0x2001 - CANopen configurations
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