encoder /A 21

Direction, CCW, Encoder B 35

/Direction, /CCW, Encoder /B 20

Quad Enc X, Absolute Clock 34

Quad Enc /X, /Absolute Clock 19

Enc S, Absolute (Clock) Data 33

Enc /S, / Absolute (Clock) Data 18

SignalGround6, 16, 22, 31, 37, 44

FrameGround 1

+5V output @ 500 mA

Signal Ground

Enc. B

Enc. X

Enc. X

Enc. X

Enc. S

Enc. S

B

X

/X

/S

Enc. A

Incremental Encoder

Absolute Encoder

J6 Control

Frame Ground

A

S

/B

/A

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

Pulse/Dir or CU/CD differential commands

InputSelect

OutputSelect

ISL3178

ISL3178

X

S

4-Wire digital absolute encoder signals

Input/OutputSelect

ISL3178

ISL3178S

S

2-Wire digital absolute encoder signals



MULTI-MODE ENCODER PORT AS AN INPUT

POSITIONCOMMANDINPUTS:DIFFERENTIAL• Pulse & Direction• CW&CCW(Clockwise&Counter-Clockwise)• Encoder Quad A & B• CammingEncoderA&Binput

CURRENT orVELOCITYCOMMANDINPUTS:DIFFERENTIAL• Current or Velocity & Direction• Current or Velocity (+) & Current or Velocity (-)

SECONDARYFEEDBACK:INCREMENTAL• QuadA/B/Xincrementalencoder

SECONDARYFEEDBACK:ABSOLUTE• Schannel:AbsoluteAencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesDatafromtheencoderinhalf-duplexmode.

• S&Xchannels:SSI,BiSS,EnDatencoders(4-wire) The X channel sends the Clock signal to the encoder, whichinitiatesdatatransmissionfromtheencoder ontheS-channelinfull-duplexmode

INPUT TYPES

SIGNALS&PINS

Signal J6

Encoder A 36

Encoder /A 21

Encoder B 35

Encoder /B 20

Encoder X 34

Encoder /X 19

Encoder S 33

Encoder /S 18

SignalGround 6, 16, 22, 31, 37, 44

FrameGround 1

SecondaryEncoder Input

Input/OutputSelect

Quad A/B/X primaryencoder

ISL3178

ISL3178

Buffered A/B/X signalsfrom primary encoder

SecondaryEncoder Input

Input/OutputSelect

ISL3178

ISL3178

Emulated Quad A/Bsignals from analog Sin/Cos encoder

Emulated A/B signals

Enc. B

Enc. X

B

/B

X

/X

Enc. A

Incremental Encoder

J6 Control

Frame Ground

A

/A



MULTI-MODE PORT AS AN OUTPUT

OUTPUT TYPES

BUFFEREDFEEDBACKOUTPUTS:DIFFERENTIAL• Encoder Quad A, B, X channels• DirecthardwareconnectionbetweenquadA/B/X

encoder feedback and differential line drivers for A/B/X outputs

EMULATEDFEEDBACKOUTPUTS:DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevices:• Absolute encoders • AnalogSin/Cosincrementalencoders

Name Notes

Analog: Reference Filter Disabled

Vloop:InputFilter Disabled

Vloop: Output Filter 1 LowPass,Butterworth, 2-pole,200Hz

Vloop: Output Filter 2 Disabled

Vloop: Output Filter 3 Disabled

Iloop:InputFilter1 Disabled

Iloop:InputFilter2 Disabled

InputShaping Disabled

Option Notes

Method SetCurrentPositionasHome

Name Notes

OUT1 Fault Active Off

OUT2 Isolated NotConfiguredOUT3

OUT4 HSOutput NotConfigured

OUT5 BrakeActive-HI

Active Notes

√ Short Circuit

√ AmpOverTemperature

√ MotorOverTemp

Over Voltage

Under Voltage

√ Feedback Error

Motor Phasing Error

√ FollowingError

CommandInputFault

Motor Wiring Disconnected

STO Active

OPTIONALFAULTS

Over Current (Latched)

Name Configuration PU/PD

IN1 Enable-LO, Clear Faults +5V PU

IN2

NotConfigured +5V/Gnd

IN3

IN4

IN5

IN6

IN7

Opto NotConfigured

IN8

IN9

IN10

IN11 Motemp +5V PU



CME2 DEFAULTS

ThesetablesshowtheCME2defaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.

SPECIFICATIONS

Input Data Notes

InputVoltages

HI VT+=2.5~3.5Vdc

LO VT-=1.3~2.2Vdc

VH1 VH=±0.7~1.5Vdc

Max +30 Vdc

Min 0 Vdc

Pull-up/down R1 15 kΩ

LowpassfilterR2 15 kΩ

C1 100 pF

InputCurrent24V 1.3mAdc

0V -0.33mAdc

Timeconstant RC2 1.5µs

CONNECTIONS

Input Pin

IN1 J6-7

IN2 J6-8

Sgnd J6-6,16,22,31,37,44

SPECIFICATIONS

Input Data Notes

InputVoltages Single-ended

HI Vin≥2.7Vdc

LO Vin≤2.3Vdc

VH1 45mVdctyp

InputVoltages Differential3

HI Vdiff≥+200mVdc

LO Vdiff≤-200mVdc

VH ±45mVdctyp

Commonmode Vcm 0 to +12 Vdc

Pull-up/down R1 10 kΩ


C1 100 pF

Timeconstant RC2 100 ns

CONNECTIONS

S.E. DIFF Pin

IN3 IN3+ J6-9

IN4 IN4- J6-10

IN5 IN5+ J6-11

IN6 IN6- J6-12

Sgnd J6-6,16,22,31,37,44

C1

R2R1

74HC2G14

PullUp = +5VPullDown = 0V

[IN1,2]

