Copley Controls Serial Encoder Podręcznik Użytkownika

Xenus PlusTM User Guide P/N 16-01018 Revision 07 August 2014

Copley Controls 10 CHAPTER 1: INTRODUCTION This chapter provides an overview of the Copley Controls Xenus Plus drives. Contents include: 1.1: Xenu

Xenus Plus User Guide Wiring Copley Controls 100 …Pin Description, continued: 20 +5 Vdc +5 Vdc output. Total load current on J8-20, J10-6, and J1

Xenus Plus User Guide Wiring Copley Controls 101 Digital Outputs Wiring Diagram Multi-Mode Port Interface Diagram DriveJ8-16J8-17J8-15TypicalCi

Xenus Plus User Guide Wiring Copley Controls 102 Analog Input Wiring Diagram Analog Output Wiring Diagram J8-2J8-3J8-15 K37.4 K37.4 K5 KREF

Xenus Plus User Guide Wiring Copley Controls 103 4.10: Secondary I/O 4.10.1: XEL/XPL/XML (J9) Mating Connector Description Manufacturer PN Wire S

Xenus Plus User Guide Wiring Copley Controls 104 Optically Isolated Programmable Inputs Wiring Diagram J9J9-2J9-3J9-4J9-5J9-6[COMM_A][IN7]4.99K

Xenus Plus User Guide Wiring Copley Controls 105 Optically Isolated Programmable Outputs Wiring Diagram J9J9-14J9-15J9-12J9-13OUT4 +OUT4 -20O

Xenus Plus User Guide Wiring Copley Controls 106 4.10.2: XE2/XP2/800-1782/800-1808 (J12) Mating Connections Description Manufacturer PN Wire Size

Xenus Plus User Guide Wiring Copley Controls 107 …Pin Description, continued: 20 A-MultiEnc /B Programmable differential input/output port. 21 A-

Xenus Plus User Guide Wiring Copley Controls 108 Axis B These inputs are for Axis B and are dedicated to specific functions, depending on operati

Xenus Plus User Guide Wiring Copley Controls 109 Analog Input Wiring Diagram Multi-Mode Port Interface Diagram 5 K37.4 K37.4 K5 KREF- (AIN1-

Xenus Plus User Guide Introduction Copley Controls 11 1.1: Xenus Plus Family Overview Each Xenus Plus servo drive provides 100% digital control o

Xenus Plus User Guide Wiring Copley Controls 110 4.10.3: Isolated Control XE2/XP2/800-1808 (J9) J9 is a 26 position male D-sub connector used fo

Xenus Plus User Guide Wiring Copley Controls 111 …Pin Description, continued: 21 OUT3+ GPI Optically isolated programmable output positive signal

Xenus Plus User Guide Wiring Copley Controls 112 Optically Isolated Programmable Inputs Wiring Diagram, XE2/XP2/800-1808 J9J9-6J9-2J9-3J9-4J9-5[

Xenus Plus User Guide Wiring Copley Controls 113 Optically Isolated Programmable Inputs Wiring Diagram, 800-1782 Note: Wiring diagram for IN6 –

Xenus Plus User Guide Wiring Copley Controls 114 Optically Isolated Programmable Outputs Wiring Diagram, XE2/XP2/800-1808 Optically Isolated Pro

Xenus Plus User Guide Wiring Copley Controls 115 4.11: Motor Feedback The following motor feedback information is true for single and dual axis d

Xenus Plus User Guide Wiring Copley Controls 116 Pin Description Quad A/B Incremental Encoder Pin Signal Function 1 Frame Ground Cable shield con

Xenus Plus User Guide Wiring Copley Controls 117 Pin Description Resolver Xenus Plus (-R) Pin Signal Function 1 Frame Ground Cable shield connect

Xenus Plus User Guide Wiring Copley Controls 118 …Pin Description, continued: 17 +5 Vdc Encoder +5 Vdc power supply output. Total load current on

Xenus Plus User Guide Wiring Copley Controls 119 Hall Switch Wiring Diagram In XEL/XPL/XML there are two encoder +5V outputs at 400 mA each, and

Xenus Plus User Guide Introduction Copley Controls 12 Model Data Standard Resolver Continuous Current Peak Current Vac XEL-230-18 XML-230-18 XPL

Xenus Plus User Guide Wiring Copley Controls 120 Analog Sin/Cos Encoder Wiring Diagram In XEL/XPL/XML there are two encoder +5V outputs at 400 m

