Accelnet Plus Micro Modules User Guide
16-01687 Rev 03
Copley Controls
Page 123 of 139
CAN
OPEN
A
RCHITECTURE
As shown below, in a CANopen motion control system, control loops are closed in the
individual drives, not across the network. A master application coordinates multiple devices,
using the network to transmit commands and receive status information. Each device can
transmit to the master or any other device on the network. CANopen provides the protocol
for mapping device and master internal commands to messages that can be shared across
the network.
CAN
A
DDRESSING
A CANopen network can support up to 127 nodes. Each node must have a unique and valid
seven-bit address (Node ID) in the range of 1-127. Address 0 is reserved for the CAN master
and should only be used when the drive is serving as a CME serial port multi-drop gateway.
The graphic above is an example of addressing for two Copley drives as the first two devices
on a network that also contains other CAN devices.
There are several methods for setting the CAN address, as described below. These method
can be used in any combination, producing a CAN address equal to the sum of the settings.
Addressing
Method
Description
Address switches
If the address number <= 127, CAN address can be set using
the CAN ADDR switches only.
Digital inputs
Use the drive’s programmable digital inputs (user selects how
many (1-7) and which inputs are used).
Programmed value in
flash memory
Program the address into flash only.
For more information on CAN addressing, see the CME User Guide.
For more information on CANopen operations, see the following Copley Controls documents:
•
•
CML Reference Manual
•
CMO (Copley Motion Objects) Programmer’s Guide
