Download CANopen - Copley Controls

Xenus
PLUS
 
2-Axis CANopen
Rev 01
XP2
RoHS
high speed inputs: in2, in3, IN4, in5, in12, in13, in14, in15
DIGITAL position
Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up
and pull-down to take advantage of the high-speed inputs. Differential inputs have 121 W line-terminators.
Single-ended pulse & Direction
IN4(14)
differential pulse & Direction
IN2(12)
Pulse
PULSE+
IN3(13)
IN5(15)
PULSE-
Direction
IN4(14)
IN5(15)
Single-ended CU/CD
command single-ended
Signal
Axis A
Axis B
Pls, Enc A
J12-10
J12-15
Dir, Enc B
J12-11
J12-30
DIRECTION+
Sgnd
J12-6,16,22,31,37,44
DIRECTION-
Shld
J12-1
differential CU/CD
CU (Count-Up)
CU (Count-Up)
IN4(14)
IN5(15)
IN2(12)
IN3(13)
CU
CD
CD (Count-Down)
CD (Count-Down)
IN4(14)
IN5(15)
QUAD a/b ENCODER SINGLE-ENDED
Encoder ph. A
IN5(15)
command differential
PULSE-
DIRECTION+
DIRECTION-
QUAD a/b ENCODER DIFFERENTIAL
Encoder ph. A
IN4(14)
PULSE+
Enc. A
Enc. B
Encoder ph. B
Encoder ph. B
IN2(12)
Enc. A
IN3(13)
Enc. /A
IN4(14)
Enc B
IN5(15)
Enc /B
Signal
Axis A
Axis B
Pls, Enc A
J12-8
J12-13
/Pls, Enc /A
J12-9
J12-14
Dir, Enc B
J12-10
J12-15
/Dir, Enc /B
J12-11
J12-30
Sgnd
J12-6,16,22,31,37,44
Shld
J12-1
DIGITAL TORQUE, VELOCITY
Digital torque or velocity commands can be in either single-ended or differential format. Single-ended signals must be sourced from devices with active
pull-up and pull-down to take advantage of the high-speed inputs.
Single-ended PWM & Direction
Duty = 0~100%
differential PWM & Direction
IN4(14) Current or
Velocity
Duty = 0 - 100%
IN2(12)
IN3(13)
PWM+
PWM-
IN5(15) Polarity or
Direction
IN4(14)
IN5(15)
Single-ended 50% PWM
Duty = 50% ±50%
<no connection>
IN5(15)
Duty = 50% ±50%
IN2(12)
No function
Axis B
J12-10
J12-15
J12-11
J12-30
Dir
Sgnd
J12-6,16,22,31,37,44
Direction-
Shld
J12-1
Curr/Vel+
Curr/Vel-
IN4(14)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-<tbd> Rev 00 September 23, 2015 Axis A
PWM
command differential
IN3(13)
<no connection>
Signal
Direction+
differential 50% PWM
IN4(14) Current or
Velocity
command single-ended
IN5(15)
No
Function
Tel: 781-828-8090
Signal
Axis A
Axis B
PWM
J12-8
J12-13
/PWM
J12-9
J12-14
Dir
J12-10
J12-15
/Dir
J12-11
J12-30
Sgnd
J12-6,16,22,31,37,44
Shld
J12-1
Fax: 781-828-6547
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