CPB CANopen Technical Manual

Configuration via CANopen

Communication settings

Described in the following chapters is how you can change the communication settings.

The controller is configured per default for node-ID 127 and a baud rate of 1 Mbaud.

Setting node-ID and baud rate

If you have not connected any rotary switches, set object 2104h:01h to the value "0". You set the communication parameters in objects 2005h CANopen Baudrate and 2009h CANopen NodeID.

You must save the changes by writing value "65766173h" in object 1010h:0Ah and :02h. The changes are not taken over until after the controller has been restarted.

Rotary switch

If you would like to use the rotary switches, set object 2104h:01h to the value "1" (factory settings). You can find the specified wiring for the rotary switches in chapter Connecting switches for communication settings.

You must save the change by writing value "65766173h" in object 1010h:02h. The change is not taken over until after the controller is restarted.

You can set the source for the CANopen node-ID and the baud rate using the combination of numbers from both rotary switches.

The following applies here: the combination of numbers is formed using both rotary switches, where the hex switch at pins E to H (S2) represents the higher-value byte and the other switch (S1) the lower-value byte.


Switch S1 is set to the value "0h", switch S2 to the value "Fh"; the result is the value "0Fh"="16d".
Switch S1 is set to the value "Ah", switch S2 to the value "1h"; the result is the value "A1h"="161d".

Node-ID and baud rate

The following table shows the possibilities that arise for the rotary switches.
Number combinations of the rotary switches Node-ID Baud rate
dec hex
0 0 Object 2009h 1 MBd fixed
1-127 1-7F Number of the rotary switches 1 MBd fixed
128 80 Object 2009h Object 2005h
129-255 81-FF (Number of the rotary switches)-128 Object 2005h

You can find the value of 2005h in the following table.

Value in 2005h

Baud rate

in kBd

dec hex
120 78 100
129 81 10
130 82 20
131 83 50
132 84 125
133 85 250
134 86 500
135 87 1000


  • If the rotary switch is set to the value "1", the node-ID is set to "1" and the baud rate is permanently set to 1000 kBd. In the event of problems with the configuration, communication can thereby always be established with the controller and any errors reversed.
  • The changes in objects 2005h and 2009h must be stored by writing value "65766173h" in object 1010h:0Ah.
  • The changes are not accepted until either
    • the voltage supply is briefly disconnected or
    • the CANopen message "RESET COMM" (NMT) is sent to the motor.
  • The load sequence for objects 2005h and 2009h is as follows (each successive value overwrites the previous):
    1. The default value is loaded.
    2. A stored value – if present – is loaded.
    3. The configuration file is used if the controller has one.
    4. The settings of the rotary switch(es) are taken over.

Setting using LSS

The Layer Setting Services offers you the option to dynamically assign the node-ID and/or the baud rate via the CANopen bus. See chapter LSS protocol.

To do this, the (optional) rotary switches must be set to the position at which the node-ID and baud rate are read from the respective objects.

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