Copley 驱动器 XSJ 系列的详细描述：

FEEDBACk VERSIOnS
• Analog Sin/Cos
• Quad A/B digital
• Resolver
COnTROL MODES
• Indexer, Point-to-Point, PVT
• Camming, Gearing, Position, Velocity, Torque
COMMAnD InTERFACE
• CAnopen
• ASCII and discrete I/O
• Stepper commands
• ±10 Vdc position/velocity/torque command
• PWM velocity/torque command
• Master encoder (Gearing/Camming)
• Digital inputs for indexer control
COMMUnICATIOnS
• CAnopen
• RS232
FEEDBACk
• Digital Quad A/B encoder
• Analog sin/cos encoder (-S versions)
• Resolver (-R versions)
• Secondary encoder / emulated encoder out
• Digital Halls
I/O - DIGITAL
• 14 inputs, 4 outputs
REGEn
• Internal
DIMEnSIOnS: MM [In]
• 126 x 89 x 53 [5.0 x 3.5 x 2.1]

Model Vac Ic Ip
XSJ-230-02 100-240 1 2
XSJ-230-06 100-240 3 6
XSJ-230-10 100-240 5 10
* Add “-S” to part number for Sin/Cos version
Add “-R” to part number for Resolver versionDESCRIPTIOn
Xenus Micro is a compact, AC powered servo drive for position,
velocity, and torque control of AC brushless and DC brush motors.
It operates on a distributed control network, as a stand-alone
indexing drive, or with external motion controllers.
Feedback options now include brushless resolvers in addition to
digital quad A/B and analog sin/cos incremental encoders. The
multi-mode encoder port operates as an input or output for the
feedback signals. As an input, a secondary digital quad A/B encoder
is used for dual-loop position control. Resolver and sin/cos signals
are interpolated internally with programmable resolution and appear
as digital quad A/B signals when the port functions as an output. Or,
the digital quad A/B signals are simply buffered and made available
to the system controller, eliminating cumbersome Y-cabling to share
a single encoder with drive and control system.
FEEDBACk VERSIOnS
• Analog Sin/Cos
• Quad A/B digital
• Resolver
COnTROL MODES
• Indexer, Point-to-Point, PVT
• Camming, Gearing, Position, Velocity, Torque
COMMAnD InTERFACE
• CAnopen
• ASCII and discrete I/O
• Stepper commands
• ±10 Vdc position/velocity/torque command
• PWM velocity/torque command
• Master encoder (Gearing/Camming)
• Digital inputs for indexer control
COMMUnICATIOnS
• CAnopen
• RS232
FEEDBACk
• Digital Quad A/B encoder
• Analog sin/cos encoder (-S versions)
• Resolver (-R versions)
• Secondary encoder / emulated encoder out
• Digital Halls
I/O - DIGITAL
• 14 inputs, 4 outputs
REGEn
• Internal
DIMEnSIOnS: MM [In]
• 126 x 89 x 53 [5.0 x 3.5 x 2.1]
Model Vac Ic Ip
XSJ-230-02 100-240 1 2
XSJ-230-06 100-240 3 6
XSJ-230-10 100-240 5 10
* Add “-S” to part number for Sin/Cos version
Add “-R” to part number for Resolver version
Indexing mode simplifies operation with PLC’s that use outputs to
select and launch indexes and inputs to read back drive status. A
single serial port on the PLC can send ASCII data to multiple drives
to change motion profiles as machine requirements change.
CAN bus operation supports Profile Position, Profile Velocity, Profile
Torque, Interpolated Position, and Homing. Up to 127 Xenus Micro
drives can operate on a single CAn bus and groups of drives can be
linked via the CAN so that they execute motion profiles together.
Operation in torque (current), velocity, and position modes with
external motion controllers is supported. Input command signals
are ±10 Vdc (torque, velocity, position),PWM/Polarity (torque,
velocity), or Step/Direction (position).

