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CHAPTER
2: OPERATIONAL THEORY
This chapter describes the basics of Xenus operation. Contents include:
Title Page
2.1: Amplifier Internal Power.......................................................................................................................................................... 6
2.2: Synchronizing PWM Switching Frequency.............................................................................................................................. 8
2.3: Commutation Modes .............................................................................................................................................................. 8
2.4: Feedback................................................................................................................................................................................ 8
2.5: Operating Modes .................................................................................................................................................................... 9
2.6: CANopen Operation ............................................................................................................................................................. 20
2.7: Limit Switches ...................................................................................................................................................................... 22
2.8: Brake Operation ................................................................................................................................................................... 23
2.9: Status Indicators................................................................................................................................................................... 24
2.10: Protection ........................................................................................................................................................................... 26
2.11: Position and Velocity Errors................................................................................................................................................ 28
2.12: Communication .................................................................................................................................................................. 31
2.13: Inputs ................................................................................................................................................................................. 32
2.14: Outputs............................................................................................................................................................................... 33
2.15: Regen Resistor Theory....................................................................................................................................................... 34
- Xenus XTL™ User Guide 1
- This page for notes 2
- Copley Controls Corp. i 3
- ABOUT THIS MANUAL 5
- Product Warnings 6
- Revision History 7
- 1.1: Amplifier 10
- 1.2: CME 2 11
- 1.3: CMO/CML 11
- 4 Copley Controls Corp 12
- 2.1.1: Logic/Signal Power 14
- 2.1.2: High Voltage 14
- Copley Controls Corp. 7 15
- 2.3: Commutation Modes 16
- 2.4: Feedback 16
- 2.5: Operating Modes 17
- 10 Copley Controls Corp 18
- Limiter Description 18
- Copley Controls Corp. 11 19
- Gain Description 19
- 12 Copley Controls Corp 20
- Copley Controls Corp. 13 21
- 14 Copley Controls Corp 22
- Input Description 22
- 2.5.5: Input Command Types 23
- 2.5.6: Analog Command Input 23
- 16 Copley Controls Corp 24
- 2.5.7: PWM Input 25
- 2.5.8: Digital Input 26
- 2.5.9: CVM Program 27
- 2.6: CANopen Operation 28
- 2.6.4: CAN Addressing 29
- 2.6.3: Architecture 29
- 2.7: Limit Switches 30
- 2.8: Brake Operation 31
- 2.9: Status Indicators 32
- Copley Controls Corp. 25 33
- Indicator State Diagram 33
- Physical Bus Status 33
- 2.10: Protection 34