+5V

FEEDBACK CONNECTOR

12V max+

C1

C1

2.5V

MAX3096

MAX3096

[IN3,5]

J6 Control

[IN4,6]

R1

R1

+5V

R2

R2

++5V

[IN3,5]

J6 Control

[IN4,6]

+5V

+5V

C1

R1R2

C1

R1R2

MAX3096

12V max+



SINGLE-ENDED/DIFFERENTIAL INPUTS: IN3, IN4, IN5, IN6

HIGH SPEED INPUTS: IN1, IN2

• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 24VCompatible• Programmablefunctions

Notes:1)VHishysteresisvoltage

(VT+) - (VT-)2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices

• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 12VCompatible• Single-ended or Differential• Programmablefunctions

Notes:1)VHishysteresisvoltage IN2-IN3orIN12-IN13

2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices)

3)Vdiff=AINn(+)-AINn(-) n=1forAxisA,2forAxisB

SINGLE-ENDED

DIFFERENTIAL

SPECIFICATIONS

Input Data Notes

InputVoltages

HI Vin≥3.5Vdc

LO Vin≤0.7Vdc

Max +24 Vdc

Min 0 Vdc

Pull-up R1 4.99 kΩ

InputCurrent24V 5.7mAdc

0V -1.0mAdc


C1 33 nF

Timeconstant Te 330µs*BS 4999:Part 111:1987

Property ohms

Resistanceinthetemperaturerange20°Cto+70°C 60~750

Resistanceat85°C ≤1650

Resistanceat95°C ≥3990

Resistanceat105°C ≥12000

CONNECTIONS

Input Pin

IN11 J5-7

Sgnd J5-5,16,25,26

CONNECTIONS

Signal J6Pin

IN7 13

IN8 14

IN9 15

IN10 30

ICOM 28

SPECIFICATIONS

Input Data Notes

InputVoltages

HI Vin≥±10.0Vdc*

LO Vin≤±6Vdc*

Max ±30Vdc*

InputCurrent±24V ±2mAdc

0V 0mAdc

+5V

[IN11]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J5

J6

4.99k 4.7V

[IN7] 4.7k

4.7k

4.7k

4.7k

[INCOM]

4.99k 4.7V

[IN8]

4.99k 4.7V

[IN9]

4.99k 4.7V

[IN10]

+24V

24V GND

+

24V



• Digital, non-isolated• Motorovertempinput• 24VCompatible• Programmablefunctions

• Digital, opto-isolated• Agroupoffour,withacommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions

MOTOROVERTEMPINPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.

*VdcReferencedtoICOMterminals.

* RC time constant applieswhen input is driven byactivehigh/lowdevice

MOTOR OVERTEMP INPUT: IN11

OPTO-ISOLATED INPUTS: IN7, IN8, IN9, IN10

SPECIFICATIONS

Spec Data Notes

InputVoltage Vref ±10 Vdc

InputResistance Rin 5.05 kΩ

HI/LODEFINITIONS:OUTPUTS

Input State Condition

OUT1~3HI OutputSSRisON,currentflows

LO OutputSSRisOFF,nocurrentflows

CONNECTIONS

Signal (+) (-)

OUT1 J6-42 J6-27

OUT2 J6-41 J6-26

OUT3 J6-40 J6-25

SPECIFICATIONS

Output Data Notes

ON Voltage OUT(+) - OUT(-) Vdc 0.85V@300mAdc

Output Current Iout 300mAdcmax

CONNECTIONS

Signal Pins

AIN(+) J6-3

AIN(-) J6-2

Sgnd J6-6,16,22,31,37,44

+

1.5V

Shield (Frame Gnd)

AIN(+)

AIN(-)Vref

J6D/A

F.G.

±10V

Sgnd

-

[OUTn-]

300mAmax

* at 24 Vdc

Vdc

J6

[OUTn+]

1

80Ωmin*

36V

SSR

+



ANALOG INPUT: AIN1

Asareferenceinputittakesposition/velocity/torquecommandsfromacontroller.Ifnotusedasacommandinput,itcanbeusedasgeneral-purpose analog input.

• ±10 Vdc, differential• 12-bit resolution• Programmablefunctions

OPTO-ISOLATED OUTPUTS: OUT1, OUT2, OUT3

• Digital, opto-isolated• MOSFEToutputSSR,2-terminal• Flyback diode for inductive loads• 24VCompatible• Programmablefunctions

HI/LODEFINITIONS:OUTPUTS

Input State Condition

BRAKE [OUT5]

HI

Output transistor is OFF Brakeisun-poweredandlocksmotor Motorcannotmove Brake state is Active

LO

Output transistor is ON Brakeispowered,releasingmotor Motorisfreetomove Brake state is NOT-Active

SPECIFICATIONS

Output Data Notes

Voltage Range Max +30 Vdc

Output Current Ids 1.0 Adc

SPECIFICATIONS

OutputHI Data Notes

VoutHI Voh 4.4 Vdc

IoutHI Ioh -8.0mAdc

Vout LO Vol 0.40 Vdc

IoutLO Iol 8.0mAdc

J3CONNECTIONS

Pin Signal

4 Brk24VInput

3 Brk 24V Output

2 Brake[OUT5]

1 24V Return

J3

Brake [OUT5]

4

3

24V

Brk 24V Input

Brk 24V Output

24V Return

2

1

i

+0

J6+5 Vdc

[OUT4] ±8 mA

RSgnd



• Brake output• Opto-isolated• Flyback diode for inductive load• 24VCompatible• Protectedfrom24Vreverse-connectionstoJ3-1&J3-4• Programmablefunctionsfor[OUT5]

• CMOS buffer• 74AHCT1G125• Programmablefunctions

CME2DefaultSettingforBrakeOutput[OUT5]is“Brake-ActiveHI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CME2I/OLineStatesshowsOutput4asHI BRKOutputvoltageisHI(24V),MOSFETisOFF Servodriveoutputcurrentiszero Servo drive is disabled, PWM outputs are off Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CME2I/OLineStatesshowsOutput5asLO BRK output voltage is LO (~0V), MOSFET is ON Servo drive is enabled, PWM outputs are on Servodriveoutputcurrentisflowing

Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.

OPTO-ISOLATED MOTOR BRAKE OUTPUT: OUT5

HIGH-SPEED OUTPUT: OUT4

Signal J5Pins

Enc A 13

Enc /A 12

Enc B 11

Enc /B 10

Enc X 9

Enc /X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J5Pins

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

X 9

/X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J5Pins

S3 19

S1 18

S2 21

S4 20

R1 23

R2 22

Sgnd 5, 16, 25, 26

F.G. 1

1k+5V

1k

Encoder J5

FG Frame Ground

Enc. A121A

Enc. B121B

Enc. Index130X/X

X

/B

B

/A

A

+5V

0V

+5V Out @ 500 mA

Signal Ground

1k+5V

1k

+5V Out @ 500 mA

Signal Ground

Sin(+)

Sin(-)

Cos(+)

Cos(-)

X

/X

-

+

-

+

10k

121

J5

10k

121

Encoder

FG

sin

cos

+5V

0V

indx

Frame Ground

10k

Sin

Cos

10k

Enc. Index130

Enc. A

Enc. B

Enc. Index

A

/A

B

/B

X

/X

Encoder

121

121

121

FG Frame Ground

A

B

+5V

0V

+5V Out @ 500 mA

Signal Ground

J5

Resolver

FG Frame Ground

J5

Sin(+)

Sin(-)

Cos(-)

Cos(+)

Ref(+)

Ref(-)

R/DConversionSinS3 S1

S2

S4R1R2

Cos

Ref

Sgnd



FEEDBACK CONNECTIONS

QUAD A/B ENCODER WITH FAULT PROTECTIONEncoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweenA&/Awhichisbelowthe

differential fault threshold.Open-circuit condition: The 121Ωterminatorresistorwillpulltheinputstogetherifeitherside(orboth)isopen.

Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.Low differential voltage detection: Thisispossiblewithverylongcablerunsandafaultwilloccurifthe

differentialinputvoltageis<200mV.±15kV ESD protection: The3097Ehasprotectionagainsthigh-voltagedischargesusingtheHumanBodyModel.Extended common-mode range: Afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V

ANALOG SIN/COS INCREMENTAL ENCODERThesin/cosinputsareanalogdifferentialwith121Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTube motors.Theindexinputisdigital,differential.

QUAD ENCODER WITH INDEX QUAD ENCODER WITH NO INDEX

SIN/COS SIGNALS RESOLVER SIGNALS

A/B/X SIGNALS

Sgnd=SignalGround F.G.=FrameGnd


RESOLVER (-R MODELS)Connectionstotheresolvershouldbemadewithshieldedcablethatusesthreetwisted-pairs.Onceconnected,resolversetup,motorphasing,andothercommissioningadjustmentsaremadewithCME2software.Therearenohardwareadjustments.

Signal J5Pins

Clk 9

/Clk 8

Data 15

/Data 14

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J5Pins

Data 15

/Data 14

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

SSI BiSS J5Pins

Clk MA+ 9

/Clk MA- 8

Data SL+ 15

/Data SL- 14

+5V 6, 17

SignalGround 5, 16, 25, 26

FrameGnd 1

1k+5V

1k 1k+5V

1k

BiSSEncoder

221

130

MA+

MA-

SL+

SL-

FGFrame Ground

J5

Clk

Data

Master

Slave

V+

V-

+5V Out @ 500 mA

Signal Ground

1k+5V

1k 1k+5V

1k

Encoder

221

130

Clk

/Clk

Dat

/Dat

FGFrame Ground

J5

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

A

A

B

B

Signal Ground

-

+

-

+

A

B

A

B

1k+5V

1k 1k+5V

1k

Encoder

221

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Dat

/Dat

Clk

/Clk130

FGFrame Ground

J5

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

Signal Ground

10k

10k

121 Sin

Cos

10k

10k

121

sin

cos

Absolute-AEncoder

221

1.2k

1.2k

220

5V

SD+

SD-

J5

Battery

Dat

/DatCmd

D-R

SDCmd

D-R

SD

MAX3362B0V

+5VV+

V-

+5V Out@ 500 mA

Signal Ground

Batt+

Batt-

+

-

1k

1k

5V



FEEDBACK CONNECTIONS

SSI ABSOLUTE ENCODERTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheXECdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequent clock pulses. The polling of the encoder data occurs at the currentloopfrequency(16kHz).Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLKandSDATA.Dataissentin8bitbytes,LSBfirst.TheSCLKsignalisonlyactiveduringtransfers.Data is clocked out on the falling edge and clock in on the rising edge of the Master.

BiSS ABSOLUTE ENCODERBiSS is an - Open Source - digital interface for sensors and actuators. BiSSreferstoprinciplesofwellknownindustrialstandardsforSerialSynchronousInterfaceslikeSSI,AS-Interface®andInterbus®withadditional options. SerialSynchronousDataCommunication Cyclic at high speed 2 unidirectional lines Clock and Data Linedelaycompensationforhighspeeddatatransfer Request for data generation at slaves Safety capable: CRC, Errors, Warnings Bus capability incl. actuators Bidirectional BiSS B-protocol: Mode choice at each cycle start BiSSC-protocol:Continuousmode

ENDAT ABSOLUTE ENCODERTheEnDatinterfaceisaHeidenhaininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogsin/coschannelsfromthesameencoder.Thenumberofpositiondatabitsisprogrammableasistheuseofsin/coschannels.Useofsin/cosincrementalsignalsisoptionalintheEnDatspecification.

ABSOLUTE-A ENCODERThe Absolute A interface is a serial, half-duplex type that is electricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.

ENDAT SIGNALS

ABSOLUTE-A SIGNALS

Note: Single (outer) shields should be connected at both ends (motor and drive frame grounds). Inner shields should only be connected to Signal Ground on the drive.

SSI,BiSS SIGNALS



• Absolute A• TamagawaAbsoluteA• PanasonicAbsoluteAFormat• Sanyo Denki Absolute A

Signal J2Pin

Mot U 4

Mot V 3

Mot W 2

FrameGnd 1

Signal J5Pins

HallU 2

HallV 3

HallW 4

+5V 6, 17

Sgnd 5, 16, 25, 26

FrameGnd 1

J2

F.G.PWM

+HV

0V

+

W

V

U

Motor3 ph.

Halls

+5V Out @ 500 mA

Signal Ground

+5V

0V

10K

100p

10KHall U+5V

J5

100p

10K

10KHall V+5V

100p

10K

10KHall W

+5V

Hall A

Hall B

Hall C

HALL SIGNALS

MOTOR SIGNALS



MOTOR CONNECTIONS

MOTOR PHASE CONNECTIONSThe drive output is a three-phase PWM inverter that converts the DC buss voltage (+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimize PWMnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J2-1)forbestresults.

DIGITAL HALL SIGNALSHall signals are single-ended signals thatprovideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(U, V, &W) and theymay be sourced bymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc. They typically operate atmuch lowerfrequenciesthanthemotorencodersignals,and are used for commutation-initializationafter startup, and for checking themotorphasing after the amplifier has switched tosinusoidalcommutation.

16

3

2

1

Frame Gnd

5 25

26

17

8

9

10

11

12

1

13

Hall W 4

Hall V 3

Hall U 2

J5 6+5V Out

7

Signal Gnd

Signal Gnd

Motemp

BRUSHLESSMOTOR

U

V

U(+)

V(-)

W

BRUSHMOTOR

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J2

J3Brake

24V Return

4

Brk 24V Output

Brk 24V Input +

0V24 Vdc

Brk

Xenus Plus Compact

ENCODER

DIGITALHALLS

TEMPSENSOR

DIGITAL

/A

A

/B

B

/X

Vcc

0V

X

/A

A

/B

B

/X

X



Theconnectionsshownmaynotbeusedinallinstallations

MOTOR CONNECTIONS: DIGITAL QUAD A/B ENCODERS

NOTES:1) CEsymbolsindicateconnectionsrequiredforCEcompliance.2) WhenSTOfeatureisused,the24VpowersupplymustbeSELVorPELVwithoutput

voltagelimitedto60Vdc.

16

3

2

1

Frame Gnd

5 25

26

17

8

9

20

21

18

1

19

Hall W 4

Hall V 3

Hall U 2

J5 6+5V Out

7

Signal Gnd

Signal Gnd

Motemp

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J2

J3Brake

24V Return

4

Brk 24V Output

Brk 24V Input +

0V24 Vdc

Brk

ENCODER

DIGITALHALLS

DIGITALINDEX

Vcc

0V

TEMPSENSOR

ANALOGSIN/COS

Sin-

Sin+

Cos-

Cos+

Ndx-

Ndx+

Enc Sin(-)

Enc Sin(+)

Enc Cos(-)

Enc Cos(+)

Enc Index(-)

Enc Index(+)

BRUSHLESS

U

V

WMOTOR

U(+)

V(-)BRUSHMOTOR

Xenus Plus Compact



MOTOR CONNECTIONS: ANALOG SIN/COS INCREMENTAL ENCODERS

Theconnectionsshownmaynotbeusedinallinstallations



16

3

2

1

Frame Gnd

5 25

26

17

22

23

20

21

18

1

19

Hall W 4

Hall V 3

Hall U 2

J5 6+5V Out

7

Signal Gnd

Signal Gnd

Motemp

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J2

J3Brake

24V Return

4

Brk 24V Output

Brk 24V Input +

0V24 Vdc

Brk

TEMPSENSOR

RESOLVER

S1

S3

S4

S2

R2

R1

Rslvr Sin(-)

Rslvr Sin(+)

Rslvr Cos(-)

Rslvr Cos(+)

Rslvr Ref(-)

Rslvr Ref(+)

BRUSHLESS

U

V

WMOTOR

U(+)

V(-)BRUSHMOTOR

Xenus Plus Compact



MOTOR CONNECTIONS: RESOLVERS (-R OPTION)



Signal Pin

+24V Return 1

Brake 2

+24V to Brake 3

+24V 4

Signal Pin

FrameGround 1

Motor Phase W 2

Motor Phase V 3

Motor Phase U 4

Signal Pin

MainsInputL1 1

MainsInputL2 2

PEGround 3

FrameGround 4

MainsInputL3 5

PIN SIGNAL PIN SIGNAL

1 FrameGnd 6 STO-1(+)

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

3 STO-1(-) 8 STO-24V

4 STO-2(+) 9 STO-GND

5 STO-2(-)

J1

J3

J4

J5

J6

FE

ED

BA

CK

C

ON

TR

OL

+24

+24

BRK

24V RTN

SA

FE

TY

L1L2

L3U

VW

BR

AK

EM

OT

OR

P

OW

ER

XenusPlus

5 min

x10x1

DE

VIC

E ID

S1

S2

NE

TW

OR

KE

RR

L/AR

UN

L/A

RS

-232A

BA

MPJ8

J7

OU

TIN

J2



J1MAINSCONNECTIONS

J2MOTOROUTPUT

J3+24VDC&BRAKE

WARNING: Hazardous voltages exist on connections to J1, & J2 when power is

applied, and for up to 4 minutes after power is removed.

