Can Connectors - Copley Controls Xenus R10 Manual

Accelnet R22

CAN CONNECTORS

Connectors J6 & J7 are Sub-D male and female 9-position types that conform to the CAN DS-102 Physical Layer specification. The male-female configuration
supports a single cable type with male and female connectors that can be daisy-chained from device to device along a CANopen network.
Accelnet uses only the CAN_H, CAN_L, and CAN_GND signals. The CAN_GND is connected to the circuit ground on the development kit. This ground is
also shared by the amplifier power supply, accessory +5 Vdc (for encoders), and the RS-232 link. Other DS-102 signals are wired-through for use by
products that might support them.
The table below lists the signals and pins on J6 & J7. Signals in ( ) are those that have no connection on the development kit and which are connected
pin-to-pin between J6 & J7.
P N I I S G N A L
1 ( R e s e v r
2 C A N _ L
3 C A N _ G
CAN Bus
4 ( R e s e v r
Connector
Signals
5 ( C A N _ S
6 N o c o n n
7 C A N _ H
8 ( R e s e v r
9 ( R e s e v r
CAN ADDRESS SELECTION
Rotary switch SW6, labeled "CAN ADDR" connects to logic inputs 7, 8, 9, and 10 of the R22. These are programmable inputs which default to CAN address
bits. The switch will select CAN addresses 0x00 through 0x0F (0~15 decimal). Address 0x00 is reserved for network management devices so amplifiers
should use addresses 0x01~0x0F. The CAN standard permits up to 127 devices, so if the amplifier must have a address of 0x10 (decimal 16) or higher,
this is done by programming an address offset into the amplifier before it is installed into the CAN bus. When this is done, the switch setting is added to
the CAN offset in the amplifier to produce the actual CAN address.
CAN Address
1
Switch
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
J6
Dsub 9M
e ) d
1
N D
e ) d
H L D )
e t c o i n
e ) d
Important!
Install JP4 ONLY if development kit is the LAST node on a CAN bus
e ) d
A
1 B
[IN7]
2 C
[IN8]
D
4
[IN9] PWM
E
8
[IN10] Direction
JP6
BRUSHLESS/BRUSH MOTORS
Development Kit
J7
Dsub 9F
1
5 5
R22
Logic
Inputs
Tel: 781-828-8090
R22
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
CAN_L
121
CAN_GND
JP4
CAN_H
Note: To use inputs 7,8,9, or 10 as logic inputs
remove jumpers on JP6.
Connections can then be made via the pins on JP6.
Inputs [IN9,10] are digital reference inputs for use
when amplifier is used in stand-alone mode.
Fax: 781-828-6547
Page 13 of 22
RoHS
JP4 Connects
termination
resistor for
last node on
CAN bus