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Baumer GCA12, Manual

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Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 

16/23 

Baumer 

– Sensor Systems s.r.l. 

03.12.2019 

 

Chiari (Bs), Italy

 

8  Heartbeat Service 

8.1 

General 

The device supports a heartbeat producer according CiA 305. 

Example for a heartbeat protocol: 

 

COB-ID 

Data/Remote 

Byte 0 

701h 

D 

7Fh(127d) 

 
The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied. 
 
0: 

BootUp-Event 

4: 

Stopped 

5: 

Operational 

127: 

Pre-operational 

 
In other words, the sensor is in the pre-operational mode (7Fh = 127). 

8.2 

COB-ID 

The COB-ID for the heartbeat message is 700h + node ID. 

8.3 

Timing 

The minimal cycle time for heartbeat messages is 10 ms. 
 
 
 
 
 

Summary of Contents for GCA12

Page 1: ... com Subject to modification in technic and design www sensorsystems it Errors and omissions excepted Manual Cable transducer GCA3 5 8 12 20 with CANopen Inclinometer Integrated option GCA3 5 C50 Firmware Version 3 87 and up GCA3 5 C60 C80 Firmware Version 1 23 and up GCA8 12 20 C50 Firmware Version 3 07 and up ...

Page 2: ...eral 8 5 2 Save load parameters 8 5 2 1 Save 8 5 2 2 Load 8 5 2 3 Safe non volatile operation 8 5 2 4 Side effect 8 5 3 Examples writing parameters 8 5 3 1 How to save data 8 5 3 2 How to change the node ID 8 5 3 3 How to change the baud rate 8 5 3 4 How to change the length direction 9 5 3 5 How to change the length resolution 9 5 3 6 How to set the length zero 9 5 3 7 How to change the Angle res...

Page 3: ...2 Generic error 15 7 5 Error codes EMCY messages 15 8 Heartbeat Service 16 8 1 General 16 8 2 COB ID 16 8 3 Timing 16 9 LSS slave 17 9 1 General 17 9 2 Supported commands 17 9 3 LSS address 17 10 Object directory 18 10 1 Communication Profile Area 18 10 2 Manufacturer Specific Profile Area 19 10 3 Standardized Device Profile Area 21 Appendix 23 10 4 Pin Assignments 23 10 4 1 Pin assignment connect...

Page 4: ... to exclude any risk of personal injury damage to the plant or to the operating equipment as a result of encoder failure or malfunction by providing suitable safety precautions cable transducers must not be operated outside the specified limited values see detailed product documentation Failure to comply with the safety remarks can result in malfunctions personal injury or damage to property 1 5 T...

Page 5: ...n sensor 0x0523 GCA3 5 GCA3 5 136 eds GCA8 12 20 cable transducers 0x0521 GCA8 12 20 GCA8 12 20 eds GCA8 12 20 cable transducers with inclination sensor 0x0523 GCA8 12 20 GCA8 12 20 136 eds SDS5000 cable transducers 0x0521 SDS5000 SDS5000 eds SDS5000 cable transducers with inclination sensor 0x0523 SDS5000 SDS5000 L eds SDS3 6 10 20 cable transducers 0x0521 SDS3 6 10 20 SDS3 6 10 20 eds SDS3 6 10 ...

Page 6: ...iA 406 Version 3 2 Encoder Profile o Absolute encoder redundant with cable pull Absolute linear encoder CiA 410 Version 1 0 Inclinometer Profile 3 3 Supported CANopen Services Following CANopen services are supported 1 Network Management according to CiA 301 1 SDO Server according to CiA 301 2 TPDOs according to CiA 301 CiA 406 CiA 410 1 Emergency Producer according to CiA 301 CiA 406 CiA 410 1 He...

Page 7: ... NMT Start NMT Preoperational NMT Stop NMT Reset NMT Communication Reset There is no difference between NMT Reset and NMT Communication Reset 4 2 Boot up message Send NMT message to initialize the device COB ID Len D0 D1 0x000 2 0x01 ID Note ID can be 0 for broadcast initialization After a power on or NMT reset the device will send a Boot up message COB ID Byte 0 700h node ID 00 ...

Page 8: ...11h x and a reset or power on has to be at least 600 ms 5 2 4 Side effect Save Load operations interrupt the updating of position 5 3 Examples writing parameters 5 3 1 How to save data See paragraph 5 2 1 respectively send SDO message COB ID Len D0 D1 D2 D3 D4 D5 D6 D7 0x600 ID 8 0x23 0x10 0x10 0x01 0x73 0x61 0x76 0x65 5 3 2 How to change the node ID Send the SDO message COB ID Len D0 D1 D2 D3 D4 ...

Page 9: ...COB ID Len D0 D1 D2 D3 D4 D5 D6 D7 0x600 ID 8 0x2F 0x02 0x21 0x01 DIR 0x00 0x00 0x00 send the SDO message for channel 21 COB ID Len D0 D1 D2 D3 D4 D5 D6 D7 0x600 ID 8 0x2F 0x02 0x21 0x02 DIR 0x00 0x00 0x00 where DIR is the direction 0 positive 0 to FS 1 negative 0 to FS if it s necessary to have the negative direction FS to 0 the object 2119 0 must be setted to 0 Note if at least one of the two ch...

Page 10: ...h1 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...

