User Manual

Baumer_GIM500R_CANopen_MA_EN.docx 19/29 www.baumer.com
03.19
Setting the node ID
7E5h 
11h
Node ID
reserved
7E4h 
11h
ErrCode
Spec error
reserved
Node ID : The encoder's new node ID
Error code : 0=OK; 1=Node ID outside range; 2..254=reserved; 255Specific error
Specific error : If Error code=255  application-specific error code.
Setting the bit timing
7E5h 
13h
tableSel
tableInd
reserved
7E4h 
13h
ErrCode
SpecError
reserved
TableSel : Selects the bit timing table 0 : Standard CiA bit timing table
1..127 : Reserved for CiA
128..255 : Manufacturer-specific tables
TableInd : Bit timing entry in selected table (see table below).
Error code : 0=OK; 1=Bit timing outside range; 2..254=reserved; 255Specific error
Specific error : If Error code=255  Application-specific error code.
Standard CiA table
Baud rate
Table Index
1000 kBaud
0
800 kBaud
1
500 kBaud
2
250 kBaud
3
125 kBaud
4
100 kBaud
5
50 kBaud
6
20 kBaud
7
10 kBaud
8
Saving the configuration protocol
This protocol saves the configuration parameters in the EEPROM.
7E5h 
17h
reserved
7E4h 
17h
ErrCode
SpecError
reserved
Error code : 0=OK;1=Saving not supported;2=Access error;3..254=reserved;255Specific error
Specific error : If error code=255  Application-specific error code.