TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
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Entry Description
Sub-index
Description
Access
PDO Mapping
Value Range
Default Value
1
Physical outputs
rw
yes
UNSIGNED32
0
2
Output mask
rw
yes
UNSIGNED32
0
Table 138: Entry Description (2703
h
)
Note
Output #0 can also be used for automatically controlling a brake that can be
connected to the module via this output. In order to be able to control output #0
via this object the autmatic brake control function has to be disabled. Do this by
writing 0 to sub-index 1 and sub-index 2 of object
4.2.42
Object 2704
h
: CAN Bit Rate
With this object it is possible to change the CAN bit rate. To do this, first write the new value to this object.
Then, store the new setting by writing the save signature to object 2706h. After that, reset the module.
The new setting then becomes active.
Object Description
Index
Name
Object Type
Data Type
2704
h
CAN Bit Rate
Variable
UNSIGNED16
Table 139: Object Description (2704
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
20,50,100,125,250,500,800,1000
1000
Table 140: Entry Description (2704)
h
How to change the bit rate of a module:
• Write new bit rate in object 2704
h
.
• Write the save signature 65766173
h
to sub-index 1 of object 2706
h
.
• Reset module.
4.2.43
Object 2705
h
: Node ID
On modules that do not have address switches the node ID can be selected using this object. On modules
with address switches the node ID is normally selected using the address switches. Only when the address
switches are set to an invalid value (0 or >127) this object overrides the address switch setting.
To change the node ID, first write the new node ID to this object. Then, store the new setting by writing the
save signature to object 2706
h
. After that, reset the module. The new setting then becomes active.
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