Baumer GNAMG Series Handmatig - Pagina 34
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5. Applications
5.1. Write and read SDO objects
To write or read an object (SDO) always two telegrams are transmitted
Write object
First the value to write is transmitted by master, then the inclination sensor will confirm.
Value (ba) transmitted:
COB-ID
DLC Command
600h+Node-ID
8
Confirmation:
COB-ID
DLC Command
580h+Node-ID
8
Read object
First the required object is requested by master, second the inclination sensor will respond by transmitting the
requested value.
Master request:
COB-ID
DLC Command
600h+Node-ID
8
Response (dcba) of the inclination sensor to master request:
COB-ID
DLC Command
580h+Node-ID
8
Commissioning
When connected the bus the inclination sensor will give a BootUp message. Now it must be configured and
adapted to its ambiance.
Changing Node-ID and baud rate by LSS
Node-ID and baud rate can be changed without having to address the inclination sensor by them. LSS
services enable sensor configuration and addressing by product code, revsion number, Vendor ID and serial
number.
Changing the Node-ID
The Node-ID can be changed in object 2101h from 1 to 127. Next step should be a saving operation using
object 1010h. Upon next init the sensor will log in with the new Node-ID.
Manual_GNAMG_CANopen_EN.doc
21.11.12
Object L
2Bh
00h
Object L
60h
00h
Object L
40h
10h
Object L
43h
10h
Object H
Subindex Data 0
23h
3h
Object H
Subindex Data 0
23h
3h
0
Object H
Subindex Data 0
61h
0h
x
Object H
Subindex Data 0
61h
0h
a
34/41
Data 1 Data 2 Data 3
a
b
x
Data 1 Data 2 Data 3
0
0
Data 1 Data 2 Data 3
x
x
Data 1 Data 2 Data 3
b
c
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
x
0
x
d