Copley Controls Xenus XTL Series - General Specifications

Xenus XTL
™
DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
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 2 of 30
RoHS
GENERAL SPECIFICATIONS
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1 Ø
MODEL XTL-230-18 XTL-230-36 XTL-230-40 Same specs for -S and -R models
OUTPUT CURRENT
Peak Current 18 (12.7) 36 (25.5) 40 (28.3) Adc (Arms, sinusoidal)
Peak time 1 1 1 s
Continuous current (Note 1) 6 (4.24) 12 (8.5) 20 (14.1) Adc (Arms, sinusoidal)
INPUT POWER
Mains voltage, phase, frequency 100~240 Vac, ±10%, 1 Ø or 3 Ø, 47~63 Hz
Mains current 20 Arms
+24 Vdc Control power +20 to +32 Vdc, 500 mA max Required for operation
DIGITAL CONTROL
Digital Control Loops Current, velocity, position. 100% digital loop control
Sampling rate (time) Current loop: 15 kHz (67 µs), Velocity & position loops: 3 kHz (333 µs)
Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth
Minimum load inductance 200 µH line-line
COMMAND INPUTS (NOTE: DIGITAL INPUT FUNCTIONS ARE PROGRAMMABLE)
Distributed Control Modes
CANopen Position, Velocity, Torque, Homing, Prole, and Interpolated prole modes
DeviceNet
®
Compatible with Allen-Bradley PLC’s
ASCII Multiple drives accessible from a single RS-232 port
Stand-alone mode
Analog torque, velocity, position reference ±10 Vdc, 12 bit resolution Dedicated differential analog input
Input impedance 74.8 kΩ Between Ref(+), Ref(-)
Digital position reference Pulse/Direction, CW/CCW Stepper commands (2 MHz maximum rate)
Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature)
Digital torque & velocity reference PWM , Polarity PWM = 0% - 100%, Polarity = 1/0
PWM 50% PWM = 50% ±50%, no polarity signal required
PWM frequency range 1 kHz minimum, 100 kHz maximum
PWM minimum pulse width 220 ns
Indexing Up to 32 programs can be launched from inputs or ASCII commands. Each program can
consist of moves, I/O commands, time delays, and other programmable operations.
Camming Master quadrature encoder provides position as index to cam table.
Digital inputs initiate cam functions.
DIGITAL INPUTS
Number 12
Inputs [IN1~5,11,12] 74HC14 Schmitt trigger, 330 µs RC lter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +24 Vdc max
[IN1] dedicated to drive enable function, other inputs are programmable
Input [IN6] 74HC14 Schmitt trigger, 100 ns RC lter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +12 Vdc max
Inputs [IN7~10] Single-ended: Comparator with 2.5 Vdc reference, 100 ns RC lter, Vin-LO <2.3 Vdc, Vin-HI > 2.45 Vdc
Differential: RS-485 line receiver on input pairs [IN9-7], and [IN10-8], 100 ns RC lters, +12 Vdc max
All inputs 10 kΩ pull-up to +5 Vdc or pull-down to ground, selectable in groups, active level programmable
DIGITAL OUTPUTS (NOTE 2)
Number 4
[OUT1], [OUT2], [OUT3] Current-sinking MOSFET with 1 kΩ pullup to +5 Vdc through diode
Current rating 1 Adc max, +40 Vdc max. Functions programmable
External yback diode required if driving inductive loads
Brake [OUT4] Opto-isolated, current-sinking with yback diode to +24 Vdc, 1 Adc max
MULTI-MODE ENCODER PORT
As Input Secondary digital quadrature encoder (A, /A, B, /B, X, /X), 121 Ω terminating resistors
18 M-counts/sec, post-quadrature (4.5 M-lines/sec)
As Output Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders or resolvers. Buffered signals from digital quad A/B/X primary encoder
A, /A, B, /B, X, /X, from 26LS31 differential line driver
RS-232 PORT
Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 baud
Protocol Binary and ASCII formats
CAN PORTS
Signals CANH, CANL, Gnd in 8-position RJ-45 style modular connector, wired as per CAN Cia DR-303-1, V1.1
Format CAN V2.0b physical layer for high-speed connections compliant
Data CANopen Device Prole DSP-402
Address selection 16 position rotary switch on front panel with 3 additional address bits available as
digital inputs or programmable to ash memory (7-bit addressing, 127 nodes per CAN network)
STATUS INDICATORS
Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
CAN Status Bicolor LED, status of CAN bus indicated by color and blink codes to CAN Indicator Specication 303-3
REGENERATION
Operation Internal solid-state switch drives external regen resistor (see Ordering Guide for types)
Cut-In Voltage +HV > 390 Vdc Regen output is on, (optional external) regen resistor is dissipating energy
Drop-Out Voltage +HV < 380 Vdc Regen output is off, (optional external) regen resistor not dissipating energy
Tolerance ±2 Vdc For either Cut-In or Drop-Out voltage
NOTES:
1. Heatsinking and/or forced-air cooling is required for continuous output power rating
2. Brake[OUT4] is programmable as motor brake, or as general purpose digital output