AXIOMATIC DSP RESOLVER, Руководство пользователя

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DSP resolver user manual User Manual Version 1.15
baubrate LSS index Serial command index
1 Mbit/s 0x00 1000
500 kbit/s 0x02 500
250 kbit/s 0x03 250
125 kbit/s 0x04 125
50 kbit/s 0x06 50
Table 7.12: Supported command indexes for baudrate setup
7.2.5 Node-id
Each module connected to the same CAN bus must have an unique node-id. System
integrator may change device's node-id through CAN interface with the LSS or SDO
protocol, or through RS232.
Node Id has to be in the range from 1 to 127. Normally 127 states that the node is
unconfigurated.
CANopen manual chapter provides more information about the LSS protocol. The RS232
command for adjusting the node-id is
#SNxxx! . xxx is the node-id as a decimal number.
Node-id can also be set via object dictionary. Two SDO writes are needed to change the
node-id.
•
Write suggested node-id into the co_node_id variable (0x100B in the object
dictionary)
•
Save communication or all parameters by writing “save” signature to the
co_store_param object (0x1010, subindex 1(all parameters) or 2(just
communication parameters) in object dictionary)
•
Reset module to get CAN IDs updated.
More information about the SDOs can be found from CANopen manual chapter.
Note that the node ID changed via object dictionary won't be used until the communication
parameters are saved and module is reseted! This should be done immediately after
configuring the node ID.
index sub type access variable values notes
0x100B 1 U32 RW co_node_id 1-127 Module node ID
Table 7.13: The structure of the co_node_id variable
The following defines the sequency to change node ID of node 10 (0xA) to 80 (0x50).
Writing new node ID (0x50) to the object 0x100b :
CAN ID Length 0 1 2 3 4 5 6 7
60A 8 23 0B 10 00 50 00 00 00
Module's respond if write succeeded:
CAN ID Length 0 1 2 3 4 5 6 7
58A 8 60 0B 10 00 00 00 00 00
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