Xenus combines CANopen networking with 100% digital control of brushless or brush motors in an off-line powered package that can operate from single or three-phase mains with continuous power output to 4 kW.

Standard models use quad A/B digital encoders for feedback. Two other versions are available for use with resolvers or sin/cos analog encoders.

Xenus operates as a Motion Control Device under the DSP-402 protocol of the CAnopen DS-301 V4.01 (En 50325-4) application layer. DSP-402 modes supported include: Profile Position, Profile Velocity, Profile Torque, Interpolated Position (PVT), and Homing. Drive commissioning is fast and simple using CME 2 software operating under Windows® communicating with Xenus via CAN or an RS-232 link. CAN address selection is by a 16-position rotary switch on the front panel. If there are more than fifteen devices on a CAN bus, the additional address bits needed can come from programmable inputs, or can be set in flash memory. Profile Position Mode does a complete motion index on command with S-curve acceleration & deceleration, top speed, and distance programmable. In PVT mode, the controller sends out a sequence of points each of which is an increment of a larger, more complex move than a single index or profile. The drive then uses cubic polynomial interpolation to “connect the dots” such that the motor reaches each point (Position) at the specified velocity (Velocity) at the prescribed time (Time).

Homing mode is configurable to work with a variety of limit, index, and home switches such that the drive moves the motor into a position that has an absolute reference to some part of the machine. Eleven logic inputs are programmable as limit or home switches, stepper/encoder pulse inputs, reset, digital torque or velocity reference, or motor over-temperature. A twelfth input is dedicated to the drive Enable function. Three programmable logic outputs are for reporting a drive fault or other status indications. A fourth optically-isolated output can drive a motor brake from the external +24 Vdc power supply or can be programmed as a logic output.

In addition to CANopen motion commands, Xenus can operate as a stand-alone drive. Current and velocity modes 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/Direction or CW/CCW format, ±10 Vdc analog, or A/B quadrature commands from a master-encoder. Pulse to position ratio is programmable for electronic gearing. Power output of the drive varies with the input power which can range from 100 to 240 Vac, and from 47 to 63 Hz. Either single or three phase mains can be used giving Xenus the ability to work in the widest possible range of industrial settings. Signal and control circuits are isolated from the high-voltage power supply and inverter stage that connect to the mains. A +24 Vdc input powers control circuits for keep-alive operation permitting the drive power stage to be completely powered down without losing position information or communications with the control system.

XEC sets new levels of performance, connectivity, and flexibility. CANopen application protocol over EtherCAT (CoE) communication provides a widely used cost-effective industrial bus. A wide range of absolute encoders are supported. High resolution A/D converters ensure optimal current loop performance. Both isolated and high-speed non-isolated I/O are provided. For safety critical applications, redundant power stage enable inputs can be employed.

Control Modes

• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)
• Profile Position-Velocity-Torque, Interpolated Position, Homing
• Indexer, Point-to-Point, PVT
• Camming, Gearing
• Position, Velocity, Torque

Command Interface

• CANopen application protocol over EtherCAT (CoE)
• ASCII and discrete I/O
• Stepper commands
• ±10V position/velocity/torque
• PWM velocity/torque command
• Master encoder (Gearing/Camming)

Communications

• EtherCAT
• RS232

Feedback
Incremental

• Digital quad A/B encoder
• Analog sin/cos encoder
• Panasonic Incremental A
• Aux. encoder / encoder out

Absolute

• SSI
• EnDat 2.1 & 2.2
• Absolute A
• Tamagawa Absolute A
• Panasonic Absolute A Format
• Sanyo Denki Absolute A
• BiSS (B&C)

Other

• Digital Halls
• Resolver (-R option)

I/O - Digital

• 6 High-speed inputs
• 1 Motor over-temp input
• 4 Opto-isolated inputs
• 1 High-speed output
• 3 Opto-isolated outputs
• 1 Opto-isolated motor brake output

I/O ANALOG

• 1 Reference input, 12-bit

SAFE TORQUE OFF (STO)

• SIL 3, Category 3, PL d

DIMENSIONS: IN [MM]

• 7.54 x 4.55 x 2.13 [191.4 x 115.6 x 54.1]

Model No.: XEC-230-09, XEC-230-12, XEC-230-15
Accessories: Adapter SER-USB-RJ11, N/A, SER-CK, XEC-CK, XEC-NC-01, XEC-NC-10, XTL-FA-01, XTL-FK