S1
S2
HEX
DEC
0
0
0
1
16
1
2
32
2
3
48
3
4
64
4
5
80
5
6
96
6
7
112
7
8
128
8
9
144
9
A
160
10
B
176
11
C
192
12
D
208
13
E
224
14
F
240
15
PIN
SIGNAL
1
TX+
2
TX-
3
RX+
6
RX-
S2
S1
Axis A
J7
Axis B
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.com
Page 5 of 32
RoHS
Xenus
PLUS
2-Axis
EtherCAT
800-1782
J8: E
ther
CAT PORTS
RJ-45 receptacles,
8 position, 4 contact
IN
OUT
J8
L/A
RUN
L/A
ERR
ETHERCAT CONNECTIONS
Dual RJ-45 sockets accept standard Ethernet cables. The IN port connects to a master, or to the OUT port of a device that is ‘up
-
stream’, between the 800-1782 and the master. The OUT port connects to ‘downstream’ nodes. If 800-1782 is the last node on a
network, only the IN port is used. No terminator is required on the OUT port.
ETHERCAT LEDS (ON RJ-45 CONNECTORS)
L/A
A green LED indicates the state of the EtherCAT network:
LED
Link
Activity
Condition
ON
Yes
No
Port Open
Flickering
Yes
Yes
Port Open with activity
Off
No
(N/A)
Port Closed
RUN
Green: Shows the state of the ESM (EtherCAT State Machine)
Off
= Init
Blinking
= Pre-operational
Single-flash = Safe-operational
On
= Operational
ERR
Red: Shows errors such as watchdog timeouts and unsolicited
state changes in the XE2 due to local errors.
Off
= EtherCAT communications are working correctly
Blinking
= Invalid configuration, general configuration error
Single Flash = Local error, slave has changed EtherCAT state autonomously
Double Flash = PDO or EtherCAT watchdog timeout,
or an application watchdog timeout has occurred
EtherCAT A
DDRESS (STATION ALIAS)
In an EtherCAT network, slaves are automatically assigned addresses based on
their position in the bus. But when the device must have a positive identification that is
independent of cabling, a Station Alias is needed. In the 800-1782, this is provided by two
16-position rotary switches with hexadecimal encoding. These can set the address of the
drive from 0x01~0xFF (1~255 decimal). The chart shows the decimal values of the hex
settings of each switch.
Example 1: Find the switch settings for decimal address 107:
1) Find the highest number under S1 that is less than 107 and set S1 to the hex value in
the same row: 96 < 107 and 112 > 107, so S1 = 96 = Hex 6
2) Subtract 96 from the desired address to get the decimal value of switch S2 and set S2
to the Hex value in the same row: S2 = (107 - 96) = 11 = Hex B
EtherCAT
Address Switch
Decimal values
CME2 -> Amplifier -> Network Configuration
AXIS LEDS
A bi-color LED gives the state of each axis. Colors do not alternate, and can be solid ON or blinking. When mul
-
tiple conditions occur, only the top-most condition will be displayed.
When that condition is cleared the next one below will shown.
1) Red/Blinking
= Latching fault. Operation will not resume until drive is Reset.
2) Red/Solid
= Transient fault condition. Drive will resume operation when
the condition causing the fault is removed.
3) Green/Double-Blinking = STO circuit active, drive outputs are Safe-Torque-Off
4) Green/Slow-Blinking
= Drive OK but NOT-enabled. Will run when enabled.
5) Green/Fast-Blinking
= Positive or Negative limit switch active.
Drive will only move in direction not inhibited by limit switch.
7) Green/Solid
= Drive OK and enabled. Will run in response to
reference inputs or EtherCAT commands.
Latching Faults
Default
Optional (programmable)
• Short circuit (Internal or external)
• Over-voltage
• Drive over-temperature
• Under-voltage
• Motor over-temperature
• Motor Phasing Error
• Feedback Error
• Command Input Fault
• Following Error
