Baumer GXP5W Handbuch - Seite 34

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4. Diagnosis and Important Information

4.1. Error diagnosis field bus communication

• If the encoder cannot be addressed via the CANopen bus, you should first check the connections.
If the connections are OK, next the field bus operation should be tested. A CAN monitor is required for this
purpose which records the CANopen communication and displays the telegrams.
• Now the encoder should output a BootUp message when the power supply is switched off and then on
again.
If no BootUp message appears, check whether the baud rates of the encoder, the CAN monitor and the
bus system match.
• If you have difficulties establishing a connection to a node, check the node number and the baud rate.
The same baud rate must be set everywhere. The node number (Node-ID, node address) must be
between 1 and 127. Each bus node must be defined with a unique Node-ID. This means the same Node-
ID may never be assigned multiple times.
The Node-ID and baud rate can also be conveniently set via the LSS service.

4.2. Troubleshooting with field bus

The encoder has several objects and messages which describe the status or error states of the encoder:
• Object 1001h: This object is an error register for the error state of the device.
• Object 1003h: The last eight error codes and warnings are saved in this object.
• Object Emergency (80h + Node-ID): High-priority error message of a node with an Error Code and an
Error Register.
• SDO Abort Message: If the SDO communication does not run correctly, the SDO response contains an
Abort Code.
Object 1001h Error register
In this register the presence of a device error and its type are displayed.
Bit 0: Generic error
The remaining bits are not supported by our encoder.
Object 1003h Predefined error field
In this object the last eight Error Codes which have occurred in the objects 63C5h and 63C7h are saved,
whereby the last error is entered in Subindex1 and the oldest error in Subindex8.
Object Emergency
Error message of a node.
Manual_GXP5_417_Lift_EN.doc
04.05.11
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Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany