Baumer GXP5W Handmatig - Pagina 38

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Baumer GXP5W Handmatig
Change single-turn resolution
In Object 6381h the singleturn resolution can be configured. For example, 1024 (10-bit) steps per rotation
(1024 = 400h):
COB-ID
DLC Command
600h+Node-ID
8
Confirmation:
COB-ID
DLC Command
580h+Node-ID
8
Save settings to EEPROM
With Object 1010h the saving of the objects below to the non-volatile memory (EEPROM) is triggered. To
prevent accidental saving, the message "save" must be written to Subindex 1.
COB-ID
DLC Command
600h+Node-ID
8
COB-ID
DLC Command
580h+Node-ID
8

5.3. Operation

NMT states
After the encoder has been initialized, it is in the Pre-Operational Mode. In this state SDOs can be read and
written.
To also start PDO communication, an NMT Start must be sent. Then the encoder is in the Operational
Mode. Now desired PDOs are sent. In addition, SDOs can also be read and written.
When the encoder is stopped with an NMT Stop, the encoder is in the Stopped Mode. In this state only NMT
communication is possible, i.e. also the Heartbeat.
With an NMT Reset the encoder is reinitialized and is then in the Pre-Operational Mode again.
Read position
Request from the Master:
COB-ID
DLC Command
600h+Node-ID
8
Response (dcba) of the encoder to the request:
COB-ID
DLC Command
580h+Node-ID
8
Manual_GXP5_417_Lift_EN.doc
04.05.11
Object L
23h
81h
Object L
60h
81h
Object L
23h
10h
Object L
60h
10h
Object L
40h
83h
Object L
43h
83h
Object H
Subinde
Data 0
x
63h
01h
00
Object H
Subinde
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63h
01h
0
Object H
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10h
01h
73 's'
Object H
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10h
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0
Object H
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63h
01h
0
Object H
Subinde
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63h
01h
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61 'a'
76 'v'
65 'e'
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Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany