Printed in the Federal Republic of Germany
TR-Electronic GmbH 2016, All Rights Reserved
11/20/2018
TR - ECE - BA - DGB - 0128 - 01
Page 119 of 127
8.2 TR - Mode
8.2.1 Object 2001h: TR-Operating parameters, code sequence
The object with index 2001h supports only the function for the code sequence.
The code sequence defines whether increasing or decreasing position values are
output when the measuring system shaft rotates clockwise or counter clockwise as
seen on the flange side.
Index
2001h
Description
TR-Operating parameters
Data type
UNSIGNED16
Category
Optional
Access
rw
PDO mapping
No
Lower limit
0x0000 = increasing
Upper limit
0x0001 = decreasing
Default
0x0000
8.2.2 Object 2100h: COB-ID for boot-up message
This object configures the COB-ID which is transmitted when the measuring system
starts up (Switch-on time/RESET NODE) and is used to signal that the slave has
entered the state PRE-OPERATIONAL after the state INITIALIZING. Valid values are
000h to 7FFh, default value = 700h.
By means of bit 2
15
this function can be enabled / disabled:
Bit 2
15
= 0: Written value into bits 2
0
to 2
10
is valid, with the next start up the
COB-ID configured is used.
Bit 2
15
= 1: Written value into bits 2
0
to 2
10
is not valid, with the next start up no
boot-up message is transmitted.
Unsigned16
COB-ID for Boot-Up Message
Byte 0
Byte 1
2
7
to 2
0
2
10
to 2
8
2
11
to 2
14
2
15
00h
– FFh
0h
– 7h
0h
0-1
8.2.3 Object 2101h: TR-Send PDO at Node-Start
About this object the one-time transmission of the measuring system position value via
TPDO1 and TPDO2 at node start can be prevented.
Unsigned8
Bit
Function
Bit = 0
Bit = 1
0
Send TPDO1 at Node-Start
off
on (default)
1
Send TPDO2 at Node-Start
off (default)
on
2 - 7
Reserved for further use
