Baumer GCA5 C8 Handbuch - Seite 8

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5 SDO service

5.1

General

The device supports 1 SDO server (Expedited read/write, segmented read)
5.2

Save/load parameters

The device supports saving parameters to a non-volatile memory.

Save

5.2.1
Writing "save" to 0x1010-x saves the corresponding objects to the non-volatile memory. After a reset or power-on, the
parameters are loaded from the non-volatile memory. The SDO request to 1010h-x is answered after saving.

Load

5.2.2
Writing "load" to 1011h-x restores the corresponding objects. The parameters are restored after a reset or power-on.

Safe non-volatile operation

5.2.3
To ensure safe non-volatile operation, the time between access object 1010h-x or 1011h-x and a reset or power-on has
to be at least 600 ms.

Side effect

5.2.4
Save/Load operations interrupt the updating of position.
5.3

Examples writing parameters

How to save data

5.3.1
See paragraph 5.2.1 respectively send SDO message
COB-ID
Len
0x600 + ID
8

How to change the node ID

5.3.2
Send the SDO message
COB-ID
Len
0x600 + ID
8
Note: values below 1 or above 127 are not accepted and the existing setting remains valid. After setting the new entries
a SAVE command (see par. "How to save data") followed by a turnoff and on.

How to change the baud rate

5.3.3
Send the SDO message
COB-ID
Len
0x600 + ID
8
Note: Values above 7 are not accepted and the existing setting remains valid. After setting the new entries
a SAVE command (see par. "How to save datas") followed by a turnoff and on.
Baumer_GCA5_CANopen_MA_EN_V1_02.docx
28.09.2016
D0
D1
D2
0x23
0x10
0x10
D0
D1
D2
0x2F
0x01
0x30
D0
D1
D2
0x2F
0x00
0x30
D3
D4
D5
0x01
0x73
0x61
D3
D4
D5
0x00
ID
0x00
D3
D4
D5
0x00
BR
0x00
8/16
D6
D7
0x76
0x65
D6
D7
0x00
0x00
D6
D7
0x00
0x00
Baumer Electric AG
Frauenfeld, Switzerland