Beckhoff EL5032, Документация

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Commissioning
EL5032, EL5032-0090 95 Version: 2.4
Command Description CoE Entry / sample
0x8001 EnDat Reset
(sends the mode command “measuring
device send position values and receive
error reset”)
With this command the words 0 and 1
(error messages and warnings) in the op-
erating status memory range are also re-
set.
With battery-buffered multi-turn rotary en-
coders the battery operating state error
must be reset with this command after re-
placing the battery.
0x8006 EnDat read Pos2,
calculate and write offset (only for incre-
mental encoders with reference mark).
The command calculates the difference
between Position1 and Position2. A pre-
requisite is that the RM bit (reference
mark) (
0xA0p8:04 [
}
105] ) is set. The off-
set is then automatically written to
0x80p8:12 [ } 101] “Offset value”. The “Po-
sition raw value” ( 0xA0p8:43) [ } 105] is
then absolute.
0x9000 Read EnDat word
- Request (5-byte header)
0: LOBYTE command
1: HIBYTE command
2: MRS code
3: Offset
4: Length in words
- Response (5-byte 1 to 32-
word data)
0: Acknowledge LOBYTE command
1: Acknowledge HIBYTE command
2: Acknowledge MRS code
3: Acknowledge offset
4: Acknowledge length in words
5: LOBYTE word 0
6: HIBYTE word 0
...
5+(n*2) LOBYTE word n
5+(n*2) HIBYTE word n
Example: Read measuring device designation
Read command: 0x9000
MRS code: “Parameters of the measuring device manufacturer for En-
Dat2.2”: 0xBD
Offset Word 17: 0x11
Length: 0x04
1. Write request 0xB008:01: "00 90 BD 11 04"
2. Read status 0xB008:02: a valid response is present if this is 0x01.
3. Read response
5-byte acknowledgement 4-word data
0x45 = ASCII "E"
0x43 = ASCII "C"
0x4E = ASCII "N"
0x20 = ASCII " "
0x31 = ASCII "1"
0x31 = ASCII "1"
0x32 = ASCII "2"
0x33 = ASCII "3"
The measuring device designation reads “ECN 1123”
0x9001 Write EnDat Word
- Request (5-byte 1 to 32-word
data)
0: LOBYTE command
1: HIBYTE command
2: MRS code
3: Offset
4: Length in words
5: LOBYTE word 0
6: HIBYTE word 0
...
5+(n*2) LOBYTE word n
5+(n*2) HIBYTE word n
- Response (5-byte header)
0: Acknowledge LOBYTE command
1: Acknowledge HIBYTE command
2: Acknowledge MRS code
3: Acknowledge offset
4: Acknowledge length in words
Example: Write encoder address
Write command: 0x9001
MRS code: “Operating parameters”: 0xA7
Offset Word 04: 0x04
Length: 0x01
New encoder address: 0x1234
1. Write request 0xB008:01: "01 90 A7 04 01 34 12"
2. Read status 0xB008:02: If this is 0x01, the data was written successfully.
3. Read response
5-byte acknowledgement 1-word data
0x34 = LOBYTE of "0x1234"
0x12 = HIBYTE of "0x1234"