copley xenus manual

copley xenus manual

Page Count: 200 June 2008This page for notes.Overview and Scope. 8. Related Documentation. 8. Comments. 8. Copyrights. 8. Document Validity. 8. Product Warnings. 9. Revision History. 10Copley Controls Corp.Specifications. 49Wiring. 59Control (J7). 68Quick Setup with CME 2. 77Copley Controls Corp.Using CME 2. 121Copley Controls Corp.Regen Resistor Sizing and Configuration. 153. A.1: Sizing a Regen Resistor. 154. A.1.1: Gather Required Information. 154. A.1.2: Observe the Properties of Each Deceleration During a Complete Cycle of Operation. 154. A.1.3: Calculate Energy Returned for Each Deceleration. 155. A.1.4: Determine the Amount of Energy Dissipated by the Motor. 155. A.1.5: Determine the Amount of Energy Returned to the Amplifier. 155. A.1.6: Determine if Energy Returned Exceeds Amplifier Capacity. 156. A.1.7: Calculate Energy to be Dissipated for Each Deceleration. 156. A.1.8: Calculate Pulse Power of Each Deceleration that Exceeds Amplifier Capacity. 156. A.1.9: Calculate Resistance Needed to Dissipate the Pulse Power. 156. A.1.10: Calculate Continuous Power to be Dissipated. 157. A.1.11: Select Fuses. 157. A.2: Configuring a Custom Regen Resistor. 158. A.2.1: Regen Configuration Objective and Warning. 158. A.2.2: Regen Configuration Instructions. 158. I2T Time Limit Algorithm. 161. B.1: I2T Algorithm. 162. B.1.1: I2T Overview. 162. B.1.2: I2T Formulas and Algorithm Operation. 162. Velocity Loop Filters. 167. C.1: Advanced Velocity Loop Filter. 167. C.1.1: Filter Overview. 167. C.1.2: Filter Instructions and Details. 167. Thermal Considerations. 169. D.1: Operating Temperature and Cooling Configurations. 170. D.1.2: Heatsink and Fan Configurations. 171. D.2: Heatsink Mounting Instructions. 172. Xenus Filter. 173. E.1: Overview. 174. E.1.1: Differential and Common Mode Filtering. 174. E.1.2: Description and Functional Diagram. 174. E.1.3: PWM Output Plot. 174. E.2: XSL-FA-01 Edge Filter Specifications. 175. E.3: Thermal Considerations. 175. E.http://dodeehosting.com/userfiles/ca-8335-manual.xml

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4: XSL-FA-01 Edge Filter Dimensions. 176. E.5: XSL-FA-01 Edge Filter Wiring. 177. E.5.2: Electrical Codes and Warnings. 177. E.5.2: Connector Locations. 178. E.5.3: Cable Notes. 179. E.5.4: Input (J1) From Amplifier. 179. E.5.5: Output (J2) To Motor. 179. E.5.6: Diagram: Edge Filter Wiring with Brushless Motor. 180. E.5.7: Diagram: Edge Filter Wiring with Brush Motor. 180. E.6: XSL-FA-01 Edge Filter Ordering. 181. Connecting for Serial Control. 183. F.1: Single-Axis and Multi-Drop. 184. F.1.2: Single-Axis Connections. 184. F.1.3: Multi-Drop Network Connections. 184. ServoTube Motor Setup. 185. G.1: ServoTube Setup and Configuration. 186. G.1.1: ServoTube Basic Setup Screen Options. 186. G.1.3: Calculating ServoTube Initial Values. 188. G.1.4: Setting Up the Motor Over Temperature Input. 188. G.2: ServoTube Auto Phase and Manual Phase. 189. G.2.1: ServoTube Auto Phase. 189. G.2.2: ServoTube Manual Phase. 192. G.3: Special ServoTube Setup Completion. 192. Ordering Guide and Accessories. 193. H.1: Amplifier Model Numbers. 194. H.2: Accessory Model Numbers. 194. H.3: Order Example. 195. H.4: Control and Feedback Cable Color Codes. 196. Copley Controls Corp.Table Of Contents. H.4.1: Wire Description Nomenclature. 196. H.4.2: Control Cable (XSL-CC-10). 196. H.4.3: Feedback (XSL-FC-10). 197. H.5: Regen Resistor Specifications. 198. H.5.1: XTL-RA-03, XTL-RA-04 Specifications. 198. H.5.2: XTL-RA-03, XTL-RA-04 Dimensions. 198. H.5.3: XSL-RA-01, 02 (Discontinued) Specifications. 199. H.5.4: XSL-RA-01, 02 (Discontinued) Dimensions. 199. Copley Controls Corp.This manual describes the operation and installation of the Xenus amplifier manufactured by. Copley Controls Corporation. Related Documentation. Users of the CANopen features should also read these Copley Controls documents. Also of related interest.http://farmaciasacoor.com/site/upload/ca-6547-manual.xml

Copley Indexer Program User’s Guide (describes use of Indexer Program to create motionInformation on Copley Controls Software can be found at:Copley Controls Corporation welcomes your comments on this manual. SeeCopyrights. No part of this document may be reproduced in any form or by any means, electronic orCorporation. Xenus is a registered trademark of Copley Controls Corporation. CME 2 is a registered trademark of Copley Controls Corporation. Windows 95, 98, NT, ME, 2000, and XP, Visual Basic, Excel, and.NET are trademarks orLabVIEW is a registered trademark of National Instruments. Document Validity. We reserve the right to modify our products. The information in this document is subject to changeControls Corporation assumes no responsibility for any errors that may appear in this document. Copley Controls Corp.About this Manual. Product Warnings. Observe all relevant state, regional, and local safety regulations when installing and using thisCorporation should perform repairs to amplifiers.Exercise caution when installing and adjusting. Failure to heed this warning can cause equipment damage, injury, or death.High-voltage circuits on J1, J2, and J3 are connected to mains power. Failure to heed this warning can cause equipment damage, injury, or death.After the cause of a non-latched fault is corrected, the amplifier re-enables the PWMIn this case, motion may re-startWhen using non-latched faults, be sure to safeguard againstFailure to heed this warning can cause equipment damage, injury, or death.When operating the amplifier as a CAN node, the use of CME 2 or ASCII serialUsing such commands to initiateCAN operations may restart unexpectedly when the commanded motion is stopped. Failure to heed this warning can cause equipment damage, injury, or death. Latching an output does not eliminate the risk of unexpected motion with nonlatched faults.

Associating a fault with a latched, custom-configured output does not latch the faultIn this case, motion may re-start unexpectedly. For more information, see Clearing Non-Latched Faults (p. 36). Failure to heed this warning can cause equipment damage, injury, or death.Operate amplifiers within the specifications provided in this manual. Failure to heed this warning can cause equipment damage, injury, or death.Xenus XSL User Guide. Revision History. Revision. DateComments. Initial publication.New CAN termination plug requires documentation changes in. CAN Interface (p. 55) and CAN Bus (J6) (p. 67).Support for resolvers and dual feedback configurations, and emulatedSee Feedback (p. 18). Copley Virtual Machine (CVM) and Indexer Program for writing motionSee CVM Program (p. 29). Xenus filter. See Xenus Filter (p.173). High res input. See. General Programmable Input Functions (p. 43). Velocity loop input filter. See Velocity Loop Filters (p. 167). Position loop Gain Multiplier. See Position Mode and Position Loop (p. 24). Over Current fault. See Fault Descriptions (p. 37.). RS-232 multi-drop serial control. See Connecting for Serial Control (p. 183). New CAN addressing interface. See CAN Interface (p. 104 ). New CME 2 homing function for setting up and testing homing moves. See Home Function (p. 152).Regen Resistor Specifications (p. 198).Contents include. Title. PageXenus XSL User GuideXenus provides 100% digital control of brushless or brush motors in an off-line powered package. It can also control a Copley Controls ServoTube motor (see ServoTube Setup, p. 84). Xenus canXenus is offered in two versions to support three types of feedback devices. The standard version. The -R version supports brushlessXenus can operate in several basic ways. As a traditional motor amplifier accepting current, velocity or position commands from an. In position mode, inputs can be incremental position commands.

Pulse-to-position ratio is programmable forCANopen compliance allows the amplifier to takeMultiple drives can be tightlyASCII format commands. Mains input voltage to the amplifier can range from 100 to 240 Vac, single or three-phase, and 47Several models are available, with peak current ratings of 18 to 40 amps. Encoder. Model. Resolver. Continuous. Current. Peak. CurrentThis simplifiesThis allows the amplifier to. CAN ports when disconnected from the mains.IntroductionThe multi-drop feature allows CME 2 to a single RS-232 serial connection to one amplifier as aAuto phasing of brushless motor Hall sensors and phase wires eliminates “wire and try.”. Connections are made once and CME 2 does the rest. Encoder or resolver wire swapping toMotor data can be saved as.ccm files. Amplifier data is saved as.ccx files that contain allThis makes it possible to quickly set up amplifiers by copyingCopley Motion Libraries (CML) and Copley Motion Objects (CMO) make CANopen systemAll network housekeeping is taken care of automatically by a fewCANopen network. CMO provides a similar suite of COM objects that can be used by Visual. Basic,.NET, LabVIEW, or any other program supporting the Microsoft COM object interface. Copley Controls Corp.Copley Controls Corp.Contents include. PageCopley Controls Corp.Xenus XSL User GuideAll the digital andOUT4 is controlled through an opto-isolator, and is referenced to the. Deriving internal operating voltages from a separate source enables the amplifier to stay on-lineThis allows CAN bus and serial communications to remain active so that the amplifier can beMains power drives the high-voltage section. It is rectified and capacitor-filtered to produce the DCAn internal solid-state switch, together with anThis prevents charging the internal capacitorsOperational TheoryCktXenus XSL User GuideIn some situations, such as when sampling small analog signals, it is desirable to synchronize the. PWM switching frequency among multiple amplifiers.

In these cases, one amplifier serves as aThe PWM sync output of the master sends a signal thatThe amplifier supports three commutation modes to drive brush and brushless motors: ACIn most applications, sinusoidal commutation is preferred over trapezoidal, because it reducesIn the sinusoidalIn AC brushless trapezoidal commutation mode, the amplifier provides traditional six-stepWhen driving a DC brush motor, the amplifier operates as a traditional H-Bridge amplifier.The Xenus amplifier is offered in two versions to support encoder or resolver feedback. The. This version normallyThe resolver versionBoth versions support a secondary encoder interface. This interface can be configured to:Provide an emulated digital encoder output based on the analog encoder or resolver input. Provide a second digital encoder input to be used in the dual encoder position mode. In thisCopley Controls Corp.Operational TheoryNesting of Control Loops and Modes. Copley Controls amplifiers use up to three nested control loops - current, velocity, and position - toControl Loops Illustration. In position mode, the amplifier uses all three loops. As shown below, the position loop drives theLimits. Position. Command. Target. Actual Position. Velocity. Limiter. Loop. Derived VelocityLimited. CommandLoop. Limited. VelocityGenerator. Sensors. Actual Current. In velocity mode, the velocity loop drives the current loop. In current mode, the current loop isBasic Attributes of All Control Loops. These loops (and servo control loops in general) share several common attributes. Loop Attribute. Description. Command input. Every loop is given a value to which it will attempt to control. For example, the velocity loopLimits. Feedback. The nature of servo control loops is that they receive feedback from the device they areGains. These are constant values that are used in the mathematical equation of the servo loop. TheOutput. The loop generates a control signal.

This signal can be used as the command signal to anotherCopley Controls Corp.Xenus XSL User GuideCurrent Loop Diagram. As shown below, the “front end” of the current loop is a limiting stage. The limiting stage accepts aThe summing junction takes the commanded current, subtracts the actual current (represented byThis error signal is then processed using theThis command is then applied to theCurrent Loop. Current Integral Gain (Ci). Current Command. Current Limiter. Limited Current. Current Offset. Current Proportional Gain (Cp)MotorPeak Current. Continuous Current. Peak Current Limit Time. Feedback (Actual Current). Current Loop Inputs. In velocity or position modes, the current command is generated by the velocity loop. Offset. The current loop offset is intended for use in applications where there is a constant force appliedTypical applicationsThis offset value is summedLimits. The current command is limited based on the following parameters. Peak Current Limit. Maximum current that can be generated by the amplifier for a short duration of time. ThisContinuous Current. Limit. Maximum current that can be constantly generated by the amplifier.Maximum amount of time that the peak current can be applied to the motor before it mustNote: Although the current limits set by the user may exceed the amplifier's internal limits,RampUsed to limit jog moves initiated from the Control. Panel Jog function in current mode, and in advanced Indexer Program functions. Copley Controls Corp.Operational Theory. Current Loop Gains. The current loop uses these gains. Gain. Cp - Current loop proportional. The current error (the difference between the actual and the limited commandedThe primary effect of this gain is to increaseCi - Current loop integral. The integral of the current error is multiplied by this value. Integral gain reduces theIt controls the DC accuracy of the loop, or theThe error integral is the accumulatedCurrent Loop Output.

