Baumer GNAMG - Manual (Page 16)

Manual_GNAMG_CANopen_EN.doc 16/41 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
Setting the BitTiming
7E5h  13h tableSel tableInd reserved
7E4h  13h ErrCode SpecError reserved
TableSel
: Selects BitTiming table 0 : Standard CiA Bit Timing table
1..127 : Reserved for CiA
128..255 : Manufacturer-specific tables
TableInd : BitTiming entry in table selected (see table below).
ErrorCode : 0=OK; 1=BitTiming beyond the range; 2..254=reserved; 255SpecificError
SpecificError : If ErrorCode=255  application-specific error code.
Standard CiA Table
Baud rate Table Index
1000 kBaud 0
800 kBaud 1
500 kBaud 2
250 kBaud 3
125 kBaud 4
100 kBaud 5
50 kBaud 6
20 kBaud 7
10 kBaud 8
Saving the configuration protocol
By this protocol the configured parameters are saved in EEPROM.
7E5h  17h reserved
7E4h  17h ErrCode SpecError Reserved
ErrorCode
: 0=OK;1=saving not supported;2=acess error;3..254=reserved;255specificError
SpecificError : If ErrorCode=255  application-specific error code.
Activate BitTiming Parameters
The new BitTiming parameters are activated by command specifier 15h.
7E5h  15h Switch Delay Reserved
Switch Delay
: Delay in ms of slave reset.
After the delay the inclination sensor will register with the new baud rate.
VendorId request
Requesting the VendorId of a selected inclination sensor
7E5h  5Ah Reserved
7E4h  5Ah 32 Bit Vendor ID Reserved
VendorID
: = ECh