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Control Networks
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Control Networks EtherCAT & CANopen Servo & Stepper Drives Control Software

Control Archit Introduction EtherCAT and CANopen are international open standards for networked motion control. Key driving forces behind networking are simplified cabling, reduced cost and improved diagnostics. CANopen is targeted at distributed control systems whereas EtherCAT can be used in both centralized and distributed architectures. Each network has its advantages and Copley offers a complete range of servo and stepper drives for both solutions. Copley also provides comprehensive software tools for simple system commissioning and easy migration from CANopen to EtherCAT. Centralized...

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tecture PVT Path Planning For coordinated motion in distributed control Trajectory points are typically sent every 10 msecs systems, both EtherCAT and CANopen employ PVT and buffered in the drive. The drives perform a path planning. The controller generates a stream cubic polynomial interpolation to generate a best- of points defining the Position and Velocity of each fit curve. After interpolation the position loop is axis at specific Times. PVT path planning is a very synchronously updated on each drive at a rate of efficient way to define a motion trajectory. several kilohertz. PATH...

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Technology O CANopen Introduction CANopen is an open standard application layer Slaves are synchronized via distributed clocks built on the CAN data link layer. CAN was originally locked by time-stamping. Parameters and real- developed for automotive applications and is time data are handled by separate messaging proven to be rugged, reliable and cost-effective. schemes (SDOs and PDOs) for optimal efficiency. Master/slave and peer-to-peer communication is Third party I/O and control software are available possible. Collisions are non-destructive. for a complete system solution. Network...

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Overview EtherCAT Introduction EtherCAT is an open standard for real-time control. facilitating simple migration. The EtherCAT master Fast and deterministic, EtherCAT can update 100 uses standard hardware without the need for an slaves with 8 bytes of data in 100 microseconds. additional communication processor. The slave All network topologies are supported, employing employs a custom ASIC or FPGA, but the cost both copper and fiber optic cables. EtherCAT premium is negligible compared to a standard leverages CANopen and SERCOS device profiles, Ethernet node. Messaging and Network Topology...

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Using CANop Control Software Copley distributed control software makes system commissioning fast and simple. The development of low-level code to control a CANopen or EtherCAT network is eliminated. All network management is taken care of by a few simple commands linked into the application program. Copley supports two development environments. Copley Motion Libraries (CML) link into a C++ application (CMO) are COM objects that can be used by Visual Basic®, .NET®, LabVIEW® compliant software. Application code interfaces with servo or stepper drive objects in CML/CMO. These objects can be...

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pen-EtherCAT Network Solutions For CANopen networks, Copley provides a dualchannel PCI card with on-board microcontroller. The card is supported with CANView for network diagnostics, message display and bus loading analysis. Copley I/O, reducing the need for third-party devices. EtherCAT incorporate a high speed SPI interface for more extensive I/O expansion. The Copley I/O Processor Module, with 72 discrete I/O and 12 analog inputs, enables OEMs to design optimal system interfaces and integrate them seamlessly into the control system. EtherCAT Masters In a distributed control architecture...

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