Accelnet & Stepnet Plus Panels User Guide
16-01339 Rev 07
4.14 N
ETWORK
I
NTERFACES
Model
BEL, BE2, TEL, TE2
BPL, BP2, TP2
BML
Connectors
Dual eight-position receptacle (RJ-45 style).
Duplex type SC optical
fiber conector
Signals
Ethernet 100BASE-TX
CAN_H, CAN_L, CAN_Gnd
(CAN +5 Vdc Pass though
only)
MACRO
Data Format
EtherCAT
CAN V2.0b physical layer for
high-speed connections
compliant
MACRO
Protocol
CANopen Application
protocol over EtherCAT
(CoE) based on DSP-402 for
motion control devices.
Motion Control Device
Under DSP-402 of the
CANopen DS-301 V4.01 (EN
50325-4) Application Layer
MACRO
Supported Modes
Cyclic Synchronous Position,
Velocity, Torque, Profile
Current, Velocity, and
Position, PVT, and Homing
Profile Current, Velocity, and
Position, PVT, and Homing.
Current, Velocity
Node Address
Selection
Slaves are automatically
assigned addresses based on
their position on the bus. Two
16-position hexadecimal
rotary switches can be used
to define a cabling-
independent Station Alias.
Two 16-position hexadecimal
rotary switches on front panel
OR programmable digital
inputs
OR stored in flash memory
OR combination of above.
Two 16-position
hexadecimal rotary
switches on front panel.
S1 selects master IC (0,
1, 2 or 3). S2 selects
slave address (0, 1, 4, 5,
8, 9, 12 or 13)
Cable
Cat 5 or Cat-5e minimum
100 m maximum length
between nodes
Cat 5 or Cat-5e minimum with
121
terminator across
CAN_H and CAN_L on last
node in the chain.
Fiber optic
Bus Termination
No termination required.
A 121
resistor across
CAN_H and CAN_L when
termination plug is installed in
second connector. Copley part
numbers for these terminators
are:
Model Part Number
BPL
BPL-NT
BP2
BP2-NT
TP2
TP2-NT
No termination required