User guide

Copley Controls Corp. 5
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