ISOLATEDCIRCUIT

J4STO

CONNECTORS & SIGNALS

PIN SIGNAL

1 n/c

2 RxD

3 Gnd*

4 Gnd*

5 TxD

6 n/c

PIN SIGNAL PIN SIGNAL PIN SIGNAL

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

2 HallU 11 Enc B 20 Cos1(-) S4

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

4 HallW 13 Enc A 22 Ref(-) R2 Note 2

5 SignalGnd 14 Enc /S 23 Ref(+) R1 Note 2

6 +5V Out1 15 Enc S 24 n/c

7 MotempIN11 16 SignalGnd 25 SignalGnd

8 Enc /X 17 +5V Out1 26 SignalGnd

9 Enc X 18 Sin1(-) S1

PIN SIGNAL PIN SIGNAL PIN SIGNAL

1 FrameGnd 16 SignalGnd 31 SignalGnd

2 Ref1(-) 17 +5V Out2 32 +5V Out2

3 Ref1(+) 18 Multi Enc /S 33 Multi Enc S

4 n/c 19 Multi Enc /X 34 Multi Enc X

5 n/c 20 Multi Enc /B 35 Multi Enc B

6 SignalGnd 21 Multi Enc /A 36 Multi Enc A

7 [IN1]GP 22 SignalGnd 37 SignalGnd

8 [IN2]GP 23 [OUT4]HS 38 n/c

9 [IN3]HS 24 n/c 39 n/c

10 [IN4]HS 25 [OUT3-]ISO 40 [OUT3+]ISO



13 [IN7]ISO 28 [INCOM]ISO 43 n/c

14 [IN8]ISO 29 n/c 44 SignalGnd

15 [IN9]ISO 30 [IN10]ISO

J1

J3

J4

J5

J6

FE

ED

BA

CK

C

ON

TR

OL

+24

+24

BRK

24V RTN

SA

FE

TY

L1L2

L3U

VW

BR

AK

EM

OT

OR

P

OW

ER

XenusPlus

5 min

x10x1

DE

VIC

E ID

S1

S2

NE

TW

OR

KE

RR

L/AR

UN

L/A

RS

-232A

BA

MPJ8

J7O

UT

IN

J2



J8RS-232PORT

J8RS-232NOTE1.J8signalsarereferencedtoSignalGnd.

J8CABLECONNECTOR:RJ-11style,male,6positionCable:6-conductormodulartype,straight-through

Notes:1)Thetotalcurrentdrawnfrom+5VOut1onJ5cannotexceed500mA.2)Thesesignalsareonlyon-Roptionmodels.Otherwisen/c.

RJ-11receptacle, 6 position, 4 contact

J5FEEDBACK

J6CONTROL&I/O

CONNECTORS & SIGNALS

* Signal ground



AWG mm2 Color Mfgr PNUM A B C D E SL

14 2.5 Blue Wago 216-206 15.0 (0.59) 8.0 (0.31) 2.05 (.08) 4.2 (0.17) 4.8 (0.19) 10 (0.39)

16 1.5 Black Wago 216-204 14.0 (0.59 8.0 (0.31) 1.7 (.07) 3.5 (0.14) 4.0 (0.16) 10 (0.39)

18 1.0 Red Wago 216-223 12.0 (.47) 6.0 (.24) 1.4 (.055) 3.0 (.12) 3.5 (.14) 8 (.31)

20 0.75 Gray Wago 216-222 12.0 (.47) 6.0 (.24) 1.2 (.047) 2.8 (.11) 3.3 (.13) 8 (.31)

22 0.5 White Wago 216-221 12.0 (.47) 6.0 (.24) 1.0 (.039) 2.6 (.10) 3.1 (.12) 7.5 (.30)


18 1.0 Red Wago 216-223 12.0 (.47) 6.0 (.24) 1.4 (.06) 3.0 (.12) 3.5 (.14) 8 (.31)

20 0.75 Gray Wago 216-222 12.0 (.47) 6.0 (.24) 1.2 (.05) 2.8 (.11) 3.3 (.13) 8 (.31)

22 0.5 White Wago 216-221 12.0 (.47) 6.0 (.24) 1.0 (.04) 2.6 (.10) 3.1 (.12) 7.5 (.30)


2 x 18 2 x 1.0 Red Altech 2776.0 15.4 (.61) 8.2[.32] 2.4 (.09) 3.2 (.13) 5.8 (.23) 11.0 (.43)

2 x 18 2 x 1.0 Gray Altech 2775.0 14.6 (.57) 8.2 (.32) 2.0 (.08) 3.0 (.12) 5.5 (.22) 11.0 (.43)

2 x 20 2 x 0.75 White Altech 2794.0 14.6 (.57) 8.2 (.32) 1.7 (.07) 3.0 (.12) 5.0 (.20) 11.0 (.43)

