User`s manual

DS2100 User's Manual SECTION 6: CANOPEN INTERFACE
PAGE 6-6 C27750-001
6.3 CAN node identifier
The node identifier (node-id) within a CANopen network is set with the two hex switches at the front panel. Each
node within the network (drives, peripherals ...) needs its own unique number. The switches have to be set to the
node-id in hexadecimal. Valid node-ids are 0x01 to 0x7f (1 - 127 decimal). Any other setting will be treated as
invalid node-id. This is indicated through both the run and error LED flickering.
Please note that once the drive has recognised an invalid node-id, a power cycle or 'Reset Communication' is
required after setting the hex switches to a valid node-id. Refer to 'Network Initialisation and System Bootup' for
further information.
6.4 CAN Controller Configuration
6.4.1 CAN Enable
The CAN bus can be enabled /disabled by using the parameter can_enable (index 0x3000, sub-index 1). When this
parameter is set to 0 the CAN bus is disabled. When this parameter is non-zero the CAN bus is enabled.
The default value for this parameter is 1.
6.4.2 CAN bus bitrate
The bit rate for the CAN bus can be set using the parameter can_bus_bitrate
(index 0x200b, subindex 0). When
changing the bit rate, the new value has to saved to EEPROM and then a reset communication (or power cycle) is
required to enable the new bit rate. The following bit rates are supported:
- 10000 bits per second
- 20000 bits per second
- 50000 bits per second
- 125000 bits per second
- 250000 bits per second
- 500000 bits per second
- 800000 bits per second
- 1000000 bits per second