Copley Controls Serial Encoder Guia do Utilizador

Xenus XTL™ User Guide P/N 95-00875-000 Revision 1 December 2007

Introduction Xenus XTL User Guide 2 Copley Controls Corp. 1.1: Amplifier Xenus provides 100% digital control of brushless or brush motors in an off

Quick Setup with CME 2 Xenus XTL User Guide 92 Copley Controls Corp. 5.6.9: Non-Latched and Latched Custom Outputs Like an amplifier fault, a cust

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 93 5.6.10: Fault Latching 5.6.10.1 Click Configure Faults to open the Fault Con

Quick Setup with CME 2 Xenus XTL User Guide 94 Copley Controls Corp. 5.6.11: Regen Resistor For more information on the external regen resistor,

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 95 5.7: Command Input Choose the appropriate step for the input format. Input Fo

Quick Setup with CME 2 Xenus XTL User Guide 96 Copley Controls Corp. 5.7.1: Analog Input For more information, see Analog Command Input (p. 15).5

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 97 5.7.1.4 In position mode, set the Trajectory Limits described below: Option

Quick Setup with CME 2 Xenus XTL User Guide 98 Copley Controls Corp. 5.7.2: PWM Input For more information, see PWM Input (p. 17).5.7.2.1 Click P

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 99 5.7.3: Digital Position Input For more information, see Digital Input (p. 18)

Quick Setup with CME 2 Xenus XTL User Guide 100 Copley Controls Corp. 5.7.3.4 In position mode, enter the options described below: Option Descri

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 101 5.7.4: CAN Interface For more information on CAN see CANopen Operation (p. 2

Xenus XTL User Guide Introduction Copley Controls Corp. 31.2: CME 2 Amplifier commissioning is fast and simple using Copley Controls CME 2 softwar

Quick Setup with CME 2 Xenus XTL User Guide 102 Copley Controls Corp. 5.8: Auto Phase 5.8.1: Auto Phase Warnings and Notes Warnings Motor Motion !

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 103 5.8.2: Auto Phase Procedure NOTE: The following steps use a brushless rotary

Quick Setup with CME 2 Xenus XTL User Guide 104 Copley Controls Corp. 5.8.2.5 Activate the Enable Input. 5.8.2.6 Click Start to begin the motor

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 105 5.8.2.11 Encoder Resolution for linear encoders. 5.8.2.12 If motor turned

Quick Setup with CME 2 Xenus XTL User Guide 106 Copley Controls Corp. 5.8.2.18 Click Finish to close the screen and save values to flash memory O

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 107 5.8.3: Guidelines for Choosing Auto Phase Current and Increment Rate Values

Quick Setup with CME 2 Xenus XTL User Guide 108 Copley Controls Corp. 5.9: Current Loop Initial current loop proportional gain (Cp) and current lo

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 109 5.9.2: Auto Tune the Current Loop (For instructions on manually tuning the c

Quick Setup with CME 2 Xenus XTL User Guide 110 Copley Controls Corp. 5.9.2.6 Observe the auto tune process and results. Auto Tune uses a proprie

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 111 5.9.2.7 Choose an action based on Auto Tune results. 1 Optionally choose wh

Introduction Xenus XTL User Guide 4 Copley Controls Corp.

Quick Setup with CME 2 Xenus XTL User Guide 112 Copley Controls Corp. 5.10: Velocity Loop Initial velocity loop proportional gain (Vp) and velocit

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 113 5.10.2: Manually Tune the Velocity Loop To tune the velocity loop, apply squ

Quick Setup with CME 2 Xenus XTL User Guide 114 Copley Controls Corp. 5.11: Position Loop Initial position loop proportional gain (Pp), velocity f

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 115 5.11.2: Manually Tune the Position Loop To tune the position loop, minimize

Quick Setup with CME 2 Xenus XTL User Guide 116 Copley Controls Corp. 5.11.2.2 Set up a trapezoidal profile by setting the trajectory limits and

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 117 5.11.3: Test S-Curve Profile NOTE: Skip this step unless the amplifier will

