Table of Contents Xenus XSL User Guide
6 Copley Controls Corp.
6.9: Auto Tune Current Loop ..................................................................................................................................................... 149
6.9.1: Auto Tune Objective .............................................................................................................................................. 149
6.9.2: Auto Tune Instructions........................................................................................................................................... 149
6.10: Home Function ................................................................................................................................................................. 152
6.10.1: Overview.............................................................................................................................................................. 152
6.10.2: Homing Functions Settings.................................................................................................................................. 152
A: Regen Resistor Sizing and Configuration ............................................................................................................................. 153
A.1: Sizing a Regen Resistor..................................................................................................................................................... 154
A.1.1: Gather Required Information ................................................................................................................................. 154
A.1.2: Observe the Properties of Each Deceleration During a Complete Cycle of Operation ........................................... 154
A.1.3: Calculate Energy Returned for Each Deceleration................................................................................................. 155
A.1.4: Determine the Amount of Energy Dissipated by the Motor .................................................................................... 155
A.1.5: Determine the Amount of Energy Returned to the Amplifier .................................................................................. 155
A.1.6: Determine if Energy Returned Exceeds Amplifier Capacity ................................................................................... 156
A.1.7: Calculate Energy to be Dissipated for Each Deceleration...................................................................................... 156
A.1.8: Calculate Pulse Power of Each Deceleration that Exceeds Amplifier Capacity...................................................... 156
A.1.9: Calculate Resistance Needed to Dissipate the Pulse Power ................................................................................. 156
A.1.10: Calculate Continuous Power to be Dissipated ..................................................................................................... 157
A.1.11: Select Fuses ....................................................................................................................................................... 157
A.2: Configuring a Custom Regen Resistor ............................................................................................................................... 158
A.2.1: Regen Configuration Objective and Warning......................................................................................................... 158
A.2.2: Regen Configuration Instructions .......................................................................................................................... 158
B: I
2
T Time Limit Algorithm ......................................................................................................................................................... 161
B.1: I
2
T Algorithm ...................................................................................................................................................................... 162
B.1.1: I
2
T Overview.......................................................................................................................................................... 162
B.1.2: I
2
T Formulas and Algorithm Operation .................................................................................................................. 162
B.1.3: I
2
T Current Limit Algorithm – Application Example ................................................................................................ 163
C: Velocity Loop Filters ............................................................................................................................................................... 167
C.1: Advanced Velocity Loop Filter............................................................................................................................................ 167
C.1.1: Filter Overview ...................................................................................................................................................... 167
C.1.2: Filter Instructions and Details ................................................................................................................................ 167
D: Thermal Considerations.......................................................................................................................................................... 169
D.1: Operating Temperature and Cooling Configurations .......................................................................................................... 170
D.1.2: Heatsink and Fan Configurations .......................................................................................................................... 171
D.2: Heatsink Mounting Instructions .......................................................................................................................................... 172
E: Xenus Filter.............................................................................................................................................................................. 173
E.1: Overview............................................................................................................................................................................ 174
E.1.1: Differential and Common Mode Filtering ............................................................................................................... 174
E.1.2: Description and Functional Diagram...................................................................................................................... 174
E.1.3: PWM Output Plot .................................................................................................................................................. 174
E.2: XSL-FA-01 Edge Filter Specifications ................................................................................................................................ 175
E.3: Thermal Considerations ..................................................................................................................................................... 175
E.4: XSL-FA-01 Edge Filter Dimensions.................................................................................................................................... 176
E.5: XSL-FA-01 Edge Filter Wiring ............................................................................................................................................ 177
E.5.2: Electrical Codes and Warnings ............................................................................................................................. 177
E.5.2: Connector Locations ............................................................................................................................................. 178
E.5.3: Cable Notes .......................................................................................................................................................... 179
E.5.4: Input (J1) From Amplifier....................................................................................................................................... 179
E.5.5: Output (J2) To Motor ............................................................................................................................................. 179
E.5.6: Diagram: Edge Filter Wiring with Brushless Motor................................................................................................. 180
E.5.7: Diagram: Edge Filter Wiring with Brush Motor ....................................................................................................... 180
E.6: XSL-FA-01 Edge Filter Ordering......................................................................................................................................... 181
F: Connecting for Serial Control................................................................................................................................................. 183
F.1: Single-Axis and Multi-Drop ................................................................................................................................................. 184
F.1.2: Single-Axis Connections........................................................................................................................................ 184
F.1.3: Multi-Drop Network Connections ........................................................................................................................... 184
G: ServoTube Motor Setup .......................................................................................................................................................... 185
G.1: ServoTube Setup and Configuration .................................................................................................................................. 186
G.1.1: ServoTube Basic Setup Screen Options ............................................................................................................... 186
G.1.2: ServoTube Motor/Feedback Setup........................................................................................................................ 187
G.1.3: Calculating ServoTube Initial Values..................................................................................................................... 188
G.1.4: Setting Up the Motor Over Temperature Input....................................................................................................... 188
G.1.5: Other ServoTube I/O and Fault Latching Setup Steps .......................................................................................... 188
G.2: ServoTube Auto Phase and Manual Phase ....................................................................................................................... 189
G.2.1: ServoTube Auto Phase......................................................................................................................................... 189
G.2.2: ServoTube Manual Phase..................................................................................................................................... 192
G.3: Special ServoTube Setup Completion ............................................................................................................................... 192
H: Ordering Guide and Accessories ........................................................................................................................................... 193
H.1: Amplifier Model Numbers................................................................................................................................................... 194
H.2: Accessory Model Numbers ................................................................................................................................................ 194
H.3: Order Example................................................................................................................................................................... 195
H.4: Control and Feedback Cable Color Codes ......................................................................................................................... 196
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