Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 42)

Manual_CANopen_BIDE_EN.docx 42/52 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
6. Applications
6.1. Setting and reading objects
In order to overwrite an object (SDO) or to read it, two telegrams always have to be transmitted.
Object setting
First, the master transmits the value to be set. The encoder then transmits the confirmation.
Value (ba) is transmitted:
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
600h+node ID 8 2Bh 00h 23h 3h a b x x
Confirmation:
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
580h+node ID 8 60h 00h 23h 3h 0 0 0 0
Read object
First the master transmits a request for the required object. Then the encoder transmits the requested value.
Request from master:
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
600h+node ID 8 40h 04h 60h 0h x x x x
Response (dcba) of the encoder to the request:
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
580h+node ID 8 43h 04h 60h 0h a b c d
Commissioning
When the encoder is connected to the bus, it logs on with a BootUp message. The encoder must now be
adjusted to its environment and configured.
Changing the node ID and baud rate with LSS
The node ID and baud rate can be changed without having to use these to address the encoder. With the
LSS service, the sensors are addressed and configured via the product code, revision no., vendor ID and
serial number.
Changing the node ID (node no.)
The node ID can be changed in object 2101h between 1 and 127. A save routine should then be executed
using object 1010h. On the next initialization, the encoder logs on with the new node ID.