Copley Controls Corp. 303 User Manual download pdf

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547

Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 1 of 26

DIGITAL SERVO DRIVE

for BRUSHLESS/BRUSH MOTORS

Xenus

XSL

DESCRIPTION

Xenus combines CANopen networking with 100% digital control of

brushless or brush motors in an off-line powered package that can

operate from single or three-phase mains with continuous power

output to 4 kW.

Xenus is offered in two versions based on the type of feedback.

Standard models supports digital quadrature or analog sin/cos

encoders. Resolver feedback is available in “-R” models which convert

the resolver angle into quadrature encoder signals for using Xenus

with external controllers.

Xenus operates as a Motion Control Device under the DSP-402

protocol of the CANopen DS-301 V4.01 (EN 50325-4) application

layer. DSP-402 modes supported include: Prole Position, Prole

Velocity, Prole Torque, Interpolated Position (PVT), and Homing.

Drive commissioning is fast and simple using CME 2 software

operating under Windows® communicating with Xenus via CAN or an

RS-232 link. CAN address selection is by a 16-position rotary switch

on the front panel. If there are more than fteen devices on a CAN

bus, the additional address bits needed can come from programmable

inputs, or can be set in ash memory. Prole Position Mode does

a complete motion index on command with S-curve acceleration &

deceleration, top speed, and distance programmable. In PVT mode,

the controller sends out a sequence of points each of which is an

increment of a larger, more complex move than a single index or

prole. The drive then uses cubic polynomial interpolation to “connect

the dots” such that the motor reaches each point (Position) at the

specied velocity (Velocity) at the prescribed time (Time).

Homing mode is congurable to work with a variety of limit,

index, and home switches such that the drive moves the motor

into a position that has an absolute reference to some part of the

machine. Eleven logic inputs are programmable as limit or home

switches, stepper/encoder pulse inputs, reset, digital torque

or velocity reference, or motor-temperature. A twelfth input is

dedicated to the drive Enable function. Three programmable logic

outputs are for reporting a drive fault or other status indications.

A fourth optically-isolated output can drive a motor brake from

the external +24 Vdc power supply or can be programmed as a

logic output.

In addition to CANopen motion commands, Xenus can operate as

a stand-alone drive. Current and velocity modes accept ±10 Vdc

analog, digital 50% PWM or PWM/polarity inputs. In position mode

inputs can be incremental position commands from step-motor

controllers in Pulse/Direction or CW/CCW format, ±10 Vdc analog,

or A/B quadrature commands from a master-encoder. Pulse to

position ratio is programmable for electronic gearing.

Power output of the drive varies with the input power which can

range from 100 to 240 Vac, and from 47 to 63 Hz. Either single

or three phase mains can be used giving Xenus the ability to work

in the widest possible range of industrial settings. Signal and

control circuits are isolated from the high-voltage power supply

and inverter stage that connect to the mains. A +24 Vdc input

powers control circuits for keep-alive operation permitting the drive

power stage to be completely powered down without losing position

information or communications with the control system.

Control Modes

• Indexer, Point-to-Point, PVT

• Camming, Gearing, Position, Velocity, Torque

Command Interface

• CANopen

• ASCII and discrete I/O

• Stepper commands

• ±10V position/velocity/torque command

• PWM velocity/torque command

• Master encoder (Gearing/Camming)

Communications

• CANopen

• RS232

Feedback

• Digital Quad A/B encoder

• Secondary encoder / emulated encoder out

• Analog sin/cos encoder

• Resolver

• Digital Halls

I/O - Digital

• 12 inputs, 4 outputs

Accessories

• External regen resistors

• External edge lter

Dimensions: mm [in]

• 7.5 x 5.5 x 2.5 [191 x 140 x 64]

Model Vac Ic Ip

XSL-230-18 100 - 240 6 18

XSL-230-36 100 - 240 12 36

XSL-230-40 100 - 240 20 40

Resolver version: append -R

1 2 3 4 5 6 ... 25 26

Summary of Contents

Page 1 - Communications

RCopley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: h

Page 2 - DIGITAL SERVO DRIVE

(NOTE 1)(NOTE 1)Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected]

Page 3

Note: Cable shields connect to connector shells and not to conductors. The shells of drive J7 & J8 are connected to the earth ground terminal on p

Page 4 - Inches (mm)

Signal Pin+24 Vdc Control Power 3Brake Output [OUT4] 20V (+24 Vdc Return) 1Signal PinMains Input L3 4Protective Ground 3Mains Input L2 2Mains Input L1

Page 5 - COMMUNICATIONS

Signal Pin SignalFrame Ground 1 11 Digital Hall USignal Ground 2 12 Digital Hall V+5 Vdc @ 400 mA 3 13 Digital Hall WEncoder A Input 4 14 [IN5] Temp S

Page 6 - COMMAND INPUTS

(NOTE 1)Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Inte

Page 7 - INPUT / OUTPUT

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: ht

Page 8 - FEEDBACK : ENCODER VERSIONS

Signal PinMains Input L3 4Protective Ground 3Mains Input L2 2Mains Input L1 1Signal PinMotor Phase U 4Motor Phase V 3Motor Phase W 2Cable Shield 1Sign

Page 9

Signal Pin SignalFrame Ground 1 14 [OUT2]Signal Ground 2 15 [OUT3]Enable [IN1] 3 16 Multi-Mode Encoder AGP Input [IN2] 4 17 Multi-Mode Encoder /AGP In

Page 10 - (NOTE 1)

+24VDCLOGIC&SIGNALPOWERRTNPWMINVERTERL1CONTROLLOGICMAINSL3SIGNAL GND+5 VdcUVWMOTORHALLSENCODERCASEDC BUSS(+)DC BUSS(-)L2DRIVECHASSISCONTROLSYSTEME

Page 11

CANCARDCOM1COM2COMxJ6J8J7J5(1)PART NUMBER DESCRIPTIONXSL-230-18 Xenus XSL Servodrive 6/18 AXSL-230-36 Xenus XSL Servodrive 12/36 AXSL-230-40 Xenus XSL

Page 12 - J4 +24 VDC & Brake

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: ht

Page 13 - J8 Motor Feedback

J6J6J6PART NUMBER DESCRIPTIONXSL-230-18 Xenus XSL Servodrive 6/18 AXSL-230-36 Xenus XSL Servodrive 12/36 AXSL-230-40 Xenus XSL Servodrive 20/40 AXSL-N

Page 14 - Resolver

J5J8J7MotionControllerPART NUMBER DESCRIPTIONXSL-230-18 Xenus XSL Servodrive 6/18 AXSL-230-36 Xenus XSL Servodrive 12/36 AXSL-230-40 Xenus XSL Servodr

Page 15

Heat-sinkAC LineFilterFuses RegenResistorXTL-RA-03XTL-RA-04Brushless Servo Motor with Encoder (digital or analog)Digital Halls (optional)orResolverThe

Page 16

Edge FilterRS-232CME 2ASCIIControlCANMasterCANNode(s)+24 VdcPowerSupplyMotorEncoderResolverLine FilterRegenResistorController orPLCAC Mains100~240 Vac

Page 17

NOTE: FANS ARE NOT INCLUDED WITH HEATSINKS OR HEATSINK KITSCopley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 T

Page 18 - DRIVE POWER SOURCES

2030405060654321 Continuous Output Current (Adc)Ambient Temperature (˚C)Model: XSL-230-18Mains: 120 VacNo HeatsinkLow ProfileHeatsink *1212* All other

Page 19

ENCODER RESOLVER DESCRIPTIONXSL-230-18 XSL-230-18-RXenus Servo Drive 6/18 AdcXSL-230-36 XSL-230-36-RXenus Servo Drive 12/36 AdcXSL-230-40 XSL-230-40-R

Page 20

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: ht

Page 21 - STAND-ALONE OPERATION

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: ht

Page 22

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: ht

Page 23 - INSTALLATION

Xenus2425231+5.0k5.0k37.4kFrame GroundVrefJ7D/AF.G.37.4k±10VSgnd-Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-

Page 24 - WITH HEATSINKS OR HEATSINK

24VDC MAX12VDC MAX24VDC MAX12VDC MAX (*24VDC)Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E

Page 25 - Ambient Temperature (˚C)

Sin/Cos Encoder SignalsVdd = Encoder supply voltageVcm = Common-Mode VoltageCopley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fa

Page 26

-+Secondary22 pF26CS322.2kEncoder Input1k+5V1k22 pFBuffered Digital Encoder orEmulated Encoder OutputInput/OutputSelect26CS31Copley Controls, 20 Dan R

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Copley Controls Corp. 303 User Manual

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Summary of Contents

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