Xenus R10 R10

RUGGEDIZED DIGITAL RoHS

SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

CONTROL MODES
• Indexer, Point-to-Point, PVT R

• Camming, Gearing, Position, Velocity, Torque

COMMAND INTERFACE
• CANopen
• ASCII and discrete I/O
• Stepper commands
Single-ended or Differential selectable
• ±10V position/velocity/torque command
• PWM velocity/torque command
• Master encoder (Gearing/Camming)
COMMUNICATIONS
• CANopen
• RS-232
• RS-422 (Optional)
FEEDBACK
• Digital quad A/B encoder
• Aux encoder / emulated encoder out
• Analog sin/cos encoder (-S versions)
• Resolver (-R versions)
• Digital Halls
I/O - DIGITAL
• 12 inputs, 4 outputs
ACCESSORIES
• External regen resistors
Model Vac Ic Ip
• External edge filter
R10-230-18 100 - 240 6 18
DIMENSIONS: mm [in]
• 191 x 140 x 64 [7.5 x 5.5 x 2.5] R10-230-36 100 - 240 12 36
R10-230-40 100 - 240 20 40

Add -S to part numbers above for sin/cos feedback

Add -R for resolver feedback

DESCRIPTION
Xenus R10 is a ruggedized, 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.
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 R10
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).

RUGGEDIZED STANDARDS CONFORMANCE

Ambient Temperature Non-Operating -50ºC to 85ºC
Operating -40ºC to 70ºC
Thermal Shock Operating -40ºC to 70ºC in 1 minute
Relative Humidity Non-Operating 95% non-condensing at 60ºC
Operating 95% non-condensing at 60ºC
Vibration Operating 5 Hz to 500 Hz, up to 3.85 grms
Altitude Non-Operating -400 m to 12,200 m
Operating -400 m to 5,000 m
Shock Crash Safety 75 g peak acceleration
Operating 40 g peak acceleration
MIL-STD specifications MIL-STD- 461, 704, 810, 1275, 1399
IEC specifications IEC- 60068, 60079

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 1 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

GENERAL SPECIFICATIONS
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1Ø

MODEL R10-230-18 R10-230-36 R10-230-40 Same specs for -S and -R models

OUTPUT CURRENT
Peak Current 18 (12.7) 36 (25.5) 40 (28.3) Adc (Arms, sinusoidal)
Peak time 1 1 1 s
Continuous current (Note 1) 6 (4.24) 12 (8.5) 20 (14.1) Adc (Arms, sinusoidal)
INPUT POWER
Mains voltage, phase, frequency 100~240 100~240 100~240 Vac, ±10%, 1Ø or 3Ø, 47~400 Hz
Maximum Mains Current, 1Ø (Note 3) 10.1 20.0 20.0 Arms
Maximum Mains current, 3Ø (Note 3) 6.4 10.4 15.4 Arms
+24 Vdc Control power +20 to +32 Vdc, 500 mA max Required for operation
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 (NOTE: DIGITAL INPUT FUNCTIONS ARE PROGRAMMABLE)
Distributed Control Modes
CANopen Position, Velocity, Torque, Homing, Profile, and Interpolated profile modes
ASCII Multiple drives accessible from a single RS-422 port
Stand-alone mode
Analog torque, velocity, position reference ±10 Vdc, 12 bit resolution Dedicated differential analog input
Input impedance 74.8 kΩ Between Ref(+), Ref(-)
Digital position reference Pulse/Direction, CW/CCW Stepper commands (2 MHz maximum rate)
Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature)
Digital torque & velocity reference 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
Indexing Up to 32 programs can be launched from inputs or ASCII commands. Each program can
consist of moves, I/O commands, time delays, and other programmable operations.
Camming Master quadrature encoder provides position as index to cam table.
Digital inputs initiate cam functions.
DIGITAL INPUTS
Inputs [IN1~5,11,12] 74HC14 Schmitt trigger, 330 µs RC filter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +24 Vdc max
[IN1] dedicated to drive enable function, other inputs are programmable
Input [IN6] 74HC14 Schmitt trigger, 100 ns RC filter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +12 Vdc max
Inputs [IN7~10] Single-ended: Comparator with 2.5 Vdc reference, 100 ns RC filter, Vin-LO <2.3 Vdc, Vin-HI > 2.45 Vdc
Differential: RS-485 line receiver on input pairs [IN9-7], and [IN10-8], 100 ns RC filters, +12 Vdc max
All inputs 10 kΩ pull-up to +5 Vdc or pull-down to ground, selectable in groups, active level programmable
DIGITAL OUTPUTS (NOTE 2)
Number 4
[OUT1], [OUT2], [OUT3] Current-sinking MOSFET with 1 kΩ pullup to +5 Vdc through diode
Current rating 1 Adc max, +40 Vdc max. Functions programmable
External flyback diode required if driving inductive loads
Brake [OUT4] Opto-isolated, current-sinking with flyback diode to +24 Vdc, 1 Adc max
MULTI-MODE ENCODER PORT
As Input Secondary digital quadrature encoder (A, /A, B, /B, X, /X), 121 Ω terminating resistors
18 M-counts/sec, post-quadrature (4.5 M-lines/sec)
Primary increment encoder for models with -S option that use sin/cos signals as analog Halls
As Output Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog sin/cos encoders or resolvers. Buffered signals from digital quad A/B/X primary encoder
A, /A, B, /B, X, /X, from 26LS31 differential line driver
RS-232 PORT
Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 baud
Protocol Binary and ASCII formats
RS-422 PORT (Optional)
Signals XMT-A, XMT-B, RCV-A, RCV-B, in a 6-position, 6-contact RJ-11 style modular connector
Mode Full-duplex, RS-422 slave, 9,600 to 115,200 baud
Protocol Binary and ASCII formats
CAN PORTS
Signals CANH, CANL, Gnd in 8-position RJ-45 style modular connector, wired as per CAN Cia DR-303-1, V1.1
Format CAN V2.0b physical layer for high-speed connections compliant
Data CANopen Device Profile DSP-402
Address selection 16 position rotary switch on front panel with 3 additional address bits available as
digital inputs or programmable to flash memory (7-bit addressing, 127 nodes per CAN network)
NOTES:
1. Heatsinking and/or forced-air cooling is required for continuous output power rating
2. Brake [OUT4] is programmable as motor brake, or as general purpose digital output
3. The actual mains current is dependent on the mains voltage, number of phases, and motor load and operating conditions.
The Maximum Mains Currents shown above occur when the drive is operating from the maximum input voltage and is producing
the rated continuous output current at the maximum output voltage.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 2 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

GENERAL SPECIFICATIONS (CONT’D)

STATUS 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 303-3GENERAL)
REGENERATION
Operation Internal solid-state switch drives external regen resistor (see Ordering Guide for types)
Cut-In Voltage +HV > 390 Vdc Regen output is on, (optional external) regen resistor is dissipating energy
Drop-Out Voltage +HV < 380 Vdc Regen output is off, (optional external) regen resistor not dissipating energy
Tolerance ±2 Vdc For either Cut-In or Drop-Out voltage
PROTECTIONS
HV Overvoltage +HV > 400 Vdc Drive PWM outputs turn off until +HV is less than overvoltage
HV Undervoltage +HV < 60 Vdc Drive PWM outputs turn off until +HV is greater than undervoltage
Drive over temperature IGBT > 80 °C ±3 °C Drive PWM outputs turn off until IGBT temperature is below threshold
Short circuits Output to output, output to ground, internal PWM bridge faults
I2T Current limiting Programmable: continuous current, peak current, peak time
Motor over temperature Drive shuts down when motor over-temperature switch changes to high-resistance state, or opens
Feedback power loss Fault occurs if feedback is removed or +5 V is <85% of normal
MECHANICAL
Size 7.55 in (191,8 mm) X 5.57 in (141,5 mm) X 2.57 in (65,3 mm)
Weight 3.0 lb (1.36 kg) for drive without heatsink
1.9 lb (0.86 kg) for XSL-HS heatsink, 1.26 lb (0.57 kg) for XSL-HL heatsink
Contaminants Pollution degree 2
Environment IEC68-2: 1990
Cooling Heat sink and/or forced air cooling required for continuous power output

AGENCY STANDARDS CONFORMANCE

In accordance with EC Directive 2004/108/EC (EMC Directive)
EN 55011: 2007 CISPR 11:2003/A2:2006
Industrial, Scientific, and Medical (ISM) Radio Frequency Equipment
-Electromagnetic Disturbance Characteristics - Limits and Methods of Measurement Group 1, Class A
EN 61000-6-1: 2007 Electromagnetic Compatibility (EMC) - Part 6-1: Generic Standards - Immunity for residential,
Commercial and Light Industrial Environments
In accordance with EC Directive 2006/95/EC (Low Voltage Directive)
IEC 61010-1:2001 Safety Requirements for Electrical Equipment for Measurement, Control, and Laboratory Use
Underwriters Laboratory Standards
UL 508C, 3rd Ed.: 2008 UL Standard for Power Conversion Equipment

