Copley Controls Xenus PLUS - Page 8

Signal Axis A AxisB
Pls, Enc A J12-10 J12-15
Dir,EncB J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Signal Axis A AxisB
PWM J12-10 J12-15
Dir J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Signal Axis A AxisB
Pls, Enc A J12-8 J12-13
/Pls, Enc /A J12-9 J12-14
Dir,EncB J12-10 J12-15
/Dir,Enc/B J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
Signal Axis A AxisB
PWM J12-8 J12-13
/PWM J12-9 J12-14
Dir J12-10 J12-15
/Dir J12-11 J12-30
Sgnd J12-6,16,22,31,37,44
Shld J12-1
COMMANDSINGLE-ENDED
COMMANDSINGLE-ENDED
COMMANDDIFFERENTIAL
COMMANDDIFFERENTIAL
Pulse
Direction
IN4(14)
IN5(15)
Enc. A
Enc. B
IN4(14)
IN5(15)
Encoder ph. B
Encoder ph. A
PULSE+
PULSE-
DIRECTION-
DIRECTION+
IN2(12)
IN3(13)
IN4(14)
IN5(15)
Enc. A
Enc. /A
Enc B
Enc /B
Encoder ph. B
Encoder ph. A
IN2(12)
IN3(13)
IN4(14)
IN5(15)
Duty = 0~100%
Current or
Velocity
Polarity or
Direction
IN4(14)
IN5(15)
Current or
Velocity
No function
IN4(14)
IN5(15)
Duty = 50% ±50%
<no connection>
Duty = 0 - 100%
PWM+
PWM-
Direction+
Direction-
IN2(12)
IN3(13)
IN4(14)
IN5(15)
Curr/Vel+
Curr/Vel-
Duty = 50% ±50%
No
Function
<no connection>
IN2(12)
IN3(13)
IN4(14)
IN5(15)
PULSE+
PULSE-
DIRECTION+
DIRECTION-
CD (Count-Down)
CU (Count-Up)
IN2(12)
IN3(13)
IN4(14)
IN5(15)
CU
CD
IN4(14)
IN5(15)
CU (Count-Up)
CD (Count-Down)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 8 of 32
RoHS
Xenus
PLUS
2-Axis EtherCAT
800-1782
COMMANDINPUTS
DIGITALPOSITION
Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up
and pull-down to take advantage of the high-speed inputs. Differential inputs have 121 Ω line-terminators.
DIGITALTORQUE,VELOCITY
Digitaltorqueorvelocitycommandscanbeineithersingle-endedordifferentialformat.Single-endedsignalsmustbesourcedfromdeviceswithactive
pull-up and pull-down to take advantage of the high-speed inputs.
SINGLE-ENDEDPWM&DIRECTION
SINGLE-ENDED50%PWM DIFFERENTIAL50%PWM
DIFFERENTIALPWM&DIRECTION
SINGLE-ENDEDPULSE&DIRECTION
SINGLE-ENDEDCU/CD
QUADA/BENCODERSINGLE-ENDED
DIFFERENTIALCU/CD
DIFFERENTIALPULSE&DIRECTION
QUADA/BENCODERDIFFERENTIAL