XSJ-REV02-ds

Xenus Micro AFS REV 02
XSJ
AFS Advanced Feature Set
• BiSS-C Unidirectional & SSI absolute encoders
• 32-bit floating point filters
• Multiple advanced filters
R
• Frequency analysis tools
CONTROL MODES
• Indexer, Point-to-Point, PVT
• Camming, Gearing, Position, Velocity, Torque
COMMAND INTERFACE
• CANopen
• ASCII and discrete I/O
• Stepper commands
• ±10 Vdc Position/Velocity/Torque command
• PWM Velocity/Torque command
• Master encoder (Gearing/Camming)
• Digital inputs for indexer control
COMMUNICATIONS
• CANopen
• RS-232
FEEDBACK
• Digital Quad A/B/X encoders
• Biss-C Unidirectional absolute encoders
• SSI absolute encoders
• Analog Sin/Cos encoder Model Vac Ic Ip
• Aux encoder / emulated encoder output XSJ-230-06 100-240 3 6
• Digital Halls XSJ-230-10 100-240 5 10
I/O - DIGITAL
• 14 inputs, 4 outputs
REGEN
• Internal
DIMENSIONS: MM [IN]
• 126 x 89 x 53 [5.0 x 3.5 x 2.1]
DESCRIPTION
Xenus Micro is a compact, AC powered servo drive for position, Indexing mode simplifies operation with PLC’s that use outputs to
velocity, and torque control of AC brushless and DC brush motors. select and launch indexes and inputs to read back drive status. A
It operates on a distributed control network, as a stand-alone single serial port on the PLC can send ASCII data to multiple drives
indexing drive, or with external motion controllers. to change motion profiles as machine requirements change.
The multi-mode encoder port operates as an input or output for CAN bus operation supports Profile Position, Profile Velocity, Profile
the feedback signals. As an input, a secondary digital quad A/B Torque, Interpolated Position, and Homing. Up to 127 Xenus Micro
encoder is used for dual-loop position control. Sin/Cos signals are drives can operate on a single CAN bus and groups of drives can be
interpolated internally with programmable resolution and appear as linked via the CAN so that they execute motion profiles together.
digital quad A/B signals when the port functions as an output. Or, the Operation in Torque (Current), Velocity, and Position modes with
digital quad A/B/X signals are simply buffered and made available external motion controllers is supported. Input command signals
to the system controller, eliminating cumbersome Y-cabling to share are ±10 Vdc (Torque, Velocity, Position), PWM/Polarity (Torque,
a single encoder with drive and control system. Velocity), or Step/Direction (Position).
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
16-118689 Rev 02 Page 1 of 24
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GENERAL SPECIFICATIONS
Test conditions: Load = Wye connected load: 2 mH + 2 Ω line-line. Ambient temperature = 25°C, +HV = HVmax
MODEL XSJ-230-06 XSJ-230-10
OUTPUT POWER
Peak Current 6 (4.2) 10 (7.1) Adc (Arms, sinusoidal), ±5%
Peak time 1 1 Sec
Continuous current 3 (2.1) 5 (3.5) Adc (Arms, sinusoidal), ±5%
INPUT POWER
HVmin~HVmax 85 to 264 85 to 264 Vac, 1 Ø, 50~60 Hz
Input Current 7.2 12 Adc
+24 Vdc +20 to +32 Vdc @ 500 mAdc maximumLogic & control power, required for operation
PWM OUTPUTS
Type 3-phase MOSFET inverter, 15 kHz center-weighted PWM, space-vector modulation
PWM ripple frequency 30 kHz
REGENERATION
Type Internal MOSFET dissipator
Power dissipation 80 W peak, 40 W continuous
Cut-In Voltage +HV > 390 Vdc Regen output is on, regen dissipator is dissipating energy
Drop-Out Voltage +HV < 380 Vdc Regen output is off, regen dissipator not dissipating energy
Tolerance ±2 Vdc For either Cut-In or Drop-Out voltage
Hysteresis 10 ±0.5 Vdc Differential between Cut-In & Drop-Out voltage
DIGITAL CONTROL
Digital Control Loops Current, Velocity, Position. 100% digital loop control
Dual loop position control using secondary encoder input
Sampling rate (time) Current loop: 15 kHz (66.7 us) Velocity, Position loops: 3 kHz (333 us)
Commutation Sinusoidal field-oriented control or trapezoidal for brushless motors
Bandwidth Current loop: 2.5 kHz typical, bandwidth will vary with tuning & load inductance
HV Compensation Changes in bus voltage do not affect bandwidth
Minimum load inductance 200 µH line-line
COMMAND INPUTS
CAN CANopen: Profile Position, Interpolated Position, Profile Velocity, Profile Torque, Homing
ASCII Single RS-232 connection passes messages to multiple drives via CAN link drive-drive
Digital position reference Step/Direction or CW/CCW Stepper commands (1.5 MHz maximum rate)
Quad A/B Encoder 20 Mcount/sec after quadrature (5 Mline/sec)
Digital torque & velocity PWM/Polarity PWM = 0~100%, Polarity = 1/0
PWM/50% PWM = 50% ±50%, no polarity signal required
PWM frequency range 1 kHz minimum, 100 kHz maximum
PWM minimum pulse width 220 ns
Analog torque, velocity, position ±10 Vdc, 5 kΩ differential input impedance, 12-bit resolution
Indexing Index address, index-start, priority-index start
Camming Inputs for master encoder, cam start, cam table address
DIGITAL INPUTS
Number 14: 12 programmable, 1 input dedicated to drive Enable function, 1 for motor temperature switch
Type 8 General-purpose (GP), 3 high-speed single-ended (HS), 2 high-speed differential (HSD), 1 motemp (GP)
GP, HS 74HC14 Schmitt trigger operating from 5.0 Vdc with RC filter on input,
10 kΩ to +5 Vdc or ground (programmable), Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc
+10 Vdc max for HS inputs, +24 Vdc max for GP inputs
1.5 MHz maximum pulse frequency for HS inputs when driven by active (not open-collector) sources
HSD Differential, 121 Ω line-line, 100 ns RC filters to RS-422/RS-485 line receivers, +10 Vdc max
5 MHz maximum pulse frequency when driven by differential line-drivers
Pull-up, pull-down control GP & HS inputs are divided into three groups with selectable connection of input pull-up/down resistor
to +5 Vdc or ground for each group: [IN1,2,3,4], [IN5,6,7,8], [IN9,10,11]
DIGITAL OUTPUTS
Number 4
[OUT1], [OUT2], [OUT3] Current-sinking MOSFET with 1 kΩ pull-up to +5 Vdc through diode
Ratings 250 mAdc max, +30 Vdc max
External flyback diode required if driving inductive loads
Brake [OUT4] Opto-isolated, current-sinking with flyback diode to +24 Vdc, 1 Adc max
RS-232 PORT
Mode Full-duplex, DTE serial communication port for drive setup and control; 9,600 to 115,200 baud,
8 data bits, no parity, 1 stop-bit
Signals RxD, TxD, Gnd
Protocol Binary or ASCII formats
Multi-Drop ASCII communications to multiple Copley drives via a single RS-232 port:
RS-232 to first Drive_0, then daisy-chain to Drive_1~Drive_N via CAN
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CAN PORT
Format CAN V2.0b physical layer for high-speed connections compliant
Data CANopen Device Profile DSP-402
Signals CAN_H, CAN_L, CAN_GND
Isolation CAN signals are optically isolated from drive circuits
Address selection Selectable by logic inputs or programmable in flash memory
MOTOR CONNECTIONS
Power U-V-W phases for brushless, U-V for brush motors
Commutation Digital Halls
Feedback Digital quadrature A/B/(X) encoders; differential inputs (Standard)
Analog Sin/Cos encoders, 1 Vpeak-peak, differential inputs with 121 W terminating resistor
Brake Digital output, isolated, 1 Adc, +30 Vdc max, programmable, with flyback diode to +24 Vdc
Overtemp sensor Digital input, non-isolated, 4.99 kΩ pull-up to +5 Vdc, programmable
MULTI-MODE ENCODER PORT

