Baumer GIM700DR Podręcznik - Strona 2

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Contents

Introduction ................................................................................................................................................. 3

1.1

Scope of delivery ....................................................................................................................................... 3

1.2

Product assignment ................................................................................................................................... 3

Safety and operating instructions ............................................................................................................ 4

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 ................................................................................................................. 6

3.3.3

CANopen service data communication (SDO) ....................................................................................... 8

3.3.4

Process data communication ................................................................................................................. 9

3.3.5

Error diagnostics / emergency service ................................................................................................. 10

3.3.6

Network management services ............................................................................................................ 11

Object dictionary ...................................................................................................................................... 18

4.1

Communication parameters (CiA DS-301, CiA DS-302 Part 2) .............................................................. 18

4.1.1

Save parameters (1010h) ..................................................................................................................... 21

4.1.2

Restore default parameters / factory settings (1011h) ......................................................................... 21

4.1.3

NMT startup (1F80h) ............................................................................................................................ 21

4.2

Manufacturer specific parameters ........................................................................................................... 22

4.2.1

Baud rate (2100h) ................................................................................................................................. 22

4.2.2

Node-ID (2101h) ................................................................................................................................... 22

4.2.3

Signal filter settings (2107h / 2108h / 2109h) ....................................................................................... 23

4.3

Device profile specific parameters (CiA DS-410) .................................................................................... 25

4.3.1

Resolution (6000h) ............................................................................................................................... 26

4.3.2

Slope long (6010h / 6110h) / slope lateral (6020h / 6120h) ................................................................. 26

4.3.3

Slope long preset value (6012h / 6112h) / slope lateral preset value (6022h / 6122h) ........................ 26

4.3.4

Slope long offset (6013h / 6113h) / slope lateral offset (6023h / 6123h) .............................................. 26

4.3.5

Slope long differential offset (6014h / 6114h) / slope lateral differential offset (6024h / 6124h) .......... 27

4.3.6

Slope operating parameters scaling / inversion (6011h / 6021h / 6111h / 6121h) ............................... 27

4.3.7

Device temperature (6511h) ................................................................................................................. 28

Sensor configurations ............................................................................................................................. 29

5.1.1 1-dimensional sensor / vertical installation / plumb angle 0...360° (1D-VP) ........................................ 29

5.1.2

2-dimensional sensor / horizontal installation / plumb angle ±90° (2D-HP) ......................................... 30

5.1.3

2-dimensional sensor / vertical installation / plumb angle ±90° (2D-VP) ............................................. 31

Terminal assignment ................................................................................................................................ 32

6.1

2 x M12 flange connector, 5-pin .............................................................................................................. 32

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