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Xenus XTL User Manual - 3.1: Agency Approvals

Summary of XTL

  • Page 1

    Xenus xtl ™ user guide p/n 95-00875-000 revision 3 june 2008.

  • Page 2

    Xenus xtl user guide this page for notes..

  • Page 3

    Copley controls corp. 3 table of contents about this manual ................................................................................................................................................................................ 5 1: introduction ................................................

  • Page 4

    Table of contents xenus xtl user guide 4 copley controls corp. 6.1: cme 2 overview................................................................................................................................................................. 128 6.2: manage amplifier and motor data ..................

  • Page 5: Bout

    Copley controls corp. 5 a bout t his m anual overview and scope this manual describes the operation and installation of the xenus xtl amplifier manufactured by copley controls corporation. Related documentation for important setup and operation information, see the cme 2 user guide. Users of the can...

  • Page 6

    About this manual xenus xtl user guide 6 copley controls corp. Product warnings observe all relevant state, regional, and local safety regulations when installing and using this product. For safety and to assure compliance with documented system data, only copley controls corporation should perform ...

  • Page 7

    Xenus xtl user guide about this manual copley controls corp. 7 revision history revision date deco# comments 1 december 2007 16236 initial release. 2 february 2008 16714 updated multi-mode port interface diagram (p. 66) . 3 june 2008 17111 updated web page references and made other minor changes..

  • Page 8

    About this manual xenus xtl user guide 8 copley controls corp. This page for notes..

  • Page 9: Chapter

    Copley controls corp. 9 chapter 1: i ntroduction this chapter provides an overview of the copley controls xenus xtl amplifier. Contents include: title page 1.1: amplifier ....................................................................................................................................

  • Page 10: 1.1: Amplifier

    Introduction xenus xtl user guide 10 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 powe...

  • Page 11: 1.2: Cme 2

    Xenus xtl user guide introduction copley controls corp. 11 1.2: cme 2 amplifier commissioning is fast and simple using copley controls cme 2 software. Cme 2 communicates with xenus via an rs-232 link, and all of the operations needed to configure the amplifier are accessible through cme 2. The multi...

  • Page 12

    Introduction xenus xtl user guide 12 copley controls corp..

  • Page 13: Chapter

    Copley controls corp. 13 chapter 2: o perational t heory this chapter describes the basics of xenus operation. Contents include: title page 2.1: amplifier internal power......................................................................................................................................

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    Operational theory xenus xtl user guide 14 copley controls corp. 2.1: amplifier internal power power distribution within xenus is divided into three sections: +24 vdc, logic/signal, and high voltage. Each is isolated from the other. 2.1.1: logic/signal power an internal dc/dc converter operates from...

  • Page 15

    Xenus xtl user guide operational theory copley controls corp. 15 2.1.3: power and grounding diagram +24 vdc logic & signal power rtn pwm inverter l1 control logic mains l3 +5 vdc u v w motor halls encoder case isolation barrier +5 vdc dc buss(+) dc buss(-) l2 amplifier chassis control system enable ...

  • Page 16: 2.3: Commutation Modes

    Operational theory xenus xtl user guide 16 copley controls corp. 2.2: synchronizing pwm switching frequency in 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 a ...

  • Page 17: 2.5: Operating Modes

    Xenus xtl user guide operational theory copley controls corp. 17 2.5: operating modes 2.5.1: modes and control loops nesting of control loops and modes copley controls amplifiers use up to three nested control loops - current, velocity, and position - to control a motor in three associated operating...

  • Page 18

    Operational theory xenus xtl user guide 18 copley controls corp. 2.5.2: current mode and current loop current loop diagram as shown below, the “front end” of the current loop is a limiting stage. The limiting stage accepts a current command, applies limits, and passes a limited current command to th...

  • Page 19

    Xenus xtl user guide operational theory copley controls corp. 19 current loop gains the current loop uses these gains: gain description cp - current loop proportional the current error (the difference between the actual and the limited commanded current) is multiplied by this value. The primary effe...

  • Page 20

    Operational theory xenus xtl user guide 20 copley controls corp. 2.5.3: velocity mode and velocity loop velocity loop diagram as shown below, the velocity loop limiting stage accepts a velocity command, applies limits, and passes a limited velocity command to the input filter. The filter then passes...

  • Page 21

    Xenus xtl user guide operational theory copley controls corp. 21 diagram: effects of limits on velocity command the following diagram illustrates the effects of the velocity loop limits. Commanded velocity limited velocity vel limit accel limit decel limit velocity loop gains the velocity loop uses ...

  • Page 22

    Operational theory xenus xtl user guide 22 copley controls corp. 2.5.4: position mode and position loop position 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 digital ...

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    Xenus xtl user guide operational theory copley controls corp. 23 position loop gains the following gains are used by the position loop to calculate the velocity command: gain description pp - position loop proportional the loop calculates the position error as the difference between the actual and l...

  • Page 24

    Operational theory xenus xtl user guide 24 copley controls corp. Amplifier treats anything within the dead band ranges as zero, and subtracts the dead band value from all other values. For instance, with a dead band of 100 mv, the amplifier ignores signals between –100 mv and +100 mv, and treats 101...

  • Page 25

    Xenus xtl user guide operational theory copley controls corp. 25 2.5.7: pwm input two formats the amplifier can accept a pulse width modulated signal (pwm) signal to provide a current command in current mode and a velocity command in velocity mode. The pwm input can be programmed for two formats: 50...

  • Page 26

    Operational theory xenus xtl user guide 26 copley controls corp. 2.5.8: digital input three formats in position mode, the amplifier can accept position commands via two digital inputs, using one of these signal formats: pulse and direction, count up/count down, and quadrature. In all three formats, ...

  • Page 27

    Xenus xtl user guide operational theory copley controls corp. 27 count up/count down format in the count up/count down format, one input takes each pulse as a positive step command, and another takes each pulse as a negative step command, as shown below. Up input velocity command down input the ampl...

  • Page 28: 2.6: Canopen Operation

    Operational theory xenus xtl user guide 28 copley controls corp. 2.6: canopen operation 2.6.1: can network and canopen profiles for motion in position mode, the amplifier can take instruction over a two-wire controller area network (can). Can specifies the data link and physical connection layers of...

  • Page 29

    Xenus xtl user guide operational theory copley controls corp. 29 2.6.3: architecture as shown below, in a canopen motion control system, control loops are closed on the individual amplifiers, not across the network. A master application coordinates multiple devices, using the network to transmit com...

  • Page 30: 2.7: Limit Switches

    Operational theory xenus xtl user guide 30 copley controls corp. 2.7: limit switches 2.7.1: use digital inputs to connect limit switches limit switches help protect the motion system from unintended travel to the mechanical limits. Any of the digital inputs 2-12 can be can be programmed as positive ...

  • Page 31: 2.8: Brake Operation

    Xenus xtl user guide operational theory copley controls corp. 31 2.8: brake operation 2.8.1: digital output controls brake many control systems employ a brake to hold the axis when the amplifier is disabled. Digital output 4 (out4) is designed specifically for a brake output. (other outputs can be u...

  • Page 32: 2.9: Status Indicators

    Operational theory xenus xtl user guide 32 copley controls corp. 2.9: status indicators 2.9.1: amplifier and can interface status indicators the amplifier’s status indicator is a bicolor led labeled status on the amplifier front panel. The can interface status indicator is a bicolor led labeled can....

  • Page 33

    Xenus xtl user guide operational theory copley controls corp. 33 2.9.3: can interface status indicator operation the amplifier status indicator color/blink codes comply with can indicator specification 303-3 as described below. Note that green and red codes are often interlaced, each indicating a di...

  • Page 34: 2.10: Protection

    Operational theory xenus xtl user guide 34 copley controls corp. 2.10: protection 2.10.1: faults overview xenus detects and responds to a set of conditions regarded as faults, such as amplifier over temperature and excessive following error. When any fault occurs, with the exception of a following e...

  • Page 35

    Xenus xtl user guide operational theory copley controls corp. 35 fault descriptions the set of possible faults is described below. For details on limits and ranges, see fault levels (p. 49) . Fault description fault occurs when… fault is corrected when… *amplifier over temperature amplifier's intern...

  • Page 36

    Operational theory xenus xtl user guide 36 copley controls corp. 2.11: position and velocity errors 2.11.1: error-handling methods in position mode, any difference between the limited position output of the trajectory generator and the actual motor position is a position error. The amplifier’s posit...

  • Page 37

    Xenus xtl user guide operational theory copley controls corp. 37 2.11.5: following error fault details position error reaches fault level as described earlier, position error is the difference between the limited position output of the trajectory generator and the actual position. When position erro...

  • Page 38

    Operational theory xenus xtl user guide 38 copley controls corp. 2.11.6: tracking window details proper tracking over time as described earlier, position error is the difference between the limited position output of the trajectory generator and the actual position. Velocity error is the difference ...

  • Page 39: 2.12: Communication

    Xenus xtl user guide operational theory copley controls corp. 39 2.12: communication 2.12.1: communication interfaces as described below, the amplifier features two communication interfaces, each used for different purposes. Interface description rs-232 port the amplifier features a three-wire rs-23...

  • Page 40: 2.13: Inputs

    Operational theory xenus xtl user guide 40 copley controls corp. 2.13: inputs 2.13.1: digital inputs the amplifier has twelve digital inputs (in1-in12). Eleven of them appear on the control connector. In5 appears on the feedback connector, and is intended for the motor over temperature switch (altho...

  • Page 41: 2.14: Outputs

    Xenus xtl user guide operational theory copley controls corp. 41 2.14: outputs 2.14.1: digital outputs the amplifier has four programmable digital outputs. Three of the outputs (out1 - 3) are general- purpose outputs. The fourth (out4) is specifically designed as a brake output but can be programmed...

  • Page 42

    Operational theory xenus xtl user guide 42 copley controls corp. 2.15: regen resistor theory 2.15.1: regeneration when a load is accelerated electrical energy is converted into mechanical energy. During deceleration the conversion is reversed. This is called regeneration. Some of this regenerated en...

  • Page 43: Chapter

    Copley controls corp. 43 chapter 3: s pecifications this chapter describes the amplifier specifications. Contents include: title page 3.1: agency approvals....................................................................................................................................................

  • Page 44: 3.1: Agency Approvals

    Specifications xenus xtl user guide 44 copley controls corp. 3.1: agency approvals • ce compliance*: en 55011 compatibility en 61000-6-1 immunity en 61010-1 safety • ul 508c compliant • rohs compliant *ce declaration of conformity available at http://www.Copleycontrols.Com/motion/downloads/xenusdata...

  • Page 45: 3.4: Control Loops

    Xenus xtl user guide specifications copley controls corp. 45 3.4: control loops type current velocity position 100% digital. Sampling rate (time) current velocity position 15 khz (67 p s) 3 khz (333 p s) 3 khz (333 p s) current loop small signal bandwidth > 2 khz (tuning and load impedance dependent...

  • Page 46: 3.7: Analog Command Input

    Specifications xenus xtl user guide 46 copley controls corp. 3.7: analog command input channels 1 type differential, non-isolated measurement range ±10 vdc maximum voltage differential input to ground ±10 vdc ±10 vdc input impedance 66 k resolution 12 bit bandwidth 7 khz scan time 67 µ sec function ...

  • Page 47: 3.10: Brake Output

    Xenus xtl user guide specifications copley controls corp. 47 3.10: brake output channels 1 type current-sinking mosfet, optically isolated from control/logic ground. Referenced to +24 vdc logic supply. Internal fly back diode to +24 vdc. Maximum sink current 1 a low level output resistance function ...

  • Page 48: 3.14: Hall Switch Inputs

    Specifications xenus xtl user guide 48 copley controls corp. 3.14: hall switch inputs channels 3 type 74hc14 schmitt trigger w/ rc filter 10 k pull up resistor to internal +5 vdc input voltage range 0 vdc - +28 vdc low level input voltage high level input voltage > +3.65 vdc scan time 67 µ sec rc fi...

  • Page 49: 3.17: Serial Interface

    Xenus xtl user guide specifications copley controls corp. 49 3.17: serial interface channels 1 type rs-232 signals rxd, txd, gnd baud rate 9,600 to 115,200 (defaults to 9600 on power up or reset) data format n, 8, 1 flow control none protocol binary or ascii format function set up, control and diagn...

  • Page 50: 3.21: Power Dissipation

    Specifications xenus xtl user guide 50 copley controls corp. 3.21: power dissipation model: output power mains voltage xtl-230-18 (-r, -s) xtl-230-36 (-r, -s) xtl-230-40 (-r, -s) 120 vac 30 w 55 w 92 w maximum continuous 240 vac 40 w 75 w 120 w power dissipation 0 20 40 60 80 100 120 0 5 10 15 20 co...

  • Page 51: 3.24: Dimensions

    Xenus xtl user guide specifications copley controls corp. 51 3.24: dimensions.

  • Page 52

    Specifications xenus xtl user guide 52 copley controls corp..

  • Page 53: Chapter

    Copley controls corp. 53 chapter 4: w iring this chapter describes the wiring of amplifier and motor connections. Contents include: title page 4.1: general wiring instructions ...............................................................................................................................

  • Page 54

    Wiring xenus xtl user guide 54 copley controls corp. 4.1: general wiring instructions 4.1.1: electrical codes and warnings be sure that all wiring complies with the national electrical code (nec) or its national equivalent, and all prevailing local codes. Danger: hazardous voltages. ! Danger exercis...

  • Page 55

    Xenus xtl user guide wiring copley controls corp. 55 j2 and j3 grounds the ground terminals at j2-1 and j3-5 also connect to the amplifier chassis. Motor cases can be safety-grounded in one or optionally both of these ways: • direct grounding of the motor frame (assuming the frame of the machine is ...

  • Page 56: 4.2: Ac Mains (J1)

    Wiring xenus xtl user guide 56 copley controls corp. 4.2: ac mains (j1) mating connector description euro-style 7,5 mm pluggable female terminal block with preceding ground receptacle. Manufacturer pn wago: 51118287 or 721-204/026-045/rn01-0000 wire size 22 - 12 awg recommended wire 18 a models: 14 ...

  • Page 57: 4.3: Motor (J2)

    Xenus xtl user guide wiring copley controls corp. 57 ac mains wiring diagram (single-phase) amplifier l1 l2 fuses** l1 (line) l2 (neut) earth ground keep wire length as short as possible. Not to exceed 1 meter. 1 Ø 47-63 hz 100-240 vac ** not required on a neutral line. J1-4 j1-1 j1-2 j1 * filter co...

  • Page 58

    Wiring xenus xtl user guide 58 copley controls corp. Brushless motor wiring diagram amplifier u v w j2 a b c brushless motor case ground j2-2 j2-1 j2-3 j2-4 brush motor wiring diagram u v + - brush motor case ground amplifier j2 j2-2 j2-1 j2-3 j2-4.

  • Page 59

    Xenus xtl user guide wiring copley controls corp. 59 4.4: regen resistor (j3) (optional) mating connector description euro-style, 5 position, 5.0 mm pluggable male terminal block. Manufacturer pn wago: 51111277 or 721-605/000-043/rnn01-0000 wire size 22 - 12 awg recommended wire 18 a models: 14 awg,...

  • Page 60

    Wiring xenus xtl user guide 60 copley controls corp. 4.5: logic supply / brake (j4) mating connector description euro-style, 3 position, 5.0 mm pluggable female terminal block. Manufacturer pn wago: 51117974 or 721-103/026-047/rn01-0000 wire size 22 - 14 awg recommended wire 18 awg wire insertion/ex...

  • Page 61

    Xenus xtl user guide wiring copley controls corp. 61 4.6: rs-232 serial communications (j5) mating connector 6-position, modular connector (rj-11 style). Copley controls provides a prefabricated cable and modular-to-9-pin sub-d adapter in rs-232 serial cable kit, pn ser-ck. A diagram of the female c...

  • Page 62: 4.7: Can Bus (J6)

    Wiring xenus xtl user guide 62 copley controls corp. 4.7: can bus (j6) mating connector 8-position, modular connector (rj-45 style). Copley controls provides the following assemblies: • prefabricated 10 foot cable, pn xtl-nc-10 • prefabricated 1 foot cable, pn xtl-nc-01 • terminator plug, pn xtl-nt ...

  • Page 63: 4.8: Control (J7)

    Xenus xtl user guide wiring copley controls corp. 63 4.8: control (j7) mating connectors description manufacturer pn wire size 26 position, 0.1 x 0.09 high density d-sub male, solder style connector norcomp 180-026- 103l001 24 - 30 awg back shell norcomp 979-015- 020r121 solder style connector inclu...

  • Page 64

    Wiring xenus xtl user guide 64 copley controls corp. J7 pin description pin signal function 1 frame ground cable shield connection 2 ref - input analog command negative input 3 ref + input analog command positive input speed pull-up/pull- down 4 in1 enable standard group 1 5 in2 standard group 1 6 i...

  • Page 65

    Xenus xtl user guide wiring copley controls corp. 65 mode-dependant dedicated inputs these inputs are dedicated to specific functions, depending on operating mode. Selected command source mode digital input single ended digital input differential multi-mode port function current & velocity pwm 50% 9...

  • Page 66

    Wiring xenus xtl user guide 66 copley controls corp. Digital outputs wiring diagram amplifier j7-16 j7-17 j7-18 j7-15 typical circuit external power supply motion controller + 5 vdc 1 k j7 out1 out2 out3 signal ground relay lamp * typical output loads * flyback diode required for inductive loads mul...

  • Page 67: 4.9: Motor Feedback (J8)

    Xenus xtl user guide wiring copley controls corp. 67 analog input wiring diagram j7-2 j7-3 j7-1 + - 5 k 37.4 k 37.4 k 5 k ref - ref + vcmd - vcmd + frame gnd amplifier j7 motion controller 4.9: motor feedback (j8) mating connector description manufacturer pn wire size 15 position, high-density d-sub...

  • Page 68

    Wiring xenus xtl user guide 68 copley controls corp. J8 pin description quad a/b incremental encoder xenus pin signal function 1 frame ground cable shield connection 2 +5 vdc encoder and/or halls +5 vdc power supply output. Total load current on j7-20, j8-2, and j8-4 not to exceed 400 ma. 3 digital ...

