Model Ic Ip Vac

XPC-230-09 3 9 100~240

XPC-230-12 6 12 100~240

XPC-230-15 7.5 15 100~240

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 1 of 28

RoHSXenus PLUSCompact CANopen XPC

dIgItal serVo drIVe for brush & brushless Motors

CoNtRol MoDeS• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing• Indexer,Point-to-Point,PVT• Camming,GearingCommandInTerfaCe• Canopen • aSCIIanddiscreteI/o • Steppercommands • ±10Vposition/velocity/torque • PWmvelocity/torquecommand • masterencoder(Gearing/Camming)CommunICaTIonS• Canopen• rS-232feedbaCkIncremental• digitalquada/bencoder• analogsin/cosencoder• PanasonicIncrementala• aux.encoder/encoderoutabsolute• SSI• endat2.1&2.2• absolutea• Tamagawaabsolutea• Panasonicabsoluteaformat• Sanyodenkiabsolutea• biSS(b&C)other • digitalHallsI/odIGITal• 6High-speedinputs • 1motorover-tempinput• 4opto-isolatedinputs• 1High-speedoutput• 3opto-isolatedoutputs• 1opto-isolatedmotorbrakeoutputI/oanaloG• 1referenceinput,12-bitSafeTorqueoff(STo)• SIl3,Category3,Pld

dImenSIonS:In[mm]• 7.54x4.55x2.13[191.4x115.6x54.1]

deSCrIPTIonXPC sets new levels of performance, connectivity, andflexibility.CANopen communicationprovidesawidelyusedcost-effective industrial bus. a wide range of absoluteencodersaresupported.

Highresolutiona/dconvertersensureoptimalcurrentloopperformance.bothisolatedandhigh-speednon-isolatedI/oareprovided.forsafetycriticalapplications,redundantpowerstageenableinputscanbeemployed.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 2 of 28

RoHSXenus PLUSCompact CANopen XPC

Testconditions:Wyeconnectedload:2mHline-line.ambienttemperature=25°C.Powerinput=230Vac,60Hz,1Ø

MoDel XPC-230-09 XPC-230-12 XPC-230-15oUtPUt CURReNt

PeakCurrent 9(6.4) 12(8.5) 15(10.6) adc(arms,sinusoidal) Peaktime 1 1 1 s Continuouscurrent 3(2.12) 6(4.24) 7.5(5.3) adc(arms,sinusoidal)

InPuTPoWer mainsvoltage,phase,frequency 100~240 100~240 100~240 Vac,±10%,1Øor3Ø,47~63Hz maximummainsCurrent,(Note 2) 4.7 9.4 11.8 arms1Ø 2.6 5.2 6.5 arms3Ø +24VdcControlpower +20~32Vdcrequiredforoperation(note3_ 7.5W(Typ,noloadon+5Voutputs),≤18W,(max,both+5Voutputs@500ma)

dIGITalConTrol digitalControlloops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth minimumloadinductance 200µHline-line resolution 12-bitcaptureofu&Vphasecurrents

CommandInPuTS Canopen ProfilePosition-Velocity-Torque,Interpolatedposition,Homing Stand-alone mode analogtorque,velocity,positionreference ±10Vdc,12bitresolution dedicateddifferentialanaloginput digitalpositionreference Pulse/direction,CW/CCW Steppercommands(4mHzmaximumrate) quada/bencoder 2mline/sec,8mcount/sec(afterquadrature) digitaltorque&velocityreference PWm,Polarity PWm=0%-100%,Polarity=1/0 PWm50% PWm=50%±50%,nopolaritysignalrequired PWmfrequencyrange 1kHzminimum,100kHzmaximum PWmminimumpulsewidth 220ns Indexing upto32sequencescanbelaunchedfrominputsoraSCIIcommands. Camming upto10Camtablescanbestoredinflashmemory aSCII rS-232,9600~115,200baud,3-wire,rJ-11connector

dIGITalInPuTS [In1,2] digital,Schmitttrigger,1.5µsrCfilter,24Vdccompatible,15kΩprogrammablepull-up/downsto+5Vdc/ground, Vt+≥3.15Vdc,VT-≤1.13Vdc [In3,4,5,6] Programmableas4single-endedor2differentialpairs,100nsrCfilter,5Vdctypical,12Vdcmax 10kΩprogrammablepull-up/downperinputto+5Vdc/ground, Se:Vin-lo≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,dIff:Vin-lo≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp, [In7,8,9,10] opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,withcommonreturnto+24Vorground ratedimpulse≥800V,Vin-lo≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6ma@±24Vdc,typical maximumworkingvoltagewithrespecttosignalground:32Vdc [In11] motorovertempsignalonfeedbackconnector,Schmitttrigger,24Vdccompatible 330µsrCfilter,4.99kpullupto+5Vdc,Vt+≥3.15Vdc,VT-≤1.13Vdc Programmableforotherfunctionsifnotusedformotemp

analoGInPuT [aIn±] differential,±10Vdc,5.06kΩinputimpedance,12-bitresolution

SafeTorqueoff(STo)function PWmoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTofunctionisasserted Standard designedtoIeC-61508-1,IeC-61508-2,IeC-61800-5-2,ISo-13849-1 SafetyIntegritylevel SIl3,Category3,Performanceleveld Inputs 2two-terminal:STo-In1+,STo-In1-,STo-In2+,STo-In2- Type opto-isolators,24Vcompatible,Vin-lo≤6.0Vdcoropen,Vin-HI≥15.0Vdc, Inputcurrent(typical)STo-In1:9.0ma,STo-In2:4.5ma responsetime 2msfromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Reference Xenus Plus Compact STO Manual

RS-232 PoRt Signals rxd,Txd,Gndin6-position,4-contactrJ-11stylemodularconnector,non-isolated mode full-duplex,dTeserialcommunicationportfordrivesetupandcontrol,9,600to115,200baud Protocol binaryandaSCIIformats

dIGITalouTPuTS [ouT1~3] opto-isolatedSSr,two-terminal,300mamax,24Vtolerant,series1Ωresistor,36VZenerflybackdiode ratedimpulse≥800V [ouT4] High-speedCmoSbuffer,+5Vmax,±8mainto560Ω(minimum) [ouT5] motorbrakecontrol:opto-isolated,current-sinkingwithflybackdiodeto+24Vdc,1adcmax

CAN PoRtS format dualrJ-45receptacles,isolatedfromsignalground,maxworkingvoltagewithrespecttosignalground:32Vdc Protocol CanopenCia-402

5VouTPuTSnumber 2:+5Vout1onthefeedbackconnector(J5),+5Vout2onthecontrolconnector(J6)forthemulti-modeencoder ratings +5Vdc@500maeachoutput,1000matotalforbothoutputs,thermalandoverloadprotected

noTeS:1.brakeoutputisprogrammableasmotorbrake,orasgeneralpurposedigitaloutput2.Theactualmainscurrentisdependentonthemainsvoltage,andmotorloadandoperatingconditions.ThemaximummainsCurrentsshownaboveoccurwhenthedriveisoperatingfromthemaximuminputvoltageandisproducingtheratedpeakandcontinuousoutputcurrentsatthemaximumoutputvoltage.

general specIfIcatIons

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 3 of 28

RoHSXenus PLUSCompact CANopen XPC

STaTuSIndICaTorS driveStatus bicolorled,drivestatusindicatedbycolor,andblinkingornon-blinkingcondition neTStatus run/errleds,statusofCanopenbusindicatedbycolorandblinkcodestoCanIndicatorSpecification303-3

reGeneraTIon operation Solidstateswitchdrives60Ωinternalregenresistor busCapacitance 940µf ContinuousPowerCapability 20W Cut-InVoltage +HV>390Vdc±2Vdc regenoutputison,regenresistorisdissipatingenergy drop-outVoltage +HV<380Vdc±2Vdc regenoutputisoff,regenresistornotdissipatingenergy

ProTeCTIonS aCmainsloss lossofmainspowerbetweenl1&l2isdetected HVovervoltage +HV>400Vdc drivePWmoutputsturnoffuntil+HVislessthan400Vdc HVundervoltage +HV<60Vdc drivePWmoutputsturnoffuntil+HVisgreaterthan60Vdc driveovertemperature IGbT>85°C±3°C drivePWmoutputsturnoffuntilIGbTtemperatureisbelow85ºC Shortcircuits motor:outputtooutput,outputtoground,outputtoHV,internalPWmbridgefaults regen:regen+toground,regen-toHV I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime motorovertemperature [In11]inputprogrammabletodisabledrivewhenmotorsensorresistanceincreases feedbackloss Programmabletodetectlossofaorbencoderchannels,orlossofaorborXchannels CommandSignalloss Canopenmasterstopscyclicalupdates,networkcableisunplugged Programmableasalatchingfault 24VreversedPolarity reversingthe+24Vconnections(J3-4&J3-1)willnotdamagethedrive

meCHanICal&enVIronmenTal Size 7.54x4.55x2.13[191.4x115.6x54.1] Weight 2.2lb[1.0kg] ambienttemperature 0to+45°Coperating,-40to+85°Cstorage altitude ≤2000m(6560ft) Humidity 0%to95%,non-condensing Contaminants Pollutiondegree2 Vibration 2gpeak,10~500Hz(sine),IeC60068-2-6 Shock 10g,10ms,half-sinepulse,IeC60068-2-27 Cooling Internalfanallowsoperationatratedcontinuouscurrentto45Cambient

aGenCySTandardSConformanCeStandards and Directives Functional Safety IeC61508-1:2010,IeC61508-2:2010,IeC61508-3:2010,IeC61508-4:2010(SIl3) directive2006/42/eC(machinery) ISo13849-1/Cor.1:2009(Cat3,Pld) IeC61800-5-2:2007(SIl3) Reference: Xenus Plus Compact STO Manual

Product Safety directive2006/95/eC(lowVoltage) IeC61800-5-1:2007

EMC directive2004/108/eC(emC) IeC61800-3:2004/a1:2011

Restriction of the Use of Certain Hazardous Substances (RoHS) directive2011/65/eu(roHSII)

Approvals UL and cUL recognized component to: Ul 61800-5-1, 1st ed. UL Functional Safety Certification to: IeC61508-1:2010,IeC61508-2:2010,IeC61508-3:2010,IeC61508-4:2010(SIl3) ISo13849-1/Cor.1:2009(Cat3,Pld)

general specIfIcatIons

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 4 of 28

RoHSXenus PLUSCompact CANopen XPC

general specIfIcatIons

feedbaCkIncremental: digitalIncrementalencoder quadraturesignals,(a,/a,b,/b,X,/X),differential(X,/XIndexsignalsnotrequired) 5mHzmaximumlinefrequency(20mcounts/sec),maX3097differentiallinereceiver 121Ωterminatorsbetweena&/a,b&/binputs,130ΩbetweenX&/Xinput analogIncrementalencoder Sin/cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%,ServoTubemotorcompatible bW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 12-bitresolution,bW>300kHz,withzero-crossingdetection Absolute: SSI Clock(X,/X),data(S,/S)signals,4-wire,ClockisoutputfromXPC,dataisinputfromencoder 130ΩterminatorbetweenX&/Xoutputs,221ΩbetweenS&/Sinputs 1kΩpull-upsto+5VdconX&S,1kΩpull-downstoSgndon/X&/S endaT Clock(X,/X),data(S,/S),Sin/Cos(Sin+,Sin-,Cos+,Cos-)signals absolutea,Tamagawaabsolutea,Panasonicabsoluteaformat,Sanyodenkiabsolutea Sd+,Sd-(S,/S)signals,2.5or4mHz,2-wirehalf-duplexcommunication Positionfeedback:13-bitresolutionperrev,16bitrevolutioncounter(29bitabsolutepositiondata) Statusdataforencoderoperatingconditionsanderrors biSS(b&C) ma+,ma-(X,/X),Sl+,Sl-(S,/S)signals,4-wire,ClockoutputfromXPC,dataisinputfromencoder X&SchannelsforabsoluteencodersuseISl3178bi-directionallinedriver/receivers

HallSDigital: u,V,W:Single-ended,120°electricalphasedifferencebetweenu-V-Wsignals, Schmitttrigger,1µsrCfilter,24Vdccompatible,10kΩpull-upto+5Vdc Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc

Analog: u&V: Sin/cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%,ServoTubemotorcompatible bW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 12-bitresolution,bW>300kHz,withzero-crossingdetection

mulTI-modeenCoderPorT asInput SeedigitalIncrementalencoderaboveforelectricaldataona,b,&Xchannels,or absoluteencodersusingXorSchannels.noterminatorsona&bchannels,X&Schannelsasshownabove asemulatedoutput quadraturea/bencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromanalogsin/cosencodersorabsoluteencoders.a/boutputsuseISl3178linedrivers. a,/a,b,/b,outputsfromISl3178differentiallinedriver,X,/X,S,/SoutputsfromISl3178driver asbufferedoutput digitala/b/XencodersignalsfromprimarydigitalencoderarebufferedbyISl3178linedrivers,5mHzmax

5VouTPuTSnumber 2:+5Vout1onthefeedbackconnector(J5),+5Vout2onthecontrolconnector(J6)forthemulti-modeencoder ratings +5Vdc@500maeachoutput,1000matotalforbothoutputs,thermalandoverloadprotected

S1 S2

HeX DeC

0 0 0

1 16 1

2 32 2

3 48 3

4 64 4

5 80 5

6 96 6

7 112 7

8

Not Used for

CAN Addr

8

9 9

A 10

b 11

C 12

D 13

e 14

f 15

S2

S1

X1X10DEVICE ID

CAN Status LED

J7

6

9

1

5

D-Sub 9F

3 3

2 2

18

CAN_L

CAN_GND

CAN_H

CAN_L

RJ-45

CAN_GND

CAN_H7 1

J7

Pin 8Pin 1

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 5 of 28

RoHSXenus PLUSCompact CANopen XPC

can network node-Id (address)

canopen coMMunIcatIonsXenususestheCanphysicallayersignalsCan_H,Can_l,andCan_Gndforconnection,andCanopenprotocolforcommunication.beforeinstallingthedriveinaCansystem,itmustbeassignedaCanaddress.amaximumof127CannodesareallowedonasingleCanbus.Therotaryswitchonthefrontpanelcontrolsthefourlowerbitsoftheseven-bitCanaddress.Whenthenumberofnodesonabusislessthansixteen,theCanaddresscanbesetusingonlytheswitch.address0isreservedfortheCanbusmaster.for installationswith sixteen ormoreCannodes on a networkCme2 can be used to configureXenus to use the rotary switch,orcombinationsofdigital inputsandprogrammedoffset inflashmemorytoconfigurethedrivewithahigherCannodeaddress. for more information on Canopen communications, download the Canopen manual from the Copley web-site: http://www.copleycontrols.com/motion/downloads/pdf/CanopenProgrammersmanual.pdf

note:red&greenledon-timesdonotoverlap. ledcolormaybered,green,off,orflashingofeithercolor.

CAN StAtUS leD

CANoPeN CoNNeCtoRSdualrJ-45connectorsthatacceptstandardethernetcablesareprovidedforCanbusconnectivity.Pinsarewired-through so that drives can be daisy-chained and controlledwith a single connectionto the user’s Can interface. a Can terminatorshould be placed in the last drive in the chain. TheXP2-nkconnectorkitprovidesad-SubadapterthatplugsintoaCancontrollerandhasanrJ-45socketthatacceptstheethernetcable.

XP2-nkCanConneCTorkITThe kit contains the XP2-CV adapter that converts the Can interfaced-Sub9mconnectortoanrJ-45ethernetcablesocket,plusa10ft(3m)cableandterminator.bothconnectorpin-outsconformtotheCiadr-303-1specification.

J7CanConneCTIonS

Note: Red & green led on-times do not overlap. LED color may be red, green, off, or flashing of either color.

neT(CanSTaTuS)ledabi-colorledgivesthestateoftheCanconnectioninaccordancewiththeCan-Ciaspecification303,part 3.Thegreen(run)ledshowsthestateoftheCanopenstatemachine.Thered(err)ledshowstheoccurrenceoferrors(sync,guard,orheartbeat)andoftheCanbusphysicallayer.duringaresetcondition,thegreenledwillbeoff. Inoperation,thered&greencolorswillalternatewiththenumberofblinksoron/offconditionshowninthetabletotheright.

