Baumer GK473 - Manual (Page 23)

Manual_GK473_CANopen_EN.doc 23/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
7. Annex
Transfer example for SPA commands via gateway
Gateway Node ID 0x01; CAN Identifier SDO Request =0x600+1=0x601
Generated for IXXAT CANanalyser Sequenzer Client (CAN Layer 2)
void R_read (void)
// "R" read current value
{
//Step 1: Identifier/command pointer on SUB-bus user
td 1 10
0x601 0x23 0x00 0x30 0x00 0x23 0x52 0x00 0x00 ;0x3000
// | | |__ data
// | |_______ command 'R'
// |___________ SUB-BUS identifier
// identifier 03 - > 03 + 0x20 = 0x23
//
//Step 2: SUB-bus transparent transfer
// segmented SDO upload, after Init wait for SUB-bus user response
td 1 200
0x601 0x40 0x00 0x31 0x00 0x0E 0x00 0x00 0x00 ;0x3100
td 1 10 0x601 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00 ;
td 1 10 0x601 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00 ;
}
void S_write (void)
// "S" write target
{
//Step 1: Identifier/Command pointer on SUB-bus user
td 1 10
0x601 0x23 0x00 0x30 0x00 0x23 0x53 0x00 0x00 ;0x3000
// | | |__ data
// | |_______ command 'S'
// |___________ SUB-BUS identifier
// identifier 03 - > 03 + 0x20 = 0x23
//
//Step 2: SUB-Bus transparent transfer
//Example: profile number =17; target -12,50
// Segmented Download
td 1 1
0x601 0x21 0x00 0x31 0x00 0x0E 0x00 0x00 0x00 ;0x3100
td 1 1 0x601 0x00 0x31 0x37 0x2D 0x30 0x31 0x32 0x35 ;
td 1 1 0x601 0x11 0x30 0x00 0x00 0x00 0x00 0x00 0x00 ;
}