Xenus Plus User Guide Wiring Copley Controls 121 Resolver Wiring Diagram J10-23J10-22J10-21J10-20J10-1Frame GndResolverCase GroundREF(+)REF(-)CO

Xenus Plus User Guide Wiring Copley Controls 122 Resolver Wiring Diagram, 800-1782 Motor Over Temperature Wiring Diagram: XEL/XPL/XML J10 -7 Dr

Xenus Plus User Guide Wiring Copley Controls 123 Motor Over Temperature Wiring Diagram: XE2/XP2/800-1782/800-1808 General Purpose Input Wiring D

Xenus Plus User Guide Copley Controls 124 APPENDIX A: REGEN RESISTOR SIZING AND CONFIGURATION This chapter describes the steps used to determine

Xenus Plus User Guide Regen Resistor Sizing and Configuration Copley Controls 125 A.1: Sizing a Regen Resistor A.1.1: Gather Required Informatio

Xenus Plus User Guide Regen Resistor Sizing and Configuration Copley Controls 126 A.1.3: Calculate Energy Returned for Each Deceleration Use the

Xenus Plus User Guide Regen Resistor Sizing and Configuration Copley Controls 127 For mains voltages not listed in the specification table, use t

Xenus Plus User Guide Regen Resistor Sizing and Configuration Copley Controls 128 Choose a resistor with a power rating equal to or greater than

Xenus Plus User Guide Copley Controls 129 APPENDIX B: I2T TIME LIMIT ALGORITHM The current loop I2T limit specifies the maximum amount of time th

Xenus Plus User Guide Introduction Copley Controls 13 1.3: CML/CMO Copley Motion Libraries (CML) and Copley Motion Objects (CMO) make CANopen or

Xenus Plus User Guide I2T Time Limit Algorithm Copley Controls 130 B.1: I2T Algorithm B.1.1: I2T Overview The I2T current limit algorithm continu

Xenus Plus User Guide I2T Time Limit Algorithm Copley Controls 131 B.1.3: I2T Current Limit Algorithm – Application Example I2T Example: Paramete

Xenus Plus User Guide I2T Time Limit Algorithm Copley Controls 132 I2T Example: Plot Diagrams The plots that follow show the response of a drive

Copley Controls 133 APPENDIX C: THERMAL CONSIDERATIONS This chapter describes operating temperature characteristics, heatsink options, and heatsink

Xenus Plus User Guide Thermal Considerations Copley Controls 134 C.1: Operating Temperature and Cooling Configurations C.1.1: XEL, XPL, and XML M

Xenus Plus User Guide Thermal Considerations Copley Controls 135 C.1.2: XEL, XPL, and XML Heatsink and Fan Configurations No Heatsink No Fan With

Xenus Plus User Guide Thermal Considerations Copley Controls 136 C.1.3: XE2, XP2, 800-1782, and 800-1808 Models Thermal and Mounting Configuratio

Xenus Plus User Guide Thermal Considerations Copley Controls 137 C.2: Heatsink Mounting Instructions (XEL/XPL/XML) A dry film interface pad is us

Xenus Plus User Guide Thermal Considerations Copley Controls 138 C.3: Heatsink Mounting Instructions (XE2/XP2/800-1782/800-1808) description The

Copley Controls 139 APPENDIX D: XENUS PLUS FILTER This chapter provides an overview of the Model XTL-FA-01 edge filter. Contents include: D.1: Over

Copley Controls 14 CHAPTER 2: OPERATIONAL THEORY This chapter describes the basics of Xenus Plus operation. Contents include: 2.1: Drive Internal

Xenus Plus User Guide Xenus Plus Filter Copley Controls 140 D.1: Overview The XTL-FA-01 edge filter can be used to minimize noise on the output o

Xenus Plus User Guide Xenus Plus Filter Copley Controls 141 D.2: XTL-FA-01 Edge Filter Specifications Input Voltage, maximum 373 Vdc Current, max

Xenus Plus User Guide Xenus Plus Filter Copley Controls 142 D.4: XTL-FA-01 Edge Filter Dimensions The following diagram shows the mounting dimens

Xenus Plus User Guide Xenus Plus Filter Copley Controls 143 D.5: XTL-FA-01 Edge Filter Wiring This section describes the wiring of the XTL-FA-01

Xenus Plus User Guide Xenus Plus Filter Copley Controls 144 D.5.2: Connector Locations Edge Filter J1 connects to Xenus Plus J2 (J3 or J4 for XE2

Xenus Plus User Guide Xenus Plus Filter Copley Controls 145 D.5.3: Cable Notes 1 Keep the Edge Filter to Xenus Plus cable as short as possible.

