www.baldormotion.com5-24 Input / Output MN19435.7.3 CANopenBaldor have implemented a CANopen protocol in Mint (based on the ‘Communication Profile’ CiADS-301) which supports both direct access to device parameters and time-critical process datacommunication. The MotiFlex e100 complies with CANopen slave device profile DS402, and canbe a DS401 or DS403 master device (with limited functionality). It is able to support andcommunicate with a variety of devices including:H Any third party digital and analog I/O device that is compliant with the ‘Device Profile forGeneric I/O Modules’ (CiA DS-401).H Baldor HMI (Human Machine Interface) operator panels, which are based on the ‘DeviceProfile for Human Machine Interfaces’ (DS403).H Other Baldor controllers with CANopen support for peer-to-peer access using extensions tothe CiA specifications (DS301 and DS302).The functionality and characteristics of all Baldor CANopen devices are defined in individualstandardized (ASCII format) Electronic Data Sheets (EDS) which can be found on the BaldorMotion Toolkit CD supplied with your product, or downloaded from www.baldormotion.com.Figure 64 shows a typical CANopen network with a NextMove e100 manager node, oneMotiFlex e100 slave node and a Baldor HMI operator panel:7269NextMove e100D-type72Baldor HMIOperator PanelTwisted pair Twisted pairsTR TREndnode72697269MotiFlex e100D-type65CANopenD-type5 512‘X2’24 V0 VPhoenixSUBCON-PLUS F3Figure 64 - Typical CANopen network connectionsNote: The MotiFlex e100 CAN channel is opto-isolated, so a voltage in the range12-24 VDC must be applied between pin 9 and pin 6 of the CAN connector. Seesection 5.7.2.1.The configuration and management of a CANopen network must be carried out by a single nodeacting as the network manager (for example NextMove e100), or by a third party CANopenmanager device. Up to 126 CANopen nodes (node IDs 2 to 127) can be added to the network bythe manager node using the Mint NODESCAN keyword. If successful, the nodes can then beconnected to using the Mint CONNECT keyword. Any network and node related events can thenbe monitored using the Mint BUS1 event.Note: All CAN related Mint keywords are referenced to CANopen using the bus parameter.For CANopen the bus parameter must be set to 1. Please refer to the Mint help filefor further details on CANopen, Mint keywords and their parameters.
