4-24 Input / Output
MN1957
www.baldormotion.com
4.5.3 CANopen
The NextMove ESB-2 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 ESB-2 design does not comply with a specific
CANopen device profile (DS4xx), although it is able to support and communicate with the
following devices:
Any third party digital and analog I/O device that is compliant with the ‘Device Profile for
Generic I/O Modules’ (CiA DS-401).
Baldor HMI (Human Machine Interface) operator panels, which are based on the ‘Device
Profile for Human Machine Interfaces’ (DS403).
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 Mint
Motion Toolkit CD supplied with your product, or downloaded from www.baldormotion.com.
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 ESB-2
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 ESB-2 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.
Note:
All CAN related Mint keywords are referenced to either CANopen or Baldor CAN
using the ‘bus’ parameter. Although the NextMove ESB-2 has a single physical
CAN bus channel that may be used to carry either protocol, Mint distinguishes
between the protocols with the ‘bus’ parameter. For CANopen the ‘bus’
parameter must be set to 1.
Please refer to the Mint help file for further details on CANopen, Mint keywords and keyword
parameters.
4.5.3.1 CAN opto-isolators and power supply
The NextMove ESB-2 CAN channel is opto-isolated, so a voltage in the range 12-24 V must
be applied to pin 5 of the CAN connector. From this supply, an internal voltage regulator
provides the 5 V at 100 mA required for the isolated CAN circuit. Connection of the supply
can be achieved by modifying an existing cable (see Figure 27). However, it is recommended
to use Baldor adaptor part OPT-CNV001 fitted at the HMI panel (Figure 28). This adaptor
provides an RJ45 input to allow standard CAT 5e cable to be used between the HMI panel
and the NextMove ESB-2. The adaptor also provides flying lead connections for the
application of the CAN power supply.
CAN cables supplied by Baldor are ‘category 5’ and have a maximum current rating of 1 A,
so the maximum number of NextMove ESB-2 units that may be used on one network is
limited to ten. Due to the propagation delay of the opto-isolators, the 1 Mbit/s baud rate might
not be attainable in some applications.
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
