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SLICE I/O Quick-Start Guide: CANopen Network

In order to get a CANOpen network running with SLICE I/O, you will need to perform three major steps:

 

Hardware Installation

This tutorial assumes that you have already properly installed and configured a compatible SynqNet motion controller that supports CANopen SLICE I/O on a CANopen network.

 

 

Wiring of SLICE I/O Hardware

Once you have a properly installed an MEI motion controller that supports CANopen, you will need to properly wire the CANopen Network Adapter (TSIO-1002) and the adjoining slices.

The diagram below shows how to properly wire a CANopen Network Adapter to the CANopen Network. To see an enlarged version, see Wiring Examples.

The diagram below shows how you can connect multiple CANopen Network Adapters (nodes) on a single network. The same wiring logic for each node follows the diagram above.

Once you have properly wired the CANopen Network Adapter(s), you will need to add the desired SLICE I/O modules onto the adapter.

WARNING!!
Do NOT remove a slice from the SynqNet network adaptor while powered. If a slice is removed while powered, the internal communication within the node will fail and the node will NOT be able to recover. A controller reset or network reset will NOT clear the error. At present, the only way to recover is to power cycle the node and then re-initialize the SynqNet network.

 

Download CAN Slice-I/O Adapter Firmware

Proper CAN firmware must be downloaded onto the Slice-I/O node.
NOTE: This is different firmware than the firmware that is downloaded to an MEI motion controller's SHARC DSP.

You must download a firmware version that is 002.B.1 or higher.

You can download CAN firmware in Motion Console.
In the CAN Network Summary window, under the Config tab, click the FW Download button.
The CAN Firmware can be found in the //MEI/XMP/bin directory.

The CAN Firmware Version information is displayed in the CAN Network Summary window under the Version tab.


ex: 002.B.1

Set the Bit Rate and Node ID Addresses

The two switches on the network adapter are used to set the bit rate and node address. The CANopen SLICE-I/O network adapter is configured by the factory for automatic baud rate detection.

If you are using the auto-detection of bit rate (default from factory), skip to Step 2 and set the node address.
If you prefer to configure the baud rate manually, start at Step 1 and then follow Step 2 and set the node address.

To set the bit rate, follow Step 1.
To set the node address, follow Step 2.

 
STEP 1
Configuration Mode
Setting Bit Rate

 

 

 

  • Power OFF
    Set dials to 0,0 (default from factory).

  • Power ON

  • Config Mode (RUN LED is Flashing)

  • Turn x1 switch to set the bit rate.
    See the Bit Rate Table below.
    Or turn x1 to '9' for auto-detection of bit rate.

    NOTE: The CAN host and SLICE-I/O must be set to the same bit rate, otherwise the host will not see the SLICE-I/O on the network.

  • Turn x10 switch to '1' to save the configuration to the EEPROM. (RUN LED is ON)

    Ex: To save a bit rate of 500k,
          x1 = 2
          x10 = 1

  • Power OFF

 
STEP 2
Run Mode
Setting Node Address

 

 

 

  • Power OFF

  • Turn switches to set address.
          x10 - 10's place
          x1 - 1's place

    Ex: To set 25 as the address,
          x10 = 2
          x1 = 5

  • Power ON
    (RUN LED is Flashing. I/O LED is ON)

Bit Rate Table

No. on Dial
Bit Rate
0
1Mbit
1
800k
2
500k
3
250k
4
125k
5
100k
6
50k
7
20k
8
10k
9
Auto-Detect
Bit Rate

In Motion Console, reset the controller to bring up the CANopen network.

To verify that you have properly set the Bit Rate, you can check the CAN Network Summary window under the Config tab for the following settings:

 
  • Bus State should be OFF.
  • The Tx/Rx Error Counters should NOT find any errors.
  • The Tick number should be increasing.

The LEDs should also be functioning as follows:

 
  • RUN LED is blinking slowly
  • ERROR LED is OFF
  • I/O LED is solid green
  • Status LED is blinking slowly (on individual SLICEs)

Fore more information about LEDs, see the LED Indicators section for the CANopen Network Adapter.

NOTE: The information in the CAN Network Summary window will NOT change when the SLICE is turned ON.

 

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