Copley Controls Xenus XTL Series User Manual

Xenus XTL
™
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com Page 1 of 30
RoHS
DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
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.
Standard models use quad A/B digital encoders for feedback. Two
other versions are available for use with resolvers or sin/cos analog
encoders.
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 over-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
• Stepper commands
Single-ended or Differential selectable
• CANopen/DeviceNet
• ASCII and discrete I/O
• ±10V position/velocity/torque command
• PWM velocity/torque command
• Master encoder (Gearing/Camming)
Communications
• CANopen/DeviceNet
• RS232
Feedback
• Digital quad A/B encoder
• Analog sin/cos encoder (-S versions)
• Resolver (-R versions)
• Secondary encoder / emulated encoder out
• 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
XTL-230-18 100 - 240 6 18
XTL-230-36 100 - 240 12 36
XTL-230-40 100 - 240 20 40
Add -S to part numbers above for sin/cos feedback,
or add -R for resolver feedback models.

Copley Controls Xenus XTL Series Specifications

General

Model	Xenus XTL Series
Control Mode	Torque, Velocity, Position
Protection Class	IP20
Protection Features	Overvoltage, Undervoltage, Overcurrent, Overtemperature, Short Circuit
Type	Servo Drive
Communication Interface	CANopen, RS-232
Feedback	Resolver
Operating Temperature	0°C to 55°C
Humidity	5 to 95% RH, non-condensing
Weight	Varies by model