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Input / Output 4-21MN1904
4.7.8 CANopen
CANopen is a networking system based on the serial bus CAN. It uses the international CAN
standard ISO 11898 as the basis for communication. The Mint firmware implements a
CANopen protocol on CAN bus 1, based on the ‘Communication Profile’ CiA DS-301, which
supports both direct access to device parameters and time-critical process data
communication. This provides support for a range of Baldor and third-party devices.
The CANopen channel is available on both CAN connectors.
The default baud rate is 500Kbit/s, but this can be changed using the Mint
keyword BUSBAUD (previously CANBAUD). It is stored in EEPROM and
restored at power up.
CAN1 must be terminated by a 120Ω resistor connected between CAN1+
and CAN1- at both ends of the network and nowhere else. If the
NextMove BX
II
is at the end of the network then ensure that CAN jumper 1 (accessible on the
top panel) is fitted.
4.7.9 Baldor CAN
Baldor CAN is also a networking system based on the serial bus CAN. It uses the
international CAN standard ISO 11898 as the basis for communication. The Mint firmware
implements a proprietary Baldor protocol on CAN bus 2, based on CAL, which supports both
direct access to device parameters and time-critical process data communication. This
provides support for the full range of Baldor ioNode CAN peripherals.
The Baldor CAN channel is available on both CAN connectors.
The default baud rate is 125Kbit/s, but this can be changed using the Mint
keyword BUSBAUD (previously CANBAUD). It is stored in EEPROM and
restored at power up.
CAN2 must be terminated by a 120Ω resistor connected between CAN2+
and CAN2- at both ends of the network and nowhere else. If the
NextMove BX
II
is at the end of the network then ensure that the CAN jumper 2 (accessible on
the top panel) is fitted.
On the ioNode peripheral, jumpers JP1 and JP2 must be in the CAN Bus 2 position to select
pins 7 & 8 for CAN traffic.