Baumer GK473 - Manual (Page 24)

Manual_GK473_CANopen_EN.doc 24/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
void A_read_Broadcast (void) // "A" Read SUB-b device identifier
{
// First the auto scan function must be „OFF“
td 1 10
0x601 0x2F 0x03 0x32 0x00 0x00 0x00 0x00 0x00 ;0x3203
//Step 1: Address/command pointer on SUB-bus user
td 1 10
0x601 0x23 0x00 0x30 0x00 0x83 0x41 0x00 0x00 ;0x3000
// | | |__ data
// | |_______ command 'A'
// |___________ SUB-BUS identifier
// identifier 99 - > 0x63 +0x20 = 0x83
// = Broadcast
//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 ;
break Each SPA is now showing its identifier, continue with OK
// auto scan on
td 1 10
0x601 0x2F 0x03 0x32 0x00 0x01 0x00 0x00 0x00 ;0x3203
}
void A_write_Broadcast (void) // "A" Write SUB-bus device identifier
{
// First the auto scan function must be „OFF”
td 1 10
0x601 0x2F 0x03 0x32 0x00 0x00 0x00 0x00 0x00 ;0x3203
//Step 1: Identifier/command pointer on SUB-bus user
td 1 10
0x601 0x23 0x00 0x30 0x00 0x83 0x41 0x00 0x00 ;0x3000
// | | |__ data
// | |_______ command 'A'
// |___________ SUB-BUS identifier
// identifier 99 - > 0x63 +0x20 = 0x83
// = Broadcast
//
//Step 2: SUB-bus transparent transfer
// Example: New SPA identifier to be placed is 22
td 1 1
0x601 0x21 0x00 0x31 0x00 0x0E 0x00 0x00 0x00 ;0x3100
td 1 1 0x601 0x00 0x32 0x32 0x00 0x00 0x00 0x00 0x00 ;here 32 32 = identifier 22
td 1 1 0x601 0x11 0x00 0x00 0x00 0x00 0x00 0x00 0x00 ;
break Enter at SPA by turning the shaft or by soft key, continue with OK
// Auto Scan on
td 1 10
0x601 0x2F 0x03 0x32 0x00 0x01 0x00 0x00 0x00 ;0x3203
}