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3.6
CAN Operation Mode and Axis ID Selection for CAN drives
3.6.1
Selection Levels on Axis ID Inputs
On iMOTIONCUBE the selection of the operation mode: CANopen or TMLCAN as also of the axis ID number is done
by setting different voltage levels on the inputs AxisID 0 (J1 pin 5), AxisID 1(J1 pin 7) and AxisID 2 (J1 pin 9). Each
input can be set to one of the following 7 levels:
The operation mode selection is done via AxisID 2:
•
CANopen mode, if the input levels are: L0, L1 or L2
•
TMLCAN mode, if the input levels are L3, L4, L5, L6
shows how to set the 7 levels on the AxisID 0 input and the resulting axis ID values when AxisID 2 input level
Figure 3.36
is set for CANopen operation. Paragraph 3.6.2.1 shows how to set all possible values for axis ID in this mode of
operation.
Remarks:
1.
AxisID value is computed with formula: 49 x AxisID2 + 7 x AxisID1 + AxisID0, where each AxisID can have
one of the integer values: 0 to 6 (0 for L0, 1 for L1, 2 for L2, etc.)
2.
If the resulting AxisID value is 0 (all 3 inputs are connected to GND), the axis ID will be set to 127. If the
resulting AxisID is greater than 127, the axis ID will be set to 255.
3.
If the AxisID is set to 255, the drive remains "non-configured" waiting for a CANopen master to configure it,
using CiA-305 protocol. A "non-configured" drive answers only to CiA-305 commands. All other CANopen
commands are ignored and transmission of all other messages (including boot-up) is disabled. The Ready
(green) LED will flash at 1 second time intervals while in this mode.
shows how to set the 7 levels on the AxisID 0 input and the resulting axis ID values when AxisID 2 input level
Figure 3.37
is set for TMLCAN operation. Paragraph 3.6.2.2 shows how to set all possible values for axis ID in this mode of
operation.
Remarks:
1.
AxisID is computed with formula: 49 x (AxisID2 - 3) + 7 x AxisID1 + AxisID0, where each AxisID can have
one of the integer values: 0 to 6 (0 for L0, 1 for L1, 2 for L2, etc.)
2.
If the resulting AxisID value is 0, the axis ID will be set to 255 and the drive will be in LSS "non-configured"
mode.
3.
All pins are sampled at power-up, and the drive is configured accordingly
4.
If CANopen mode is selected and the AxisID is set to 255, the drive remains "non-configured" waiting for a
CANopen master to configure it, using CiA-305 protocol. A "non-configured" drive answers only to CiA-305
commands. All other CANopen commands are ignored and transmission of all other messages (including
boot-up) is disabled. The Ready (green) LED will flash at 1 second time intervals while in this mode
Technosoft 2019
Level
L0
Connect input directly to ground
L1
Connect input through a 4.7KΩ resistor to ground
L2
Connected input through a 22KΩ resistor to ground
L3
Nothing connected – leave input open
L4
Connect input through a 22KΩ resistor to +5Vdc
L5
Connect input through a 4.7Kohm resistor to +5Vdc
L6
Connect input directly to +5V
Connection needed
39
iMOTIONCUBE Technical Reference
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