ENCODER
DIGITAL ENCODER
Type Quadrature, differential line driver outputs
Signals A, /A, B, /B, (X, /X, index signals optional)
Frequency 5 MHz line frequency, 20 MHz quadrature count frequency
ANALOG ENCODER
Type Sin/cos, differential line driver outputs, 0.5 Vpeak-peak (1.0 Vpeak-peak differential)
centered about 2.5 Vdc typical. Common-mode voltage 0.25 to 3.75 Vdc
Signals Sin(+), sin(-), cos(+), cos(-)
Frequency 230 kHz maximum line (cycle) frequency
Interpolation 10 bits/cycle (1024 counts/cycle)
DIGITAL HALLS
Type Digital, single-ended, 120° electrical phase difference
Signals U, V, W
Frequency Consult factory for speeds >10,000 RPM
ANALOG HALLS
Type HA/HB, differential line driver outputs, 0.5 Vpeak-peak (1.0 Vpeak-peak differential)
centered about 2.5 Vdc typical. Common-mode voltage 0.25 to 3.75 Vdc
Signals HA(+), HA(-), HB(+), HB(-)
Use Multi-mode port as primary incremental encoder input for position feedback
ENCODER POWER SUPPLY
Power Supply +5 Vdc @ 400 mA to power encoders & Halls
Protection Current-limited to 750 mA @ 1 Vdc if overloaded
Encoder power developed from +24 Vdc so position information is not lost when AC mains power is removed
MOTOR CONNECTIONS
Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors
Hall U, V, W Hall signals
Digital Encoder A, /A, B, /B, X, /X, on standard models
Analog Encoder Sin(+), sin(-), cos(+), cos(-), X, /X, on -S versions (X & /X index signals are digital)
Hall & encoder power +5 Vdc @ 400 mA maximum
Motemp [IN5] Motor overtemperature sensor input, 4.99 kΩ to +5 Vdc or ground
Signal ground Return for encoder, Halls, and temperature sensor
Brake [OUT4] Current-sinking motor brake driver
+24 Vdc From drive +24 Vdc power supply to power motor brake
Frame ground For motor cable shield

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 3 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

FEEDBACK SPECIFICATIONS (CONT’D)

RESOLVER
RESOLVER
Type Brushless, single-speed, 1:1 to 2:1 programmable transformation ratio
Resolution 14 bits (equivalent to a 4096 line quadrature encoder)
Reference frequency 7.5 kHz
Reference voltage 2.8 Vrms, auto-adjustable by the drive to maximize feedback
Reference maximum current 100 mA
Maximum RPM 10,000+
ENCODER EMULATION
Resolution Programmable to 16,384 counts/rev (4096 line encoder equivalent)
Buffered encoder outputs 26C31 differential line driver
MOTOR CONNECTIONS
Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors
Resolver R1, R2, S1, S2, S3, S4
Motemp [IN5] Motor overtemperature sensor input. Active level programmable. 4.99 kΩ to +5 Vdc or ground
Disables drive when motor over-temperature condition occurs
Same input circuit as GP digital inputs
Signal ground Return for temperature sensor
Brake [OUT4] Current-sinking motor brake driver
+24 Vdc From drive +24 Vdc power supply to power motor brake
Frame ground For motor cable shield

DIMENSIONS
Inches (mm)
7.55 (191,7)

1.5 (38,1) Chassis Grounding:

For CE compliance and machine
safety use external tooth lockwashers
between mounting screw head and
8 x 0.160 drive heatplate. Recommended screws
(4,1) are #6-32 (M3.5) torqued to 8~10
3.00 (76,2)
lb·in (0.79~1.02 N·m).

7.15 (181,6) 5.54 (140,7)

1.00 (25,4)

2.55 (64,8)
REGEN+

REGEN-

LOW-PROFILE
HEATSINK OPTION (-HL)
0.925 (23,5)
0.88 (22,4)

6.75
(171,5)
REGEN+

REGEN-

STANDARD
HEATSINK OPTION (-HS)
1.99 (50,5)

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 4 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

COMMUNICATIONS

CME 2 SOFTWARE
Drive setup is fast and easy using CME 2 software communicating via RS-232 or over the CAN bus.
All of the operations needed to configure the drive are accessible through this powerful and intuitive program. Auto-
phasing of brushless motor Hall sensors and phase wires eliminates “wire and try”. Connections are made once and
CME 2 does the rest thereafter. Encoder wire swapping to establish the direction of positive motion is eliminated.
Motor data can be saved as .ccm files. Drive data is saved as .ccx files that contain all drive settings plus motor
data. Th i s eases sy st e m m a n a ge m e n t a s f i l e s c a n b e c r o s s - r e f e r e nc e d t o d r i ve s . O nc e a d r i ve con fi gu rati on
has been completed systems can be replicated easily with the same setup and performance.
When operating as a stand-alone drive that takes command inputs from an external controller, CME 2 is used for configuration. When
operated as a CAN node, CME 2 can be used for programming before and after installation in a CAN network. Xenus can also be controlled
via CME 2 while it is in place as a CAN node. During this process, drive operation as a CAN node is suspended. When adjustments are
complete, CME 2 relinquishes control of the drive and returns it to the CAN node state.

RS-232
Xenus operates as a DTE device from a three-wire, full-duplex RS-232 port at 9,600 to 115,200 Baud, 8 bits, no parity, and one stop
bit. The SER-CK Serial Cable Kit provides an adapter that connects to the COMM port of a PC (a 9 position, male D-Sub connector) and
accepts a modular cable with RJ-11 connectors for connection to the Xenus RS-232 port (J6).

RxD TxD
1
RxD TxD
1
9 6
RxD 1 2 3 4 5 6
TxD
9
6 5
Gnd 1 2 3 4 5 6
5
RJ-11
(DTE)

D-Sub 9F

D-Sub 9M 2 5 RJ-11
RxD TxD
(DTE) 3 2
(DTE)
TxD RxD
5 3
Gnd Gnd

PC COMM PORT SIGNALS SER-CK SERIAL CABLE KIT ADAPTER CONNECTIONS J5 SIGNALS

RS-232 MULTI-DROP
The RS-232 specification makes no allowance for more than two devices on a serial link. But, multiple Xenus drives can communicate
over a single RS-232 port by daisy-chaining a master drive to other drives using CAN cables. In the CAN protocol, address 0 is reserved
for the CAN master and thereafter all other nodes on a CAN network must have unique, non-zero addresses. When the Xenus CAN
address is set to 0, it acts as a CAN master, converting the RS-232 data into CAN messages and passing it along to the other drives
which act as CAN nodes.

RS-232
CANopen CANopen

CAN Addr 0 CAN Addr 1 CAN Addr n

CAN Master CAN Node CAN Node

ASCII COMMUNICATIONS
The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet,
Stepnet, and Xenus series amplifiers over an RS-232 serial connection. For instance, after basic amplifier configuration values have
been programmed using CME 2, a control program can use the ASCII Interface to:
• Enable the amplifier in Programmed Position mode.
• Home the axis.
• Issue a series of move commands while monitoring position, velocity, and other run-time
variables.
Additional information can be found in the ASCII Programmers Guide on the Copley website:
http://www.copleycontrols.com/motion/downloads/pdf/ASCII_ProgrammersGuide.pdf

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 5 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

COMMUNICATIONS (CONTINUED)

CANOPEN
Based on the CAN V2.0b physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost
and noise-immunity are essential, CANopen adds support for motion-control devices and command synchronization. The result is a
highly effective combination of data-rate and low cost for multi-axis motion control systems. Device synchronization enables multiple
axes to coordinate moves as if they were driven from a single control card.

CANOPEN COMMUNICATION
Xenus uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication.
Before installing the drive in a CAN system, it must be assigned a CAN address. A maximum of 127 CAN nodes are allowed on a single
CAN bus. The rotary switch on the front panel controls the four lower bits of the seven-bit CAN address. When the number of nodes on
a bus is less than sixteen, the CAN address can be set using only the switch.
For installations with sixteen or more CAN nodes on a network CME 2 can be used to configure Xenus to use the rotary switch,
or combinations of digital inputs and programmed offset in flash memory to configure the drive with a higher CAN node address.
For more information on CANopen communications, download the CANopen Manual from the Copley web-site:
http://www.copleycontrols.com/motion/downloads/pdf/CANopenProgrammersManual.pdf

CANOPEN CONNECTORS XTL-NK CAN CONNECTOR KIT

Dual RJ-45 connectors that accept standard The kit contains the XTL-CV adapter that converts the CAN interface D-Sub
Ethernet cables are provided for CAN bus 9M connector to an RJ-45 Ethernet cable socket, plus a 10 ft (3 m) cable and
connectivity. Pins are wired-through so that terminator. Both connector pin-outs conform to the CiA DR-303-1 specification.
drives can be daisy-chained and controlled
with a single connection to the user’s
CAN interface. A CAN terminator should
be placed in the last drive in the chain. 1
6
The XTL-NK connector kit provides a D-Sub 8 1
adapter that plugs into a CAN controller 5
9

and has an RJ-45 socket that accepts the

Ethernet cable. RJ-45
D-Sub 9F
Pin 1 Pin 8 2 2
CAN_L CAN_L
3 3
CAN_GND CAN_GND
7 1
CAN_H CAN_H

J4 J5
J6 CAN CONNECTIONS

CAN S TATUS LED

J4 J5

CAN Status LED Drive Status LED

Note: Red & green led on-times do not overlap.

LED color may be red, green, off, or flashing of either color.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

COMMUNICATIONS (CONTINUED)

DRIVE STATUS LED

A single bi-color LED gives the state of the drive by changing color, and either blinking or remaining solid.
The possible color and blink combinations are:
• Green/Solid: Drive OK and enabled. Will run in response to reference inputs or CANopen commands.
• Green/Slow-Blinking: Drive OK but NOT-enabled. Will run when enabled.
• Green/Fast-Blinking: Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch.
• Red/Solid: Transient fault condition. Drive will resume operation when fault is removed.
• Red/Blinking: Latching fault. Operation will not resume until drive is Reset.

