SET CONFIG (0x81)

Code: 0x81
Description:Configuration data is set in the module and permanently stored.
Parameters (master -> slave): The configuration data to be written is transferred as parameter.

• EEPROM (0xFE) + EEPROM Struktur
  All configuration data is written in one process (complete EEPROM structure must be transferred in the data). Depending on the type of user certain data might not be written. After successful writing of the data, the module is rebooted.
  

  With one's own applications, this command should not be used as the structure of the data to be sent is not known.

  
  
  

  The module must be stopped, and the controller must be inactive. For example, execute an emergency stop before

  
  
  

  In such a case, the fragmentation protocol must be used (not with RS232).

  
  
  

• Module ID (0x01) + data (1 byte)
  The module ID is changed. Valid values: 1..255. The new settings are immediately stored in the EEPROM but are only applied after the module has been restarted.
  

  Profibus supports "Set Slave Address" (SAP 55)

  
  
  

• Group ID (0x02) + data (1 byte)
  Die Gruppe des Moduls wird geändert. Gültige Werte (0 .. 255). Die neuen Einstellungen werden sofort im EEPROM gespeichert, aber erst nach einem Neustart aktiviert.

  With Profibus, the "Real No Add Change" is stored here. Groups are fully supported with the SYNC/FREEZE mechanism.

  
  
  

• RS232 Baud Rate (0x03) + data (2 bytes)
  The RS232 baud rate can be modified. Valid values: 1200, 2400, 4800, 9600, 19200, 38400. The new settings are immediately stored in the EEPROM but are only applied after the module has been restarted.
• CAN Baud Rate (0x04) + data (2 bytes)
  The CAN baud rate can be modified. Valid values: 50, 100, 125, 250, 500, 800, 1000. The new settings are immediately stored in the EEPROM but are only applied after the module has been restarted.
• Communication Mode (0x05) + data (1 byte)
  The communication interface is configured. Valid values: AUTO (0x00), RS232 (0x01), CAN (0x02), Profibus DPV0 (0x03), RS232 Silent (0x04). The new settings are immediately stored in the EEPROM but are only applied after the module has been restarted.
• Unit System (0x06) + data (1 byte)
  The unit system is changed. Valid values: ([mm] = 0x00, [m] = 0x01, [Inch] = 0x02, [rad] = 0x03, [Degree] = 0x04, [Intern] = 0x05, [mum] Integer = 0x06, [muDegree] Integer = 0x07, [muInch] Integer = 0x08, [Milli-degree] Integer = 0x09). The new settings are immediately stored in the EEPROM but are only applied after the module has been restarted.
• Soft High (0x07) + data (4 bytes)
  The high software limit is changed temporarily (observe unit system). The transferred value is not written to the EEPROM. The settings are applied immediately. (Used for SRU in teach mode. For SRU, it must therefore be enabled for "USER".)
  

  This function is only accessible on ,,Profi user''.

  
  
  

• Soft Low (0x08) + data (4 bytes)
  The low software limit is changed temporarily (observe unit system). The transferred value is not written to the EEPROM. The settings are applied immediately. (Used for SRU in teach mode. For SRU, it must therefore be enabled for "USER".)
  

  This function is only accessible on ,,Profi user''.

  
  
  

• Gear Ratio (0x18) + data (4 bytes as float)
  The Gear Ratio 1 is changed (the command has no use with an integer unit system). The transferred value is written to the EEPROM and applied immediately.
  

  This function is only accessible on ,,Profi user''.

  
  
  

Response (slave -> master) : ,,OK'' (0x4F4B) if successful. In order to find out which parameters have been set successfully, the parameter code is appended as 1 byte to ,,OK''.
Example:

	D-Len	Cmd	Param
M->S	0x03	0x81	0x01 0x0C	Will set module ID to 12
S->M	0x04	0x81	0x4F 0x4B 0x01

Note: To set configuration data quickly, use the supplied software tool. If you wish to write all parameters in one single process, you must first halt the module. (Write processes take a relatively long time to be completed. The control system is thereby switched off, so movements of the module would be interrupted.)