  • Page 69

    Xenus xtl user guide wiring copley controls corp. 69 j8 pin description analog sin/cos encoder xenus (-s) pin signal function 1 frame ground cable shield connection 2 +5 vdc encoder and/or halls +5 vdc power supply output. Total load current on j7-20, j8-2, and j8-4 not to exceed 400 ma. 3 digital h...

  • Page 70

    Wiring xenus xtl user guide 70 copley controls corp. Hall switch wiring diagram j8-3 j8-6 j8-9 j8-1 j8-4 j8-2 typical circuit 5 v @ 400 ma + 5 vdc 3.3 ƒ 10 k 10 k frame gnd 5 vdc gnd halls power case ground u v w hall hall hall halls amplifier j8 analog sin/cos encoder wiring diagram j8-14 j8-13 j8-...

  • Page 71

    Xenus xtl user guide wiring copley controls corp. 71 resolver wiring diagram j8-3 j8-2 j8-13 j8-12 j8-1 frame gnd resolver case ground ref ref cos (+) cos (-) r1 r2 s2 s4 amplifier j8 j8-8 j8-7 sin (+) sin (-) s3 s1 motor over temperature wiring diagram 10 k 4.99 k pull up/pull down + 5 vdc 74hc14 i...

  • Page 72

    Wiring xenus xtl user guide 72 copley controls corp..

  • Page 73: Chapter

    Copley controls corp. 73 chapter 5: q uick s etup with cme 2 this chapter describes the general procedure for configuring and tuning an amplifier with a motor. (to copy setup data from an existing copley controls axis file ( .Ccx ), skip to quick copy setup procedure (p. 135) . Step page 5.1: warnin...

  • Page 74: 5.1: Warnings

    Quick setup with cme 2 xenus xtl user guide 74 copley controls corp. 5.12.1: objective ............................................................................................................................................................. 126 5.12.2: steps ........................................

  • Page 75

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 75 5.2: cme 2 installation and serial port setup 5.2.1: requirements computer requirements minimal hardware requirements: • cpu : minimum: 400 mhz* • ram : minimum: 128 mb* *using the minimum requirements will allow cme 2 to run, but ...

  • Page 76

    Quick setup with cme 2 xenus xtl user guide 76 copley controls corp. 5.2.3: downloading software from web (optional) 5.2.3.1 choose or create a folder where you will download the software installation file. 5.2.3.2 in an internet browser, navigate to http://www.Copleycontrols.Com/motion/downloads/in...

  • Page 77

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 77 5.2.5: serial port setup one or more serial ports on a pc can be used to connect amplifiers. Use the following instructions to add (enable) ports for amplifiers, to choose baud rates for those ports, and to remove (disable) ports f...

  • Page 78

    Quick setup with cme 2 xenus xtl user guide 78 copley controls corp. 5.2.5.5 click next to save the choices and open the communications wizard configure serial ports screen. 5.2.5.6 configure the selected ports. 1 highlight a port in the selected ports list. 2 choose a baud rate for that port. 3 rep...

  • Page 79: 5.3: Prerequisites

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 79 5.3: prerequisites 5.3.1: hardware and equipment 5.3.1.1 verify that +24 vdc power is off and ac power is off. 5.3.1.2 verify wiring and connections. Ensure the following connections are wired according to the guidelines in wiring ...

  • Page 80

    Quick setup with cme 2 xenus xtl user guide 80 copley controls corp. 5.3.2: starting cme 2 and choosing an amplifier note: digital input 1 (in1) should be configured as a hardware disable. It may then be used to immediately disable the amplifier. To software disable the amplifier at any time while r...

  • Page 81: 5.4: Basic Setup

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 81 5.4: basic setup 5.4.1: basic setup screen 5.4.1.1 to configure an amplifier for use with a copley controls servotube motor, see the cme 2 user’s guide. 5.4.1.2 to load a .Ccx file that was prepared for the amplifier/motor combinat...

  • Page 82

    Quick setup with cme 2 xenus xtl user guide 82 copley controls corp. 5.4.1.6 view or change the feedback settings described below. Options vary with amplifier model. Setting description hall type select hall type: none, digital, or analog (analog is used with copley controls servotube motors). Hall ...

  • Page 83

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 83 5.4.1.8 view or change the miscellaneous settings described below. Options vary with amplifier model. Setting description commutation select commutation method: sinusoidal or trapezoidal. Use back emf for velocity if selected, will...

  • Page 84: 5.5: Motor/feedback Setup

    Quick setup with cme 2 xenus xtl user guide 84 copley controls corp. 5.5: motor/feedback setup motor, feedback, and brake settings can be loaded from a file or entered manually into the fields. Choose the appropriate method and perform the steps described: • load motor/feedback/brake settings from a...

  • Page 85

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 85 5.5.2: enter motor/feedback/brake settings manually 5.5.2.1 click motor/feedback to open the motor/feedback screen. A motor/feedback screen representing a typical rotary motor is shown below. Parameters vary with amplifier model. 5...

  • Page 86

    Quick setup with cme 2 xenus xtl user guide 86 copley controls corp. 5.5.3: rotary motor setup parameters view or change the settings described below. Options vary with amplifier model. Metric units are shown here. Setting description manufacturer motor manufacturer’s name. Saved for reference in th...

  • Page 87

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 87 5.5.4: linear motor setup parameters view or change the settings described below. Options vary with amplifier model. Metric units are shown here. Setting description manufacturer motor maker’s name. Saved in the motor data file. Ch...

  • Page 88

    Quick setup with cme 2 xenus xtl user guide 88 copley controls corp. 5.5.5: feedback parameters, rotary as appropriate for each encoder or resolver, enter the options described here. Feedback type parameters/actions incremental in the motor encoder lines or position encoder lines field, enter the nu...

  • Page 89

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 89 5.5.6: feedback parameters, linear as appropriate for each encoder installed, enter the options described below. Feedback type parameters/actions incremental choose units and then enter the encoder resolution (see encoder or motor ...

  • Page 90

    Quick setup with cme 2 xenus xtl user guide 90 copley controls corp. 5.5.7: feedback notes encoder and resolver support the xenus xtl is offered in three versions to support quad a/b encoder, analog sin/cos encoder, or resolver feedback. The encoder versions normally require hall switches for the co...

