TMCM-351 CANopen Firmware Manual - Trinamic

TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 82
8.1.31 Object 2704 h: CAN bit rate
With this object it is possible to change the CAN bit rate. To do this, first write the new value to this
object. Then, store the new setting by writing the save signature to object 2706 h . After that, reset the
module. The new setting becomes active then.
OBJECT DESCRIPTION
Index Name Object Code Data Type
2704 h CAN bit rate load Variable UNSIGNED16
ENTRY DESCRIPTION
Sub-Index Access PDO Mapping Value Range Default Value
00 h rw no 20, 50, 125, 250, 500, 1000 1000
8.1.32 Object 2705 h: Node ID
On modules that do not have address switches the node ID can be selected using this object. On
modules with address switches the node ID is normally selected using the address switches. Only
when the address switches are set to an invalid value (0 or >127) this object overrides the address
switch setting.
To change the node ID, first write the new node ID to this object. Then, store the new setting by
writing the save signature to object 2706 h . After that, reset the module. The new setting becomes
active then.
OBJECT DESCRIPTION
Index Name Object Code Data Type
2705 h Node ID load Variable UNSIGNED8
ENTRY DESCRIPTION
Sub-Index Access PDO Mapping Value Range Default Value
00 h rw no 1… 127 1
8.1.33 Object 2706 h: Store
Writing the save signature to this object permanently saves changes made on objects 2707 h and
2708 h .
The save signature is 65766173 h .
OBJECT DESCRIPTION
Index Name Object Code Data Type
2706 h Store Variable UNSIGNED32
ENTRY DESCRIPTION
Sub-Index Access PDO Mapping Value Range Default Value
00 h ro no Highest sub-index supported 1
01 h rw no Save signature 0
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG