Baumer CiA DS-301, Manual

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BUDE_Manual-CANopen_EN.doc 46/55 Baumer Hübner GmbH
23.10.2012/bja Berlin, Germany
5 Applications
5.1 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/converter 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 0h 0h 0h 0h
Read object
First the master transmits a request for the required object. Then the encoder/converter 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/converter 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/converter is connected to the bus, it logs on with a BootUp message. The
encoder/converter 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/converter.
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/converter logs on with the new node ID.