  • Page 91

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 91 5.5.8: brake/stop parameters enter the following parameters as appropriate. Parameter description brake/stop delay time range of accepted values: 0 to 10,000 msec. Brake activation velocity range of accepted values: motor-dependent...

  • Page 92

    Quick setup with cme 2 xenus xtl user guide 92 copley controls corp. 5.5.9: the calculate function the calculate function uses the motor and encoder values entered to calculate initial loop gains and limits. These can be modified later to fine-tune the amplifier. 5.5.9.1 click calculate to calculate...

  • Page 93

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 93 5.6: amplifier configuration 5.6.1: digital inputs 5.6.1.1 click input/output to open the input/output screen. A typical input/output screen is shown below. (features vary with amplifier model and configuration.) lo/hi: indicates s...

  • Page 94

    Quick setup with cme 2 xenus xtl user guide 94 copley controls corp. 5.6.2: digital input functions the digital input functions are described below. Input function description amp enable- lo enables with clear faults a low input will enable the amplifier. A low to high transition will clear latched ...

  • Page 95

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 95 5.6.4: standard digital outputs 5.6.4.1 click the digital outputs tab of the input/output screen. A typical digital outputs screen is shown below. (features may vary with amplifier model and configuration.) grey light: output is no...

  • Page 96

    Quick setup with cme 2 xenus xtl user guide 96 copley controls corp. 5.6.5: custom digital output settings: custom event any of the amplifier’s digital outputs can be programmed to respond to a combination of events including faults, warnings, and status indications. The output goes active when one ...

  • Page 97

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 97 …continued: custom events: status status description amplifier disabled by hardware amplifier enable input(s) is not active. Amplifier disabled by software amplifier is disabled by a software command. Attempting to stop motor the a...

  • Page 98

    Quick setup with cme 2 xenus xtl user guide 98 copley controls corp. 5.6.6: custom digital output settings: custom trajectory status any of the amplifier’s digital outputs can be programmed to respond to a combination of amplifier trajectory status conditions. The output goes active when one or more...

  • Page 99

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 99 5.6.7: custom digital output settings: position triggered output any of the amplifier’s digital outputs can be programmed to respond in certain ways to the position of the controlled axis. The output goes active when the axis posit...

  • Page 100

    Quick setup with cme 2 xenus xtl user guide 100 copley controls corp. 5.6.9: non-latched and latched custom outputs like an amplifier fault, a custom-configured output can be non-latched or latched. If a non-latched, custom-configured digital output goes active, it goes inactive as soon as the last ...

  • Page 101

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 101 5.6.10: fault latching 5.6.10.1 click configure faults to open the fault configuration screen. 5.6.10.2 to make a fault condition latching, click to put a check mark next to the fault description. Risk of unexpected motion with no...

  • Page 102

    Quick setup with cme 2 xenus xtl user guide 102 copley controls corp. 5.6.11: regen resistor for more information on the external regen resistor, see regen resistor theory (p. 42) , and regen resistor sizing and configuration (p. 145) . 5.6.11.1 click configure regen to open the regen resistor scree...

  • Page 103: 5.7: Command Input

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 103 5.7: command input choose the appropriate step for the input format. Input format step analog analog input (p. 104) pwm pwm input (p. 106) digital position digital position input (p. 107) can can interface (p. 109) ascii connectin...

  • Page 104

    Quick setup with cme 2 xenus xtl user guide 104 copley controls corp. 5.7.1: analog input for more information, see analog command input (p. 23) . 5.7.1.1 click analog command to open the mode-specific analog command screen. Current mode: velocity mode: position mode: 5.7.1.2 set the input configura...

  • Page 105

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 105 5.7.1.4 in position mode, set the trajectory limits described below: option description max velocity maximum trajectory velocity. Max value may depend upon the back emf and the max feedback count. Min:0. Default: 0.25 x motor velo...

  • Page 106

    Quick setup with cme 2 xenus xtl user guide 106 copley controls corp. 5.7.2: pwm input for more information, see pwm input (p. 25) . 5.7.2.1 click pwm command to open the pwm command screen. 5.7.2.2 set the input options described below. Option description scaling current mode: output current at 100...

  • Page 107

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 107 5.7.3: digital position input for more information, see digital input (p. 26) . 5.7.3.1 click digital position inputs to open the digital position input screen, configuration tab. 5.7.3.2 set the options described below: option de...

  • Page 108

    Quick setup with cme 2 xenus xtl user guide 108 copley controls corp. 5.7.3.4 in position mode, enter the options described below: option description for more information max velocity maximum trajectory velocity. Max value may depend upon the back emf and the max feedback count. Min:0. Default: 0.25...

  • Page 109

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 109 5.7.4: can interface for more information on can see canopen operation (p. 28) . For information on devicenet, see the copley devicenet programmer’s guide. 5.7.4.1 verify that the following connections are wired according to the i...

  • Page 110: 5.8: Auto Phase

    Quick setup with cme 2 xenus xtl user guide 110 copley controls corp. 5.8: auto phase 5.8.1: auto phase warnings and notes warnings motor motion ! Danger applying ac power to the amplifier may result in motor motion. Be sure that motor motion will not cause injury. Failure to heed this warning can r...

  • Page 111

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 111 5.8.2: auto phase procedure note: the following steps use a brushless rotary motor. Screens and sequences vary by motor type. 5.8.2.1 verify that the enable input is not activated. 5.8.2.2 apply hv or ac power. Click auto phase to...

  • Page 112

    Quick setup with cme 2 xenus xtl user guide 112 copley controls corp. 5.8.2.5 activate the enable input. 5.8.2.6 click start to begin the motor wiring setup. The software displays messages: configuring initial settings, microstepping, test complete, motor wiring has been configured . During microste...

  • Page 113

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 113 5.8.2.11 encoder resolution for linear encoders. 5.8.2.12 if motor turned 1 full turn, click yes . 5.8.2.13 for a –r version of xenus with a resolver, skip to 5.8.2.16 . 5.8.2.14 for a non-resolver xenus, click next to display the...

