Baumer GIM500R Podręcznik - Strona 2

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Baumer GIM500R Podręcznik
Contents
1
Introduction ................................................................................................................................................. 3
1.1
Scope of delivery ....................................................................................................................................... 3
1.2
Product assignment ................................................................................................................................... 3
2
Safety and operating instructions ............................................................................................................ 4
3
CAN-bus and CANopen communication .................................................................................................. 5
3.1
CAN-bus characteristics ............................................................................................................................ 5
3.2
CANopen ................................................................................................................................................... 6
3.3
CANopen communication .......................................................................................................................... 6
3.3.1
Communication profile ............................................................................................................................ 6
3.3.2
CANopen message structure ................................................................................................................. 7
3.3.3
Service data communication .................................................................................................................. 8
3.3.4
Process data communication ............................................................................................................... 10
3.3.5
Emergency service ............................................................................................................................... 11
3.3.6
Network management services ............................................................................................................ 14
3.4
Object Dictionary ..................................................................................................................................... 21
3.4.1
Communication Parameter (CiA DS-301, CiA DS-302 Part 2) ............................................................. 22
3.4.2
Manufacturer Specific Parameter ......................................................................................................... 23
3.4.3
Device Profile Specific Parameter (CiA DS-410) ................................................................................. 25
3.5
LED status display ................................................................................................................................... 28
3.5.1
CANopen Status LED (Green) ............................................................................................................. 28
3.5.2
CANopen Error LED (Red) ................................................................................................................... 28
4
Terminal assignment ................................................................................................................................ 29
4.1
M12 flange connector, 5-pin .................................................................................................................... 29
4.2
2xM12 flange connector, 5-pin ................................................................................................................ 29
4.3
Cable ....................................................................................................................................................... 29
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