Accelnet Plus Micro Modules User Guide
16-01687 Rev 03
Copley Controls
Page 121 of 139
E
THER
CAT
C
OMMUNICATION
D
ETAILS
(AEV,
AEZ)
These models accept CANopen application protocol over EtherCAT (CoE) commands.
E
THER
CAT
A
DDRESSING
EtherCAT supports two types of addressing nodes on the network: auto-increment and fixed.
Nodes on an EtherCAT network are automatically addressed by their physical position on the
network. The first drive found on the network is address -1 (0xFFFF). The second is -2
(0xFFFE), and so on. Fixed addresses are assigned by the master when it scans the network
to identify all of the nodes and are independent of the physical position on the network. Fixed
addresses begin with 1001 (0x3E9) and increment thereafter as nodes are found. Each dual
axis drive is addressed as a single physical node on the EtherCAT network having two axes of
motion.
As an alternate to the default addressing, switches S1 and S2 may be used to program a
drive’s Device ID, or Station Alias with a value between 0x01 and 0x (1
-255 decimal). In
dual a
xis drives the second drive follows the first’s Device ID value. Use of a station alias
guarantees that a given drive can be accessed absolutely independent of the cabling
configuration.
The fixed address and station alias are always available. If the switch-based station alias is
used, it is the responsibility of the user to ensure that each drive has a unique station alias.
