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MACHINE CO NTROL CAN BUS Ch apte r Issue 4, Jun 18 Tech nical Ref erenc e Ma nual 8.31 Figure 8-10 CAN T erminator Connection I/O Node Boards CAUTION ANTI-STATIC HANDLING. S TANDARD PRE CAUTIONS M UST BE ADHE RE D TO WHE…

MACHINE CONTROL

CAN BUS

8.30 Technical Reference Manual Chapter Issue 4, Jun 18

CAN BUS

Figure 8-8 CAN Bus

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.

Figure 8-9 CAN Bus (Rails and Options)

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

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.

NextMove ES

(I/O Node 1)

CAN Terminator

Servo Node 6

(Rising Table Motor)

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)

Servo Node 11

(Transport Mechanism)

(RTC Machine Only)

Stepper Node 12

(Rail Width Motor)

(RTC Machine Only)

Node 2

Node 4

I/O Node 5

I/O Node 19

I/O Node 17

MACHINE CONTROL

CAN BUS

Chapter Issue 4, Jun 18 Technical Reference Manual 8.31

Figure 8-10 CAN Terminator Connection

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 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:

MACHINE CONTROL

CAN BUS

8.32 Technical Reference Manual Chapter Issue 4, Jun 18

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-opera-

tional’

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