Copley Controls Xenus R10 Manual page 49

CABLING FOR COMMUNICATIONS
MULTI-DROP RS-232
The RS-232 specification does not support multi-drop (multiple device) connections as does RS-485 or CAN. However, it is possible to address multiple
CAN-enabled Copley drives from a single RS-232 port. First, an RS-232 connection is made between the computer and drive #1 which must be given a
CAN address of 0. Under normal CAN operation, this address is not allowed for CAN nodes. But, in this case, drive #1 will act as a CAN master and so
address 0 is allowed. Next, CAN connections are made between drive #1, drive #2, and so on in daisy-chain fashion to the last drive. The first and last
drives in the chain must have the 121 Ω resistor between the CAN_H and CAN_L signals to act as a line-terminator. Finally, the CAN addresses of the drives
downstream from drive #1 are set to unique numbers, none of which can be 0.
When ASCII data is exchanged over the serial port, the commands are now preceded with the node address of the drive. Drive #1 converts the data into
CAN data which is then sent to all of the drives in the chain. It now appears as though all drives in the chain are connected to the single RS-232 port in
the computer and for that reason we refer it as multi-drop RS-232.
CANopen Data
XSJ-NC-10
XSJ-NC-01
XSJ-NC-10
XSJ-NC-01
XSJ-NT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Xenus R11
Drive #1
CAN Master
CAN Address = 0
(Required)
Drive #2
CAN Node
CAN Address > 0
Drive #N
CAN Node
CAN Address > 0
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS
SER-CK
to RS-232
DTE
Sub-D
9-pin
Rules for Multi-drop RS-232
• Drive #1 must have CAN address 0 and a
121 Ω terminating resistor
• CAN address can be saved in flash memory or set
by drive digital inputs
• Drives #2~#N must have different non-zero
CAN addresses
• Drive #N (last drive in chain) must have
a 121 Ω terminating resistor
• All drives in the chain are visible from CME 2
when SER-CK is connected to Drive #1
Tel: 781-828-8090
R11
Serial Data
ASCII or Binary
format
Fax: 781-828-6547
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