Balluff BDG F-NH Series, Руководство по настройке

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Now the next data segment can be send:
600h+ID 8
1Dh
00011101b
ccs=0, t=1,
n=6, c=1 data x x x x x x
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.31: send next segment
Within this segment it is indicated that this was the last data segment and that only the first data byte contained
valid data.
The encoder confirms:
580h+ID 8
20h
00100000b
scs=1, t=1 data x x x x x x
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.32: Acknowledgement send by the encoder
The 7 data bytes of the first segment and the single valid data byte of the data bytes represent the 8 byte "High
Precision Position Preset Value" (object 6009h).
8.3.3 Baudrate selection
The Balluff encoders provide an automatic baudrate detection. It is also possible to use a fixed baudrate which
can be set by either LSS (as described above) or SDO.
The configuration of the encoder is only possible in Pre-Operational mode. To alter the baudrate you have to
change the object 2100h into Sub-Index 00h. This can be achieved with a simple SDO write command with the
target baudrate as data.
600h+ID 8 2Fh 00h 21h 00h Baud 00h 00h 00h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.33: SDO command
– set baudrate
The following values represent the valid baud rates:
Value Baudrate
0 1 Mbit/s
1 800 kBit/s
2 500 kBit/s
3 250 kBit/s
4 125 kBit/s
5 100 kBit/s
6 50 kBit/s
7 20 kBit/s
8 10 kBit/s
9 Auto
Table 8.34: Baudrate-coding