Canopen Communication; Stand-Alone Operation - Copley Controls Xenus R10 Manual

Accelnet R23
CMe 2™ SOfTWARe
Drive setup is fast and easy using CME 2™ software. All of the operations needed to configure the drive are accessible
through this powerful and intuitive program which communicates with the drive over CAn or an RS-232 link.
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 ampifiers. Once
a drive configuration has been completed systems can be replicated easily with the same setup and
performance.
RS-232 COMMunICATIOn
The serial port is a full-duplex, three-wire (RxD, TxD, Gnd) RS-232 type that operates from 9,600 to
115,200 Baud. It can be used by CMe2 for drive configuration and setup or by external equipment sending
ASCII commands.

CAnoPEn CoMMUnICATIon

Accelnet Micro Module uses the CAn physical layer signals CAnH, CAnl, and GnD for connection, and
CAnopen protocol for communication. The electrical interface is a TJA1050 high-speed CAn transceiver.
before connecting Accelnet Micro Module to the CAn network, it must be assigned a CAn address. This
can be done via the RS-232 port, or by using logic inputs for the CAn address bits. The CAn address is a
combination of an internal address stored in flash memory, and an address derived from the logic inputs.
A maximum of 127 CAn devices are allowed on a CAn bus network, so this limits the input pins used for
this purpose to a maximum of seven, leaving three inputs available for other purposes. Most installations
will use less than the maximum number of CAn devices, in which case the number of inputs used for a
CAn address can be less than seven, leaving more inputs available for other functions.
When inputs are used for the CAn address bits, the internal address is added to the binary value that
results from the inputs. If all the inputs are used as logic inputs, then the CAn address in flash memory
is the drive CAn address.

STAnD-AlonE oPERATIon

Accelnet Micro Module can operate with external motion controllers in torque, velocity, or position mode.
Torque (current, force) and velocity modes accept command inputs in either analog ±10V format, or as digital PWM & Direction signals. When operating
as a position controller command signals are digital in either Pulse/Direction or Cu/CD (Count-uP/Count-Down) format, or analog as ±10V. Quadrature
encoder signals can also be used. In all cases, the ratio of input position commands to motor encoder feedback is programmable to match controller position
units to actual motor travel. If using an encoder as position input this feature also enables electronic gearing.
DIGITAl TORQue & VelOCITy InPuTS
The PWM signal duty-cycle controls
magnitude, and the DC signal
controls polarity.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
RUGGEDIZED DIGITAL
SERVO DRIVE fOR
BRUSHLESS/BRUSH MOTORS
AnAlOG TORQue, VelOCITy OR POSITIOn InPuTS
Tel: 781-828-8090
R23
RoHS
Fax: 781-828-6547
Page 4 of 24