InanCanopennetwork,nodesareassignedaddresses1~127.address0isreservedfortheCanbusmaster.IntheXPC,thenodeaddressisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.Thesecansettheaddressofthedrivefrom0x01~0x7f(1~127decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.

node-Id(address)Switches

Cme2->amplifier->networkConfiguration

Tofindthenode-Idgiventheswitchsettings: node-Id=(S1*16)+S2 example:S1=5,S2=b S1value=(5*16)=80,S2value=Hex(b)=11, node-Id=80+11=91

Tofindtheswitchsettingsforagivenaddress:S1=Theintegerpartof(node-Id/16) S2=Hex(node-Id-(S1*16)) example:node-Id=91 S1=91/16=5.69,integerpart=5,(5*16)=80 S2=Hex(91-80)=11=0xb

b5

5b91

CanopenSettings

PIn SIGnal

2 rxd

3,4 Gnd

5 Txd6

9

1

5

3 2TxD RxD

RJ-11on

ServoDrive

RJ-11 cable6P6CStraight-wired

5 3Gnd Gnd

RxD TxD2 5

D-Sub 9F

Dsub-9Fto RJ11Adapter

16

RxD TxD

1 2 3 4 5 6

RJ-11(DTE)

CANopenRS-232

CANopen

CAN Addr 0CAN Master CAN Node CAN Node

CAN Addr 1 CAN Addr n

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 6 of 28

RoHSXenus PLUSCompact CANopen XPC

J8:rS-232PorTrJ-11receptacle, 6position,4contact

rS-232CommunICaTIonSXPCisconfiguredviaathree-wire,full-duplexdTerS-232portthatoperatesfrom9600to115,200baud,8bits,noparity,andonestopbit. Signalformatisfull-duplex,3-wire,dTeusingrxd,Txd,andGnd.ConnectionstotheXPCrS-232portarethroughJ8,anrJ-11connector. the XPC SerialCablekit(Ser-Ck)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-dserialportconnector (Com1,Com2,etc.)onPC’sandcompatibles.

Ser-CkSerIalCablekITTheSer-Ckprovidesconnectivitybetweenad-Sub9maleconnectorandtherJ-11connectorontheXPC.ItincludesanadapterthatplugsintotheCom1(orother)portofaPCandusescommonmodularcabletoconnecttotheXPC.Theconnectionsareshowninthediagrambelow.

don’tforgettoorderaSerialCablekitSer-CkwhenplacingyourorderforanXPC!

coMMunIcatIons: rs-232 serIal

ascII coMMunIcatIon protocol

rS-232mulTI-droPTherS-232specificationmakesnoallowanceformorethantwodevicesonaseriallink.but,multipleXPCdrivescancommunicateoverasinglerS-232portbydaisy-chainingamasterdrivetootherdrivesusingCancables.IntheCanprotocol,address0isreservedfortheCanmasterandthereafterallothernodesonaCannetworkmusthaveunique,non-zeroaddresses.WhentheXPCCanaddressissetto0,itactsasaCanmaster,convertingtherS-232dataintoCanmessagesandpassingitalongtotheotherdriveswhichactas CAN nodes.

aSCIICommunICaTIonSTheCopleyaSCIIInterfaceisasetofaSCIIformatcommandsthatcanbeusedtooperateandmonitorCopleyControlsaccelnet,Stepnet,andXenusseriesamplifiersoveranrS-232serialconnection.forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammedusingCme2,acontrolprogramcanusetheaSCIIInterfaceto:•enabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.additionalinformationcanbefoundintheaSCIIProgrammersGuideontheCopleywebsite:http://www.copleycontrols.com/motion/pdf/aSCII_ProgrammersGuide.pdf

forSerial-multi-dropyou’llneedanSerialCablekitSer-CkplusCanopennetworkcablestoconnectthedrivesasshown. TheXP2-nC-01andXP2-nC-10are1ft(0.3m)and10ft(3m)cablesthatwilldothejob.

PIn SIGnal PIn SIGnal

1 frameGnd 6 STo-1(+)

2 STo-1(+) 7 STo-1(-)

3 STo-1(-) 8 STo-PWr

4 STo-2(+) 9 STo-Gnd

5 STo-2(-)

DANGER

Refer to the Xenus Plus Compact STO Manual

TheinformationprovidedintheXenusPlusdual-axisSTousermanualmustbeconsideredforanyapplicationusingtheXPCdriveSTofeature.Failure to heed this warning can cause equipment damage, injury, or death.

+HV

PWMOutputs

*

Channel 1

Frame Ground

STO-Bypass (6.5 mA)

STO-Gnd (Sgnd)

J4

STO-IN1+

STO-IN2+Channel 2

FPGAUVW PWM

Channel 3

STO-IN2-

STO-IN1-

STO-IN1+

STO-IN1-

2

3

1

4

5

6

7

8

9

EN

GateDrivers

FPGAPWM

Enable

16

95

Bypass Plug ConnectionsJumper pins:2-4, 3-5, 6-8, 7-9 *

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 7 of 28

RoHSXenus PLUSCompact CANopen XPC

16

95

SAFE

TY

Sto CoNNeCtoR

J4SIGnalS

safe torque off (sto)deSCrIPTIonTheXPCprovidestheSafeTorqueoff(STo)functionasdefinedinIeC61800-5-2.Threeopto-couplersareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWmoutputsfrombeingoperatedbythedigitalcontrolcore.Thisprovidesapositiveoffcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareactivated(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWmoutputs.

Current must flow through all of the

opto-couplers before the drive can be

enabled

STobyPaSS(muTInG)InorderforthePWmoutputsofthedrivetobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtothe STo-1andSTo-2terminalsofJ4,andthedrivemustbeinanenabledstate.Whentheopto-couplersareoff,thedriveisinaSafeTorqueoff(STo)stateandthePWmoutputscannotbeactivatedbythecontrolcoretodriveamotor.Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTofeatureisoverriddenandcontroloftheoutputPWmstageisundercontrolofthedigitalcontrolcore. If not using the STO feature, these connections must be made in order for the drive to be enabled.

STobyPaSSConneCTIonS

InSTallaTIon

*STobypassconnectionsonthe XPC and

XenusXel/XPlmodelsaredifferent.Ifbothdrivesare

installedinthesamecabinet,thediodeshouldbewiredas

showntopreventdamagethatcouldoccuriftheSTobypassconnectorsareinstalledonthewrongdrive.Thediodeisnot

requiredforSTobypassontheXPCandcanbereplacedbyawirebetweenpins7and9.

dIfferenTIal:In3,4,5,6

Signal J6Pins

[In3]Pls,Cu,enca 9

[In4]/Pls,/Cu,enc/a 10

[In5]dir,Cd,encb 11

[In6]/dir,/Cd,enc/b 12

SignalGround 6,16,22,31, 37,44

frameGround 1

SInGle-ended:In5,6

Signal J6Pins

[In5]Pls,Cu,enca 11

[In6]dir,Cd,encb 12

SignalGround 6,16,22,31, 37,44

frameGround 1

dIfferenTIal:In3,4,5,6

Signal J6Pins

[In3]Curr-Vel± 9

[In4]/Curr-Vel± 10

[In5]Pol-dir 11

[In6]/Pol-dir 12

SignalGround 6,16,22,31, 37,44

frameGround 1

SInGle-ended:In5,6

Signal J6Pins

[In5]Curr-Vel± 11

[In6]Pol-dir 12

Sgnd 6,16,22,31, 37,44

frameGround 1

PULSE

/PULSE

DIRECTION

/DIRECTION

[IN3]

[IN4]

[IN5]

[IN6]

CD (Count-Down)

CU (Count-Up)[IN3]

[IN4]

[IN5]

[IN6]

CU (CW)

/CU (CW)

CD (CCW)

/CD (CCW)

Enc. A

Enc B

/Enc. A

/Enc B

Encoder ph. B

Encoder ph. A [IN3]

[IN4]

[IN5]

[IN6]

CU (CW)

CD (CCW)

[IN5]

[IN6]

Enc. A

Enc. B

Enc. Ph. A

Enc. Ph. B

[IN5]

[IN6]

Pulse

Direction

[IN5]

[IN6]

Curr-Vel

Pol-Dir

[IN5]

[IN6]

Duty = 50% ±50%

<no connection>

Curr-Vel±

<not used>

[IN5]

[IN6]

Duty = 0 - 100% Curr-Vel

Pol-Dir

/Curr-Vel

/Pol-Dir

[IN5]

[IN6]

[IN3]

[IN4]

[IN5]

[IN6]

[IN3]

[IN4]/Curr-Vel

Curr-Vel

NoFunction

Duty = 50% ±50%

<no connection>

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 8 of 28

RoHSXenus PLUSCompact CANopen XPC

PoSITIonCommandInPuTSdigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.

fordifferentialcommands,thea&bchannelsofthemulti-modeencoderportsmaybeused.

