CANopen Programmer's Manual - Maccon.de

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1: Introduction CANopen Programmer’s Manual 1.1: CAN and CANopen Contents of this Section This section describes Copley Controls’ use of CANopen and the underlying Controller Area Network (CAN). Topics include: Copley Controls Amplifiers in CANopen Networks ...................................................................................... 13 Overview of the CAN Protocol ..................................................................................................................... 14 The CAN Message ....................................................................................................................................... 15 Overview of the CANopen Profiles............................................................................................................... 16 12 Copley Controls
CANopen Programmer’s Manual 1: Introduction Copley Controls Amplifiers in CANopen Networks Copley’s CANopen Amplifiers Several lines of Copley Controls amplifiers, including Accelnet, Stepnet, Xenus, and the ruggedized R-Series, offer distributed motion control through support of the Controller Area Network (CAN) and the CANopen network profiles. Using CANopen, the amplifiers can take instruction from a master application to perform homing operations, point-to-point motion, profile velocity motion, profile torque, and interpolated motion. (These amplifiers also support serial communication.) CAN and CANopen CAN specifies the data link and physical connection layers of a fast, reliable network. The CANopen profiles specify how various types of devices, including motion control devices, can use the CAN network in a highly efficient manner. Architecture As illustrated 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. Softw are Application Master Controller CANopen CAN port Control Status CAN Network Copley Controls 13 CAN port CANopen CAN port CANopen CAN port CANopen CAN port CANopen Xenus Amplifier I/O Accelnet Amplifier I/O Feedback Local Control Sensor Feedback Local Control Sensor Stepnet Amplifier (Servo Mode) Local Control I/O Sensor Stepnet Amplifier (Step Mode) Feedback Local Control A CANopen network can support up to 127 nodes. Each node has a seven-bit node ID in the range of 1-127. (Node ID 0 is reserved and should not be used.) Motor Motor Motor Motor
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CANopen Programmer's Manual - Maccon.de

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