Baumer GK473 - Manual (Page 13)

Manual_GK473_CANopen_EN.doc 13/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
Writing on SUB bus (SPA)
After ‚download complete’ by CANopen Master the gateways confirmation is delayed (max. 100 ms,
during this time the SPA is addressed by the SUB bus)
Access to RS485 user (SPA) by SDO object 0x3000 and 0x3100
Accessing an SPA either in reading or writing requires two SDO’s being transmitted by CANopen.
(1) 0x3000 by SDO an identifier/command pointer is set on the addressed SPA.
(2) 0x3100 by SDO the SPA data are read or written
Note: 0x3000 has to be transmitted once only in order to get reading or writing access as many times
as required to the same SPA by the same command.
Example: Check Position SPA with RS485 SUB bus identifier 2
Gateway CANopen user address 1 (Node ID)
Object 0x3000 Setting an identifier/command pointer to SUB bus user (SPA)
The internal identifier pointer for RS485 bus now is on SPA with identifier 2 (0x22= 0x20 + identifier)
The internal command pointer is on command ‚C’ (0x43) read Check Position
SPA identifier 2 (0x20 +2 = 0x22)
Command = „C“ =0x43 = check position
„x“ =0x78 = not in position, profile 0x31,0x37 = 17
SPA identifier 2 (0x20 +2 =
0x22)
command = „C“ =0x43 = check
position