Baldor MN1274 06/2001 installation manual B.2.2 What is CANopen?, Mint Constant, Node Type

B.2.2 What is 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 MintDrive implements the CANopen Communication Profile (CiA DS-301) in Mint v4, which supports both direct access to device parameters and time critical process data communication. The MintDrive also supports a number of third-party I/O devices and HMI (Human Machine Interface) operator panels. Each type of device has been assigned a unique node type number that is used to identify it on the network.

Type		Mint Constant	Node Type
	0	_ntNONE	Not present
value
	1	_ntANALOG_IN	Analog Input module (third-party)
	2	_ntANALOG_OUT	Analog Output module (third-party)
itmapB
	4	_ntDIGITAL_IN	Digital Input module (third-party)
	8	_ntDIGITAL_OUT	Digital Output module (third-party)
	21	_ntNEXTMOVE_BX	Controller (Baldor)
	22	_ntNEXTMOVE_PCI	Controller (Baldor)
	30	_ntSERVONODE51	Controller (Baldor)
	32	_ntMINTDRIVE	Controller (Baldor)
	41	_ntOPERATOR_PANEL	HMI operator panel (Baldor)

A third-party CANopen I/O node may have a combination of analog and digital I/O modules. The node type for such a node is a bitmap of the type of modules present, resulting in a node type between 1 and

15.The Baldor controller nodes are connected together over CAN to form a peer-to-peer network. Lines of communication between these nodes exist in the form of singlecast and broadcast messages via the comms array. The I/O nodes and HMI operator panels are connected via CAN and are then assigned to a single Baldor controller node that then has full control over the node’s data (I/O). Due to memory limitations there is a limit to the number of nodes that can be present on the CAN 1 Bus:

HA maximum of 63 Baldor controller nodes can be on the bus at the same time.

HA maximum of 20 CANopen I/O nodes with full digital and analog I/O functionality can be on the bus at the same time.

If the I/O nodes have a reduced function set then a greater number of nodes may be supported.

If support for a greater number of nodes is required on the CAN 1 Bus, please contact Baldor Technical Support for more information.

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