Copley Controls Xenus R10 Manual page 36

COMMUNICATIONS
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. Auto-phasing of brushless motor Hall sensors and phase wires eliminates "wire and try". Connections are made once and
CME 2 does the rest thereafter. Encoder wire swapping to establish the direction of positive motion is eliminated.
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 drives. Once a drive configuration has been completed systems can be replicated easily
with the same setup and performance.
When operating as a stand-alone drive that takes command inputs from an external controller, CME 2 is used for configuration.
When operated as a CAN node, CME 2 is used for programming before and after installation in a CAN network. Xenus R11
can also be controlled via CME 2 while it is in place as a CAN node. During this process, drive operation as a CAN node is
suspended. When adjustments are complete, CME 2 relinquishes control of the drive and returns it to the CAN node state.
RS-232
Xenus R11 is DTE device configured via a three-wire, full-duplex RS-232 port operating from 9,600 to 115,200
Baud, with 8 data-bits, no parity, and one stop-bit. The RS-232 specification makes no allowance for more
than two devices on a serial link. But, multiple Xenus R11 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 R11 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, each having a
unique non-zero CAN address.
CAN
Xenus R11 uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication. The
default address is 0 which is produced by [IN5~8] programmed to pull-down to ground, and a flash address of 0. Before installing the
drive in a CAN system, it must be assigned a non-zero CAN address. A maximum of 127 CAN nodes are allowed on a single CAN bus.
For installations with sixteen or more CAN nodes on a network CME 2 can be used to configure Xenus R11 to use a combination of digital
inputs and programmed offset in flash memory to configure the drive with a CAN node address.
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/downloads/pdf/ASCII_ProgrammersGuide.pdf
RS-422 (OPTIONAL)
The drive is configured for full-duplex operation as a RS-422 slave. Because RS-422 allows only one driver per signal-pair, it is possible
to have other RS-422 receive-only nodes connected to the cable from the Master's transmit port. The data protocol is the same as that
of the RS-232 port. The diagram below shows connections using a wiring adapter from QVS, model CC436 to convert the modular cable
for the drive to a Dsub-9M connector. The RS-422 signals are shown sourced from a model 422PP9R RS-232 to RS-422 converter from
B&B Electronics.
RS-422 CONNECTIONS
RS-422 Master
3
B(+)
TxD
A(-)
8
Twisted-pair
Shielded
Cable
B(+) 7
RxD
A(-) 2
B&B Electronics
D-Sub
Model 422PP9R
9F
Serial to RS-422
Converter
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Xenus R11
QVS #CC436 Adapter
3 1
white
2
8 black
Modular
Cable with
RJ-12 Plugs
7
5
yellow
6
2 blue
6
4
green
3
4
red
D-Sub RJ-12
9M Jack
A
RxD
B
BRUSHLESS/BRUSH MOTORS
R11 Slave
1 B
RxD
A
2
B(Z)
5
TxD
6 A(Y)
4
3
R11 J7
RJ-11 Jack
Generic RS-422
Receive-only
Slave
Tel: 781-828-8090
R11
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
J7
RS-422 ADAPTER (USER SUPPLIED)
This shows the connections to make using
a QVS CC436 adapter. This comes with the
connections to the RJ-12 already made and
the pins for the D-sub uncommitted. Insert
these into the D-sub as shown.
5
9
6
1
D-Sub 9M
white
3
TD B(+)
black
8
TD A(-)
yellow
7
RD B(+)
blue
2
RD A(-)
6 green
Gnd
4 red
Gnd
Fax: 781-828-6547
Page 6 of 24
RoHS
RxD TxD
1 2 3 4 5 6
RJ-11
(DTE)
1 2 3 4 5 6
RJ-12
(DTE)
1
RD B(+)
2
RD A(-)
5
TD B(+)
6
TD A(-)
4
Gnd
3
Gnd