Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 116)

Chapter 16: Initial CAN Communication

Setup

16.1 Setup Using RS-232

All communication parameters — such as the CAN baud rate for the targets — are

programmed via the PP[N] command. In order to program the communication

parameters, communication must first be established with the servo drive, so that the

RS-232 communication channel, which is always active, can be used. In cases where the

servo drive is programmed to RS-232 parameters that differ form the default, the servo

drive can be forced to its default RS-232 communication parameters, as outlined in the

SimplIQ Software Manual. It is also possible to try all the supported CAN baud rates until

the unit responds.

The following parameters affect CAN communication:

Parameter Description Range

PP[13] Servo drive CAN ID 1…127

PP[14] CAN baud rate 1…8

8: 800,000

7: 50,000

6: 50,000

5: 50,000

4: 100,000

3: 125,000

2: 250,000

1: 500,000

0: 1,000,000

PP[15] CAN group ID 1…127

PP[16] Standard/extended arbitration field Must be zero (only standard

arbitration presently supported)

Table 16-1: CAN Communication Parameters

Setting the PP[13] and PP[14] parameters does not result in immediately changes. In

order to activate the new communication parameters, an NMT reset communication

command must be sent, or the servo drive must be rebooted.

If the servo drive is to be rebooted, either by the NMT command or by a power-on

sequence, the SV (save parameters) command must be used so that the communication

parameters become permanent.

In order to start CAN PDO communication, an NMT network start command must be

issued. Afterwards, the servo drive is in CAN operational state.

CANopen DS 301 Implementation Guide Initial CAN Communication Setup

MAN-CAN301IG (Ver. 2.1)

16-1

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 116