  • Page 114

    Quick setup with cme 2 xenus xtl user guide 114 copley controls corp. 5.8.2.18 click finish to close the screen and save values to flash memory or to close the screen without saving changes, click cancel . 5.8.2.19 if the auto phase algorithm does not produce desired results, try adjusting the auto ...

  • Page 115

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 115 5.8.3: guidelines for choosing auto phase current and increment rate values here are some considerations in choosing auto phase current and increment rate values: • if friction is high, then more current may be required to move th...

  • Page 116: 5.9: Current Loop

    Quick setup with cme 2 xenus xtl user guide 116 copley controls corp. 5.9: current loop initial current loop proportional gain ( cp ) and current loop integral gain ( ci ) values were calculated in a previous step . For an introductory overview of the control loops, see operating modes (p. 17) . Not...

  • Page 117

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 117 5.9.2: auto tune the current loop (for instructions on manually tuning the current loop, see the cme 2 user guide. ) the current loop auto tune algorithm applies a square-wave command to the current loop and adjusts current loop p...

  • Page 118

    Quick setup with cme 2 xenus xtl user guide 118 copley controls corp. 5.9.2.6 observe the auto tune process and results. Auto tune uses a proprietary algorithm to mimic a standard tuning approach that would be used by a trained technician, as described below: 1 sets cp and ci to zero and then adjust...

  • Page 119

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 119 5.9.2.7 choose an action based on auto tune results. 1 optionally choose which set of values to save: high, medium, low, or original. The medium values, selected by default, are appropriate for most applications. 2 optionally choo...

  • Page 120: 5.10: Velocity Loop

    Quick setup with cme 2 xenus xtl user guide 120 copley controls corp. 5.10: velocity loop initial velocity loop proportional gain ( vp ) and velocity loop integral gain ( vi ) values were calculated in a previous step . 5.10.1: velocity loop settings for more information, see velocity mode and veloc...

  • Page 121

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 121 5.10.2: manually tune the velocity loop to tune the velocity loop, apply square-wave excitation to the velocity loop and adjust velocity loop proportional gain ( vp ) and velocity loop integral gain ( vi ) to obtain a desired wave...

  • Page 122: 5.11: Position Loop

    Quick setup with cme 2 xenus xtl user guide 122 copley controls corp. 5.11: position loop initial position loop proportional gain (pp), velocity feed forward (vff), and acceleration feed forward (aff) values were calculated in a previous step . 5.11.1: position loop settings for more information, se...

  • Page 123

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 123 5.11.2: manually tune the position loop to tune the position loop, minimize following error and oscillation by running profiles and adjusting position proportional gain ( pp ), velocity feed forward ( vff ), acceleration feed forw...

  • Page 124

    Quick setup with cme 2 xenus xtl user guide 124 copley controls corp. 5.11.2.2 set up a trapezoidal profile by setting the trajectory limits and distance. See table: trajectory limits tab parameter description maximum velocity maximum acceleration maximum deceleratio n set values typical of those ex...

  • Page 125

    Xenus xtl user guide quick setup with cme 2 copley controls corp. 125 5.11.3: test s-curve profile note: skip this step unless the amplifier will perform canopen s-curve profile moves. Jerk is the rate of change of acceleration. S-curve moves reduce jerk to provide a smooth profile. To tune the leve...

  • Page 126: 5.12: Completion Steps

    Quick setup with cme 2 xenus xtl user guide 126 copley controls corp. 5.12: completion steps 5.12.1: objective save the work and perform additional testing with load and under normal control source. 5.12.2: steps 5.12.2.1 on the main screen, click save to flash . 5.12.2.2 remove ac power from connec...

  • Page 127: Chapter

    Copley controls corp. 127 chapter 6: u sing cme 2 this chapter provides an overview of cme 2 software features. Contents include: title page 6.1: cme 2 overview...............................................................................................................................................

  • Page 128: 6.1: Cme 2 Overview

    Using cme 2 xenus xtl user guide 128 copley controls corp. 6.1: cme 2 overview 6.1.1: main screen overview cme 2 features are called out in the diagram below. Screen details vary depending on amplifier model and mode selection. Details follow in the chapter. Copley neighborhood tree status bar funct...

  • Page 129

    Xenus xtl user guide using cme 2 copley controls corp. 129 6.1.3: main menu overview the cme 2 main menu choices are described below. Menu selection description for more information save amplifier data saves contents of amplifier’s ram to a disk file. Restore amplifier data restores contents of an a...

  • Page 130

    Using cme 2 xenus xtl user guide 130 copley controls corp. … continued: menu selection description cme 2 user guide opens the cme 2 user guide. All documents opens the doc folder in the cme 2 installation folder (typically c://program files/copley motion/cme 2/doc). This folder contains all of the r...

  • Page 131

    Xenus xtl user guide using cme 2 copley controls corp. 131 6.1.4: functional diagram the functional diagram, shown below, provides button-click access to most of the screens used to configure an amplifier. It also indicates the flow of control from input, across all active control loops, to motor/fe...

  • Page 132

    Using cme 2 xenus xtl user guide 132 copley controls corp. 6.1.5: can or devicenet information and status bar the main screen displays the basic can or devicenet information. The example below shows can information: the address field shows the amplifier’s present can or devicenet address. This value...

  • Page 133

    Xenus xtl user guide using cme 2 copley controls corp. 133 6.2: manage amplifier and motor data 6.2.1: memory to maintain amplifier and motor settings, the amplifier uses volatile ram memory and non-volatile flash memory. Data can also be saved to disk for backup and distribution. Volatile and flash...

  • Page 134

    Using cme 2 xenus xtl user guide 134 copley controls corp. 6.2.3: data management tools amplifier data management tools operations performed using the amplifier data management tools at the top of the main screen (shown below) affect amplifier settings, including motor/feedback data. (cvm control pr...

  • Page 135

    Xenus xtl user guide using cme 2 copley controls corp. 135 6.2.4: quick copy setup procedure use this procedure to configure an amplifier/motor pair by copying a .Ccx file that was prepared for the amplifier/motor combination. 6.2.4.1 make sure the amplifier is connected to the pc using the j5 rs-23...

