CANopen Programmer's Manual - Maccon.de

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