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Baumer GCA3 User Manual
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Baumer_GCA3-5-
8-
12
-20_CANope
n_MA_EN_Rev
10.docx
23
/
23
Baumer
–
Sensor
Systems s.r.l.
03.12.2019
Chiari (Bs), Italy
Appen
dix
10.4
Pin A
ssignments
10.4.1
Pin assignment conn
ector 1 x
M12
Pin no.
Signal
Description
View to encoder
1
GND
Ground referred to +Vs
2
+Vs
Supply voltage
3
CAN_GND
CAN bus ground
4
CAN_H
CAN bus signal (dominant High)
5
CAN_L
CAN bus signal (dominant Low)
10.4.2
Cable assignment
Color
Signal
Description
W
hite
GND
Ground referred to +Vs
Brown
+Vs
Supply voltage
Grey
CAN_GND
CAN bus ground
Green
CAN_H
CAN bus signal (dominant High)
Yellow
CAN_L
CAN bus signal (dominant Low)
22
Table of Contents
Default Chapter
2
Table of Contents
2
1 Safety and Operating Instructions
4
Supplementary Information
4
Intended Purpose of the Equipment
4
Commissioning
4
Safety Remarks
4
Transport and Storage
4
Assembly
4
Electrical Commissioning
4
2 Product Assignment
5
Cable Transducer
5
3 System Overview
6
General
6
Supported Profiles
6
Supported Canopen Services
6
Function Principle
6
Overview
6
Scaling
6
4 NMT Service
7
Supported Commands
7
Boot up Message
7
5 SDO Service
8
General
8
Save/Load Parameters
8
Save
8
Load
8
Safe Non-Volatile Operation
8
Side Effect
8
Examples Writing Parameters
8
How to Save Data
8
How to Change the Node ID
8
How to Change the Length Direction
9
How to Change the Length Resolution
9
How to Set the Length Zero
9
How to Change the Angle Resolution
10
/7111H 1 )
10
Offset Parameters and Calculation
10
Angle Digital Filter Configuration (2603H)
11
6 PDO Service
12
General
12
PDO Transmission Types
12
Cob-ID
12
PDO Mapping
13
Mappable Objects
13
Default Mapping of Absolute Encoder Redundant with Cable-Pull
13
Timing
14
Exceptions of Accurate Calculation of Process Data
14
7 Emergency Service
15
General
15
Cob-ID
15
Emergency Message
15
Error Register
15
Communication Error
15
Generic Error
15
Error Codes / EMCY Messages
15
8 Heartbeat Service
16
General
16
Cob-ID
16
Timing
16
9 LSS Slave
17
General
17
Supported Commands
17
LSS Address
17
10 Object Directory
18
Communication Profile Area
18
Manufacturer Specific Profile Area
19
Standardized Device Profile Area
21
Appendix
23
Pin Assignments
23
Pin Assignment Connector 1 X M12
23
Cable Assignment
23
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Baumer GCA3 Specifications
General
Brand
Baumer
Model
GCA3
Category
Transducer
Language
English
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