Drive Fault conditions:

• Over or under-voltage
• Motor over-temperature
• Encoder +5 Vdc fault
• Short-circuits from output to output
• Short-circuits from output to ground
• Internal short circuits
• Drive over-temperature
Faults are programmable to be either
transient or latching

RS-422 (OPTIONAL)
The drive is configured for full-duplex operation as a RS-422 slave. Because RS-422 allows only one driver per signal-pair, it is possible
to have other RS-422 receive-only nodes connected to the cable from the Master’s transmit port. The data protocol is the same as that
of the RS-232 port. The diagram below shows connections using a wiring adapter from QVS, model CC436 to convert the modular cable
for the drive to a Dsub-9M connector. The RS-422 signals are shown sourced from a model 422PP9R RS-232 to RS-422 converter from
B&B Electronics.

RS-422 CONNECTIONS J5 SIGNALS

RS-422 Master QVS #CC436 Adapter Copley R10

B(+) 3 3 white 1 1 B
RD B(+) B
TxD A RxD
A(-) 8 8 black 2 2
RxD
RD A(-) A
Twisted-pair Modular
Shielded Cable with
7 Cable 7 RJ-12 Plugs B(Z)
B(+) yellow 5 5 TD B(+) B(Z)
RxD 6 6 A(Y) TxD TxD
A(-) 2 2 blue TD A(-) A(Y)

6 green 4 4

4 red 3 3

B&B Electronics D-Sub 1 2 3 4 5 6

D-Sub RJ-12 Serial port J5
Model 422PP9R 9F
9M Jack RJ-11 Jack
Serial to RS-422
Converter

A
Generic RS-422
RxD Receive-only
B Slave

RS-422 ADAPTER (USER SUPPLIED)

This shows the connections to make using 5
9
a QVS CC436 adapter. This comes with the 1 2 3 4 5 6

connections to the RJ-12 already made and 1

6

the pins for the D-sub uncommitted. Insert RJ-12

these into the D-sub as shown. D-Sub 9M
(DTE)
3 white 1
TD B(+) RD B(+)
8 black 2
TD A(-) RD A(-)
7 yellow 5
RD B(+) TD B(+)
2 blue 6
RD A(-) TD A(-)
6 green 4
Gnd Gnd
4 red 3
Gnd Gnd

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 7 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

COMMAND INPUTS

ANALOG REFERENCE INPUT

A single ±10 Vdc differential input takes inputs from controllers that use PID or similar
compensators, and outputs a current command to the drive. Drive output current or
velocity vs. reference input voltage is programmable.

DIGITAL POSITION
Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up
and pull-down to take advantage of the high-speed inputs. Differential inputs have 121 Ω line-terminators.

SINGLE-ENDED PULSE & DIRECTION DIFFERENTIAL PULSE & DIRECTION

[IN9+]
[IN9]
Pulse PULSE
[IN7-]
[IN10]
Direction

[IN10+]
DIRECTION
[IN8-]

SINGLE-ENDED CU/CD DIFFERENTIAL CU/CD

CU (Count-Up)
CU (Count-Up) [IN9+]
[IN9] PULSE
CU [IN7-]

[IN10]
CD
CD (Count-Down)
[IN10+]
CD (Count-Down) DIRECTION
[IN8-]

QUAD A/B ENCODER SINGLE-ENDED QUAD A/B ENCODER DIFFERENTIAL

Encoder ph. B Encoder ph. B [IN9+]

[IN9] Enc. B
Enc. B [IN7-]

[IN10]
Enc. A
Encoder ph. A [IN10+]
Encoder ph. A Enc A
[IN8-]

DIGITAL TORQUE, VELOCITY

Digital torque or velocity commands can be in either single-ended or differential format. Single-ended signals must be sourced from devices with active
pull-up and pull-down to take advantage of the high-speed inputs.

SINGLE-ENDED PWM & DIRECTION DIFFERENTIAL PWM & DIRECTION

Duty = 0~100% [IN9+]
[IN9] Current or Duty = 0 - 100%
PWM
Velocity [IN7-]

[IN10] Polarity or
Direction
[IN10+]

Direction
[IN8-]

SINGLE-ENDED 50% PWM DIFFERENTIAL 50% PWM

[IN9+]
Duty = 50% ±50%
Duty = 50% ±50% Current or
Velocity
[IN9] Current or [IN7-]

Velocity
[IN10]
<no connection> No function [IN10+]
No
<no connection>
[IN8-] Function

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

COMMAND INPUTS (CONTINUED)

DIGITAL INPUTS
Xenus has twelve digital inputs, eleven of which have programmable functions. Input [IN1] is dedicated to the drive Enable function.
This is done to prevent accidental programming of the input in such a way that the controller could not shut it down.
Two types of RC filters are used: GP (general purpose) and HS (high speed). Input functions such as Pulse/Dir, CW/CCW, Quad A/B are
wired to inputs having the HS filters, and inputs with the GP filters are used for general purpose logic functions, limit switches, and the
motor temperature sensor. Programmable functions of the digital inputs include:
• Positive Limit switch • Step & Direction, or CU/CD PULL-UP/PULL-DOWN CONTROL
• Negative Limit switch step motor position commands In addition to the active level and function
• Home switch • Quad A/B master encoder for each programmable input, the input
• Drive Reset position commands
resistors are programmable in four groups
• PWM current or velocity commands • Motor over-temperature
• CAN address bits • Motion Profile Abort to either pull up to +5 Vdc, or down to
ground. Grounded inputs with HI active
levels interface to PLC’s that have PNP
outputs that source current from +24 Vdc
sources. Inputs pulled up to +5 Vdc work
with open-collector, or NPN drivers that
DIGITAL INPUT CIRCUITS sink current to ground. The table below
24VDC MAX 24VDC MAX shows the PU/PD groups and the inputs
they control.`
+5.0 V
+5.0 V

A B
10k
Group Inputs
*4.99k
74HC14
74HC14 A 1,2,3
10k
[IN1] [IN4]
[IN2]
B 4,5
*[IN5] 10k
10k
[IN3] C 6,7,8
33nF
33nF
*3.3nF D 9,10,11,12

HS (HIGH SPEED) DIGITAL INPUTS

These inputs have all the programmable functions of the GP inputs plus these additional functions on [IN8] & [IN9]
which can be configured as single-ended or differential:
• PWM 50%, PWM & Direction for Velocity or Current modes
• Pulse/Direction, CU/CD, or A/B Quad encoder inputs for Position or Camming modes

[IN6~10] 12 VDC MAX, [IN11~12] 24 VDC MAX

SINGLE-ENDED DIFFERENTIAL
+5 V
+5 V
C
C 10k
10k 74HC14
74HC14
1k
1k [IN6]
[IN6]
100 pF
100 pF
10k
MAX3281 +5 V
[IN7] 1k
D
[IN8]
100 pF
10k 10k

100 pF
1k
+5 V 2.5V [IN9+]
D 1k
+ [IN7-]
10k
100 pF
10k 10k
1k MAX3283
[IN9]
1k 100 pF
[IN10]
[IN10+]
100 pF
1k
MAX3281 [IN8-]
10k 100 pF
10k
10k
[IN11] 10k
[IN12] [IN11]
[IN12]
33 nF
33 nF
74HC14

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

OUTPUTS
DIGITAL OUTPUTS
+5.0 Vdc
The digital outputs are open-drain MOSFETs with 1 kΩ pull-up resistors in series with a
diode to +5 Vdc. They can sink up to 1 Adc from external loads operating from power
supplies to +30 Vdc. 1k
The output functions are programmable. The active state of the outputs is programmable
to be on or off.
When driving inductive loads such as a relay, an external fly-back diode is required. The [OUT1]
internal diode in the output is for driving PLC inputs that are opto-isolated and connected [OUT2]
to +24 Vdc. The diode prevents conduction from +24 Vdc through the 1 kΩ resistor to
[OUT3]
+5 Vdc in the drive. This could turn the PLC input on, giving a false indication of the drive
output state.

BRAKE OUTPUT [OUT4]

This output is an open-drain MOSFET with an internal flyback diode connected to the +24
Vdc input. It can sink up to 1A from a motor brake connected to the +24 Vdc supply.
The operation of the brake is programmable with CME 2. It can also be programmed as
a general-purpose digital output.

MOTOR CONNECTIONS
Motor connections are of three types: phase, feedback, and thermal sensor. The phase connections carry the drive output currents that
drive the motor to produce motion. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect
the motor. Feedback can be digital quad A/B encoder, analog sin/cos encoder, resolver or digital Halls, depending on the version of the
drive.

MOTOR PHASE CONNECTIONS

The drive output is a three-phase PWM inverter that converts the DC buss voltage
(+HV) into three sinusoidal voltage waveforms that drive the motor phase-coils.
Cable should be sized for the continuous current rating of the motor. Motor cabling
should use twisted, shielded conductors for CE compliance, and to minimize PWM
noise coupling into other circuits. The motor cable shield should connect to motor
frame and the drive frame ground terminal (J2-1) for best results.