Quick Setup with CME 2 Xenus XTL User Guide 118 Copley Controls Corp. 5.12: Completion Steps 5.12.1: Objective Save the work and perform additiona

Copley Controls Corp. 119 CHAPTER 6: USING CME 2This chapter provides an overview of CME 2 software features. Contents include: Title Page 6.1: CME

Using CME 2 Xenus XTL User Guide 120 Copley Controls Corp. 6.1: CME 2 Overview 6.1.1: Main Screen Overview CME 2 features are called out in the diag

Xenus XTL User Guide Using CME 2 Copley Controls Corp. 121 6.1.3: Main Menu Overview The CME 2 Main Menu choices are described below. Menu Select

Copley Controls Corp. 5CHAPTER 2: OPERATIONAL THEORY This chapter describes the basics of Xenus operation. Contents include: Title Page 2.1: Ampli

Using CME 2 Xenus XTL User Guide 122 Copley Controls Corp. …continued: Menu Selection Description CME 2 User Guide Opens the CME 2 User Guide. Al

Xenus XTL User Guide Using CME 2 Copley Controls Corp. 123 6.1.4: Functional Diagram The functional diagram, shown below, provides button-click ac

Using CME 2 Xenus XTL User Guide 124 Copley Controls Corp. 6.1.5: CAN or DeviceNet Information and Status Bar The Main screen displays the basic CAN

Xenus XTL User Guide Using CME 2 Copley Controls Corp. 125 6.2: Manage Amplifier and Motor Data 6.2.1: Memory To maintain amplifier and motor sett

Using CME 2 Xenus XTL User Guide 126 Copley Controls Corp. 6.2.3: Data Management Tools Amplifier Data Management Tools Operations performed using t

Xenus XTL User Guide Using CME 2 Copley Controls Corp. 127 6.2.4: Quick Copy Setup Procedure Use this procedure to configure an amplifier/motor p

Using CME 2 Xenus XTL User Guide 128 Copley Controls Corp. 6.3: Downloading Firmware 6.3.1: Acquiring Firmware from Web Site (Optional) 6.3.1.1 In

Xenus XTL User Guide Using CME 2 Copley Controls Corp. 129 6.3.2: Downloading Firmware to Amplifier NOTE: Firmware can only be downloaded to an am

Using CME 2 Xenus XTL User Guide 130 Copley Controls Corp. 6.4: Control Panel 6.4.1: Control Panel Overview To access the control panel, click the C

Xenus XTL User Guide Using CME 2 Copley Controls Corp. 131 …continued: Indicator States/Description The fault indicator goes red when a fault is a

Operational Theory Xenus XTL User Guide 6 Copley Controls Corp. 2.1: Amplifier Internal Power Power distribution within Xenus is divided into three

Using CME 2 Xenus XTL User Guide 132 Copley Controls Corp. 6.4.3: Control Panel Monitor Channels The Control Panel Monitor channels can display real

Xenus XTL User Guide Using CME 2 Copley Controls Corp. 133 6.4.4: Control Functions The Control area of the screen, shown here, provides functio

Using CME 2 Xenus XTL User Guide 134 Copley Controls Corp. 6.5: Manual Phasing 6.5.1: Manual Phase Objectives The CME 2 Manual Phase tool lets the u

Xenus XTL User Guide Using CME 2 Copley Controls Corp. 135 6.5.2.7 Monitor the vector rotation through one electrical cycle for proper Hall trans

Using CME 2 Xenus XTL User Guide 136 Copley Controls Corp. 6.6: Home Function 6.6.1: Overview The CME 2 Home function can be used to set and test h

Copley Controls Corp. 137 APPENDIX A: REGEN RESISTOR SIZING AND CONFIGURATION This chapter describes the formulas used to determine if a regen resist

Regen Resistor Sizing and Configuration Xenus XTL User Guide 138 Copley Controls Corp. A.1: Sizing a Regen Resistor A.1.1: Gather Required Informati

Xenus XTL User Guide Regen Resistor Sizing and Configuration Copley Controls Corp. 139 A.1.3: Calculate Energy Returned for Each Deceleration Use

