Indicators (Leds) - Copley Controls Xenus R10 Manual

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 R52-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.
SPK-NK CAN CONNECTOR KIT
The kit contains the SPK-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.

INDICATORS (LEDS)

The AMP LED on J9 shows the operational state of the R52. The STATUS LED on J9 shows the state of the CANopen NMT (Network
Management) state-machine in the drive. LEDs on J10 show activity on the CANopen network. Details on the NMT state-machine can
be found in the CANopen Programmers Manual, §3.1:
AMP LED
A single bi-color LED gives the state of the R52 by changing color, and either blinking or remaining solid.
The possible color and blink combinations are:
• Green/Solid:
• Green/Slow-Blinking: Drive OK but NOT-enabled. Will change to Green/Solid when enabled.
• Green/Fast-Blinking: Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch.
• Red/Solid:
• Red/Blinking:
Drive Fault conditions. Faults are programmable to be either transient or latching:
• Over or under-voltage
• Motor over-temperature
• Encoder +5 Vdc fault
• Short-circuits from output to ground
J9 RS-32 SERIAL
AMP
6
STATUS LED
A single bi-color LED gives the state of the NMT state-machine by changing color, and either blinking or remaining solid.
The possible color and blink combinations are:
RUN (GREEN)
• Off
• Blinking
• Single-flash
• On
ERROR (RED)
• Off
• Blinking
• Single Flash
• Double Flash
• Triple Flash
• On
ACT LED
• Flashing indicates the R52 is sending/receiving data via the CAN port
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Stepnet
Drive OK and enabled. Will run in response to reference inputs or CANopen commands.
Transient fault condition. Drive will resume operation when fault is removed.
Latching fault. Operation will not resume until drive is Reset.
STATUS
1
Init
Pre-operational
Stopped
Operational
No error
Invalid configuration, general configuration error
Warning limit reached
Error Control Event (guard or heartbeat event) has occurred
Sync message not received within the configured period
Bus Off, the CAN master is bus off
R52
Plus
1
5
D-Sub 9F
CAN_GND
http://www.copleycontrols.com/Motion/pdf/CANopenProgrammersManual.pdf
• Drive over-temperature
• Internal short circuits
• Short-circuits from output to output
J10 CAN CONNECTIONS
Network Activity
8
1
Tel: 781-828-8090
RUGGEDIZED DIGITAL
STEPPER DRIVE MODULE
DEVELOPMENT KIT
6
9
2
2
CAN_L
3 3
7 1
CAN_H
8
1
Note: Red & green led on-
times do not overlap.
LED color may be red,
green, off, or flashing of
either color.
RoHS
8 1
RJ-45
CAN_L
CAN_GND
CAN_H
Fax: 781-828-6547
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