As Secondary Encoder Input Digital quadrature encoder (A, /A, B, /B, X, /X),
20 M counts/sec, post-quadrature (5 M lines/sec)
As Emulated Encoder Output Quadrature encoder emulation with programmable resolution to 4096 lines (65,536 counts) per rev
from analog Sin/Cos encoders. 18 M counts/sec, post-quadrature (4.5 M lines/sec)
As Buffered Encoder Output Buffered signals from digital quad A/B/X primary encoder. 20 M counts/sec,
post-quadrature (5 M lines/sec), A, /A, B, /B, X, /X, signals from 26C31 differential line driver
LED INDICATORS
Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
CAN Status Bicolor LED, status of CAN bus indicated by color and blink codes to
CAN Indicator Specification 303-3
PROTECTIONS
HV Overvoltage +HV > 400 Vdc Drive PWM outputs disabled
HV Undervoltage +HV < 60 Vdc Drive PWM outputs disabled
Drive over temperature Heatplate > 70 °C ±3 °C Drive PWM outputs disabled
Short circuits Output to output, output to ground, internal PWM bridge faults
I2T Current limiting Programmable: Current foldback to continuous limit when I2T threshold is exceeded
Motor over temperature Drive PWM outputs disabled when [IN14] changes state (programmable)
Feedback power loss Fault occurs if feedback +5 Vdc output is < 85% of nominal value
MECHANICAL & ENVIRONMENTAL

Size 126 x 89 x 53 [5.0 x 3.5 x 2.1] mm [in]
Weight 0.67 lb (0.30 kg)
Ambient Temperature Range 0 to +45 °C operating, -40 to +85 °C storage
Humidity 0% to 95%, non-condensing
Vibration 2 g peak, 10~500 Hz (Sine), IEC60068-2-6
Shock 10 g, 10 ms, half-Sine pulse, IEC60068-2-27
Contaminants Pollution degree 2
Environment IEC 680068-2
Cooling Heat sink and/or forced air cooling required for continuous power output
AGENCY STANDARDS CONFORMANCE

In accordance with EC Directive 2014/30/EU (EMC Directive)
EN 55011 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 Electromagnetic Compatibility (EMC) – Part 6-1: Generic Standards –
Immunity for residential, Commercial and Light-industrial Environments
Restriction of the Use of Certain Hazardous Substances (RoHS)
Directive 2011/65/EU (RoHS II)
In accordance with EC Directive 2014/35/EU (Low Voltage Directive)
IEC 61010-1 Safety Requirements for Electrical Equipment for Measurement, Control and Laboratory Use
Underwriters Laboratory Standards
UL 61010-1, 3rd Ed. Safety Requirements for Electrical Equipment for Measurement, Control and Laboratory Use
UL File Number E168959
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FEEDBACK SPECIFICATIONS
ENCODERS
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, 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
ENCODER POWER SUPPLY
Power Supply +5 Vdc @ 250 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
16-118689 Document Revision History

Revision Date Remarks
00 May 2, 2019 Initial release
01 August 31, 2020 Added logos for CE, RoHS, UR, added units to Max Temp charts
02 September 22, 2020 Update to REV 02, Sin/Cos standard with AFS, resolver option eliminated, add UR logo
REV 02 indicates Xenus XSJ with Advanced Feature Set. XSJ-230-10

R10
Datasheets for Xenus XSJ models without REV 02 on their labels can be REV 02
found in the Legacy section of the website: www.copleycontrols.com.
12 339 5 10
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DIMENSIONS
4.90
[124.5]
.27 Notes
[6.86] 1. Dimensions shown in inches [mm].
4.37
2. Use external tooth lockwashers between mounting
[111.0] screw head and drive chassis for safety and CE
.156
compliance. Recommended screws are #6-32
[3.96] (M3.5) torqued to 8~10 lb·in (0.79~1.02 N·m).
1.25
.251
[31.8]
[6.375]
Weights:
.660 Drive: 0.67 lb (0.30 kg)
[16.8]
Heatsink: 0.56 lb (0.25 kg)
1.750
[44.5]
.156 3.489
[3.96] [88.62]
.338
[8.59]
4.457
[113.2]
.187
[4.75]
2.125
2.086 [53.98]
[52.98]
1.045
[26.54]
4.736
4.506 [120.3]
[114.5]
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COMMUNICATIONS
CME SOFTWARE
Drive setup is fast and easy using CME software. 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 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. This eases system
management as files can be cross-referenced to drives. Once a drive configuration 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 is used for configuration.
When operated as a CAN node, CME is used for programming before and after installation in a CAN network. Xenus Micro
can also be controlled via CME 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 relinquishes control of the drive and returns it to the CAN node state.
RS-232
Xenus Micro is DTE device configured via a three-wire, full-duplex RS-232 port operating from 9,600 to 115,200
Baud, with 8 data-bits, no parity, and one stop-bit. The RS-232 specification makes no allowance for more
than two devices on a serial link. But, multiple Xenus Micro 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 Micro 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, each having a
unique non-zero CAN address.
CAN
Xenus Micro uses the CAN physical layer signals CAN_H, CAN_L, and CAN_GND for connection, and CANopen protocol for communication.
The default address is 0 which is produced by [IN5~8] programmed to pull-down to ground, and a flash address of 0. Before installing
the drive in a CAN system, it must be assigned a non-zero CAN address. A maximum of 127 CAN nodes are allowed on a single CAN bus.
For installations with sixteen or more CAN nodes on a network CME can be used to configure Xenus Micro to use a combination of digital
inputs and programmed offset in flash memory to configure the drive with a CAN node address.
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 drives over an RS-232 serial connection. For instance, after basic drive configuration values have been
programmed using CME, a control program can use the ASCII Interface to:
• Enable the drive 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:
https://www.copleycontrols.com/en/support/
CAN STATUS LED
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
Note: Red & green led on-times do not overlap.

LED color may be red, green, off, or flashing of either color.
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
16-118689 Rev 02 Page 6 of 24
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CABLING FOR COMMUNICATIONS
RS-232
The Serial Cable Kit (SER-CK) is a complete cable assembly that connects a computer serial port (COM1, COM2) to
the drive. The adapter plugs into a PC’s COMM port that supports RS-232 and accepts a modular cable that connects
the adapter to the drive’s J7.
SER-CK
RxD TxD
J7
1 2 3 4 5 6
RS-232
to RS-232
DTE
Sub-D
9-pin
Note: Computers & drives are both DTE devices.
RxD (Received Data) signals are inputs.
TxD (Transmitted Data) signals are outputs.
CANOPEN
The connector kit for CAN networking (XSJ-NK) provides
XSJ-NK the parts to connect to a single drive. To use it, the flying
leads must be poked into the XSJ-NT (see table for pins).
The XSJ-NT comprises the a plug for drive J4 and also
a 121 W resistor for the CAN bus terminator. The flying
CAN
5 10 leads are left unattached so that the kit can also be used
J4
Sub-D Drive
with multiple drives. When this is done, the CAN cables
9-pin 1 6
are daisy-chained from drive to drive and the XSJ-NT is
only used on the last drive in the chain. The cables used
XSJ-CV XSJ-NA-10 XSJ-NT
for the daisy-chain are the XSJ-NC-10 or XSJ-NC-01
which have a J4 connector attached to a cable with flying
leads and crimps.
XSJ-NK Connections
XSJ-NK* D-Sub 9F Pin Wire Color
CAN_GND 7 White/Green
XSJ-CV* XSJ-NA-10* XSJ-NT CAN_L 3 Orange
(see below)
CAN_H 2 White/Orange
Note: D-Sub 9F connections comply with CAN CiA DR-303-1

CAN
Sub-D J4
Drive 1 XSJ-NC-01(-10) Connections
9-pin
Wire Color Drive J4 Cable Connector
XSJ-NC-10 5 10 Frame Gnd 5 10 Frame Gnd

XSJ-NC-01 White Green CAN_GND 4 9 CAN_GND
Note: Flying-lead 1 6
Orange CAN_L 3 8 CAN_L
contacts always plug
into J4 connector pins White/Orange CAN_H 2 7 CAN_H
7, 8, & 9: J4 CAN_V+ 1 6 CAN_V+
White/Green -> 9 Drive 2
Orange -> 8
White/Orange -> 7 XSJ-NT Connections
XSJ-NC-10
Drive J4 Cable Connector
XSJ-NC-01
Frame Gnd 5 10 Frame Gnd
XSJ-NT* CAN_GND 4 9 CAN_GND
121 W 3 8 CAN_L
J4 Terminator
Drive n Connects 2 7 CAN_H
CAN_V+ 1 6 CAN_V+
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CABLING FOR COMMUNICATIONS
MULTI-DROP RS-232
The RS-232 specification does not support multi-drop (multiple device) connections as does RS-485 or CAN. However, it is possible to
address multiple CAN-enabled Copley drives from a single RS-232 port. First, an RS-232 connection is made between the computer
and drive #1 which must be given a CAN address of 0. Under normal CAN operation, this address is not allowed for CAN nodes. But,
in this case, drive #1 will act as a CAN master and so address 0 is allowed. Next, CAN connections are made between drive #1, drive
#2, and so on in daisy-chain fashion to the last drive. The first and last drives in the chain must have the 121 W resistor between the
CAN_H and CAN_L signals to act as a line-terminator. Finally, the CAN addresses of the drives downstream from drive #1 are set to
unique numbers, none of which can be 0.
When ASCII data is exchanged over the serial port, the commands are now preceded with the node address of the drive. Drive #1
converts the data into CAN data which is then sent to all of the drives in the chain. It now appears as though all drives in the chain are
connected to the single RS-232 port in the computer and for that reason we refer it as multi-drop RS-232.
Drive #1
CANopen Data CAN Master
CAN Address = 0
(Required)
SER-CK Serial Data
ASCII or Binary
format
to RS-232
DTE
Sub-D
9-pin
XSJ-NC-10
XSJ-NC-01
Rules for Multi-drop RS-232
• Drive #1 must have CAN address 0 and a
121 W terminating resistor between
pins 2 & 3. Pin 7 is CAN_H, pin 8 is CAN_L
• CAN address can be saved in flash memory or set
by drive digital inputs
• Drives #2~#N must have different non-zero
CAN addresses
Drive #2 • Drive #N (last drive in chain) must have

a 121 W terminating resistor between
CAN Node
pins 2 & 3. Pin 7 is CAN_H, pin 8 is CAN_L
CAN Address > 0
• All drives in the chain are visible from CME
when SER-CK is connected to Drive #1
XSJ-NC-10
XSJ-NC-01
Drive #N
CAN Node
XSJ-NT CAN Address > 0
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STAND-ALONE OPERATION
Drive 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 ±10 Vdc or digital PWM signals.
CME used for setup and configuration.
XSJ-CK
J1
Power J5
Signal
J2
Motor
J6
J3 Feedback
Aux/Brake
J4 to RS-232
CAN DTE
Sub-D
9-pin
SER-CK
Notes:
1. The XSJ-CK kit contains connector shells and crimp-contacts for J3~J6.
2. Crimp-contacts are not shown
3. The SER-CK Serial Cable Kit is not part of the XSJ-CK kit.
SINGLE-DRIVE SETUP FOR CANOPEN CONTROL
Drive operates as a CAN node. All commands are passed on the CAN bus.
CME is used for setup and configuration before installation as CAN node.
Rules for Single-Drive CANopen Operation

• Drive CAN address must be > 0
• CAN address can be saved in flash memory or set by drive digital inputs
• Drive must have a 121 W terminating resistor
CANopen communications
for drive control
XSJ-NK SER-CK
to RS-232
DTE
Sub-D
9-pin
16-118689 Rev 02 Page 9 of 24
CAN Address > 0

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MULTIPLE-DRIVE SETUP FOR CANOPEN CONTROL
Rules for Multiple-Drive CANopen Operation

• All drives must have CAN addresses > 0 and no drives can have the same CAN address
• CAN address can be saved in flash memory or set by drive digital inputs
• Drive #N (last drive in chain) must have a 121 W terminating resistor
• CME can only see the drive to which the SER-CK serial cable is connected
• The CAN Master must have a 121 W terminating resistor
Drive #1
CAN Node
XSJ-NK CAN Address > 0
SER-CK
to RS-232
DTE
Sub-D
9-pin
XSJ-NC-10
XSJ-NC-01
Drive #2
CAN Node
CAN Address > 0
XSJ-NC-10 Drive #N
XSJ-NC-01 CAN Node
CAN Address > 0
XSJ-NT
16-118689 Rev 02 Page 10 of 24
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COMMAND INPUTS
ANALOG TORQUE, VELOCITY, POSITION
37.4k 5k
A single ±10 Vdc differential input connects to controllers that use Ref(+)
PID or similar compensators, and output a current or velocity command to the drive. -
Drive output current or velocity vs. reference input voltage is programmable. 5.36k
+
In position-mode, the analog command is converted to a digital position reference based on a Ref(-)
programmable ratio of encoder counts vs. input volts. When this is greater than the deadband, which 37.4k 5k
+
is programmable down to 0 V, it is passed through velocity, acceleration, and deceleration limiters - 1.5V
after which it becomes the input to the position loop.
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 W line-terminators.
SINGLE-ENDED PULSE & DIRECTION DIFFERENTIAL PULSE & DIRECTION
[IN12+]
[IN9]
Pulse
PULSE
[IN12-]
[IN10]
Direction
[IN13+]
DIRECTION
[IN13-]
SINGLE-ENDED CU/CD DIFFERENTIAL CU/CD

CU (Count-Up)
CU (Count-Up)
[IN12+]
[IN9]
CU PULSE
[IN12-]
[IN10]
CD
CD (Count-Down)
[IN13+]
CD (Count-Down)
DIRECTION
[IN13-]
QUAD A/B ENCODER SINGLE-ENDED QUAD A/B ENCODER DIFFERENTIAL

Encoder ph. A Encoder ph. A [IN13+]
[IN10] Enc A
Enc. A [IN13-]
[IN9]
Enc. B
Encoder ph. B [IN12+]
Encoder ph. B Enc. B
[IN12-]
DIGITAL TORQUE, VELOCITY

Digital torque or velocity 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 W line-terminators.
SINGLE-ENDED PWM & DIRECTION SINGLE-ENDED 50% PWM
Duty = 0~100% Duty = 50% ±50%

[IN9] [IN9]
Current or Current or
Velocity Velocity
[IN10] [IN10]
Polarity or
Direction <no connection> No function
DIFFERENTIAL PWM & DIRECTION DIFFERENTIAL 50% PWM

[IN12+] [IN12+]
Duty = 0 - 100%
Duty = 50% ±50%
PWM Current or
[IN12-]
[IN12-] Velocity
[IN13+]
Direction
[IN13-]
16-118689 Rev 02 Page 11 of 24
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GP (GENERAL PURPOSE) DIGITAL INPUTS
There are fourteen digital inputs, thirteen of which have programmable functions.
Input [IN1] is not programmable and 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. Programmable functions of the digital inputs include:
• Drive Enable • PWM Sync Input
• Positive Limit switch • CAN address
• Negative Limit switch • PWM/Polarity or PWM 50% commands
• Drive Reset for current/velocity control
• Motor over-temperature • Pulse/Direction or CW/CCW stepper pulses,
• Home switch or quad A/B encoder signals for
• Motion Abort position control and camming
• Reference input attenuation select (zero or divide by eight)
+5V +5V
+5V
24 Vdc max 24 Vdc max 24 Vdc max

10k 10k 4.99k
[IN1] * [IN5]
[IN2] [IN6] [IN14]
[IN3] [IN7] Motemp
10k 10k 10k
[IN4] [IN8]
33nF 74HC14 33nF 74HC14 3.3nF 74HC14
* Not programmable
+5V
HS (HIGH SPEED) DIGITAL INPUTS
These are single-ended inputs with all the programmable functions of the 10 Vdc max
GP inputs plus these additional functions on [IN9] & [IN10]: 10k
• Position or Camming modes: Pulse/Direction, CU/CD, [IN9]
or A/B Quad encoder inputs [IN10]
[IN11] 1k
• Velocity or Current modes: PWM 50%, PWM & Direction
100 pF 74HC14
• PWM Sync HS Inputs
+5V
HSD (HIGH SPEED DIFFERENTIAL) DIGITAL INPUTS 10 Vdc max

10 k
These are differential inputs with programmable functions. Line-receiver
• Pulse/Direction, CU/CD, or A/B Quad encoder inputs [IN12+] [IN13+]
• Home switch OR 121 1k
• Camming: Single-ended master encoder [IN12-] [IN13-]
Cam-table start input

100 pF
DIGITAL OUTPUTS +5V
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 250 mAdc from external loads operating from power
supplies to +30 Vdc. The output functions are programmable. The active state of the 1k
[OUT1]
outputs is programmable to be on or off.
[OUT2]
When driving inductive loads such as a relay, an external fly-back diode is required. The
internal diode in the output is for driving PLC inputs that are opto-isolated and connected [OUT3]
to +24 Vdc. The diode prevents conduction from +24 Vdc through the 1 kΩ resistor to
+5 Vdc in the drive. This could turn the PLC input on, giving a false indication of the drive
output state.
24 Vdc
MOTOR BRAKE OUTPUT

This is an optically isolated output with a higher current rating for Brake
driving motor brakes. It can sink 1 Adc and has a flyback diode
that is connected to the AuxHV input (+24 Vdc). Brake timing and
function is programmable.
24V Return
16-118689 Rev 02 Page 12 of 24
XSJ
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 Sin/Cos encoders
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
Encoder Input
FEEDBACK ENCODER 1k
When using a digital quadrature feedback encoder, the A/B/X signals drive 26C32
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
1k
these now come from J7, the Control connector. In addition to eliminating “Y” Input/Output
cabling where the motor feedback cable has to split to connect to both controller 22 pF Select
and motor, the buffered outputs reduce loading on the feedback cable that
could occur if the motor encoder had to drive two differential inputs in parallel, 26C31
each with it’s own 121 ohm terminating resistor.
Quad A/B Feedback
Encoder
+5V 22 pF
Secondary
2.2k
Encoder Input
1k
AS EMULATED QUAD A/B/X ENCODER OUTPUTS FROM AN 26C32
ANALOG SIN/COS FEEDBACK ENCODER
Analog Sin/Cos signals are interpolated in the drive with programmable 1k
resolution. The incremental position data is then converted back into digital 22 pF
Input/Output
Select
quadrature format which drives the multi-mode port output buffers. Some
analog encoders also produce a digital index pulse which is connected directly
26C31
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. Emulated Quad A/B
signals from
analog Sin/Cos encoder
AS A MASTER OR CAMMING ENCODER INPUT FROM A

+5V
DIGITAL QUADRATURE ENCODER 22 pF
Secondary
When operating in position mode the multi-mode port can accept digital 2.2k
Encoder Input
command signals from external encoders. These can be used to drive cam 1k
tables, or as master-encoder signals when operating in a master/slave 26C32
configuration.
1k
Input/Output
22 pF Select
AS DIGITAL COMMAND INPUTS IN PULSE/DIRECTION,

PULSE-UP/PULSE-DOWN, OR 26C31
DIGITAL QUADRATURE ENCODER FORMAT
The multi-mode port can also be used when digital command signals are 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.
16-118689 Rev 02 Page 13 of 24
XSJ
Quad A/B Encoder
DRIVE CONNECTIONS
15 Frame Ground
Frame Gnd
10
27 Multi Enc A
12 Multi Enc /A
A
28 Multi Enc B Mot Enc A 4
/A
13 Multi Enc /B Mot Enc /A 14
B DIGITAL
29 Multi Enc X Mot Enc B 5
ENCODER
/B
14 Multi Enc /X Mot Enc /B 15
X
1 Ref (+) Mot Enc X 6
/X
16 Ref (-) Mot Enc /X 16
2 11 Signal U
Gnd Hall U 18
17 [IN1] Enable J6 V
Hall V 8 HALLS
3 [IN2] W
Hall W 9
18 [IN3]
Signal 19 7
Gnd
4 [IN4] +5 & Gnd
J5 Motemp 20 for Encoder + Hall
19 [IN5]
5 [IN6] +5V Out 13 17
20 [IN7] Signal
3
Gnd
6 [IN8]
21 [IN9]
7 [IN10]
22 [IN11]
J3 +24V 2 5
9 [IN12+]
24V +24 Vdc is
8 [IN12-] Brake 3 BRAKE required
DC
for operation
23 [IN13+] +24V Ret 6
24 [IN13-] Frame Gnd 1 4
25 [OUT1]
U +
10 [OUT2] J2 Motor U 4
V BLDC - BRUSH
26 [OUT3] Motor V 3
MOTOR MOTOR
30 +5V Out Motor W 2 W
Frame Gnd 1
1 6 CAN Pwr
Fuse
AC Mains
2 7 CANH J1 L1 1
LINE 100~240 VAC
Fuse 1Ø
3 8 CANL Frame Gnd 2 FILTER 47~63 Hz
CAN
4 9 L2 3
Gnd J4
Frame
5 10
Gnd
Heatplate Earth
CAN port is isolated
NOTES
1. The functions of input signals on J5-3,4,5,6,7,8-9,18,19,20,21,22,23-24, and are programmable.
2. The function of [IN1] on J5-17 is always Drive Enable and is not programmable.
The active level of [IN1] is programmable, and resetting the drive or clearing faults with
changes on the enable input is programmable.
3. Pins J5-30, J6-13, and J6-17 connect to the same +5 Vdc @ 250 mAdc power source.
Total current drawn from all pins cannot exceed 250 mAdc.
16-118689
Web: www.copleycontrols.com
Rev 02 Page 14 of 24
Xenus Micro AFS XSJ
D
A
B
REV 02
Copley Controls Corporation.

apparatus without the express written authorization of
copied or used as the basis for manufacture or sale of any
Copley Controls Corporation and shall not be reproduced,
These drawings and specifications are the property of
Quad A/B Encoder
J5 Signal
CONNECTORS & SIGNALS
Signal Pin Signal
J1 Power Analog Ref (-) 16 1 Analog Ref (+)
Signal Pin
Enable Input [IN1] 17 2 Signal Ground
4
4
L1 1
GP Input [IN3] 18 3 GP Input [IN2]
Frame Ground 2
L2 3
J1 Cable Connector:
Euro-style 5,0 mm pluggable male
terminal block:
1 HS Input [IN9] 21 6 GP Input [IN8]
Wago: 721-103/026-047/RN01-0000
1 HS Input [IN11] 22 7 HS Input [IN10]
Insert/extract lever: Wago: 231-131
J1 HS Input [IN13+] 23 8 HS Input [IN12-]
J5 HS Input [IN13-] 24 9 HS Input [IN12+]

J2 Motor GP Output [OUT1] 25 10 GP Output [OUT2]
Signal Pin 1
GP Output [OUT3] 26 11 Signal Ground
Frame Ground 1 J2
4.86 123.4
Multi-Mode Encoder A 27 12 Multi-Mode Encoder /A
Motor W 2
Multi-Mode Encoder B 28 13 Multi-Mode Encoder /B
Motor V 3
1
Motor U 4 Multi-Mode Encoder X 29 14 Multi-Mode Encoder /X
J2 Motor Cable Connector:

Euro-style 5,0 mm pluggable
J6 +5 Vdc Output 30 15 Frame Ground
J5 Control Cable Connector:

male terminal block:
Wago: 721-104/026-047/RN01-0000
J3 30-position poke/crimp
Insert/extract lever: Wago: 231-131 1 Housing: Samtec IPD1-15-D
Contacts(30): Samtec CC79L-2024-01-F
Crimping tool: Samtec CAT-HT-179-2024-11
J3 Brake, 24V Power
J4 J7
Contact Extractor: Samtec CAT-EX-179-01
Signal Pin Signal
1
3
3
Brake 3 6 24V Return
1 J6 Feedback
+24Vdc 2 5 +24Vdc Signal Pin Signal
Frame Gnd 1 4 Frame Gnd No Connection 11 1 No Connection
J3 AuxHV/Brake Cable Connector: No Connection 12 2 No Connection
6-position poke/crimp
Housing: Molex 43025-0600 +5 Vdc Output 13 3 Signal Ground
Contact: Molex 43030-0008
2.09 53
Encoder /A 14 4 Encoder A
3.49 88.6
Crimping tool: Molex 63811-2800

Contact extractor: Molex 11-03-0043 Encoder /B 15 5 Encoder B
Encoder /X 16 6 Encoder X
+5 Vdc Output 17 7 Signal Ground

J4 CAN
Hall U 18 8 Hall V
Signal Pin Signal
CAD FILE NAME
Signal Ground 19 9 Hall W

TOLERANCES ARE:
DIMENSIONS ARE IN INCHES.

UNLESS OTHERWISE SPECIFIED
DO NOT SCALE DRAWING
DECIMALS
Frame Ground 5 10 Frame Ground

.XXX .005
.XX .01
.X .1
Motemp [IN14] 20 10 Frame Ground

CAN_GND 4 9 CAN_GND
CAN_L 3 8 CAN_L J6 Feedback Cable Connector:
J7 RS-232
CAN_H 2 7 CAN_H
Pin Signal Housing: Samtec IPD1-10-D
FRACTIONS
00-xjr-000-Jim-W.slddrw
ANGLES
CAN Power 1 6 CAN Power Contacts(30): Samtec CC79L-2024-01-F

6 No Connect
1/16

1
5 TxD Output Contact Extractor: Samtec CAT-EX-179-01

CAN circuits are optically-isolated from drive circuits
4 Signal Ground
J4 CAN Cable Connector:
MATERIAL
CHECKED
DRAWN
FINISH
10-position poke/crimp 3 Signal Ground

APPROVALS
Housing: Samtec IPD1-5-D

2 RxD Input
NAME
2
2
Crimping tool: Samtec CAT-HT-179-2024-11 1 No Connect

SEE NOTE 2
SEE NOTE 1
CHG #

J7 RS-232 Cable Connector:
RJ-11 Modular type
6-position, 4 used
mm/dd/yy
DATE
16-118689
REV
TITLE
SCALE
SIZE
1
B
Xenus Micro AFS XSJ REV 01
Absolute Encoder
DRIVE CONNECTIONS
15 Frame Ground
Frame Gnd
10
27 Multi Enc A
SL+
Mot Enc A 4
12 Multi Enc /A
SL-
Mot Enc /A 14 BiSS-C
28 Multi Enc B
SSI
13 Multi Enc /B
MA+ ENCODER
Mot Enc X 6
29 Multi Enc X
MA-
Mot Enc /X 16
14 Multi Enc /X
Signal
7
1 Ref (+) Gnd
16 Ref (-) J6 +5V 13
2 11 Signal Signal
Gnd 3
Gnd
17 [IN1] Enable
Signal
3 [IN2] 19
Gnd Motor
Over-temperature
18 [IN3] J5 Motemp [IN14] 20 Switch
4 [IN4]
19 [IN5]
5 [IN6]
20 [IN7]
6 [IN8]
21 [IN9]
7 [IN10]
22 [IN11]
J3
9 [IN12+] +24V 2 5
+24V +24 Vdc is required
8 [IN12-] Brake 3 BRAKE
DC for operation
23 [IN13+] +24V Ret 6

