User guide

Xenus XTL User Guide Operational Theory
Copley Controls Corp. 21
2.6.3: Architecture
As shown below, in a CANopen motion control system, control loops are closed on the individual
amplifiers, 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 port
CANopen
S
oftw are Application
Master Controller
CAN port
CANopen
Xenus
Amplif ier
I/O
CAN port
CANopen
Other
CANopen
Device
Status
Local Control
Motor
Sensor
Feedback
Local Control
Motor
Sensor
Feedback
CAN port
CANopen
Xenus
Amplif ier
I/O
C
ontrol
CAN Network
2.6.4: CAN Addressing
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 and should only be
used when the amplifier is serving as a CME 2 serial port multi-drop gateway.)
There are several basic 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
Use switch If the address number <= 15, CAN address can be set using the CAN ADDR switch only.
Use inputs Use the amplifier’s programmable digital inputs (user selects how many (1-7) and which
inputs are used).
Use programmed value Program address into flash only.
For more information on CAN addressing, see CAN Interface (p. 101).
For more information on CANopen operations, see the following Copley Controls documents:
• CANopen Programmer’s Manual
• CML Reference Manual
• Copley Motion Objects Programmer’s Guide