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Regen Resistor Sizing and Configuration Xenus XTL User Guide
140 Copley Controls Corp.
A.1.6: Determine if Energy Returned Exceeds Amplifier Capacity
Compare the amount of energy returned to the amplifier in each deceleration with the amplifier's
energy absorption capacity. For related amplifier specifications, see Regen Circuit Output (p. 37).
For mains voltages not listed in the specification table, use the following formula to determine the
energy that can be absorbed by the amplifier.
W
capacity
= ½ C (V
regen
2
- (1.414 V
mains
)
2
)
Where:
W
capacity
= The energy that can be absorbed by the bus capacitors, in joules.
C = Bus capacitance in farads.
V
r
egen
= Voltage at which the regen circuit turns on, in volts.
V
mains
= Mains voltage applied to the amplifier, in volts AC.
A.1.7: Calculate Energy to be Dissipated for Each Deceleration
For each deceleration where the energy exceeds the amplifier’s capacity, use the following
formula to calculate the energy that must be dissipated by the regen resistor:
E
regen
= E
returned
- E
amp
Where:
E
regen
= Energy that must be dissipated in the regen resistor, in joules.
E
r
eturned
= Energy delivered back to the amplifier from the motor, in joules.
E
amp
= Energy that the amplifier will absorb, in joules.
A.1.8: Calculate Pulse Power of Each Deceleration that Exceeds Amplifier
Capacity
For each deceleration where energy must be dissipated by the regen resistor, use the following
formula to calculate the pulse power that will be dissipated by the regen resistor:
P
pulse
= E
regen
/ T
decel
Where:
P
pulse
= Pulse power in watts.
E
regen
= Energy that must be dissipated in the regen resistor, in joules.
T
decel
= Time of the deceleration in seconds.
A.1.9: Calculate Resistance Needed to Dissipate the Pulse Power
Using the maximum pulse power from the previous calculation, calculate the resistance value of
the regen resistor required to dissipate the maximum pulse power: For related amplifier
specifications, see Regen Circuit Output (p. 37).
R = V
regen
2
/ P
pulse max
Where:
R = Resistance in ohms.
P
pulse max
= The maximum pulse power.
V
regen
= The voltage at which the regen circuit turns on.
Choose a standard value of resistance less than the calculated value. This value must be greater
than the minimum regen resistor value specified in Regen Circuit Output (p. 37).
- 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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