Regen Resistor Sizing and Configuration Xenus XTL User Guide 140 Copley Controls Corp. A.1.6: Determine if Energy Returned Exceeds Amplifier Capacit

Xenus XTL User Guide Regen Resistor Sizing and Configuration Copley Controls Corp. 141 A.1.10: Calculate Continuous Power to be Dissipated Use the

Xenus XTL User Guide Operational Theory Copley Controls Corp. 72.1.3: Power and Grounding Diagram +24VDCLOGIC&SIGNALPOWERRTNPWMINVERTERL1CONTR

Regen Resistor Sizing and Configuration Xenus XTL User Guide 142 Copley Controls Corp. A.2: Configuring a Custom Regen Resistor A.2.1: Regen Configu

Xenus XTL User Guide Regen Resistor Sizing and Configuration Copley Controls Corp. 143 A.2.2.4 Enter a Continuous Power within the range describe

Regen Resistor Sizing and Configuration Xenus XTL User Guide 144 Copley Controls Corp. This page for notes.

Copley Controls Corp. 145 APPENDIX B: I2T TIME LIMIT ALGORITHM The current loop I2T limit specifies the maximum amount of time that the peak current

Regen Resistor Sizing and Configuration Xenus XTL User Guide 146 Copley Controls Corp. B.1: I2T Algorithm B.1.1: I2T Overview The I2T current limit

Xenus XTL User Guide Regen Resistor Sizing and Configuration Copley Controls Corp. 147 B.1.3: I2T Current Limit Algorithm – Application Example I2

Regen Resistor Sizing and Configuration Xenus XTL User Guide 148 Copley Controls Corp. I2T Example: Plot Diagrams The plots that follow show the res

Xenus XTL User Guide Regen Resistor Sizing and Configuration Copley Controls Corp. 149 the next 2 seconds since the difference between the actual

Regen Resistor Sizing and Configuration Xenus XTL User Guide 150 Copley Controls Corp.

Copley Controls Corp. 151 APPENDIX C: THERMAL CONSIDERATIONS This chapter describes operating temperature characteristics, heatsink options, and hea

Operational Theory Xenus XTL User Guide 8 Copley Controls Corp. 2.2: Synchronizing PWM Switching Frequency In some situations, such as when samplin

Thermal Considerations Xenus XTL User Guide 152 Copley Controls Corp. C.1: Operating Temperature and Cooling Configurations The following charts sho

Xenus XTL User Guide Thermal Considerations Copley Controls Corp. 153 C.1.2: Heatsink and Fan Configurations No Heatsink No Fan With Fan* 4.25 in

Thermal Considerations Xenus XTL User Guide 154 Copley Controls Corp. C.2: Heatsink Mounting Instructions A dry film interface pad is used in place

Copley Controls Corp. 155 APPENDIX D: XENUS FILTER This chapter provides an overview of the Model XTL-FA-01 edge filter. The contents of this chapter

Xenus Filter Xenus XTL User Guide 156 Copley Controls Corp. D.1: Overview The XTL-FA-01 edge filter can be used to minimize noise on the output of a

Xenus XTL User Guide Xenus Filter Copley Controls Corp. 157 D.2: XTL-FA-01 Edge Filter Specifications Voltage, maximum 373 Vdc Input Current, ma

Xenus Filter Xenus XTL User Guide 158 Copley Controls Corp. D.4: XTL-FA-01 Edge Filter Dimensions The following diagram shows the mounting dimension

Xenus XTL User Guide Xenus Filter Copley Controls Corp. 159 D.5: XTL-FA-01 Edge Filter Wiring This section describes the wiring of the XTL-FA-01 E

Xenus Filter Xenus XTL User Guide 160 Copley Controls Corp. D.5.2: Connector Locations Edge Filter J1 connects to Xenus J2. Edge Filter J2 connects

Xenus XTL User Guide Xenus Filter Copley Controls Corp. 161 D.5.3: Cable Notes 1 Keep the Edge Filter J1 to Xenus J2 cable as short as possible. A

