Copley Controls Xenus PLUS, Manual, Page: 6 / 32

PIN SIGNAL
2 RxD
3,4 Gnd
5 Txd
6
9
1
5
3 2
TxD
RxD
RJ-11
on
Servo
Drive
RJ-11 cable
6P6C
Straight-wired
5 3
Gnd
Gnd
RxD
TxD
2 5
D-Sub 9F
Dsub-9F
to RJ11
Adapter
1
6
RoHS
Xenus
PLUS
2-Axis EtherCAT
800-1782
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com Page 6 of 32
COMMUNICATIONS
ASCII COMMUNICATIONS
The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls 800-1782,
Stepnet, and Xenus series amplifiers over an RS-232 serial connection. For instance, after basic amplifier configuration values have
been programmed using CME 2, a control program can use the ASCII Interface to:
• Enable the amplifier in Programmed Position mode.
• Home the axis.
• Issue a series of move commands while monitoring position, velocity, and other run-time variables.
The Baud rate defaults to 9,600 after power-on or reset and is programmable up to 115,200 thereafter.
After power-on, reset, or transmission of a Break character, the Baud rate will be 9,600. Once communication has been established at
this speed, the Baud rate can be changed to a higher rate (19,200, 57,600, 115,200).
ASCII parameter 0x90 holds the Baud rate data. To set the rate to 115,200 enter this line from a terminal:
s r0x90 115200 <enter>
Then, change the Baud rate in the computer/controller to the new number and communicate at that rate.
Additional information can be found in the ASCII Programmers Guide on the Copley website:
http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf
J7: RS-232 PORT
RJ-11 receptacle,
6 position, 4 contact
RS-232 COMMUNICATIONS
800-1782 is configured via a three-wire, full-duplex DTE RS-232 port that operates from 9600 to 115,200 Baud, 8 bits, no parity, and one stop bit. Signal format
is full-duplex, 3-wire, DTE using RxD, TxD, and Gnd. Connections to the 800-1782 RS-232 port are through J7, an RJ-11 connector. The 800-1782 Serial Cable
Kit (SER-CK) contains a modular cable, and an adapter that connects to a 9-pin, Sub-D serial port connector (COM1, COM2, etc.) on PC’s and compatibles.
After power-on or a reset, the Baud rate will be 9,600. After connecting at that rate, the Baud rate can be programmed to a 115,200 (max) and will remain
at that rate until power-on or reset. Sending an ASCII Break character will reset the Baud rate to 9,600.
SER-CK SERIAL CABLE KIT
The SER-CK provides connectivity between a D-Sub 9 male connector and the RJ-11
connector on the 800-1782 . It includes an adapter that plugs into the COM1 (or other)
port of a PC and uses a staight-wired modular cable to connect to the 800-1782.
The connections are shown in the diagram below.
Don’t forget to order a Serial Cable Kit SER-CK when
placing your order for an 800-1782!