Configuration via CANopen
Described in the following chapters is how you can change the communication settings.
The controller is configured per default for node-ID 1 and a baud rate of 1 Mbaud.
Setting node-ID and baud rate
The C5-E is equipped with two hex coding switches – similar to that shown in the following figure.
You can set the source for the CANopen node-ID and the baud rate using the combination of numbers from both rotary switches.
The following applies here: the combination of numbers is formed using rotary switches S2 and S3, where S2 represents the higher-value byte and S3 the lower-value byte
|Switch S2 is set to the value "0h", switch S3 to the value "Fh"; the result is the value "0Fh"="15d".|
|Switch S2 is set to the value "Ah", switch S3 to the value "1h"; the result is the value "A1h"="161d".|
- If the rotary switches are set to the value "1", the node-ID is set to "1" and the baud rate is permanently set to 1000 kBd. In the event of problems with the configuration, communication can thereby always be established with the controller and any errors reversed.
- The changes in objects 2005h and 2009h must be stored by writing value
65766173h in object 1010h:2h.
- The changes are not accepted until either
- the voltage supply is briefly disconnected or
- the CANopen message RESET COMM (NMT) is sent to the motor.
- The load sequence for objects 2005h and 2009h is as follows (each successive value overwrites the previous):
- The default value is loaded.
- A stored value – if present – is loaded.
- The configuration file is used if the controller has one.
- The settings of the rotary switch(es) are taken over.
Node-ID and baud rate
|Number combinations of the rotary switches||Node-ID||Baud rate|
|0||0||Object 2009h||1 MBd fixed|
|1-127||1-7F||Number of the rotary switches||1 MBd fixed|
|128||80||Object 2009h||Object 2005h|
|129-255||81-FF||(Number of the rotary switches)-128||Object 2005h|
You can find the value of 2005h in the following table.
|Value in 2005h||
- Connect the CANopen master to the controller via the CAN- and CAN+ cables. Check the connection of your CAN-GND and that the necessary 120 ohm termination resistor is present between CAN+ and CAN-.
- Supply the controller with voltage.
Change the configuration values if necessary, see Configuration via CANopen.
The controller is set per default to node-ID 1, baud rate 1 Mbaud.
To test the interface, send bytes
40 41 60 00 00 00 00 00to the controller.Statusword (6041h) was read; you receive this response:
4B 41 60 00 XX XX 00 00.