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Baumer_GIM500R_CANopen_MA_EN.docx

 

16/29 

www.baumer.com 

03.19  

Status change 

 

Start remote node (1) 

With the start command, the encoder is switched to the operational mode status. 
 

COB ID 

Command byte 

Node number 

0 

1h 

0…127 

 

Stop remote node (2) 

With the stop command, the encoder is switched to the stopped or prepared mode status. 
 

COB ID 

Command byte 

Node number 

0 

2h 

0…127 

 

Enter pre-operational mode (3) 

Change to the pre-operational mode status. 
 

COB ID 

Command byte 

Node number 

0 

80h 

0…127 

 

Reset remote node (4) or reset communication (5) 

With the reset command, the sensor is re-initialized.  
Reset remote node (4): 
 

COB ID 

Command byte 

Node number 

0 

81h 

0…127 

 
Reset communication (5): 
 

COB ID 

Command byte 

Node number 

0 

82h 

0…127 

 

 

 

Содержание GIM500R

Страница 1: ...03 19 174 02 073 4 Subject to modification in technic and design www baumer com Errors and omissions excepted Manual Inclination sensor GIM500R with CANopen interface Firmware version 1 00 and up ...

Страница 2: ...essage structure 7 3 3 3 Service data communication 8 3 3 4 Process data communication 10 3 3 5 Emergency service 11 3 3 6 Network management services 14 3 4 Object Dictionary 21 3 4 1 Communication Parameter CiA DS 301 CiA DS 302 Part 2 22 3 4 2 Manufacturer Specific Parameter 23 3 4 3 Device Profile Specific Parameter CiA DS 410 25 3 5 LED status display 28 3 5 1 CANopen Status LED Green 28 3 5 ...

Страница 3: ...your comments and proposals for further improvement of the present manual Created by Baumer IVO GmbH Co KG Villingen Schwenningen Germany 1 Introduction 1 1 Scope of delivery Please check the delivery upon completeness prior to commissioning Depending on sensor configuration and part number delivery is including Sensor Describing file and manual also available as download in the Internet 1 2 Produ...

Страница 4: ...commissioning Do not perform any electrical modifications at the inclination sensor Do not carry out any wiring work when the inclination sensor is live Do not dock or undock the electrical connection while the inclination sensor is live Ensure that the entire equipment is installed in line with EMC requirements Ambient conditions and wiring affect the electromagnetic compatibility of the inclinat...

Страница 5: ...thout being dependent upon the priority of the master Each user is able to start its message when the bus is not occupied When messages are sent simultaneously the user with the highest priority prevails Prioritization of messages The identifier defines the priority of the message This ensures that important messages are transmitted quickly via the bus Residual error probability Safety procedures ...

Страница 6: ... objects for synchronization emergency message All device and communication parameters are subdivided into an object directory An object directory encompasses the name of the object data type number of subindexes structure of the parameters and the address According to CiA this object directory is subdivided into three different parts Communication profile device profile and a manufacturer specifi...

Страница 7: ...mergency 80h Node ID PDO1 tx 1 180h Node ID PDO2 tx 1 280h Node ID SDO tx 1 580h Node ID SDO rx 1 600h Node ID Heartbeat 700h Node ID LSS tx 1 7E4h LSS rx 1 7E5h 1 tx and rx from the viewpoint of the sensor The node ID can be freely selected by means of the CANopen bus between 1 and 127 The sensors are supplied with the Node ID 1 and baud rate 50 kBit s This can be changed with the service data ob...

Страница 8: ...es whether data is read or set and how many data bytes are involved SDO command Description Data length 22h Download request Max 4 Byte Transmits parameter to sensor 23h Download request 4 byte 2Bh Download request 2 byte 2Fh Download request 1 byte 60h Download response Confirms receipt to master 40h Upload request Requests parameter from sensor 42h Upload response Max 4 byte Parameter to master ...

