Technical Manual N5 (CANopen)
4 Commissioning
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 2005
h
and 2009
h
must be stored by writing value 65766173
h
in object
1010
h
:2
h
.
• 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 2005
h
and 2009
h
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
dec hex
Node-ID Baud rate
0 0 Object 2009
h
1 MBd fixed
1-127 1-7F Number of the rotary switches 1 MBd fixed
128 80 Object 2009
h
Object 2005
h
129-255 81-FF (Number of the rotary switches)-128 Object 2005
h
You can find the value of 2005
h
in the following table.
Value in 2005
h
dec hex
Baud rate
in kBd
129 81 10
130 82 20
131 83 50
132 84 125
133 85 250
134 86 500
136 88 1000
4.2.2 Establishing communication
CANopen
Before commissioning, we recommend reading chapters Pin assignment and Configuration via
CANopen.
Version: 2.0.1 / FIR-v1650 35
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