|
Index |
Sub Index |
Name |
Data Type |
Acc. |
Pdo Map. |
NVM |
Value range |
Default value |
Units |
|---|---|---|---|---|---|---|---|---|---|
|
0x2001 |
0x01 |
Node ID |
UINT8 |
RW |
No |
Yes |
UINT8 |
0x20 |
- |
|
0x2001 |
0x02 |
Baudrate |
UINT8 |
RW |
No |
Yes |
UINT8 |
0 |
- |
|
0x2001 |
0x03 |
Diagnosis Level |
UINT16 |
RW |
No |
Yes |
0 - 2 |
1 |
- |
This object contains all the parameters related to CANopen communication interface.
This object only works in emcl CANopen version.
Sub Index description:
-
0x01 (Node ID): This object indicates the Node ID using in CANopen communications. It must be in the range 1-127.
This register also modifies the Node ID of the UART configuration register - 0x2000.
-
0x02 (Baudrate): This object indicate the baudrate used in CANopen 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 |
1 Mbit/s
|
|
1 |
reserved
|
|
2 |
500 kbit/s |
|
3 |
250 kbit/s |
|
4 |
125 kbit/s |
|
5 |
reserved |
|
6 |
50 kbit/s
|
|
7 |
20 kbit/s
|
|
8 |
10 kbit/s |
The Node ID and baud-rate are not applied directly. The procedure to change them is:
- Write this register with the desired Node ID and baud-rate
- Store this value writing the password "node" into the register 0x200F - Communication password
The new Node ID and baud-rate are applied after next power on.
-
0x03 (Diagnosis level): Indicates which CAN interface errors are monitored through the EMCYprotocol.
Diagnosis level
CAN interface errors
0
None
1
Bus off Overrun
2
Bus off Overrun Passive error