Baldor MintDrive, Installation Manual

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Alternatively, the
NODELIVE
and
NODETYPE
keywords can be used within a Mint program to return the
same information. The following commands will get information about node 2:
? NODELIVE.1.2
? NODETYPE.1.2
When a node has been successfully scanned it can be removed from the bus by setting the node type
for that node to zero. For example, the following command will remove node 2 from CAN bus 1:
NODETYPE.1.2 = 0
B.2.6 Connecting to nodes
Device parameters and data are stored in a reserved area of memory called the Object Dictionary.
Once a node has been scanned by the network manager, the next step is to make a connection to that
node to allow data from the node’s Object Dictionary to be accessed. This also puts the node into the
operational state.
However, there are differences when making connections to Baldor controller nodes or third-party I/O
nodes. By default, when the network manager successfully detects that a Baldor controller node has
become live (has been successfully scanned), it will automatically establish a connection to the
controller by performing the command:
CONNECT.1.n = 1
where n is the node number.
This allows the network manager node to automatically access the comms array of live controller nodes
over CAN. If the user wants a controller node
n to access the comms array of the network manager
node, a connection must be manually made in the reverse direction, on the network manager node:
C001>CONNECT.n.1 = 1
For third-party I/O nodes an automatic connection is not made so the commands have to be manually
issued, for example:
C001>CONNECT.1.n = 1
Until this connection has been made, a controller node will not be able to access an I/O node using Mint
keywords, meaning you will not be able to read inputs and set outputs. Making the connection puts the
I/O node into its
operational state. Once the I/O node has been connected to a Baldor controller node it
will not be possible to connect it to another node at the same time.
The VIEW CONNECT command can be used on the network manager to get a summary of the
connections that have been made, or information on any other controller node to find what connections
it has. The network manager can also break a connection to a node so that access to the remote data
from the node’s Object Dictionary is removed. For example, the following command will remove the
connection between node 2 and the network manager node:
CONNECT.2.1 = 0
Connection information can also be viewed in the CAN window in Mint WorkBench.