Baumer GBAMS 매뉴얼 - 페이지 11
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7.1 Communication parameters
Object
Name
Subindex
1000h
NMT_DeviceType_U32
1010h
NMT_StoreParam_REC
00h NumberOfEntries
01h AllParam_U32
02h CommunicationParam_U32
03h ApplicationParam_U32
1011h
NMT_RestoreDefParam_REC
00h NumberOfEntries
01h AllParam_U32
02h CommunicationParam_U32
03h ApplicationParam_U32
04h ManufacturingParam_U32
1018h
NMT_IdentityObject_REC
00h NumberOfEntries
01h VendorID
02h ProductCode
03h RevisionNumber
04h SerialNumber
1800h
PDO_TxCommParam_0h_REC
00h NumberOfEntries
01h NodeID_U8
02h MappingVersion_U8
1A00h
PDO_TxMappParam_0h_AU64
00h NumberOfEntries
01h ObjectMapping 1
02h ObjectMapping 2
1F82h
NMT_FeatureFlags_U32
1F83h
NMT_EPLVersion_U8
1F93h
NMT_EPLNodeID_REC
00h NumberOfEntries
01h NodeID_U8
02h NodeIDByHW_BOOL
1,2
03h SWNodeID_U8
1)
Values are saved using object 1010h subindex 01h („save all parameters")
2)
Values are saved using object 1010h subindex 02h („save communication parameters")
Baumer_PowerlinkV1-01_MA_EN.docx
19.07.2013
Format
Access
Default
U32
const
Multiturn encoder:
0002'0196h
Singleturn encoder:
0001'0196h
U8
const
4
U32
rw
U32
rw
U32
rw
U8
const
3
U32
rw
U32
rw
U32
rw
U32
rw
U8
const
3
U32
const
5Fh
U32
const
See section 1.2
U32
const
U32
const
U8
const
3
U8
rw
0
U8
ro
0
U8
const
1
0020'0000'0000'6004h
U64
ro
0020'0000'0000'6030h
U64
ro
0000'0607h
U32
const
U8
const
20h
U8
const
3
U8
ro
1
BOOL
ro
Default: FALSE
Range: FALSE/TRUE
U8
rw
Default: 1
Range: 1..240, 253, 254
11/19
Description
Device type
Byte 0..1: Profile nr. = 196h = 406
Byte 2..3: Encoder type
Type =1: Absolute Singleturn
Type =2: Absolute Multiturn
Storing parameters
Writing the ASCII value „save"
(=73617665h) into the respective
subindex activates the save
procedure.
Largest subindex
Save all parameters
Save communication parameters
Save application parameters
Load factory configuration
Writing the ASCII value "load"
(=6C6F6164h) within the respective
subindex activates the restore
procedure.
Largest subindex
Load all parameters
Load communication parameters
Load application parameters
Load manufacturer parameters
General product information
Largest subindex
Vendor ID from EPSG
Number for product identification
Product revision number
Unique consecutive serial number
PDO Communication parameter
Largest subindex
Node ID
Static mapping only
PDO Mapping parameter
Largest subindex
Static mapping with position value
(object 6004) transmitted in PDO
(FW 1.5.0 and higher: position and
speed transmitted)
Supported features
Isochronous
SDO by UDP/IP
SDO by ASnd
Multiplexed Access,
NodeID setup by SW
Powerlink Communication profile
Currently used version
Definition of Node ID
Largest subindex
Currently active Node ID
0: NodeID defined by Software; Both
HW switches set to 0 (s. section 8.5)
1: NodeID defined by HW Switch
SW NodeID; Address is applied after
power off/on
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