* Optional
25 [OUT1]
U +
26 [OUT3] Motor V 3
V BLDC
MOTOR
- BRUSH
MOTOR
Frame Gnd 1
1 6 CAN Pwr
Fuse
2 7 CANH J1 L1 1
AC Mains
100~240 VAC
LINE
Fuse 1Ø
4 9
CAN J4
Gnd L2 3
Frame
5 10
Gnd
Heatplate Earth
NOTES
16-118689 Rev 00 Page 16 of 24
Xenus Micro XSJ
D
A
B
AFS

REV 01
Absolute Encoder
J5 Signal
Signal Pin Signal
J1 Power Analog Ref (-) 16 1 Analog Ref (+)
Signal Pin
4
4
L1 1
Frame Ground 2
L2 3
J1 Cable Connector:
Euro-style 5,0 mm pluggable male
terminal block:
1 HS Input [IN9] 21 6 GP Input [IN8]
Wago: 721-103/026-047/RN01-0000
1 HS Input [IN11] 22 7 HS Input [IN10]
J1 HS Input [IN13+] 23 8 HS Input [IN12-]
J5 HS Input [IN13-] 24 9 HS Input [IN12+]

J2 Motor GP Output [OUT1] 25 10 GP Output [OUT2]
Signal Pin 1
Frame Ground 1 J2
4.86 123.4
Multi-Mode Encoder A 27 12 Multi-Mode Encoder /A
Motor W 2
Motor V 3
1
Motor U 4 Multi-Mode Encoder X 29 14 Multi-Mode Encoder /X
J2 Motor Cable Connector:

Euro-style 5,0 mm pluggable
J6 +5 Vdc Output 30 15 Frame Ground

male terminal block:
Wago: 721-104/026-047/RN01-0000
J3 30-position poke/crimp
Insert/extract lever: Wago: 231-131 1 Housing: Samtec IPD1-15-D
J3 Brake, 24V Power
J4 J7
Signal Pin Signal
1
3
3
1 J6 Feedback
+24Vdc 2 5 +24Vdc Signal Pin Signal
Frame Gnd 1 4 Frame Gnd No Connection 11 1 No Connection
J3 AuxHV/Brake Cable Connector: No Connection 12 2 No Connection
Housing: Molex 43025-0600 +5 Vdc Output 13 3 Signal Ground
2.09 53
SL- 14 4 SL+
3.49 88.6
Crimping tool: Molex 63811-2800

Contact extractor: Molex 11-03-0043 No Connection 15 5 No Connection
MA- 16 6 MA+

J4 CAN
Hall U 18 8 Hall V
Signal Pin Signal
CAD FILE NAME

TOLERANCES ARE:

DECIMALS

.XXX .005
.XX .01
.X .1

CAN_GND 4 9 CAN_GND
CAN_L 3 8 CAN_L J6 Feedback Cable Connector:
J7 RS-232
CAN_H 2 7 CAN_H
Pin Signal Housing: Samtec IPD1-10-D
FRACTIONS
ANGLES
CAN Power 1 6 CAN Power Contacts(30): Samtec CC79L-2024-01-F

6 No Connect
1/16

1
5 TxD Output Contact Extractor: Samtec CAT-EX-179-01

CAN circuits are optically-isolated from drive circuits
4 Signal Ground
J4 CAN Cable Connector:
MATERIAL
CHECKED
DRAWN
FINISH
10-position poke/crimp 3 Signal Ground

APPROVALS
Housing: Samtec IPD1-5-D

2 RxD Input
NAME
2
2
Crimping tool: Samtec CAT-HT-179-2024-11 1 No Connect

SEE NOTE 2
SEE NOTE 1
CHG #

J7 RS-232 Cable Connector:
RJ-11 Modular type
6-position, 4 used
mm/dd/yy
DATE
16-118689 Rev 00 Page 17 of 24
REV
TITLE
SCALE
SIZE
1
B
D
XSJ
Sin/Cos
DRIVE CONNECTIONS
15 Frame Ground
Frame Gnd
10
27 Multi Enc A
12 Multi Enc /A Sin(+)

Sin(+) 1
28 Multi Enc B Sin(-)
Sin(-) 11
SIN/COS
13 Multi Enc /B Cos(+)
Cos(+) 2 ENCODER
29 Multi Enc X Cos(-) 12

Cos(-)
14 Multi Enc /X
1 Ref (+) U
Hall U 18
16 Ref (-)
J6 V
Hall V 8 HALLS
2 11 Signal W
Gnd Hall W 9
17 [IN1] Enable Signal 19 7 +5 & Gnd
Gnd
3 [IN2] for Encoder + Hall
Motemp 20
18 [IN3]
4 [IN4] +5V Out 13 17

J5
19 [IN5] Signal
3
Gnd
5 [IN6]
20 [IN7]
6 [IN8]
21 [IN9]
7 [IN10]
22 [IN11]
J3
9 [IN12+] +24V 2 5
+24V +24 Vdc is
8 [IN12-] Brake 3 BRAKE required
DC
for operation
23 [IN13+] +24V Ret 6
25 [OUT1]
U +
26 [OUT3] Motor V 3
V BLDC - BRUSH
MOTOR MOTOR
Frame Gnd 1
1 6 CAN Pwr
Fuse
2 7 CANH J1 L1 1
AC Mains
100~240 VAC
LINE
Fuse 1Ø
CAN
4 9 L2 3
Gnd J4
Frame
5 10
Gnd
Heatplate Earth
NOTES
16-118689
Xenus Micro XSJ
C
AFS
D
A
B
REV 02

Sin/Cos
J1 Power J5 Signal
Signal Pin Signal Pin Signal
4
4
L1 1 Analog Ref (-) 16 1 Analog Ref (+)
Frame Ground 2
L2 3
J1 Cable Connector:
Euro-style 5,0 mm pluggable male GP Input [IN5] 19 4 GP Input [IN4]
terminal block: 1
Wago: 721-103/026-047/RN01-0000 GP Input [IN7] 20 5 GP Input [IN6]
1
J1 HS Input [IN9] 21 6 GP Input [IN8]
HS Input [IN11] 22 7 HS Input [IN10]

J5
J2 Motor HS Input [IN13+] 23 8 HS Input [IN12-]
Signal Pin 1 HS Input [IN13-] 24 9 HS Input [IN12+]

