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Manual_GNAMG_CANopen_EN.doc 

14/41 

Baumer IVO GmbH & Co. KG 

21.11.12 

 

Villingen-Schwenningen, Germany 

Heartbeat protocol 

Optionally the new Heartbeat protocol can 
be utilized. Heartbeat is enabled if in object 
2110h bit 5 is on “0”. We recommend for 
new applications the modern guarding 
protocol heartbeat. 
A "Heartbeat-Producer" produces a cyclic 
heartbeat indication. One or more  
“Heartbeat-Consumers" can receive this 
heartbeat indication.  
If there is no cyclic transmission of the 
heartbeat message, this will result in a 
„Heartbeat Event“. The behaviour in case of 
error is defined in object 1029h-1h 
"Communication Error". 

 

Example of a Heartbeat protocol 

COB-ID 

Data/Remote 

Byte 0 

701h 

d 

7Fh (127d) 

 
Heartbeat messages are composed of COB-ID and one byte. This byte is transmitting the NMT state.  
 
 

0: 

BootUp-Event 

 

4: 

Stopped 

 

5: 

Operational 

 

127: 

Pre-Operational 

 
i.e. the inclination sensor is in pre-operational mode (7Fh = 127). 
 
 

Important :  

Only one of the above nodeguarding options can be active.  

 
 

Default:  

Heartbeat  

Optional:  

NodeGuarding (see object 2110) 

 

Содержание GNAMG Series

Страница 1: ...en Schwenningen Phone 49 7720 942 0 Fax 49 7720 942 900 11 12 174 02 048 7 info de baumerivo com Subject to modification in technic and design www baumer com Errors and omissions excepted Manual Inclination sensor with CANopen interface Firmware Version 1 00 and up ...

Страница 2: ... Services 15 3 4 Inclination sensor profile 18 3 4 1 Inclination sensor object overview 18 3 4 2 Detailed object list 21 4 Diagnostics and useful information 32 4 1 Error diagnostics in fieldbus communication 32 4 2 Error diagnostics via fieldbus 32 4 3 Useful information on the sensor 33 5 Applications 34 5 1 Write and read SDO objects 34 5 2 Configuration 35 5 3 Operation 36 5 4 Commissioning vi...

Страница 3: ...your comments and proposals for further improvement of the present document 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 CD with describing file and manual also available as download in the Internet 1 2 Product assignment Product Product code Device name EDS fil...

Страница 4: ...omply with the safety remarks can result in malfunctions personal injury or damage to property Transport and storage Only ever transport or store the inclination sensor in its original packaging Never drop the inclination sensor nor expose it to major shocks Mounting Avoid impacts or shocks on the housing The bus cover must fully and evenly rest on the base plate Any tolerances in mounting the bus...

Страница 5: ... recieve data independently irrespectible of a priority by master Every user can start his message if the bus is not busy If several messages are transmitted at the same time the user with the highest priority will succeed Message priorities Message priority is determined by the identifier Thus the bus is quickly transmitting important messages Risk of remaining errors Reliability precautions in t...

Страница 6: ...anisation CAN in Automation CiA Some CANopen benefits easy access to all device and communication parameters synchronisation of several appliances automated network configuration cyclic and event triggered process data traffic CANopen provides four communication objects COB with different properties process data objects for realtime data PDO service data objects for parameter and profile transmiss...

Страница 7: ... number revision number etc within the existing network 3 3 2 CANopen message structure First part of the message is the COB ID identifier Structure of the 11 Bit COB ID Function Code Node ID 4 Bit Function code 7 Bit Node ID The function code is defining the kind of message and priority The lower the COB ID the higher the priority of the message Broadcast messages Function code COB ID NMT 0 SYNC ...

Страница 8: ... 2 Byte 2Fh Download Request 1 Byte 60h Download Response confirm download to master 40h Upload Request request parameter upload from inclination sensor 42h Upload Response max 4 Byte parameter to master max 4 bytes 43h Upload Response 4 Byte 4Bh Upload Response 2 Byte 4Fh Upload Response 1 Byte 80h Abort Message Inclination sensor gives error code to master Abort Message means an error in CAN com...

Страница 9: ...data communication Process data objects serve for process data exchange in realtime PDO transmision is synchronous or cyclic asynchronous The inclination sensor supports PDO1 providing the actual angular position of the two axis of the inclination sensor and defined in the objects 1800h 1A00h 6110h and 6120h Synchronous For synchronous process data transmission the parameter set in object 1800h mu...

Страница 10: ... 181h 8 Xx Xx Xx Xx Xx Xx Xx Xx ID 180h Node ID Length 8 DataByte Byte 0 3 Slope angle in degrees axis Slope Long Y Byte 4 7 Slope angle in degrees axis Slope Lateral X Emergency service Internal device errors or bus problems will result in an emergency message COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 80h Node ID 8 Error Code 00h 01h Error Register 1001h Xx Xx Xx Xx Xx By...

Страница 11: ...ID for NMT commands is always zero The Node ID is transmitted in byte 2 of the NMT command Command byte Command byte Meaning State Event Mapping 01h Start Remote Node 1 02h Stop Remote Node 2 80h Enter Pre Operational Mode 3 81h 82h Reset Remote Node 4 5 The Node number is the Node ID of the requested user Node ID 0 means addressing all users NMT State Event After boot up the inclination sensor is...

Страница 12: ...SDOs Stopped oder Prepared Mode NMT communication is only possible in Stopped Mode Read and write SDO parameters is disabled LSS is also only available in Stopped Mode Changing the operational state Start Remote Node 1 The start command will set the inclination sensor to operational mode COB ID Command byte Node ID 0 1h 0 127 Stop Remote Node 2 The stop command will set the inclination sensor to s...

Страница 13: ...rvice by a Remote Frame to the requested user Every Remote Frame will reset the Life Time at the user Further the user responds his NMT state This way the NMT master is able to check whether the user is in the correct NMT state and can react correspondingly in case of error Upon Life Time expiry a Node Event will be triggered The behaviour in case of error is defined in object 1029h 1h Communicati...

Страница 14: ...rtbeat indication If there is no cyclic transmission of the heartbeat message this will result in a Heartbeat Event The behaviour in case of error is defined in object 1029h 1h Communication Error Example of a Heartbeat protocol COB ID Data Remote Byte 0 701h d 7Fh 127d Heartbeat messages are composed of COB ID and one byte This byte is transmitting the NMT state 0 BootUp Event 4 Stopped 5 Operati...

Страница 15: ...aster Slave 2020 7E4h The COB ID is followed by a LSS command specifier and a data packet of max 7 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 Operational mode 1 Configuration mode Switch Mode Selective The following sequence is for addressing a determined inclination sensor in the bus system 7E5h 40h VendorId Reserved 7E5h 41h ...

Страница 16: ... kBaud 1 500 kBaud 2 250 kBaud 3 125 kBaud 4 100 kBaud 5 50 kBaud 6 20 kBaud 7 10 kBaud 8 Saving the configuration protocol By this protocol the configured parameters are saved in EEPROM 7E5h 17h reserved 7E4h 17h ErrCode SpecError Reserved ErrorCode 0 OK 1 saving not supported 2 acess error 3 254 reserved 255 specificError SpecificError If ErrorCode 255 application specific error code Activate Bi...

Страница 17: ...ber request Requesting the serial number of a selected inclination sensor 7E5h 5Dh reserved 7E4h 5Dh 32 Bit Serial number reserved Serial number unique successive serial number of the inclination sensor Range Selection Inclination sensors can also be selected within a defined range To do so the following objects are transmitted one after the other 7E5h 46h VendorId reserved 7E5h 47h ProductCode re...

Страница 18: ...un Bit7 Manufacturer specific 1003h PreDefined ErrorField ARR Comprises the last 8 errors or warnings 00h Maximum Subindex U8 rw 0h ja Number of messages saved 0 8 01h Latest entry U32 ro Latest error or warning 1000h Generic Error 5530h EEPROM Error 6010h Software Reset Watchdog 7510h Internal Communication Error 8130h Life Guard Error or Heartbeat Error 08h Oldest entry U32 ro Error or warning s...

Страница 19: ...029h Error behaviour ARR Error behaviour 00h Maximum Subindex U8 ro 1h 01h Communication error U8 rw 1h yes 0h go to pre operational mode 1h no change of mode 2h go to stop mode 3h Node reset 1800h Transmit PDO1 Parameter REC 00h Maximum subindex U8 ro 5h 01h COB ID U32 rw 180h id ja PDO ID 180h Node ID 02h PDO Type U8 rw FEh ja FEh User defined cyclic 05h EventTimer U16 rw 203h ja Cycle time in m...

Страница 20: ...version off Bit 1 1 scaling on 0 scaling off 6112h Preset value Y axis Slope long preset value I32 rw ro bei 360 0h yes Value range according parameter in object 6000h 6113h Offset Y axis Slope long offset I32 ro 0h yes Calculated offset when writing on object 6112h 6114h Differential Offset Y axis Differential slope long offset I32 rw ro bei 360 0h yes Supplementary offset independent from object...

Страница 21: ...rror codes This documentation only describes the sensor relevant error codes This object saves the latest 8 errors or warnings that occurred SubIndex 0 Data type Unsigned 8 Access ReadWrite Default 0 EEPROM No Meaning Read Number of errors or warnings Write 0 error reset Parameters 0 8 SubIndex 1 8 Data type Unsigned 32 Access ReadOnly Default 0 EEPROM No Meaning Errors or warnings occured subinde...

Страница 22: ...ng Hardware version in ASCII Parameters Data 0 3 Example 31h 2Eh 30h 30h 1 00 Object 100A Manufacturer Software Version SubIndex 0 Data t type Unsigned 32 Access ReadOnly Default EEPROM No Meaning Software version in ASCII Parameters Data 0 3 Example 31h 2Eh 30h 30h 1 00 Object 100C Guard Time SubIndex 0 Data type Unsigned 16 Access ReadWrite Default 0h EEPROM Yes Meaning Timer for nodeguarding in...

Страница 23: ...Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h Node ID 8 23h 11h 10h 01 6Ch l 6Fh o 61h a 64h d Object 1014 COB ID emergency message SubIndex 0 Data type Unsigned 32 Access ReadWrite Default 80h Node ID EEPROM Yes Meaning Defines COB ID of the emergency object Parameters 80h Node ID Object 1016 Consumer heartbeat time SubIndex 0 Data type Unsigned 8 Access Read only Default 1 ...

Страница 24: ... SubIndex 2 Data type Unsigned 32 Access ReadOnly Default 32h EEPROM Yes Meaning Product Code Parameters 0x32 GNAMG x225xxx 0x33 GNAMG x215xxx 0x34 GNAMG x235xxx SubIndex 3 Data type Unsigned 32 Access ReadOnly Default EEPROM No Meaning Sensor revision number Parameters Actual software version xxyy xx version yy running number See product label Data 0 running number LOW Data 1 running number HIGH ...

Страница 25: ...ers SubIndex 0 Data type Unsigned 32 Access ReadOnly Default 5 EEPROM No Meaning Maximum supported subindex Parameter 5 SubIndex 1 Data type Unsigned 32 Access ReadWrite Default 180h Node ID EEPROM Yes Meaning COB ID des PDO Parameters 180h Node ID SubIndex 2 Data type Unsigned 8 Access ReadWrite Default FEh EEPROM Yes Meaning PDO Type Parameters 1 n F0h synchronous PDO PDO transmission on every n...

Страница 26: ...ROM No Meaning Contents PDO1 Parameters 61200020h slope angle Slope Lateral X axis Object 2100 Baud rate SubIndex 0 Data type Unsigned 8 Access ReadWrite Default 2 50 kBaud EEPROM Yes Meaning Read or set a new sensor baud rate After the setting operation the parameters must be stored in EEPROM by object 1010h followed by a sensor re init Parameters 0 10 kBaud 1 20 kBaud 2 50 kBaud 3 100 kBaud 4 12...

Страница 27: ...e below Parameters Bit3 0 no reset if BusOFF 1 bus reset if BusOFF Bit5 0 Heartbeat protocol active 1 Nodeguarding protocol active Object 2201 Statistics SubIndex 0 Data type Unsigned 8 Access ReadOnly Default 3h EEPROM No Meaning Maximum supported subindex Parameters 3 SubIndex 1 Data type Unsigned 32 Access ReadOnly Default 0h EEPROM Yes Meaning Presently not assigned Parameters SubIndex 2 Data ...

Страница 28: ... object 1010h Parameter 0 Object list according to DS 410 Object 6000 Resolution SubIndex 0 Data type Unsigned 16 Access ReadWrite Default 0001h 0 001 EEPROM Yes Meaning Resolution Parameters 0001h 0 001 000Ah 0 01 0064h 0 1 03E8h 1 0 Object 6110 Slope angle Y axis Slope long not at 360 sensor SubIndex 0 Data type Integer 32 Access ReadOnly Default EEPROM No Meaning Slope angle Parameters Value ra...

Страница 29: ...Data type Integer 32 Access ReadWrite Default 0h EEPROM Yes Meaning Sets the actual slope value Y axis to the desired value Parameters Value range depending on parameters in object 6000h Objekt 6113 Offset Y axis Slope long offset not with 360 sensor SubIndex 0 Data type Integer 32 Access ReadOnly Default 0h EEPROM Yes Meaning Calculated offset when writing on object 6112h Offset Y axis Preset val...

Страница 30: ...ing parameter SubIndex 0 Data type Unsigned 8 Access ReadWrite Default 0h EEPROM Yes Meaning Inversion Inversion enabled means reverse polarity of the X axis Scaling Scaling enabled means calculation of slope of the X axis as follows Slope X axis physically measured slope differential offset X axis offset X axis If scaling is disabled Slope X axis physically measured angle Parameters Bit 0 1 inver...

Страница 31: ... X axis ati tacc physically measured slope Y axis at tacc differential offset Y axis Parameters Value range depending on parameters in object 6000h Object 6124 Differential Offset X Achse Differential slope lateral offset SubIndex 0 Data type Integer 32 Access ReadWrite Default 0h EEPROM Yes Meaning Supplementary offset independent from objects 6122h and 6123h The entered value is directly added o...

Страница 32: ... assigned a unique Node ID i e by no means the same Node ID must be assigned several times Node ID and baud rate may also conveniently be assigned by LSS services 4 2 Error diagnostics via fieldbus The inclination sensor provides several objects and messages to indicate state or error state object 1001h This object serves as error register for the device error state object 1003h This object saves ...

Страница 33: ...tting a new Node ID 1 Setting a new Node ID is by using Baumer IVO specific object 2100h 2 After having set the new Node ID latter must be stored in EEPROM by object 1010h 3 Upon next init the sensor will log in with the new Node ID Setting a new baud rate 1 Setting a new baud rate is by using Baumer IVO specific object 2101h 2 After having set the new baud rate latter must be stored in EEPROM by ...

Страница 34: ... requested value Master request COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h Node ID 8 40h 10h 61h 0h x x x x Response dcba of the inclination sensor to master request COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h Node ID 8 43h 10h 61h 0h a b c d Commissioning When connected the bus the inclination sensor will give a BootUp message...

Страница 35: ...e Prior to next sensor init the baud rate of the master should be aligned 5 2 Configuration Changing the resolution See object 6000h Setting a new slope value See objects 6112h and 6122h Changing polarity and scaling See objects 6111h and 6121h Parameter saving in EEPROM Object 1010h saves the objects below non volatile in EEPROM To prevent any inadvertent saving operation the message save must be...

Страница 36: ...t now will be in Pre Operational Mode again The NMT state is indicated by LED refer to chapter Status LED Setting the Heartbeat Time For guarding the communication capability a Producer Hearbeat Time must be defined in object 1017h The service will be utilized upon confirmation of the parameter Example Every 100 ms the inclination sensor shall transmit a heartbeat 100 64h COB ID DLC Command Object...

Страница 37: ...Co KG 21 11 12 Villingen Schwenningen Germany 5 4 Commissioning via CAN Comfortable commissioning of the CANopen inclination sensor via CAN Layer 2 Example Inclination sensor with Node ID 1 some NMT and SDO commands Tool applied CANAnalyser32 by IXXAT ...

Страница 38: ...slope angle Alignment of coordinates y y x x see following diagram Installation position sensing range 15 30 und 60 The two dimensional inclination sensor with a sensing range of 15 30 and 60 must be mounted with the base plate in horizontal position i e parallel to the horizontal line The inclination sensor may also be installed upside down i e turned by 180 The sensor can be inclined both in lat...

Страница 39: ...nverted Default parameter of the inclination sensor s sensing direction is clockwise from 0 360 in case of active inversion counter clockwise 6 2 Electrical connection The inclination sensor must fully rest on the base plate and be firmly screwed in place For e connection of the bus cover please proceed as follows Release both fastening screws of the bus cover Carefully loosen the bus cover and li...

Страница 40: ...OFF user X 6 2 4 Connecting the inclination sensor Release the cap nut of the cable gland Push the cap nut and seal insert with contact sleeve onto the cable sheath Strip the cable sheath and cores shorten the shield film where existing see fig Bend over the braided shield by approx 90 Push the seal insert with contact sleeves along as far as the braided shield Insert the sealing insert with conta...

Страница 41: ...o UB 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 UB UB and GND GND is 1 A each 6 3 Status LEDs status indicators An integrated DUO LED is provided on the back of inclination sensor housing LED green LED red Status Off Off No su...

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