Xenus Plus User Guide 16-01344 Rev 06
Copley Controls 3
TABLE OF CONTENTS
About This Manual ..................................................................................................................................................................................... 5
1: Introduction .................................................................................................................................................................................... 10
1.1: Xenus Plus Family Overview .................................................................................................................................................... 11
1.2: CME .......................................................................................................................................................................................... 12
1.3: CML/CMO ................................................................................................................................................................................. 13
1.4: Copley Virtual Machine (CVM) ................................................................................................................................................. 13
1.5: Indexer 2 ................................................................................................................................................................................... 13
1.6: CPL ........................................................................................................................................................................................... 13
2: Operational Theory ........................................................................................................................................................................ 14
2.1: Drive Power Architecture .......................................................................................................................................................... 15
2.2: Operating Modes ...................................................................................................................................................................... 17
2.3: Input Command Types ............................................................................................................................................................. 28
2.4: Communication ......................................................................................................................................................................... 33
2.5: Status Indicators ....................................................................................................................................................................... 38
2.6: Protection .................................................................................................................................................................................. 50
2.7: Position and Velocity Errors ...................................................................................................................................................... 52
2.8: Inputs XEL/XPL/XML ................................................................................................................................................................ 55
2.9: Inputs XE2/XP2/XM2/800-1818/800-1819/800-1887 ............................................................................................................... 56
2.10: Outputs, XEL/XPL/XML .......................................................................................................................................................... 58
2.11: Outputs, XE2/XP2/XM2/800-1818/800-1819/800-1887 ......................................................................................................... 58
2.12: Brake Operation ...................................................................................................................................................................... 58
2.13: Regen Resistor Theory ........................................................................................................................................................... 61
3: Specifications ................................................................................................................................................................................ 64
3.1: Agency Approvals ..................................................................................................................................................................... 65
3.2: Power Input ............................................................................................................................................................................... 65
3.3: Power Output ............................................................................................................................................................................ 66
3.4: Control Loops ........................................................................................................................................................................... 67
3.5: Regen Circuit Output (External Regen Resistor) ...................................................................................................................... 67
3.6: Regen Circuit Output (Internal Regen Resistor) ....................................................................................................................... 67
3.7: Digital Command Inputs ........................................................................................................................................................... 68
3.8: Analog Inputs ............................................................................................................................................................................ 68
3.9: Digital Inputs ............................................................................................................................................................................. 69
3.10: Analog Output ......................................................................................................................................................................... 70
3.11: Digital Outputs ........................................................................................................................................................................ 70
3.12: Encoder Power Outputs .......................................................................................................................................................... 71
3.13: Primary Encoder Inputs .......................................................................................................................................................... 71
3.14: Analog Encoder Inputs ........................................................................................................................................................... 72
3.15: Hall Switch Inputs ................................................................................................................................................................... 73
3.16: Resolver Interface ................................................................................................................................................................... 74
3.17: Multi-Mode Port ...................................................................................................................................................................... 75
3.18: Serial Interface ........................................................................................................................................................................ 76
3.19: Network Interfaces .................................................................................................................................................................. 77
3.20: Status Indicators ..................................................................................................................................................................... 78
3.21: Fault Levels ............................................................................................................................................................................ 78
3.22: Power Dissipation ................................................................................................................................................................... 79
3.23: Thermal Impedance ................................................................................................................................................................ 79
3.24: Mechanical and Environmental ............................................................................................................................................... 80
3.25: Dimensions ............................................................................................................................................................................. 81
4: Wiring .............................................................................................................................................................................................. 84
4.1: General Wiring Instructions ...................................................................................................................................................... 85
4.2: AC Mains (J1) ........................................................................................................................................................................... 88
4.3: Motor(s) .................................................................................................................................................................................... 91
4.4: Regen Resistor (Optional) ........................................................................................................................................................ 93
4.5: Logic Supply / Brake ................................................................................................................................................................. 96
4.6: Ferrules – XE2/XP2/XM2/800-1818/800-1819/800-1887 ......................................................................................................... 98
Motor Torque Off ............................................................................................................................................................................ 99
4.7: (MTO) ....................................................................................................................................................................................... 99
4.8: Safe Torque Off (STO) ........................................................................................................................................................... 104
4.9: RS-232 Serial Communications .............................................................................................................................................. 106
4.10: Network Ports ....................................................................................................................................................................... 107
4.11: Control I/O ............................................................................................................................................................................ 110
4.12: Motor Feedback .................................................................................................................................................................... 126
A: Regen Resistor Sizing and Configuration ................................................................................................................................. 134
A.1: Sizing a Regen Resistor ......................................................................................................................................................... 135
B: I
2
T Time Limit Algorithm ................................................................................................................................................................... 139
B.1: I
2
T Algorithm ........................................................................................................................................................................... 140
C: Thermal Considerations .............................................................................................................................................................. 143
C.1: Operating Temperature and Cooling Configurations ............................................................................................................. 144
C.2: Heatsink Mounting Instructions (XEL/XPL/XML) .................................................................................................................... 148
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