User guide

Operational Theory Xenus XTL User Guide
20 Copley Controls Corp.
2.6: CANopen Operation
2.6.1: CAN Network and CANopen Profiles for Motion
In position mode, the amplifier can take instruction over a two-wire Controller Area Network
(CAN). CAN specifies the data link and physical connection layers of a fast, reliable network.
CANopen is a set of profiles (specifications) built on a subset of the CAN application layer
protocol. These profiles specify how various types of devices, including motion control devices,
can use the CAN network in a highly efficient manner. Xenus supports the relevant CANopen
profiles, allowing it to operate in the following modes of operation: profile torque, profile velocity,
profile position, interpolated position, and homing.
2.6.2: Supported CANopen Modes
In profile torque mode, the amplifier is programmed with a torque command. When the amplifier is
enabled, or the torque command is changed, the motor torque ramps to the new value at a
programmable rate. When the amplifier is halted, the torque ramps down at the same rate.
In profile velocity mode, the amplifier is programmed with a velocity, a direction, and acceleration
and deceleration rates. When the amplifier is enabled, the motor accelerates to the set velocity
and continues at that speed. When the amplifier is halted, the velocity decelerates to zero.
In profile position mode, the amplifier is programmed with a velocity, a relative distance or
absolute position, and acceleration and deceleration rates. On command, a complete motion
profile is executed, traveling the programmed distance or ending at the programmed position. The
amplifier supports both trapezoidal and s-curve profiles.
In PVT mode, the controller sends the amplifier a sequence of points, each of which is a segment
of a larger, more complex move, rather than a single index or profile. The amplifier then uses
cubic polynomial interpolation to “connect the dots” so that the motor reaches each point at the
specified velocity at the programmed time.
Homing mode is used to move the axis from an unknown position to a known reference or zero
point with respect to the mechanical system. The homing mode is configurable to work with a
variety of combinations of encoder index, home switch, and limit switches.