GEnERAL SPECIFICATIOnS
Test conditions: Load = Wye connected load: 2 mH + 2 Ω line-line. Ambient temperature = 25°C, +HV = HVmax
MODEL XSJ-230-02 XSJ-230-06 XSJ-230-10
OUTPUT POWER
Peak Current 2 (1.4) 6 (4.2) 10 (7.1) Adc (Arms, sinusoidal), ±5%
Peak time 1 1 1 Sec
Continuous current 1 (0.7) 3 (2.1) 5 (3.5) Adc (Arms, sinusoidal), ±5%
InPUT POWER
HVmin~HVmax 85 to 264 Vac 1 Ø, 50~60 Hz
+24 Vdc +20 to +32 Vdc @ 500 mAdc maximum Logic & control power, required for operation
PWM OUTPUTS
Type 3-phase MOSFET inverter, 15 kHz center-weighted PWM, space-vector modulation
PWM ripple frequency 30 kHz
REGEnERATIOn
Type Internal MOSFET dissipator
Power dissipation 80 W peak, 40 W continuous
Cut-In Voltage +HV > 390 Vdc Regen output is on, regen dissipator is dissipating energy
Drop-Out Voltage +HV < 380 Vdc Regen output is off, regen dissipator not dissipating energy
Tolerance ±2 Vdc For either Cut-In or Drop-Out voltage
Hysteresis 10 ±0.5 Vdc Differential between Cut-In & Drop-Out voltage
DIGITAL COnTROL
Digital Control Loops Current, velocity, position. 100% digital loop control
Dual loop position control using secondary encoder input
Sampling rate (time) Current loop: 15 kHz (66.7 us) Velocity, position loops: 3 kHz (333 us)
Commutation Sinusoidal field-oriented control or trapezoidal for brushless motors
Bandwidth Current loop: 2.5 kHz typical, bandwidth will vary with tuning & load inductance
HV Compensation Changes in bus voltage do not affect bandwidth
Minimum load inductance 200 μH line-line
COMMAnD InPUTS
CAN CANopen: Profile Position, Interpolated Position, Profile Velocity, Profile Torque, Homing
ASCII Single RS-232 connection passes messages to multiple drives via CAn link drive-drive
Digital position reference Step/Direction or CW/CCW Stepper commands (1.5 MHz maximum rate)
Quad A/B Encoder 20 Mcount/sec after quadrature (5 Mline/sec)
Digital torque & velocity PWM/Polarity PWM = 0~100%, Polarity = 1/0
PWM/50% PWM = 50% ±50%, no polarity signal required
PWM frequency range 1 kHz minimum, 100 kHz maximum
PWM minimum pulse width 220 ns
Analog torque, velocity, position ±10 Vdc, 5 kΩ differential input impedance, 12-bit resolution
Indexing Index address, index-start, priority-index start
Camming Inputs for master encoder, cam start, cam table address
DIGITAL InPUTS
number 14: 12 programmable, 1 input dedicated to drive Enable function, 1 for motor temperature switch
Type 8 General-purpose (GP), 3 high-speed single-ended (HS), 2 high-speed differential (HSD), 1 motemp (GP)
GP, HS 74HC14 Schmitt trigger operating from 5.0 Vdc with RC filter on input,
10 kΩ to +5 Vdc or ground (programmable), Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc
+10 Vdc max for HS inputs, +24 Vdc max for GP inputs
1.5 MHz maximum pulse frequency for HS inputs when driven by active (not open-collector) sources
HSD Differential, 121 Ω line-line, 100 ns RC filters to RS-422/RS-485 line receivers, +10 Vdc max
5 MHz maximum pulse frequency when driven by differential line-drivers
Pull-up, pull-down control GP & HS inputs are divided into three groups with selectable connection of input pull-up/down resistor
to +5 Vdc or ground for each group: [In1,2,3,4], [In5,6,7,8], [In9,10,11]
DIGITAL OUTPUTS
number 4
[OUT1], [OUT2], [OUT3] Current-sinking MOSFET with 1 kΩ pull-up to +5 Vdc through diode
Ratings 250 mAdc max, +30 Vdc max
External flyback diode required if driving inductive loads
Brake [OUT4] Opto-isolated, current-sinking with flyback diode to +24 Vdc, 1 Adc max
RS-232 PORT
Mode Full-duplex, DTE serial communication port for drive setup and control; 9,600 to 115,200 baud,
8 data bits, no parity, 1 stop-bit
Signals RxD, TxD, Gnd
Protocol Binary or ASCII formats
Multi-Drop ASCII communications to multiple Copley drives via a single RS-232 port:
RS-232 to first Drive_0, then daisy-chain to Drive_1~Drive_N via CANCAn PORT
Format CAn V2.0b physical layer for high-speed connections compliant
Data CANopen Device Profile DSP-402
Signals CAnH, CAnL, Gnd
Isolation CAn interface circuit and +5 Vdc supply are optically isolated from drive circuits
Address selection Selectable by logic inputs or programmable in flash memory
MOTOR COnnECTIOnS
Power U-V-W phases for brushless, U-V for brush motors
Commutation Digital Halls, or sin/cos feedback from ServoTube motors
Feedback Digital quadrature A/B/(X) encoders; differential inputs (Standard)
Analog sin/cos encoders, 1 Vpeak-peak, differential inputs with 121 Ω terminating resistor (-S option)
Resolver, brushless, single-speed, 1:1 to 2:1 programmable transformation ratio (-R option)