DIGITAL HALL SIGNALS

U
Hall signals are single-ended signals that provide absolute feedback within one V +5V
electrical cycle of the motor. There are three of them (U, V, & W) and they may be W
sourced by magnetic sensors in the motor, or by encoders that have Hall tracks as 10 k
part of the encoder disc. They typically operate at much lower frequencies than the 10 k
74HC14
U, V, W
motor encoder signals, and are used for commutation-initialization after startup, HALL
and for checking the motor phasing after the amplifer has switched to sinusoidal
commutation. Resolver models can also take Hall signal at inputs [IN6~8]. See 3.3 nF
page 15 for connections.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

MOTOR CONNECTIONS (CONT’D)

DIGITAL ENCODERS
The quad A/B encoder interface is a differential line-receiver with R-C filtering on
the inputs. Encoders with differential outputs are required because they are less
susceptible to noise that can degrade single-ended outputs. Encoder cables should
use twisted-pairs for each signal pair: A & /A, B & /B, X & /X. An overall shield
should be used, and for longer cables, shields for individual pairs may be necessary
to guarantee signal integrity.

ANALOG ENCODER (-S MODELS)

Xenus supports analog encoder signals for position feedback. The Sin and Cos inputs
are differential with 121 Ω terminating resistors and accept 1.0 Vp-p signals in the
A/B format used by encoders with analog outputs such as Heidenhain, Stegman,
and Renishaw. When Copley’s ServoTube motors are used the analog encoder
supplies both commutation and incremental position feedback.

Frame Frame
Gnd Gnd
1 1
J7 J8
A HA(+) HA+
26 14
/A HA(-) HA-
ANALOG HALLS (-S MODELS) + DIGITAL ENCODER 25 13
Analog
B HB(+) HB+ Halls
Digital
For position feedback with higher resolution than is possible Incremental /B
24
HB(-)
12
HB-
by interpolating analog Halls, a digital incremental encoder Encoder
X
23 11

N.C. 8
is connected to the multi-mode port. The Halls are then used /X
22

21
for commutation and the multi-mode port is programmed as a Vcc
N.C. 7
Vcc
differential input for the Secondary Incremental motor encoder. +5 vdc
to Encoder 0V
20 +5 Vdc +5 Vdc 4
0V
+5 vdc
to Halls
19 Signal Ground Signal Ground 5

Position feedback for Hall feedback for

position/velocity control brushless motor commutation

R1 J8-3
Ref
RESOLVER (-R MODELS) R2 J8-2

Connections to the resolver should be made with shielded cable that uses BRUSHLESS
S3 J8-8
+

three twisted-pairs. Once connected, resolver set up, motor phasing, and other
Sin
RESOLVER S1 J8-7 -

commissioning adjustments are made with CME 2 software. There are no hardware S2 J8-13
+
adjustments. S4 J8-12 -
Cos

J8-1
Frame
Ground

MOTOR TEMPERATURE SENSOR +5V

Digital input [IN5] is for use with a motor overtemperature switch. The input should
be programmed as a pull-up to +5 Vdc if the motor switch is grounded when cold, 4.99 k
and open or high-impedance when over-heating. 10 k
74HC14

[IN5]

3.3 nF

BRAKE OUTPUT [OUT4]

This output is an open-drain MOSFET with an internal flyback diode connected to
the +24 Vdc input. It can sink up to 1A from a motor brake connected to the +24
Vdc supply.
The operation of the brake is programmable with CME 2. It can also be programmed
as a general-purpose digital output.

= Shielded cables required

for CE compliance

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

MULTI-MODE ENCODER PORT

This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive.
On drives with quad A/B encoder feedback, the port works as an output buffering the signals from the encoder. With resolver or sin/
cos encoder versions, the feedback is converted to quad A/B signals with programmable resolution. These signals can then be fed back
to an external motion controller that closes the position or velocity loops. As an input, the port can take quad A/B signals to produce
a dual-loop position control system or use the signals as master-encoder feedback in camming mode. In addition, the port can take
stepper command signals (CU/CD or Pulse/Direction) in differential format.

+5V 22 pF
AS BUFFERED OUTPUTS FROM A DIGITAL QUADRATURE 2.2k
Secondary
FEEDBACK ENCODER Encoder Input
1k
When using a digital quadrature feedback encoder, the A/B/X signals drive 26CS32
the multi-mode port output buffers directly. This is useful in systems that
use external controllers that also need the motor feedback encoder signals
because these now come from J7, the Control connector. In addition to 1k
eliminating “Y” cabling where the motor feedback cable has to split to Input/Output
connect to both controller and motor, the buffered outputs reduce loading 22 pF Select
on the feedback cable that could occur if the motor encoder had to drive
two differential inputs in parallel, each with it’s own 121 ohm terminating 26CS31
resistor.
Quad A/B Feedback
Encoder

+5V 22 pF
Secondary
2.2k
Encoder Input
AS EMULATED QUAD A/B/X ENCODER OUTPUTS FROM AN
1k
ANALOG SIN/COS FEEDBACK ENCODER 26CS32
Analog sin/cos signals are interpolated in the drive with programmable
resolution. The incremental position data is then converted back into digital
quadrature format which drives the multi-mode port output buffers. Some 1k
Input/Output
analog encoders also produce a digital index pulse which is connected 22 pF Select
directly to the port’s output buffer. The result is digital quadrature A/B/X
signals that can be used as feedback to an external control system.
26CS31

Emulated Quad A/B

signals from
analog Sin/Cos encoder
or resolver

AS A MASTER OR CAMMING ENCODER INPUT FROM A

DIGITAL QUADRATURE ENCODER
When operating in position mode the multi-mode port can accept digital
+5V 22 pF
command signals from external encoders. These can be used to drive cam Secondary
tables, or as master-encoder signals when operating in a master/slave 2.2k
Encoder Input
configuration. 1k
26CS32

1k
AS DIGITAL COMMAND INPUTS IN PULSE/DIRECTION, Input/Output
22 pF Select
PULSE-UP/PULSE-DOWN, OR
DIGITAL QUADRATURE ENCODER FORMAT
The multi-mode port can also be used when digital command signals are 26CS31
in a differential format. These are the signals that typically go to [IN9]
and [IN10] when they are single-ended. But, at higher frequencies these
are likely to be differential signals in which case the multi-mode port can
be used.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

QUAD A/B
CONNECTIONS

Frame
Gnd
Frame Ground 1 1

A A
A 26 14
Outputs Buffered
Quad A/B from /A /A
/A 25 Encoder 13
B B
Multi-Mode B 24 12 DIGITAL
Encoder ENCODER
/B /B
Port /B 23 11
X X
X 22 8
/X /X
/X 21 7
Vcc
+5 Vdc 4
(Note 1) 20 +5 Vdc @ 400 mA 0V
CONTROL Signal Ground 5
CABLE TO J7 19 Signal Ground

±10 Vdc
Analog
3 Ref(+) J7 Hall U 3

Reference 2 Ref(-) DIGITAL

Hall V 6
HALLS
Hall W 9

4 [IN1] Enable
+5 Vdc 2 (Note 1)
5 [IN2] GP
Signal Ground 15
6 [IN3] GP TEMP
Motemp [IN5]
SENSOR
= SHIELDED CABLES 7 [IN4] GP
10

REQUIRED
FOR CE COMPLIANCE 10 [IN6] HS J8
11 [IN7] HS

12 [IN8] HS L3 4 L3
Fuse AC MAINS:
13 [IN9] HS
FILTER

3 100 to 240 Vac

J1
LINE

1
14 [IN10] HS
1Ø or 3Ø
L2 2 N L2 47 to 63 Hz
8 [IN11] GP L1 1 H L1
9 [IN12] GP
Earth
15 Signal Ground
U
Mot U 4
BRAKE 16 [OUT1] * Fuse
V BRUSHLESS
Mot V 3
* Fuse MOTOR
17 [OUT2] J2 Mot W 2
W
Control Power Supply
18 [OUT3]
Required for
Frame Ground 1
Drive Operation
DANGER: HIGH VOLTAGE
+ 3 +24V
REGEN+ 1 CIRCUITS ON J1, J2, & J3
+24 Vdc 2 * Fuse
BRAKE ARE CONNECTED TO
0.5 Adc J3 2
MAINS POWER
- 1 RTN J4 REGEN- 3
-HV
* Fuse
Drive mounting screw 4

Frame Ground 5

* Optional

Notes:
1) The total output current from the +5 Vdc supply to J7-20 cannot exceed 400 mAdc
2) Line filter is required for CE

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

SIN/COS (-S OPTION)

CONNECTIONS

Frame Note:
Gnd Index signals X & /X are
Frame Ground 1 1
digital
Sin(+) S+
A 26 14

Outputs Emulated Sin(-) S- ANALOG

/A 25 13
Quad A/B from
Sin/Cos
Analog Encoder Cos(+) C+
Multi-Mode B 24 12 ENCODER
Encoder
Cos(-) C-
Port /B 23 11
X X
X 22 8 DIGITAL
/X /X ENCODER
/X 21 7 INDEX
Vcc
+5 Vdc 4 +5 vdc to
(Note 1) 20 +5 Vdc @ 400 mA 0V Encoder
CONTROL Signal Ground 5 & Halls
CABLE TO J7 19 Signal Ground

±10 Vdc
Analog
3 Ref(+) J7 Hall U 3

Reference 2 Ref(-) DIGITAL

Hall V 6
HALLS
Hall W 9

4 [IN1] Enable
+5 Vdc 2 (Note 1)
5 [IN2] GP
Signal Ground 15
6 [IN3] GP TEMP
SENSOR
= SHIELDED CABLES RE- 7 [IN4] GP
Motemp [IN5] 10
QUIRED
FOR CE COMPLIANCE 10 [IN6] HS J8
11 [IN7] HS

