9-6 Accessories & Options
MN1276
Figure 9-2 CAN Bus Interconnections
Flex Control
X10 X11
X10 X11
Terminate the
last drive
X10-7 X10-2 X11-7 X11-2
X10-3
X10-7 X10-2
X10-3
X11-7 X11-2
X10-3
GND
CAN_L
CAN_H
120W 120W
Terminate the
Master
CAN_L
CAN_H
GND
CAN_L
CAN_H
GND
CAN_L
CAN_H
GND
CAN_L
CAN_H
CAN
MASTER
Flex Control
CAN Bus Protocol
Baldor uses CAN_OPEN, DS 301 protocol.
Baud rate is preset to 125kbit/second may be changed by AS1 switch settings or
serial command (e.g. command: CAN.BD = 1000 for 1Mbit/sec). Available baud
rates are: 10, 20, 50, 100, 125, 250, 500, 800, and 1000kbit/sec.
NODE_ID may be changed by switch settings or serial command (e.g. command:
CAN.ID = 50). Available addresses are 1 to 127.
CAN Bus Features
The following features are available with the Baldor CAN_OPEN structure:
S
One SDO
S Two PDO’s; each for transmit and receive (synchronous or asynchronous)
S SYNC message
S EMERGENCY object
S Default and variable PDO mapping
S All ID’s can be set with SDO
S
Node guarding
S Simple boot-up
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