© Technosoft 2011 55
IDMx40 Technical Reference
network drives having the same Axis ID in modulo 128. Put in other words, the difference
between any two Axis ID values should not be 128.
Remark: The Axis ID modulo 128 applies only for CAN communication with CANopen
protocol. The serial communication and the TMLCAN protocol use the complete axis ID value.
Table 3.2. Axis ID modulo 128 seen in CANopen communication
Real axis ID of the drive Axis ID seen in CANopen communication
129 1
130 2
… …
140 12
… …
200 72
… …
255 127
When CANopen protocol is selected, the drives can also communicate using TechnoCAN
protocol – an extension of the CANopen. The TechnoCAN protocol is used to get/send TML
commands. TechnoCAN protocol can coexist with CANopen protocol on the same physical
network, because it uses ID areas not covered by CANopen. TechnoCAN protocol offers the
possibility to inspect the status of ALL Technosoft drives connected on a CANopen network.
This operation is done using EasySetUp or EasyMotion Studio and a single RS-232 link with
any of the drives from the CANopen network. The inspection / data acquisition can be done
while the main application is running.
In TechnoCAN protocol the maximum axis number is 31. When TML commands are
exchanged using TechnoCAN protocol, the CAN communication sees the drives axis ID
modulo 32. The correspondence is given in Table 3.3. In order to avoid having multiple
devices
with the same Axis ID, do not use TechnoCAN in a CANopen network with drives
having the same Axis ID in modulo 32. Put in other words, the difference between any two
Axis ID values should not be a multiple of 32. Note that this restriction applies only when
EasySetUp or EasyMotion Studio are used for inspection/debugging. During normal
CANopen operation the modulo 32 restriction do not apply.
Table 3.3. Axis ID modulo 32 seen in TechnoCAN communication
Real axis ID of the drive Axis ID seen in CANopen communication
33 1
34 2
… …
200 8
… …
255 31
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