TMCM 351 CANOpen Changing Baud Rate

[gwk_logitech]

Hi,

I have a TMCM 351 with CANOpen firmware loaded into it. I would like to use it with 500kBit/s baud rate and are sending the following commands:

11:54:57.007<TX> 1,0,8,2B_2704_00_F4010000 <SDO 1 tx> -- SDO Request to change baud rate to 500
11:54:57.023<RX> - 1,0,8,60_2704_00_00000000 <SDO 1 rx> -- SDO response ok
11:54:57.023<TX> 1,0,8,2F_2705_00_0E000000 <SDO 1 tx> -- SDO Request to change Node ID to 14
11:54:57.038<RX> - 1,0,8,60_2705_00_00000000 <SDO 1 rx> -- SDO response ok
11:54:57.038<TX> 1,0,8,23_2706_01_73617665 <SDO 1 tx> -- SDO Request to store From CANopen_ThreeAxis.pdf section 4.2.33 "0x65766173 into sub-index 1"
11:54:57.054<RX> - 1,0,8,80_2706_01_22000008 <SDO 1 rx> -- SDO error received = 08000022

A general Google for the error number gives us this meaning: "The data item cannot be transferred or stored in the application due to the current state of the device."

If the error code is correct what state do I need to put the TMCM351 into before storing the new baud rate and Node ID?

Many thanks

G. Kennedy

[Olav Kahlbaum (TRINAMIC)]

The DSP402 state machine must be in SWITCHED_ON_DISABLED state, the DS301 state machine can be in any state to be able to store the new ID and bitrate parameters. The new parameters will then become active after the next reset.
The value that has to be written into the store object (0x2706/1) is the save signature ("save", but in such a CANopen signature the last byte comes first, so it is "evas"). The SDO then looks like this: 23 06 27 01 73 61 76 65. So your SDO looks correct.

[gwk_logitech]

Many thanks I can now change the baud rate and Node ID and it is saved and restored correctly at switch on.

Thank you for you fast response.