Xenus Plus User Guide Xenus Plus Filter Copley Controls 146 D.5.6: Diagram: Edge Filter Wiring with Brushless Motor This is an example for a Xen

Copley Controls 147 APPENDIX E: CONNECTING XPL/XP2 FOR SERIAL CONTROL This chapter describes how to connect one or more XPL/XP2 drives for control v

Xenus Plus User Guide Connecting XPL/XP2 for Serial Control XPL/XP2 For Serial Control Copley Controls 148 E.1: Single-Axis and Multi-Drop An XPL/X

Copley Controls 149 APPENDIX F: ORDERING GUIDE AND ACCESSORIES This chapter lists part numbers for drives and accessories. Contents include: F.1:

Xenus Plus User Guide Operational Theory Copley Controls 15 2.1: Drive Internal Power Power distribution within Xenus Plus is divided into three

Xenus Plus User Guide Ordering Guide and Accessories Copley Controls 150 F.1: Drive Model Numbers XEL Model Number Description XEL-230-18 Xenus P

Xenus Plus User Guide Ordering Guide and Accessories Copley Controls 151 Drive Model Numbers (cont’d) XPL Model Number Description XPL-230-18 Xen

Xenus Plus User Guide Ordering Guide and Accessories Copley Controls 152 Drive Model Numbers (cont’d) XML Model Number Description XML-230-18 Xen

Xenus Plus User Guide Ordering Guide and Accessories Copley Controls 153 F.2: Accessory Model Numbers Software Model Description CME2 CME 2 Drive

Xenus Plus User Guide Ordering Guide and Accessories Copley Controls 154 CANopen Connector Kit (XPL/XP2) Model Qty Ref Description XPL-NK 1 J7 Su

Xenus Plus User Guide Ordering Guide and Accessories Copley Controls 155 F.4: Regen Resistor Assemblies Model Description XTL-RA-03 Regen Resisto

Xenus Plus User Guide Ordering Guide and Accessories Copley Controls 156 F.7: Copley Standard Regen Resistor Specifications F.7.1: Specifications

Xenus Plus User Guide P/N 16-01018 Revision 07 August 2014 2011, 2012, 2013, 2014 Copley Controls Analogic Motion Controls 20 Dan Road Canton, MA

Xenus Plus User Guide Operational Theory Copley Controls 16 2.1.3: Power and Grounding Diagram The graphic below shows the different power secti

Xenus Plus User Guide Operational Theory Copley Controls 17 2.3: Commutation Modes The drive supports three commutation modes to drive brush and

Xenus Plus User Guide Operational Theory Copley Controls 18 2.5: Operating Modes 2.5.1: Modes and Control Loops Nesting of Control Loops and Mod

Xenus Plus User Guide Operational Theory Copley Controls 19 2.5.2: Current Mode and Current Loop Current Loop Diagram As shown below, the “front

Xenus Plus User Guide This page for notes

Xenus Plus User Guide Operational Theory Copley Controls 20 Current Loop Gains The current loop uses these gains: Gain Description Cp - Current

Xenus Plus User Guide Operational Theory Copley Controls 21 2.5.3: Velocity Mode and Velocity Loop Velocity Loop Diagram As shown below, the vel

Xenus Plus User Guide Operational Theory Copley Controls 22 Diagram: Effects of Limits on Velocity Command The following diagram illustrates the

Xenus Plus User Guide Operational Theory Copley Controls 23 2.5.4: Position Mode and Position Loop Position Loop Diagram The drive receives posi

Xenus Plus User Guide Operational Theory Copley Controls 24 Position Loop Gains The following gains are used by the position loop to calculate t

Xenus Plus User Guide Operational Theory Copley Controls 25 2.6: Input Command Types The drive can be controlled by a variety of external source

Xenus Plus User Guide Operational Theory Copley Controls 26 Offset To remove the effects of voltage offsets between the controller and the drive

Xenus Plus User Guide Operational Theory Copley Controls 27 2.6.2: PWM Input Two Formats The drive can accept a pulse width modulated signal (P

Xenus Plus User Guide Operational Theory Copley Controls 28 2.6.3: Digital Input Three Formats In position mode, the drive can accept position

Xenus Plus User Guide Operational Theory Copley Controls 29 Count Up/Count Down Format In the count up/count down format, one input takes each p

Copley Controls 3 TABLE OF CONTENTS About This Manual ...

Xenus Plus User Guide Operational Theory Copley Controls 30 2.7: Communication As described below, the drive features multiple communication int

Xenus Plus User Guide Operational Theory Copley Controls 31 2.7.1: CAN Communication Details (XPL/XP2) CAN Network and CANopen Profiles for Moti

Xenus Plus User Guide Operational Theory Copley Controls 32 CANopen Architecture As shown below, in a CANopen motion control system, control loo

Xenus Plus User Guide Operational Theory Copley Controls 33 2.7.2: EtherCAT Communication Details (XEL/XE2/800-1782) The XEL/XE2/800-1782 models

Xenus Plus User Guide Operational Theory Copley Controls 34 2.8: Limit Switches 2.8.1: Use Digital Inputs to Connect Limit Switches Limit switch

Xenus Plus User Guide Operational Theory Copley Controls 35 2.9: Brake Operation 2.9.1: Digital Output Controls Brake Many control systems emp

Xenus Plus User Guide Operational Theory Copley Controls 36 2.10: Status Indicators 2.10.1: XEL J6 STAT & NET: Drive and EtherCAT State Mach

Xenus Plus User Guide Operational Theory Copley Controls 37 2.10.2: XEL J7: EtherCAT Network Status Indicators XEL J7 Link and Activity Indicat

Xenus Plus User Guide Operational Theory Copley Controls 38 2.10.3: XE2/800-1782 J7 Axis A/B: Drive Status Indicators XE2/800-1782 J7 Axis A/B

Xenus Plus User Guide Operational Theory Copley Controls 39 2.10.4: XE2/800-1782 J8 RUN, ERR, & L/A Indicators XE2/800-1782 J8 L/A Indicat

Xenus Plus User Guide Table of Contents Copley Controls 4 D: Xenus Plus Filter ...

Xenus Plus User Guide Operational Theory Copley Controls 40 2.10.5: XML J6: Drive and MACRO Network Status Indicators XML J6 STAT Indicator: Dr

Xenus Plus User Guide Operational Theory Copley Controls 41 2.10.6: 800-1808 J7: Drive and MACRO Network Status Indicators 800-1808 J7 Axis A/

Xenus Plus User Guide Operational Theory Copley Controls 42 2.10.7: XPL J6 STAT: Drive Status Indicator XPL J6 STAT Indicator XPL Drive status

Xenus Plus User Guide Operational Theory Copley Controls 43 XPL J6 NET Indicator: CANopen RUN and ERR States The XPL NET indicator color/blink c

Xenus Plus User Guide Operational Theory Copley Controls 44 2.10.8: XPL J7 Activity/Error: CAN Network Activity and Errors For firmware versions

Xenus Plus User Guide Operational Theory Copley Controls 45 2.10.9: XP2 J7 Axis A/B: Drive Status Indicators The LEDs located on connector J7 in

Xenus Plus User Guide Operational Theory Copley Controls 46 2.10.10: XP2 J8 RUN, ERR, & L/A Indicators XP2 J8 L/A Indicators Shows the stat

Xenus Plus User Guide Operational Theory Copley Controls 47 2.11: Protection 2.11.1: Safe Torque Off All of the Xenus Plus models provide a Saf

Xenus Plus User Guide Operational Theory Copley Controls 48 Clearing Non-Latched Faults The drive clears a non-latched fault, without operator

Xenus Plus User Guide Operational Theory Copley Controls 49 *Following Error User set following error threshold exceeded. See Position and Velo

Copley Controls 5 ABOUT THIS MANUAL Title, Number, Revision Title The Xenus Plus User Guide Document Number 16-01018 Current Revision 07 Revision H

Xenus Plus User Guide Operational Theory Copley Controls 50 2.12: Position and Velocity Errors 2.12.1: Error-Handling Methods In position mode,

Xenus Plus User Guide Operational Theory Copley Controls 51 2.12.5: Following Error Fault Details Position Error Reaches Fault Level As describe

Xenus Plus User Guide Operational Theory Copley Controls 52 2.12.6: Tracking Window Details Proper Tracking Over Time As described earlier, posi

Xenus Plus User Guide Operational Theory Copley Controls 53 2.13: Inputs XEL/XPL/XML The Xenus Plus XEL and XPL drives have 15 digital inputs a

Xenus Plus User Guide Operational Theory Copley Controls 54 2.14: Inputs XE2/XP2/800-1782/800-1808 The XE2, XP2, and 800-1808 drives have 22 dig

Xenus Plus User Guide Operational Theory Copley Controls 55 2.15: Outputs, XEL/XPL/XML The Xenus Plus XEL and XPL drives have 6 programmable dig

Xenus Plus User Guide Operational Theory Copley Controls 56 2.16: Outputs, XE2/XP2/800-1782/800-1808 XE2/XP2/800-1808 has 7 programmable digita

Xenus Plus User Guide Operational Theory Copley Controls 57 2.17: Regen Resistor Theory 2.17.1: Regeneration When a load is accelerated, electri

Copley Controls 58 CHAPTER 3: SPECIFICATIONS This chapter describes the drive specifications. Contents include: 3.1: Agency Approvals ...

Xenus Plus User Guide Specifications Copley Controls 59 3.1: Agency Approvals CE Compliant UL Compliant RoHS Compliant Standard XEL/XPL/X

Xenus Plus User Guide About this Manual Copley Controls 6 EC Declaration of Conformity - Contents The complete EC Declarations of Conformity for

Xenus Plus User Guide Specifications Copley Controls 60 3.3: Power Output Model XEL-230-18 (-R) XPL-230-18 (-R) XML-230-18 (-R) XEL-230-36 (-R)

Xenus Plus User Guide Specifications Copley Controls 61 3.4: Control Loops Type Current Velocity Position 100% digital. Sampling rate (time) C

Xenus Plus User Guide Specifications Copley Controls 62 3.7: Analog Inputs XEL/XPL/XML Channels 3 (AIN1~IN3) AIN1~AIN2 AIN3 Type Differential,

Xenus Plus User Guide Specifications Copley Controls 63 3.8: Digital Inputs XEL/XPL/XML Channels 15 (IN1~IN15) IN1~IN2, IN15 IN3~IN6 IN7~IN14 T

Xenus Plus User Guide Specifications Copley Controls 64 3.9: Analog Outputs XEL/XPL/XML Channels 1 Type Single-ended Range 0-5 Vdc Resolution 1

Xenus Plus User Guide Specifications Copley Controls 65 3.11: Encoder Power Supply Output XEL/XPL/XML Number 2 Voltage Output +5 Vdc ±2% Maximu

Xenus Plus User Guide Specifications Copley Controls 66 3.13: Analog Encoder Inputs XEL/XPL/XML Channels 2 Type Differential, non-isolated Signa

Xenus Plus User Guide Specifications Copley Controls 67 3.14: Hall Switch Inputs XEL/XPL/XML Channels 3 (U, V and W) Type 74HC14 Schmitt trigger

Xenus Plus User Guide Specifications Copley Controls 68 3.15: Resolver Interface XEL/XPL/XML Channels 3 Type Transmit, 1:1 to 2:1 transformatio

Xenus Plus User Guide Specifications Copley Controls 69 3.16: Multi-Mode Port XEL/XPL/XML Channels 4 Type Bi-Directional, Differential RS-422.

Xenus Plus User Guide About this Manual Copley Controls 7 Related Documentation For important setup and operation information, see the CME 2 User

Xenus Plus User Guide Specifications Copley Controls 70 800-1782 Channels 6 Type Differential RS-422. Non-isolated Signals A, /A, B, /B, X, /X

Xenus Plus User Guide Specifications Copley Controls 71 3.17: Serial Interface XEL/XPL/XML Channels 1 Type RS-232, DTE Signals Rxd, Txd, Gnd Ba

Xenus Plus User Guide Specifications Copley Controls 72 3.18: Network Interfaces Model XEL/XE2/800-1782 XPL/XP2 XML/800-1808 Channels 1 Connecto

Xenus Plus User Guide Specifications Copley Controls 73 3.19: Status Indicators Model XEL XPL XML LED: Network Status STAT Bicolor LED, status

Xenus Plus User Guide Specifications Copley Controls 74 3.21: Power Dissipation Model: XEL-230-18 (-R) XPL-230-18 (-R) XML-230-18 (-R) XEL-230-3

Xenus Plus User Guide Specifications Copley Controls 75 3.23: Mechanical and Environmental XEL/XPL/XML Size 7.92 in (201,2 mm) X 5.51 in (139,9