12 [IN8] HS L3 4 L3
Fuse AC MAINS:
13 [IN9] HS
FILTER

3 100 to 240 Vac

J1
LINE

1
14 [IN10] HS
1Ø or 3Ø
L2 2 N L2 47 to 63 Hz
8 [IN11] GP L1 1 H L1
9 [IN12] GP
Earth
15 Signal Ground
U
Mot U 4
BRAKE 16 [OUT1] * Fuse
V BRUSHLESS
Mot V 3
MOTOR
17 [OUT2] J2 Mot W 2
* Fuse
W
Control Power Supply
18 [OUT3]
Required for
Frame Ground 1
Drive Operation
DANGER: HIGH VOLTAGE
+ 3 +24V
CIRCUITS ON J1, J2, & J3
REGEN+ 1
+24 Vdc 2 BRAKE * Fuse ARE CONNECTED TO
0.5 Adc J3 2
MAINS POWER
- 1 RTN J4 REGEN- 3
-HV
* Fuse
Drive mounting screw 4

Frame Ground 5

* Optional

Notes:
1) The total output current from the +5 Vdc supply to J7-20 cannot exceed 400 mAdc
2) Line filter is required for CE
3) Page 11 shows connections for analog Hall commutation with digital incremental position feedback.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

RESOLVER (-R OPTION)

CONNECTIONS

Frame
Gnd
Frame Ground 1 11

R1 3 R1
A 26 Outputs Emulated
Quad A/B from
Resolver R2 R2
/A 25 2
S3 8 S3
Multi-Mode B 24 BRUSHLESS
Encoder RESOLVER
S1 S1
Port /B 23 Inputs Secondary
7
Position Encoder
S2 S2
X 22 13
S4 S4
/X 21 12

(Note 1) Frame
1
CONTROL Gnd
CABLE TO J7 19 Signal Ground 6
J8
±10 Vdc 3 Ref(+)
Analog Signal Ground 5
Reference 2 Ref(-)
Signal Ground 15

Motemp [IN5] 10
4 [IN1] Enable
= SHIELDED CABLES 0V
REQUIRED FOR Signal Gnd 15,19
5 [IN2] GP
Hall W
CE COMPLIANCE [IN6] 10
6 [IN3] GP
Hall V Digital
7 [IN4] GP J7 [IN7] 11
Hall U
Halls
[IN8] 12
13 [IN9] HS +5V +5V
20
Output
14 [IN10] HS

8 [IN11] GP L3 4 L3
Fuse AC MAINS:
[IN12] GP
FILTER

9 3 100 to 240 Vac

J1
LINE

1
1Ø or 3Ø
15 Signal Ground L2 2 N L2 47 to 63 Hz

16 [OUT1] L1 1 H L1

17 [OUT2] Earth

18 [OUT3] U
Mot U 4
BRAKE * Fuse
V BRUSHLESS
Mot V 3
MOTOR
J2 Mot W 2
* Fuse
W
Control Power Supply
Required for
Frame Ground 1
Drive Operation
DANGER: HIGH VOLTAGE
+ 3 +24V
REGEN+ 1 CIRCUITS ON J1, J2, & J3
+24 Vdc 2 BRAKE * Fuse ARE CONNECTED TO
0.5 Adc J3 2
MAINS POWER
- 1 RTN J4 REGEN- 3
-HV
* Fuse
Drive mounting screw 4

Frame Ground 5

* Optional

Notes:
1) The total output current from the +5 Vdc supply to J7-20 cannot exceed 400 mAdc
2) Line filter is required for CE
3) Usage of [IN6~8] for Hall sensors is optional. If not used for Halls, these are programmable, high-speed inputs.
Signal Ground for Halls can use J7-15, J7-19, or J8-5.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

DRIVE POWER SOURCES MAINS POWER

An external +24 Vdc power supply is required, and Mains power drives the high-voltage section. It Signal grounding references the drive control
powers an internal DC/DC converter that supplies is rectified and capacitor-filtered to produce +HV circuits to those of the control system. These
all the control voltages for drive operation. Use of which the PWM stage converts into voltages that controls circuits typically have their own earth
an external supply enables CAN communication drive either three phase brushless or DC brush connection at some point. To eliminate ground-
with the drive when the mains power has been motors. An internal solid-state switch together loops it is recommended that the drive signal
removed. with an external power resistor provides dissipation ground be connected to the control system circuit
Power distribution in Xenus R10 is divided into four during regeneration when the mechanical energy ground. When this is done the drive signal voltages
sections: +24 Vdc, CAN, signal, and high-voltage. of the motor is converted back into electrical will be referenced to the same 0 V level as the
Each is isolated from the other and all are isolated energy that must be dissipated before it charges circuits in the control system. Small currents flow
from the chassis. the internal capacitors to an overvoltage condition. between controller and drive when inputs and
All the circuits in this section are “hot”, that is, outputs interact. The signal ground is the path for
EXTERNAL +24 VDC they connect directly to the mains and must be these currents to return to their power sources in
The primary side of the DC/DC converter operates considered high-voltages and a shock hazard both controller and drive.
directly from the external +24 Vdc supply and requiring proper insulation techniques during
Shields on cables reduce emissions from the drive
is isolated from other drive power sections. The installation.
for CE compliance and protect internal circuits from
Brake output [OUT4] operates in this section and interference due to external sources of electrical
is referenced to the +24 Vdc return (0V). It sinks GROUNDING noise. Because of their smaller wire gauge, these
current from an external load connected to the should not be used as part of a safety-ground
A grounding system has three primary functions:
external +24 Vdc power source. system. Motor cases can be safety-grounded
safety, voltage-reference, and shielding. As a
either at the motor, by earthing the frame, or by
INTERNAL SIGNAL POWER safety measure, the primary ground at J1-3 will
carry fault-currents from the mains in the case a grounding conductor in the motor cable that
The signal power section supplies power for the connects to J2-1. This cable should be of the same
of an internal failure or short-circuit of electronic
DSP controller as well as logic inputs and outputs. gauge as the other motor phase cables.
components. Wiring to this is typically done with
Motor feedback signals such as Halls, encoder,
the green conductor with yellow stripe using the For CE compliance and operator safety, the
and temperature sensor operate from this power
same gauge wire as that used for the mains. The drive should be earthed by using external tooth
source. All signal circuits are referenced to signal
pin on the drive at J1-3 is longer than the other lockwashers under the mounting screws. These
ground. This ground should connect to the control
pins on J1 giving it a first-make, last-break action will make contact with the aluminum chassis
system circuit ground or common so that drive
so that the drive chassis is never ungrounded through the anodized finish to connect the chassis
and controller inputs and output voltage levels
when the mains power is connected. This wire is to the equipment frame ground.
work properly with each other.
a ‘bonding’ conductor that should connect to an
earthed ground point and must not pass through
any circuit interrupting devices.
All of the circuits on J1, J2, and J3 are mains-
connected and must never be grounded. The
ground terminals at J1-3, J2-1, and J3-5 all
connect to the drive chassis and are isolated from
all drive internal circuits. REGENERATION
The chart below shows the energy absorption
in W·s for a Xenus R10 drive operating at some
typical mains voltages. When the load mechanical
energy is greater than these values an external
regen resistor is available as an accessory.
SHIELD

FRAME GROUND REGEN(-) J3 REGEN(+) 120

Energy Absorption vs.
J2 Mains Voltage
Energy Absorption (W·s)

U
L1 1760 µF 100
~ +
DC BUSS(+)
J1 L2 + PWM V
~ MOTOR
MAINS INVERTER 80
L3 DC BUSS(-)
~ - W
CASE
FRAME GROUND 60
(SAFETY GROUND)
PWM
STAGE
J4 +24 Vdc CONTROL 40
POWER
ISOLATION BARRIER
+24 BRAKE SHIELD
20 100 120 140 160 180 200 220 240
BRAKE
VDC
DC/DC LOGIC
Cntrl & Mains Voltage (Vac)
RTN SIGNAL
DC/DC
POWER
SIGNAL GND
Converter

CONTROL +24 Vdc RESOLVER +5 Vdc

GROUND DRIVE &
SYSTEM +5 Vdc DECODING RESOLVER

J7
ENABLE [IN1] CONTROL
LOGIC
SIGNAL GND

J8
CONTROL
SIGNAL
GROUND

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 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

GROUNDING & SHIELDING FOR CE

Grounding and shielding are the means of

controlling the emission of radio frequency energy
from the drive so that it does not interfere with
other electronic equipment.
The use of shielded cables to connect the drive to
motors and feedback devices is a way of extending J7 J8
CONTROLLER FEEDBACK
the chassis of the drive out to these devices so
that the conductors carrying noise generated by
the drive are completely enclosed by a conductive
shield.
The process begins at the mains connector of
the drive, J1. The ground terminal here has a
circle around it indicating that this is the safety
or “bonding” ground connection. This should be J2
connected with wire that is the same gauge as that MOTOR
used for the mains. In the case of a short-circuit in
the drive the function of this ground connection is
to carry the fault current to earth ground until the
safety device (fuse or circuit breakers) disconnects
the drive from the mains. This connection ensures
that the heatplate of the drive remains at earth XENUS
potential and eliminating a shock hazard that could
occur of the chassis were allowed to float to the
potential of the mains.
While this connection keeps the heatplate at earth
J1 LINE
MAINS
potential the high frequency noise generated by FILTER
switching circuits in the drive can radiate from the
wire used for the safety ground connection. In
order to keep the path between the heatplate and
earth as short as possible it’s also recommended
to mount the drive to the equipment panel
using external-toothed lock washers. These will
penetrate the anodized finish of the heatplate
24 V
(which is an electrical insulator) and make good
POWER J4 J3 REGEN
electrical contact with the aluminum plate.
SUPPLY
Grounding the heatplate in this way shortens
the path from drive to earth ground and further
reduces emissions. 3 TURNS
The heatplate also connects directly to the frame AROUND
TOROID
ground terminals on the motor, feedback, and INDUCTOR
regen connectors. Note that the ground symbols
for these do not have a circle around them which
indicates that these are for shielding and not not
for safety grounding. Motors and their feedback
devices (which are typically in the motor case)
should be grounded by mounting to equipment
that is grounded as a safety ground. By connecting
the shields for these devices at the drive and Notes:
at the device, the connection is continuous and 1) Shielded cables required for CE are shown in the diagram above.
provides a return path for radio-frequency energy
2) Line filter required for CE
to the drive.
3) Ferrite core required for shielded cable to regen resistor which must be in
shielded enclosure.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 17 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

QUAD A/B

WARNING: Hazardous voltages exist on connections

to J1, J2, & J3 when power is applied, and for up to 30
seconds after power is removed.

J1 MAINS CONNECTIONS

J1 CABLE CONNECTOR: Signal Pin

Wago: 51118287 or 721-204/026-045/RN01-0000
Euro-style 7,5 mm pluggable female terminal block Mains Input L3 4
with preceding ground receptacle
Cable: AWG 12, 600 V recommended Protective Ground 3
for R10-230-36-R and R10-230-40-R models,
AWG 14, 600V for R10-230-18-R Mains Input L2 2
Shielded cable required for CE compliance
Mains Input L1 1

J2 MOTOR OUTPUTS

J2 CABLE CONNECTOR: Signal Pin

Wago: 51118008 or 721-104/026-047/RN01-0000
Euro-style 5,0 mm pluggable female terminal block Motor Phase U 4
Cable: AWG 12, 600 V recommended
for R10-230-36-R and R10-230-40-R models, Motor Phase V 3
AWG 14, 600V for R10-230-18-R
Shielded cable required for CE compliance Motor Phase W 2

Cable Shield 1

J3 REGEN RESISTOR

J3 CABLE CONNECTOR: Signal Pin

Wago: 51111279 or 721-605/000-044/RN01-0000
Euro-style 5,0 mm pluggable male terminal block Regen Resistor 1
Cable: AWG 12, 600 V recommended
for R10-230-36-R and R10-230-40-R models, No Connection 2
AWG 14, 600V for R10-230-18-R
Shielded cable required for CE compliance
Regen Resistor 3
Wire Insertion/Extraction Tool: No Connection 4
Used on J1, J2, J3, & J4
Wago 231-131 Cable Shield 5
ISOLATED CIRCUIT

NOTE: AN EXTERNAL J4 +24 VDC & BRAKE

+24 VDC POWER SUPPLY
IS REQUIRED FOR OPERATION

Signal Pin
J4 CABLE CONNECTOR:
Wago: 51117974 or 721-103/026-047/RN01-0000 +24 Vdc Control Power 3
Euro-style 5,0 mm pluggable terminal block
Brake Output [OUT4] 2

0V (+24 Vdc Return) 1

ISOLATED CIRCUIT

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 18 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

QUAD A/B
J5 RS-232 (DTE) J5 CABLE CONNECTOR:
RJ-11 style, male, 6 position
Pin Signal Cable: 6-conductor modular type
6 No connect

5 TxD Output Notes:

1. CAN circuits are opto-isolated from drive circuits.
4 Ground 2. CAN_GND connects to drive Signal Ground.
3. CAN_SHLD and CAN_V+ are wired-thru on both
3 Ground J6 connectors and have no connection to the drive.

2 RxD Input

1 No connect

J7 CONTROL SIGNALS
J6 CAN BUS
Pin Signal Pin Signal Pin Signal
1 Frame Gnd 10 [IN6] HS 19 Signal Gnd
Pin Signal
2 Ref(-) 11 [IN7] HS 20 +5 Vdc (Note 1)
1 CAN_H 3 Ref(+) 12 [IN8] HS 21 Multi Encoder /X
2 CAN_L 4 [IN1] Enable 13 [IN9] HS 22 Multi Encoder X

3 CAN_GND 5 [IN2] GP 14 [IN10] HS 23 Multi Encoder /B

6 [IN3] GP 15 Signal Gnd 24 Multi Encoder B
4 No connection
7 [IN4] GP 16 [OUT1] 25 Multi Encoder /A
5 No connection
8 [IN11] GP 17 [OUT2] 26 Multi Encoder A
6 (CAN_SHLD) 9 [IN12] GP 18 [OUT3]
7 CAN_GND
J7 CABLE CONNECTOR:
8 (CAN_V+) High-Density D-Sub, 26 Position, Male

ISOLATED CIRCUIT

J6 CABLE CONNECTOR:
RJ-45 style, male, 8 position
Cable: 8-conductor modular type

J8 MOTOR FEEDBACK
Pin Signal Pin Signal Pin Signal
1 Frame Gnd 6 Hall V 11 Encoder /B
2 +5 Vdc (Note 1) 7 Encoder /X 12 Encoder B
3 Hall U 8 Encoder X 13 Encoder /A
4 +5 Vdc (Note 1) 9 Hall W 14 Encoder A
5 Signal Gnd 10 [IN5] Motemp 15 Signal Gnd

J8 CABLE CONNECTOR:
High-Density D-Sub, 15 Position, Male

Notes:
1. The total current drawn from the +5 Vdc outputs cannot exceed 400 mA

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 19 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

SIN/COS (-S OPTION)

WARNING: Hazardous voltages exist on connections

to J1, J2, & J3 when power is applied, and for up to 30
seconds after power is removed.

J1 MAINS CONNECTIONS

J1 CABLE CONNECTOR: Signal Pin

Wago: 51118287 or 721-204/026-045/RN01-0000
Euro-style 7,5 mm pluggable female terminal block Mains Input L3 4
with preceding ground receptacle
Cable: AWG 12, 600 V recommended Protective Ground 3
for R10-230-36-R and R10-230-40-R models,
AWG 14, 600V for R10-230-18-R Mains Input L2 2
Shielded cable required for CE compliance
Mains Input L1 1

J2 MOTOR OUTPUTS
J2 CABLE CONNECTOR:
Wago: 51118008 or 721-104/026-047/RN01-0000 Signal Pin
Euro-style 5,0 mm pluggable female terminal block
Cable: AWG 12, 600 V recommended Motor Phase U 4
for R10-230-36-R and R10-230-40-R models,
AWG 14, 600V for R10-230-18-R Motor Phase V 3
Shielded cable required for CE compliance
Motor Phase W 2

Cable Shield 1

J3 CABLE CONNECTOR: J3 REGEN RESISTOR

Wago: 51111279 or 721-605/000-044/RN01-
0000 Signal Pin
Euro-style 5,0 mm pluggable male terminal
block Regen Resistor 1
Cable: AWG 12, 600 V recommended
for R10-230-36-R and R10-230-40-R models, No Connection 2
AWG 14, 600V for R10-230-18-R
Shielded cable required for CE compliance
Regen Resistor 3

Wire Insertion/Extraction Tool: No Connection 4

Used on J1, J2, J3, & J4
Wago 231-131 Cable Shield 5
ISOLATED CIRCUIT

NOTE: AN EXTERNAL J4 +24 VDC & BRAKE

+24 VDC POWER SUPPLY
IS REQUIRED FOR OPERATION
ISOLATED CIRCUIT

J4 Cable Connector: Signal Pin

Wago: 51117974 or 721-103/026-047/RN01-0000
Euro-style 5,0 mm pluggable terminal block +24 Vdc Control Power 3

Brake Output [OUT4] 2

0V (+24 Vdc Return) 1

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 20 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

SIN/COS (-S OPTION)

J5 RS-232 (DTE) J5 CABLE CONNECTOR:

RJ-11 style, male, 6 position
Pin Signal Cable: 6-conductor modular type

6 No connect Notes:
1. CAN circuits are opto-isolated from drive circuits.
5 TxD Output 2. CAN_GND connects to drive Signal Ground.
3. CAN_SHLD and CAN_V+ are wired-thru on both
4 Ground J6 connectors and have no connection to the drive.
3 Ground

2 RxD Input

1 No connect

J7 CONTROL SIGNALS
J6 CAN BUS
Pin Signal Pin Signal Pin Signal
1 Frame Gnd 10 [IN6] HS 19 Signal Gnd
Pin Signal
2 Ref(-) 11 [IN7] HS 20 +5 Vdc (Note 1)
1 CAN_H 3 Ref(+) 12 [IN8] HS 21 Multi Encoder /X
2 CAN_L 4 [IN1] Enable 13 [IN9] HS 22 Multi Encoder X

3 CAN_GND 5 [IN2] GP 14 [IN10] HS 23 Multi Encoder /B

6 [IN3] GP 15 Signal Gnd 24 Multi Encoder B
4 No connection
7 [IN4] GP 16 [OUT1] 25 Multi Encoder /A
5 No connection
8 [IN11] GP 17 [OUT2] 26 Multi Encoder A
6 (CAN_SHLD) 9 [IN12] GP 18 [OUT3]
7 CAN_GND
J7 CABLE CONNECTOR:
8 (CAN_V+) High-Density D-Sub, 26 Position, Male

ISOLATED CIRCUIT

J6 CABLE CONNECTOR:
RJ-45 style, male, 8 position
Cable: 8-conductor modular type

J8 MOTOR FEEDBACK
Pin Signal Pin Signal Pin Signal
1 Frame Gnd 6 Hall V 11 Encoder Cos(-)
2 +5 Vdc (Note 1) 7 Encoder /X 12 Encoder Cos(+)
3 Hall U 8 Encoder X 13 Encoder Sin(-)
4 +5 Vdc (Note 1) 9 Hall W 14 Encoder Sin(+)
5 Signal Gnd 10 [IN5] Motemp 15 Signal Gnd

J8 CABLE CONNECTOR:
High-Density D-Sub, 15 Position, Male

Notes:
1. The total current drawn from the +5 Vdc outputs cannot exceed 400 mA

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 21 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

RESOLVER (-R OPTION)

WARNING: HAZARDOUS VOLTAGES EXIST ON CONNECTIONS TO J1,

J2, & J3 WHEN POWER IS APPLIED, AND FOR UP TO 30 SECONDS
AFTER POWER IS REMOVED.

J1 MAINS CONNECTIONS

J1 CABLE CONNECTOR: Signal Pin

Wago: 51118287 or 721-204/026-045/RN01-0000
Euro-style 7,5 mm pluggable female terminal block Mains Input L3 4
with preceding ground receptacle
Cable: AWG 12, 600 V recommended Protective Ground 3
for R10-230-36-R and R10-230-40-R models,
AWG 14, 600V for R10-230-18-R Mains Input L2 2
Shielded cable required for CE compliance
Mains Input L1 1

J2 MOTOR OUTPUTS
J2 CABLE CONNECTOR:
Wago: 51118008 or 721-104/026-047/RN01-0000 Signal Pin
Euro-style 5,0 mm pluggable female terminal block
Cable: AWG 12, 600 V recommended Motor Phase U 4
for R10-230-36-R and R10-230-40-R models,
AWG 14, 600V for R10-230-18-R Motor Phase V 3
Shielded cable required for CE compliance
Motor Phase W 2

Cable Shield 1

J3 CABLE CONNECTOR:
Wago: 51111279 or 721-605/000-044/RN01-0000 J3 REGEN RESISTOR
Euro-style 5,0 mm pluggable male terminal block
Cable: AWG 12, 600 V recommended Signal Pin
for R10-230-36-R and R10-230-40-R models,
AWG 14, 600V for R10-230-18-R
Shielded cable required for CE compliance Regen Resistor 1

No Connection 2

Regen Resistor 3

Wire Insertion/Extraction Tool: No Connection 4

Used on J1, J2, J3, & J4
Wago 231-131 Cable Shield 5
ISOLATED CIRCUIT

J4 +24 VDC & BRAKE

NOTE: AN EXTERNAL
+24 VDC POWER SUPPLY
IS REQUIRED FOR OPERATION ISOLATED CIRCUIT

Signal Pin
J4 CABLE CONNECTOR: +24 Vdc Control Power 3
Wago: 51117974 or 721-103/026-047/RN01-0000
Euro-style 5,0 mm pluggable terminal block Brake Output [OUT4] 2

0V (+24 Vdc Return) 1

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 22 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

RESOLVER (-R OPTION)

J5 RS-232 (DTE) J5 CABLE CONNECTOR:

RJ-11 style, male, 6 position
Pin Signal Cable: 6-conductor modular type

6 No connect

5 TxD Output Notes:

1. CAN circuits are opto-isolated from drive circuits.
4 Ground 2. CAN_GND connects to drive Signal Ground.
3. CAN_SHLD and CAN_V+ are wired-thru on both
3 Ground J6 connectors and have no connection to the drive.

2 RxD Input

1 No connect

J7 CONTROL SIGNALS
J6 CAN BUS
Pin Signal Pin Signal Pin Signal
1 Frame Gnd 10 [IN6] HS 19 Signal Gnd
Pin Signal
2 Ref(-) 11 [IN7] HS 20 +5 Vdc (Note 1)
1 CAN_H 3 Ref(+) 12 [IN8] HS 21 Multi Encoder /X
2 CAN_L 4 [IN1] Enable 13 [IN9] HS 22 Multi Encoder X

3 CAN_GND 5 [IN2] GP 14 [IN10] HS 23 Multi Encoder /B

6 [IN3] GP 15 Signal Gnd 24 Multi Encoder B
4 No connection
7 [IN4] GP 16 [OUT1] 25 Multi Encoder /A
5 No connection
8 [IN11] GP 17 [OUT2] 26 Multi Encoder A
6 (CAN_SHLD) 9 [IN12] GP 18 [OUT3]
7 CAN_GND
J7 CABLE CONNECTOR:
8 (CAN_V+) High-Density D-Sub, 26 Position, Male

ISOLATED CIRCUIT

J6 CABLE CONNECTOR:
RJ-45 style, male, 8 position
Cable: 8-conductor modular type

J8 MOTOR FEEDBACK
Pin Signal Pin Signal Pin Signal
1 Frame Gnd 6 Frame Gnd 11 Frame Gnd
2 Ref(-) Output R2 7 Sin(-) Input S1 12 Cos(-) Input S4
3 Ref(+) Output R1 8 Sin(+) Input S3 13 Cos(+) input S2
4 N.C. 9 N.C. 14 N.C.
5 Signal Gnd 10 [IN5] Motemp 15 Signal Gnd

J8 CABLE CONNECTOR:
High-Density D-Sub, 15 Position, Male

Notes:
1. The total current drawn from the +5 Vdc output cannot exceed 400 mA

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 23 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

SINGLE-DRIVE SETUP FOR CANOPEN POSITION CONTROL

Xenus R10 operates as a CAN node. All commands are passed on the CAN bus.
CME 2 is used for setup and configuration before installation as CAN node.

SER-CK

(2)
J5 (1)

R10-NK COM1
COM2
COMx
(2)
J6 (3)
(1)
CML C++ Libraries
Windows™ 98, 2000,
R10-CK ME, NT, and Linux

J7 Logic Inputs and CMO Copley Motion

Outputs Objects
(1) (2) J1~J4 not shown CAN Windows™ 98, 2000,
ME, NT, and Linux
Motor Feedback: CARD
J8 CME 2
Resolver and Windows® 98, 2000,
Temperature Sensor ME, and NT
Computer:
PC or compatible with
166MHz with 64MB RAM minimum
Serial Cable Kit SER-CK 266 MHz with 128MB RAM recommended
Connects a PC serial port to Xenus R10 RX-232 connector J5 Serial port (RS-232)
(1) RS-232 9-pin D-Sub to RJ-11 adapter CAN bus interface
(2) 6 ft (2 m) RJ-11 cable Using the minimum requirements will allow CME 2 to
run but the performance will be significantly reduced.

CANopen Network Kit R10-NK

Connects a CAN card to Xenus R10 connector J6
and includes terminator for ‘last’ drive on CAN bus
Ordering Guide
(1) CAN card 9-pin D-Sub to RJ-45 adapter
(2) 6 ft (2 m) RJ-45 cable Table below shows parts to order for the configuration on this page
(3) CAN terminator See page 19 for other parts required (motor, +24 Vdc power supply, etc.) .

Connector/Cable Kit R10-CK

Includes connectors for J1~J4, J7, J8:
(1) Soldercup connectors for J7 & J8 Part number description
(2) Wago connectors for J1~J4 R10-230-18 Xenus R10 Servodrive 6/18 A
R10-230-36 Xenus R10 Servodrive 12/36 A
R10-230-40 Xenus R10 Servodrive 20/40 A
R10-nk CANopen Network Kit
R10-ck Xenus R10 Solder-Cup Connector Kit
See diagram on page 10 for
connections to: cme2 CME 2 Configuration Software CD
J1 AC mains power ser-ck CME 2 RS-232 Cable Kit
J2 Motor phases
J3 Regen resistor
Add -S to part numbers above for sin/cos feedback,
J4 +24 Vdc Aux Power
or add -R for resolver feedback models.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 24 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

MULTIPLE-DRIVE SETUP FOR CANOPEN POSITION CONTROL

R10-NK

J6
For multiple-drive installations,
use the ordering guide on this
page. Computer equipment is
the same as for single-drive
installations. And Serial Cable
Kit SER-CK is used when CME 2
R10-NC-10 is in use for drive set up and
configuration.
or
R10-NC-01

SER-CK
Fo r s i d e - by-side drive
mounting, use XSL-NC-01
cables that are 1 ft long.
Use XSL-NC-10 cables
(length is 10 ft) where
distances between drives
J6 is greater.

