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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
alue
1 _ntANALOG_IN Analog Input module (third-party)
ap v
a
2 _ntANALOG_OUT Analog Output module (third-party)
Bitm
a
4 _ntDIGITAL_IN Digital Input module (third -party)
B
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:
H A maximum of 63 Baldor controller nodes can be on the bus at the same time.
H A 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.