Technosoft IPS110 Technical Reference page 47

Table 3.1. Axis ID modulo 128 seen in CANopen communication
Real axis ID of the drive
129
130
...
140
...
200
...
255
When CANopen protocol is selected, the drives can also communicate using TechnoCAN
protocol – an extension of the CANopen. The TechnoCAN protocol is used to get/send TML
commands. TechnoCAN protocol can coexist with CANopen protocol on the same physical
network, because it uses ID areas not covered by CANopen. TechnoCAN protocol offers the
possibility to inspect the status of ALL Technosoft drives connected on a CANopen network.
This operation is done using EasySetUp or EasyMotion Studio and a single RS-232 link with
any of the drives from the CANopen network. The inspection / data acquisition can be done
while the main application is running.
In TechnoCAN protocol the maximum axis number is 31. When TML commands are
exchanged using TechnoCAN protocol, the CAN communication sees the drives axis ID
modulo 32. The correspondence is given in Table 3.2. In order to avoid having multiple
devices with the same Axis ID, do not use TechnoCAN in a CANopen network with drives
having the same Axis ID in modulo 32. Put in other words, the difference between any two
Axis ID values should not be a multiple of 32. Note that this restriction applies only when
EasySetUp or EasyMotion Studio are used for inspection/debugging. During normal
CANopen operation the modulo 32 restriction do not apply.
Table 3.2. Axis ID modulo 32 seen in TechnoCAN communication
Real axis ID of the drive
33
34
...
200
...
255
© Technosoft 2007
Axis ID seen in CANopen communication
1
2
...
12
...
72
...
127
Axis ID seen in CANopen communication
1
2
...
8
...
31
35 IPS110 Technical Reference