Baumer G0-GB-GXP5W/S/H-GXU5W/S - Manual (Page 44)

Manual_G0-GB-GXP5-GXU5_406_EN.docx 44/48 Baumer IVO GmbH & Co. KG
20.11.12 Villingen-Schwenningen, Germany
By means of an NMT reset the encoder is re-initialized and is then once again in the pre-operational mode.
Reading the position
Request from the master:
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
600h+node ID 8 40h 04h 60h 0 0 0 0 0
Response (dcba) of the encoder to the request:
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
580h+node ID 8 43h 04h 60h 0 a b c d
Configuring PDOs
The PDOs can be configured in accordance with the following table:
1800h
2800h Summarized description
Sub2 Sub5
FEh 3ms 0 Cyclical transmission every 3 ms
FEh 5ms 2 Every 5ms the PDO is sent double if a change has occurred.
FEh 0ms 0 Transmit PDO switched off
FEh 0ms xxx Transmit PDO switched off
3 xxx 0 Transmit with each third sync telegram
3 xxx 2Bh With each sync telegram but in total only 43 times (=2Bh).
Defining heartbeat time
In order to monitor communication capability, the heartbeat time must be defined in object 1017h with
"Producer heartbeat time". As soon as the value has been confirmed, the service begins transmission.
Example:
Every 100 ms, the encoder should transmit a heartbeat (100 = 64h):
COB ID DLC Command Object L Object H Subindex Data
0
Data 1
600h+node ID 8 2Bh 17h 10h 0h 64h 0h
Confirmation:
COB ID DLC Command Object L Object H Subindex Data
0
Data 1
580h+node ID 8 60h 17h 10h 0h 0 0
COB ID Data/ Remote Byte 0
701h d 7Fh
The heartbeat messages are made up of the COB ID and one byte. IN this byte, the NMT status is supplied.
0: BootUp-Event
4: Stopped
5: Operational
127: Pre-operational
i.e. the encoder is in the pre-operational modus (7Fh = 127).