Balluff BDG F-NH Series, Руководство по настройке

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4 Quick start
•
The encoder indicates every status modification with its status-LED. See chapter
3.3 "LED status indicator and signal codes".
4.1 CAN ne twork integ ration
The default node ID of Balluff encoders (Object 2101h sub-Index: 00h) is 7Fh=127d.
For operating in a CAN-
Network, the encoder’s baudrate has to be set. The common ways to set the baudrate is
via LSS (CiA DSP-305) or a SDO command.
Balluff encoders have the capability to detect the baudrate of the network automatically (object 2100h sub-Index:
00h value: 09h - Baudrate-auto-detection). So usually the baudrate setup is not necessary. To detect the valid
baudrate the encoder stays passive and scans the communication at the bus. When the baudrate is detected, the
encoder is set to this rate, sends its boot-up message and switches into pre-operational mode.
To prevent possible collisions in case double assigned node ID it is recommended to use a 1:1 connection with a
bus master for configuration (e.g. a laptop computer with suitable hard- and software). Set the master on the
intended baudrate and use SDO or LSS services to configure the encoder.
4.2 SDO command to set th e node ID
After connecting the encoder with the CAN bus respectively the master (e.g. a laptop computer with suitable hard-
and software) the LED starts "flickering red and green" (see
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werden. LED indications 2).
First send one or more SYNC messages, which the encoder can use to detect the baudrate:
080h 8 00h 00h 00h 00h 00h 00h 00h 00h
CAN-ID DLC Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6
Table 4.1: SYNC-message
The encoder will detect and lock on the used baudrate. It will send its boot-up message and the LED starts to
blink green (see Figure 3.1).
To set the encoders node ID the object 2101h, Sub-Index 00h has to be accessed. (Only possible in PRE-
OPERATIONAL state!) Send a write-SDO-command with the intended node ID (in hex):
600h+ID 8 2Fh 01h 21h 00h Node-ID 00h 00h 00h
CAN-ID DLC Command Object L Object H Sub-Index Byte0 Byte1 Byte2 Byte3
Table 4.2: SDO-write command to set Node-ID