Baumer CiA DS-301 Manual page 25

2100h Baud rate
2101h Node ID
2110h Manufactures_Options
2201h Statistics
00h Biggest subindex
01h No. of position errors
02h Time in seconds
03h Number timer reset
watchdog
2300h Customer EEPROM range
00h Biggest subindex
01h Data0
02h Data1
03h Data2
04h Data3
05h Data4
06h Data5
07h Data6
BUDE_Manual-CANopen_EN.doc
23.10.2012/bja
U8 rw
U8 rw
U32 rw
REC
U8 ro
U32 ro
U32 ro
U32 ro
ARR
U8 ro
U16 rw
U16 rw
U16 rw
U16 rw
U16 rw
U16 rw
U16 rw
25/55
2h yes 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
1h yes Node number 1 - 127 possible
After setting the baud rate, the EEPROM must
be saved and reinitialized.
1h yes Bit1 = Code sequence (Object 6000h Bit0)
0 Not inverted
1 Inverted
Bit2 = scaling function (Object 6000h Bit2)
0 enabled
1 disabled
Bit3 = 0 BusOFF not removed
1 reinitate bus after BusOFF
Bit5 = 0 Heartbeat-Protokoll enabled
1 Nodeguarding-Protokoll enabled
Bit6 = 0 normal SYNC- response
1 fast SYNC- response (see Bit 7)
Bit7 = 0 all PDO Modes enabled
1 only SYNC- Mode enabled
 lowest Jitter
(only together with set Bit 6)
Bit8 = PDO1 Delay 2ms
0 1800h-5h = 6200h
1 1800h-5h = 6200h + 2ms
Bit9 = Responce by write to object
Resolution/overall resolution
0 Offset reset
1 Offset not reset
(Version from V1.08)
Bit10 = Response by Reset Node (from V 1.09)
0 HW Reset
1 Init NMT state
3h No. of subindexes
0h yes Position control
0h yes Time since last reset
0h yes Timer watchdog
Optional data can be stored in this object
7h
0h yes
0h yes
0h yes
0h yes
0h yes
0h yes
0h yes
Baumer Hübner GmbH
Berlin, Germany