User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 79
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5.2.52 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 now.
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
HOW TO CHANGE THE NODE ID:
- Write new node ID in object 2705
h
.
- Write safe signature 65766173
h
in sub-index 01
h
of object 2706
h
.
- Reset module.
5.2.53 Object 2706
h
: Store
Writing the save signature to this object permanently saves changes made on objects 2707
h
and 2708
h
.
Save signature: 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
5.2.54 Object 2707
h
: CAN Bit Rate Load
This object shows the selected CAN bit rate.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2707
h
CAN bit rate
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
No
20, 50, 125, 250, 500, 800, 1000
1000