Страница 9: ... request will be a request for the resolution Object 6000h COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h node ID 8 40h 00h 60h 0 x x x x Response by the slave to the request for a value The resolution is 2 bytes long the precise values can be found under object 6000h COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h node ID 8 4Bh 00h 60...

Страница 10: ... transmitted a further five times In synchronous operation the PDO is requested by the master via the Sync telegram Byte 0 Byte 1 COB ID 80 0 Cyclical asynchronous If you wish the PDOs to be transmitted cyclically the value FEh must be written into the object 1800h 1801h Subindex 2 In addition the cycle time in milliseconds must be entered in the same object subindex 5 The entered time is rounded ...

Страница 11: ... Error code for the corresponding Error ID The LED is red continuous as long as the error is present For the time of error presence the inclination value should be considered invalid Should the error prevail and remain active please contact Baumer support Diagnosis active errors CANopen The LED status indicator lights up red If the error is active an error message is sent CANopen EMCY Message Fram...

Страница 12: ...switch default case reached 0x0005 0x0004 checksum 0x0006 0x000B division by zero 0x1000 device flipped 0x0007 0x1001 overvoltage 5v operating 0x1002 overvoltage 5v max 0x1003 overvoltage 3 3v max 0x1004 overvoltage 3 3v operating 0x0008 0x0001 zero pointer 0x0009 0x1000 stack overflow 0x000A 0x1000 RAM test wrong area 0x1001 RAM error 0x0006 switch default case reached 0x000B 0x0001 zero pointer ...

Страница 13: ...reset status 0x001B 0x0001 zero pointer 0x1001 Wrong error module ID 0x1002 Not existing Error ID 0x001C 0x0001 zero pointer 0x1000 DAC output mode 0x1001 Channel number 0x1002 Channel initialization 0x1003 Gain zero 0x1004 Position beyond specified area 0x001D 0x0001 zero pointer 0x000B division by zero 0x001E 0x0006 switch default case reached 0x1000 CPU operation error 0x1001 CPU operation erro...

Страница 14: ...x0005 index out of bound 0x002A 0x0006 switch default case reached 0x000A Overflow 0x002B 0x0006 switch default case reached 3 3 6 Network management services Network management can be divided into two groups Using the NMT services for device monitoring bus users can be initialized started and stopped In addition NMT services exist for connection monitoring Description of the NMT command The comma...

Страница 15: ...encoder then goes automatically to the pre operational mode status The COB ID of the BootUp message is made up of 700h and the node ID COB ID Byte 0 700h node ID 00 Pre operational mode In the pre operational mode SDOs can be read and written Operational mode In the operational mode the encoder transmits the requested PDOs In addition SDOs can be read and written Stopped or prepared mode In the st...

Страница 16: ...mmand the encoder is switched to the stopped or prepared mode status COB ID Command byte Node number 0 2h 0 127 Enter pre operational mode 3 Change to the pre operational mode status COB ID Command byte Node number 0 80h 0 127 Reset remote node 4 or reset communication 5 With the reset command the sensor is re initialized Reset remote node 4 COB ID Command byte Node number 0 81h 0 127 Reset commun...

Страница 17: ...eat Consumer may receive the indication The relationship between producer and consumer is configurable via Object Dictionary entries The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat consumer time If the Heartbeat is not received within this time a Heartbeat Event will be generated Communication error object 1029h 1h Example for a heartbeat protocol COB ID Data Remo...

Страница 18: ...Both the node ID and also the baud rate can be reset LSS can only be executed in the Stopped Mode Message structure COB ID Master Slave 2021 7E5h Master Slave 2020 7E4h After the COB ID an LSS command specifier is transmitted This is followed by up to seven attached data bytes COB ID cs Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Switch Mode Global 7E5h 04h Mode reserved Mode 0 Operation mode...

Страница 19: ... for CiA 128 255 Manufacturer specific tables TableInd Bit timing entry in selected table see table below Error code 0 OK 1 Bit timing outside range 2 254 reserved 255 Specific error Specific error If Error code 255 Application specific error code Standard CiA table Baud rate Table Index 1000 kBaud 0 800 kBaud 1 500 kBaud 2 250 kBaud 3 125 kBaud 4 100 kBaud 5 50 kBaud 6 20 kBaud 7 10 kBaud 8 Savin...

