XPL
RoHS
Xenus
Plus
CANopen
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
m
Page 6 of 28
COMMUNICATIONS
RS-232 MULTI-DROP
The RS-232 specification makes no allowance for more than two devices on a serial link. But, multiple Xenus drives can communicate
over a single RS-232 port by daisy-chaining a master drive to other drives using CAN cables. In the CAN protocol, address 0 is reserved
for the CAN master and thereafter all other nodes on a CAN network must have unique, non-zero addresses. When the Xenus CAN
address is set to 0, it acts as a CAN master, converting the RS-232 data into CAN messages and passing it along to the other drives
which act as CAN nodes.
CANopen
RS-232
CANopen
CAN Addr 0
CAN Master
CAN Node
CAN Node
CAN Addr 1
CAN Addr n
1
6
3
2
TxD
RxD
RJ-11
5
3
Gnd
Gnd
RxD
TxD
2
5
6
9
1
5
D-Sub 9F
ASCII COMMUNICATIONS
The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet,
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.
Additional information can be found in the ASCII Programmers Guide on the Copley website:
http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pd
f
pin
SIGNAL
2
RxD
3,4
Gnd
5
Txd
J6: RS-232 PORT
RJ-11 receptacle,
6 position, 4 contact
RS-232 COMMUNICATIONS
XPL
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
XPL
RS-232 port are through J7, an RJ-11 connector. The
XPL
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.
SER-Ck SERIAL CABLE kIT
The SER-Ck provides connectivity between a D-Sub 9 male connector and the RJ-11
connector on the XPL. It includes an adapter that plugs into the COM1 (or other)
port of a PC and uses common modular cable to connect to the XPL. 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 XPL!
For Serial-multi-drop you’ll need an Serial Cable Kit SER-CK plus CANopen network cables to connect the drives as shown.
The XPL-NC-01 and XPL-NC-10 are 1 ft (0.3m) and 10 ft (3m) cables that will do the job.