Frame Ground 1 J2
4.86 123.4
GP Output [OUT1] 25 10 GP Output [OUT2]
Motor W 2
Motor V 3
1 Multi-Mode Encoder A 27 12 Multi-Mode Encoder /A
Motor U 4
J2 Motor Cable Connector: J6
Euro-style 5,0 mm pluggable Multi-Mode Encoder X 29 14 Multi-Mode Encoder /X
male terminal block: J3 +5 Vdc Output 30 15 Frame Ground
Wago: 721-104/026-047/RN01-0000
1
J3 Brake, 24V Power 30-position poke/crimp
J4 J7 Housing: Samtec IPD1-15-D
Signal Pin Signal
1
3
3
1 Crimping tool: Samtec CAT-HT-179-2024-11
+24Vdc 2 5 +24Vdc
Frame Gnd 1 4 Frame Gnd J6 Feedback
J3 AuxHV/Brake Cable Connector:
Signal Pin Signal
Housing: Molex 43025-0600 Sin(-) 11 1 Sin(+)
2.09 53
Crimping tool: Molex 63811-2800 Cos(-) 12 2 Cos(+)

3.49 88.6
Contact extractor: Molex 11-03-0043

No connection 14 4 No connection
J4 CAN No connection 15 5 No connection
Signal Pin Signal No connection 16 6 No connection
CAD FILE NAME

TOLERANCES ARE:


DECIMALS
.XXX .005
.XX .01
.X .1
CAN_GND 4 9 CAN_GND
Hall U 18 8 Hall V
CAN_L 3 8 CAN_L
CAN_H 2 7 CAN_H
CAN Power 1 6 CAN Power
FRACTIONS
ANGLES
J6 Feedback Cable Connector:

1/16
CAN circuits are optically-isolated from drive circuits Housing: Samtec IPD1-10-D
J7 RS-232
J4 CAN Cable Connector: Contacts(30): Samtec CC79L-2024-01-F
Pin Signal Crimping tool: Samtec CAT-HT-179-2024-11
MATERIAL
CHECKED
DRAWN
FINISH
Housing: Samtec IPD1-5-D Contact Extractor: Samtec CAT-EX-179-01
6 No Connect
APPROVALS

5 TxD Output
NAME

2
2

SEE NOTE 2
SEE NOTE 1
4 Signal Ground
CHG #
3 Signal Ground J7 RS-232 Cable Connector:

2 RxD Input RJ-11 Modular type
6-position, 4 used
1 No Connect
mm/dd/yy
DATE
16-118689
REV
TITLE
SCALE
SIZE
1
B
XSJ
MOUNTING AND COOLING
The ability of the drive to output current at a particular ambient temperature is greatly affected by the way it is mounted and the way
that air circulates across the heatplate which is the primary path for heat flow between the internal transistors and the environment.
Thermal resistance is a measure of the temperature difference between the transistors and the environment per Watt of power dissipation.
The data on this page show the thermal resistance under different mounting and cooling configurations.
INFINITE HEATSINK
The mounting surface is large enough so that its Thermal Resistance

temperature does not change when absorbing 0.23 ºC-W
the heat from the drive. Thermal grease is
applied to the drive heatplate.
PANEL MOUNTED, ENCLOSED

Thermal Resistance
Enameled steel panel in an industrial enclosure. 1.91 ºC/W
No fan to circulate air in box or to force ambient
air through box. A common mounting means for Test box dimensions:
industrial machinery. Panel: 17x14.5 in (432x368 mm)
Box: 20x16 x 8.62 in
(508x406x219 mm)
FAN COOLED HEATSINK
A fan is mounted close to the heatsink and air Thermal Resistance

velocity is ~400 LFM (~2 m/s). 2.00 ºC/W
Thermal Resistance
FAN COOLED, NO HEATSINK 2.9 ºC/W
Forced-air at 400 LFM (Linear Feet/Minute)
directed at the heatplate.
HEATSINK, CONVECTION COOLED

Thermal Resistance
A heatsink is mounted to the heatplate and is 4.27 ºC/W
exposed for convection cooling but is not fan
cooled or in contact with a heat sinking surface.
NO HEATSINK OR FAN, CONVECTION COOLED

The heatplate is exposed for convection cooling Thermal Resistance:
but is not fan cooled or in contact with a heat Flat: 6.5 ºC/W
sinking surface. On edge: 6.0 ºC/S
Flat mounting
16-118689 Rev 02 Page 20 of 24
XSJ
MAXIMUM AMBIENT TEMPERATURE VS. OUTPUT CURRENT, MOUNTING, AND COOLING
The graphs below show the maximum ambient operating temperature for the drive vs. output current for the Xenus Micro models at
240 Vac mains voltages and under different mounting and cooling conditions.
XSJ-230-10
50
1
40
Curves:
30 1) Infinite heatsink
2) On steel panel in box
Deg C
3) Heatsink, fan-cooled
4) No heatsink, fan-cooled
20
5) Heatsink, convection
2 6) No heatsink, convection
10 3
6 5 4
0
0 1 2 3 4 5
Amps DC
XSJ-230-06
50
1
40 2
3 Curves:
1) Infinite heatsink
30 2) On steel panel in box
Deg C 4 3) Heatsink, fan-cooled
4) No heatsink, fan-cooled
20 5) Heatsink, convection
6 5
6) No heatsink, convection
10
0
0 0.5 1.0 1.5 2.0 2.5 3.0
Amps DC
16-118689 Rev 02 Page 21 of 24
XSJ
OUTPUT VOLTAGE LIMITS
The XSJ rectifies the AC mains power to produce an internal DC This is called “clipping” as the output voltage can no longer increase
supply (HV). The rectified mains power is stored temporarily in a to control motor current. The graph below shows the clipping
capacitor. As the load power increases, energy is drawn from the voltages for the XSJ when operated at some common mains voltages
capacitor, discharging it until re-charged by the next cycle of the over the range of output currents.
mains. Because the capacitor is only charged for a brief time at In order to avoid clipping, select a motor winding to provide some
2X the line frequency, the voltage will decrease between these headroom between the clipping voltage and the expected terminal
charges producing “ripple” on the DC supply. As the motor voltage voltage to allow for low-line conditions on the mains, resistance
increases (a combination of BEMF (Back ElectroMotive Force) and changes in the motor due to heating, etc.
voltage-drop across the motor’s resistance) it eventually hits the
bottom of the ripple voltage waveform on the DC supply.
DC SUPPLY VOLTAGE AT LOW OUTPUT CURRENT AND POWER DC SUPPLY VOLTAGE AT HIGH OUTPUT CURRENT AND POWER
Clipping Voltage
Clipping Voltage
EXAMPLE CLIPPING VOLTAGE VS. OUTPUT CURRENT
Assume 8 Adc is required to accelerate a linear motor to 2.5 m/s.

