Baumer GIM700DR Manual - Halaman 15

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COB-ID cs

Byte 1

Switch state global

7E5h  04h

State

: 0  Operational state

: 1  Configuration state

Switch state selective

The following procedure can be used to address a certain sensor in the bus system.

7E5h  40h

Vendor ID

7E5h  41h

Product code

7E5h  42h

Revision number

7E5h  43h

Serial number

7E4h  44h

State

Vendor ID

: ECh

Product code

: Internal product code for the respective sensor

Revision number : Current revision number of the sensor

Serial number

: Unique, consecutive serial number

State

: The sensor's response is the new state (0=operating state; 1=configuration state)

Setting node-ID

7E5h  11h

Node-ID

7E4h  11h

ErrCode

Node-ID

: The sensor's new Node-ID

Error code

: 0=OK; 1=Node-ID outside range; 2...254=reserved; 255Specific error

Specific error

: If Error code=255  application-specific error code.

Setting bit timing

7E5h  13h

Ta-

bleSel

7E4h  13h

ErrCode

TableSel

: Selects the bit timing table

TableInd

: Bit timing entry in selected table (see table below).

Error code

: 0=OK; 1=Bit timing outside range; 2...254=reserved; 255Specific error

Specific error

: If Error code=255  Application-specific error code.

Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx

27.04.21

Byte 2

Byte 3

Byte 4

reserved

Spec error

reserved

TableInd reserved

SpecError

reserved

15/32

Byte 5

Byte 6

reserved

: Standard CiA bit timing table

Byte 7