Baumer GCA12, Manual

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Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 9/23 Baumer
– Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
5.3.4
How to change the length direction
There are 2 ways for changing direction.
In case of GCA (C50) there are 2 channels for a single node and they have opposite directions by default. For the other
cases, GCA (C60/C80) the following procedure can be applicable to the single measure.
5.3.4.1
First method
Note: In case of GCA (C50) it reverse both channels simultaneously
send the SDO message.
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x2B 0x00 0x60 0x00 PAR 0x00 0x00 0x00
where PAR is the parameter setting as follow
PAR MEANING
0x00 Positive direction (length increase pulling the cable), length expressed in 0.1mm unit
0x01 Negative direction (length decrease pulling the cable), length expressed in 0.1mm unit
0x04 Positive direction (length increase pulling the cable), resolution depends on object 0x6005
0x05 Negative direction (length decrease pulling the cable), resolution depends on object 0x6005
5.3.4.2
Second method
Note: In case of GCA (C50) it reverse both channels simultaneously
send the SDO message for channel 1
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 2
1
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 channels has the positive direction, the object 6000 specifies a positive direction.
5.3.5
How to change the length resolution
Set the parameters as explained in previous paragraph, then send the SDO message
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x23 0x05 0x60 0x01 R0 R1 R2 R3
where R0...R3 represents the unit of measure of the output length, expressed in nm (nanometer).
For example, to obtain a resolution of 1mm:
R0 = 0x40, R1 = 0x42, R2 = 0x0F, R3 = 0x00
It means R = 0x000F4240 (1000000 decimal) = 1000000nm = 1mm.
i.e:
if it’s necessary to have the measure expressed in 10 mm, the value to write must be 10000000nm, to obtain instead
a resolution of 0.1mm, the value to write will be 100000nm
Note:
it’s necessary to be sure that in the object 6000h the value present is 4 or 5.
5.3.6
How to set the length zero
Send the SDO message to set the zero of channel 1
COB-ID Len D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x23 0x10 0x60 0x01 0x00 0x00 0x00 0x00