coval LEMCOM 60, User Manual, Page: 48 / 50

LEMCOM CANopen®
– User manual
Detailed description of CANopen objects
COVAL
– LMCOP-EN-A-1155UM0068
47/49
12.35 3001h – Node ID
As described in section “
Setting the node address using an SDO command
”, the CANopen® node
ID representing the LEMCOM master module can be set using an SDO by sending the following
command (make sure that the write access to object 3001h is unlocked before starting, see
3003h
–
Unlock CAN configuration ):
CAN-ID
(600h+ID)
620h
Command
2Fh
Object L
01h
Object H
30h
Subindex
00h
Byte 0
NODE-ID
Byte 1
00h
Byte 2
00h
Byte 3
00h
The new node ID will only be taken into account once the LEMCOM master module has been
restarted.
NODE-ID
The CANopen® NODE-ID must be unique on the CAN network and must range from 1 to
127 (01h to 7Fh).
Default value: NODE-ID = 32 (20h).
12.36 3002h – Baud rate
As described in section “
Setting the baud rate using an SDO command
”, the baud rate on the CAN
bus can be set using an SDO by sending the following command (make sure that the write access to
object 3002h is unlocked before starting, see
3003h
– Unlock CAN configuration
):
CAN-ID
(600h+ID)
Command
2Fh
Object L
02h
Object H
30h
Subindex
00h
Byte 0
CANBDR
Byte 1
00h
Byte 2
00h
Byte 3
00h
The baud rate selection is based on the LSS baud rate table defined in standard CiA 301:
Baud rate
Value
(CANBDR)
1000 kbit/s 0
800 kbit/s 1
500 kbit/s 2
250 kbit/s 3
125 kbit/s
(default value)
4
Reserved Not available
50 kbit/s 6
20 kbit/s 7
10 kbit/s 8
The baud rate change will only enter into effect once the module has been restarted.