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 Node-ID and baud rate are dependent on the position of a virtual rotary switch and, if applicable, on objects 2005h CANopen Baudrate and 2009h CANopen NodeID. The position of the virtual rotary switch is dependent on the analog value at input ADC_ANALOG_2 (see Pin assignment). Position of the virtual rotary switch Described in the following table is how the position of the virtual rotary switch is composed of the analog value applied at ADC_ANALOG_2 and the voltage divider: Position of the virtual rotary switch Upper limit digit Formula for the voltage divider calculation 0 64 1 128 2 192 3 256 4 320 5 384 6 448 7 512 8 576 9 640 10 704 11 768 12 832 13 896 14 960 15 1023 Note: Observe the following for your voltage divider calculation: If you do not want to use the analog input for setting the address, connect the ADC_ANALOG_2 pin to earth or U_REF_ANALOG. The table shows suggestions for the ratio of the voltage divider; the concrete values of all resistors are to be calculated. U_REF_ANALOG is the reference voltage for the analog input, 3.3 V, see Pin assignment. The current consumption of the voltage divider must not exceed 1 mA. Proceed as follows to define the position of the virtual rotary switch: Calculate the resistances for your voltage divider. You can find an example in the circuit diagram in chapter Connecting the CANopen. The reference voltage U_REF_ANALOG (pin B2, see Pin assignment) is 3.3 V DC. Wire input ADC_ANALOG_2 to the voltage divider. The position of the virtual rotary switch is set. Calculating the node-ID and baud rate Described in the following is how you define the node-ID and baud rate via the virtual rotary switch. An offset for the node-ID can be set in object 2006h. Position of the virtual rotary switch Node-ID Baud rate 0 1 1 MBd 1 … 14 1 … 14 is read from object 2005h CANopen Baudrateh 15 is read from object 2009h CANopen NodeID is read from object 2005h CANopen Baudrate Examples for address calculation with node-ID offset (see 2006h). Value rotary switch = "1"; node-ID offset = "92" gives address 93 (=5Dh). Value rotary switch = "5"; node-ID offset = "88" gives address 93 (=5Dh).