SInGle-endedPWm&dIreCTIon

SInGle-ended50%PWm

SInGle-endedPulSe&dIreCTIon

SInGle-endedCu/Cd

quada/benCoderSInGle-ended

dIfferenTIalCu/Cd

dIfferenTIalPulSe&dIreCTIon

quada/benCoderdIfferenTIal

dIfferenTIal50%PWm

dIfferenTIalPWm&dIreCTIon

dIgItal coMMand Inputs: posItIon

dIgItal coMMand Inputs: VelocIty, torqueSingle-endeddigitaltorqueorvelocitycommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.

fordifferentialcommands,thea&bchannelsofthemulti-modeencoderportsmaybeused.

SIGnalS&PInS

Signal J6

Pulse,CW,encodera 36

/Pulse,/CW,encoder/a 21

direction,CCW,encoderb 35

/direction,/CCW,encoder/b 20

quadencX,absoluteClock 34

quadenc/X,/absoluteClock 19

encS,absolute(Clock)data 33

enc/S,/absolute(Clock)data 18

SignalGround6, 16, 22, 31, 37, 44

frameGround 1

+5V output @ 500 mA

Signal Ground

Enc. B

Enc. X

Enc. X

Enc. X

Enc. S

Enc. S

B

X

/X

/S

Enc. A

Incremental Encoder

Absolute Encoder

J6 Control

Frame Ground

A

S

/B

/A

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

Pulse/Dir or CU/CD differential commands

InputSelect

OutputSelect

MAX3362

MAX3362

X

S

4-Wire digital absolute encoder signals

Input/OutputSelect

MAX3362

S

S

2-Wire digital absolute encoder signals

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 9 of 28

RoHSXenus PLUSCompact CANopen XPC

MultI-Mode encoder port as an Input

PoSITIonCommandInPuTS:dIfferenTIal•Pulse&direction•CW&CCW(Clockwise&Counter-Clockwise)•encoderquada&b•Cammingencodera&binput

CURReNt orVeloCITyCommandInPuTS:dIfferenTIal•CurrentorVelocity&direction•CurrentorVelocity(+)&CurrentorVelocity(-)

SeCondaryfeedbaCk:InCremenTal•quada/b/Xincrementalencoder

SeCondaryfeedbaCk:abSoluTe•Schannel:absoluteaencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesdatafromtheencoderinhalf-duplexmode.

•S&Xchannels:SSI,biSS,endatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder, whichinitiatesdatatransmissionfromtheencoder ontheS-channelinfull-duplexmode

Input types

SIGnalS&PInS

Signal J6

encodera 36

encoder/a 21

encoderb 35

encoder/b 20

encoderX 34

encoder/X 19

encoderS 33

encoder/S 18

SignalGround 6, 16, 22, 31, 37, 44

frameGround 1

SecondaryEncoder Input

Input/OutputSelect

Quad A/B/X primaryencoder

MAX3032

MAX3097

Buffered A/B/X signalsfrom primary encoder

SecondaryEncoder Input

Input/OutputSelect

MAX3362

MAX3097

Emulated Quad A/Bsignals from analog Sin/Cos encoder

Emulated A/B signals

Enc. B

Enc. X

B

/B

X

/X

Enc. A

Incremental Encoder

J6 Control

Frame Ground

A

/A

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 10 of 28

RoHSXenus PLUSCompact CANopen XPC

MultI-Mode port as an output

output types

bufferedfeedbaCkouTPuTS:dIfferenTIal•encoderquada,b,Xchannels•directhardwareconnectionbetweenquada/b/X encoderfeedbackanddifferentiallinedriversfora/b/Xoutputs

emulaTedfeedbaCkouTPuTS:dIfferenTIalfirmwareproducesemulatedquada/bsignalsfromfeedback datafromthefollowingdevices:•absoluteencoders•analogSin/Cosincrementalencoders

name Notes

analog:referencefilter disabled

Vloop:Inputfilter disabled

Vloop:outputfilter1 lowPass,butterworth, 2-pole,200Hz

Vloop:outputfilter2 disabled

Vloop:outputfilter3 disabled

Iloop:Inputfilter1 disabled

Iloop:Inputfilter2 disabled

InputShaping disabled

option Notes

Method SetCurrentPositionasHome

name Notes

oUt1Isolated notConfiguredoUt2

oUt3

oUt4 HSoutput notConfigured

oUt5 brakeactive-HI

active Notes

√ ShortCircuit

√ ampoverTemperature

√ motoroverTemp

overVoltage

underVoltage

√ feedbackerror

motorPhasingerror

√ followingerror

CommandInputfault

motorWiringdisconnected

SToactive

oPTIonalfaulTS

overCurrent(latched)

name Configuration PU/PD

In1 enable-lo,Clearfaults

+5V/Gnd

In2

notConfigured

In3

In4

In5

In6

In7

opto notConfigured

In8

In9

In10

In11 motemp +5VPu

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 11 of 28

RoHSXenus PLUSCompact CANopen XPC

cMe2 defaults

ThesetablesshowtheCme2defaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.

SPeCIfICaTIonS

Input Data Notes

InputVoltages

HI VT+=2.5~3.5Vdc

lo VT-=1.3~2.2Vdc

VH1 VH=±0.7~1.5Vdc

max +30Vdc

min 0Vdc

Pull-up/down R1 15kΩ

lowpassfilterR2 15kΩ

C1 100pf

InputCurrent24V 1.3madc

0V -0.33madc

Timeconstant RC2 1.5µs

ConneCTIonS

Input Pin

In1 J6-7

In2 J6-8

Sgnd J6-6,16,22,31,37,44

SPeCIfICaTIonS

Input Data Notes

InputVoltages Single-ended

HI Vin≥2.7Vdc

lo Vin≤2.3Vdc

VH1 45mVdctyp

InputVoltages differential3

HI Vdiff≥+200mVdc

lo Vdiff≤-200mVdc

VH ±45mVdctyp

Commonmode Vcm 0to+12Vdc

Pull-up/down R1 10kΩ

lowpassfilterR2 1kΩ

C1 100pf

Timeconstant RC2 100 ns

ConneCTIonS

S.e. dIff Pin

In3 In3+ J6-9

In4 In4- J6-10

In5 In5+ J6-11

In6 In6- J6-12

Sgnd J6-6,16,22,31,37,44

C1

R2R1

74HC2G14

PullUp = +5VPullDown = 0V

[IN1,2]

+5V

FEEDBACK CONNECTOR

12V max+

C1

C1

2.5V

MAX3096

MAX3096

[IN3,5]

J6 Control

[IN4,6]

R1

R1

+5V

R2

R2

++5V

[IN3,5]

J6 Control

[IN4,6]

+5V

+5V

C1

R1R2

C1

R1R2

MAX3096

12V max+

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 12 of 28

RoHSXenus PLUSCompact CANopen XPC

sIngle-ended/dIfferentIal Inputs: In3, In4, In5, In6

hIgh speed Inputs: In1, In2

• digital,non-isolated,high-speed• Progammablepull-up/pull-down• 24VCompatible• Programmablefunctions

notes:1)VHishysteresisvoltage (VT+)-(VT-)

2)Ther2*C2timeconstantapplieswheninputisdrivenbyactiveHI/lodevices

• digital,non-isolated,high-speed• Progammablepull-up/pull-down• 12VCompatible• Single-endedordifferential• Programmablefunctions

notes:1)VHishysteresisvoltage In2-In3orIn12-In13

2)Ther2*C2timeconstantapplieswheninputisdrivenbyactiveHI/lodevices)

3)Vdiff=aInn(+)-aInn(-) n=1foraxisa,2foraxisb

SInGle-ended

dIfferenTIal

SPeCIfICaTIonS

Input Data Notes

InputVoltages

HI Vin≥3.5Vdc

lo Vin≤0.7Vdc

max +24Vdc

min 0Vdc

Pull-up R1 4.99kΩ

InputCurrent24V 5.7madc

0V -1.0madc

lowpassfilterR2 10kΩ

C1 33nf

Timeconstant te 330µs*bS4999:Part111:1987

Property ohms

resistanceinthetemperaturerange20°Cto+70°C 60~750

resistanceat85°C ≤1650

resistanceat95°C ≥3990

resistanceat105°C ≥12000

ConneCTIonS

Input Pin

In11 J5-7

Sgnd J5-5,16,25,26

ConneCTIonS

Signal J6Pin

In7 13

In8 14

In9 15

In10 30

ICom 28

SPeCIfICaTIonS

Input Data Notes

InputVoltages

HI Vin≥±10.0Vdc*

lo Vin≤±6Vdc*

max ±30Vdc*

InputCurrent±24V ±3.6madc

0V 0madc

+5V

[IN11]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J5

J6

4.99k 4.7V

[IN7] 4.7k

4.7k

4.7k

4.7k

[INCOM]

4.99k 4.7V

[IN8]

4.99k 4.7V

[IN9]

4.99k 4.7V

[IN10]

+24V

24V GND

+

24V

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 13 of 28

RoHSXenus PLUSCompact CANopen XPC

• digital,non-isolated• motorovertempinput• 24VCompatible• Programmablefunctions

• digital,opto-isolated• agroupoffour,withacommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions

moToroVerTemPInPuTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtobS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.