Xenus XTL User Guide Operational Theory Copley Controls Corp. 92.5: Operating Modes 2.5.1: Modes and Control Loops Nesting of Control Loops and Mo

Xenus Filter Xenus XTL User Guide 162 Copley Controls Corp. D.5.6: Diagram: Edge Filter Wiring with Brushless Motor AmplifierUVWABCBrushlessMotorCas

Xenus XTL User Guide Xenus Filter Copley Controls Corp. 163 D.6: XTL-FA-01 Edge Filter Ordering Filter Model Description XTL-FA-01 Xenus Edge Fil

Xenus Filter Xenus XTL User Guide 164 Copley Controls Corp.

Copley Controls Corp. 165 APPENDIX E: CONNECTING FOR SERIAL CONTROL This chapter describes how to connect one or more amplifiers for control via the

Connecting for Serial Control Xenus XTL User Guide 166 Copley Controls Corp. E.1: Single-Axis and Multi-Drop An amplifier’s RS-232 serial bus can be

Copley Controls Corp. 167 APPENDIX F: ORDERING GUIDE AND ACCESSORIES This chapter lists part numbers for amplifiers and accessories. Contents includ

Ordering Guide and Accessories Xenus XTL User Guide 168 Copley Controls Corp. F.1: Amplifier Model Numbers Model Number Description XTL-230-18 Xen

Xenus XTL User Guide Ordering Guide and Accessories Copley Controls Corp. 169 F.2: Accessory Model Numbers Software Model Description CME2 CME 2

Ordering Guide and Accessories Xenus XTL User Guide 170 Copley Controls Corp. Edge Filter Model Description XTL-FA-01 Xenus Edge Filter XTL-FA-01 Ed

Xenus XTL User Guide Ordering Guide and Accessories Copley Controls Corp. 171 F.5: Copley Standard Regen Resistor Specifications F.5.1: Specificat

Operational Theory Xenus XTL User Guide 10 Copley Controls Corp. 2.5.2: Current Mode and Current Loop Current Loop Diagram As shown below, the “fr

Xenus XTL™ User Guide P/N 95-00875-000 Revision 1 December 2007  2007 Copley Controls Corporation 20 Dan Road Canton, MA 02021 USA All rights rese

Xenus XTL User Guide Operational Theory Copley Controls Corp. 11 Current Loop Gains The current loop uses these gains: Gain Description Cp - Curre

Xenus XTL User Guide This page for notes.

Operational Theory Xenus XTL User Guide 12 Copley Controls Corp. 2.5.3: Velocity Mode and Velocity Loop Velocity Loop Diagram As shown below, the

Xenus XTL User Guide Operational Theory Copley Controls Corp. 13 Diagram: Effects of Limits on Velocity Command The following diagram illustrates

Operational Theory Xenus XTL User Guide 14 Copley Controls Corp. 2.5.4: Position Mode and Position Loop Position Loop Diagram The amplifier receiv

Xenus XTL User Guide Operational Theory Copley Controls Corp. 15 Position Loop Gains The following gains are used by the position loop to calculat

Operational Theory Xenus XTL User Guide 16 Copley Controls Corp. amplifier treats anything within the dead band ranges as zero, and subtracts the

Xenus XTL User Guide Operational Theory Copley Controls Corp. 17 2.5.7: PWM Input Two Formats The amplifier can accept a pulse width modulated si

Operational Theory Xenus XTL User Guide 18 Copley Controls Corp. 2.5.8: Digital Input Three Formats In position mode, the amplifier can accept po

Xenus XTL User Guide Operational Theory Copley Controls Corp. 19 Count Up/Count Down Format In the count up/count down format, one input takes eac

Operational Theory Xenus XTL User Guide 20 Copley Controls Corp. 2.6: CANopen Operation 2.6.1: CAN Network and CANopen Profiles for Motion In posi

Xenus XTL User Guide Operational Theory Copley Controls Corp. 21 2.6.3: Architecture As shown below, in a CANopen motion control system, control l

Copley Controls Corp. iTABLE OF CONTENTS About This Manual ...