The output of the current loop is a command that sets the duty cycle of the PWM output stage ofAuto Tune. CME 2 provides an Auto Tune feature, which automatically determines optimal Cp and Ci valuesCopley Controls Corp.Xenus XSL User GuideVelocity Loop Diagram. As shown below, the velocity loop limiting stage accepts a velocity command, applies limits, andThe filter then passes a velocity command toThe summing junction subtracts the actual velocity, represented by theProgrammable digital filters are provided on both the input and output command signals. Velocity Loop. Velocity Lim iter. Filter. Velocity Integral Gain (Vi). Velocity Proportional Gain (Vp). Limits. Feedback (Derived Velocity). Inputs. In velocity mode, the velocity command comes from one of the following. In position mode, the velocity command is generated by the position loop. Velocity Loop Limits. The velocity command is limited based on the following set of parameters designed to protect the. Velocity Limit. Sets the maximum velocity command input to the velocity loop. Acceleration Limit. Limits the maximum acceleration rate of the commanded velocity input to the velocity loop. This limit is used in velocity mode only. In position mode, the trajectory generator handlesDeceleration Limit. Limits the maximum deceleration rate of the commanded velocity input to the velocity loop. In position mode, the trajectory generator handlesFast Stop Ramp. Specifies the deceleration rate used by the velocity loop when the amplifier is hardwareNote that Fast Stop Ramp is used only in velocity mode. In position mode, the trajectoryThere is one exception: if a non-latchedFast Stop Ramp is used. For more information, see Following Error Fault Details (p. 39).Operational Theory. Diagram: Effects of Limits on Velocity Command. The following diagram illustrates the effects of the velocity loop limits. Limited Velocity. Commanded Velocity. Vel Limit. Accel Limit. Decel Limit. Velocity Loop Gains.

The velocity loop uses these gains. Vp - Velocity loop proportional. The velocity error (the difference between the actual and the limited commandedThe primary effect of this gain is to increaseVi - Velocity loop integral. The integral of the velocity error is multiplied by this value. Integral gain reduces theIt controls the DC accuracy of the loop, or theThe error integral is the accumulatedVelocity Loop Gains Scalar. The Enable Gains Scalar feature increases the resolution of the units used to express Vp and Vi,This feature is used when tuning results in non-scaled Vp or ViSuch low values are likely to be called for when tuning a linear motor with anVelocity Loop Command and Output Filters. The velocity loop contains two programmable digital filters. The input filter should be used toThe output filter can be used to reduce theTwo filter classes can be programmed: the Low-Pass and the Custom Bi-Quadratic. The LowPass filter class includes the Single-Pole and the Two-Pole Butterworth filter types. The Custom. Bi-Quadratic filter allows advanced users to define their own filters incorporating two poles and twoFor more information, see Velocity Loop Filters (p.167). Velocity Loop Outputs. The output of the velocity loop is a current command used as the input to the current loop. Copley Controls Corp.Xenus XSL User GuidePosition Loop Diagram. The amplifier receives position commands from the digital or analog command inputs, over the. CAN interface or serial bus, or from the CVM Control Program. When using the digital or analogWhen using the CAN bus, serial bus, or CVM Control Program, aThe trajectory generator updates theThe output of the generator is an instantaneous position command (limited position). In addition,These signals, alongWhen using digital or analog command inputs, the trajectory generator can be disabled by settingProgram, setting Max Accel to zero prevents motion.). The following diagram summarizes the position loop. Position Loop. Profile Velocity.

Trajectory. Ge ne rator. Velocity Feed Forw ard (Vff). Profile Acceleration. Limited Position. Acceleration Feed Forw ard (Aff). Position Proportional Gain (Pp). Multiplier. CommandMax velocity. Max accel. Max decel. Abort decel. FeedbackTrajectory Limits. In position mode, the trajectory generator applies the following user-set limits to generate theLimiter. Maximum Velocity. Limits the maximum speed of the profile. Maximum Acceleration. Limits the maximum acceleration rate of the profile. Maximum Deceleration. Limits the maximum deceleration rate of the profile. Abort Deceleration. Specifies the deceleration rate used by the trajectory generator when motion is aborted. Position Loop Inputs From the Trajectory Generator. The position loop receives the following inputs from the trajectory generator. Input. The instantaneous velocity value of the profile. Used to calculate the velocity feed forwardProfile Acceleration. Used to calculate theLimited Position. The instantaneous commanded position of the profile. Used with the actual position feedback toOperational Theory. Position Loop Gains. The following gains are used by the position loop to calculate the velocity command. Pp - Position loop proportional. The loop calculates the position error as the difference between the actual andThis error in turn is multiplied by the proportional gain value. The primary effect of this gain is to reduce the following error. Vff - Velocity feed forward.