0x2000 - UART configuration

This object contains all the parameters related to UART communication interface.

This object only works in emcl UART version.

Sub Index description:

• 0x01 (Node ID): This object indicates the Node ID using in UART communications. It must be in the range 1-127.

  

  This register also modifies the Node ID of the CANopen configuration register - 0x2001.

  

  The Node ID is not applied directly. The procedure to change the Node ID is:

  - Write this register with the desired Node ID

  - Store this value writing the password "node" into the register 0x200F - Communication password

  The new Node ID is applied after next power on.

• 0x02 (Baudrate): This object indicate the baudrate used in UART communication. The baudrate configuration is done after power-up. Therefore to modify the used baudrate the parameter must be stored into NVM and a reset of the controller must be forced.
  Data description:

  Value	Description
  0	115200 bps
  1	9600 bps

• 0x03 (Daisy chain mode): This object indicate the daisy chain mode used in UART communication.
  Data description:

  Value	Description
  0	Disabled
  1	Enabled

• 0x04 (Base format): This object modifies the format of the value field in the transmitted of UART communications.
  Data description:

  Value	Description
  0	Hexadecimal
  1	Decimal

• 0x05 (Statusword mode): This object modifies the behavior of the statusword notification mechanism. It could be send only after a request by the master or send automatically when the value changes (as CANopen does).
  Data description:

  Value	Description
  0	Statusword notification only on request
  1	Statusword is automatically sent using UART when a change occurred

The maximum Statusword automatic notification update rate is 100 ms

• 0x06 (CRC Enable): This object allows adding a CRC-16-IBM checksum in RS232/UART communications. All messages without or with a wrong CRC will be automatically discarded by the system.
  Data description:

  Value	Description
  0	CRC disabled
  1	CRC enabled

When CRC is enabled, the RS232/UART command format is modified as shown below:

(*) Only in write operations

(**) Hexadecimal code for the corresponding ASCII character.

CRC-16-IBM should be computed starting from NODE ID until VALUE.

• 0x07 (Lifeguard message): This objects allows using CANopen Lifeguard when working on RS232/UART communications. Once this objects is written with any value, the protocol is activate. Once is enabled, this register must be written periodically before the lifetime expires, otherwise the drive enters in fault state.

This protocol Guard time (0x100C) and Life time factor (0x100D) objects to determine a "Lifetime". See NMT objects for further information.

Example

• Set register 0x100C Guard time to 1000 (ms)
• Set register 0x100D Life time factor to 3
• Enable lifeguard writting 1 into register 0x2000;0x07 UART-Lifeguard
• Write a 1 to register 0x2000;0x07 UART-Lifeguard every 1 second

If for any reason the drive doesn't receive the lifeguard message (Writting a 1 to register 0x2000;0x07 UART-Lifeguard) after 3 seconds (1000 ms (0x100C) x 3 attempts (0x100D )) the drive will generate a fault with error 0x8130

• 0x08 (Binary mode): This objects allows using the binary format to improve the performance of the RS232 communication. This format is used by Ingenia software tools. Once this objects is written with any value, this format is activated.