Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 2/23 Baumer –Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
Contents
1Safety and operating instructions..............................................................................................................4
1.1 Supplementary information............................................................................................................................4
1.2 Intended purpose of the equipment...............................................................................................................4
1.3 Commissioning..............................................................................................................................................4
1.4 Safety remarks...............................................................................................................................................4
1.5 Transport and storage ...................................................................................................................................4
1.6 Assembly.......................................................................................................................................................4
1.7 Electrical commissioning ...............................................................................................................................4
2Product Assignment....................................................................................................................................5
2.1 Cable transducer ...........................................................................................................................................5
3System Overview.........................................................................................................................................6
3.1 General..........................................................................................................................................................6
3.2 Supported Profiles.........................................................................................................................................6
3.3 Supported CANopen Services.......................................................................................................................6
3.4 Function Principle..........................................................................................................................................6
3.4.1 Overview........................................................................................................................................................6
3.4.2 Scaling...........................................................................................................................................................6
4NMT Service.................................................................................................................................................7
4.1 Supported commands....................................................................................................................................7
4.2 Boot up message...........................................................................................................................................7
5SDO service..................................................................................................................................................8
5.1 General..........................................................................................................................................................8
5.2 Save/load parameters....................................................................................................................................8
5.2.1 Save ..............................................................................................................................................................8
5.2.2 Load...............................................................................................................................................................8
5.2.3 Safe non-volatile operation............................................................................................................................8
5.2.4 Side effect......................................................................................................................................................8
5.3 Examples writing parameters.........................................................................................................................8
5.3.1 How to save data...........................................................................................................................................8
5.3.2 How to change the node ID...........................................................................................................................8
5.3.3 How to change the baud rate.........................................................................................................................8
5.3.4 How to change the length direction................................................................................................................9
5.3.5 How to change the length resolution..............................................................................................................9
5.3.6 How to set the length zero.............................................................................................................................9
5.3.7 How to change the Angle resolution............................................................................................................10
5.3.8 Operating Parameters (6811h/6911h/7011h1/7111h1).................................................................................10
5.3.9 Offset parameters and calculation...............................................................................................................10
5.3.10 Angle Digital Filter Configuration (2603h)....................................................................................................11
6PDO Service...............................................................................................................................................12
6.1 General........................................................................................................................................................12
6.2 PDO transmission types ..............................................................................................................................12
6.3 COB-ID........................................................................................................................................................12
6.4 PDO mapping..............................................................................................................................................13
6.4.1 Mappable objects.........................................................................................................................................13
6.4.2 Default mapping of absolute encoder redundant with cable-pull .................................................................13
6.5 Timing..........................................................................................................................................................14
6.6 Exceptions of accurate calculation of process data .....................................................................................14
