. Manual Cable transducer GCA5 with CANopen Software Revision (Firmware Version) 3.2 Baumer Electric AG Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 52 728 11 22 Fax +41 52 728 11 44 09.16 [email protected] Subject to modification in technic and design.
CH-8501 CN-201612 DK-8230 FR-74250 DE-61169 IN-411038 IT-20090 SG-339412 SE-56133 46the Baumer SENSOR CH-8501 manual baumer electric CH-8501 manual detecteur infrarouge Baumer CH-8501 manual: 2013 - Baumer SENSOR CH-8501 manual. Abstract: Baumer CH-8501 manual baumer electric CH-8501 manual detecteur infrarouge.
12 Emergency message. 12 Error register.12 7.4.1 Communication error.
12 7.4.2 Generic error.12 Error codes / EMCY messages.12 Heartbeat Service.13 General. 13 BaumerGCA5CANopenMAENV102.docx 2/16 Baumer Electric AG Frauenfeld, Switzerland. Communication Profile Area.14 10.2 Manufacturer Specific Profile Area.15 10.3 Standardized Device Profile Area. 16 Appendix.16 11.1 Pin Assignment.16 11.1.1 Pin assignment connector 1 x M12.16 BaumerGCA5CANopenMAENV102.docx 3/16 Baumer Electric AG Frauenfeld, Switzerland.
The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer rejects any liability for the information compiled in the present manual. Baumer nor the author will accept any liability for direct or indirect damages resulting from the use of the present information. Make sure that drainage holes are free. It is recommended to use flat washers.
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Supplementary information The present manual is intended as a supplement to already existing documentation (e.g. Catalogues, data sheets or mounting instructions). BaumerGCA5CANopenMAENV102.docx 5/16 Baumer Electric AG Frauenfeld, Switzerland. The step size for all position objects can be adapted in the object 0x6005. The basic unit is nanometer Example 1: A position step setting of 1’000’000 nm/step means that the position output unit is 1 mm. BaumerGCA5CANopenMAENV102.docx 6/16 Baumer Electric AG Frauenfeld, Switzerland.
0x000 0x01 Note: ID can be 0 for broadcast initialization After a power-on or NMT reset, the device will send a Boot up message. COB ID Byte 0 700h + node ID BaumerGCA5CANopenMAENV102.docx 7/16 Baumer Electric AG Frauenfeld, Switzerland. Note: Values above 7 are not accepted and the existing setting remains valid. After setting the new entries a SAVE command (see par. “How to save datas”) followed by a turnoff and on. BaumerGCA5CANopenMAENV102.docx 8/16 Baumer Electric AG Frauenfeld, Switzerland. Send the SDO message to set the zero of channel 2 COB-ID 0x600 + ID 0x23 0x01 0x21 0x02 0x00 0x00 0x00 0x00 Note: after setting the new entries a SAVE command (see paragraph 5.2 Save/load) followed by a turnoff and on.
BaumerGCA5CANopenMAENV102.docx 9/16 Baumer Electric AG Frauenfeld, Switzerland. It means P = 0x00002710 (10000 decimal) = 1000mm The channel ’b’ is represented in a similar way (but typically in a reverse order so, in the zero position, channel ’b’ is 4700mm and at FS his value is 0). BaumerGCA5CANopenMAENV102.docx 10/16 Baumer Electric AG Frauenfeld, Switzerland. The minimal cycle time for TPDOs is 1 ms.
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Exceptions of accurate calculation of process data The following operations could interrupt the accurate calculation of process data such as position, speed, warnings and alarms: Non-volatile operations Changing the scaling parameters BaumerGCA5CANopenMAENV102.docx 11/16 Baumer Electric AG Frauenfeld, Switzerland. The following error codes are generated by the device: Error Code Meaning 0x000000 Error reset or no error 0x000000 Generic error 0x000000 CAN RX overflow 0x000000 PDO not processed due to length error 0x01FF00 Wire break 0x02FF00 Error reading length BaumerGCA5CANopenMAENV102.docx 12/16 Baumer Electric AG Frauenfeld, Switzerland. Store configuration Inquire identity serial number Inquire identity node ID LSS address The needed value for LSS addressing as serial number is printed on a label on the encoder housing. BaumerGCA5CANopenMAENV102.docx 13/16 Baumer Electric AG Frauenfeld, Switzerland.
TPDO1 mapping U8, ro 0x02 Number of objects integrated in TPDO1 index in obj directory U16, ro 0x21110110 Cable length channel 1 index in obj directory U16, ro 0x21110210 Cable length channel 2 BaumerGCA5CANopenMAENV102.docx 14/16 Baumer Electric AG Frauenfeld, Switzerland. 4=125 kBit/s 5=100 kBit/s 6=50 kBit/s 7=20 kBit/s The baudrate is activated after a reset or power-on (if parameter is saved to non volatile memory) 0x3001 Node Id U8, rw 0x04 0x01.0x7F BaumerGCA5CANopenMAENV102.docx 15/16 Baumer Electric AG Frauenfeld, Switzerland. 11.1.1 Pin assignment connector 1 x M12 Signal Description CANGND CAN bus ground Supply voltage CANGND CAN bus ground CANH CAN bus signal (dominant High) CANL CAN bus signal (dominant Low) View to encoder BaumerGCA5CANopenMAENV102.docx 16/16 Baumer Electric AG Frauenfeld, Switzerland.
