9
ENGLISH
Commissioning
Code
Possible Settings
IMPORTANT
No.
Name
Default Selection
CANopen / System bus parameters
P410
(1)
CAN address
(Node ID)
1
1
127 If P413 = 0, 1: maximum setting = 63
P411
(1)
CAN baud rate
5
0 10 kbps (max distance = 5000m)
1 20 kbps (max distance = 2500m)
2 50 kbps (max distance = 1000m)
3 125 kbps (max distance = 500m)
4 250 kbps (max distance = 250m)
5 500 kbps (max distance = 100m)
6 800 kbps (max distance = 50m)
7 1000 kbps (max distance = 25m)
P412
(1)
System bus
participant
0
0 Slave
•
P417 = 1: Controller enters operational
state automatically
•
P417 = 2: Controller sends “NMT start
all nodes” after boot-up time (P415) and
enters operational state
1 Slave with autostart enabled
0x1F80 NMT bootup - bit 2
2 System bus master (not NMT
master)
P413
(1)
Parameter channel
2 (SDO#2)
2
0 Enable: Node ID range (1...63)
with default COB ID for RPDO
and TPDO
•
P413 = 0, 1: CAN address 1...63;
64...127 used for SDO2
•
SDO#1 COB ID = 1536 + Node ID
•
SDO#2 COB ID = 1600 + Node ID
(if enabled)
Default settings:
RPDO#1: COB ID = 0x200 + Node ID
RPDO#2: COB ID = 0x300 + Node ID
TPDO#1: COB ID = 0x180 + Node ID
TPDO#2: COB ID = 0x280 + Node ID
1 Enable: Node ID range (1...63)
with programmable COB ID using
P440, P450, P460, P470
2 Disable: Node ID range (1...127)
with default COB ID for RPDO
and TPDO
3 Disable: Node ID range (1...127)
with programmable COB ID using
P440, P450, P460, P470
P414
SYNC COB ID
128
0
2047 Controller does not generate SYNC object
P415
(1)
Boot up time
3000
0
{ms}
65535 Controller sends “NMT start all nodes”
message after this delay (active only when
P412 = 2)
P416
Heartbeat time
2000
0
{ms}
65535
•
Producer heartbeat time
•
P416 = 0 disables heartbeat transmission
P418
Reset CAN node
0
0 No action
On transition from 0 to 1, re-initializes
CAN controller and activates changes
made to parameters marked with
(1)
1 Reset CAN communication
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
(1)
These parameters take effect only after power-up, P418 reset, “NMT reset node”, or “NMT reset communication services”
