User Manual

Baumer_GIM500R_CANopen_MA_EN.docx 23/29 www.baumer.com
03.19
Object
Sub-Index
Name
Format
Access
Default
Save
05h
EventTimer
U16
rw
C8h
yes
1A00h
Transmit PDO1 Mapping
00h
Maximum Subindex
U8
ro
3h
01h
Content of PDO1
U32
ro
65110010h
02h
Content of PDO1
U32
ro
60100010h
03h
Content of PDO1
U32
ro
60200010h
1F80h
NMT startup
U32
rw
0h
yes
3.4.1.1 Store Parameters (1010h)
In order to save parameters object 1010h has to be accessed. In order to avoid storage of parameters by
mistake, storage shall be only executed when a specific signature is written to the appropriate sub-index.
The signature that shall be written is "save":
Signature
MSB
LSB
ISO8859 character
e
v
a
s
hex
65h
76h
61h
73h
The data saving process takes a few milliseconds and interrupts the data processing. Be careful to store the
parameters when device data is not used.
3.4.1.2 Restore Parameters (1011h)
In order to avoid the restoring of default parameters by mistake, restoring shall be only executed when a
specific signature is written to the appropriate sub-index. The signature that shall be written is "load":
Signature
MSB
LSB
ISO8859 character
d
a
o
l
hex
64h
61h
6Fh
6Ch
The restore is active after a power cycle or a after a CANopen reset.
3.4.1.3 NMT Startup (1F80h)
This object (specified in DS-302 Part 2) determines if the device will go to OPERATIONAL state after reset.
For this option a 08h has to be written to the device. To turn off the auto OPERATIONAL state a 00h has to
be written.
3.4.2 Manufacturer Specific Parameter
Object
Sub-Index
Name
Format
Access
Default
Save
2100h
Baud rate
U8
rw
2h
yes
2101h
Node-ID
U8
rw
1h
yes
2106h
Axis Alignment
00h
Maximum subindex
U8
ro
01h
Axis Mapping
U8
rw
24h
yes
02h
Sign Configuration
U8
rw
0h
yes
2202h
Diagnostic Information
ro
2203h
Layout ID
ro
2204h
Diagnostic Information Switch
ro
2205h
Device Revision
ro
2603h
Digital Filter Configuration
U16
rw
32h
yes