Baumer GIM700DR Podręcznik - Strona 10
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Drukuj stronęCyclical (asynchronous) communication
If you wish the PDOs to be transmitted cyclically, the value FEh must be written into the object 180xh sub-
index 2. In addition, the cycle time in milliseconds must be entered in the same object sub-index 5. The en-
tered time is rounded off to 1 msec. If the value is stored for 0 msec, the PDOs are not transmitted. The func-
tion is switched off.
PDO transmission modes / PDO mapping
In the following table, the different transmission modes for PDOs are summarized:
180xh
Summarized description
Sub2
Sub5
FEh/FFh
10 msec
Cyclical transmission every 10 msec
FEh/FFh
0 msec
Transmit PDO switched off
3
xxx
Transmit with every third sync telegram
Structure of PDO-mapping is based on dynamic PDO mapping. Default PDO configuration is shown below:
Variant
ID
1D vertical in-
180h+Node-
stallation (1D-
ID
VP)
Variant
ID
2D horizontal
180h+Node-
installation
ID
(2D-HP)
2D vertical in-
180h+Node-
stallation (2D-
ID
VP)
Error diagnostics / emergency service
3.3.5
The GIM700DR sensor offers diagnostic functions as described in the following. If device operation causes a
warning (e.g. angle limit) or an error (e.g. MEMS saturation), an emergency message is transmitted once,
which contains Error Code, Error Register, Error Module ID and Error ID. The EMCY message is struc-
tured as follows:
COB-ID
DLC
80h+Node-ID
8
Byte 0+1: Error code
Error Code (hex)
Description
0000
Error reset or no error
1000
Generic error
3200
Supply voltage error
6000
Internal software or sensor error
Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx
27.04.21
DLC
Byte 0+1
4
Object 6511h / Device
temperature
LSB
MSB
DLC
Byte 0+1
6
Object 6511h / Device
temperature
LSB
MSB
6
Object 6511h / Device
temperature
LSB
MSB
Byte 0
Byte 1
Byte 2
Error Code
Error
LSB
MSB
Register
Byte 2+3
Object 6010h / Z-
axis
LSB
MSB
Byte 2+3
Object 6010h / X-
axis
LSB
MSB
Object 6010h / Z-
axis
LSB
MSB
Byte 3
Byte 4
Error Module ID
MSB
LSB
10/32
Byte 4+5
Byte 6+7
-
-
Byte 4+5
Byte 6+7
Object 6020h
-
Y-axis
LSB
MSB
Object 6020h
-
Y-axis
LSB
MSB
Byte 5
Byte 6
Byte 7
Error ID
reserved
MSB
LSB
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