Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 6/23 Baumer – Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
3 System Overview
3.1 General
The cable transducer is a linear measuring system with a CANopen interface. It supports scaling and presetting.
In consideration of “CAN in Automation” (CiA) Profile 406 for Encoders, it’s an absolute linear encoder - Class C2
(exception diagnostic part). It has also the possibility to implement inclination sensors, in according to CiA) Profile 410
for Inclinometers.
3.2 Supported Profiles
Following CANopen profiles are supported:
CiA 301 / Version 4.1 (Communication)
CiA 305 / Version 1.0 (LSS)
CiA 406 / Version 3.2 (Encoder Profile)
o Absolute encoder redundant with cable-pull: Absolute linear encoder
CiA 410 / Version 1.0 (Inclinometer Profile)
3.3 Supported CANopen Services
Following CANopen services are supported:
1 Network Management (according to CiA 301)
1 SDO Server (according to CiA 301)
2 TPDOs (according to CiA 301/CiA 406/ CiA 410)
1 Emergency Producer (according to CiA 301/CiA 406/ CiA 410)
1 Heartbeat Producer (according to CiA 301)
3.4 Function Principle
3.4.1 Overview
Figure 1: Function principle overview
3.4.2 Scaling
The step size for all position objects can be adapted in the object 0x6005. The basic unit is nanometer
Example 1: A position step setting of 1’000’000 nm/step means that the position output unit is 1mm.
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