Baumer X 700 Manual - Halaman 13
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Heartbeat
A "Heartbeat" principle is defined in the CAL with which the communication capability of CANopen devices
can be monitored. It can be ensured that the Master could react to a failure.
In Object 1017h "Producer Heartbeat Time" the time of the heartbeat can be defined. As soon as the value
has been confirmed, the heartbeat begins to transmit.
COB-ID
Data/Remote
701h
d
The heartbeat messages consist of the COB-ID and a byte. This byte is used to transmit the NMT state.
0:
BootUp-Event
4:
Stopped
5:
Operational
127:
Pre-Operational
That means the encoder is in the Pre-Operational mode (7Fh = 127).
3.4.7. Layer setting services
In the spring of 2000 a new protocol was drafted by CiA to ensure a uniform occurrence. The procedure is
described under Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
In the standard configuration we ship the encoder with the Node-ID 1 and the baud rate 50 kBaud.
Several encoders with the same Node-ID can be connected to the bus system. To now be able to address
the individual encoders, LSS is used.
Each encoder has a unique serial number and is addressed via this number. This means any desired number
of encoders with the same Node-ID can be connected to a bus system and then initialized with LSS. Both the
Node-ID and the baud rate can be reset. LSS can only be carried out in the Stopped Mode.
Message structure
COB-ID:
Master
Slave
Master
Slave
After the COB-ID an LSS command specifier is transmitted.
Then up to seven data bytes are added on.
COB-ID cs
Byte 1
Switch Mode Global
7E5h
04h
Mode
Mode : 0
Operation mode
1
Configuration mode
Switch Mode Selective
With the following procedure a very specific encoder can be addressed in the bus system.
7E5h
40h
VendorID
7E5h
41h
ProductCode
7E5h
42h
RevisionNumber
7E5h
43h
SerialNumber
7E4h
44h
Mode
Manual_GXP5_417_Lift_EN.doc
04.05.11
Byte 0
7Fh (127d)
: 2021 = 7E5h
: 2020 = 7E4h
Byte 2
Byte 3
Reserved
Byte 4
Byte 5
Byte 6
Reserved
Reserved
Reserved
Reserved
Reserved
13/41
Byte 7
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany