Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 44)

Manual_CANopen_BIDE_EN.docx 44/52 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
Changing singleturn resolution
In object 6001h, the singleturn resolution can be configured. For example 4096 (12bit) steps per revolution
(1024 = 400h):
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
600h+node ID 8 23h 01h 60h 0h 00 04 00 00
Confirmation:
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
580h+node ID 8 60h 01h 60h 0h 0 0 0 0
Changing the overall resolution
In object 6002h, the overall resolution can be set. The overall resolution and the singleturn resolution result in
the number of revolutions. Example: The singleturn resolution is set at 12 bit (4096 steps) and the overall
resolution at 24 bit (16777216) resulting in 4096 (12bit) revolutions of 4096 (12bit) steps each.
Setting the overall resolution to 4194304 (4194304 = 400000h)
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
600h+node ID 8 23h 02h 60h 0h 00 00 40 00
Confirmation:
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
580h+node ID 8 60h 02h 60h 0h 0 0 0 0
Saving the setting in the EEPROM
Object 1010h initiates the save routine for the objects below in the non-volatile memory (EEPROM). In order
to prevent unintentional saving, the message "Save" must be written in Subindex 1.
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
600h+node ID 8 23h 10h 10h 01h 73 's’ 61 'a’ 76 'v’ 65 'e’
Conformation:
COB ID DLC Command Object L Object H Subindex Data 0 Data
1 Data
2 Data
3
580h+node ID 8 60h 10h 10h 01h 0 0 0 0
6.3. Operation
NMT statuses
Once the encoder has been initialized, it is then in the Pre-operational mode. In this mode, SDO can be
read and written.
In order to start PDO communication, you must transmit an NMT start. The encoder is then in the
Operational mode. Any required PDOs are then transmitted. SDOs can also be read and written.
If the encoder is stopped with an NMT stop, the encoder is then in the stopped mode. In this mode, only
NMT communication is the possible, i.e. also heartbeat.