Baumer GCA3 User Manual

Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 18/23 Baumer – Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
10 Object directory
The following tables provide a summary of all SDO objects supported by the encoder.
Object Object number
Name Object name
Format U/I = Unsigned/Integer , No. = no of bits, ARR = Array, REC = Record, STR = String
Access ro = read only, wo = write only, rw = read write, m = mappable
Default Default value on first init
Description Additional information
10.1 Communication Profile Area
Object
Sub
-
index
Name
Type
Default value
Description
0x1000
0
Device type
U32, ro
0x000A0196
CiA406
0x1001
0
Error register
U8, ro
0x00
Bit-coded to profile CiA406
0x00: no error
0x01: generic error
0x10: communication error
0x20: device profile error
0x80: manufacturer specific error
0x1003
0
Predefined error list
U8, ro
0x00
Errors in the list (up to 8)
1…8
History errors
U32, ro
0x00000000
Errors occured according to the Error codes list, the last error is in
the sub-index
0x1005
0
COB ID Sync object
U32, rw
0x00000080
Sensor generates no sync message (bit 30 =0)
11-bits indentifier system (bit 29=0)
0x1008
0
Device name
str, ro
-
Device designation (see paragraph 2.1)
0x1009
0
HW version
str, ro
1.0
Hardware version
0x100A
0
FW version
str, ro
-
Software version (ASCII Characters
i.e version 3.85 = 33 56 38 35)
( ! Attention, as specified in the segmented mode:
Send 60 00 00 00 00 00 00 00
after the command 40 0A 10 00 00 00 00 00 to see this string)
0x1010
0
Numbers of save-
options
U8, ro
0x01
1
“save all parameters”
U32, rw
0x00000001
The parameters are saved only writing the key string “save”
(0x73-0x61-0x76-0x65)
0x1011
0
Numbers of restore-
options
U8, ro
0x01
1
Reset for all
parameters
U32, rw
0x00000001
If the key string “load” (0x6C-0x6F-0x61-0x64) is entered here, the
parameters are assigned to the factory default values and are valid
after the next reset.
0x1014
0
COB ID Emergency
U32, rw
0x00000080+ID
bit 30 = 1 The sensor generates EMCY message
0x1017
0
Producer heartbeat
time
U16, rw
0x0000
Time interval [ms] where sensor generates a producer heartbeat
0x1018
0
Numbers of
identity-options
U8, ro
0x04
1
Vendor ID
U32, ro
-
0x005F – GCA product
0x0470 – SDS product
2
Product code
U32, ro
-
As described in the paragraph 2.1
3
Revision number
U32, ro
0x00000000
4
Serial number
U32, ro
-
Depending by the SN of the product
0x1200
0
Server SDOs
U8, ro
0x02
1
COB ID Rx SDO
U32, ro
0x600 + ID
bit 31=0 –> valid SDO
2
COB ID Tx SDO
U32, ro
0x580 +ID
bit 31=0 –> valid SDO
0x1800
0
TPDO1
U8, rw
0x05
Number of the entries TPDO1
1
COB ID TPDO1
U32, rw
0x180+Node
ID
Bit 31 = 0 -> TPDO activated
Bit 31 = 1 -> TPDO not activated (not transmitted)
2
Transmission type
U8, rw
0xFE
Transmission type (synchronous/asynchronous)
3
Inhibit time
U16, rw
0x0000
Minimum interval time between consecutive TPDOs
5
Event time TPDO1
U16, rw
0x0064
Used if 1800.02 is 0xFE or 0xFF
0x1801
0
TPDO2
U8, rw
0x05
Number of the entries TPDO2
1
COB ID TPDO2
U32, rw
0x280+Node ID
Bit 31 = 0 -> TPDO activated
Bit 31 = 1 -> TPDO not activated (not transmitted)
2
Transmission type
U8, rw
0xFE
Transmission type (synchronous/asynchronous)
3
Inhibit time
U16, rw
0x0000
Minimum interval time between consecutive TPDOs
5
Event time TPDO2
U16, rw
0x0064
Used if 1801.02 is 0xFE or 0xFF
0x1A00
0
TPDO1 mapping
U8, ro
0x02
Number of objects integrated in TPDO1
1
index in obj directory
U32, ro
0x60200120
Cable length channel 1
2
index in obj directory
U32, ro
0x60200220
Cable length channel 2
1
0x1A01
0
TPDO2 mapping
U8, ro
0x02
Number of objects integrated in TPDO2

Baumer GCA3 Specifications

General

Brand	Baumer
Model	GCA3
Category	Transducer
Language	English