Baldor FPX A05T Installation & Operating Manual page 71

The default Baud rate is set to 125 kbit/second and the Node_ID is the drive
address+1 (AS1 switches 1 to 4).
Note: Every drive, connected to one CAN Bus system must have a different
After power up you will receive an EMERGENCY message with two data bytes
(0x00 and 0x00) to inform you that the CAN_DRIVE is now active.
Now you will have access to all commands via SDO. If you want to give a
command or set a parameter, you have to put the following message on the
CAN_BUS:
To send a command or set a parameter in the drive:
PC Master
Where:
X
ID
0x
D0 - D7
Ind_lo
Ind_hi
Sub
Note: If the first data byte in the returned message from the drive = 0x80, the
9-8 Accessories & Options
Node_ID.
D0 D1 D2
0x20 Ind_lo Ind_hi
ID = 0x600 + NODE_ID <--------------------------------------------
0x20 Ind_lo Ind_hi
ID = 0x580 + NODE_ID <--------------------------------------------
Data bytes (to write a parameter)
Identifier
Hexadecimal data format
Data byte 0 to 7 of CAN message
Low byte of Index of Object dictionary
High byte of Index of Object dictionary
Subindex of Object dictionary. If Object has only one entry, Subindex must always be 0
commanded action failed.
D3 D4 D5 D6
Sub XXX XXX XXX
Sub XXX XXX XXX
Drive
D7
XXX
XXX
MN1276