XPL
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
Fax: 781-828-6547
Tech Support: E-mail: [email protected], Web:
http://www.copleycontrols.co
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RoHS
Xenus
Plus
CANopen
CAN Status LED
J7
CANOPEN COMMUNICATION
Xenus uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication.
Before installing the drive in a CAN system, it must be assigned a CAN address. A maximum of 127 CAN nodes are allowed on a single
CAN bus. The rotary switch on the front panel controls the four lower bits of the seven-bit CAN address. When the number of nodes on
a bus is less than sixteen, the CAN address can be set using only the switch.
For installations with sixteen or more CAN nodes on a network CME 2 can be used to configure Xenus to use the rotary switch,
or combinations of digital inputs and programmed offset in flash memory to configure the drive with a higher CAN node address.
For more information on CANopen communications, download the CANopen Manual from the Copley web-site:
http://www.copleycontrols.com/motion/downloads/pdf/CANopenProgrammersManual.pd
f
CANOPEN
Based on the CAN V2.0b physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost
and noise-immunity are essential, CANopen adds support for motion-control devices and command synchronization. The result is a
highly effective combination of data-rate and low cost for multi-axis motion control systems. Device synchronization enables multiple
axes to coordinate moves as if they were driven from a single control card.
Note: Red & green led on-times do not overlap.
LED color may be red, green, off, or flashing of either color.
CAN STATUS LED
6
9
1
5
D-Sub 9F
3
3
2
2
1
8
CAN_L
CAN_GND
CAN_H
CAN_L
RJ-45
CAN_GND
CAN_H
7
1
J7
Pin 8
Pin 1
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 XPL-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.
XPL-Nk CAN CONNECTOR kIT
The kit contains the XPL-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.
J7 CAN CONNECTIONS
pin
SIGNAL
2
RxD
3,4
Gnd
5
Txd
J6: RS-232 PORT
RJ-12 receptacle,
6 position, 4 contact
1
6
STAT LED (ON J6)
A bi-color LED gives the state of the Xenus Plus drive.
Colors do not alternate, and can be solid ON or blinking:
Green/Solid
= Drive Ok and enabled. Will run in response to reference inputs
or EtherCAT commands.
Green/Slow-Blinking = Drive Ok but NOT-enabled. Will run when enabled.
Green/Fast-Blinking = Positive or Negative limit switch active.
Drive will only move in direction not inhibited by limit switch.
Red/Solid
= Transient fault condition. Drive will resume operation when
fault is removed.
Red/Blinking
= Latching fault. Operation will not resume until drive is Reset.
Drive Fault conditions:
• Over or under-voltage
• Motor over-temperature
• E5 Vdc fault
• Drive over-temperature
• Short-circuits from output to output
• Short-circuits from output to ground
• Internal short circuits
Faults are programmable to be either transient or latching
STAT
net
