Baumer GCA12, Руководство пользователя

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Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 18/23 Baumer
– Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
10 Object directory
The following tables provide a summary of all SDO objects supported by the encoder.
Object Object number
Name Object name
Format U/I = Unsigned/Integer , No. = no of bits, ARR = Array, REC = Record, STR = String
Access ro = read only, wo = write only, rw = read write, m = mappable
Default Default value on first init
Description Additional information
10.1 Communication Profile Area
Ob
je
c
t
S
u
b
-in
d
e
x
Name Type Default value Description
0x1000 0 Device type U32, ro 0x000A0196 CiA406
0x1001 0 Error register U8, ro 0x00 Bit-coded to profile CiA406
0x00: no error
0x01: generic error
0x10: communication error
0x20: device profile error
0x80: manufacturer specific error
0x1003 0 Predefined error list U8, ro 0x00 Errors in the list (up to 8)
1…8
History errors U32, ro 0x00000000 Errors occured according to the Error codes list, the last error is in
the sub-index
0x1005 0 COB ID Sync object U32, rw 0x00000080 Sensor generates no sync message (bit 30 =0)
11-bits indentifier system (bit 29=0)
0x1008 0 Device name str, ro - Device designation (see paragraph 2.1)
0x1009 0 HW version str, ro 1.0 Hardware version
0x100A 0 FW version str, ro - Software version (ASCII Characters
i.e version 3.85 = 33 56 38 35)
( ! Attention, as specified in the segmented mode:
Send 60 00 00 00 00 00 00 00
after the command 40 0A 10 00 00 00 00 00 to see this string)
0x1010 0 Numbers of save-
options U8, ro 0x01
1
“save all parameters”
U32, rw 0x00000001 The parameters are saved only
writing the key string “save”
(0x73-0x61-0x76-0x65)
0x1011 0 Numbers of restore-
options U8, 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 0x0ID bit 30 = 1 The sensor generates EMCY message
0x1017 0 Producer heartbeat
time U16, rw 0x0000 Time interval [ms] where sensor generates a producer heartbeat
0x1018 0 Numbers of
identity-options U8, ro 0x04
1 Vendor ID U32, ro - 0x005F
– GCA product
0x0470
– SDS product
2 Product code U32, ro - As described in the paragraph 2.1
3 Revision number U32, ro 0x00000000
4 Serial number U32, ro - Depending by the SN of the product
0x1200 0 Server SDOs U8, ro 0x02
1 COB ID Rx SDO U32, ro 0x600 + ID bit 31=0
–> valid SDO
2 COB ID Tx SDO U32, ro 0x580 +ID bit 31=0
–> valid SDO
0x1800 0 TPDO1 U8, rw 0x05 Number of the entries TPDO1
1 COB ID TPDO1 U32, rw 0x180+Node
ID Bit 31 = 0 -> TPDO activated
Bit 31 = 1 -> TPDO not activated (not transmitted)
2 Transmission type U8, rw 0xFE Transmission type (synchronous/asynchronous)
3 Inhibit time U16, rw 0x0000 Minimum interval time between consecutive TPDOs
5 Event time TPDO1 U16, rw 0x0064 Used if 1800.02 is 0xFE or 0xFF
0x1801 0 TPDO2 U8, rw 0x05 Number of the entries TPDO2
1 COB ID TPDO2 U32, rw 0x280+Node ID Bit 31 = 0 -> TPDO activated
Bit 31 = 1 -> TPDO not activated (not transmitted)
2 Transmission type U8, rw 0xFE Transmission type (synchronous/asynchronous)
3 Inhibit time U16, rw 0x0000 Minimum interval time between consecutive TPDOs
5 Event time TPDO2 U16, rw 0x0064 Used if 1801.02 is 0xFE or 0xFF
0x1A00 0 TPDO1 mapping U8, ro 0x02 Number of objects integrated in TPDO1
1 index in obj directory U32, ro 0x60200120 Cable length channel 1
2 index in obj directory U32, ro 0x60200220 Cable length channel 2
1
0x1A01 0 TPDO2 mapping U8, ro 0x02 Number of objects integrated in TPDO2