- Fault Descriptions 35
- Fault Levels (p. 41) 35
- 28 Copley Controls Corp 36
- Copley Controls Corp. 29 37
- 30 Copley Controls Corp 38
- 2.12: Communication 39
- 2.13: Inputs 40
- 2.14: Outputs 41
- 2.15: Regen Resistor Theory 42
- 3.1: Agency Approvals 44
- 3.2: Power Input 44
- 3.3: Power Output 44
- 3.4: Control Loops 45
- 3.5: Regen Circuit Output 45
- 3.6: Digital Command Input 45
- 3.7: Analog Command Input 46
- 3.8: Digital Inputs 46
- 3.9: Digital Outputs 46
- 3.10: Brake Output 47
- 3.12: Primary Encoder Inputs 47
- 3.13: Analog Encoder Inputs 47
- 3.14: Hall Switch Inputs 48
- 3.15: Resolver Interface 48
- 3.16: Multi-Mode Port 48
- 3.17: Serial Interface 49
- 3.18: CAN Interface 49
- 3.19: Status Indicators 49
- 3.20: Fault Levels 49
- 3.21: Power Dissipation 50
- 3.24: Dimensions 51
- 44 Copley Controls Corp 52
- 46 Copley Controls Corp 54
- 4.1.3: Connector Locations 55
- 4.2: AC Mains (J1) 56
- 4.3: Motor (J2) 57
- Brush Motor Wiring Diagram 58
- Copley Controls Corp. 51 59
- Pin Signal Function 59
- Regen Resistor Fuse type 59
- Mating Connector 60
- Pin Description 60
- Copley Controls Corp. 53 61
- 4.7: CAN Bus (J6) 62
- 4.8: Control (J7) 63
- J7 Pin Description 64
- 58 Copley Controls Corp 66
- 4.9: Motor Feedback (J8) 67
- 60 Copley Controls Corp 68
- Copley Controls Corp. 61 69
- Hall Switch Wiring Diagram 70
- Resolver Wiring Diagram 71
- 64 Copley Controls Corp 72
- 5.1: Warnings 74
- 5.2.1: Requirements 75
- 5.2.5: Serial Port Setup 77
- 5.3: Prerequisites 79
- 5.4: Basic Setup 81
- 5.5: Motor/Feedback Setup 84
- 78 Copley Controls Corp 86
- Copley Controls Corp. 79 87
- Range: 0.01 to 87
- 80 Copley Controls Corp 88
- Copley Controls Corp. 81 89
- 5.5.7: Feedback Notes 90
- 5.5.8: Brake/Stop Parameters 91
- 5.6: Amplifier Configuration 93
- 86 Copley Controls Corp 94
- Input Function Description 94
- Grey light: 95
- Output is not active 95
- Hi/Lo state of output 95
- Red light: 95
- Output is active 95
- 5.6.5.1 96
- 5.6.6.1 98
- 92 Copley Controls Corp 100
- 5.6.10: Fault Latching 101
- 5.6.11: Regen Resistor 102
- 5.7: Command Input 103
- 5.7.1: Analog Input 104
- 5.7.1.5 Click Close 105
- 5.7.2: PWM Input 106
- 5.7.3.5 Click Close 108
- 5.7.4: CAN Interface 109
- 5.8: Auto Phase 110
- 5.8.2: Auto Phase Procedure 111
- 5.8.2.18 C 114
- 5.9: Current Loop 116
- 5.10: Velocity Loop 120
- 5.11: Position Loop 122
- 5.11.3: Test S-Curve Profile 125
- 5.12: Completion Steps 126
- CHAPTER 127
- 6.1: CME 2 Overview 128
- 6.1.3: Main Menu Overview 129
- 122 Copley Controls Corp 130
- Menu Selection Description 130
- 6.1.4: Functional Diagram 131
- 6.1.7: Renaming an Amplifier 132
- 6.2.1: Memory 133
- 6.2.2: Disk Storage 133
- 6.2.3: Data Management Tools 134
- 6.3: Downloading Firmware 136
- 6.4: Control Panel 138
- Copley Controls Corp. 131 139
- Indicator States/Description 139
- 132 Copley Controls Corp 140
- 6.4.4: Control Functions 141
- 6.4.5: Jog Mode 141
- 6.5: Manual Phasing 142
- degree increments: 143
- 6.6: Home Function 144
- APPENDIX 145
- A.1: Sizing a Regen Resistor 146
- Copley Controls Corp. 139 147
- Rotary motor: 147
- Linear motor: 147
- Capacity 148
- A.1.11: Select Fuses 149
- 144 Copley Controls Corp 152
- T Algorithm 154
- B.1.3: I 155
- T current limit 156
- Copley Controls Corp. 149 157
- 150 Copley Controls Corp 158
- Model XTL-230-40 (-R, -S) 160
- Copley Controls Corp. 153 161
- No Fan With Fan* 161
- The pad is die-cut to 162
- D.1: Overview 164
- D.3: Thermal Considerations 165
- 158 Copley Controls Corp 166
- Copley Controls Corp. 159 167
- D.5.2: Connector Locations 168
- D.5.3: Cable Notes 169
- D.5.5: Output (J2) To Motor 169
- 162 Copley Controls Corp 170
- Connector Kit 171
- 164 Copley Controls Corp 172
- 166 Copley Controls Corp 174
- F.1: Amplifier Model Numbers 176
- F.2: Accessory Model Numbers 177
- F.3: Order Example 178
- F.5.1: Specifications 179
- F.5.2: Dimensions 179
- 95-00875-000 180
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