User guide

Xenus Plus User Guide Introduction
Copley Controls 11
1.1: Xenus Plus Family Overview
Each Xenus Plus servo drive 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 Plus can
operate from single or three-phase mains with a continuous power output of up to 4 kW.
Xenus Plus comes in six basic models to support three network interface protocols: single axis
XEL and dual axis XE2, which support CANopen over EtherCAT, the single axis XML and dual
axis 800-1808, which supports MACRO, and single axis XPL and dual axis XP2, which support
CANopen.
All of the Xenus Plus models provide a Safe Torque Off (STO) function. Two inputs are provided
which, when de-energized, prevent the upper and lower devices in the PWM outputs from being
operated by the digital control core. This provides a positive OFF capability that cannot be
overridden by the control firmware, or associated hardware components. When the inputs are
energized, the control core will be able to control the on/off state of the PWM outputs. Although all
models have the STO feature, there are important differences in the STO design between the
Single Axis (XEL/XPL/XML) and the Dual Axis (XE2/XP2/800-1782/800-1808) versions.
The STO circuit in the single axis models was designed using guidance from IEC 61800-5-2, an
international standard that specifies requirements for motor drive functional safety features
including STO.
The STO feature in the dual axis models was developed in accordance with several functional
safety standards and has both SIL and Category/Performance Level ratings. The design and
development of the STO feature on these models are being submitted to TÜV SÜD for approval.
Following approval the Xenus Plus Dual Axis products will bear the TÜV SÜD Functional Safety
mark. For more information on STO for the Xenus Plus Dual Axis models, see the Xenus Plus
Dual-Axis STO Manual.
Xenus Plus models support a wide range of feedback devices. The standard versions support
digital quadrature encoders, analog sin/cos encoders, and EnDat, BiSS, SSI, and Absolute A
encoders. The -R version supports brushless resolvers. The standard and -R versions can emulate
a digital quadrature encoder output from the analog encoder or resolver respectively.
Xenus Plus models can operate in several basic ways:
As a traditional motor drive accepting current, velocity or position commands from an
external controller. In current and velocity modes they 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 drive to take
instruction from a master application to perform torque, velocity, and position profiling,
interpolated position, and homing operations. Multiple drives can be tightly synchronized for
high performance coordinated motion.
As a node on an EtherCAT or MACRO network.
As a stand-alone controller running 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 drive can range from 100 to 240 Vac, single or three-phase, and 47 to
63 Hz. This allows Xenus Plus the ability to work in the widest possible range of industrial settings.
Several models are available, with peak output current ratings of 18 to 40 Amps: