Copley Controls Xenus Plus Series User Manual page 37

Xenus Plus User Guide
2.4.3: MACRO Communication Details (XML/XM2)
The XML/XM2 typically runs in torque mode accepting commands over the MACRO network.
(Velocity mode is also supported.)
MACRO Addressing
A MACRO network, or ring for the XML/XM2 can have up to sixteen master controllers with hex
addresses from 0x00 to 0x0F. Each master can control up to eight servo drives. This works out to a
maximum of 128 servo drives on a MACRO ring.
A MACRO address is eight bits long. Switch S1 controls bits 7~4 to select the MACRO master and
switch S2 controls bits 3~0 and selects the node address. Node addresses available for servo drives
are: 0~1, 4~5, 8~9, and 12~13. With the 2-axis XM2, the valid node addresses are: 0, 4, 8, and 12.
These address Axis A of the servo drives. Axis B of the drives can then be addressed by adding 1
to the address set by node switch S2.
2.4.4: PWM Switching Frequency Synchronizing
In some situations, such as when sampling small analog signals, it is desirable to synchronize the
PWM switching frequency among multiple drives. In these cases, one drive serves as a master for
one or more slave drives.
The distributed clock feature of EtherCAT or the Time function in CANopen can be used to
establish PWM switching frequency synchronization among the network connected drives.
Note that when the STO or MTO function is active, there is no PWM switching or current at the drive
motor outputs. See Safe Torque Off & Motor Torque Off (p.
Copley Controls
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