Ordering Guide
Table below shows parts to order for the configuration on this page
See page 24~25 for other parts required
(motor, +24V power supply, etc.)
R10-NC-10
or
R10-NC-01
Part number description
R10-230-18 Xenus R10 Servodrive 6/18 A
R10-230-36 Xenus R10 Servodrive 12/36 A
R10-230-40 Xenus R10 Servodrive 20/40 A
R10-nk CANopen Network Kit

J6 R10-NC-10 CAN Network Cable,10 ft (3 m)

CAN Terminator R10-NC-01 CAN Network Cable,1 ft (0.3 m)
R10-ck Xenus R10 Solder-Cup Connector Kit
cme2 CME 2 Configuration Software CD
ser-ck CME 2 RS-232 Cable Kit

Add -S to part numbers above for sin/cos feedback,

or add -R for resolver feedback models.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 25 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

STAND-ALONE OPERATION

Xenus R10 takes digital position commands in Pulse/Direction, or

CW/CCW format from an external controller or quadrature encoder
signals from a master-encoder for electronic gearing. Velocity or
torque control can be from ±10V, digital PWM signals.
COM1
CME 2 used for setup and configuration.
COM2
COMx
SER-CK

J5

R10-CK

J7 Digital reference signals, Motion

Logic Inputs and Outputs Controller CME 2
Windows® 95, 98,
2000,
ME, and NT
J8
Motor Feedback
Resolver and Computer:
Temperature Sensor PC or compatible with
166MHz with 64MB RAM minimum
266 MHz with 128MB RAM recommended
Serial port (RS-232)
Motion controller card
Using the minimum requirements will allow CME 2 to
run but the performance will be significantly
reduced.

Part number description

ORDERING GUIDE R10-230-18 Xenus R10 Servodrive 6/18 A
This table shows parts to order for the
R10-230-36 Xenus R10 Servodrive 12/36 A
configuration on this page
See page 24~25 for other parts required R10-230-40 Xenus R10 Servodrive 20/40 A
(motor, +24 Vdc power supply, etc.)
R10-ck Xenus Solder-Cup Connector Kit
cme2 CME 2 Configuration Software CD
ser-ck CME 2 RS-232 Cable Kit

Add -S to part numbers above for sin/cos feedback,

or add -R for resolver feedback models.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 26 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

INSTALLATION

Required
for CE ASCII
AC Mains CME 2 Control
90~264 Vac
Line Filter
47~63 Hz
1 or 3 ph. RS-232
(DTE)

CAN
Master
Required

CAN
Edge Filter
Motor Node(s)
(Optional)

Controller
or
PLC
Regen
Resistor
(Optional)

Quad A/B Sin/Cos

+24 Vdc Resolver
Encoder Encoder
Power
Supply
-S -R
Required Models Models

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 27 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

HEATSINK & FAN CONFIGURATIONS

NO HEATSINK NO HEATSINK
NO FAN WITH FAN

NOTE: FANS ARE NOT INCLUDED

WITH HEATSINKS OR HEATSINK
KITS

LOW-PROFILE LOW PROFILE HEATSINK

HEATSINK WITH FAN
NO FAN

STANDARD HEAT- STANDARD HEATSINK

SINK WITH FAN
NO FAN

HEATSINK MOUNTING
A dry-film interface pad is used in place of thermal #6-32 Mounting Screws
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 clear on the
other. Both must be removed when the interface Dry Film Interface Pad
pad is installed.
Heatsink

STEPS TO INSTALL
1. Remove the blue protective sheet from one side
of the pad and place the pad on the drive. Make
sure that the holes in the pad align with the
holes on the drive.
2. Remove the clear protective sheet from the Clear Protective Sheet
pad.
(Discard)
3. Mount the heatsink onto the drive taking care
to see that the holes in the heatsink, pad,
and drive all line up.
4. Torque the #6-32 mounting screws to 8~10 lb- Blue Protective Sheet
in (0.9~1.13 N·m).
(Discard)
Xenus R10 Drive

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 28 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

MAXIMUM OPERATING TEMPERATURE VS HEATSINK TYPE & AIR CIRCULATION

The charts below show that maximum ambient temperature vs. continuous output current for
the Xenus R10 models. The cooling options are no heatsink, standard heatsink, and low-profile
heatsink. For each of these the drive can be operated with convection or forced-air cooling.

Model: R10-230-18 Model: R10-230-18

Mains: 120 Vac Mains: 240 Vac

70 70
5
4 5
60 60 4 1= No heatsink

Ambient Temperature (°C)

3 2= Low profile
2 3 heatsink
3= Standard heatsink
1
Ambient Temperature (˚C)

50 50 4= No heatsink with fan

2 5= Standard heatsink
with fan

40 40 1
1= No heatsink
2= Low profile
heatsink
30 3= Standard heatsink 30
4= No heatsink with fan
5= Standard heatsink
with fan
20 20
0 1 2 3 4 5 6 0 1 2 3 4 5 6
Continuous Output Current (Adc)
Continuous Output Current (Adc)

Model: R10-230-36
Model: R10-230-36
Mains: 120 Vac
Mains: 240 Vac

70 70 1= No heatsink
2= Low profile
heatsink
3= Standard heatsink
60 60
Ambient Temperature (˚C)

5 4= No heatsink with fan

5= Standard heatsink
4 with fan
Ambient Temperature (˚C)

50 50 5
1= No heatsink 4
3 2= Low profile
40 heatsink 40
3= Standard heatsink
2 4= No heatsink with fan 3
5= Standard heatsink 30
30 with fan
1 2
1
20
20 0 1 2 3 4 5 6 7 8 9 10 11 12
0 1 2 3 4 5 6 7 8 9 10 11 12
Continuous Output Current (Adc)

Continuous Output Current (Adc)

Model: R10-230-40 Model: R10-230-40

Mains: 120 Vac Mains: 240 Vac

70 70

1= No heatsink
60 60 2= Low profile
Ambient Temperature (˚C)
Ambient Temperature (˚C)

heatsink
3= Standard heatsink
1= No heatsink 4= No heatsink with fan
50 5 50 5= Standard heatsink
2= Low profile
heatsink with fan
3= Standard heatsink
4 4= No heatsink with fan 5
40 40
5= Standard heatsink
with fan
3
30 30
1
1 2 2 4
3
20 20
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20
Continuous Output Current (Adc) Continuous Output Current (Adc)

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 29 of 30
 Xenus R10 R10
RUGGEDIZED DIGITAL RoHS
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS

ORDERING GUIDE
R10-230-18 Xenus R10 Servo Drive 6/18 Adc
Add -S to part number for sin/cos feedback
R10-230-36 Xenus R10 Servo Drive 12/36 Adc Add -R for resolver feedback models
Contact factory for RS-422 option
R10-230-40 Xenus R10 Servo Drive 20/40 Adc

ACCESSORIES
Qty Ref Description Manufacturers Part Number
R10-CK 1 J1 Plug, 4 position, 7.5 mm, female Wago: 51118287 or 721-204/026-045/RN01-0000

Connector Kit 1 J2 Plug, 4 position, 5.0 mm, female Wago: 51118008 or 721-104/026-047/RN01-0000
with 1 J3 Plug, 5 position, 5.0 mm, male Wago: 51111279 or 721-605/000-044/RN01-0000
Solder Cup Connectors
for 1 J4 Plug, 3 position, 5.0 mm, female Wago: 51117974 or 721-103/026-047/RN01-0000
J7 & J8 4 J1~4 Tool, wire insertion & extraction (for J1~4) Wago: 231-131
1 Connector, 26 position, solder-cup High Density D-Sub Male, 26 position connector
J7
1 Back shell, for 26 position connector Backshell for above
1 Connector, 15 position, solder cup High Density D-Sub Male, 15 position connector
J8
1 Back shell, for 15 position connector Backshell for above
CME 2 CME 2 Drive Configuration Software (CD-ROM)
J5
SER-CK RS-232 Cable Kit
Connectors & Software for CANopen Operation
1 D-Sub 9F to RJ-45 Adapter
R10-NK 1 CAN bus RJ-45 terminator
1 CAN bus network cable, 10 ft (3 m)
R10-CV 1 J6 D-Sub 9F to RJ-45 Adapter
R10-NC-10 1 CAN bus Network Cable, 10 ft (3 m)
R10-NC-01 1 CAN bus Network Cable, 1 ft (0.3 m)
R10-NT 1 CAN bus Network Terminator
CMO CD with CMO Software
CML CD with CML Software (Note: license fee required)
Heatsink Kits for Field Installation (Optional)
1 Heatsink, low-profile
R10-HL
Heatsink Kit 1 Heatsink thermal material
Low-Profile
4 Heatsink hardware
1 Heatsink, standard
R10-HS
Heatsink Kit 1 Heatsink thermal material
Standard
4 Heatsink hardware
Regeneration Resistors (Optional)
XTL-RA-03 Regeneration resistor assembly (for R10-230-18), 30 Ω
XTL-RA-04 Regeneration resistor assembly (for R10-230-36 & R10-230-40 models), 15 Ω
Edge Filter (Optional)
R10-FA-01 Edge filter
Edge Filter 1 Plug, 4 position, 5.0 mm, female Wago: 51118008 or 721-104/026-047/RN01-0000
Connector Kit
R10-FK 1 Plug, 5 position, 5.0 mm, male Wago: 51111277 or 721-605/000-044/RN01-0000
2 Tool, wire insertion & extraction (for J1~4) Wago: 231-131

Example: Order one Xenus R10 drive, resolver version, 6/18 A with solder-cup connector Kit, CME 2 CD, serial cable kit and small heatsink fitted at the factory:
Qty Item Remarks
1 R10-230-18-R-HS Xenus R10 servo drive
1 R10-CK Connector Kit
1 CME 2 CME 2 CD
1 SER-CK Serial Cable Kit
Note: The heatsink can be fitted at the factory by adding an “-HS” or “-HL” to the drive part number to specify the standard or low-profile type. For fitting a
heatsink to an drive in the field, complete kits are available (XSL-HS and XSL-HL). These kits contain the heatsink, mounting hardware, and dry-film interface.

Note: Specifications are subject to change without notice Rev 8.02_we 01/18/2012

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 30 of 30