Baldor NextMove ST, Installation Manual

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Input / Output 4-23 MN1929
4.7.3 CANopen
The NextMove ST must have the CANopen firmware loaded to use this protocol.
Baldor have implemented a CANopen protocol in MintMT (based on the ‘Communication
Profile’ CiA DS-301) which supports both direct access to device parameters and time-critical
process data communication. The NextMove ST 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
standardised (ASCII format) Electronic Data Sheets (EDS) which can be found on the Baldor
Motion Toolkit CD supplied with your product, or downloaded from www.supportme.net.
Figure 23 shows a typical CANopen network with two NextMove ST units and a Baldor HMI
operator panel:
1
2
4
5
NextMove ST
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 ST
RJ45
6
5
CANopen
D-type
1
2
Power
supply
terminal
block
24V
0V
CAN+
CAN-
Figure 23 - Typical CANopen network connections
Note: The NextMove ST CAN channel is opto-isolated, so a voltage in the range 12-24V
must be applied to pin 5 of the CAN connector.
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 ST 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
ST Manager node using the MintMT
NODESCAN
keyword. If successful, the nodes can then
be connected to using the MintMT
CONNECT
keyword. Any network and node related events
can then be monitored using the MintMT
BUS1
event.