Baumer CiA DS-301, Manual

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BUDE_Manual-CANopen_EN.doc 47/55 Baumer Hübner GmbH
23.10.2012/bja Berlin, Germany
Changing the baud rate
The baud rate can be changed in the object 2100h. An index is written into the object, not the effective baud
rate.
Baud rate
0 10 kBaud
1 20 kBaud
2 50 kBaud
3 100 kBaud
4 125 kBaud
5 250 kBaud
6 500 kBaud
7 800 kBaud
8 1000 kBaud
The baud rate now still has to be saved using object 1010h-1h. On next initialization, the encoder/converter
logs on to the new baud rate. However, before this the baud rate of the master should be changed.
5.2 Configuration
Position setting
The value is transmitted:
COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
600h+node ID 8 23h 03h 60h 0h a b c d
Conformation:
COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
580h+node ID 8 60h 03h 60h 0h 0h 0h 0h 0h
Changing the sense of rotation and scaling
The sense of rotation can be set to CW (clockwise) or CCW (counterclockwise). In addition, the scaling can
be switched on or off in the same object (6000h). With the scaling switched on, the set resolutions are used.
However, if the scaling is switched off, the encoder/converter works with the maximum resolution settings
(6501h and 6502h).
Bit 0: 0 -> CW (clockwise)
1 -> CCW (counterclockwise)
Bit 2: 0 -> Scaling off
1 -> Scaling on
Counterclockwise rotation and scaling on:
COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
600h+node ID 8 23h 00h 60h 0h 5h x 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 60h 0h 0h 0h 0h 0h