Baumer GK473 - Manual (Page 11)

Manual_GK473_CANopen_EN.doc 11/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
Object 0x3204 Collective information „Check Position“
0x3204_0 SDO Sub Index count
0x3204_1 scan total of SPAs ‚not in position’
0x3204_2 scan SPA with SUB bus identifier 0..31 ‚not in position’
0x3204_3 scan SPA with SUB bus identifier 32..63 ‚not in position’
0x3204_4 scan SPA with SUB bus identifier 64..95 ‚not in position’
0x3204_5 scan SPA with SUB bus identifier 96..99 ‚not in position’
0x3204_2.. 0x3204_5
The information SPA ‚not in position’ is in binary code in a 32 bit double word.
A bit entry at location 2
n is representing a SPA with identifier n ‚not in position’
Example: read SPA with SUB- bus identifier 0..31
‚not in position’
0x 00 80 00 3C
0x00
x x x x x
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Result: SPA with user identifiers 2, 3, 4, 5 and 23 are not in position
Example: scan SPA with SUB bus identifier 64..95
‚not in position’
0x00 00 00 04
0x00
x
95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64
Result: SPA with user identifier 66 is ‚not in position’