Baumer GNAMG Series Manual - Página 16

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Baumer GNAMG Series Manual
Setting the BitTiming
7E5h  13h
tableSel tableInd reserved
7E4h  13h
ErrCode SpecError reserved
TableSel
: Selects BitTiming table
TableInd
: BitTiming entry in table selected (see table below).
ErrorCode
: 0=OK; 1=BitTiming beyond the range; 2..254=reserved; 255SpecificError
: If ErrorCode=255  application-specific error code.
SpecificError
Standard CiA Table
Baud rate
1000 kBaud
800 kBaud
500 kBaud
250 kBaud
125 kBaud
100 kBaud
50 kBaud
20 kBaud
10 kBaud
Saving the configuration protocol
By this protocol the configured parameters are saved in EEPROM.
7E5h  17h
reserved
7E4h  17h
ErrCode SpecError Reserved
ErrorCode
: 0=OK;1=saving not supported;2=acess error;3..254=reserved;255specificError
: If ErrorCode=255  application-specific error code.
SpecificError
Activate BitTiming Parameters
The new BitTiming parameters are activated by command specifier 15h.
7E5h  15h
Switch Delay
Switch Delay
: Delay in ms of slave reset.
After the delay the inclination sensor will register with the new baud rate.
VendorId request
Requesting the VendorId of a selected inclination sensor
7E5h  5Ah
Reserved
7E4h  5Ah
32 Bit Vendor ID
VendorID
: = ECh
Manual_GNAMG_CANopen_EN.doc
21.11.12
0
1..127
128..255 : Manufacturer-specific tables
Table Index
0
1
2
3
4
5
6
7
8
Reserved
Reserved
16/41
: Standard CiA Bit Timing table
: Reserved for CiA
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany