User Manual

PD-1180 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04

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Entry Description

Sub-index Description Access PDO Mapping Value Range Default Value

1 Physical outputs rw yes UNSIGNED32 0

2 Output mask rw yes UNSIGNED32 0

Table 138: Entry Description (2703

)

Note

Output #0 can also be used for automatically controlling a brake that can be

connected to the module via this output. In order to be able to control output #0

via this object the autmatic brake control function has to be disabled. Do this by

writing 0 to sub-index 1 and sub-index 2 of object 200C

4.2.42 Object 2704

: 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 2706h. After that, reset the module.

The new setting then becomes active.

Object Description

Index Name Object Type Data Type

2704

CAN Bit Rate Variable UNSIGNED16

Table 139: Object Description (2704

)

Entry Description

Sub-index Access PDO Mapping Value Range Default Value

0 rw no 20,50,100,125,250,500,800,1000 1000

Table 140: Entry Description (2704)

How to change the bit rate of a module:

• Write new bit rate in object 2704

• Write the save signature 65766173

to sub-index 1 of object 2706

• Reset module.

4.2.43 Object 2705

: 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

. After that, reset the module. The new setting then becomes active.

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