Installation Guide
TG-0259_9 TM4 CO200-A3 Installation Guide
© Dana TM4 inc., 2020-2022
4.6.2.2 Reconnecting with TM4 ODIN using modified addresses
TM4 ODIN is configured to connect with the default addresses given in Table 13. To connect with TM4
ODIN using the modified base addresses, you must reconfigure the base address in the Device
Communication window (Configuration/Device Communication), see the TM4 ODIN v4 Technical
Guide [3] for more information.
Note: If you modify the CAN base address of the VMU or MCU you need to modify the IDs of the message
addresses recorded in the CAN database (TM4_MCU_CAN_PROTOCOL_V4.1.dbc) to match your new
configuration.
4.6.2.3 Reconfiguring the CAN bus baud rate
The CAN bus baud rate can be configured at the following speeds: 125 kb, 250 kb, 500 kb and 1 Mb. The
default CAN baud rate is 500 kb.
Before reconfiguring the speed, ensure that your software versions are as follows:
• TM4 ODIN: v4.20.9 or later.
Note: Earlier versions do not support baud rate configuration.
1 To change baud rate, select the desired SPEED_OPTION in Parameters:Drive:CanBaudRate in TM4
ODIN.
1 Save the new value with the Parameters:.Command:DrvParameters.Save command.
Note: The system must be shut down and then restarted for the changes to be effective.
2 Before being able to connect the device with TM4 ODIN, you need to modify the CAN communication
speed in TM4 ODIN (Configuration/Device Communication) for it to match the new value that you
configured in step 1.
4.6.2.4 Finding available TM4 devices using CAN
See the section on Device communication configuration in the TM4 ODIN Guide [3] for information on how
to use CAN to find available TM4 devices.
Once connected to the MCU, which now has an embedded dual digital signal processor (DSP), more than
one device will be displayed in the Devices Found part of the Device Communication Configuration
window. In the first software versions, only the System Type MOTOR (highlighted in Figure 18) is available.
Later software versions will also give the user access to the System Type VMU.
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