*VdcreferencedtoIComterminals.

* rC time constant applieswhen input is driven byactivehigh/lowdevice

Motor oVerteMp Input: In11

opto-Isolated Inputs: In7, In8, In9, In10

SPeCIfICaTIonS

Spec Data Notes

InputVoltage Vref ±10Vdc

Inputresistance rin 5.05kΩ

HI/lodefInITIonS:ouTPuTS

Input State Condition

oUt1~3HI outputSSrison,currentflows

lo outputSSrisoff,nocurrentflows

ConneCTIonS

Signal (+) (-)

oUt1 J6-42 J6-27

oUt2 J6-41 J6-26

oUt3 J6-40 J6-25

SPeCIfICaTIonS

output Data Notes

onVoltage ouT(+)-ouT(-) Vdc 0.85V@300madc

outputCurrent Iout 300madcmax

ConneCTIonS

Signal Pins

aIn(+) J6-3

aIn(-) J6-2

Sgnd J6-6,16,22,31,37,44

+

1.5V

Shield (Frame Gnd)

AIN(+)

AIN(-)Vref

J6D/A

F.G.

±10V

Sgnd

-

[OUTn-]

300mAmax

* at 24 Vdc

Vdc

J6

[OUTn+]

1

80Ωmin*

36V

SSR

+

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 14 of 28

RoHSXenus PLUSCompact CANopen XPC

analog Input: aIn1

asareferenceinputittakesposition/velocity/torquecommandsfromacontroller.Ifnotusedasacommandinput,itcanbeusedasgeneral-purposeanaloginput.

• ±10Vdc,differential• 12-bitresolution• Programmablefunctions

opto-Isolated outputs: out1, out2, out3

• digital,opto-isolated• moSfeToutputSSr,2-terminal• flybackdiodeforinductiveloads• 24VCompatible• Programmablefunctions

HI/lodefInITIonS:ouTPuTS

Input State Condition

brake [ouT5]

HI

outputtransistorisoff brakeisun-poweredandlocksmotor motorcannotmove brakestateisactive

lo

outputtransistorison brakeispowered,releasingmotor motorisfreetomove brakestateisnoT-active

SPeCIfICaTIonS

output Data Notes

Voltagerange max +30Vdc

outputCurrent Ids 1.0adc

SPeCIfICaTIonS

outputHI Data Notes

VoutHI Voh 4.4Vdc

IoutHI Ioh -8.0madc

Voutlo Vol 0.40Vdc

Ioutlo Iol 8.0madc

J3ConneCTIonS

Pin Signal

4 brk24VInput

3 brk24Voutput

2 brake[ouT5]

1 24Vreturn

J3

Brake [OUT5]

4

3

24V

Brk 24V Input

Brk 24V Output

24V Return

2

1

i

+0

J6+5 Vdc

[OUT4] ±8 mA

RSgnd

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 15 of 28

RoHSXenus PLUSCompact CANopen XPC

• brakeoutput• opto-isolated• flybackdiodeforinductiveload• 24VCompatible• Connectionforexternal24Vpowersupply• Programmablefunctions

• CmoSbuffer• 74aHCT1G125• Programmablefunctions

Cme2defaultSettingforbrakeoutput[ouT5]is“brake-activeHI” active =brakeisholdingmotorshaft(i.e.theBrake is Active) motorcannotmove nocurrentflowsincoilofbrake Cme2I/olineStatesshowsoutput4asHI brkoutputvoltageisHI(24V),moSfeTisoff Servodriveoutputcurrentiszero Servodriveisdisabled,PWmoutputsareoff Inactive=brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) motorcanmove Currentflowsincoilofbrake Cme2I/olineStatesshowsoutput5aslo brkoutputvoltageislo(~0V),moSfeTison Servodriveisenabled,PWmoutputsareon Servodriveoutputcurrentisflowing

Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.

opto-Isolated Motor brake output: out5

hIgh-speed output: out4

Signal J5Pins

enca 13

enc/a 12

encb 11

enc/b 10

encX 9

enc/X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

f.G. 1

Signal J5Pins

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

X 9

/X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

f.G. 1

1k+5V

1k

Encoder J5

FG Frame Ground

Enc. A121A

Enc. B121B

Enc. Index130X/X

X

/B

B

/A

A

+5V

0V

+5V Out @ 500 mA

Signal Ground

1k+5V

1k

+5V Out @ 500 mA

Signal Ground

Sin(+)

Sin(-)

Cos(+)

Cos(-)

X

/X

-

+

-

+

10k

121

J5

10k

121

Encoder

FG

sin

cos

+5V

0V

indx

Frame Ground

10k

Sin

Cos

10k

Enc. Index130

Enc. A

Enc. B

Enc. Index

A

/A

B

/B

X

/X

Encoder

121

121

121

FG Frame Ground

A

B

+5V

0V

+5V Out @ 500 mA

Signal Ground

J5

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 16 of 28

RoHSXenus PLUSCompact CANopen XPC

feedback connectIons

quad a/b encoder wIth fault protectIonencoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviathea/bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.ThemaX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweena&/awhichisbelowthe

differentialfaultthreshold.Open-circuit condition: the 121Ωterminatorresistorwillpulltheinputstogetherifeitherside(orboth)isopen.

Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.Low differential voltage detection: Thisispossiblewithverylongcablerunsandafaultwilloccurifthe

differentialinputvoltageis<200mV.±15kV ESD protection: The3097ehasprotectionagainsthigh-voltagedischargesusingtheHumanbodymodel.Extended common-mode range: afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V

analog sIn/cos IncreMental encoderThesin/cosinputsareanalogdifferentialwith121Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTube motors.Theindexinputisdigital,differential.

quad encoder wIth Index quad encoder wIth no Index

sIn/cos sIgnals

a/b/x sIgnals

Sgnd=SignalGround f.G.=frameGnd

Sgnd=SignalGround f.G.=frameGnd

Signal J5Pins

Clk 9

/Clk 8

Data 15

/Data 14

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

+5V 6, 17

Sgnd 5, 16, 25, 26

f.G. 1

Signal J5Pins

Data 15

/Data 14

+5V 6, 17

Sgnd 5, 16, 25, 26

f.G. 1

SSI biSS J5Pins

Clk MA+ 9

/Clk MA- 8

Data Sl+ 15

/Data Sl- 14

+5V 6, 17

SignalGround 5, 16, 25, 26

frameGnd 1

1k+5V

1k 1k+5V

1k

BiSSEncoder

221

130

MA+

MA-

SL+

SL-

FGFrame Ground

J5

Clk

Data

Master

Slave

V+

V-

+5V Out @ 500 mA

Signal Ground

1k+5V

1k 1k+5V

1k

Encoder

221

130

Clk

/Clk

Dat

/Dat

FGFrame Ground

J5

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

A

A

B

B

Signal Ground

-

+

-

+

A

B

A

B

1k+5V

1k 1k+5V

1k

Encoder

221

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Dat

/Dat

Clk

/Clk130

FGFrame Ground

J5

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

Signal Ground

10k

10k

121 Sin

Cos

10k

10k

121

sin

cos

Absolute-AEncoder

221

1.2k

1.2k

220

5V

SD+

SD-

J5

Battery

Dat

/DatCmd

D-R

SDCmd

D-R

SD

MAX3362B0V

+5VV+

V-

+5V Out@ 500 mA

Signal Ground

Batt+

Batt-

+

-

1k

1k

5V

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 17 of 28

RoHSXenus PLUSCompact CANopen XPC

feedback connectIons

ssI absolute encoderTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheXPCdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequentclockpulses.Thepollingoftheencoderdataoccursatthecurrentloopfrequency(16kHz).Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SClkandSdaTa.dataissentin8bitbytes,lSbfirst.TheSClksignalisonlyactiveduringtransfers.dataisclockedoutonthefallingedgeandclockinontherisingedgeofthe Master.

