User guide

Xenus Plus User Guide Specifications
Copley Controls 72
3.18: Network Interfaces
Model
XEL/XE2/800-1782
XPL/XP2
XML/800-1808
Channels
1
Connectors
2 eight-position (RJ-45 style).
2 Duplex type SC optical
fiber connector.
Signals
100BASE-TX
CAN_H, CAN_L,
CAN_Gnd (CAN +5 Vdc
Pass though only)
MACRO (Motion And
Control Ring Optical).
Format
EtherCAT
CAN V2.0b physical layer
for high-speed connections
compliant
Protocol
CANopen over EtherCAT
(CoE) based on DSP-402
for motion control devices.
Motion Control Device
Under DSP-402 of the
CANopen DS-301 V4.01
(EN 50325-4) Application
Layer
MACRO
Supported Modes
Cyclic Synchronous
Position & Velocity.
Profile Current, Velocity,
and Position, PVT
(Position-Velocity-Time),
and Homing.
Torque (current), Velocity.
Node Address Selection
Slaves are automatically
assigned addresses based
on their position in the bus.
Two 16-position
hexadecimal rotary
switches can be used to
define a cabling-
independent Station Alias.
Two 16-position
hexadecimal rotary
switches on front panel
OR programmable digital
inputs
OR stored in flash memory
OR combination of above.
Two 16-position
hexadecimal rotary
switches are used to define
a MACRO node address.
Bus Termination
No termination required.
External 121 resistor
across CAN_H and CAN_L
when termination plug is
installed in second
connector.
No termination required.
Function
Real-time motion control