December 2, 2013 - Exlar added the CANopen communication protocol to its Tritex II product line. CANopen is now available on Tritex II AC and Tritex II DC actuators. The Tritex II with the CANopen network is intended to perform as a Slave with a CANopen Master. It does not have the features of a standalone indexer like other Tritex models. Setup of the system is most easily achieved with the Expert software using the RS485 port.
The latest revision of the Expert software supports all the Tritex products including CANopen and is available on the Exlar website for download. Customer connections for CANopen are offered with either an M12 connector or wired directly to a terminal strip on the connection board with 75, 90 and 115 mm frame sizes. CANopen Tritex II Hardware Features
- 8 Digital Inputs (AC) / 4 Digital Inputs (DC)
- 4 Digital Outputs (AC) / 3 Digital Outputs (DC)
- RS485 Communications (serial interface supporting Modbus RTU)
- Isolated CANopen Communication Port, available with an M12 connector or terminal connections on 75, 90 & 115 mm frame sizes.
CANopen Features
- CANopen Communication Protocol DSP301
- Network Management (NMT) Slave
- Baud Rates: 10K, 20K, 50K, 100K, 250K, 500K, 1M
- 4 Transmit Process Data Objects (TPDO)
- 4 Receive Process Data Objects (RPDO)
- Mapping of Tritex Variables to PDOs
- ASync, Sync, Cyclic and Event Driven PDO Modes
- 1 Service Data Object (SDO) Server
- Emergency Messaging
- Node Guarding
- Heartbeat Producer
- 1 Service Data Object (SDO) Server
- SDO access to all Tritex Parameters
- EDS file for easy interface with CAN masters
CANopen Motion Features
There are three DSP402 motion types implemented in the Tritex II:
Profile Torque
- Included torque ramping, torque setting and torque max
- Control and Status word bit maps
Profile Velocity
- Includes acceleration, deceleration and target velocity
- Command and Status bit maps
- At velocity window
Profile Position
- Includes acceleration, deceleration, target velocity, end velocity and target position
- At velocity window and in position window
- Following error limit and time
- Current Limit Mode
Home and Jog functionalities are also included. Exlar’s Tritex II actuators combine a servo drive, digital position controller, brushless motor and linear or rotary actuator to provide a single, compact and sealed package.
