Ascii Communications - Copley Controls Xenus Plus XP2 Series Manual

Xenus
coMMunIcatIons: rs-232 serIal
XP2 is configured via a three-wire, full-duplex DTE RS-232 port that operates from 9600 to 115,200 Baud, 8 bits, no parity, and one stop bit. Signal format
is full-duplex, 3-wire, DTE using RxD, TxD, and Gnd. Connections to the XP2 RS-232 port are through J7, an RJ-11 connector. The XP2 Serial Cable kit
(SER-CK) contains a modular cable, and an adapter that connects to a 9-pin, Sub-D serial port connector (COM1, COM2, etc.) on PC's and compatibles.
SER-Ck SERiAl CABlE kiT
The SER-Ck provides connectivity between a D-Sub 9 male connector and the RJ-11
connector on the xP2. It includes an adapter that plugs into the COM1 (or other)
port of a PC and uses common modular cable to connect to the XP2. The connections
are shown in the diagram below.
1
Dsub-9F
6
to RJ11
Adapter
9
5
D-Sub 9F
2
RxD
3
TxD
5
Gnd
ascII coMMunIcatIon protocol

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/pdf/ASCII_ProgrammersGuide.pdf
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.
For Serial-multi-drop you'll need an Serial Cable Kit SER-CK plus CANopen network cables to connect the drives as shown.
The xP2-NC-01 and xP2-NC-10 are 1 ft (0.3m) and 10 ft (3m) cables that will do the job.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Web:
PLUS
2-Axis CANopen
6 1
RJ-11 cable
6P6C RJ-11
Straight-wired on
Servo
5 Drive
TxD
2
RxD
3
Gnd
RS-232
CANopen
CAN Addr 0
CAN Master
J6: RS-232 PoRT
RJ-11 receptacle,
6 position, 4 contact
Don't forget to order a Serial Cable Kit SER-CK when
placing your order for an XP2!
CANopen
CAN Addr 1 CAN Addr n
CAN Node CAN Node
Tel: 781-828-8090
http://www.copleycontrols.com
XP2
RoHS
Rev 01
Pin SIGNAl
2 RxD
3,4 Gnd
5 Txd
Fax: 781-828-6547
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