Baumer GCA3 - Default Chapter; Table of Contents

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
1 Safety 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
2 Product Assignment .................................................................................................................................... 5
2.1 Cable transducer ........................................................................................................................................... 5
3 System 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
4 NMT Service ................................................................................................................................................. 7
4.1 Supported commands .................................................................................................................................... 7
4.2 Boot up message ........................................................................................................................................... 7
5 SDO 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/7011h
1
/7111h
1
) ................................................................................. 10
5.3.9 Offset parameters and calculation ............................................................................................................... 10
5.3.10 Angle Digital Filter Configuration (2603h) .................................................................................................... 11
6 PDO 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