Baumer G1-G2-G0-GE-GB-GXxxx User Manual

Page 47

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Manual_CANopen_BIDE_EN.docx

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Baumer IVO GmbH & Co. KG

21.11.12

Villingen-Schwenningen, Germany

Trace view of CAN-telegrams to and from encoder

(commands see page before)


Boot up after Power on

SDO request to encoder
COB ID = 0x600+Node ID

SDO response from encoder
COB ID = 0x580+Node ID

Encoder in state Operational

Run, transmitting cyclic Position-Data
COB ID = 0x180 + Node ID
Encoder in state Pre-operational
Encoder in state Stopped

Encoder Reset

Boot up Message
COB ID = 0x700+Node iD

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