LEMCOM CANopen®
– User manual
Detailed
description of CANopen objects
COVAL
– LMCOP-EN-A-1155UM0068
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All these actions are based on the following command:
The
SECONDARY ADDRESS
parameter can take the values 1 to 15 (01h to 0Fh).
Removing a module
To remove a module from the COVAL bus, the command described above is merely sent with the
following:
-
Byte 0 = 00h
-
Byte 1 = Address of module to be removed from the bus
Once the command has been sent, the MS LED will flash and the NS LED will be off. The module
will be removed from the COVAL bus.
Redefining a module’s address
A module’s address can be changed as follows:
-
Send the address to be assigned using an SDO command (Byte 0 = 01h, Byte 1 = address)
-
Press the “SET” button on the front of the module concerned
NOTE
: If there already is a module with the transmitted address, both modules will now have the
same address. Make sure all addresses are unique on the COVAL bus to ensure proper operation of
communications.
Adding a module
An address may need to be assigned to one or several modules for maintenance purposes, to
modify the client application or to integrate an island consisting of secondary modules.
Upon delivery from the factory, all LEMCOM secondary modules (except modules mounted on an
island) are supplied without any address. This is to avoid address conflicts when integrating a
module to an existing island.
The procedure for assigning an address remains the same, i.e.:
-
Send the address to be assigned using an SDO command (Byte 0 = 01h, Byte 1 = address)
-
Press the “SET” button on the front of the module concerned
-
The MS LED switches from “flashing” to “steady” and the NS LED turns on to confirm the
master-secondary connection.
CAN-ID
(600h+ID)
620h
Command
2Bh
Object L
10h
Object H
30h
Subindex
00h
Byte 0
00h: DEL
01h: ADD
Byte 1
SECONDARY
ADDRESS
Byte 2
00h
Byte 3
00h