CL4-E CANopen/USB/ModbusRTU Online Manual

Configuration via CANopen

All settings for CANopen can be written via the memory mechanism (for further information, see chapter Saving objects).

Communication settings

Described in the following chapters is how you can change the communication settings.

The controller is configured per default for node-ID 127 and a baud rate of 1 Mbaud.

You can use the default switch to reset the controller to the factory settings.

Setting node-ID and baud rate

In the default setting, the controller starts with a node-ID of 127. If a different node-ID is needed, the new value of the node-ID is entered in object 2009h.

In the default setting, the controller starts with a baud rate of 1 MBd. The baud rate is entered in object 2005h. The value for the corresponding baud rate can be found in the following table.

Value Baud rate in kBd
dec hex
129 81 10
130 82 20
131 83 50
132 84 125
133 85 250
134 86 500
136 88 1000

You must save the changes by writing value "65766173h" in object 1010h:0Ah. The changes are not taken over until after the controller has been restarted.

Establishing communication


Before starting commissioning, we recommend reading chapters Pin assignment and CANopen configuration.

  1. Connect the CANopen master to the controller via the CAN_L, CAN_H cables. Check the connection of your CAN-GND and that the necessary 120 ohm termination resistor is present between CAN_H and CAN_L.
  2. Supply the controller with voltage.
  3. Change the configuration values if necessary, see configuration CANopen.
    The controller is set per default to node-ID 127, baud rate 1 Mbaud.
  4. To test the interface, send bytes 40 41 60 00 00 00 00 00 to the controller.
    Statusword (6041h) was read; you receive this response: 4B 41 60 00 XX XX 00 00.

Setting using LSS

The Layer Setting Services offers you the option to dynamically assign the node-ID and/or the baud rate via the CANopen bus. See chapter LSS protocol.

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