3001H - Node Id; 3002H - Baud Rate - coval LEMCOM Series User Manual

LEMCOM CANopen® – User manual
12.35 3001h – Node ID
As described in section
ID representing the LEMCOM master module can be set using an SDO by sending the following
command (make sure that the write access to object 3001h is unlocked before starting, see
Unlock CAN configuration):
CAN-ID
Command
(600h+ID)
620h
The new node ID will only be taken into account once the LEMCOM master module has been
restarted.
NODE-ID
The CANopen® NODE-ID must be unique on the CAN network and must range from 1 to
127 (01h to 7Fh).
Default value: NODE-ID = 32 (20h).
12.36 3002h – Baud rate
As described in section
bus can be set using an SDO by sending the following command (make sure that the write access to
object 3002h is unlocked before starting, see
CAN-ID Command
(600h+ID) 2Fh
The baud rate selection is based on the LSS baud rate table defined in standard CiA 301:
The baud rate change will only enter into effect once the module has been restarted.
COVAL – LMCOP-EN-A-1155UM0068
"Setting the node address using an SDO
Object L Object H
2Fh 01h
"Setting the baud rate using an SDO
Object L Object H
02h 30h
Baud rate
1000 kbit/s
800 kbit/s
500 kbit/s
250 kbit/s
125 kbit/s
(default value)
Reserved
50 kbit/s
20 kbit/s
10 kbit/s
Detailed description of CANopen objects
Subindex Byte 0
30h 00h NODE-ID
command", the baud rate on the CAN
3003h – Unlock CAN
Subindex Byte 0
00h CANBDR
Value
(CANBDR)
0
1
2
3
4
Not available
6
7
8
command", the CANopen® node
Byte 1 Byte 2
00h
configuration):
Byte 1 Byte 2
00h 00h
3003h –
Byte 3
00h 00h
Byte 3
00h
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