Baumer GCA3 - Page 3

Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 3/23 Baumer – Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
7 Emergency Service .................................................................................................................................... 15
7.1 General ........................................................................................................................................................ 15
7.2 COB-ID ........................................................................................................................................................ 15
7.3 Emergency message ................................................................................................................................... 15
7.4 Error register ................................................................................................................................................ 15
7.4.1 Communication error ................................................................................................................................... 15
7.4.2 Generic error................................................................................................................................................ 15
7.5 Error codes / EMCY messages.................................................................................................................... 15
8 Heartbeat Service ...................................................................................................................................... 16
8.1 General ........................................................................................................................................................ 16
8.2 COB-ID ........................................................................................................................................................ 16
8.3 Timing .......................................................................................................................................................... 16
9 LSS slave .................................................................................................................................................... 17
9.1 General ........................................................................................................................................................ 17
9.2 Supported commands .................................................................................................................................. 17
9.3 LSS address ................................................................................................................................................ 17
10 Object directory ......................................................................................................................................... 18
10.1 Communication Profile Area ........................................................................................................................ 18
10.2 Manufacturer Specific Profile Area .............................................................................................................. 19
10.3 Standardized Device Profile Area ................................................................................................................ 21
Appendix .......................................................................................................................................................................... 23
10.4 Pin Assignments .......................................................................................................................................... 23
10.4.1 Pin assignment connector 1 x M12 .............................................................................................................. 23
10.4.2 Cable assignment ........................................................................................................................................ 23