biss absolute encoderbiSSisan-openSource-digitalinterfaceforsensorsandactuators.biSSreferstoprinciplesofwellknownindustrialstandardsforSerialSynchronousInterfaceslikeSSI,aS-Interface®andInterbus®withadditionaloptions. SerialSynchronousdataCommunication Cyclicathighspeed 2unidirectionallinesClockanddata linedelaycompensationforhighspeeddatatransfer requestfordatagenerationatslaves Safetycapable:CrC,errors,Warnings buscapabilityincl.actuators bidirectional biSSb-protocol:modechoiceateachcyclestart biSSC-protocol:Continuousmode

endat absolute encoderTheendatinterfaceisaHeidenhaininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogsin/coschannelsfromthesameencoder.Thenumberofpositiondatabitsisprogrammableasistheuseofsin/coschannels.useofsin/cosincrementalsignalsisoptionalintheendatspecification.

absolute-a encoderTheabsoluteainterfaceisaserial,half-duplextypethatiselectricallythesameasrS-485.notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.

endat sIgnals

absolute-a sIgnals

Note: Single (outer) shields should be connected at both ends (motor and drive frame grounds). Inner shields should only be connected to Signal Ground on the drive.

ssI,biss sIgnals

Sgnd=SignalGround f.G.=frameGnd

Sgnd=SignalGround f.G.=frameGnd

• absolutea• Tamagawaabsolutea• Panasonicabsoluteaformat• Sanyodenkiabsolutea

Signal J2Pin

Mot U 4

motV 3

motW 2

frameGnd 1

Signal J5Pins

Hallu 2

HallV 3

HallW 4

+5V 6, 17

Sgnd 5, 16, 25, 26

frameGnd 1

hall sIgnals

Motor sIgnals

J2

F.G.PWM

+HV

0V

+

W

V

U

Motor3 ph.

Halls

+5V Out @ 500 mA

Signal Ground

+5V

0V

10K

100p

10KHall U+5V

J5

100p

10K

10KHall V+5V

100p

10K

10KHall W

+5V

Hall A

Hall B

Hall C

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 18 of 28

RoHSXenus PLUSCompact CANopen XPC

Motor connectIons

Motor phase connectIonsThe drive output is a three-phase PWminverter that converts thedC buss voltage(+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.motorcablingshouldusetwisted,shieldedconductorsforCecompliance,andtominimize PWmnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J6-1)forbestresults.

dIgItal hall sIgnalsHall signals are single-ended signals thatprovideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(u, V, &W) and theymay be sourced bymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc. They typically operate atmuch lowerfrequenciesthanthemotorencodersignals,and are used for commutation-initializationafter startup, and for checking themotorphasing after the amplifier has switched tosinusoidalcommutation.

16

3

2

1

Frame Gnd

5 25

26

17

8

9

10

11

12

1

13

Hall W 4

Hall V 3

Hall U 2

J5 6+5V Out

7

Signal Gnd

Signal Gnd

Motemp

BRUSHLESSMOTOR

U

V

U(+)

V(-)

W

BRUSHMOTOR

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J2

J3Brake

24V Return

4

Brk 24V Output

Brk 24V Input +

0V24 Vdc

Brk

Xenus Plus Compact

ENCODER

DIGITALHALLS

TEMPSENSOR

DIGITAL

/A

A

/B

B

/X

Vcc

0V

X

/A

A

/B

B

/X

X

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 19 of 28

RoHSXenus PLUSCompact CANopen XPC

Theconnectionsshownmaynotbeusedinallinstallations

Motor connectIons: dIgItal quad a/b encoders

noTeS:1) CesymbolsindicateconnectionsrequiredforCecompliance.2) WhenSTofeatureisused,the24VpowersupplymustbeSelVorPelVwithoutput

voltagelimitedto60Vdc.

16

3

2

1

Frame Gnd

5 25

26

17

8

9

20

21

18

1

19

Hall W 4

Hall V 3

Hall U 2

J5 6+5V Out

7

Signal Gnd

Signal Gnd

Motemp

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J2

J3Brake

24V Return

4

Brk 24V Output

Brk 24V Input +

0V24 Vdc

Brk

ENCODER

DIGITALHALLS

DIGITALINDEX

Vcc

0V

TEMPSENSOR

ANALOGSIN/COS

Sin-

Sin+

Cos-

Cos+

Ndx-

Ndx+

Enc Sin(-)

Enc Sin(+)

Enc Cos(-)

Enc Cos(+)

Enc Index(-)

Enc Index(+)

BRUSHLESS

U

V

WMOTOR

U(+)

V(-)BRUSHMOTOR

Xenus Plus Compact

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 20 of 28

RoHSXenus PLUSCompact CANopen XPC

Motor connectIons: analog sIn/cos IncreMental encoders

Theconnectionsshownmaynotbeusedinallinstallations

noTeS:1) CesymbolsindicateconnectionsrequiredforCecompliance.2) WhenSTofeatureisused,the24VpowersupplymustbeSelVorPelVwithoutput

voltagelimitedto60Vdc.

Signal Pin

+24VInput 4

+24Vtobrakes 3

brake 2

+24Vreturn 1

Signal Pin

Motor Phase U 4

motorPhaseV 3

motorPhaseW 2

frameGround 1

Signal Pin

mainsInputl3 5

frameGround 4

PeGround 3

mainsInputl2 2

mainsInputl1 1

PIn SIGnal PIn SIGnal

1 frameGnd 6 STo-In1(+)

2 STo-In1(+) 7 STo-In1(-)

3 STo-In1(-) 8 STo-mute

4 STo-In2(+) 9 STo-Gnd

5 STo-In1(-)

J1

J3

J4

J5

J6

FE

ED

BA

CK

C

ON

TR

OL

+24

+24

BRK

24V RTN

SA

FE

TY

L1L2

L3U

VW

BR

AK

EM

OT

OR

P

OW

ER

XenusPlus

5 min

x10x1

DE

VIC

E ID

S1

S2

NE

TW

OR

KE

RR

L/AR

UN

L/A

RS

-232A

BA

MPJ8

J7

OU

TIN

J2

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 21 of 28

RoHSXenus PLUSCompact CANopen XPC

J1maInSConneCTIonS

J2moTorouTPuT

J3+24VdC&brake

WARNING: Hazardous voltages exist on connections to J1, & J2 when power is

applied, and for up to 4 minutes after power is removed.

ISolaTedCIrCuIT

J4SafeTy(STo)

connectors & sIgnals

PIn SIGnal

1 n.c.

2 rxd

3 Gnd

4 Gnd

5 Txd

5 n.c.

PIn SIGnal PIn SIGnal PIn SIGnal

1 frameGnd 10 enc/b 19 Sin1(+)S3

2 Hallu 11 encb 20 Cos1(-)S4

3 HallV 12 enc/a 21 Cos1(+)S2

4 HallW 13 enca 22 n/c

5 SignalGnd 14 enc/S 23 n/c

6 +5Vout1 15 encS 24 n/c

7 motempIn11 16 SignalGnd 25 SignalGnd

8 enc/X 17 +5Vout1 26 SignalGnd

9 encX 18 Sin1(-)S1

PIn SIGnal PIn SIGnal PIn SIGnal

1 frameGnd 16 SignalGnd 31 SignalGnd

2 ref1(-) 17 +5Vout2 32 +5Vout2

3 ref1(+) 18 multienc/S 33 multiencS

4 n/c 19 multienc/X 34 multiencX

5 n/c 20 multienc/b 35 multiencb

6 SignalGnd 21 multienc/a 36 multienca

7 [In1]GP 22 SignalGnd 37 SignalGnd

8 [In2]GP 23 [ouT4]HS 38 n/c

9 [In3]HS 24 n/c 39 n/c

10 [In4]HS 25 [ouT3-]ISo 40 [ouT3+]ISo

11 [In5]HS 26 [ouT2-]ISo 41 [ouT2+]ISo

12 [In6]HS 27 [ouT1-]ISo 42 [ouT1+]ISo

13 [In7]ISo 28 [InCom]ISo 43 n/c

14 [In8]ISo 29 n.c. 44 Sgnd

15 [In9]ISo 30 [In10]ISo

J1

J3

J4

J5

J6

FE

ED

BA

CK

C

ON

TR

OL

+24

+24

BRK

24V RTN

SA

FE

TY

L1L2

L3U

VW

BR

AK

EM

OT

OR

P

OW

ER

XenusPlus

5 min

x10x1

DE

VIC

E ID

S1

S2

NE

TW

OR

KE

RR

L/AR

UN

L/A

RS

-232A

BA

MPJ8

J7

OU

TIN

J2

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 22 of 28

RoHSXenus PLUSCompact CANopen XPC

J8rS-232PorT

J8rS-232noTe1.J8signalsarereferencedtoSignalGnd.

