Baumer GXP5W, Manual, Page: 38 / 41

Manual_GXP5_417_Lift_EN.doc 38/41 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
Change single-turn resolution
In Object 6381h the singleturn resolution can be configured. For example, 1024 (10-bit) steps per rotation
(1024 = 400h):
COB-ID DLC Command Object L Object H Subinde
x
Data 0 Data
1
Data
2 Data
3
600h+Node-ID 8 23h 81h 63h 01h 00 04 00 00
Confirmation:
COB-ID DLC Command Object L Object H Subinde
x
Data 0 Data
1
Data
2 Data
3
580h+Node-ID 8 60h 81h 63h 01h 0 0 0 0
Save settings to EEPROM
With Object 1010h the saving of the objects below to the non-volatile memory (EEPROM) is triggered. To
prevent accidental saving, the message "save“ must be written to Subindex 1.
COB-ID DLC Command Object L Object H Subinde
x
Data 0 Data
1
Data
2 Data
3
600h+Node-ID 8 23h 10h 10h 01h 73 's’ 61 'a’ 76 'v’ 65 'e’
COB-ID DLC Command Object L Object H Subinde
x
Data 0 Data
1
Data
2 Data
3
580h+Node-ID 8 60h 10h 10h 01h 0 0 0 0
5.3. Operation
NMT states
After the encoder has been initialized, it is in the Pre-Operational Mode . In this state SDOs can be read and
written.
To also start PDO communication, an
NMT Start must be sent. Then the encoder is in the Operational
Mode . Now desired PDOs are sent. In addition, SDOs can also be read and written.
When the encoder is stopped with an
NMT Stop , the encoder is in the Stopped Mode . In this state only NMT
communication is possible, i.e. also the Heartbeat.
With an
NMT Reset the encoder is reinitialized and is then in the Pre-Operational Mode again.
Read position
Request from the Master:
COB-ID DLC Command Object L Object H Subinde
x
Data 0 Data
1
Data
2 Data
3
600h+Node-ID 8 40h 83h 63h 01h 0 0 0 0
Response (dcba) of the encoder to the request:
COB-ID DLC Command Object L Object H Subinde
x
Data 0 Data
1
Data
2 Data
3
580h+Node-ID 8 43h 83h 63h 01h a b c d