. Manual Cable transducer GCA5 with CANopen Software Revision (Firmware Version) 3.2 Baumer Electric AG Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 52 728 11 22 Fax +41 52 728 11 44 09.16 [email protected] Subject to modification in technic and design. 12 Emergency message. 12 Error register.12 7.4.1 Communication error. 12 7.4.2 Generic error.12 Error codes / EMCY messages.12 Heartbeat Service.13 General. 13 BaumerGCA5CANopenMAENV102.docx 2/16 Baumer Electric AG Frauenfeld, Switzerland.
Communication Profile Area.14 10.2 Manufacturer Specific Profile Area.15 10.3 Standardized Device Profile Area. 16 Appendix.16 11.1 Pin Assignment.16 11.1.1 Pin assignment connector 1 x M12.16 BaumerGCA5CANopenMAENV102.docx 3/16 Baumer Electric AG Frauenfeld, Switzerland.
The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer rejects any liability for the information compiled in the present manual. Baumer nor the author will accept any liability for direct or indirect damages resulting from the use of the present information. Make sure that drainage holes are free. It is recommended to use flat washers.
Supplementary information The present manual is intended as a supplement to already existing documentation (e.g. Catalogues, data sheets or mounting instructions). BaumerGCA5CANopenMAENV102.docx 5/16 Baumer Electric AG Frauenfeld, Switzerland. The step size for all position objects can be adapted in the object 0x6005.
The basic unit is nanometer Example 1: A position step setting of 1’000’000 nm/step means that the position output unit is 1 mm. BaumerGCA5CANopenMAENV102.docx 6/16 Baumer Electric AG Frauenfeld, Switzerland. 0x000 0x01 Note: ID can be 0 for broadcast initialization After a power-on or NMT reset, the device will send a Boot up message. COB ID Byte 0 700h + node ID BaumerGCA5CANopenMAENV102.docx 7/16 Baumer Electric AG Frauenfeld, Switzerland. Note: Values above 7 are not accepted and the existing setting remains valid. After setting the new entries a SAVE command (see par. “How to save datas”) followed by a turnoff and on.
BaumerGCA5CANopenMAENV102.docx 8/16 Baumer Electric AG Frauenfeld, Switzerland. Send the SDO message to set the zero of channel 2 COB-ID 0x600 + ID 0x23 0x01 0x21 0x02 0x00 0x00 0x00 0x00 Note: after setting the new entries a SAVE command (see paragraph 5.2 Save/load) followed by a turnoff and on. BaumerGCA5CANopenMAENV102.docx 9/16 Baumer Electric AG Frauenfeld, Switzerland. It means P = 0x00002710 (10000 decimal) = 1000mm The channel ’b’ is represented in a similar way (but typically in a reverse order so, in the zero position, channel ’b’ is 4700mm and at FS his value is 0). BaumerGCA5CANopenMAENV102.docx 10/16 Baumer Electric AG Frauenfeld, Switzerland. The minimal cycle time for TPDOs is 1 ms. Exceptions of accurate calculation of process data The following operations could interrupt the accurate calculation of process data such as position, speed, warnings and alarms: Non-volatile operations Changing the scaling parameters BaumerGCA5CANopenMAENV102.docx 11/16 Baumer Electric AG Frauenfeld, Switzerland.
The following error codes are generated by the device: Error Code Meaning 0x000000 Error reset or no error 0x000000 Generic error 0x000000 CAN RX overflow 0x000000 PDO not processed due to length error 0x01FF00 Wire break 0x02FF00 Error reading length BaumerGCA5CANopenMAENV102.docx 12/16 Baumer Electric AG Frauenfeld, Switzerland. Store configuration Inquire identity serial number Inquire identity node ID LSS address The needed value for LSS addressing as serial number is printed on a label on the encoder housing. BaumerGCA5CANopenMAENV102.docx 13/16 Baumer Electric AG Frauenfeld, Switzerland. TPDO1 mapping U8, ro 0x02 Number of objects integrated in TPDO1 index in obj directory U16, ro 0x21110110 Cable length channel 1 index in obj directory U16, ro 0x21110210 Cable length channel 2 BaumerGCA5CANopenMAENV102.docx 14/16 Baumer Electric AG Frauenfeld, Switzerland. 4=125 kBit/s 5=100 kBit/s 6=50 kBit/s 7=20 kBit/s The baudrate is activated after a reset or power-on (if parameter is saved to non volatile memory) 0x3001 Node Id U8, rw 0x04 0x01.0x7F BaumerGCA5CANopenMAENV102.docx 15/16 Baumer Electric AG Frauenfeld, Switzerland. 11.1.1 Pin assignment connector 1 x M12 Signal Description CANGND CAN bus ground Supply voltage CANGND CAN bus ground CANH CAN bus signal (dominant High) CANL CAN bus signal (dominant Low) View to encoder BaumerGCA5CANopenMAENV102.docx 16/16 Baumer Electric AG Frauenfeld, Switzerland.