Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 22)

Manual_CANopen_BIDE_EN.docx 22/52 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
Object Name Type Attr Default EE Info
04h Manuf. specific parameters U32 rw =“save“ (0x73617665) to save
1011h Restore default parameters ARR
00h Biggest subindex U8 ro 4h No. of reset possibilities = 4
01h All parameters U32 rw =“load“ (0x6C6F6164) to load
02h Communication parameters U32 rw =“load“ (0x6C6F6164) to load
03h Application parameters U32 rw =“load“ (0x6C6F6164) to load
04h Manufacturer specific
parameters
U32 rw =“load“ (0x6C6F6164) to load
1014h Emergency COB ID U32 rw 80h +Node ID 1 COB ID of the emergency object
1016h Consumer heart beat time ARR
00h Biggest subindex ro 1h
01h Consumer heartbeat time U32 rw 10000h 1 Bit0..15 Consumer Heartbeat time in ms
Bit16..23 Node-ID
1017h Producer heartbeat time U16 rw 0h 1 Producer Heartbeat time in ms
1018h Identity object U32 ro
00h Biggest subindex U8 ro 4h
01h Vendor ID U32 ro ECh 1 Vendor no. issued by CiA
02h Product code U32 ro
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
1 Product Code:
0Ah = multivo multiturn
0Bh = multivo singleturn
0Ch = magtivo multiturn
0Dh = magtivo singleturn
0Eh = activo/multivoPlus multiturn
0Fh = activo/multivoPlus singleturn
03h Revision number U32 ro Actual value Current revision number
04h Serial number U32 ro xyz 1 Unique consecutive serial number
1029h Error behavior ARR (V1.04+)
00h Biggest subindex U8 ro 1h
01h Communication error U8 rw 1h 1 0h = change to Pre-Operational Mode
1h = no Mode-change
2h = change to Stop Mode
3h = reset node
1800h Transmit PDO1 parameter REC
00h Biggest subindex U8 ro 5h
01h COB ID U32 rw 180h+id 1 PDO ID = 180h + node ID
02h PDO type U8 rw FEh 1 FEh=User defined, cyclical
05h Event timer U16 rw 203h 1 Cycle time in ms
1801h Transmit PDO2 parameter REC
00h Biggest subindex U8 ro 5h
01h COB ID U32 rw 280h+id 1 PDO ID = 280h + Node ID
02h PDO type U8 rw 2h 1 2h= synchronous operation
05h Event timer U16 rw 100h 1 Cycle time in ms
1A00h Transmit PDO1 mapping ARR
00h Biggest subindex U8 ro 1h
01h Content of PDO1 U32 ro 60040020h Read only, although from CiA as read write
1A01h Transmit PDO2 mapping ARR
00h Biggest subindex U8 ro 1h
01h Content of PDO2 U32 ro 60040020h Read only, although from CiA as read write
2100h Baud rate U8 rw 2h 1 After setting the baud rate, the EEPROM must
be saved and reinitialized
0=10 kBit/s
1=20 kBit/s
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
2101h Node ID U8 rw 1h 1 Node number 1 -127 possible
After setting the baud rate, the EEPROM must
be saved and reinitialized.