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MACHINE CONTROL CAN BUS Chapter Issue 12, Feb 18 Technical Reference Manual 7.29 For the CAN Bus to work correctly , the CAN Bus must be terminated using a CAN T erminator . The CAN T erminator is fitted to the output co…

MACHINE CONTROL

CAN BUS

7.28 Technical Reference Manual Chapter Issue 12, Feb 18

CAN BUS

Figure 7-6 CAN Bus

Figure 7-7 CAN Bus (Optional Rail Nodes)

The Controller Area Network (CAN) is a bus system for machine motion control.

An encoder/decoder for the 500Kbit/s rate CAN serial link is fitted to the

NextMove ES card to enable communication with the CAN Nodes. The CAN is

a 2-wire data link designed for transmission of small data packets for fast update

of axis position information.

The CAN Bus connects the NextMove ES card to the Nodes that provide

machine motion, switch functions and sensor feedback. There are two different

types of Nodes:

• I/O Node Boards

• Servo/Stepper Nodes

M36 Machine

Control Enclosure

NextMove ES

(I/O Node 1)

Stepper Node 10

Paste Dispense Motor

I/O Node 3 Board

Print Carriage I/O

Servo Node 7

Print Carriage Motor

I/O Node 2 Board

Main Machine I/O

I/O Node 4 Board

Screen Cleaner I/O

Various Nodes

depending on optional

rail system fitted

(see Rail Nodes Figure)

CAN Terminator

Servo Node 8

Camera X Motor

(Rotary Motors Only)

Servo Node 9

Camera Y Motor

(Rotary Motors Only)

Servo Node 6

Rising Table Motor

Servo Node 31

ProFlow Paste Condition

Node 2

Node 4

Screen Clean IO

Part MMI

Node 4

Dual Lane Option

RTC Option (Left to Right)

RTC Option (Right to Left)

OTS/HTC Option

TRS Option

Thin Wafer Pallet

Stepper Node 15

Servo Node 11Stepper Node 12

Servo Node 16Stepper Node 12

I/O Node 5

I/O Node 19

I/O Node 17

MACHINE CONTROL

CAN BUS

Chapter Issue 12, Feb 18 Technical Reference Manual 7.29

For the CAN Bus to work correctly, the CAN Bus must be terminated using a

CAN Terminator. The CAN Terminator is fitted to the output connector of the last

node in the CAN Bus line and consists of a 9 pin D type connector with a link

resistor fitted inside the connector hood.

Figure 7-8 CAN Terminator Connection

Camera X Motor

(Servo Node 8)

Camera CarriageConnector for

CAN Terminator

Connector for

CAN Bus Input

View on Front Right of Camera Carriage (Rotary Motors Only)

MACHINE CONTROL

CAN BUS

7.30 Technical Reference Manual Chapter Issue 12, Feb 18

I/O Node Boards

CAUTION

ANTI-STATIC HANDLING. STANDARD PRECAUTIONS MUST BE ADHERED TO

WHEN HANDLING ELECTRONIC CARDS AND CONFIGURING AND INSERTING

INTO THE ENCLOSURES.

The I/O Node Boards consists of multiple inputs and outputs, CAN encoder/

decoder and multi-way connectors for machine components.

There are three I/O Node Boards fitted to a standard machine with a possible

one other board for the underscreen cleaner, if fitted, these are:

• I/O Node 1 - NextMove ES card (CAN master) located in the M36 Machine

Control Enclosure (standard)

• I/O Node 2 - Main Machine I/O board located at the rear of the machine

(standard)

• I/O Node 3 - Print Carriage I/O board located inside the print carriage

extrusion (standard)

• I/O Node 4 - Screen Cleaner I/O board located at the rear of the machine

(optional)

• I/O Node 5 - OTS/HTC I/O board located at the rear of the machine

(optional)

I/O Nodes 2, 4 & 5 have a green (status) and a red (error) LED mounted on the

board. The status LED should flash twice periodically and the error LED should

not be illuminated during normal operation. The following table describes other

operations of the LEDs:

I/O Node 1 I/O Node 1 is the CAN master and is also known as the NextMove ES card

housed in the M36 Machine Control Enclosure. For more information, refer to

the M36 Machine Control Enclosure - NextMove ES Card section of this

chapter.

No of

Pulses

Red (error) LED Green (status) LED

Static Off No error Initialisation/Code execution stopped

1 Node ID from DIP switches is 0 CANopen NMT state is ‘pre-operational’

2 EEPROM contents invalid (EEPROM

empty/checksum error)

CANopen NMT state is ‘operational’

3 EEPROM access impossible (hardware

error)

CANopen NMT state is ‘stopped’

4 CAN controller switched to ‘bus-off’

mode

N/A

5 Firmware error N/A

6 Controller overload N/A

Static On Severe hardware/software error N/A