S1
S2
Hex
Dec
0
0
0
1
16
1
2
32
2
3
48
3
4
64
4
5
80
5
6
96
6
7
112
7
8
128
8
9
144
9
A
160
10
B
176
11
C
192
12
D
208
13
E
224
14
F
240
15
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
Fax: 781-828-6547
Tech Support: E-mail: [email protected], Web:
Page 5 of 28
Xenus
Plus
EtherCAT
RoHS
XEL
Pin
SIGNAL
6
RX-
3
RX+
2
TX-
1
TX+
J7: E
therCAT PoRTS
RJ-45 receptacles,
8 position, 4 contact
ETHERCAT CoMMUniCATionS
EtherCAT is the open, real-time Ethernet network developed by Beckhoff based on the widely used 100BASE-TX cabling system. EtherCAT enables high-
speed control of multiple axes while maintaining tight synchronization of clocks in the nodes. Data protocol is CAN
application layer over EtherCAT (CoE)
based on DSP-402 for motion control devices. More information on EtherCAT can be found on this web-site:
http://ethercat.org/default.htm
ETHERCAT ConnECTionS
Dual RJ-45 sockets accept standard Ethernet cables. The IN port connects to a master, or to the OUT port of a device that is ‘upstream’, between the
Xenus and the master. The OUT port connects to ‘downstream’ nodes. If Xenus is the last node on a network, only the IN port is used. No terminator is
required on the OUT port.
STAT LED
A bi-color LED (nET) indicates the status of the EtherCAT state machine and occurrence of errors.
Green and red colors alternate: Green = RUN, Red = ERROR
RUn (green)
ERRoR (red)
Off
= INITIALIZATION
Off
= No error
Blinking
= PRE-OPERATIONAL
Blinking
= Invalid configuration (note 1)
Single Flash = SAFE-oPERATionAL
Single Flash
= Local error (note 2)
on
= oPERATionAL
Double Flash
= Watchdog timeout (note 3)
notes:
1) A change of state commanded by the master is not possible or is illegal
2) This indicates that the slave has initiated a change of state by itself in response to an error
3) The EtherCAT watchdog timer has timed-out
ETHERCAT LINk & ACTIVITy LEDS (ON J7)
These LEDs show the state of the physical link and activity on the link
A green LED indicates the state of the EtherCAT network:
LED
Link Activity
Condition
ON
yes
No
Port Open
Flickering
yes
yes
Port Open with activity
off
no
(n/A)
Port Closed
J6: RS-232 PORT
RJ-12 receptacle,
6 position, 4 contact
1
6
AMP
STAT
1
8
1
8
in (A)
oUT (B)
Link
(green)
Link
(green)
ACT
(yellow)
ACT
(yellow)
EtherCAT
Device iD Switch
Decimal values
---->
EtherCAT D
EVICE ID
In an EtherCAT network, slaves are automatically assigned fixed addresses based on
their position on the bus. But when the device must have a positive identification that
is independent of cabling, a Device iD is needed. in the XEL, this is provided by two
16-position rotary switches with hexadecimal encoding. These can set the Device iD of
the drive from 0x01~0xFF (1~255 decimal). The chart shows the decimal values of the
hex settings of each switch.
Example 1: Find the switch settings for decimal Device iD 107:
1) Find the highest number under S1 that is less than 107 and set S1 to the hex value in
the same row:
96 < 107 and 112 > 107, so S1 = 96 = Hex 6
2) Subtract 96 from the desired Device iD to get the decimal value of switch S2 and set
S2 to the Hex value in the same row:
S2 = (107 - 96) = 11 = Hex B
S1
S2
AMP LED
A bi-color LED gives the state of the drive. Colors do not alternate, and can be solid on or blinking. When mul-
tiple conditions occur, only the top-most condition will be displayed.
When that condition is cleared the next one below will shown.
1) Red/Blinking
= Latching fault. operation will not resume until drive is Reset.
2) Red/Solid
= Transient fault condition. Drive will resume operation when
the condition causing the fault is removed.
3) Green/Double-Blinking = Torque Off circuit active, drive outputs are Torque Off
4) Green/Slow-Blinking
= Drive Ok but NOT-enabled. Will run when enabled.
5) Green/Fast-Blinking
= Positive or Negative limit switch active.
Drive will only move in direction not inhibited by limit switch.
7) Green/Solid
= Drive Ok and enabled. Will run in response to
reference inputs or EtherCAT commands.
Latching Faults
Default
optional (programmable)
• Short circuit (Internal or external)
• Over-voltage
• Drive over-temperature
• Under-voltage
• Motor over-temperature
• Motor Phasing Error
• Feedback Error
• Command Input Fault
• Following Error