0x5820 - CANopen Node Id Bits Input
Index | Sub Index | Name | Data Type | Acc. | Pdo Map | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x5820 | 0x00 | Node ID Bits Source | UINT8 | RO | No | No | 4 | 4 | - |
0x5820 | 0x01 | Node ID Bit 0 Input Source | UINT8 | RW | No | Yes | 0 to 4 | 0 | - |
0x5820 | 0x02 | Node ID Bit 1 Input Source | UINT8 | RW | No | Yes | 0 to 4 | 0 | - |
0x5820 | 0x03 | Node ID Bit 2 Input Source | UINT8 | RW | No | Yes | 0 to 4 | 0 | - |
0x5820 | 0x04 | Node ID Bit 3 Input Source | UINT8 | RW | No | Yes | 0 to 4 | 0 | - |
This register allows adjusting the four least significant bits of the CANopen Node Id by using GPI. The object entry at Subindex 0x00 contains the number of bits which can be adjusted. The respective bit of the Node Id can be configured to be determined by the value of the available GPI. The following table shows the configuration options:
Value | Meaning |
|---|---|
0 | Disabled - Bit is not determined by any GPI |
1 | Bit is determined by the value of GPI1 |
2 | Bit is determined by the value of GPI2 |
3 | Bit is determined by the value of GPI3 |
4 | Bit is determined by the value of GPI4 |
A high value of the GPI means the respective bit of the Node Id will be set. A low value of the GPI means the respective bit of the Node Id will not be set.
For Denali drives the number of configurable Bits is 2 and refer to Bit 0 and Bit 1 of the Node Id.
A ‘Restore All’ command will reset the register to its default value.