J8CableConneCTor:rJ-11style,male,6positionCable:6-conductormodulartype,straight-through

notes:1)Thetotalcurrentdrawnfrom+5Vout1onJ5cannotexceed500ma.2)Thetotalcurrentdrawnfrom+5Vout2onJ6cannotexceed500ma.

rJ-11receptacle, 6position,4contact

J5feedbaCk

J6ConTrol&I/o

connectors & sIgnals

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 23 of 28

RoHSXenus PLUSCompact CANopen XPC

aWG mm2 Color Mfgr PNUM A b C D e Sl

14 2.5 blue Wago 216-206 15.0(0.59) 8.0(0.31) 2.05(.08) 4.2(0.17) 4.8(0.19) 10(0.39)

16 1.5 black Wago 216-204 14.0(0.59 8.0(0.31) 1.7(.07) 3.5(0.14) 4.0(0.16) 10(0.39)

18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.055) 3.0(.12) 3.5(.14) 8(.31)

20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.047) 2.8(.11) 3.3(.13) 8(.31)

22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.039) 2.6(.10) 3.1(.12) 7.5(.30)

aWG mm2 Color Mfgr PNUM A b C D e Sl

18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.06) 3.0(.12) 3.5(.14) 8(.31)

20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.05) 2.8(.11) 3.3(.13) 8(.31)

22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.04) 2.6(.10) 3.1(.12) 7.5(.30)

aWG mm2 Color Mfgr PNUM A b C D e Sl

2x18 2x1.0 Red altech 2776.0 15.4(.61) 8.2[.32] 2.4(.09) 3.2(.13) 5.8(.23) 11.0(.43)

2x18 2x1.0 Gray altech 2775.0 14.6(.57) 8.2(.32) 2.0(.08) 3.0(.12) 5.5(.22) 11.0(.43)

2x20 2x0.75 White altech 2794.0 14.6(.57) 8.2(.32) 1.7(.07) 3.0(.12) 5.0(.20) 11.0(.43)

2x20 2x0.75 Gray te 966144-2 15.0(.59) 8.0(.31) 1.70(.07) 2.8(.11) 5.0(.20) 10(.39)

2x22 2x0.50 White te 966144-1 15.0(.59) 8.0(.31) 1.40(.06) 2.5(.10) 4.7(.19) 10(.39)

A

B

C D E

A

B

C D E

A

B

C D

E

wIrIng

J3

ferruleParTnumberS:doubleWIreInSulaTed

ferruleParTnumberS:SInGleWIreInSulaTed

24V&brake:J3

aCPoWer,andmoTorouTPuT:J1,J2tool

J1 J2

WagomCS-mIdIClassic:231-305/107-000,5-pole(J1),231-304/107-000,4-pole(J2), femaleconnectors;withscrewflange;pinspacing5.08mm/0.2in

Conductorcapacity barestranded: aWG28~14[0.08~2.5mm2] Insulatedferrule: aWG24~16[0.25~1.5mm2] Strippinglength: 8~9mm operatingTool: WagomCS-mIdIClassic:231-291

ferruleParTnumberS:SInGleWIreInSulaTed

NoteSPnum=PartnumberSl=Strippinglengthdimensions:mm(in)

tool

SInGleWIre doubleWIre

WagomCS-mInI:734-104/107-000,femaleconnector;withscrewflange, 4-pole;pinspacing3.5mm/0.138inConductorcapacity barestranded: aWG28~16[0.08~1.5mm2] Insulatedferrule: aWG24~16[0.25~1.5mm2] Strippinglength: 0.24~0.28in[6~7mm] operatingtool: WagomCS-mInI:734-191

deVIce structure & IsolatIon

~

~ -

+

~+

U

V

W

J2DC BUS(+)

DC BUS(-)

940 µF

Regen

L1

MAINSL3

L2

FEEDBACKPOWER &DECODING

+5 Vdc

ENABLE [IN1]

SIGNAL GND

CONTROLSIGNALGROUND

CONTROL

RS-232

SYSTEM

J6

J7

J8

3

1

2 BRAKE

CANopenNetwork

PE GROUND

PWMINVERTER MOTOR

CASE

NETWORK

CANXCVR

+24V

24VPOWER

+

-

BRAKE

24V Return

STO_GND

STO_24V

DC/DCCONVERTER

STOCONTROL

CONTROLCORE

RS-232Interface

4

J3

J5

J1

J4

Cable shield grounding socket

FEEDBACK

ENCODER,HALLS,

RESOLVER

reGeneraTIonThechartbelowshowstheenergyabsorptioninW·s foraXPCdriveoperatingatsometypical mains voltages. When the loadmechanical energy is greater than thesevaluesanexternalregenresistorisavailableasanaccessory.

0

10

20

30

40

50

60

70

90 100

110

120

130

140

150

160

170

180

190

200

210

220

230

240

250

260

270

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 24 of 28

RoHSXenus PLUSCompact CANopen XPC

drIVePoWerSourCeSTherearefourisolationzonesintheXPC:1. +24V,brake,&STo2. Controlcircuits,rS-232&Cancomms3. High-voltage,regen,&PWmoutputs4. Canopencommunicaionseachoftheseisisolatedfromtheothersandallareisolatedfromthechassis.+24VdC,brake,&SToTheprimarysideof thedC/dCconverteroperates directly from the external +24Vdcsupplyandisisolatedfromotherdrivepowersections.Secondarywindingsprovidepower foreach isolationzone.Thebrakeoutput [ouT6] operates in this sectionand is referenced to the+24Vdc return(0V).Itsinkscurrentfromanexternalloadconnectedtotheexternal+24Vdcpowersource.TheSTocircuitsalsooperatefromthe24VpowerandtheSTo-24Vsuppliescurrentforde-activating(muting)theSTofunctionwhenitisnotused.SIGnalandrS-232CIrCuITSThesignalpowersectionsuppliespowerforthecontrolcircuitsaswellastherS-232communications. motor feedback signalssuch as Halls, encoder, and temperaturesensor operate in this section. all signalcircuits are referenced to Signal Ground.Thisgroundshouldconnecttothecontrolsystemcircuitgroundorcommonsothatdrive and controller inputs and outputvoltage levels work properly with eachother.

HIGHVolTaGe,reGen,&PWmmains power drives the high-voltagesection.Itisrectifiedandcapacitor-filteredtoproduceinternaldCbuswhichthePWmstage converts into voltages that driveeither threephasebrushlessordCbrushmotors.aninternalsolid-stateswitchandpowerresistorprovidesdissipationduringregeneration.allthecircuitsinthissectionare“hot”,thatis,theyconnectdirectlytothemainsandmustbeconsideredhigh-voltagesand a shock hazard requiring properinsulationtechniquesduringinstallation.CanneTWorkThenetworkconnectionsintheCannetworkreceptacle are optically isolated from theotherdrivecircuits.

