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19.07.2013
7.1 Communication parameters
Object
Subindex
Name Format Access Default Description
1000h NMT_DeviceType_U32 U32 const Multiturn encoder:
0002’0196h
Singleturn encoder:
0001’0196h Device type
Byte 0..1: Profile nr. = 196h = 406
Byte 2..3: Encoder type
Type =1: Absolute Singleturn
Type =2: Absolute Multiturn
1010h NMT_StoreParam_REC Storing parameters
Writing the ASCII
value „save“
(=73617665h) into the respective
subindex activates the save
procedure.
00h NumberOfEntries U8 const 4 Largest subindex
01h AllParam_U32 U32 rw Save all parameters
02h CommunicationParam_U32 U32 rw Save communication parameters
03h ApplicationParam_U32 U32 rw Save application parameters
1011h NMT_RestoreDefParam_REC Load factory configuration
Writing the ASCII value “load”
(=6C6F6164h) within the respective
subindex activates the restore
procedure.
00h NumberOfEntries U8 const 3 Largest subindex
01h AllParam_U32 U32 rw Load all parameters
02h CommunicationParam_U32 U32 rw Load communication parameters
03h ApplicationParam_U32 U32 rw Load application parameters
04h ManufacturingParam_U32 U32 rw Load manufacturer parameters
1018h NMT_IdentityObject_REC General product information
00h NumberOfEntries U8 const 3 Largest subindex
01h VendorID U32 const 5Fh Vendor ID from EPSG
02h ProductCode U32 const See section 1.2 Number for product identification
03h RevisionNumber U32 const Product revision number
04h SerialNumber U32 const Unique consecutive serial number
1800h PDO_TxCommParam_0h_REC PDO Communication parameter
00h NumberOfEntries U8 const 3 Largest subindex
01h NodeID_U8 U8 rw 0 Node ID
02h MappingVersion_U8 U8 ro 0 Static mapping only
1A00h PDO_TxMappParam_0h_AU64 PDO Mapping parameter
00h NumberOfEntries U8 const 1 Largest subindex
01h ObjectMapping 1 U64 ro
0020’0000’0000’6004h
Static mapping with position value
(object 6004) transmitted in PDO
02h ObjectMapping 2 U64 ro
0020’0000’0000’6030h
(FW 1.5.0 and higher: position and
speed transmitted)
1F82h NMT_FeatureFlags_U32
U32 const
0000’0607h
Supported features
Isochronous
SDO by UDP/IP
SDO by ASnd
Multiplexed Access,
NodeID setup by SW
1F83h NMT_EPLVersion_U8
U8 const 20h
Powerlink Communication profile
Currently used version
1F93h NMT_EPLNodeID_REC Definition of Node ID
00h NumberOfEntries U8 const 3 Largest subindex
01h NodeID_U8 U8 ro 1 Currently active Node ID
02h NodeIDByHW_BOOL BOOL ro Default: FALSE
Range: FALSE/TRUE 0: NodeID defined by Software; Both
HW switches set to 0 (s. section 8.5)
1: NodeID defined by HW Switch
03h SWNodeID_U8
1,2
U8 rw Default: 1
Range: 1..240, 253, 254 SW NodeID; Address is applied after
power off/on
1)
Values are
saved using object 1010h subindex 01h („save all parameters“)
2)
Values are saved using object 1010h subindex 02
h („save communication parameters“)