BECKHOFF AX2000 CANopen communication profile - Manual (Page 13)

2.5 Important configuration parameters for CAN bus operation
The following parameters are important for CAN operation:
1. CBAUD (Object 3515
h
Sub-index 01
h
): transmission rate for the CAN bus
2. ADDR (Object 3505
h
Sub-index 01
h
): The ADDR command defines the fieldbus address of the
amplifier. After making a change to the address, all the parameters must be saved in the EEPROM,
and the amplifier must be switched off and on again.
3. AENA (Object 3506
h
Sub-index 01
h
): This can be used to define the state of the software
enable when the amplifier is switched on. The software enable provides an external control with the
facility of enabling or disabling the output stage through software control. On amplifiers that function
with an analog setpoint (OPMODE=1,3), the software enable is set automatically when the amplifier
is switched on, so that these amplifiers are immediately ready to operate (provided that the hard-
ware enable is present). For all other amplifiers, the software enable is set to the value of AENA at
switch-on. The variable AENA also has a function for the reset of the amplifier after a fault (via digi-
tal input 1 or through the ASCII command CLRFAULT). For errors that can be reset through soft-
ware, after the error/fault has been cleared, the software enable is set to the state of AENA. In this
way, the response of the amplifier for a software reset is analogous to the switch-on behavior.
4. DRVCNFG (Object 3672
h
Sub-index 01
h
): The configuration variable DRVCNFG can be used
to activate various additional CANopen functions in the amplifier.
Bit0 =1 CANopen switch-on telegram, 0 bytes long
=0 CANopen switch-on telegram, 8 bytes long
Bit1 =1 enable and disable affect the CANopen status machine.
The CANopen status machine follows the internal status of the
servo amplifier. If this status changes (e.g. hardware disable)
the CANopen status machine is automatically updated
(with a corresponding Emergency Message).
=0 the CANopen status machine is not affected.
Bit2 =1 Object length is checked, an Emergency Object is generated
if the Object length is incorrect
=0 the Object length is not checked.
Bit3 =1 all communication- and mapping parameters can be saved with Object 1010
h
,
sub-index 02
h
( Þ 4.2.1.16)
This saved mapping is selected at switch-on of the amplifier.
=0 At switch-on of AX2000/2500, the default mapping configuration is set.
5. MDRV (Object 3639
h
, sub-index 01
h
): with this variable, the multidrive mode for the setup-soft-
ware can be engaged (MDRV = 1). In this case only the first three RPDOs and TPDOs are availa-
ble. If all four RPDOs and TPDOS are required, MDRV must be set to 0.
CANopen for AX2000/2500 13
BECKHOFF
07/2007
Installation / Setup