126
B.3.13 Examp le CAN network
To show the steps required in putting a CAN network together, a multi node network is described below.
The network will include:
H 1 MintDrive controller
H 2 InputNode 8 nodes
H 2 OutputNode 8 nodes
H 1 RelayNode 8 node
H 1 ioNode 24/24 node
H 1 KeypadNode node
The nodes are daisy -chained
together with the MintDrive
and KeypadNode node at the
ends of the network. The
controller is housed a short
distance from the machine,
with the CAN peripherals
distributed around the
machine near to their
respective actuators and
sensors. Each node is
supplied with 24VDC from a
bus supplying the machine.
The CAN Baud ra te will be
the default 125 Kbaud.
For the following steps, you might wish to refer to section B.3.6 on page 121:
H Statically configure the two InputNode 8 nodes with Node IDs 1 and 2.
H Statically configure the two OutputNode 8 nodes with Node IDs 3 and 4.
H Statically configure the RelayNode 8 node with Node ID 5.
H Statically configure the ioNode 24/24 node with Node ID 6.
H Statically configure the KeypadNode node with Node ID 7.
H Terminate the network. On the MintDrive, the terminator should be s elected by setting the CAN2 DIP
switch into the ON position. On the KeypadNode, the terminator should be selected by fitting jumper
JP3. The remaining nodes should have their terminators disconnected by removing jumper JP3.
H Power up the system.
H Once Mint is running, scan the network for nodes by typing:
NODESCAN.0
H Now type:
VIEW NODELIVE.2
to display all the active nodes on the CAN2 network.
123
ON
InputNode
#1
InputNode
#2
OutputNode
#3
OutputNode
#4
RelayNode
#5
CAN2 Bus
Serial cable
MintDrive
Host computer
ioNode 24/24
#6
KeypadNode
#7
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