Configuration via CANopen Communication settings 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 the S1 and S2 rotary switches and, if applicable, on objects 2005h CANopen Baudrate, and 2009h CANopen NodeID. Rotary switch The PD6-C is equipped with two hex coding switches – similar to that shown in the following figure. You can set the source for the CANopen node-ID and the baud rate using the combination of numbers from both rotary switches. The following applies here: the combination of numbers is formed using rotary switches S1 and S2, where S2 represents the higher-value byte and S1 the lower-value byte. Example Switch S1 is set to the value "Fh", switch S2 to the value "0h"; the result is the value "0Fh"="16d". Switch S1 is set to the value "Ah", switch S2 to the value "1h"; the result is the value "1Ah"="26d". General If the rotary switch is 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 2005h and 2009h must be stored by writing value "65766173h" in object 1010h:0Ah. 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 2005h and 2009h is as follows (each successive value overwrites the previous): The default value is loaded. A stored value – if present – is loaded. The configuration file is used if the controller has one. 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 Node-ID Baud rate dec hex 0 0 Object 2009h 1 MBd fixed 1-127 1-7F Number of the rotary switches 1 MBd fixed 128 80 Object 2009h Object 2005h 129-255 81-FF (Number of the rotary switches)-128 Object 2005h You can find the value of 2005h in the following table. Value in 2005h Baud rate in kBd dec hex 120 78 100 129 81 10 130 82 20 131 83 50 132 84 125 133 85 250 134 86 500 135 87 1000 Establishing communication CANopen Before starting commissioning, we recommend reading chapters Pin assignment and CANopen configuration. 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 termination resistor is present between CAN_H and CAN_L. Supply the controller with voltage. Change the configuration values if necessary, see configuration CANopen. The controller is set per default to node-ID 1, baud rate 1 Mbaud. 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.
Configuration via CANopen Communication settings 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 the S1 and S2 rotary switches and, if applicable, on objects 2005h CANopen Baudrate, and 2009h CANopen NodeID. Rotary switch The PD6-C is equipped with two hex coding switches – similar to that shown in the following figure. You can set the source for the CANopen node-ID and the baud rate using the combination of numbers from both rotary switches. The following applies here: the combination of numbers is formed using rotary switches S1 and S2, where S2 represents the higher-value byte and S1 the lower-value byte. Example Switch S1 is set to the value "Fh", switch S2 to the value "0h"; the result is the value "0Fh"="16d". Switch S1 is set to the value "Ah", switch S2 to the value "1h"; the result is the value "1Ah"="26d". General If the rotary switch is 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 2005h and 2009h must be stored by writing value "65766173h" in object 1010h:0Ah. 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 2005h and 2009h is as follows (each successive value overwrites the previous): The default value is loaded. A stored value – if present – is loaded. The configuration file is used if the controller has one. 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 Node-ID Baud rate dec hex 0 0 Object 2009h 1 MBd fixed 1-127 1-7F Number of the rotary switches 1 MBd fixed 128 80 Object 2009h Object 2005h 129-255 81-FF (Number of the rotary switches)-128 Object 2005h You can find the value of 2005h in the following table. Value in 2005h Baud rate in kBd dec hex 120 78 100 129 81 10 130 82 20 131 83 50 132 84 125 133 85 250 134 86 500 135 87 1000 Establishing communication CANopen Before starting commissioning, we recommend reading chapters Pin assignment and CANopen configuration. 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 termination resistor is present between CAN_H and CAN_L. Supply the controller with voltage. Change the configuration values if necessary, see configuration CANopen. The controller is set per default to node-ID 1, baud rate 1 Mbaud. 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.
Communication settings 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 the S1 and S2 rotary switches and, if applicable, on objects 2005h CANopen Baudrate, and 2009h CANopen NodeID. Rotary switch The PD6-C is equipped with two hex coding switches – similar to that shown in the following figure. You can set the source for the CANopen node-ID and the baud rate using the combination of numbers from both rotary switches. The following applies here: the combination of numbers is formed using rotary switches S1 and S2, where S2 represents the higher-value byte and S1 the lower-value byte. Example Switch S1 is set to the value "Fh", switch S2 to the value "0h"; the result is the value "0Fh"="16d". Switch S1 is set to the value "Ah", switch S2 to the value "1h"; the result is the value "1Ah"="26d". General If the rotary switch is 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 2005h and 2009h must be stored by writing value "65766173h" in object 1010h:0Ah. 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 2005h and 2009h is as follows (each successive value overwrites the previous): The default value is loaded. A stored value – if present – is loaded. The configuration file is used if the controller has one. 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 Node-ID Baud rate dec hex 0 0 Object 2009h 1 MBd fixed 1-127 1-7F Number of the rotary switches 1 MBd fixed 128 80 Object 2009h Object 2005h 129-255 81-FF (Number of the rotary switches)-128 Object 2005h You can find the value of 2005h in the following table. Value in 2005h Baud rate in kBd dec hex 120 78 100 129 81 10 130 82 20 131 83 50 132 84 125 133 85 250 134 86 500 135 87 1000
Setting node-ID and baud rate Node-ID and baud rate are dependent on the position of the S1 and S2 rotary switches and, if applicable, on objects 2005h CANopen Baudrate, and 2009h CANopen NodeID. Rotary switch The PD6-C is equipped with two hex coding switches – similar to that shown in the following figure. You can set the source for the CANopen node-ID and the baud rate using the combination of numbers from both rotary switches. The following applies here: the combination of numbers is formed using rotary switches S1 and S2, where S2 represents the higher-value byte and S1 the lower-value byte. Example Switch S1 is set to the value "Fh", switch S2 to the value "0h"; the result is the value "0Fh"="16d". Switch S1 is set to the value "Ah", switch S2 to the value "1h"; the result is the value "1Ah"="26d". General If the rotary switch is 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 2005h and 2009h must be stored by writing value "65766173h" in object 1010h:0Ah. 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 2005h and 2009h is as follows (each successive value overwrites the previous): The default value is loaded. A stored value – if present – is loaded. The configuration file is used if the controller has one. 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 Node-ID Baud rate dec hex 0 0 Object 2009h 1 MBd fixed 1-127 1-7F Number of the rotary switches 1 MBd fixed 128 80 Object 2009h Object 2005h 129-255 81-FF (Number of the rotary switches)-128 Object 2005h You can find the value of 2005h in the following table. Value in 2005h Baud rate in kBd dec hex 120 78 100 129 81 10 130 82 20 131 83 50 132 84 125 133 85 250 134 86 500 135 87 1000
Rotary switch The PD6-C is equipped with two hex coding switches – similar to that shown in the following figure. You can set the source for the CANopen node-ID and the baud rate using the combination of numbers from both rotary switches. The following applies here: the combination of numbers is formed using rotary switches S1 and S2, where S2 represents the higher-value byte and S1 the lower-value byte. Example Switch S1 is set to the value "Fh", switch S2 to the value "0h"; the result is the value "0Fh"="16d". Switch S1 is set to the value "Ah", switch S2 to the value "1h"; the result is the value "1Ah"="26d".
General If the rotary switch is 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 2005h and 2009h must be stored by writing value "65766173h" in object 1010h:0Ah. 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 2005h and 2009h is as follows (each successive value overwrites the previous): The default value is loaded. A stored value – if present – is loaded. The configuration file is used if the controller has one. 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 Node-ID Baud rate dec hex 0 0 Object 2009h 1 MBd fixed 1-127 1-7F Number of the rotary switches 1 MBd fixed 128 80 Object 2009h Object 2005h 129-255 81-FF (Number of the rotary switches)-128 Object 2005h You can find the value of 2005h in the following table. Value in 2005h Baud rate in kBd dec hex 120 78 100 129 81 10 130 82 20 131 83 50 132 84 125 133 85 250 134 86 500 135 87 1000
Establishing communication CANopen Before starting commissioning, we recommend reading chapters Pin assignment and CANopen configuration. 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 termination resistor is present between CAN_H and CAN_L. Supply the controller with voltage. Change the configuration values if necessary, see configuration CANopen. The controller is set per default to node-ID 1, baud rate 1 Mbaud. 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.
CANopen Before starting commissioning, we recommend reading chapters Pin assignment and CANopen configuration. 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 termination resistor is present between CAN_H and CAN_L. Supply the controller with voltage. Change the configuration values if necessary, see configuration CANopen. The controller is set per default to node-ID 1, baud rate 1 Mbaud. 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.
