www.baldormotion.com
Input / Output 4-23
MN1928
4.6.3 CANopen
The NextMove ES must have the CANopen firmware loaded to use this protocol.
Baldor have implemented a CANopen protocol in Mint (based on the ‘Communication Profile’
CiA DS-301) which supports both direct access to device parameters and time-critical process
data communication. The NextMove ES design does not comply with a specific CANopen
device profile (DS4xx), although it is able to support and communicate with the following
devices:
H
Any third party digital and analog I/O device that is compliant with the ‘Device Profile for
Generic I/O Modules’ (CiA DS-401).
H
Baldor HMI (Human Machine Interface) operator panels, which are based on the ‘Device
Profile for Human Machine Interfaces’ (DS403).
H
Other Baldor controllers with CANopen support for peer-to-peer access using extensions
to the CiA specifications (DS301 and DS302).
The functionality and characteristics of all Baldor CANopen devices are defined in individual
standardized (ASCII format) Electronic Data Sheets (EDS) which can be found on the Baldor
Motion Toolkit CD supplied with your product, or downloaded from www.baldormotion.com.
Figure 19 shows a typical CANopen network with two NextMove ES units and a Baldor HMI
operator panel:
1
2
4
5
NextMove ES
RJ45
7
2
Baldor HMI
Operator Panel
Twisted pairs
Twisted pairs
T
R
T
R
End
node
1
2
4
5
1
2
4
5
24V
0V
NextMove ES
RJ45
6
5
CANopen
D-type
1
2
Power
supply
terminal
block
24V
0V
CAN+
CAN-
Figure 19 - Typical CANopen network connections
Note:
The NextMove ES CAN channel is opto-isolated, so a voltage in the range
12-24 V must be applied to pin 5 of the CAN connector. An additional adaptor (e.g.
RS Components part 186-3105) or modifications to the cable may be required to
facilitate the power connection.
The configuration and management of a CANopen network must be carried out by a single
node acting as the network master. This role can be performed by the NextMove ES when it
is configured to be the Network Manager node (node ID 1), or by a third party CANopen
master device.
Up to 126 CANopen nodes (node IDs 2 to 127) can be added to the network by a NextMove
ES Manager node using the Mint
NODESCAN
keyword. If successful, the nodes can then be
connected to using the Mint
CONNECT
keyword. Any network and node related events can
then be monitored using the Mint
BUS1
event.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,
07045-0097 • (973) 335-1007 • Toll Free: (800) 922-1103
Fax: (973) 335-1661 • www.servosystems.com