2 x 20 2 x 0.75 Gray TE 966144-2 15.0 (.59) 8.0 (.31) 1.70 (.07) 2.8 (.11) 5.0 (.20) 10 (.39)

2 x 22 2 x 0.50 White TE 966144-1 15.0 (.59) 8.0 (.31) 1.40 (.06) 2.5 (.10) 4.7 (.19) 10 (.39)

A

B

C D E

A

B

C D E

A

B

C D

E

WIRING

J3

FERRULEPARTNUMBERS:DOUBLEWIREINSULATED

FERRULEPARTNUMBERS:SINGLEWIREINSULATED

24V&BRAKE:J3

ACPOWER,ANDMOTOROUTPUT:J1,J2Tool

J1 J2

WagoMCS-MIDIClassic:231-305/107-000,5-pole(J1),231-304/107-000,4-pole(J2), femaleconnectors;withscrewflange;pinspacing5.08mm/0.2in

Conductor capacity Barestranded: AWG28~14[0.08~2.5mm2] Insulatedferrule: AWG24~16[0.25~1.5mm2] Strippinglength: 8~9mm OperatingTool: WagoMCS-MIDIClassic:231-159

FERRULEPARTNUMBERS:SINGLEWIREINSULATED

NOTESPNUM=PartNumberSL=StrippinglengthDimensions:mm(in)

Tool

SINGLEWIRE DOUBLEWIRE

WagoMCS-MINI:734-104/107-000,femaleconnector;withscrewflange, 4-pole;pinspacing3.5mm/0.138inConductor capacity Barestranded: AWG28~16[0.08~1.5mm2] Insulatedferrule: AWG24~16[0.25~1.5mm2] Strippinglength: 0.24~0.28in[6~7mm] Operatingtool: WagoMCS-MINI:734-231

~

~ -

+

~+

U

V

W

J3DC BUS(+)

DC BUS(-)

940 µF

Regen

L1

MAINSL3

L2J1

+5 Vdc

ENABLE [IN1]

SIGNAL GND

CONTROLSIGNALGROUND

CONTROL

RS-232

SYSTEM

J7

J8

3

1

2 BRAKE

EtherCATNetwork

PE GROUND

PWMINVERTER MOTOR

CASEFRAME GROUND

NETWORK

PHY

+24V

24VPOWER

+

-

BRAKE

24V Return

STO_GND

STO_24V

DC/DCCONVERTER

STOCONTROL

CONTROLCORE

RS-232Interface

40

10

20

30

40

50

60

70

90 100

110

120

130

140

150

160

170

180

190

200

210

220

230

240

250

260

270



REGENERATIONThechartbelowshowstheenergyabsorptionin W·s for a XECdriveoperatingatsometypical mains voltages. When the loadmechanical energy is greater than thesevalues an external regen resistor is available as an accessory.

connected and must never be grounded. TheframegroundterminalsatJ1-3,J1-4,J2-1,J4-1,J5-1,andJ6-1allconnecttothedrivechassisandareisolatedfromalldriveinternal circuits.Signal grounding references the drive control circuits to those of the control system. These controls circuits typicallyhave theirownearthconnectionat somepoint. To eliminate ground-loops it isrecommendedthatthedrivesignalgroundbeconnectedtothecontrolsystemcircuitground. When this is done the drive signal voltageswillbereferencedtothesame0Vlevelasthecircuitsinthecontrolsystem.Smallcurrentsflowbetweencontrolleranddrivewheninputsandoutputsinteract.Thesignal ground is the path for these currents to return to their power sources in bothcontroller and drive.ShieldsoncablesreduceemissionsfromthedriveforCEcomplianceandprotectinternalcircuits from interferencedue to externalsources of electrical noise. Because of their smallerwire gauge, these should not beused as part of a safety-ground system.Motor cases can be safety-grounded either atthemotor,byearthingtheframe,orbyagroundingconductorinthemotorcablethat connects to J2-1. This cable shouldbeofthesamegaugeastheothermotorphase cables.

GROUNDINGA grounding system has three primaryfunctions: safety, voltage-reference, and shielding. As a safetymeasure, the PE(ProtectiveEarth)groundatJ1-3willcarryfault-currents fromthemains in thecaseof an internal failure or short-circuit of electronic components.Wiring to this istypicallydonewiththegreenconductorwithyellow stripe using the same gaugewireasthatusedforthemains.Thiswireisa‘bonding’conductorthatshouldconnecttoanearthedgroundpointandmustnotpassthrough any circuit interrupting devices. All of the circuits on J1, and J2 are mains-

DRIVEPOWERSOURCESTherearefourisolationzonesintheXEC:1. +24V, Brake, & STO2. Control circuits, motor feedback, andRS-232comms

3. High-voltageinputs&PWMoutputs4. EtherCATnetworkinterfaceEachoftheseisisolatedfromtheothersandallareisolatedfromthechassis.+24 VDC, BRAKE, & STOTheprimarysideof theDC/DCconverteroperates directly from the external +24Vdcsupplyandisisolatedfromotherdrivepowersections.Secondarywindingsprovidepower foreach isolationzone.TheBrakeoutput [OUT6] operates in this sectionand is referenced to the +24 Vdc return (0V).Itsinkscurrentfromanexternalloadconnectedtotheexternal+24Vdcpowersource.TheSTOcircuitsalsooperatefromthe24VpowerandtheSTO-24Vsuppliescurrentforde-activating(muting)theSTOfunctionwhenitisnotused.SIGNAL&RS-232CIRCUITSThesignalpowersectionsuppliespowerforthecontrolcircuitsaswellastheRS-232communications.Motor feedback signalssuch as Halls, encoder, and temperaturesensor operate in this section. All signal circuits are referenced to Signal Ground.This ground should connect to the control systemcircuitgroundorcommonsothatdrive and controller inputs and output voltage levels work properly with eachother.

