Canopen Communications - Copley Controls Xenus Plus XP2 Series Manual

Xenus

canopen coMMunIcatIons

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
Dual RJ-45 connectors that accept standard Ethernet
cables are provided for CAn bus connectivity. Pins
are wired-through so that 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.
The xP2-NK connector kit provides a D-Sub adapter
that plugs into a CAn controller and has an RJ-45
socket that accepts the Ethernet cable.
Pin 1
J7 CAn ConnECTionS
NET (CAN STATuS) lED
A bi-color lED gives the state of the CAn connection in
accordance with the CAN-CiA specification 303, part 3.
The green (RuN) lED shows the state of the CANopen state
machine. The red (ERR) lED shows the occurrence of errors
(sync, guard, or heartbeat) and of the CAN bus physical
layer.
During a reset condition, the green lED will be off.
In operation, the red & green colors will alternate with the
number of blinks or on/off condition shown in the table to
the right.
Note: Red & green led on-times do not
overlap. LED color may be red, green, off,
or flashing of either color.
can network node-Id (address)
In an CANopen network, nodes are assigned addresses 1~127. Address 0 is reserved for the CAN bus
master. in the XPl, the node address is provided by two 16-position rotary switches with hexadecimal
encoding. These can set the address of the drive from 0x01~0x7F (1~127 decimal). The chart shows the
decimal values of the hex settings of each switch.
DEVICE ID
X10 X1
x16 x1
CME2 -> Amplifier -> Network Configuration
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com
PLUS
2-Axis CANopen
XP2-nk CAn ConnECToR kiT
The kit contains the xP2-CV adapter that converts the CAN interface D-Sub
9M connector to an RJ-45 Ethernet cable socket, plus a 10 ft (3 m) cable and
terminator. Both connector pin-outs conform to the CiA DR-303-1 specification.
Pin 8
J7
Node-ID (Address) Switches
To find the Node-ID given the switch settings:
Node-ID = (S1 * 16) + S2
Example: S1 = 5, S2 = B
S1 value = (5*16) = 80, S2 value = Hex(B) = 11,
node-iD = 80 + 11 = 91
To find the switch settings for a given address:
S1 = The integer part of (Node-ID / 16)
S2 = Hex (Node-ID - (S1 * 16) )
Example: node-iD = 91
S1 = 91/16 = 5.69, integer part = 5, (5*16) = 80
S2 = Hex (91 - 80) = 11 = 0xB
1
6
9
5
D-Sub 9F
2
2
CAN_L
CAN_L
3 3
CAN_GND
CAN_GND
7 1
CAN_H
CAN_H
CAn STATUS lED
Note: Red & green led on-times do not overlap.
lED color may be red, green, off, or flashing of either color.
Tel: 781-828-8090
XP2
Rev 01
8 1
RJ-45
CAN Status LED
HEX
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Fax: 781-828-6547
Page 5 of 34
RoHS
J7
S1 S2
DEC
0 0
16 1
32 2
48 3
64 4
80 5
96 6
112 7
8
9
10
not
Used
11
for
12
CAn
Addr
13
14
15