Copley Controls Xenus PLUS Compact CANopen Series, Руководство пользователя

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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
RxD TxD
1 2 3 4 5 6
RJ-11
(DTE)
CANopen
RS-232
CANopen
CAN Addr 0
CAN Master CAN Node CAN Node
CAN Addr 1 CAN Addr n
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01 Page 6 of 28
RoHS
Xenus
PLUS Compact
CANopen
XPC
J8: rS-232 PorT
rJ-11 receptacle,
6 position, 4 contact
rS-232 CommunICaTIonS
XPC 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 XPC rS-232 port are through J8, an rJ-11 connector.
the XPC 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 XPC. It includes an adapter that plugs into the Com1 (or
other) port of a PC and uses common modular cable to connect to the XPC. 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 XPC!
coMMunIcatIons: rs-232 serIal
ascII coMMunIcatIon protocol
rS-232 mulTI-droP
The rS-232 specification makes no allowance for more than two devices on a serial link. but, multiple XPC 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 XPC 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.
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.pdf
for Serial-multi-drop you’ll need an Serial Cable kit Ser-Ck plus Canopen network cables to connect the drives as shown.
The XP2-nC-01 and XP2-nC-10 are 1 ft (0.3m) and 10 ft (3m) cables that will do the job.