Page 11: ...5 3 10 Angle Digital Filter Configuration 2603h For GCA3 5 C60 C80 the IIR coefficient is expressed in tenths of hertz E g Fc 3 Hz 30d 0x1E The value can be selected in a range from 0 to 300 30Hz While for all the other type of GCA The IIR coefficient is expressed in lower values more filtering An example table is the following Coeff Response Time ms 100 Not Filtered 80 15 60 40 40 90 20 240 1 594...

Page 12: ...6 3 COB ID The COB ID for both PDOs is changeable in Object 180xh 1 The format of the TPDO is TPDO1 COB ID Len D0 D1 D2 D3 D4 D5 D6 D7 0x180 ID 8 P0a P1a P2a P3a P0b P1b P2b P3b where P is the actual position value in 0 1mm or other scale depending on the resolution settings and the suffixes a and b1 refers to channels a and b1 respectively Interpretation example Considering a resolution of 0 1mm ...

Page 13: ...e 0x60200120 Object 6020h Subindex 01h data length 32 Bit Length channel 2 value1 0x60200220 Object 6020h Subindex 02h data length 32 Bit Channel 1 speed value 0x60300120 Object 6030h Subindex 01h data length 32 Bit Channel 2 speed value1 0x60300220 Object 6030h Subindex 02h data length 32 Bit Slope Long 16bit Angle 1 0x68100010 Object 6810h Subindex 00h data length 16 Bit Slope Long 32bit Angle 1...

Page 14: ...imal cycle time for TPDOs is 25 ms 100 ms to update the Data if the inclinometer is present 6 6 Exceptions of accurate calculation of process data The following operations could interrupt the accurate calculation of process data such as position speed warnings and alarms Non volatile operations Changing the scaling parameters ...

Page 15: ...Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 80h node ID 8 Error code Error register object 1001h 7 4 Error register Error register object 1001h Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Manufacturer error Communication error Generic error 7 4 1 Communication error Communication errors are indicated if the internal CAN message buffers are overflowed or there are malformed CAN frames on t...

Page 16: ... heartbeat protocol COB ID Data Remote Byte 0 701h D 7Fh 127d The heartbeat messages consist of the COB ID and one byte In this byte the NMT status is supplied 0 BootUp Event 4 Stopped 5 Operational 127 Pre operational In other words the sensor is in the pre operational mode 7Fh 127 8 2 COB ID The COB ID for the heartbeat message is 700h node ID 8 3 Timing The minimal cycle time for heartbeat mess...

Page 17: ... and node ID is to access to the objects 0x3000 and 0x3001 see object directory The LSS service is only available in NMT Stopped Mode 9 2 Supported commands Switch state global Switch state selective Configure node ID protocol Configure bit timing parameters Store configuration Inquire identity serial number Inquire identity node ID 9 3 LSS address The needed value for LSS addressing as serial num...

Page 18: ... ro 0x01 1 Reset for all parameters U32 rw 0x00000001 If the key string load 0x6C 0x6F 0x61 0x64 is entered here the parameters are assigned to the factory default values and are valid after the next reset 0x1014 0 COB ID Emergency U32 rw 0x00000080 ID bit 30 1 The sensor generates EMCY message 0x1017 0 Producer heartbeat time U16 rw 0x0000 Time interval ms where sensor generates a producer heartb...

Page 19: ...th U8 rw 100 IIR coefficient expressed in lower values more filtering 0x2110 0 Length channel value U8 ro 2 Number of the entries 1 Length channel 1 value I32 ro m Channel 1 length in 0 1mm or other scale depending on resolution 21 Length channel 2 value I32 ro m Channel 21 length in 0 1mm or other scale depending on resolution 3 Length channel 1 value Invers I32 ro m Channel 1 opposite value FS v...

Page 20: ...ms s r l 03 12 2019 Chiari Bs Italy Objekt Sub index Name Type Default value Description 4 125 kBit s 5 100 kBit s 6 50 kBit s 7 20 kBit s The baudrate is activated after a reset or power on if parameter is saved to non volatile memory 0x3001 0 Node Id U8 rw 0x04 0x01 0x7F ...

Page 21: ...scaling is enabled the Slope long16 value shall be calculated accordingly to the following equation Slope long16 physically measured angle Differential slope long16 offset Slope long16 offset If scaling is disabled the Slope long16 value shall be equal to the physical measured angle 0x6812 0 Slope long 16bit preset value I16 rw 0x0000 Accessing this object by means of SDO shall set directly the ac...

Page 22: ... longitudinal slope value to a desired longitudinal slope value The calculated application offset of the longitudinal slope value is given in Slope long16 offset object 7013h The Slope long16 offset is calculated with respect to object 7014h The value shall be given in degree angle with the resolution given in object 7000h 0x70131 0 Slope long 16bit offset I16 ro 0x0000 This object shall indicate ...

Page 23: ...al Description View to encoder 1 GND Ground referred to Vs 2 Vs Supply voltage 3 CAN_GND CAN bus ground 4 CAN_H CAN bus signal dominant High 5 CAN_L CAN bus signal dominant Low 10 4 2 Cable assignment Color Signal Description White GND Ground referred to Vs Brown Vs Supply voltage Grey CAN_GND CAN bus ground Green CAN_H CAN bus signal dominant High Yellow CAN_L CAN bus signal dominant Low ...

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