Baumer CiA DS-301, Manual

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BUDE_Manual-CANopen_EN.doc 24/55 Baumer Hübner GmbH
23.10.2012/bja Berlin, Germany
100Dh Life Time factor
U8 rw 0h yes Multiplicator of Guard Time
1010h Store parameters
ARR
00h Biggest subindex
U8 ro 4h
01h Save all parameters
U32 rw =“save“ (0x73617665) to save
02h Communication parameters U32
rw =“save“ (0x73617665) to save
03h Application parameters
U32 rw =“save“ (0x73617665) to save
04h Manuf. specific parameters
U32 rw =“save“ (0x73617665) to save
1011h Restore default parameters
ARR
00h Biggest subindex
U8 ro 4h
01h All parameters
U32 rw =“load“ (0x6C6F6164) to load
02h Communication parameters U32
rw =“load“ (0x6C6F6164) to load
03h Application parameters
U32 rw =“load“ (0x6C6F6164) to load
04h Manufacturer specific
parameters
U32 rw =“load“ (0x6C6F6164) to load
1014h Emergency COB ID
U32 rw 80h +Node ID yes COB ID of the emergency object
1016h Consumer Heartbeat time
ARR
00h Biggest subindex
U8 ro 1h
01h Consumer Heartbeat time
U32 rw 10000h yes Bit0..15 Consumer Heartbeat Time in ms
Bit16..23 Node-ID
1017h Producer heartbeat time
U16 rw 0h yes Producer Heartbeat time in ms
1018h Identity object
U32 ro
00h Biggest subindex
U8 ro 4h
01h Vendor ID
U32 ro ECh yes Vendor no. issued by CiA
02h Product code
U32 ro
0Ah
0Bh
0Fh
yes Product Code:
0Ah = 29 bit encoder/converter
0Bh = 13 bit encoder/converter
0Fh = 18 bit encoder/converter
03h Revision number
U32 ro actual value yes Current revision number
04h Serial number
U32 ro actual value yes Unique consecutive serial number
1029h Error behavior
ARR (V1.04+)
00h Biggest subindex
U8 ro 1h
01h Communication error
U8 rw 1h yes 0h = change to Pre-Operational Mode
1h = no Mode-change
2h = change to Stop Mode
3h = reset node
1800h Transmit PDO1 parameter
REC
00h Biggest subindex
U8 ro 5h
01h COB ID
U32 rw 180h+id yes PDO ID = 180h + node ID
02h PDO type
U8 rw FEh yes FEh=User defined, cyclical
05h Event timer
U16 rw 203h yes Cycle time in ms
1801h Transmit PDO2 parameter
REC
00h Biggest subindex
U8 ro 5h
01h COB ID
U32 rw 280h+id yes PDO ID = 280h + Node ID
02h PDO type
U8 rw 2h yes 2h= synchronous operation
05h Event timer
U16 rw 100h yes Cycle time in ms
1A00h Transmit PDO1 mapping
ARR
00h Biggest subindex
U8 ro 1h
01h Content of PDO1
U32 ro 60040020h
1A01h Transmit PDO2 mapping
ARR
00h Biggest subindex
U8 ro 1h
01h Content of PDO2
U32 ro 60040020h