Balluff BDG F-NH Series, Руководство по настройке

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The new baudrate will become effective after a reset of the encoder (hard reset or
NMT reset). Writing on object 2100h is not protected and the change will be
immediately stored in the internal EEPROM. It is not necessary to perform a "save
parameters".
8.3.4 Node-ID selection
It is possible to change the node ID of the encoder by SDO. To set the node ID the object 2101h, sub-Index 00h,
has to be changed (only possible in Pre-Operational state!) with a simple SDO write command:
600h+ID 8 2Fh 01h 21h 00h Node 00h 00h 00h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.35: Node-ID selection
Valid node IDs can be:
Encoder number (d) Node-ID (h)
1 01h
2 02h
… …
127 7Fh
Table 8.36: Valid Node-IDs
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The new node ID will become effective after an encoder reset (hard reset or NMT
reset). Writing on object 2101h is not protected and the change will be immediately
stored in the internal EEPROM. It is not necessary to perform a "save
parameters".
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Changing the Node ID automatically adjusts the PDO and EMCY COB-IDs. After
the first manual storage, they are set to their current value and will be no longer
automatically adjusted. Performing the "Restore Defaults" command will re-enable
automatic adjustment.
8.3.5 Basic NMT commands
This subsection describes several basic NMT commands. Basic information are available at 5.4.
To set the encoder into Operational state , the "Start remote node" command is used:
0 02h 01h 0
– 127
CAN-ID DLC Command Byte Node-ID
Table 8.37: NMT command - Start remote node