Страница 20: ...h 5Ah reserved 7E4h 5Ah 32 bit vendor ID reserved Vendor ID ECh Request product code Request product code of a selected sensor 7E5h 5Bh reserved 7E4h 5Bh Product code reserved Product code Manufacturer dependent product code Request revision number Request revision number of a selected sensor 7E5h 5Ch reserved 7E4h 5Ch 32 bit revision number reserved Revision number Current revision Request serial...

Страница 21: ...ensor with the relevant parameters logs on with the following message 7E4h 4Fh reserved 3 4 Object Dictionary According to CiA CAN in Automation the objects are subdivided into three groups Standard communication objects 1000h 1FFFh Manufacturer specific objects 2000h 5FFFh Device specific objects 6000h FFFFh The table below is giving a summary of all SDO objects supported by the inclination senso...

Страница 22: ...tion parameters U32 rw 03h Application parameters U32 rw 04h Manufacturer specific parameters U32 rw 1011h Restore Default Parameters 00h Maximum Subindex U8 ro 4h 01h Restore all parameters U32 rw 02h Restore communication parameters U32 rw 03h Restore application parameters U32 rw 04h Restore manufacturer specific parameters U32 rw 1014h Emergency COB ID U32 rw 80h Node ID yes 1016h Consumer hea...

Страница 23: ... 1 2 Restore Parameters 1011h In order to avoid the restoring of default parameters by mistake restoring shall be only executed when a specific signature is written to the appropriate sub index The signature that shall be written is load Signature MSB LSB ISO8859 character d a o l hex 64h 61h 6Fh 6Ch The restore is active after a power cycle or a after a CANopen reset 3 4 1 3 NMT Startup 1F80h Thi...

Страница 24: ...ption 1 127 Node ID The new Node ID will take effect after a restart 3 4 2 3 Axis Alignment 2106h By accessing this object a change of the device orientation can be done swapping sign and switch axes A change of the default orientation can lead to a loss of accuracy and is not suggested Axis mapping subindex 1 The axes can be switched as shown in the following tables Bit Mask Bit 7 Bit 6 Bit 5 Bit...

Страница 25: ...yes 6020h Slope lateral 16bit X axis only for 2 Dimensional I16 ro yes 6021h Slope lateral operating parameter Y axis only for 2 Dimensional U8 rw 2h yes 6022h Slope lateral 16bit preset value Y axis only for 2 Dimensional I16 rw 0h yes 6023h Slope lateral 16bit offset Y axis only for 2 Dimensional I16 rw 0h yes 6024h Differential slope lateral 16bit offset Y axis only for 2 Dimensional I16 rw 0h ...

Страница 26: ... 6121h 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 The scaling is active at the factory the inversion of the sign is deactivated object value 2H Scaling mea...

Страница 27: ...udinal 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 B is a slope physical measured C is a differential slope offset when accessing object a preset object The 16bit and 32bit values are hardwired internally i e changing the differential offset at 6014h changes the different...

Страница 28: ...D State Description Single flash STOPPED The Device is in STOPPED state Blinking PREOPERATIONAL The Device is in the PRE OPERATIONAL state On OPERATIONAL The Device is in the OPERATIONAL state Off Power off The Device is not powered 3 5 2 CANopen Error LED Red Error LED State Description Single flash Bus warning The CAN controller is not receiving ACK messages i e no master Off No error The Device...

Страница 29: ...GND Ground connection relating to CAN 2 Vs Voltage supply 3 GND Ground connection relating to Vs 4 CAN_H CAN Bus signal dominant High 5 CAN_L CAN Bus signal dominant Low Terminals with the same designation are connected to each other internally and identical in their functions Maximum load on the internal clamps Vs Vs and GND GND is 1 A each 4 3 Cable Core color Assignment Description White Vs Vol...

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