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4. The Object Dictionary / 5. Emergency Object (EMCY)
4.3.9 Object 2321h: Bitrate
In addition to the LSS Services, the bitrate can also be configured via this object.
To prevent accidental adjustment, the signature "set" ('s' = 0x73; 'e' = 0x65; 't' = 0x74)
needs to be add to the transmitted value.
EN
Example:
To set the bitrate to 250 kBit/s, the following Value needs to be written to the object:
0x74657303
Changes take effect after executing the Store Parameters object 1010h and a following
Reset All Nodes or power on reset. Restoring the default parameters via Object 1011h
has no effect to the Node-ID, that means the Node-ID remains untouched.
Following baudrate settings are supported:
0: 1MBaud
■
1: 800 kBaud
■
2: 500 kBaud
■
3: 250 kBaud
■
4: 125 kBaud
■
5: not supported
■
6: 50 kBaud
■
7: 20 kBaud
■
8: not supported
■
9: Automatic bitrate detection
■
Please do note, in case of automatic bitrate detection the object 2321h will contain the
detected bitrate code (instead of 9 for automatic bitrate detection).
Index
Parameter Name
Object Type
Data Type
Access
PDO Mapping
5. Emergency Object (EMCY)
The emergency objects (EMCY) are automatically sent when an error occurs. An EMCY
object is transmitted only one time per "error event". As long as the error is pending, no
new EMCY message with the same Emergency Error Code will be sent. In case that an
Emergency Error Code is sent the correspondent Bit in the Error Register (1001h) will
be set.
70
2321h
Bitrate
VAR
UNSIGNED32
rw
No
WIKA special documentation, model MH-4-CAN
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