Baumer GCA12, Manual

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Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 10/23 Baumer
– Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
Send the SDO message to set the zero of channel 2
1
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x23 0x10 0x60 0x02 0x00 0x00 0x00 0x00
Note:
-
With the objects 6010.01/6010.02 it’s possible only to set a channel to a value equal to Zero, if it’s necessary to
set a value different from Zero, it’s necessary to use the objects 2102.03 (Ch1) or 2102.04 (Ch2)
- after setting the new entries a SAVE command (see paragraph 5.2 Save/load) followed by a turnoff and on.
5.3.7
How to change the Angle resolution
This object shall indicate the resolution of the Slope long16 (object 6810h/7010h
1
)
based on 0,001°.
This resolution is also valid for the 32-bit value objects (6910h and 7110h
1
). In case of low resolution, the
value is 10d. In case of high resolution the value is 1d. The following table describes all possible resolutions:
Resolution (6800h/7000h)
Value Description
01h (1d) 0,001°
Ah (10d) 0,01°
64h (100d) 0,1°
3E8h (1000d) 1°
5.3.8
Operating Parameters (6811h/6911h/7011h
1
/7111h
1
)
The above mentioned operating parameter influences the output inclination in the following manner:
Bit Mask:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved s i
Default - 1 0
i = Inversion (0 = Do not enable inversion; 1 = Enable inversion)
s = Scaling (0 = Do not enable scaling; 1 = Enable scaling)
Scaling means that the following equation is applied:
Inclination = A + B + C
where
A is a physically measured angle;
B is a differential slope offset;
C is a slope offset.
The operating parameters are applied for the according slope (i.e. 6811h operating parameter influences
6810h slope).
The 16bit and 32bit values are hardwired internally (i.e. changing the operating parameter at 6811h changes
the operating parameter at 6911h)
5.3.9
Offset parameters and calculation
This object shall indicate the application offset of the longitudinal axis. The value shall be given in angular
degrees with the resolution given in object 6000h. The following formula applied:
Slope offset = A
–B –C
where
A is a slope preset value at t
acc
;
B is a slope physical measured at t
acc
;
C is a differential slope offset and t
acc
= time when accessing object a preset object
The 16bit and 32bit values are hardwired internally (i.e. changing the differential offset at 6814h changes the
differential offset at 6914h)