Operational Theory Xenus XTL User Guide 22 Copley Controls Corp. 2.7: Limit Switches 2.7.1: Use Digital Inputs to Connect Limit Switches Limit swi

Xenus XTL User Guide Operational Theory Copley Controls Corp. 23 2.8: Brake Operation 2.8.1: Digital Output Controls Brake Many control systems e

Operational Theory Xenus XTL User Guide 24 Copley Controls Corp. 2.9: Status Indicators 2.9.1: Amplifier and CAN Interface Status Indicators The

Xenus XTL User Guide Operational Theory Copley Controls Corp. 25 2.9.3: CAN Interface Status Indicator Operation The amplifier status indicator co

Operational Theory Xenus XTL User Guide 26 Copley Controls Corp. 2.10: Protection 2.10.1: Faults Overview Xenus detects and responds to a set of

Xenus XTL User Guide Operational Theory Copley Controls Corp. 27 Fault Descriptions The set of possible faults is described below. For details on

Operational Theory Xenus XTL User Guide 28 Copley Controls Corp. 2.11: Position and Velocity Errors 2.11.1: Error-Handling Methods In position mo

Xenus XTL User Guide Operational Theory Copley Controls Corp. 29 2.11.5: Following Error Fault Details Position Error Reaches Fault Level As descr

Operational Theory Xenus XTL User Guide 30 Copley Controls Corp. 2.11.6: Tracking Window Details Proper Tracking Over Time As described earlier, p

Xenus XTL User Guide Operational Theory Copley Controls Corp. 31 2.12: Communication 2.12.1: Communication Interfaces As described below, the ampl

Table of Contents Xenus XTL User Guide ii Copley Controls Corp. 6.1: CME 2 Overview...

Operational Theory Xenus XTL User Guide 32 Copley Controls Corp. 2.13: Inputs 2.13.1: Digital Inputs The amplifier has twelve digital inputs (IN1-

Xenus XTL User Guide Operational Theory Copley Controls Corp. 33 2.14: Outputs 2.14.1: Digital Outputs The amplifier has four programmable digital

Operational Theory Xenus XTL User Guide 34 Copley Controls Corp. 2.15: Regen Resistor Theory 2.15.1: Regeneration When a load is accelerated elect

Copley Controls Corp. 35 CHAPTER 3: SPECIFICATIONS This chapter describes the amplifier specifications. Contents include: Title Page 3.1: Agency Ap

Specifications Xenus XTL User Guide 36 Copley Controls Corp. 3.1: Agency Approvals • CE Compliance: 89/336/EEC Electromagnetic EN 55011 Compatib

Xenus XTL User Guide Specifications Copley Controls Corp. 37 3.4: Control Loops Type Current Velocity Position 100% digital. Sampling rate (time

Specifications Xenus XTL User Guide 38 Copley Controls Corp. 3.7: Analog Command Input Channels 1 Type Differential, non-isolated Measurement Rang

Xenus XTL User Guide Specifications Copley Controls Corp. 39 3.10: Brake Output Channels 1 Type Current-sinking MOSFET, optically isolated from

Specifications Xenus XTL User Guide 40 Copley Controls Corp. 3.14: Hall Switch Inputs Channels 3 Type 74HC14 Schmitt trigger w/ RC Filter 10 k p

Xenus XTL User Guide Specifications Copley Controls Corp. 41 3.17: Serial Interface Channels 1 Type RS-232 Signals Rxd, Txd, Gnd Baud Rate 9,60

Copley Controls Corp. iii ABOUT THIS MANUAL Overview and Scope This manual describes the operation and installation of the Xenus XTL amplifier manufa

Specifications Xenus XTL User Guide 42 Copley Controls Corp. 3.21: Power Dissipation Model:Output Power Mains Voltage XTL-230-18 (-R, -S) XTL-23

Xenus XTL User Guide Specifications Copley Controls Corp. 43 3.24: Dimensions

Specifications Xenus XTL User Guide 44 Copley Controls Corp.

Copley Controls Corp. 45 CHAPTER 4: WIRING This chapter describes the wiring of amplifier and motor connections. Contents include: Title Page 4.1: G

Wiring Xenus XTL User Guide 46 Copley Controls Corp. 4.1: General Wiring Instructions 4.1.1: Electrical Codes and Warnings Be sure that all wiring

Xenus XTL User Guide Wiring Copley Controls Corp. 47 J2 and J3 Grounds The ground terminals at J2-1 and J3-5 also connect to the amplifier chassis

Wiring Xenus XTL User Guide 48 Copley Controls Corp. 4.2: AC Mains (J1) Mating Connector Description Euro-style 7,5 mm pluggable female terminal b

Xenus XTL User Guide Wiring Copley Controls Corp. 49 AC Mains Wiring Diagram (Single-Phase) AmplifierL1L2Fus es**L1 (Line)L2 (Neut)EarthGroundKeep

Wiring Xenus XTL User Guide 50 Copley Controls Corp. Brushless Motor Wiring Diagram AmplifierUVWJ2ABCBrushlessMotorCaseGroundJ2-2J2-1J2-3J2-4Brush

Xenus XTL User Guide Wiring Copley Controls Corp. 51 4.4: Regen Resistor (J3) (Optional) Mating Connector Description Euro-style, 5 position, 5.0

About this Manual Xenus XTL User Guide iv Copley Controls Corp. Product Warnings Observe all relevant state, regional, and local safety regulation

Wiring Xenus XTL User Guide 52 Copley Controls Corp. 4.5: Logic Supply / Brake (J4) Mating Connector Description Euro-style, 3 position, 5.0 mm p

Xenus XTL User Guide Wiring Copley Controls Corp. 53 4.6: RS-232 Serial Communications (J5) Mating Connector 6-position, modular connector (RJ-11

Wiring Xenus XTL User Guide 54 Copley Controls Corp. 4.7: CAN Bus (J6) Mating Connector 8-position, modular connector (RJ-45 style). Copley Contro

Xenus XTL User Guide Wiring Copley Controls Corp. 55 4.8: Control (J7) Mating Connectors Description Manufacturer PN Wire Size 26 Position, 0.1 x

Wiring Xenus XTL User Guide 56 Copley Controls Corp. J7 Pin Description Pin Signal Function 1 Frame Ground Cable shield connection 2 Ref - Input

Xenus XTL User Guide Wiring Copley Controls Corp. 57 Mode-Dependant Dedicated Inputs These inputs are dedicated to specific functions, depending o

Wiring Xenus XTL User Guide 58 Copley Controls Corp. Digital Outputs Wiring Diagram AmplifierJ7-16J7-17J7-18J7-15TypicalCircuitExternalPowerSupply

Xenus XTL User Guide Wiring Copley Controls Corp. 59 Analog Input Wiring Diagram J7-2J7-3J7-1+-5K37.4 K37.4 K5KRef -Ref+V CMD -VCMD +Frame Gnd

Wiring Xenus XTL User Guide 60 Copley Controls Corp. J8 Pin Description Quad A/B Incremental Encoder Xenus Pin Signal Function 1 Frame Ground Cab

Xenus XTL User Guide Wiring Copley Controls Corp. 61 J8 Pin Description Analog Sin/Cos Encoder Xenus (-S) Pin Signal Function 1 Frame Ground Ca

Xenus XTL User Guide About this Manual Copley Controls Corp. vRevision History Revision Date DECO# Comments 1 November 2007 16236 Initial releas

Wiring Xenus XTL User Guide 62 Copley Controls Corp. Hall Switch Wiring Diagram J8-3J8-6J8-9J8-1J8-4J8-2Typical Circuit5 V@ 400 mA+ 5Vdc3.3ƒ10 K

Xenus XTL User Guide Wiring Copley Controls Corp. 63 Resolver Wiring Diagram J8-3J8-2J8-13J8-12J8-1Frame GndResolverCase GroundREFREFCOS (+)COS (-

Wiring Xenus XTL User Guide 64 Copley Controls Corp.

