Node-Id Selection; Basic Nmt Commands - Balluff BDG F NH Serie Konfigurationsanleitung

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8.3.4

Node-ID selection

It is possible to change the node ID of the encoder by SDO. To set the node ID the object 2101h, sub-Index 00h,
has to be changed (only possible in Pre-Operational state!) with a simple SDO write command:
600h+ID 8 2Fh
CAN-ID DLC Command
Valid node IDs can be:
Encoder number (d)
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8.3.5

Basic NMT commands

This subsection describes several basic NMT commands. Basic information are available at 5.4.
To set the encoder into Operational state, the "Start remote node" command is used:
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The new baudrate will become effective after a reset of the encoder (hard reset or
NMT reset). Writing on object 2100h is not protected and the change will be
immediately stored in the internal EEPROM. It is not necessary to perform a "save
parameters".
01h 21h
Object L Object H
Table 8.35: Node-ID selection
1
2
...
127
Table 8.36: Valid Node-IDs
The new node ID will become effective after an encoder reset (hard reset or NMT
reset). Writing on object 2101h is not protected and the change will be immediately
stored in the internal EEPROM. It is not necessary to perform a "save
parameters".
Changing the Node ID automatically adjusts the PDO and EMCY COB-IDs. After
the first manual storage, they are set to their current value and will be no longer
automatically adjusted. Performing the "Restore Defaults" command will re-enable
automatic adjustment.
0 02h 01h
CAN-ID DLC Command Byte
Table 8.37: NMT command - Start remote node
00h Node 00h
Sub- Byte0 Byte1
Index
Node-ID (h)
01h
02h
...
7Fh
0 – 127
Node-ID
00h 00h
Byte2 Byte3
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