C5-E CANopen/USB Online Manual

Configuration via CANopen

Communication settings

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

Node-ID and baud rate are dependent on the position of the S2 and S3 rotary switches and, if applicable, on objects 2005h CANopen Baudrate, and 2009h CANopen NodeID.

Rotary switch

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

Example

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".

General

  • 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):
    1. The default value is loaded.
    2. A stored value – if present – is loaded.
    3. The configuration file is used if the controller has one.
    4. The settings of the rotary switch(es) are taken over.

Node-ID and baud rate

The following table shows the possibilities that arise for the rotary switches.
Number combinations of the rotary switches Node-ID Baud rate
dec hex
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

Baud rate

in kBd

dec hex
129 81 10
130 82 20
131 83 50
132 84 125
133 85 250
134 86 500
136 88 1000

Establishing communication

Before commissioning, we recommend reading chapters Pin assignment and Communication settings.

  1. 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-.
  2. Supply the controller with voltage.
  3. Change the configuration values if necessary, see Configuration via CANopen.
    The controller is set per default to node-ID 1, baud rate 1 Mbaud.
  4. To test the interface, send bytes 40 41 60 00 00 00 00 00 to the controller.
    Statusword (6041h) was read; you receive this response: 4B 41 60 00 XX XX 00 00.
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