Technosoft 2018
27
iMOT Intelligent Motors Line Technical Reference
3.9 CAN Protocol Selection for CAN motors. TMLCAN/CANopen
The communication protocol can be chosen through the pin named CANopen of the CAN connector.
CANopen pin connected pin to GND
= CANopen protocol selected
CANopen pin left disconnected or connect pin to +Vlog
= TMLCAN protocol selected
3.10 Axis ID Selection for CAN motors(SW1 settings)
SW1
P osi ti on
Descri pti on
0
H/W Axis ID 255
1...F
H/W Axis ID 1 to 15
The Hardware Axis ID selection is done through the hex switch SW1. It contains numbers from 0x0 to 0xF. Depending
on SW1 position, the axis ID will be:
SW1
position
AxisID in
TMLCAN
mode
AxisID in
CANopen
mode
0x0
255
127
0x1
1
1
0x2
2
2
0x3
3
3
0x4
4
4
0x5
5
5
0x6
6
6
0x7
7
7
0x8
8
8
0x9
9
9
0xA
10
10
0xB
11
11
0xC
12
12
0xD
13
13
0xE
14
14
0xF
15
15
AxisID setting can be done also though software, using EasySetup / EasyMotion. Software setting has precedence over
hardware setting. In order to use hardware SW1 switch, leave the software setting as "H/W”.
AxisID can be set by hardware switch SW1 only on models with rectangular connectors (XM-CAN). For models with
circular connectors (TM-CAN), AxisID setting can only be done through software (EasySetup/EasyMotion). On these
motors, if software setting is left as "H/W", this corresponds to a hardware setting (SW1) of 0x0, i.e.255 for TMLCAN /
127 for CANopen.