  • Page 136: 6.3: Downloading Firmware

    Using cme 2 xenus xtl user guide 136 copley controls corp. 6.3: downloading firmware 6.3.1: acquiring firmware from web site (optional) 6.3.1.1 in an internet browser, navigate to: http://www.Copleycontrols.Com/motion/downloads/firmware.Html 6.3.1.2 under click on the appropriate firmware name. 6.3....

  • Page 137

    Xenus xtl user guide using cme 2 copley controls corp. 137 6.3.2: downloading firmware to amplifier note: firmware can only be downloaded to an amplifier via a direct serial port connection between the amplifier and the pc. Cme 2 does not support downloading firmware to a node amplifier via a multi-...

  • Page 138: 6.4: Control Panel

    Using cme 2 xenus xtl user guide 138 copley controls corp. 6.4: control panel 6.4.1: control panel overview to access the control panel, click the control panel icon ( ) on the main screen. Each of the features labeled below is described in the following sections. Status indicators message box displ...

  • Page 139

    Xenus xtl user guide using cme 2 copley controls corp. 139 …continued: indicator states/description the fault indicator goes red when a fault is active. Check the status message box for a description of the most recent fault: . Check the error log for a full history of faults and warnings. The warni...

  • Page 140

    Using cme 2 xenus xtl user guide 140 copley controls corp. 6.4.3: control panel monitor channels the control panel monitor channels can display real-time values on up to three separate variables. To set up a monitor display box, click in the list box and select a variable from the list. Disabled dis...

  • Page 141

    Xenus xtl user guide using cme 2 copley controls corp. 141 6.4.4: control functions the control area of the screen, shown here, provides functions related to overall amplifier control. The screen options are different when the position loop input is can . Control the operational state of the amplifi...

  • Page 142: 6.5: Manual Phasing

    Using cme 2 xenus xtl user guide 142 copley controls corp. 6.5: manual phasing 6.5.1: manual phase objectives the cme 2 manual phase tool lets the user phase a brushless motor, monitor signals, check configuration wiring, and control a microstepping current vector. 6.5.2: manual phase instructions, ...

  • Page 143

    Xenus xtl user guide using cme 2 copley controls corp. 143 6.5.2.7 monitor the vector rotation through one electrical cycle for proper hall transitions. 1 verify that the red indicator rotates in the same direction as the motor phase angle, and that the transition occurs when the needle is between i...

  • Page 144: 6.6:  Home Function

    Using cme 2 xenus xtl user guide 144 copley controls corp. 6.6: home function 6.6.1: overview the cme 2 home function can be used to set and test homing parameters. 6.6.2: homing functions settings 6.6.2.1 on main screen, click home to open the homing screen . 6.6.2.2 select homing options described...

  • Page 145: Appendix

    Copley controls corp. 145 appendix a: r egen r esistor s izing and c onfiguration this chapter describes the formulas used to determine if a regen resistor is required and what the optimal resistor characteristics would be for a given application. For an overview of regeneration and regen resistors,...

  • Page 146

    Regen resistor sizing and configuration xenus xtl user guide 146 copley controls corp. A.1: sizing a regen resistor a.1.1: gather required information calculating the power and resistance of the regen resistor requires information about the amplifier and the rotary or linear motor application. A.1.1...

  • Page 147

    Xenus xtl user guide regen resistor sizing and configuration copley controls corp. 147 a.1.3: calculate energy returned for each deceleration use the following formulas to calculate the energy returned during each deceleration: rotary motor: e dec = ½ j t ( b 1 2 - b 2 2 ) where: e dec = energy retu...

  • Page 148

    Regen resistor sizing and configuration xenus xtl user guide 148 copley controls corp. A.1.6: determine if energy returned exceeds amplifier capacity compare the amount of energy returned to the amplifier in each deceleration with the amplifier's energy absorption capacity. For related amplifier spe...

  • Page 149

    Xenus xtl user guide regen resistor sizing and configuration copley controls corp. 149 a.1.10: calculate continuous power to be dissipated use the following formula to calculate the continuous power that must be dissipated by the regen resistor. Use each deceleration where energy is dissipated by th...

  • Page 150

    Regen resistor sizing and configuration xenus xtl user guide 150 copley controls corp. A.2: configuring a custom regen resistor a.2.1: regen configuration objective and warning configure the amplifier to operate properly with the custom resistor. Incorrect values may damage amplifier or external reg...

  • Page 151

    Xenus xtl user guide regen resistor sizing and configuration copley controls corp. 151 a.2.2.4 enter a continuous power within the range described. Click next for step 3. A.2.2.5 enter a peak power within the range described. Click next for step 4. A.2.2.6 click next for step 5. A.2.2.7 review the c...

  • Page 152

    Regen resistor sizing and configuration xenus xtl user guide 152 copley controls corp. This page for notes..

  • Page 153: Appendix

    Copley controls corp. 153 appendix b: i 2 t t ime l imit a lgorithm the current loop i 2 t limit specifies the maximum amount of time that the peak current can be applied to the motor before it must be reduced to the continuous limit or generate a fault. This chapter describes the algorithm used to ...

  • Page 154: B.1: I

    Regen resistor sizing and configuration xenus xtl user guide 154 copley controls corp. B.1: i 2 t algorithm b.1.1: i 2 t overview the i 2 t current limit algorithm continuously monitors the energy being delivered to the motor using the i 2 t accumulator variable. The value stored in the i 2 t accumu...

  • Page 155

    Xenus xtl user guide regen resistor sizing and configuration copley controls corp. 155 b.1.3: i 2 t current limit algorithm – application example i 2 t example: parameters operation of the i 2 t current limit algorithm is best understood through an example. For this example, a motor with the followi...

  • Page 156

    Regen resistor sizing and configuration xenus xtl user guide 156 copley controls corp. I 2 t example: plot diagrams the plots that follow show the response of an amplifier (configured w/ i 2 t setpoint = 108 a 2 s) to a given current command. For this example, dc output currents are shown in order t...

  • Page 157

    Xenus xtl user guide regen resistor sizing and configuration copley controls corp. 157 the next 2 seconds since the difference between the actual output current and the continuous current limit is zero. At approximately 3.5 seconds, the commanded current falls below the continuous current limit and ...

  • Page 158

    Regen resistor sizing and configuration xenus xtl user guide 158 copley controls corp..