HIGHVOLTAGE,REGEN,&PWMMains power drives the high-voltagesection.Itisrectifiedandcapacitor-filteredtoproduceinternalDCbuswhichthePWMstage converts into voltages that drive either three phase brushless or DC brush motors.Aninternalsolid-stateswitchandpowerresistorprovidesdissipationduringregeneration. All the circuits in this section are“hot”,thatis,theyconnectdirectlytothemainsandmustbeconsideredhigh-voltagesand a shock hazard requiring properinsulation techniques during installation.ETHERCATNETWORKThenetworkconnectionsfromtheEtherCATreceptaclesaremagneticallyisolatedfromthe PHY (PHYsical interface) logic whichconverts themintodatawhich ishandledby the control core.

ENERGYABSORPTION

MAINS(VAC)

Joules(W·s)

DEVICE STRUCTURE & ISOLATION

Max Energy 248W·s(J)

Resistance 60 Ω

Power,continuous 20 W

Power,peak 2500 W

Time 100ms



Vac E100 62120 58200 34240 17

Velocity

BusVdc

HVdc

390

Off

Active

RegenResistor

Absorption

Decel time

Regen time

Velocity

BusVoltage

RegenActive Regen

Dwell Time

RegenCycle Time

REGENERATION

Thedrivehashasaninternalregenresistorwhichcanhandleregenerativeenergythatexceedstheabsorptioncapacityoftheinternalbuscapacitance.Theinternalregenresistorwillbeswitchedonwhentheenergyshowninthetablehasbeenabsorbedandthebusvoltagedrivenupto390Vdcatwhichpointtheinternalregenresistorwillbeswitchedtoabsorbthekineticenergyof the load.

ABSORPTION

INTERNALREGENRESISTOR

CALCULATINGTHEREGENREPETITIONFREQUENCY

Step4:Findthetotalregencycletimebyaddingthedecelerationtime

tothedwelltime:

DecelTime=1.25sec

DwellTime=2.90sec

CycleTime=4.15sec

Step3:Dividetheregenenergybythecontinuouspowerratingof20Watts togetthedwelltimethatcandissipatetheregenenergyintheresistor:

DwellTime=58Joules=2.9sec 20 Watts Seconds;Joules,Watts

Step1:Findtheenergyofmotionforarotatingload,forthisexampleletitbe75Joules:

E=J*RPM2 =75J 182 Joules;kg·m2, RPM

Step2:Subtracttheabsorptionatyourmainsvoltagetogettheenergythatmustbe dissipated in the regen resistor. Use 240 Vac:

75J-17J=58JJoules;Joules

Absorption is the energy that can be transferred to the 940 uF internal capacitance during deceleration. This table showstheenergyabsorptioninW·sforadriveoperatingatsometypicalmainsvoltages.Ifthedecelerationenergyis less than the absorption capacity of the drive, then the regenerationresistorwillnotbeswitched-onbecausethebusvoltagewillnotriseenoughtohittheover-voltagelevelthatwoulddisablethePWMoutputs.

Terms:

E Energy Joules,Watt·seconds

J RotaryMomentofInertia kg·m2

P Power Watts

0.00

5.00

10.00

15.00

20.00

25.00

0 500 1000 1500 2000 2500 3000 3500

AC M

ains

Inpu

t Cur

rent

(Arm

s)

Drive Output Power (W)

AC Mains Input Current @ 208VAC Mains Voltage

1 PH (Cont OperatingRange)3 PH (Cont OperatingRange)1 PH (Peak OperatingRange)3 PH (Peak OperatingRange)

Output Current InputCurrent(Arms)

ACInput (Vrms)

Peak of Sine (A)

Power (W) 1Ø 3Ø

208 1.0 217 1.57 0.87

208 2.0 433 3.15 1.73

208 3.0 650 4.72 2.60

208 4.0 866 6.29 3.47

208 5.0 1083 7.87 4.34

208 6.0 1299 9.44 5.20

208 7.0 1516 11.02 6.07

208 7.5 1624 11.80 6.50

208 8.0 1732 12.59 6.94

208 9.0 1949 14.16 7.81

208 10.0 2165 15.74 8.67

208 11.0 2382 17.31 9.54

208 12.0 2598 18.88 10.41

208 13.0 2815 20.46 11.27

208 14.0 3031 22.03 12.14

208 15.0 3248 23.61 13.01



AC POWER REQUIREMENTS

OperationfromACpowerandfull-waverectificationtoDCinthedriveproducespowerfactorsof66%from1-phaseand69%from3-phasemains.ThetableandchartbelowshowtheACinputcurrentsthatresultfromtheoutputpowerneededtodriveamotorinanapplication.

Thechartaboveshowsanexampleusinga1HP(746Watt)motoroperatingatitsratedpoweroutput. From1Ømains,theinputcurrentwouldbe2.98Armsandfor3Ømainsitwouldbe5.42Arms.

