CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 3: Device Control, Configuration, and Status
CANOPEN NETWORK CONFIGURATION INDEX 0X21B0
Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO RF
Description
This object is used to configure the CANopen network bit rate and node ID for the amplifier.
The bit rate is read only at power-up or reset.
Likewise, the ID is calculated at power-up or reset (and only then) using a combination of generalpurpose
input pins and a programmed offset value. On certain models, an address switch is also
used. The resulting value is clipped to a 7-bit ID in the range 0 to 127.
The configuration parameter is bit-mapped as follows. Values written here are stored to flash
memory. The new network configuration will not take effect until the amplifier is reset.
Bit Description
0-6 Give the node ID offset value.
7 Used only on DeviceNet firmware. If this bit is set, then the drive will be software disabled on startup and will
remain disabled until it is enabled by a DeviceNet I/O message with the enable bit set.
8-10 Number of input pins (0-7) to read on startup for the node ID value. If input pins are used (i.e., the value in
bits 8-10 is not zero), the inputs can be mapped to node ID bits through the object Input Mapping for CAN
Node ID (index 0x21B1, p. 78).
11 This bit is ignored on amplifiers that do not have an address switch.
On amplifiers with an address switch, setting this bit programs the amplifier to use the address selector
switch as part of the address calculation. In this case, the node ID value is equal to the sum of:
The value read from the designated input pins, shifted up 4 bits.
The address switch value.
The programmed offset value.
Note that since the node ID is always clipped to the lowest 7 bits, no more than 3 input pins will ever have
an effect on the node address when the address switch is used.
12-15 Network bit rate setting.
The network bit rate is encoded as one of the following values:
Code Bit Rate (bits / second)
0 1,000,000
1 800,000
2 500,000
3 250,000
4 125,000
5 50,000
6 20,000
7-15 Reserved for future use
Copley Controls 77