  • Page 159: Appendix

    Copley controls corp. 159 appendix c: t hermal c onsiderations this chapter describes operating temperature characteristics, heatsink options, and heatsink mounting instructions. Contents include: c.1: operating temperature and cooling configurations ....................................................

  • Page 160

    Thermal considerations xenus xtl user guide 160 copley controls corp. C.1: operating temperature and cooling configurations the following charts show the maximum allowable ambient temperature of xenus amplifiers for a variety of operating conditions and cooling configurations. The cooling options ar...

  • Page 161: 4.25 In

    Xenus xtl user guide thermal considerations copley controls corp. 161 c.1.2: heatsink and fan configurations no heatsink no fan with fan* 4.25 in fan low-profile heatsink no fan with fan* 4.25 in fan standard heatsink no fan with fan* 4.25 in fan * select a 4.25-inch square fan that supplies forced ...

  • Page 162

    Thermal considerations xenus xtl user guide 162 copley controls corp. C.2: heatsink mounting instructions a dry film interface pad is used in place of thermal grease. The pad is die-cut to shape and has holes for the heat sink mounting screws. There are two protective sheets, blue on one side and cl...

  • Page 163: Appendix

    Copley controls corp. 163 appendix d: x enus f ilter this chapter provides an overview of the model xtl-fa-01 edge filter. The contents of this chapter include: title page d.1: overview......................................................................................................................

  • Page 164: D.1: Overview

    Xenus filter xenus xtl user guide 164 copley controls corp. D.1: overview the xtl-fa-01 edge filter can be used to minimize noise on the output of any xenus amplifier. D.1.1: differential and common mode filtering most noise is capacitively coupled from the motor power cable to neighboring cables. T...

  • Page 165: D.3: Thermal Considerations

    Xenus xtl user guide xenus filter copley controls corp. 165 d.2: xtl-fa-01 edge filter specifications voltage, maximum 373 vdc input current, maximum 20 adc voltage, maximum 373 vdc output current, maximum 20 adc peak current/peak current time 40 adc for 1 second rise/fall time 500 ns (typical) diff...

  • Page 166

    Xenus filter xenus xtl user guide 166 copley controls corp. D.4: xtl-fa-01 edge filter dimensions the following diagram shows the mounting dimensions of the xtl-fa-01 edge filter..

  • Page 167

    Xenus xtl user guide xenus filter copley controls corp. 167 d.5: xtl-fa-01 edge filter wiring this section describes the wiring of the xtl-fa-01 edge filter. D.5.2: electrical codes and warnings be sure that all wiring complies with the national electrical code (nec) or its national equivalent, and ...

  • Page 168

    Xenus filter xenus xtl user guide 168 copley controls corp. D.5.2: connector locations edge filter j1 connects to xenus j2. Edge filter j2 connects to the motor..

  • Page 169

    Xenus xtl user guide xenus filter copley controls corp. 169 d.5.3: cable notes 1 keep the edge filter j1 to xenus j2 cable as short as possible. A typical length is 7 inches. 2 to reduce noise, twisted shielded cable must be used and the signal cables should not be bundled in the same conduit. D.5.4...

  • Page 170

    Xenus filter xenus xtl user guide 170 copley controls corp. D.5.6: diagram: edge filter wiring with brushless motor amplifier u v w a b c brushless motor case ground j2-2 j2-1 j2-3 j2-4 filter j2-2 j2-1 j2-3 j2-4 j1-4 j1-3 j1-2 j1-1 j1-5 d.5.7: diagram: edge filter wiring with brush motor u v + - br...

  • Page 171

    Xenus xtl user guide xenus filter copley controls corp. 171 d.6: xtl-fa-01 edge filter ordering filter model description xtl-fa-01 xenus edge filter connector kit model qty ref description mfr. Model no. 1 j1 plug, 5 position, 5.0 mm, female wago 51118042 or 721-105/026-047/rn01-0000 1 j2 plug, 4 po...

  • Page 172

    Xenus filter xenus xtl user guide 172 copley controls corp..

  • Page 173: Appendix

    Copley controls corp. 173 appendix e: c onnecting for s erial c ontrol this chapter describes how to connect one or more amplifiers for control via the rs-232 bus on one of the amplifiers..

  • Page 174

    Connecting for serial control xenus xtl user guide 174 copley controls corp. E.1: single-axis and multi-drop an amplifier’s rs-232 serial bus can be used by cme 2 for amplifier commissioning. The serial bus can also be used by an external control application (hmi, plc, pc, etc.) for setup and direct...

  • Page 175: Appendix

    Copley controls corp. 175 appendix f: o rdering g uide and a ccessories this chapter lists part numbers for amplifiers and accessories. Contents include: f.1: amplifier model numbers ........................................................................................................................

  • Page 176

    Ordering guide and accessories xenus xtl user guide 176 copley controls corp. F.1: amplifier model numbers model number description xtl-230-18 xenus servoamplifier 6/18 a xtl-230-18-hl xenus servoamplifier 6/18 a with factory-fitted, low-profile heatsink xtl-230-18-hs xenus servoamplifier 6/18 a wit...

  • Page 177

    Xenus xtl user guide ordering guide and accessories copley controls corp. 177 f.2: accessory model numbers software model description cme2 cme 2 drive configuration software (cd-rom) cml copley motion libraries (cd-rom) cmo copley motion objects (cd-rom) connector kit with solder-cup feedback and co...

  • Page 178: F.3: Order Example

    Ordering guide and accessories xenus xtl user guide 178 copley controls corp. Edge filter model description xtl-fa-01 xenus edge filter xtl-fa-01 edge filter connector kit model qty ref description mfr. Model no. 1 j1 plug, 5 position, 5.0 mm, female wago: 51118042 or 721-104/026-047/rn01-0000 1 j2 ...

  • Page 179

    Xenus xtl user guide ordering guide and accessories copley controls corp. 179 f.5: copley standard regen resistor specifications f.5.1: specifications specifications for copley’s standard regen resistors are described below. Model resistance default continuous power max continuous power peak power p...

  • Page 180

    Xenus xtl™ user guide p/n 95-00875-000 revision 3 june 2008 2007, 2008 copley controls corporation 20 dan road canton, ma 02021 usa all rights reserved.