Xenus Plus User Guide Specifications Copley Controls 76 3.24: Dimensions 3.24.1: XEL/XPL Dimensions

Xenus Plus User Guide Specifications Copley Controls 77 3.24.2: XE2/XP2/800-1782/800-1808 Dimensions

Xenus Plus User Guide Specifications Copley Controls 78 3.24.3: XML Dimensions

Xenus Plus User Guide Copley Controls 79 CHAPTER 4: WIRING This chapter describes the wiring of drive and motor connections. Contents include: 4

Xenus Plus User Guide About this Manual Copley Controls 8 Product Warnings Observe all relevant state, regional and local safety regulations when

Xenus Plus User Guide Wiring Copley Controls 80 4.1: General Wiring Instructions 4.1.1: Electrical Codes and Warnings Be sure that all wiring com

Xenus Plus User Guide Wiring Copley Controls 81 4.1.2: Grounding Considerations Primary Grounding Functions A grounding system has three primary

Xenus Plus User Guide Wiring Copley Controls 82 4.1.3: Connector Locations Connector locations for XEL, XPL and XML (J1-J10), are shown below. X

Xenus Plus User Guide Wiring Copley Controls 83 4.2: AC Mains (J1) XEL/XPL/XML/XE2/XP2/800-1782/800-1808 The Mains connector information below is

Xenus Plus User Guide Wiring Copley Controls 84 AC Mains Wiring Diagram (Single-Phase) XEL/XPL/XML AC Mains Wiring Diagram (Three-Phase) XEL/

Xenus Plus User Guide Wiring Copley Controls 85 AC Mains Wiring Diagram (Single-Phase) XE2/XP2/800-1782/800-1808 AC Mains Wiring Diagram (Three

Xenus Plus User Guide Wiring Copley Controls 86 4.3: Motor(s) Mating Connector Description Euro-style, 4 position, 5.0 mm pluggable female termin

Xenus Plus User Guide Wiring Copley Controls 87 4.4: Regen Resistor (Optional) 4.4.1: XEL/XPL/XML Mating Connector Description Euro-style, 5 posi

Xenus Plus User Guide Wiring Copley Controls 88 4.4.2: XE2/XP2/800-1782/800-1808 Mating Connector Description Euro-style, 3 position, 5.0 mm plug

Xenus Plus User Guide Wiring Copley Controls 89 4.5: Logic Supply / Brake 4.5.1: XEL/XPL/XML (J4) The following information is for XEL/XPL/XML dr

Xenus Plus User Guide About this Manual Copley Controls 9 This page for notes.

Xenus Plus User Guide Wiring Copley Controls 90 4.5.2: XE2/XP2/800-1782/800-1808 (J5) The following information is for XE2/XP2/800-1782/800-1808

Xenus Plus User Guide Wiring Copley Controls 91 4.6: Safe Torque Off 4.6.1: XEL/XPL/XML (J5) The following information is for XEL and XPL drives

Xenus Plus User Guide Wiring Copley Controls 92 Safe Torque Off Wiring Diagram (XEL/XPL/XML) NOTE: The diagram below includes the STO bypass conn

Xenus Plus User Guide Wiring Copley Controls 93 4.6.2: XE2/XP2/800-1782/800-1808 (J6) The following information is for XE2, XP2, 800-1782, and 80

Xenus Plus User Guide Wiring Copley Controls 94 Safe Torque Off Bypass Wiring Diagram (XE2/XP2/800-1782/800-1808) The diagram below includes the

Xenus Plus User Guide Wiring Copley Controls 95 4.7: RS-232 Serial Communications Mating Connector 6-position, modular connector (RJ-11 style). C

Xenus Plus User Guide Wiring Copley Controls 96 4.8: Network Ports 4.8.1: EtherCAT (XEL/XE2/800-1782) Mating Connector Dual RJ-45 sockets accept

Xenus Plus User Guide Wiring Copley Controls 97 4.8.2: CAN Bus (XPL/XP2) Mating Connector 8-position, modular connector (RJ-45 style). Copley Con

Xenus Plus User Guide Wiring Copley Controls 98 4.8.3: MACRO Port (J7-XML/J8-800-1808) The XML/800-1808’s duplex SC sockets, shown below, accept

Xenus Plus User Guide Wiring Copley Controls 99 4.9: Control I/O 4.9.1: XEL/XPL/XML (J8) Mating Connectors Description Manufacturer PN Wire Size