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B.2.3 Configuring nodes
A node must be assigned a unique node number. On Baldor controllers, the node number and CAN
baud rate can be set using the NODE and CANBAUD Mint keywords. For example the following
commands change the c ontroller’s node number to 12 and the baud rate to 500Kbaud:
NODE = 12
CANBAUD.1 = 500
Note: Note that third-party I/O nodes will have a specific method for setting their node number and
CAN baud rate. Please refer to the manufacturer’s instructions.
The MintDrive stores its node number and CAN baud rate in non -volatile memory so that each time it is
powered, the basic CAN configuration is automatically setup.
B.2.4 Network manager - node 1
On the CAN1 network there must be a device with node number 1. This node is called the network
manager node because it performs supervisory tasks that ensure the network operates correctly.
These include:
H NMT Master tasks - This includes initialization of NMT slaves that are to be added to the bus during
a node scan, supervision of node status via nodeguarding and supervision of the bus status.
H SDO Manager - Setting up and maintaining a list of all connections that are active between nodes
(comms array links and groups).
H Configuration Manager - Upload/download of configuration data to/from a node on the network
during a node scan.
If node number 1 is being used to manage a network with a large number of nodes, it is advisable that it
is not used to control motion on its local axis/axes. The node should act simply as a gateway from the
host computer to the networked controllers, maintaining all network connections and reporting all
node/bus events.
B.2.5 Scanning nodes
The first step in creating a CANopen network is to find and identify the nodes that exist on the CAN bus.
This is achieved by using the NODESCAN command on the network manager node.
The controller can find all nodes that exist on the bus by passing zero as the node parameter:
NODESCAN.1.0 where 1 is the CAN bus,
or the user can request the network manager to scan for individual nodes by passing the node number
as the node parameter:
NODESCAN.1.2
The VIEW NODELIVE command can be used on the network manager to get a summary of the nodes
that have been detected by the scan.