# CANopen

CANopen is a communication fieldbus standardized by the CAN in Automation Group (CiA). Applied Motion Products drives are compliant to CiA DS301 and DSP402, and use the CAN 2.0b Passive physical layer. Detailed information on the Applied Motion Products CANopen implementation may be found on our website, www.applied-motion.com.

CANopen drives support the following DSP402 Operating Modes:

- Profile Position Mode
- Profile Velocity Mode
- Homing Mode
- Q Program Mode

Bit Rate Setting

The CANopen network bitrate is set by the rotary switch on the front of the drive. The bitrate must be the same for all nodes on the CANopen network. The table below shows the various bitrates supported by Applied Motion Products, and their corresponding switch settings. Please note, any changes to the bitrate require either a powercycle or a CANopen reset command to take effect.

Octal Switch Setting | Resultant Bit Rate
0 | 1 Mbps
1 | 800 kbps
2 | 500 kbps
3 | 250 kbps
4 | 125 kbps
5 | 50 kbps
6 | 20 kbps
7 | 12.5 kbps

Node ID Setting

Each node on a CANopen network must have a unique Node ID. This is set using both the Configurator software's Drive...Set Node ID Range, as well as the sixteen position hardware switch on the front of the drive (above, right). CANopen Node IDs are seven bits long, with a range of 1 - 127, or 0x01 - 0x7F in hexadecimal
notation. The lower four bits, 0x0-0xF are set using the hardware switch, and the upper three bits, 0x0 - 0x7, are set using Configurator.
A Node ID of 0x39, for example, may be set by turning the switch on the drive to 9, and setting the Configurator
software to a range of 0x30 - 0x3F.

Connector Pin Assignments

STM17

STM23/24

ST5-C, ST10-C, STAC6