Copley Controls Xenus PLUS Manual page 5

Xenus
ETHERCAT CONNECTIONS
Dual RJ-45 sockets accept standard Ethernet cables. The IN port connects to a master, or to the OUT port of a device that is 'up-
stream', between the 800-1782 and the master. The OUT port connects to 'downstream' nodes. If 800-1782 is the last node on a
network, only the IN port is used. No terminator is required on the OUT port.
ETHERCAT LEDS (ON RJ-45 CONNECTORS)
L/A
A green LED indicates the state of the EtherCAT network:
LED Link Activity
ON Yes No
Flickering Yes Yes
Off No (N/A)
RUN
Green: Shows the state of the ESM (EtherCAT State Machine)
Off = Init
Blinking = Pre-operational
Single-flash = Safe-operational
On = Operational
ERR
Red: Shows errors such as watchdog timeouts and unsolicited
state changes in the XE2 due to local errors.
Off = EtherCAT communications are working correctly
Blinking = Invalid configuration, general configuration error
Single Flash = Local error, slave has changed EtherCAT state autonomously
Double Flash = PDO or EtherCAT watchdog timeout,
or an application watchdog timeout has occurred
EtherCAT ADDRESS (STATION ALIAS)
In an EtherCAT network, slaves are automatically assigned addresses based on
their position in the bus. But when the device must have a positive identification that is
independent of cabling, a Station Alias is needed. In the 800-1782, this is provided by two
16-position rotary switches with hexadecimal encoding. These can set the address of the
drive from 0x01~0xFF (1~255 decimal). The chart shows the decimal values of the hex
settings of each switch.
Example 1: Find the switch settings for decimal address 107:
1) Find the highest number under S1 that is less than 107 and set S1 to the hex value in
the same row: 96 < 107 and 112 > 107, so S1 = 96 = Hex 6
2) Subtract 96 from the desired address to get the decimal value of switch S2 and set S2
to the Hex value in the same row: S2 = (107 - 96) = 11 = Hex B
CME2 -> Amplifier -> Network Configuration
AXIS LEDS
A bi-color LED gives the state of each axis. Colors do not alternate, and can be solid ON or blinking. When mul-
tiple conditions occur, only the top-most condition will be displayed.
When that condition is cleared the next one below will shown.
1) Red/Blinking = Latching fault. Operation will not resume until drive is Reset.
2) Red/Solid = Transient fault condition. Drive will resume operation when
3) Green/Double-Blinking = STO circuit active, drive outputs are Safe-Torque-Off
4) Green/Slow-Blinking = Drive OK but NOT-enabled. Will run when enabled.
5) Green/Fast-Blinking = Positive or Negative limit switch active.
7) Green/Solid = Drive OK and enabled. Will run in response to
Latching Faults
Default
• Short circuit (Internal or external)
• Drive over-temperature
• Motor over-temperature
• Feedback Error
• Following Error
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Web:
PLUS
Condition
Port Open
Port Open with activity
Port Closed
the condition causing the fault is removed.
Drive will only move in direction not inhibited by limit switch.
reference inputs or EtherCAT commands.
Optional (programmable)
• Over-voltage
• Under-voltage
• Motor Phasing Error
• Command Input Fault
2-Axis EtherCAT
OUT
J8
IN
S1 S2
Tel: 781-828-8090
http://www.copleycontrols.com
800-1782
J8: EtherCAT PORTS
RJ-45 receptacles,
8 position, 4 contact
L/A
PIN SIGNAL
RUN 1 TX+
2 TX-
L/A
3 RX+
6 RX-
ERR
EtherCAT
Address Switch
Decimal values
S1 S2
HEX DEC
0 0 0
1 16 1
2 32 2
3 48 3
4 64 4
5 80 5
6 96 6
7 112 7
8 128 8
9 144 9
A 160 10
B 176 11
C 192 12
D 208 13
E 224 14
F 240 15
Axis A
Axis B
Fax: 781-828-6547
Page 5 of 32
RoHS
J7