User guide

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-line powered package.
It can also control a Copley Controls ServoTube motor. Xenus can operate from single or three-
phase mains with a continuous power output of up to 4 kW.
Xenus is offered in three versions to support three types of feedback devices. The standard
version supports digital quadrature encoders. The –S version supports analog sin/cos encoders.
The -R version supports brushless resolvers. The –S and -R versions can emulate a digital
quadrature encoder output from the analog encoder or resolver respectively.
Xenus can operate in several basic ways:
• As a traditional motor amplifier accepting current, velocity or position commands from an
external controller. In current and velocity modes it can accept ±10 Vdc analog, digital 50%
PWM or PWM/polarity inputs. In position mode, inputs can be incremental position commands
from step-motor controllers in Pulse and Direction or Count Up/Count Down format, as well as
A/B quadrature commands from a master-encoder. Pulse-to-position ratio is programmable for
electronic gearing.
• As a node on a CANopen network. CANopen compliance allows the amplifier to take
instruction from a master application over a CAN network to perform torque, velocity, and
position profiling, interpolated motion, and homing operations. Multiple drives can be tightly
synchronized for high performance coordinated motion.
• As a node on a DeviceNet network. Xenus can be operated over a DeviceNet network by
PLCs and other controllers.
• As a stand-alone controller running Copley Virtual Machine (CVM) control programs such as
the Indexer 2 Program. It can also be controlled directly over an RS232 serial link with simple
ASCII format commands.
Mains input voltage to the amplifier can range from 100 to 240 Vac, single or three-phase, and 47
to 63 Hz. This allows Xenus the ability to work in the widest possible range of industrial settings.
Several models are available, with peak current ratings of 18 to 40 amps:
Model
Quad A/B
Encoder
Resolver Sin/Cos Encoder Continuous
Current
Peak Current Vac
XTL-230-18 XTL-230-18-R XTL-230-18-S 6 A 18 A
XTL-230-36 XTL-230-36-R XTL-230-36-S 12 A 36 A
XTL-230-40 XTL-230-40-R XTL-230-40-S 20 A 40 A
100 to
240
A separate +24 Vdc logic supply powers the internal logic and control circuits. These are isolated
from the high-voltage power supply and inverter stage that connect to the mains. This simplifies
system design by allowing the mains to be completely disconnected from the amplifier for safety
reasons while allowing the logic side of the amplifier to stay powered. This allows the amplifier to
retain position information and maintain communication through the digital I/O or over the serial or
CAN ports when disconnected from the mains.
The Xenus XTL is RoHS compliant.