Motor resistance is 12 W and BEMF constant is 36 V/m/s. The motor Clipping Voltage (Vdc)
is brushless driven with sinusoidal commutation:
350 350
1) Find I*R voltage drop:
8 Adc * 12 W * 0.75 = 72 Vdc.
The 0.75 factor converts the line-line resistance of the motor to 300 300
the effective resistance when commutating sinusoidally.
240 Vac
2) Find BEMF at 2.5 m/s: 36 V/m/s * 2.5 m/s = 90 Vdc
250 250
3) Find motor terminal voltage:
I*R + BEMF = 72 + 90 = 162 Vdc 200 Vac
4) The dotted lines on the graph to the right show the clipping 200 200
voltages at 8 Adc. Operation at 240 Vac would give about 28 V of
headroom. But, at 200 Vac, either the motor velocity or accelerating
150 150
current would have to be reduced to avoid clipping.
Finally, note that the motor resistance will increase 29% if it 120 Vac
heats from 25C to 100C. That would change the required terminal 100 100
voltage to 183 Vdc. In general, allow 20~30% headroom between
motor terminal voltage demand and the clipping voltage. Using the
oscilloscope in CME software, the bus voltage and motor terminal
50 100 Vac 50
voltage can be displayed for a final determination of the headroom
in the working machine. 0 0
1 2 3 4 5 6 7 8 9 10
Output Current (Adc)
16-118689 Rev 02 Page 22 of 24
XSJ
THIS PAGE
LEFT BLANK
INTENTIONALLY
16-118689 Rev 02 Page 23 of 24
XSJ
MASTER ORDERING GUIDE
XSJ-230-06 Xenus Micro Panel Servo drive 3/6 Adc

XSJ-230-10 Xenus Micro Panel Servo drive 5/10 Adc
ACCESSORIES
QTY REF DESCRIPTION MANUFACTURER PART NO.
1 J1 Plug, 3 position, 5.0mm, female Wago: 721-103/026-047
1 J2 Plug, 4 position, 5.0 mm, female Wago: 721-104/026-047
1 J3 Connector housing, 6 position Molex: Micro-Fit 43025-0600
Drive 1 J4 Connector housing, 10 position Samtec: Mini-Mate IPD1-05-D

Connector 1 J5 Connector housing, 30 position Samtec: Mini-Mate IPD1-15-D
Kit
XSJ-CK 1 J6 Connector housing, 20 position Samtec: Mini-Mate IPD1-10-D
66 J4,J5,J6 Contact, female, for AWG 24~20 wire Samtec: Mini-Mate CC79L-2024-01-F
8 J3 Contact, female, for AWG 24~20 wire Molex: Micro-Fit 43030-0007
2 J1,J2 Wire insertion/extraction tool Wago: 231-131
CANopen 1 D-Sub 9 position female to RJ-45 female (XSJ-CV)

Connector
1 J4 RJ-45 plug to flying leads with crimps (XSJ-NA-10), 10 ft (3 m )
Kit
XSJ-NK 1 CANopen terminator (XSJ-NT) (J1 plug with resistor)
XSJ-NA-10 J4 CANopen cable assembly: RJ-45 plug to flying leads with crimps, 10 ft (3 m )
XSJ-NC-10 J4 CANopen cable assembly: drive J4 plug to flying leads with crimps , 10 ft (3 m )
XSJ-NC-01 J4 CANopen cable assembly: drive J4 plug to flying leads with crimps , 1 ft (0.3 m )
XSJ-NT J4 CANopen network teminator (J4 plug with resistor)
SER-CK J7 Serial Cable Kit: D-Sub 9F to RJ-11 adapter + 7 ft (2.1 m) modular cable for drive J7
XSJ-CV J4 Cable adapter: D-Sub 9F to RJ-45 female, for CAN cables
1 Heatsink
Heatsink Kit
1 Thermal Material
XSJ-HK
2 #6-32 Phillips pan head screw with lock washer, stainless
ORDERING EXAMPLE
Example: Order 1 XSJ-230-10 drive with heatsink,
and associated components:
Qty Item Remarks
1 XSJ-230-10 Xenus Micro servo drive
1 XSJ-HK Heatsink kit
1 XSJ-CK Connector Kit
1 SER-CK Serial Cable Kit
Note: Specifications subject to change without notice
16-118689 Rev 02 Page 24 of 24

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Xenus Micro AFS REV 02

• Frequency analysis tools

MULTI-MODE ENCODER PORT

MECHANICAL & ENVIRONMENTAL

AGENCY STANDARDS CONFORMANCE

16-118689 Document Revision History

REV 02 indicates Xenus XSJ with Advanced Feature Set. XSJ-230-10

Drive Fault conditions:

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

DRIVE STATUS LED

XSJ-NK* D-Sub 9F Pin Wire Color

Note: D-Sub 9F connections comply with CAN CiA DR-303-1

XSJ-NC-10 5 10 Frame Gnd 5 10 Frame Gnd

XSJ-NT* CAN_GND 4 9 CAN_GND

Drive #2 • Drive #N (last drive in chain) must have

Drive takes digital position commands in Pulse/Direction, or CW/CCW

SINGLE-DRIVE SETUP FOR CANOPEN CONTROL

Rules for Single-Drive CANopen Operation

CAN Address > 0

Rules for Multiple-Drive CANopen Operation

after which it becomes the input to the position loop.

SINGLE-ENDED CU/CD DIFFERENTIAL CU/CD

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

DIGITAL TORQUE, VELOCITY

Duty = 0~100% Duty = 50% ±50%

DIFFERENTIAL PWM & DIRECTION DIFFERENTIAL 50% PWM

24 Vdc max 24 Vdc max 24 Vdc max

HSD (HIGH SPEED DIFFERENTIAL) DIGITAL INPUTS 10 Vdc max

• Pulse/Direction, CU/CD, or A/B Quad encoder inputs [IN12+] [IN13+]

• Home switch OR 121 1k

• Camming: Single-ended master encoder [IN12-] [IN13-]

Cam-table start input

DIGITAL OUTPUTS +5V

MOTOR BRAKE OUTPUT

AS A MASTER OR CAMMING ENCODER INPUT FROM A

AS DIGITAL COMMAND INPUTS IN PULSE/DIRECTION,

5 [IN6] +5V Out 13 17

24 [IN13-] Frame Gnd 1 4

Copley Controls Corporation.

J5 HS Input [IN13-] 24 9 HS Input [IN12+]

J2 Motor Cable Connector:

J5 Control Cable Connector:

Crimping tool: Molex 63811-2800

+5 Vdc Output 17 7 Signal Ground

Signal Ground 19 9 Hall W

DIMENSIONS ARE IN INCHES.

Frame Ground 5 10 Frame Ground

Motemp [IN14] 20 10 Frame Ground

CAN Power 1 6 CAN Power Contacts(30): Samtec CC79L-2024-01-F

Crimping tool: Samtec CAT-HT-179-2024-11

5 TxD Output Contact Extractor: Samtec CAT-EX-179-01

10-position poke/crimp 3 Signal Ground

Housing: Samtec IPD1-5-D

Crimping tool: Samtec CAT-HT-179-2024-11 1 No Connect

Contact Extractor: Samtec CAT-EX-179-01

16 Ref (-) J6 +5V 13

24 [IN13-] Frame Gnd 1 4

Copley Controls Corporation.

J5 HS Input [IN13-] 24 9 HS Input [IN12+]