NP5 CANopen Online Manual

CANopen

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

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

Setting node-ID and baud rate

Node-ID and baud rate are dependent on the position of a virtual rotary switch and, if applicable, on objects 2005h CANopen Baudrate, 2006h CANopen WheelConfig and 2009h CANopen NodeID. The position of the virtual rotary switch is dependent on the analog value at input ADC_ANALOG_2 (see Pin assignment).

Position of the virtual rotary switch

Described in the following table is how the position of the virtual rotary switch is composed of the analog value applied at ADC_ANALOG_2 and the voltage divider:

Position of the virtual rotary switch

Upper limit digit

Formula for the voltage divider calculation

0 64
1 128
2 192
3 256
4 320
5 384
6 448
7 512
8 576
9 640
10 704
11 768
12 832
13 896
14 960
15 1023

Proceed as follows to define the position of the virtual rotary switch.

  1. Calculate the resistances for your voltage divider. You can find an example in the circuit diagram in chapter Connecting the CANopen. The reference voltage U_REF_ANALOG (pin B2, see Pin assignment) is 3.3 V DC.
  2. Wire input ADC_ANALOG_2 to the voltage divider.
The position of the virtual rotary switch is set.

Calculating the node-ID and baud rate

Described in the following is how you define the node-ID and baud rate via the virtual rotary switch. An offset for the node-ID can be set in object 2006h.

Position of the virtual rotary switch

Node-ID

Baud rate

0 1 1 MBd
1 … 14 1 … 14 is read from object 2005h CANopen Baudrateh
15 is read from object 2009h CANopen NodeID is read from object 2005h CANopen Baudrate

Examples for address calculation with node-ID offset (see 2006h).

  • Value rotary switch = "1"; node-ID offset = "92" gives address 93 (=5Dh).
  • Value rotary switch = "5"; node-ID offset = "88" gives address 93 (=5Dh).
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