Copley Controls Corp. 65 CHAPTER 5: QUICK SETUP WITH CME 2This chapter describes the general procedure for configuring and tuning an amplifier with a

Quick Setup with CME 2 Xenus XTL User Guide 66 Copley Controls Corp. 5.12.1: Objective ...

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 67 5.2: CME 2 Installation and Serial Port Setup 5.2.1: Requirements Computer Re

Quick Setup with CME 2 Xenus XTL User Guide 68 Copley Controls Corp. 5.2.3: Downloading Software from Web (Optional) 5.2.3.1 Choose or create a f

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 69 5.2.5: Serial Port Setup One or more serial ports on a PC can be used to conn

Quick Setup with CME 2 Xenus XTL User Guide 70 Copley Controls Corp. 5.2.5.5 Click Next to save the choices and open the Communications Wizard Co

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 71 5.3: Prerequisites 5.3.1: Hardware and Equipment 5.3.1.1 Verify that +24 Vdc

About this Manual Xenus XTL User Guide vi Copley Controls Corp. This page for notes.

Quick Setup with CME 2 Xenus XTL User Guide 72 Copley Controls Corp. 5.3.2: Starting CME 2 and Choosing an Amplifier NOTE: Digital input 1 (IN1) s

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 73 5.4: Basic Setup 5.4.1: Basic Setup Screen 5.4.1.1 To configure an amplifier

Quick Setup with CME 2 Xenus XTL User Guide 74 Copley Controls Corp. 5.4.1.6 View or change the Feedback settings described below. Options vary w

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 75 5.4.1.8 View or change the Miscellaneous settings described below. Options v

Quick Setup with CME 2 Xenus XTL User Guide 76 Copley Controls Corp. 5.5: Motor/Feedback Setup Motor, Feedback, and Brake settings can be loaded

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 77 5.5.2: Enter Motor/Feedback/Brake Settings Manually 5.5.2.1 Click Motor/Feed

Quick Setup with CME 2 Xenus XTL User Guide 78 Copley Controls Corp. 5.5.3: Rotary Motor Setup Parameters View or change the settings described be

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 79 5.5.4: Linear Motor Setup Parameters View or change the settings described b

Quick Setup with CME 2 Xenus XTL User Guide 80 Copley Controls Corp. 5.5.5: Feedback Parameters, Rotary As appropriate for each encoder or resolve

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 81 5.5.6: Feedback Parameters, Linear As appropriate for each encoder installed,

Copley Controls Corp. 1CHAPTER 1: INTRODUCTION This chapter provides an overview of the Copley Controls Xenus XTL amplifier. Contents include: Title

Quick Setup with CME 2 Xenus XTL User Guide 82 Copley Controls Corp. 5.5.7: Feedback Notes Encoder and Resolver Support The Xenus XTL is offered i

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 83 5.5.8: Brake/Stop Parameters Enter the following parameters as appropriate. P

Quick Setup with CME 2 Xenus XTL User Guide 84 Copley Controls Corp. 5.5.9: The Calculate Function The Calculate function uses the motor and encod

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 85 5.6: Amplifier Configuration 5.6.1: Digital Inputs 5.6.1.1 Click Input/Outpu

Quick Setup with CME 2 Xenus XTL User Guide 86 Copley Controls Corp. 5.6.2: Digital Input Functions The digital input functions are described belo

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 87 5.6.4: Standard Digital Outputs 5.6.4.1 Click the Digital Outputs tab of the

Quick Setup with CME 2 Xenus XTL User Guide 88 Copley Controls Corp. 5.6.5: Custom Digital Output Settings: Custom Event Any of the amplifier’s di

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 89 …Continued: Custom Events: Status Status Description Amplifier Disabled by H

Quick Setup with CME 2 Xenus XTL User Guide 90 Copley Controls Corp. 5.6.6: Custom Digital Output Settings: Custom Trajectory Status Any of the am

Xenus XTL User Guide Quick Setup with CME 2 Copley Controls Corp. 91 5.6.7: Custom Digital Output Settings: Position Triggered Output Any of the a