See page 4 for details on encoders and resolvers
Brake Digital output, isolated, 1 Adc, +30 Vdc max, programmable, with flyback diode to +24 Vdc
Overtemp sensor Digital input, non-isolated, 4.99 kΩ pull-up to +5 Vdc, programmable
MULTI-MODE EnCODER PORT
As Secondary Encoder Input Digital quadrature encoder (A, /A, B, /B, X, /X),
20 M counts/sec, post-quadrature (5 M lines/sec)
As Emulated Encoder Output Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders. 18 M counts/sec, post-quadrature (4.5 M lines/sec)
As Buffered Encoder Output Buffered signals from digital quad A/B/X primary encoder. 20 M counts/sec, post-quadrature (5 M lines/sec)
A, /A, B, /B, X, /X, signals from 26LS31 differential line driver
LED InDICATORS
Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
CAn Status Bicolor LED, status of CAn bus indicated by color and blink codes to
CAN Indicator Specification 303-3
PROTECTIOnS
HV Overvoltage +HV > 400 Vdc Drive PWM outputs disabled
HV Undervoltage +HV < 60 Vdc Drive PWM outputs disabled
Drive over temperature Heatplate > 70 °C ±3 °C Drive PWM outputs disabled
Short circuits Output to output, output to ground, internal PWM bridge faults
I2T Current limiting Programmable: Current foldback to continuous limit when I2T threshold is exceeded
Motor over temperature Drive PWM outputs disabled when [In14] changes state (programmable)
Feedback power loss Fault occurs if feedback +5 Vdc output is < 85% of nominal value
MECHAnICAL & EnVIROnMEnTAL
Size 126 x 89 x 53 [5.0 x 3.5 x 2.1] mm [in]
Weight 0.67 lb (0.30 kg)
Ambient Temperature Range 0 to +45 °C operating, -40 to +85 °C storage
Humidity 0% to 95%, non-condensing
Vibration 2 g peak, 10~500 Hz (sine), IEC60068-2-6
Shock 10 g, 10 ms, half-sine pulse, IEC60068-2-27
Contaminants Pollution degree 2
Environment IEC68-2: 1990
Cooling Heat sink and/or forced air cooling required for continuous power outputCAn PORT
Format CAn V2.0b physical layer for high-speed connections compliant
Data CANopen Device Profile DSP-402
Signals CAnH, CAnL, Gnd
Isolation CAn interface circuit and +5 Vdc supply are optically isolated from drive circuits
Address selection Selectable by logic inputs or programmable in flash memory
MOTOR COnnECTIOnS
Power U-V-W phases for brushless, U-V for brush motors
Commutation Digital Halls, or sin/cos feedback from ServoTube motors
Feedback Digital quadrature A/B/(X) encoders; differential inputs (Standard)
Analog sin/cos encoders, 1 Vpeak-peak, differential inputs with 121 Ω terminating resistor (-S option)
Resolver, brushless, single-speed, 1:1 to 2:1 programmable transformation ratio (-R option)
See page 4 for details on encoders and resolvers
Brake Digital output, isolated, 1 Adc, +30 Vdc max, programmable, with flyback diode to +24 Vdc
Overtemp sensor Digital input, non-isolated, 4.99 kΩ pull-up to +5 Vdc, programmable
MULTI-MODE EnCODER PORT
As Secondary Encoder Input Digital quadrature encoder (A, /A, B, /B, X, /X),
20 M counts/sec, post-quadrature (5 M lines/sec)
As Emulated Encoder Output Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders. 18 M counts/sec, post-quadrature (4.5 M lines/sec)
As Buffered Encoder Output Buffered signals from digital quad A/B/X primary encoder. 20 M counts/sec, post-quadrature (5 M lines/sec)
A, /A, B, /B, X, /X, signals from 26LS31 differential line driver
LED InDICATORS
Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
CAn Status Bicolor LED, status of CAn bus indicated by color and blink codes to
CAN Indicator Specification 303-3
PROTECTIOnS
HV Overvoltage +HV > 400 Vdc Drive PWM outputs disabled
HV Undervoltage +HV < 60 Vdc Drive PWM outputs disabled
Drive over temperature Heatplate > 70 °C ±3 °C Drive PWM outputs disabled
Short circuits Output to output, output to ground, internal PWM bridge faults
I2T Current limiting Programmable: Current foldback to continuous limit when I2T threshold is exceeded
Motor over temperature Drive PWM outputs disabled when [In14] changes state (programmable)
Feedback power loss Fault occurs if feedback +5 Vdc output is < 85% of nominal value
MECHAnICAL & EnVIROnMEnTAL
Size 126 x 89 x 53 [5.0 x 3.5 x 2.1] mm [in]
Weight 0.67 lb (0.30 kg)
Ambient Temperature Range 0 to +45 °C operating, -40 to +85 °C storage
Humidity 0% to 95%, non-condensing
Vibration 2 g peak, 10~500 Hz (sine), IEC60068-2-6
Shock 10 g, 10 ms, half-sine pulse, IEC60068-2-27
Contaminants Pollution degree 2
Environment IEC68-2: 1990
Cooling Heat sink and/or forced air cooling required for continuous power output