GroundInGa grounding system has three primaryfunctions: safety, voltage-reference, andshielding. as a safetymeasure, the Pe(Protectiveearth)groundatJ1-3willcarryfault-currents fromthemains in thecaseof an internal failure or short-circuit ofelectronic components.Wiring to this istypicallydonewiththegreenconductorwithyellow stripe using the same gaugewireasthatusedforthemains.Thiswireisa‘bonding’conductorthatshouldconnecttoanearthedgroundpointandmustnotpassthrough any circuit interrupting devices. All of the circuits on J1, and J2 are mains-connected and must never be grounded. TheframegroundterminalsatJ1-3,J1-4,J2-1, J4-1, J5-1, and J6-1 all connect to

thedrivechassisandareisolatedfromalldriveinternalcircuits.Signal grounding references the drivecontrol circuits to those of the controlsystem.Thesecontrols circuits typicallyhavetheirownearthconnectionatsomepoint. To eliminate ground-loops it isrecommendedthatthedrivesignalgroundbeconnectedtothecontrolsystemcircuitground.Whenthisisdonethedrivesignalvoltageswillbereferencedtothesame0Vlevelasthecircuitsinthecontrolsystem.Smallcurrentsflowbetweencontrolleranddrivewhen inputsandoutputs interact.Thesignalground is thepath for thesecurrentstoreturntotheirpowersourcesinbothcontrolleranddrive.ShieldsoncablesreduceemissionsfromthedriveforCecomplianceandprotectinternal circuits from interference dueto external sources of electrical noise.because of their smaller wire gauge,these should not be used as part of asafety-ground system.motor cases canbesafety-groundedeitherat themotor,byearthingtheframe,orbyagroundingconductorinthemotorcablethatconnectstoJ2-1.Thiscableshouldbeofthesamegaugeastheothermotorphasecables.

maxenergy 248W·s(J)

resistance 60 Ω

Power,continuous 20W

Power,peak 2500W

Time 100ms

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 25 of 28

RoHSXenus PLUSCompact CANopen XPC

Vac E100 62120 58200 34240 17

Velocity

BusVdc

HVdc

390

Off

Active

RegenResistor

Absorption

Decel time

Regen time

Velocity

BusVoltage

RegenActive Regen

Dwell Time

RegenCycle Time

regeneratIon

Thedrivehasaninternalregenresistorwhichcanhandleregenerativeenergythatexceedstheabsorptioncapacityoftheinternalbuscapacitance.Theinternalregenresistorwillbeswitchedonwhentheenergyshowninthetablehasbeenabsorbedandthebusvoltagedrivenupto390Vdcatwhichpointtheinternalregenresistorwillbeswitchedtoabsorbthekineticenergyof the load.

abSorPTIon

InTernalreGenreSISTor

CalCulaTInGTHereGenrePeTITIonfrequenCy

Step2:Subtracttheabsorptionatyourmainsvoltagetogettheenergythatmust

bedissipatedintheregenresistor.use240Vac:

75J-17J=58J

Step3:dividetheregenenergybythecontinuouspowerratingof20Watts

togetthedwelltimethatcandissipatetheregenenergyintheresistor:

dwellTime=58Joules=2.9sec

20Watts Seconds;Joules,Watts

Step4:findthetotalregencycletimebyaddingthedecelerationtime

tothedwelltime:

decelTime=1.25sec

dwellTime=2.90sec

CycleTime=4.15sec

Step1:findtheenergyofmotionforarotatingload,forthisexampleletitbe

75Joules:

E=J*rPm2 =75J

182

Joules;kg·m2, RPM

Joules;Joules

absorptionistheenergythatcanbetransferredtothe940ufinternalcapacitanceduringdeceleration.ThistableshowstheenergyabsorptioninW·sforadriveoperatingatsometypicalmainsvoltages.Ifthedecelerationenergyislessthantheabsorptioncapacityofthedrive,thentheregenerationresistorwillnotbeswitched-onbecausethebusvoltagewillnotriseenoughtohittheover-voltagelevelthatwoulddisablethePWmoutputs.

Terms:

E energy Joules,Watt·seconds

J rotarymomentofInertia kg·m2

P Power Watts

See Note 2

1.01 25.6

4.8.19

1.00 25.4

End View

Fan Air-Flow

End View

4.14 105.1

2.13 54.1

.20 5.2

13.3.53

7.13 181.1

7.54 191.4

4.55 115.6

4.72 119.8

4.8.19

5 m

ind

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 26 of 28

RoHSXenus PLUSCompact CANopen XPC

dIMensIons [In/MM]

notes:1)recommendedscrewsformountingslots:#8-32orm4externaltoothSemS2)Cableshieldgroundingsocket:#8-32externaltoothSemS

J2 J2 J2 J2

J1

J3

J4

J5

J6

FEEDBA

CK

CO

NTRO

L

+24

+24

BRK

24V RTN

SAFETY

L1L2

L3U

VW

BRAKE

MO

TOR

POW

ER

Xenus Plus

5 min

x10x1

DEVIC

E ID

S1

S2

NETW

ORK

ERRL/A

RUN

L/A

RS-232A

BA

MPJ8

J7O

UT

IN

J2

J1

J3

J4

J5

J6

FEEDBA

CK

CO

NTRO

L

+24

+24

BRK

24V RTN

SAFETY

L1L2

L3U

VW

BRAKE

MO

TOR

POW

ER

Xenus Plus

5 min

x10x1

DEVIC

E ID

S1

S2

NETW

ORK

ERRL/A

RUN

L/A

RS-232A

BA

MPJ8

J7

OU

TIN

J2

J1

J3

J4

J5

J6

FEEDBA

CK

CO

NTRO

L

+24

+24

BRK

24V RTN

SAFETY

L1L2

L3U

VW

BRAKE

MO

TOR

POW

ER

Xenus Plus

5 min

x10x1

DEVIC

E ID

S1

S2

NETW

ORK

ERRL/A

RUN

L/A

RS-232A

BA

MPJ8

J7

OU

TIN

J2

J1

J3

J4

J5

J6

FEEDBA

CK

CO

NTRO

L

+24

+24

BRK

24V RTN

SAFETY

L1L2

L3U

VW

BRAKE

MO

TOR

POW

ER

Xenus Plus

5 min

x10x1

DEVIC

E ID

S1

S2

NETW

ORK

ERRL/A

RUN

L/A

RS-232A

BA

MPJ8

J7

OU

TIN

J2

1.5 [38]

1.0 [25]

1.0 [25] 1.0 [25]

Minimum Clearancein[mm]

Minimum Clearancein[mm]

Minimum Spacingin[mm]

Fan Air-Flow

Fan Air-Flow

Fan Air-Flow

Fan Air-Flow

0.75 [19]

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 27 of 28

RoHSXenus PLUSCompact CANopen XPC

InstallatIon

Thegraphicbelowshowstherecommendedmountingformultipledrives. Theclearancesshowsareminimums.

XPC-230-09 XPC Servodrive,3/9adc

XPC-230-12 XPC Servodrive,6/12adc

XPC-230-15 XPC Servodrive,7.5/15adc

qty ref name description Manufacturer p/n

xpc-ckConnectorkit

1J1 aCPwr

Plug,5position,5.08mm,female Wago:231-305/107-000(note1)

1 Strainrelief,snap-on,5.08mm,5position,orange Wago:232-635

1J2 Motor

Plug,4position,5.08mm,female Wago:231-304/107-000(note1)

1 Strainrelief,snap-on,5.08mm,4position,orange Wabo:232-634

1 J1,J2 tool Tool,wireinsertion&extraction,231series Wago:231-159

1J3 brake

Plug,4position,3.5mm,female Wago:734-104/107-000(note1)

1 Strainrelief,snap-on,3.5mm,5position,grey Wago:734-604

1 J5 tool Tool,wireinsertion&extraction,734series Wago:734-231

1

J4 Note 2 Safety

Connector,db-9m,9-position,standard,male Te/amP: 205204-4

9 amPlImITeHd-20Crimp-Snapcontacts,24-20aWG,auflash Te/amP:66506-9

1 metalbackshell,db-9,roHS 3m:3357-9209

4 Jumper,withpinscrimpedonbothends Copley:10-75177-01

1J5 feed-

backConnector,high-densitydb-26m,26position,male,soldercup norcomp: 180-026-103l001

1 metalbackshell,db-15,roHS 3m:3357-9215

1J6 Control

Connector,high-densitydb-44m,44position,male,soldercup norcomp: 180-044-103l001

1 metalbackshell,db-25,roHS 3m:3357-9225

XPC-NC-10 1J7 network

Cannetworkcable,10ft(3m)

XPC-NC-01 1 Cannetworkcable,1ft(0.3m)

Ser-Ck 1 J8 RS-232 SerialCablekit

note1:forroHScompliance,append“/rn01-0000”totheWagopartnumberslistedabove

note2:Insertion/extractiontoolforJ6contactsisamP/Tyco91067-2(notincludedinXPC-Ck)

16-01436documentrevisionHistory

revision Date remarks

00 april8,2016 Initialreleasedversion

01 october2,2016 Shutdowntemperaturechangedto85C

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01436 Rev 01 Page 28 of 28

RoHSXenus PLUSCompact CANopen XPC

note:Specificationssubjecttochangewithoutnotice

orderInGGuIde

example:orderoneXenus Plus Compactdrive,6/12awithconnectorkit,andserialcablekit:qty Item remarks 1 XPC-230-12 Xenus Plus Compactservodrive 1 XPC-Ck Connectorkit 1 Ser-Ck SerialCablekit

aCCeSSorIeS

orderIng InforMatIon