Xenus Plus User Guide 16-01344 Rev 06
Copley Controls 36
2.4.2: EtherCAT Communication Details (XEL/XE2/800-1818/800-1819/800-1887)
The XEL/XE2/800-1818/800-1819/800-1887 models accept CAN application protocol over
EtherCAT (CoE) commands. EtherCAT supports two types of addressing nodes on the network:
auto-increment and fixed.
Nodes on an EtherCAT network are automatically addressed by their physical position on the
network. The first drive found on the network is address -1(0xFFFF). The second is -2 (0xFFFE),
and so on.
Fixed addresses are assigned by the master when it scans the network to identify all of the nodes
and are independent of the physical position on the network. Fixed addresses begin with 1001
(0x3E9) and increment thereafter as nodes are found. Each dual axis drive is addressed as a single
physical node on the EtherCAT network having two axes of motion.
As an alternate to the default addressing, switches S1 and S2 may be used to program a drive’s
Device ID, or Station Alias with a value between 0x01 and 0xFF (1-255 decimal). In dual axis drives
the second drive follows the first’s Device ID value. Use of a station alias guarantees that a given
drive can be accessed independently of the cabling configuration.
The fixed address and station alias are always available. If the switch-based station alias is used, it
is the responsibility of the user to ensure that each drive has a unique station alias.
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