CL4-E CANopen/USB/Modbus RTU Online Manual

Commissioning

Parent topic: Commissioning

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 2009_h.

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


Value		Baud rate in kBd
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

You must save the changes by writing value "65766173_h" in object 1010_h:0A_h. 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.

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.
Supply the controller with voltage.
Change the configuration values if necessary, see configuration CANopen.
The controller is set per default to node-ID 127, baud rate 1 Mbaud.
To test the interface, send bytes 40 41 60 00 00 00 00 00 to the controller.
Statusword (6041_h) 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.

▶ next