Baldor MN1928 installation manual Input / Output, Typical CANopen network connections

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4.6.3 CANopen

The NextMove ES must have the CANopen firmware loaded to use this protocol.

Baldor have implemented a CANopen protocol in MintMT (based on the ‘Communication Profile’ CiA DS-301) which supports both direct access to device parameters and time-critical process data communication. The NextMove ES design does not comply with a specific CANopen device profile (DS4xx), although it is able to support and communicate with the following devices:

HAny third party digital and analog I/O device that is compliant with the ‘Device Profile for Generic I/O Modules’ (CiA DS-401).

HBaldor HMI (Human Machine Interface) operator panels, which are based on the ‘Device Profile for Human Machine Interfaces’ (DS403).

HOther Baldor controllers with CANopen support for peer-to-peer access using extensions to the CiA specifications (DS301 and DS302).

The functionality and characteristics of all Baldor CANopen devices are defined in individual standardized (ASCII format) Electronic Data Sheets (EDS) which can be found on the Baldor Motion Toolkit CD supplied with your product, or downloaded from www.supportme.net.

Figure 19 shows a typical CANopen network with two NextMove ES units and a Baldor HMI operator panel:

	Baldor HMI			NextMove ES		NextMove ES
	Operator Panel
		CANopen			RJ45	RJ45
		D-type	Twisted pairs	CAN+	Twisted pairs
		7			1	1
Power		2		CAN-	2	2
		TR				TR
supply				0V
terminal		6			4	4
block
24V	1			24V	5	5
0V	2	5

End node

1

2

4

5

Figure 19 - Typical CANopen network connections

Note: The NextMove ES CAN channel is opto-isolated, so a voltage in the range 12-24V must be applied to pin 5 of the CAN connector. An additional adaptor (e.g. RS Components part 186-3105) or modifications to the cable may be required to facilitate the power connection.

The configuration and management of a CANopen network must be carried out by a single node acting as the network master. This role can be performed by the NextMove ES when it is configured to be the Network Manager node (node ID 1), or by a third party CANopen master device.

Up to 126 CANopen nodes (node IDs 2 to 127) can be added to the network by a NextMove ES Manager node using the MintMT NODESCAN keyword. If successful, the nodes can then be connected to using the MintMT CONNECT keyword. Any network and node related events can then be monitored using the MintMT BUS1 event.

4-22 Input / Output MN1928