746

5.42

2.98

See Note 2

1.01 25.6

4.8.19

1.00 25.4

End View

Fan Air-Flow

End View

4.12 104.7

2.13 54.1

.20 5.2

13.3.53

7.13 181.1

7.54 191.4

4.54 115.2

4.70 119.5

4.8.19

5 m

ind



DIMENSIONS [IN/MM]

Notes:1)Recommendedscrewsformountingslots:#8-32orM4externaltoothSEMS2)Cableshieldgroundingsocket:#8-32externaltoothSEMS

J2 J2 J2 J2

J1

J3

J4

J5

J6

FE

ED

BA

CK

C

ON

TR

OL

+24

+24

BRK

24V RTN

SA

FE

TY

L1L2

L3U

VW

BR

AK

EM

OT

OR

P

OW

ER

XenusPlus

5 min

x10x1

DE

VIC

E ID

S1

S2

NE

TW

OR

KE

RR

L/AR

UN

L/A

RS

-232A

BA

MPJ8

J7O

UT

IN

J2

J1

J3

J4

J5

J6

FE

ED

BA

CK

C

ON

TR

OL

+24

+24

BRK

24V RTN

SA

FE

TY

L1L2

L3U

VW

BR

AK

EM

OT

OR

P

OW

ER

XenusPlus

5 min

x10x1

DE

VIC

E ID

S1

S2

NE

TW

OR

KE

RR

L/AR

UN

L/A

RS

-232A

BA

MPJ8

J7

OU

TIN

J2

J1

J3

J4

J5

J6

FE

ED

BA

CK

C

ON

TR

OL

+24

+24

BRK

24V RTN

SA

FE

TY

L1L2

L3U

VW

BR

AK

EM

OT

OR

P

OW

ER

XenusPlus

5 min

x10x1

DE

VIC

E ID

S1

S2

NE

TW

OR

KE

RR

L/AR

UN

L/A

RS

-232A

BA

MPJ8

J7

OU

TIN

J2

J1

J3

J4

J5

J6

FE

ED

BA

CK

C

ON

TR

OL

+24

+24

BRK

24V RTN

SA

FE

TY

L1L2

L3U

VW

BR

AK

EM

OT

OR

P

OW

ER

XenusPlus

5 min

x10x1

DE

VIC

E ID

S1

S2

NE

TW

OR

KE

RR

L/AR

UN

L/A

RS

-232A

BA

MPJ8

J7

OU

TIN

J2

2 [50]

2 [50]

0.4 [10] 0.4 [10]

Minimum Clearancein[mm]

Minimum Clearancein[mm]

Minimum Spacingin[mm]

Fan Air-Flow

Fan Air-Flow

Fan Air-Flow

Fan Air-Flow

0.4 [10]



INSTALLATION

Thegraphicbelowshowstherecommendedmountingformultipledrives. Theclearancesshowsareminimums.

XEC-230-09 XEC Servo Drive, 3/9 Adc

XEC-230-09-R XEC ServoDrive,3/9Adcwithresolverfeedback

XEC-230-12 XEC Servo Drive, 6/12 Adc

XEC-230-12-R XEC ServoDrive,6/12Adcwithresolverfeedback

XEC-230-15 XEC Servo Drive, 7.5/15 Adc

XEC-230-15-R XEC ServoDrive,7.5/15Adcwithresolverfeedback

Qty Ref Name Description Manufacturer P/N

XEC-CKConnector Kit

1J1 ACPwr

Plug,5position,5.08mm,female Wago: 231-305/107-000 (Note 1)

1 Strainrelief,snap-on,5.08mm,5position,orange Wago: 232-635

1J2 Motor


1 Strainrelief,snap-on,5.08mm,4position,orange Wago: 232-634

1 J1,J2 Tool Tool,wireinsertion&extraction,231series Wago: 231-159

1J3 Brake


1 Strainrelief,snap-on,3.5mm,5position,grey Wago: 734-604

1 J5 Tool Tool,wireinsertion&extraction,734series Wago: 734-231

1

J4 Note 2 Safety

Connector,DB-9M,9-position,standard,male TE/AMP: 205204-4

9 AMPLIMITEHD-20Crimp-Snapcontacts,24-20AWG,AUflash TE/AMP: 66506-9

1 MetalBackshell,DB-9,RoHS 3M: 3357-9209

4 Jumper,withpinscrimpedonbothends Copley: 10-75177-01

1J5 Feed-

backConnector,high-densityDB-26M,26position,male,soldercup Norcomp: 180-026-103L001


1J6 Control

Connector,high-densityDB-44M,44position,male,soldercup Norcomp: 180-044-103L001


XEC-NC-10 1J7 Network

EtherCAT®networkcable,10ft(3m)

XEC-NC-01 1 EtherCAT®networkcable,1ft(0.3m)

SER-CK 1 J8 RS-232 Serial Cable Kit

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

Note2:Insertion/extractiontoolforJ6contactsisAMP/Tyco91067-2(notincludedinXEC-CK)

16-01435DocumentRevisionHistory

Revision Date Remarks

00 August 30, 2016 Initialreleasedversion

01 January3,2017 Updatedimensions

03 March 20, 2017 ECO-066029,addedresolverfeedbackanddrivemountingspacings

04 April 30, 2018 AddedF47toapprovals,correctionstoinputpowerfor-09,-12models,ACpowerrequirements



Note:Specificationssubjecttochangewithoutnotice

ORDERINGGUIDE

Example:OrderoneXenus Plus Compactdrive,6/12AwithconnectorKit,resolverfeedback,andserialcablekit:Qty Item Remarks 1 XEC-230-12-R Xenus Plus Compactservodrivewithresolverfeedback 1 XEC-CK Connector Kit 1 SER-CK Serial Cable Kit

ACCESSORIES

EtherCATisaregisteredtrademarkandpatentedtechnology,licensedbyBeckhoffAutomationGmbH,Germany.

ORDERING INFORMATION

xenus pluscompact etercat xecmar 03, 2020 · communications • ethercat • rs-232 feedback...

Documents