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Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx

 

 

www.baumer.com 

27.04.21

 

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Description of the NMT command 

The commands are transmitted as unconfirmed objects and are structured as follows: 
 

Identifier 

Byte 0 

Byte 1 

COB-ID = 0 

Command byte 

Node-ID 

 
The

 COB-ID

 for NMT commands is always zero. The Node-ID is transmitted in byte 1 of the NMT command. 

 
 

Command byte 

Command byte 

Description 

In state event drawing 

01h 

Start remote node 

1 

02h 

Stop remote node 

2 

80h 

Enter pre-operational state 

3 

81h, 82h 

Reset remote node 

4, 5 

 
The 

node number

 corresponds to the Node-ID of the required users. With node number = 0, all users are 

addressed. 
 
 

NMT state event 

Following initialization, the sensor is in the pre-operational state. In this status, SDO parameters can be read 
and written. In order to request PDO parameters, the sensor must first be moved to the operational state. 
 

 Power on or hardware reset 

 

 

The various NMT states 
Init 

Following initialization, the sensor logs on to the CAN bus with a Boot Up message. The sensor then goes 
automatically to the pre-operational state. 
 

Init

Pre-Operational

Operational

Stopped/Prepared

Power on oder Hardware Reset

1

3

2

1

3

2

4/5

BootUp Message

4/5

4/5

Содержание GIM700DR

Страница 1: ...21 174 02 082 1 Subject to modification in technic and design www baumer com Errors and omissions excepted Manual Dynamic inclination sensors GIM700DR with CANopen interface Firmware version 1 14 2 and higher ...

Страница 2: ...urer specific parameters 22 4 2 1 Baud rate 2100h 22 4 2 2 Node ID 2101h 22 4 2 3 Signal filter settings 2107h 2108h 2109h 23 4 3 Device profile specific parameters CiA DS 410 25 4 3 1 Resolution 6000h 26 4 3 2 Slope long 6010h 6110h slope lateral 6020h 6120h 26 4 3 3 Slope long preset value 6012h 6112h slope lateral preset value 6022h 6122h 26 4 3 4 Slope long offset 6013h 6113h slope lateral off...

Страница 3: ... by Baumer IVO GmbH Co KG 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 Mounting instruction Further information is available as download via www baumer com Manual sensor interface description EDS file electronic data sheet 1 2 Product assignment Product Device n...

Страница 4: ...ical 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 wir ing affect the electromagnetic compatibility of the in...

Страница 5: ... dependent upon the priority of the Consumer 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 in the ne...

Страница 6: ...ters are subdivided into an object directory An object directory encom passes the name of the object data type number of sub indexes structure of the parameters and the ad dress According to CiA this object directory is subdivided into three different parts Communication profile device profile and a manufacturer specific profile see object directory 3 3 CANopen communication 3 3 1 Communication pr...

Страница 7: ... 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 kbits s This can be changed with the service data object 2101h or object 2100h or using LSS A CAN telegram is made up of the COB ID...

Страница 8: ...ength 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 Consumer 40h Upload request Requests parameter from sensor 42h Upload response Max 4 byte Parameter to Consumer with max 4 byte 43h Upload response 4 byte 4Bh Upload response 2 byte 4Fh Upload response 1 by...

Страница 9: ...ing of a value by the Consumer into the Producer Inclination setting can be performed with preset for longitudinal slope Object 6012h COB ID DLC Command Object LSB Object MSB Sub index Data 0 Data 1 Data 2 Data 3 600h Node ID 8 2Bh 12h 60h 0 a b c d Producer s response to the writing of a value COB ID DLC Command Object LSB Object MSB Sub index Data 0 Data 1 Data 2 Data 3 580h Node ID 8 60h 12h 60...

Страница 10: ...ion 1D VP 180h Node ID 4 Object 6511h Device temperature LSB MSB Object 6010h Z axis LSB MSB Variant ID DLC Byte 0 1 Byte 2 3 Byte 4 5 Byte 6 7 2D horizontal installation 2D HP 180h Node ID 6 Object 6511h Device temperature LSB MSB Object 6010h X axis LSB MSB Object 6020h Y axis LSB MSB 2D vertical in stallation 2D VP 180h Node ID 6 Object 6511h Device temperature LSB MSB Object 6010h Z axis LSB M...

Страница 11: ...h 100Eh 1011h MEMS saturation error Please check if acceleration and or gyroscope rotation rate in sensor application is near or above specified limit The warning and or error with a specific Error ID should be considered as active until the sensor is sending Error Code 0000h for the corresponding Error ID Example for EMCY messages COB ID hex Error Code LSB hex Error Code MSB hex Error Register he...

Страница 12: ...1h 82h Reset remote node 4 5 The node number corresponds to the Node ID of the required users With node number 0 all users are addressed NMT state event Following initialization the sensor is in the pre operational state In this status SDO parameters can be read and written In order to request PDO parameters the sensor must first be moved to the operational state Power on or hardware reset The var...

Страница 13: ... parameters can be read or set LSS is only possible in the stopped state Status change Start remote node 1 With the start command the sensor is switched to the operational state COB ID Command byte Node ID 0 1h 0 127 Stop remote node 2 With the stop command the sensor is switched to the stopped state COB ID Command byte Node ID 0 2h 0 127 Enter pre operational state 3 Change to the pre operational...

Страница 14: ...In other words the sensor is in the pre operational state 7Fh 127 3 3 6 2 Layer Setting Services In 2000 CiA drafted a new protocol intended to ensure standardized occurrence The procedure is described under Layer Setting Services and Protocol CiA Draft Standard Proposal 305 LSS The sensor is supplied as standard with node ID 1 and baud rate 50 kbits s Several sensors can be con nected to the bus ...

Страница 15: ... revision number of the sensor Serial number Unique consecutive serial number State The sensor s response is the new state 0 operating state 1 configuration state Setting node ID 7E5h 11h Node ID reserved 7E4h 11h ErrCode Spec error reserved Node ID The sensor s new Node ID Error code 0 OK 1 Node ID outside range 2 254 reserved 255 Specific error Specific error If Error code 255 application specif...

Страница 16: ...ect 1010h New baud rate will take effect after restart of the device Baud rate 10 kbits s is not supported Saving configuration protocol This protocol saves the configuration parameters in the EEPROM 7E5h 17h reserved 7E4h 17h ErrCode SpecError reserved Error code 0 OK 1 Saving not supported 2 Access error 3 254 reserved 255 Specific error Specific error If error code 255 Application specific erro...

Страница 17: ...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 number Request serial number of a selected sensor 7E5h 5Dh reserved 7E4h 5Dh 32 bit serial number reserved Serial number Unique consecutive serial number of the sensor ...

Страница 18: ...02 Part 2 Object Sub index Name Format Access Default Save 1000h Device type U32 ro 102019Ah 1001h Error register U8 ro 0h 1002h Manufacturer status register U32 ro 0h 1003h Pre defined error field 00h Number of errors U8 rw 0h yes 01h Newest error entry U32 ro 10h Oldest error entry U32 ro 1005h COB ID SYNC message U32 rw 80h yes 1008h Device name VSTR ro GIM700DR 1009h Hardware version VSTR ro 1...

Страница 19: ...2 communication parameters 00h Highest sub index supported U8 ro 5h 01h COB ID U32 rw NODEID 40000280h yes 02h PDO transmission type U8 rw FFh yes 05h EventTimer U16 rw 0h yes 1802h TX PDO3 communication Transmit PDO3 communication parameters 00h Highest sub index supported U8 ro 5h 01h COB ID U32 rw NODEID 40000380h yes 02h PDO transmission type U8 rw FFh yes 05h Event time U16 rw 0h yes 1803h TX...

Страница 20: ...apping entry 2 U32 rw 1D 0h 2D 0h yes 03h Mapping entry 3 U32 rw 1D 0h 2D 0h yes 04h Mapping entry 4 U32 rw 1D 0h 2D 0h yes 1A02h TX PDO3 mapping Transmit PDO3 mapping parameters 00h Highest sub index supported U8 rw 1D 0h 2D 0h yes 01h Mapping entry 1 U32 rw 1D 0h 2D 0h yes 02h Mapping entry 2 U32 rw 1D 0h 2D 0h yes 03h Mapping entry 3 U32 rw 1D 0h 2D 0h yes 04h Mapping entry 4 U32 rw 1D 0h 2D 0h...

Страница 21: ...re MSB LSB ISO 8859 character d a o l hex 64h 61h 6Fh 6Ch The sensor supports different possibilities to restore default parameters factory settings see object 1011h description To restore all parameters to factory settings the signature load shall be written to object 1011h sub index 01h To restore communication parameters the signature load shall be written to object 1011h sub in dex 02h To rest...

Страница 22: ...pported U8 ro 3h no no all 01h Filter type U8 rw 1h yes no all 02h Filter order U8 rw 2h yes no all 03h Cut off frequency upper cut off U16 rw BB8h yes no all 4 2 1 Baud rate 2100h The baud rate can be changed and read through this object The following parameters are possible Baud rate 2100h NOTE Object 2100h table deviates from CiA standard bit timing table for LSS Value Description 0 10 kbits s ...

Страница 23: ...r and cut off frequency can be configured in given lim its Filter coefficients depend on each of the configurable parameters These filter coefficients are calculated on power up based on the filter parameters changes to the filter parameters need to be saved and the device needs to undergo a node reset power cycle before new settings become effective 4 2 3 1 Filter settings Acceleration raw data 2...

Страница 24: ...uency 2 lower cut off with resolution 0 01 Hz 1 Hz 64h If 2108h 1h 0 no effect If 2108h 1h 1 no effect If 2108h 1h 2 band pass filter high pass cut off Note For correct band pass filter operation cut off frequency 1 must be set higher than cut off frequency 2 A plausibility check is not implemented 4 2 3 3 Filter settings Process data 2109h This filter affects the following process data sensor fus...

Страница 25: ... lateral 16 bit preset value I16 rw 0h yes no 2D 6023h Slope lateral 16 bit offset I16 rw 0h yes no 2D 6024h Slope lateral 16 bit differential offset I16 rw 0h yes no 2D 6110h Slope long 32 bit 1D vertical installation 1D VP Z axis 2D horizontal installation 2D HP X axis 2D vertical installation 2D VP Z axis I32 ro no yes 1D 2D 6111h Slope long 32 bit operating parameter U8 rw 2h or 3h1 yes no 1D ...

Страница 26: ...avity vector and YZ plane 4 3 3 Slope long preset value 6012h 6112h slope lateral preset value 6022h 6122h Objects 6012h 16 bit and 6112h 32 bit contain the preset values of the longitudinal slope Objects 6022h 16 bit and 6122h 32 bit contain the preset values of the lateral slope Accessing these preset objects by SDO directly sets the actual longitudinal lateral slope value to the de sired target...

Страница 27: ...24h 16 bit and 6124h 32 bit provide the shifting of the Slope lateral values 6020h 6120h in dependent of the Slope lateral preset objects 6112h 6122h and the Slope long offset 6023h 6123h All value must be given in angular degrees with the resolution given in object 6000h Recommendation If necessary use differential offset objects for fine adjusting of sensor coordinate system 4 3 6 Slope operatin...

Страница 28: ...tation Examples In general case a slope value of 30 with disabled inversion results in a slope value of 30 with ena bled inversion In case of a 1 dimensional sensor with measuring range 0 360 a slope value of 30 with disabled inversion results in a slope value of 330 with enabled inversion Bit mask Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved s i Default 1 0 s Scaling 0 Disable scaling...

Страница 29: ...sor vertical installation plumb angle 0 360 1D VP Install sensor in vertical position with horizontal Z axis see illustration For optimum measuring accuracy limit misalignment maximum misalignment 3 Sensor measures rotation around Z axis with measuring range 0 360 Sensor output slope value increases during clockwise rotation Sensor output is zero 0 when the connectors are pointing downwards Zero d...

Страница 30: ...ensor outputs slope values increase during clockwise rotation Sensor outputs are zero 0 when sensor base plate has horizontal alignment factory default set tings Zero degree positions may be configured by Slope long preset value objects 6012h 6112h and Slope lateral preset value objects 6022h 6122h X axis angle 0 Y axis angle 0 X axis angle 30 Y axis angle 0 X axis angle 90 Y axis angle 0 X axis a...

Страница 31: ...ange 90 Sensor outputs slope values increase during clockwise rotation Sensor outputs are zero 0 when Z axis and Y axis have horizontal alignment factory default set tings Zero degree positions may be configured by Slope long preset value objects 6012h 6112h and Slope lateral preset value objects 6022h 6122h Z axis angle 0 Y axis angle 0 Z axis angle 30 Y axis angle 0 Z axis angle 45 Y axis angle ...

Страница 32: ...ug socket 1 CAN_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 0 6 Amps each ...

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