Copley Controls Xenus Plus Series - Page 35

Xenus Plus User Guide 16-01344 Rev 06
Copley Controls 35
CANopen Architecture
As shown below, in a CANopen motion control system, control loops are closed on the individual
drives, 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 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 drive is serving as a CME serial port multi-drop gateway.)
There are several basic methods for setting the CAN address, as described below. These methods
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 drive’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 the CME User Guide.
For more information on CANopen operations, see the following Copley Controls documents:
• CANopen Programmer’s Manual
• CML Reference Manual
• CMO (Copley Motion Objects) Programmer’s Guide